{"id":22498,"date":"2023-08-26T00:36:20","date_gmt":"2023-08-25T16:36:20","guid":{"rendered":"https:\/\/www.techphant.cn\/?p=22498"},"modified":"2023-08-26T00:36:24","modified_gmt":"2023-08-25T16:36:24","slug":"yhpsgcsdtzff","status":"publish","type":"post","link":"https:\/\/www.techphant.cn\/blog\/22498.html","title":{"rendered":"\u4f18\u5316PID\u4e09\u4e2a\u53c2\u6570\u7684\u8c03\u6574\u65b9\u6cd5"},"content":{"rendered":"\n

\u3000\u3000\u5728\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0cPID\u63a7\u5236\u5668\u662f\u6700\u5e38\u7528\u7684\u4e00\u79cd\u63a7\u5236\u5668\u7c7b\u578b\u3002PID\u63a7\u5236\u5668\u901a\u8fc7\u8c03\u6574\u4e09\u4e2a\u53c2\u6570\uff0c\u5373\u6bd4\u4f8b\u589e\u76ca(Proportional gain)\u3001\u79ef\u5206\u65f6\u95f4(Integral time)\u548c\u5fae\u5206\u65f6\u95f4(Derivative time)\uff0c\u6765\u5b9e\u73b0\u5bf9\u7cfb\u7edf\u7684\u63a7\u5236\u3002\u672c\u6587\u5c06\u4ecb\u7ecd\u5982\u4f55\u4f18\u5316PID\u4e09\u4e2a\u53c2\u6570\u7684\u8c03\u6574\u65b9\u6cd5\uff0c\u4ee5\u63d0\u5347\u63a7\u5236\u7cfb\u7edf\u7684\u6027\u80fd\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e00\u3001PID\u63a7\u5236\u5668\u6982\u8ff0<\/h2>\n\n\n\n

\u3000\u3000PID\u63a7\u5236\u5668\u662f\u7531\u6bd4\u4f8b\u63a7\u5236\u3001\u79ef\u5206\u63a7\u5236\u548c\u5fae\u5206\u63a7\u5236\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\u7684\u3002\u6bd4\u4f8b\u63a7\u5236\u90e8\u5206\u901a\u8fc7\u4e0e\u8bef\u5dee\u4fe1\u53f7\u76f8\u4e58\uff0c\u4ea7\u751f\u63a7\u5236\u91cf;\u79ef\u5206\u63a7\u5236\u90e8\u5206\u901a\u8fc7\u5bf9\u8bef\u5dee\u4fe1\u53f7\u8fdb\u884c\u79ef\u5206\uff0c\u6d88\u9664\u7a33\u6001\u8bef\u5dee;\u5fae\u5206\u63a7\u5236\u90e8\u5206\u901a\u8fc7\u5bf9\u8bef\u5dee\u4fe1\u53f7\u7684\u53d8\u5316\u7387\u8fdb\u884c\u5fae\u5206\uff0c\u63d0\u524d\u9884\u6d4b\u7cfb\u7edf\u54cd\u5e94\u3002<\/strong><\/p>\n\n\n\n

\u3000\u3000\u4e8c\u3001\u8c03\u6574PID\u4e09\u4e2a\u53c2\u6570\u7684\u65b9\u6cd5<\/h2>\n\n\n\n

\u3000\u30001. \u521d\u59cb\u53c2\u6570\u8bbe\u5b9a<\/h3>\n\n\n\n

\u3000\u3000\u5728\u5f00\u59cb\u8c03\u6574PID\u4e09\u4e2a\u53c2\u6570\u4e4b\u524d\uff0c\u9700\u8981\u5148\u8bbe\u7f6e\u521d\u59cb\u53c2\u6570\u3002\u53ef\u4ee5\u6839\u636e\u7ecf\u9a8c\u503c\u6216\u8005\u7cfb\u7edf\u6a21\u578b\u6765\u8bbe\u5b9a\u4e00\u4e2a\u521d\u503c\uff0c\u7136\u540e\u901a\u8fc7\u8c03\u6574\u4f18\u5316\u6765\u83b7\u5f97\u6700\u4f73\u7684\u53c2\u6570\u3002<\/p>\n\n\n\n

\u3000\u30002. \u6bd4\u4f8b\u589e\u76ca\u7684\u8c03\u6574<\/h3>\n\n\n\n

\u3000\u3000\u6bd4\u4f8b\u589e\u76ca\u662fPID\u63a7\u5236\u5668\u4e2d\u6700\u4e3b\u8981\u7684\u53c2\u6570\u4e4b\u4e00\u3002\u5b83\u51b3\u5b9a\u4e86\u63a7\u5236\u5668\u5bf9\u8bef\u5dee\u7684\u54cd\u5e94\u901f\u5ea6\u3002\u589e\u5927\u6bd4\u4f8b\u589e\u76ca\u53ef\u4ee5\u52a0\u5feb\u7cfb\u7edf\u7684\u54cd\u5e94\u901f\u5ea6\uff0c\u4f46\u8fc7\u5927\u7684\u6bd4\u4f8b\u589e\u76ca\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u632f\u8361\uff0c\u8fc7\u5c0f\u7684\u6bd4\u4f8b\u589e\u76ca\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u54cd\u5e94\u8fdf\u7f13\u3002\u56e0\u6b64\uff0c\u9700\u8981\u901a\u8fc7\u8bd5\u9519\u6cd5\u6216\u8005\u81ea\u9002\u5e94\u8c03\u6574\u65b9\u6cd5\u6765\u627e\u5230\u6700\u4f73\u7684\u6bd4\u4f8b\u589e\u76ca\u3002<\/p>\n\n\n\n

\u3000\u30003. \u79ef\u5206\u65f6\u95f4\u7684\u8c03\u6574<\/h3>\n\n\n\n

\u3000\u3000\u79ef\u5206\u65f6\u95f4\u51b3\u5b9a\u4e86\u63a7\u5236\u5668\u5bf9\u7cfb\u7edf\u7a33\u6001\u8bef\u5dee\u7684\u8865\u507f\u80fd\u529b\u3002\u589e\u5927\u79ef\u5206\u65f6\u95f4\u53ef\u4ee5\u51cf\u5c0f\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\uff0c\u4f46\u8fc7\u5927\u7684\u79ef\u5206\u65f6\u95f4\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u7684\u8d85\u8c03\u548c\u632f\u8361\u3002\u56e0\u6b64\uff0c\u9700\u8981\u901a\u8fc7\u8bd5\u9519\u6cd5\u6216\u8005\u81ea\u9002\u5e94\u8c03\u6574\u65b9\u6cd5\u6765\u627e\u5230\u6700\u4f73\u7684\u79ef\u5206\u65f6\u95f4\u3002<\/p>\n\n\n\n

\u3000\u30004. \u5fae\u5206\u65f6\u95f4\u7684\u8c03\u6574<\/h3>\n\n\n\n

\u3000\u3000\u5fae\u5206\u65f6\u95f4\u51b3\u5b9a\u4e86\u63a7\u5236\u5668\u5bf9\u7cfb\u7edf\u54cd\u5e94\u901f\u5ea6\u7684\u8c03\u8282\u80fd\u529b\u3002\u589e\u5927\u5fae\u5206\u65f6\u95f4\u53ef\u4ee5\u63d0\u9ad8\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\u548c\u54cd\u5e94\u901f\u5ea6\uff0c\u4f46\u8fc7\u5927\u7684\u5fae\u5206\u65f6\u95f4\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u7684\u566a\u58f0\u653e\u5927\u3002\u56e0\u6b64\uff0c\u9700\u8981\u901a\u8fc7\u8bd5\u9519\u6cd5\u6216\u8005\u81ea\u9002\u5e94\u8c03\u6574\u65b9\u6cd5\u6765\u627e\u5230\u6700\u4f73\u7684\u5fae\u5206\u65f6\u95f4\u3002<\/p>\n\n\n\n

\u3000\u3000\u4e09\u3001\u5e38\u7528\u7684PID\u53c2\u6570\u8c03\u6574\u65b9\u6cd5<\/h2>\n\n\n\n

\u3000\u30001. Ziegler-Nichols\u65b9\u6cd5<\/h3>\n\n\n\n

\u3000\u3000Ziegler-Nichols\u65b9\u6cd5\u662f\u4e00\u79cd\u7ecf\u5178\u7684PID\u53c2\u6570\u8c03\u6574\u65b9\u6cd5\u3002\u8be5\u65b9\u6cd5\u901a\u8fc7\u8bd5\u9519\u6cd5\u6765\u627e\u5230\u6700\u4f73\u7684\u53c2\u6570\u3002\u9996\u5148\uff0c\u5c06\u6bd4\u4f8b\u589e\u76ca\u8c03\u8282\u5230\u4e34\u754c\u503c\uff0c\u7136\u540e\u6839\u636e\u7cfb\u7edf\u7684\u632f\u8361\u5468\u671f\u6765\u8ba1\u7b97\u51fa\u79ef\u5206\u65f6\u95f4\u548c\u5fae\u5206\u65f6\u95f4\u3002<\/p>\n\n\n\n

\u3000\u30002. \u8c03\u8bd5\u6cd5<\/h3>\n\n\n\n

\u3000\u3000\u8c03\u8bd5\u6cd5\u662f\u4e00\u79cd\u57fa\u4e8e\u7ecf\u9a8c\u7684PID\u53c2\u6570\u8c03\u6574\u65b9\u6cd5\u3002\u901a\u8fc7\u89c2\u5bdf\u7cfb\u7edf\u7684\u54cd\u5e94\u66f2\u7ebf\uff0c\u8c03\u6574\u6bd4\u4f8b\u589e\u76ca\u3001\u79ef\u5206\u65f6\u95f4\u548c\u5fae\u5206\u65f6\u95f4\uff0c\u4ee5\u83b7\u5f97\u6700\u4f73\u7684\u63a7\u5236\u6548\u679c\u3002<\/p>\n\n\n\n

\u3000\u30003. \u81ea\u9002\u5e94\u65b9\u6cd5<\/h3>\n\n\n\n

\u3000\u3000\u81ea\u9002\u5e94\u65b9\u6cd5\u662f\u4e00\u79cd\u6839\u636e\u7cfb\u7edf\u5b9e\u65f6\u54cd\u5e94\u6765\u8c03\u6574PID\u53c2\u6570\u7684\u65b9\u6cd5\u3002\u901a\u8fc7\u76d1\u6d4b\u7cfb\u7edf\u7684\u8bef\u5dee\u548c\u54cd\u5e94\u901f\u5ea6\uff0c\u81ea\u52a8\u8c03\u6574\u6bd4\u4f8b\u589e\u76ca\u3001\u79ef\u5206\u65f6\u95f4\u548c\u5fae\u5206\u65f6\u95f4\uff0c\u4ee5\u5b9e\u73b0\u6700\u4f73\u7684\u63a7\u5236\u6548\u679c\u3002<\/p>\n\n\n\n

\u3000\u3000\u56db\u3001\u603b\u7ed3<\/h2>\n\n\n\n

\u3000\u3000PID\u63a7\u5236\u5668\u662f\u63a7\u5236\u7cfb\u7edf\u4e2d\u6700\u5e38\u7528\u7684\u4e00\u79cd\u63a7\u5236\u5668\u7c7b\u578b\uff0c\u901a\u8fc7\u8c03\u6574PID\u4e09\u4e2a\u53c2\u6570\u53ef\u4ee5\u63d0\u5347\u63a7\u5236\u7cfb\u7edf\u7684\u6027\u80fd\u548c\u7a33\u5b9a\u6027\u3002\u5728\u8c03\u6574\u53c2\u6570\u65f6\uff0c\u53ef\u4ee5\u4f7f\u7528\u7ecf\u5178\u7684Ziegler-Nichols\u65b9\u6cd5\u3001\u8c03\u8bd5\u6cd5\u6216\u8005\u81ea\u9002\u5e94\u65b9\u6cd5\u3002<\/strong>\u6839\u636e\u5177\u4f53\u7684\u7cfb\u7edf\u8981\u6c42\u548c\u5b9e\u9645\u60c5\u51b5\uff0c\u9009\u62e9\u5408\u9002\u7684\u8c03\u6574\u65b9\u6cd5\uff0c\u5e76\u901a\u8fc7\u8bd5\u9519\u6cd5\u6216\u8005\u81ea\u9002\u5e94\u8c03\u6574\u65b9\u6cd5\u6765\u627e\u5230\u6700\u4f73\u7684PID\u53c2\u6570\u7ec4\u5408\u3002<\/p>\n\n\n\n

\u3000\u3000\u901a\u8fc7\u4f18\u5316PID\u4e09\u4e2a\u53c2\u6570\u7684\u8c03\u6574\u65b9\u6cd5\uff0c\u6211\u4eec\u53ef\u4ee5\u63d0\u5347\u63a7\u5236\u7cfb\u7edf\u7684\u6027\u80fd\uff0c\u5b9e\u73b0\u66f4\u7cbe\u786e\u7684\u63a7\u5236\u548c\u66f4\u7a33\u5b9a\u7684\u7cfb\u7edf\u54cd\u5e94\u3002\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u9700\u8981\u7ed3\u5408\u5177\u4f53\u7684\u7cfb\u7edf\u8981\u6c42\u548c\u5b9e\u9645\u60c5\u51b5\uff0c\u9009\u62e9\u9002\u5408\u7684\u8c03\u6574\u65b9\u6cd5\uff0c\u5e76\u8fdb\u884c\u5b9e\u65f6\u76d1\u6d4b\u548c\u8c03\u6574\uff0c\u4ee5\u83b7\u5f97\u6700\u4f73\u7684\u63a7\u5236\u6548\u679c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

PID\u63a7\u5236\u5668\u662f\u7531\u6bd4\u4f8b\u63a7\u5236\u3001\u79ef\u5206\u63a7\u5236\u548c\u5fae\u5206\u63a7\u5236\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\u7684\u3002\u6bd4\u4f8b\u63a7\u5236\u90e8\u5206\u901a\u8fc7\u4e0e\u8bef\u5dee\u4fe1\u53f7\u76f8\u4e58\uff0c\u4ea7\u751f\u63a7\u5236\u91cf;\u79ef\u5206\u63a7\u5236\u90e8\u5206\u901a\u8fc7\u5bf9\u8bef\u5dee\u4fe1\u53f7\u8fdb\u884c\u79ef\u5206\uff0c\u6d88\u9664\u7a33\u6001\u8bef\u5dee;\u5fae\u5206\u63a7\u5236\u90e8\u5206\u901a\u8fc7\u5bf9\u8bef\u5dee\u4fe1\u53f7\u7684\u53d8\u5316\u7387\u8fdb\u884c\u5fae\u5206\uff0c\u63d0\u524d\u9884\u6d4b\u7cfb\u7edf\u54cd\u5e94\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],"class_list":["post-22498","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-blog","tag-pid"],"_links":{"self":[{"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/posts\/22498","targetHints":{"allow":["GET"]}}],"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=22498"}],"version-history":[{"count":0,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/posts\/22498\/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=22498"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/categories?post=22498"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.techphant.cn\/wp-json\/wp\/v2\/tags?post=22498"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}