\u3000\u3000PID\u63a7\u5236\u7b97\u6cd5\u662f\u4e00\u79cd\u7ecf\u5178\u7684\u63a7\u5236\u7b97\u6cd5\uff0c\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5de5\u4e1a\u81ea\u52a8\u5316\u9886\u57df\u3002\u672c\u6587\u5c06\u8be6\u7ec6\u89e3\u6790PID\u63a7\u5236\u7b97\u6cd5\u7684\u516c\u5f0f\u548c\u539f\u7406\uff0c\u5e76\u4ecb\u7ecd\u5176\u5728\u4e0d\u540c\u5e94\u7528\u9886\u57df\u7684\u5177\u4f53\u5e94\u7528\u3002<\/p>\n\n\n\n
\u3000\u3000PID\u63a7\u5236\u7b97\u6cd5\u662f\u4e00\u79cd\u57fa\u4e8e\u53cd\u9988\u7684\u63a7\u5236\u7b97\u6cd5\uff0c\u5b83\u6839\u636e\u88ab\u63a7\u5236\u5bf9\u8c61\u7684\u5b9e\u9645\u8f93\u51fa\u548c\u671f\u671b\u8f93\u51fa\u4e4b\u95f4\u7684\u5dee\u5f02\u6765\u8c03\u6574\u63a7\u5236\u5668\u7684\u8f93\u51fa\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u88ab\u63a7\u5236\u5bf9\u8c61\u7684\u7cbe\u786e\u63a7\u5236\u3002<\/strong>PID\u63a7\u5236\u7b97\u6cd5\u7531\u6bd4\u4f8b(P)\u3001\u79ef\u5206(I)\u548c\u5fae\u5206(D)\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\uff0c\u901a\u8fc7\u8c03\u6574\u8fd9\u4e09\u4e2a\u90e8\u5206\u7684\u6743\u91cd\uff0c\u53ef\u4ee5\u5b9e\u73b0\u5bf9\u4e0d\u540c\u7cfb\u7edf\u7684\u7cbe\u786e\u63a7\u5236\u3002<\/p>\n\n\n\n \u3000\u30001. \u6bd4\u4f8b\u90e8\u5206(P)<\/strong>\uff1a\u6bd4\u4f8b\u90e8\u5206\u6839\u636e\u88ab\u63a7\u5236\u5bf9\u8c61\u7684\u5b9e\u9645\u8f93\u51fa\u4e0e\u671f\u671b\u8f93\u51fa\u4e4b\u95f4\u7684\u5dee\u5f02\u8fdb\u884c\u8c03\u6574\u3002\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n \u3000\u3000P = Kp * e(t)<\/strong><\/p>\n\n\n\n \u3000\u3000\u5176\u4e2d\uff0cKp\u4e3a\u6bd4\u4f8b\u7cfb\u6570\uff0ce(t)\u4e3a\u8bef\u5dee(\u5b9e\u9645\u8f93\u51fa\u4e0e\u671f\u671b\u8f93\u51fa\u4e4b\u5dee)\u3002<\/p>\n\n\n\n \u3000\u30002. \u79ef\u5206\u90e8\u5206(I)<\/strong>\uff1a\u79ef\u5206\u90e8\u5206\u6839\u636e\u88ab\u63a7\u5236\u5bf9\u8c61\u7684\u8bef\u5dee\u7d2f\u79ef\u60c5\u51b5\u8fdb\u884c\u8c03\u6574\uff0c\u4ee5\u6d88\u9664\u7cfb\u7edf\u7684\u9759\u6001\u8bef\u5dee\u3002\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n \u3000\u3000I = Ki * \u222be(t)dt<\/strong><\/p>\n\n\n\n \u3000\u3000\u5176\u4e2d\uff0cKi\u4e3a\u79ef\u5206\u7cfb\u6570\uff0c\u222be(t)dt\u4e3a\u8bef\u5dee\u7684\u79ef\u5206\u3002<\/p>\n\n\n\n \u3000\u30003. \u5fae\u5206\u90e8\u5206(D)<\/strong>\uff1a\u5fae\u5206\u90e8\u5206\u6839\u636e\u88ab\u63a7\u5236\u5bf9\u8c61\u7684\u8bef\u5dee\u53d8\u5316\u7387\u8fdb\u884c\u8c03\u6574\uff0c\u4ee5\u9884\u6d4b\u7cfb\u7edf\u672a\u6765\u7684\u53d8\u5316\u8d8b\u52bf\u3002\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n \u3000\u3000D = Kd * de(t)\/dt<\/strong><\/p>\n\n\n\n \u3000\u3000\u5176\u4e2d\uff0cKd\u4e3a\u5fae\u5206\u7cfb\u6570\uff0cde(t)\/dt\u4e3a\u8bef\u5dee\u7684\u5bfc\u6570\u3002<\/p>\n\n\n\n \u3000\u3000\u7efc\u5408\u4e0a\u8ff0\u4e09\u4e2a\u90e8\u5206\uff0cPID\u63a7\u5236\u7b97\u6cd5\u7684\u8f93\u51fa\u4e3a\uff1a<\/p>\n\n\n\n \u3000\u3000Output = P + I + D<\/strong><\/p>\n\n\n\n \u3000\u30001. \u5de5\u4e1a\u81ea\u52a8\u5316<\/strong>\uff1aPID\u63a7\u5236\u7b97\u6cd5\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5de5\u4e1a\u81ea\u52a8\u5316\u63a7\u5236\u7cfb\u7edf\uff0c\u5982\u6e29\u5ea6\u63a7\u5236\u3001\u538b\u529b\u63a7\u5236\u3001\u6d41\u91cf\u63a7\u5236\u7b49\u3002\u901a\u8fc7\u8c03\u6574PID\u53c2\u6570\uff0c\u53ef\u4ee5\u5b9e\u73b0\u5bf9\u5de5\u4e1a\u8fc7\u7a0b\u7684\u7a33\u5b9a\u3001\u7cbe\u786e\u63a7\u5236\u3002<\/p>\n\n\n\n \u3000\u30002. \u673a\u5668\u4eba\u63a7\u5236<\/strong>\uff1aPID\u63a7\u5236\u7b97\u6cd5\u5728\u673a\u5668\u4eba\u63a7\u5236\u4e2d\u4e5f\u6709\u7740\u91cd\u8981\u7684\u5e94\u7528\u3002\u901a\u8fc7PID\u63a7\u5236\u7b97\u6cd5\uff0c\u53ef\u4ee5\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u8f68\u8ff9\u63a7\u5236\u3001\u529b\u63a7\u5236\u7b49\uff0c\u63d0\u9ad8\u673a\u5668\u4eba\u7684\u7cbe\u786e\u5ea6\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n \u3000\u30003. \u7535\u529b\u7cfb\u7edf<\/strong>\uff1aPID\u63a7\u5236\u7b97\u6cd5\u5728\u7535\u529b\u7cfb\u7edf\u4e2d\u7528\u4e8e\u7535\u538b\u8c03\u8282\u548c\u9891\u7387\u63a7\u5236\u3002\u901a\u8fc7PID\u63a7\u5236\u7b97\u6cd5\uff0c\u53ef\u4ee5\u5b9e\u73b0\u7535\u529b\u7cfb\u7edf\u7684\u7a33\u5b9a\u8fd0\u884c\u548c\u5feb\u901f\u54cd\u5e94\u3002<\/p>\n\n\n\n \u3000\u30004. \u6c7d\u8f66\u63a7\u5236<\/strong>\uff1aPID\u63a7\u5236\u7b97\u6cd5\u5728\u6c7d\u8f66\u63a7\u5236\u7cfb\u7edf\u4e2d\u88ab\u5e7f\u6cdb\u5e94\u7528\uff0c\u5982\u53d1\u52a8\u673a\u63a7\u5236\u3001\u5239\u8f66\u63a7\u5236\u7b49\u3002\u901a\u8fc7PID\u63a7\u5236\u7b97\u6cd5\uff0c\u53ef\u4ee5\u5b9e\u73b0\u5bf9\u6c7d\u8f66\u7684\u7a33\u5b9a\u6027\u548c\u71c3\u6cb9\u6548\u7387\u7684\u4f18\u5316\u3002<\/p>\n\n\n\n \u3000\u3000PID\u63a7\u5236\u7b97\u6cd5\u662f\u4e00\u79cd\u7ecf\u5178\u7684\u63a7\u5236\u7b97\u6cd5\uff0c\u5177\u6709\u7b80\u5355\u3001\u53ef\u9760\u3001\u6613\u4e8e\u5b9e\u73b0\u7b49\u4f18\u70b9\u3002\u901a\u8fc7\u8c03\u6574PID\u53c2\u6570\uff0c\u53ef\u4ee5\u5b9e\u73b0\u5bf9\u4e0d\u540c\u7cfb\u7edf\u7684\u7cbe\u786e\u63a7\u5236\u3002PID\u63a7\u5236\u7b97\u6cd5\u5728\u5de5\u4e1a\u81ea\u52a8\u5316\u3001\u673a\u5668\u4eba\u63a7\u5236\u3001\u7535\u529b\u7cfb\u7edf\u548c\u6c7d\u8f66\u63a7\u5236\u7b49\u9886\u57df\u90fd\u6709\u7740\u5e7f\u6cdb\u7684\u5e94\u7528\u3002<\/strong>\u968f\u7740\u79d1\u6280\u7684\u4e0d\u65ad\u53d1\u5c55\uff0cPID\u63a7\u5236\u7b97\u6cd5\u4e5f\u5728\u4e0d\u65ad\u6f14\u8fdb\u548c\u6539\u8fdb\uff0c\u4e3a\u5404\u4e2a\u9886\u57df\u7684\u63a7\u5236\u7cfb\u7edf\u63d0\u4f9b\u66f4\u52a0\u7cbe\u786e\u548c\u9ad8\u6548\u7684\u63a7\u5236\u624b\u6bb5\u3002<\/p>\n","protected":false},"excerpt":{"rendered":" PID\u63a7\u5236\u7b97\u6cd5\u662f\u4e00\u79cd\u57fa\u4e8e\u53cd\u9988\u7684\u63a7\u5236\u7b97\u6cd5\uff0c\u5b83\u6839\u636e\u88ab\u63a7\u5236\u5bf9\u8c61\u7684\u5b9e\u9645\u8f93\u51fa\u548c\u671f\u671b\u8f93\u51fa\u4e4b\u95f4\u7684\u5dee\u5f02\u6765\u8c03\u6574\u63a7\u5236\u5668\u7684\u8f93\u51fa\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u88ab\u63a7\u5236\u5bf9\u8c61\u7684\u7cbe\u786e\u63a7\u5236\u3002<\/p>\n","protected":false},"author":1,"featured_media":3671,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"default","ast-global-header-display":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","footnotes":""},"categories":[36],"tags":[251,395],"class_list":["post-22433","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-blog","tag-pid","tag-algorithm"],"_links":{"self":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/posts\/22433"}],"collection":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/comments?post=22433"}],"version-history":[{"count":0,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/posts\/22433\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/media\/3671"}],"wp:attachment":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/media?parent=22433"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/categories?post=22433"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/tags?post=22433"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}\u3000\u3000\u4e8c\u3001PID\u63a7\u5236\u7b97\u6cd5\u516c\u5f0f\u89e3\u6790<\/h2>\n\n\n\n
\u3000\u3000\u4e09\u3001PID\u63a7\u5236\u7b97\u6cd5\u7684\u5e94\u7528\u9886\u57df<\/h2>\n\n\n\n
\u3000\u3000\u603b\u7ed3\uff1a<\/h2>\n\n\n\n