{"id":595,"date":"2022-04-28T17:21:35","date_gmt":"2022-04-28T09:21:35","guid":{"rendered":"http:\/\/www.zhihuiwater.com\/?p=595"},"modified":"2022-04-28T17:21:38","modified_gmt":"2022-04-28T09:21:38","slug":"%e6%b0%b4%e5%8e%82%e5%8a%a0%e8%8d%af%e5%8a%a0%e7%9f%be%e8%87%aa%e6%8e%a7%e7%b3%bb%e7%bb%9f%e7%9a%84pid%e8%bf%90%e7%ae%97%e9%97%ae%e9%a2%98%e5%88%86%e6%9e%90","status":"publish","type":"post","link":"http:\/\/www.zhihuiwater.com\/?p=595","title":{"rendered":"\u6c34\u5382\u52a0\u836f\u52a0\u77fe\u81ea\u63a7\u7cfb\u7edf\u7684PID\u8fd0\u7b97\u95ee\u9898\u5206\u6790"},"content":{"rendered":"\n

\u8981\u8bbe\u8ba1\u6c34\u5382\u52a0\u836f\u52a0\u77fe\u81ea\u63a7\u7cfb\u7edf<\/a>\u7684\u63a7\u5236\u6a21\u578b\uff0c\u9996\u5148\u5c31\u8981\u5bf9PID\u8fd0\u7b97\u8fdb\u884c\u5206\u6790\u3002\u4e0b\u9762\u5c31\u662f\u6211\u4eec\u5bf9PID\u8fd0\u7b97\u95ee\u9898\u8fdb\u884c\u5206\u6790\u7814\u7a76\u3002<\/p>\n\n\n\n

PID\u540d\u8bcd\u89e3\u91ca<\/h2>\n\n\n\n

\u6240\u8c13PID<\/strong>\u5c31\u662f\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u63a7\u5236\uff0c\u5728\u52a0\u836f\u7cfb\u7edf\u4e2dPID\u7531PLC\u5185\u90e8\u7684PID\u6a21\u5757\u6765\u63a7\u5236\u5b9e\u73b0\u77fe\u6db2\u7684\u6295\u52a0\u3002\u5fae\u5206\u4ea7\u751f\u7684\u4f5c\u7528\u4f7f\u63a7\u5236\u5668\u7684\u8f93\u51fa\u4e0e\u504f\u5dee\u53d8\u5316\u7684\u901f\u5ea6\u6210\u6bd4\u4f8b\uff0c\u5b83\u5bf9\u514b\u670d\u5bf9\u8c61\u7684\u5bb9\u91cf\u6ede\u540e\u6709\u663e\u8457\u7684\u6548\u679c\uff0c\u5b83\u5728\u6bd4\u4f8b\u57fa\u7840\u4e0a\u52a0\u5165\u5fae\u5206\u4f5c\u7528\u4f7f\u8fd0\u7b97\u7a33\u5b9a\u6027\u63d0\u9ad8\uff0c\u518d\u901a\u8fc7\u52a0\u4e0a\u79ef\u5206\u4f5c\u7528\u6765\u6d88\u9664\u4f59\u5dee\u3002<\/p>\n\n\n\n

PID\u7684\u4f18\u70b9<\/h2>\n\n\n\n

PID\u63a7\u5236\u5668\u95ee\u4e16\u81f3\u4eca\u5df2\u6709\u8fd170\u5e74\u5386\u53f2\uff0c\u7ed3\u6784\u7b80\u5355\u3001\u7a33\u5b9a\u6027\u597d\u3001\u5de5\u4f5c\u53ef\u9760\u3001\u8c03\u6574\u65b9\u4fbf\u662f\u5b83\u7684\u4e3b\u8981\u4f18\u52bf\u3002\u5f53\u88ab\u63a7\u5bf9\u8c61\u7684\u7ed3\u6784\u548c\u53c2\u6570\u4e0d\u80fd\u88ab\u5b8c\u5168\u638c\u63e1\u65f6\uff0c\u6216\u8005\u65e0\u6cd5\u5f97\u5230\u7cbe\u786e\u7684\u6570\u5b66\u6a21\u578b\u65f6\uff0c\u63a7\u5236\u7406\u8bba\u7684\u5176\u5b83\u6280\u672f\u96be\u4ee5\u91c7\u7528\u65f6\uff0c\u7cfb\u7edf\u63a7\u5236\u5668\u7684\u7ed3\u6784\u548c\u53c2\u6570\u5fc5\u987b\u4f9d\u9760\u7ecf\u9a8c\u548c\u73b0\u573a\u8c03\u8bd5\u6765\u786e\u5b9a\uff0c\u8fd9\u65f6\u5e94\u7528PID\u63a7\u5236\u6280\u672f\u662f\u6700\u4e3a\u65b9\u4fbf\u7684\u3002<\/p>\n\n\n\n

\u4e5f\u5c31\u662f\u8bf4\u5f53\u6211\u4eec\u4e0d\u662f\u5b8c\u5168\u4e86\u89e3\u4e00\u4e2a\u7cfb\u7edf\u548c\u88ab\u63a7\u5bf9\u8c61\uff0c\u6216\u4e0d\u80fd\u901a\u8fc7\u6709\u6548\u7684\u6d4b\u91cf\u624b\u6bb5\u6765\u5f97\u5230\u7cfb\u7edf\u7684\u53c2\u6570\u65f6\uff0c\u6700\u597d\u6765\u7528PID\u63a7\u5236\u6280\u672f\u3002PID\u63a7\u5236\u5668\u5c31\u662f\u6839\u636e\u7cfb\u7edf\u7684\u8bef\u5dee\uff0c\u5229\u7528\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u8ba1\u7b97\u51fa\u63a7\u5236\u91cf\u8fdb\u884c\u63a7\u5236\u7684\u3002<\/p>\n\n\n\n

\u6bd4\u4f8b\uff08P\uff09\u63a7\u5236<\/h2>\n\n\n\n

\u6bd4\u4f8b\u63a7\u5236\u662f\u4e00\u79cd\u6700\u7b80\u5355\u7684\u63a7\u5236\u65b9\u5f0f\u3002\u4e5f\u5c31\u662f\u8bf4\u5b83\u7684\u63a7\u5236\u5668\u7684\u8f93\u51fa\u4e0e\u8f93\u5165\u8bef\u5dee\u4fe1\u53f7\u6210\u6bd4\u4f8b\u5173\u7cfb\u3002\u5f53\u4ec5\u6709\u6bd4\u4f8b\u63a7\u5236\u65f6\u7cfb\u7edf\u8f93\u51fa\u5b58\u5728\u7a33\u6001\u8bef\u5dee\uff08Steady-state error\uff09\u3002<\/p>\n\n\n\n

\u79ef\u5206\uff08I\uff09\u63a7\u5236<\/h2>\n\n\n\n

\u5728\u79ef\u5206\u63a7\u5236\u4e2d\uff0c\u63a7\u5236\u5668\u7684\u8f93\u51fa\u4e0e\u8f93\u5165\u8bef\u5dee\u4fe1\u53f7\u7684\u79ef\u5206\u6210\u6b63\u6bd4\u5173\u7cfb\u3002\u5bf9\u4e00\u4e2a\u81ea\u52a8\u63a7\u5236\u7cfb\u7edf\uff0c\u5982\u679c\u5728\u8fdb\u5165\u7a33\u6001\u540e\u5b58\u5728\u7a33\u6001\u8bef\u5dee\uff0c\u6211\u4eec\u5c31\u79f0\u8fd9\u4e2a\u63a7\u5236\u7cfb\u7edf\u662f\u6709\u7a33\u6001\u8bef\u5dee\u7684\u6216\u7b80\u79f0\u6709\u5dee\u7cfb\u7edf\uff08System with Steady-state Error\uff09\u3002<\/p>\n\n\n\n

\u6211\u4eec\u4e3a\u4e86\u6d88\u9664\u7a33\u6001\u8bef\u5dee\uff0c\u5fc5\u987b\u5728\u63a7\u5236\u5668\u4e2d\u5f15\u5165\u201c\u79ef\u5206\u9879\u201d\u3002\u79ef\u5206\u9879\u5bf9\u8bef\u5dee\u53d6\u51b3\u4e8e\u65f6\u95f4\u7684\u79ef\u5206\uff0c\u968f\u7740\u65f6\u95f4\u7684\u589e\u52a0\uff0c\u79ef\u5206\u9879\u4e5f\u4f1a\u589e\u5927\u3002\u5373\u4fbf\u8bef\u5dee\u5f88\u5c0f\uff0c\u79ef\u5206\u9879\u4e5f\u4f1a\u968f\u7740\u65f6\u95f4\u7684\u589e\u52a0\u800c\u52a0\u5927\uff0c\u5b83\u63a8\u52a8\u63a7\u5236\u5668\u7684\u8f93\u51fa\u589e\u5927\u4f7f\u7a33\u6001\u8bef\u5dee\u8fdb\u4e00\u6b65\u51cf\u5c0f\uff0c\u76f4\u5230\u7b49\u4e8e\u96f6\u3002<\/p>\n\n\n\n

\u56e0\u6b64\uff0c\u6bd4\u4f8b\u548c\u79ef\u5206(PI)\u63a7\u5236\u5668\uff0c\u53ef\u4ee5\u4f7f\u7cfb\u7edf\u5728\u8fdb\u5165\u7a33\u6001\u540e\u65e0\u7a33\u6001\u8bef\u5dee\u3002<\/p>\n\n\n\n

\u5fae\u5206\uff08D\uff09\u63a7\u5236<\/h2>\n\n\n\n

\u5728\u5fae\u5206\u63a7\u5236\u4e2d\uff0c\u63a7\u5236\u5668\u7684\u8f93\u51fa\u4e0e\u8f93\u5165\u8bef\u5dee\u4fe1\u53f7\u7684\u5fae\u5206\uff08\u5373\u8bef\u5dee\u7684\u53d8\u5316\u7387\uff09\u6210\u6b63\u6bd4\u5173\u7cfb\u3002\u81ea\u52a8\u63a7\u5236\u7cfb\u7edf\u5728\u514b\u670d\u8bef\u5dee\u7684\u8c03\u8282\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u4f1a\u51fa\u73b0\u632f\u8361\u751a\u81f3\u5931\u7a33\u3002\u5176\u539f\u56e0\u662f\u7531\u4e8e\u5b58\u5728\u6709\u8f83\u5927\u60ef\u6027\u7ec4\u4ef6\uff08\u73af\u8282\uff09\u6216\u6709\u6ede\u540e(delay)\u7ec4\u4ef6\uff0c\u5177\u6709\u6291\u5236\u8bef\u5dee\u7684\u4f5c\u7528\uff0c\u5176\u53d8\u5316\u603b\u662f\u843d\u540e\u4e8e\u8bef\u5dee\u7684\u53d8\u5316\u3002<\/p>\n\n\n\n

\u89e3\u51b3\u7684\u529e\u6cd5\u662f\u4f7f\u6291\u5236\u8bef\u5dee\u7684\u4f5c\u7528\u7684\u53d8\u5316\u201c\u8d85\u524d\u201d\uff0c\u5373\u5728\u8bef\u5dee\u63a5\u8fd1\u96f6\u65f6\uff0c\u6291\u5236\u8bef\u5dee\u7684\u4f5c\u7528\u5c31\u5e94\u8be5\u662f\u96f6\u3002\u8fd9\u5c31\u662f\u8bf4\uff0c\u6211\u4eec\u5728\u63a7\u5236\u5668\u4e2d\u5f15\u5165 \u201c\u6bd4\u4f8b\u201d\u9879\u5f80\u5f80\u662f\u4e0d\u591f\u7684\uff0c\u6bd4\u4f8b\u9879\u7684\u4f5c\u7528\u4ec5\u662f\u653e\u5927\u8bef\u5dee\u7684\u5e45\u503c\uff0c\u800c\u76ee\u524d\u9700\u8981\u589e\u52a0\u7684\u662f\u201c\u5fae\u5206\u9879\u201d\uff0c\u5b83\u80fd\u9884\u6d4b\u8bef\u5dee\u53d8\u5316\u7684\u8d8b\u52bf\uff0c\u8fd9\u6837\uff0c\u5177\u6709\u6bd4\u4f8b+\u5fae\u5206\u7684\u63a7\u5236\u5668\uff0c\u5c31\u80fd\u591f\u63d0\u524d\u4f7f\u6291\u5236\u8bef\u5dee\u7684\u63a7\u5236\u4f5c\u7528\u7b49\u4e8e\u96f6\uff0c\u751a\u81f3\u4e3a\u8d1f\u503c\uff0c\u4ece\u800c\u907f\u514d\u4e86\u88ab\u63a7\u91cf\u7684\u4e25\u91cd\u8d85\u8c03\u3002<\/p>\n\n\n\n

\u6240\u4ee5\u5bf9\u6709\u8f83\u5927\u60ef\u6027\u6216\u6ede\u540e\u7684\u88ab\u63a7\u5bf9\u8c61\uff0c\u6bd4\u4f8b+\u5fae\u5206(PD)\u63a7\u5236\u5668\u80fd\u6539\u5584\u7cfb\u7edf\u5728\u8c03\u8282\u8fc7\u7a0b\u4e2d\u7684\u52a8\u6001\u7279\u6027\u3002<\/p>\n\n\n\n

PID\u7684\u8fd0\u7b97\u516c\u5f0f<\/h2>\n\n\n\n

PID\u7684\u8fd0\u7b97\u53ef\u4ee5\u7531\u4e0b\u9762\u7684\u516c\u5f0f\u6765\u8868\u8fbe\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5176\u4e2d\u7ed9\u5b9a\u503c\u548c\u88ab\u63a7\u5bf9\u8c61\u8f93\u51fa\u503c\u7684\u5dee\uff0c\u88ab\u79f0\u4e3a\u504f\u5dee\u4fe1\u53f7;Kp\u3001Ti<\/sub>\u3001Td\uff0c\u5206\u522b\u4e3a\u63a7\u5236\u5668\u7684\u6bd4\u4f8b\u7cfb\u6570\u3001\u79ef\u5206\u7cfb\u6570\u3001\u5fae\u5206\u7cfb\u6570\u3002<\/p>\n\n\n\n

PID\u7684\u5e94\u7528<\/h2>\n\n\n\n

\u5728PLC\u4e2dPID\u63a7\u5236\u7684\u5b9e\u73b0\u6bd4\u8f83\u5bb9\u6613\uff0cPLC\u7684CPU\u4e2d\u6709\u4e13\u95e8\u7684PID\u6a21\u5757\uff0c\u5173\u952e\u662f\u5176\u53c2\u6570\u7684\u8bbe\u5b9a\u3002\u800cPID\u53c2\u6570\u7684\u8bbe\u5b9a\u9700\u8981\u5177\u5907\u4e00\u5b9a\u7684\u5386\u53f2\u6570\u636e\u52a0\u4ee5\u4fee\u6b63\uff0c\u4e5f\u5c31\u662f\u8bf4PID\u7684\u53c2\u6570\u4e3b\u8981\u662f\u7ecf\u9a8c\u6570\u636e\u3002<\/p>\n\n\n\n

\u6839\u636e\u4ee5\u4e0a\u5206\u6790\u6211\u4eec\u53d1\u73b0\uff0cPID\u4f5c\u4e3a\u4e00\u79cd\u63a7\u5236\u8fd0\u7b97\u65b9\u6cd5\u662f\u6bd4\u8f83\u6210\u719f\u7684\uff0c\u5728\u7f16\u7a0b\u7cfb\u7edf\u4e2d\u5177\u6709\u4e13\u95e8\u7684\u6210\u578b\u6a21\u5757\u3002\u4f46\u662f\u5b83\u7684\u51c6\u786e\u6027\u4f9d\u8d56\u4e8e\u5404\u7c7b\u8f93\u5165\u7684\u53c2\u6570\u3002<\/p>\n\n\n\n

\u5728\u65e9\u671f\u7684\u6295\u52a0\u836f\u7cfb\u7edf\u4e2d\u4e5f\u66fe\u91c7\u7528\u8fc7\u5355\u72ec\u4f7f\u7528PID\u63a7\u5236\u6a21\u5757\u7684\u6a21\u5f0f\uff0c\u4f46\u662f\u5355\u72ec\u7684PID\u7cfb\u7edf\u5f80\u5f80\u4ec5\u9760\u539f\u6c34\u6d4a\u5ea6\u6765\u5224\u65ad\uff0c\u5b83\u65e2\u4e0d\u5177\u5907\u53cd\u9988\u6027\u4e5f\u4e0d\u65e0\u6cd5\u5bf9\u9891\u7e41\u7684\u53d8\u5316\u505a\u51fa\u9002\u5e94\u3002<\/p>\n\n\n\n

\u73b0\u5728\u4e00\u822c\u90fd\u662f\u5229\u7528\u7efc\u5408\u7684PID\u8fd0\u7b97\u65b9\u5f0f\u6765\u5bf9\u7cfb\u7edf\u8fdb\u884c\u63a7\u5236.<\/p>\n\n\n\n

\u6709\u5173\u52a0\u836f\u52a0\u77fe\u81ea\u63a7\u7cfb\u7edf\u7684\u6587\u7ae0\u53ef\u4ee5\u53c2\u8003\uff1a<\/strong><\/p>\n\n\n\n

\u81ea\u6765\u6c34\u5382\u52a0\u77fe\u81ea\u52a8\u63a7\u5236\u7cfb\u7edf\u914d\u77fe\u6a21\u578b\u7684\u8bbe\u8ba1<\/a><\/p>\n\n\n\n

\u81ea\u6765\u6c34\u5382\u52a0\u77fe\u81ea\u52a8\u63a7\u5236\u7cfb\u7edf\u7684\u81ea\u63a7\u539f\u7406\u5206\u89e3<\/a> <\/p>\n\n\n\n

\u6c34\u5382\u52a0\u77fe[\u6df7\u51dd\u5242\u6295\u52a0]\u81ea\u63a7\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u7ed3\u6784<\/a> <\/p>\n\n\n\n

\u52a0\u77fe\u7cfb\u7edf\u6db2\u538b\u9694\u819c\u8ba1\u91cf\u6cf5\u7684\u6280\u672f\u8981\u6c42<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

\u8981\u8bbe\u8ba1\u6c34\u5382\u52a0\u836f\u52a0\u77fe\u81ea\u63a7\u7cfb\u7edf\u7684\u63a7\u5236\u6a21\u578b\uff0c\u9996\u5148\u5c31\u8981\u5bf9PID\u8fd0\u7b97\u8fdb\u884c\u5206\u6790\u3002\u4e0b\u9762\u5c31\u662f\u6211\u4eec\u5bf9PID\u8fd0\u7b97\u95ee\u9898\u8fdb\u884c\u5206\u6790\u7814\u7a76\u3002 […]<\/p>\n","protected":false},"author":1,"featured_media":597,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[9],"tags":[101,17,59,18],"_links":{"self":[{"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/posts\/595"}],"collection":[{"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=595"}],"version-history":[{"count":1,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/posts\/595\/revisions"}],"predecessor-version":[{"id":598,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/posts\/595\/revisions\/598"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/media\/597"}],"wp:attachment":[{"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=595"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=595"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=595"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}