{"id":417,"date":"2024-10-28T19:04:41","date_gmt":"2024-10-28T11:04:41","guid":{"rendered":"https:\/\/www.armfun.cn\/?p=417"},"modified":"2024-10-30T08:57:04","modified_gmt":"2024-10-30T00:57:04","slug":"%e8%af%a6%e7%bb%86%e4%bb%8b%e7%bb%8dpid%e7%9a%84%e4%bd%9c%e7%94%a8%e5%8f%8a%e5%85%b6%e8%b0%83%e6%95%b4%e6%b5%81%e7%a8%8b%e6%96%b9%e6%b3%95%e3%80%82","status":"publish","type":"post","link":"https:\/\/www.armfun.cn\/?p=417","title":{"rendered":"\u8be6\u7ec6\u4ecb\u7ecdPID\u53c2\u6570\u7684\u4f5c\u7528\u53ca\u5176\u8c03\u6574\u6d41"},"content":{"rendered":"<p>PID\u63a7\u5236\u5668\u901a\u8fc7\u6bd4\u4f8b\uff08P\uff09\u3001\u79ef\u5206\uff08I\uff09\u548c\u5fae\u5206\uff08D\uff09\u4e09\u79cd\u53c2\u6570\u6765\u8c03\u8282\u7cfb\u7edf\u8f93\u51fa\uff0c\u4ee5\u4f7f\u8f93\u51fa\u5c3d\u91cf\u63a5\u8fd1\u76ee\u6807\u503c\u3002\u4ee5\u4e0b\u662f\u4e09\u4e2a\u53c2\u6570\u7684\u4f5c\u7528\u53ca\u5176\u8c03\u6574\u6d41\u7a0b\u548c\u65b9\u6cd5\u3002<\/p>\n<h3>1. PID\u53c2\u6570\u7684\u4f5c\u7528<\/h3>\n<ul>\n<li><strong>P\uff08\u6bd4\u4f8b\uff09<\/strong>\uff1a\u51b3\u5b9a\u7cfb\u7edf\u5bf9\u8bef\u5dee\u7684\u76f4\u63a5\u54cd\u5e94\u529b\u5ea6\u3002\u6bd4\u4f8b\u53c2\u6570\u8d8a\u9ad8\uff0c\u7cfb\u7edf\u5bf9\u8bef\u5dee\u7684\u53cd\u5e94\u8d8a\u5feb\uff0c\u4f46\u53ef\u80fd\u5f15\u8d77\u9707\u8361\u3002\n<ul>\n<li>\u4f5c\u7528\uff1a\u5f53\u8bef\u5dee\u8f83\u5927\u65f6\uff0cP\u80fd\u591f\u5feb\u901f\u8c03\u6574\u7cfb\u7edf\uff0c\u4f46\u5982\u679c\u6bd4\u4f8b\u503c\u8bbe\u7f6e\u8fc7\u9ad8\uff0c\u53ef\u80fd\u5bfc\u81f4\u8f93\u51fa\u9707\u8361\u751a\u81f3\u5931\u7a33\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>I\uff08\u79ef\u5206\uff09<\/strong>\uff1a\u7528\u4e8e\u6d88\u9664\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\uff08\u5373\u8bef\u5dee\u957f\u671f\u5b58\u5728\u7684\u504f\u5dee\uff09\u3002\u79ef\u5206\u53c2\u6570\u7d2f\u79ef\u5386\u53f2\u8bef\u5dee\u5e76\u8fdb\u884c\u8865\u507f\uff0c\u4f7f\u7cfb\u7edf\u5728\u7a33\u5b9a\u65f6\u8bef\u5dee\u8d8b\u8fd1\u4e8e\u96f6\u3002\n<ul>\n<li>\u4f5c\u7528\uff1aI\u5f25\u8865\u4e86P\u63a7\u5236\u65e0\u6cd5\u5b8c\u5168\u6d88\u9664\u8bef\u5dee\u7684\u4e0d\u8db3\uff0c\u4f46\u8fc7\u9ad8\u7684I\u503c\u53ef\u80fd\u5bfc\u81f4\u7cfb\u7edf\u53cd\u5e94\u8fc7\u6162\u3001\u9707\u8361\u52a0\u5267\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>D\uff08\u5fae\u5206\uff09<\/strong>\uff1a\u5bf9\u8bef\u5dee\u7684\u53d8\u5316\u7387\u8fdb\u884c\u54cd\u5e94\uff0c\u9884\u4f30\u8bef\u5dee\u7684\u8d8b\u52bf\u6765\u63d0\u524d\u7ea0\u6b63\uff0c\u4ece\u800c\u63d0\u9ad8\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\u3002D\u63a7\u5236\u5668\u7528\u4e8e\u51cf\u5c0f\u54cd\u5e94\u65f6\u95f4\u548c\u9707\u8361\uff0c\u4f46\u5bf9\u566a\u58f0\u8f83\u654f\u611f\u3002\n<ul>\n<li>\u4f5c\u7528\uff1aD\u53ef\u4ee5\u51cf\u5c0f\u7cfb\u7edf\u8d85\u8c03\u5e76\u5feb\u901f\u8fbe\u5230\u7a33\u5b9a\uff0c\u4f46\u8fc7\u9ad8\u7684D\u503c\u53ef\u80fd\u5bfc\u81f4\u7cfb\u7edf\u8fc7\u5ea6\u654f\u611f\uff0c\u751a\u81f3\u4ea7\u751f\u4e0d\u7a33\u5b9a\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>2. PID\u53c2\u6570\u7684\u8c03\u6574\u6d41\u7a0b\u548c\u65b9\u6cd5<\/h3>\n<p>PID\u53c2\u6570\u8c03\u6574\u65b9\u6cd5\u6709\u51e0\u79cd\u5e38\u7528\u7684\u6d41\u7a0b\uff0c\u4ee5\u4e0b\u662f\u7ecf\u5178\u7684<strong>\u624b\u52a8\u8c03\u6574\u65b9\u6cd5<\/strong>\u4ee5\u53ca<strong>Ziegler-Nichols\u6cd5<\/strong>\uff0c\u8fd9\u662f\u5de5\u7a0b\u4e0a\u5e38\u7528\u7684\u4e24\u79cd\u8c03\u53c2\u65b9\u5f0f\u3002<\/p>\n<h4>\uff081\uff09\u624b\u52a8\u8c03\u6574\u65b9\u6cd5<\/h4>\n<p>\u624b\u52a8\u8c03\u6574\u65b9\u6cd5\u9002\u7528\u4e8e\u5bf9\u7cfb\u7edf\u7279\u6027\u6709\u8f83\u597d\u7406\u89e3\u7684\u60c5\u51b5\uff0c\u53ef\u4ee5\u6839\u636e\u5b9e\u9645\u60c5\u51b5\u4e00\u6b65\u6b65\u8c03\u6574\u3002<\/p>\n<ul>\n<li><strong>\u6b65\u9aa41\uff1a\u8bbe\u5b9aI\u548cD\u4e3a0\uff0c\u4ec5\u8c03\u6574P<\/strong>\n<ul>\n<li>\u4ece\u8f83\u5c0f\u7684P\u503c\u5f00\u59cb\u9010\u6b65\u589e\u5927\uff0c\u89c2\u5bdf\u7cfb\u7edf\u5bf9\u8bef\u5dee\u7684\u53cd\u5e94\u3002\u5982\u679cP\u8fc7\u4f4e\uff0c\u7cfb\u7edf\u4f1a\u53cd\u5e94\u7f13\u6162\u3002\u5982\u679cP\u8fc7\u9ad8\uff0c\u7cfb\u7edf\u5bb9\u6613\u4ea7\u751f\u9707\u8361\u3002\u627e\u5230\u4e00\u4e2a\u5408\u9002\u7684P\u503c\uff0c\u4f7f\u7cfb\u7edf\u80fd\u591f\u8f83\u5feb\u5730\u54cd\u5e94\u8bef\u5dee\u4e14\u9707\u8361\u8f83\u5c11\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6b65\u9aa42\uff1a\u589e\u52a0I\u53c2\u6570\u4ee5\u6d88\u9664\u7a33\u6001\u8bef\u5dee<\/strong>\n<ul>\n<li>\u5f53\u7cfb\u7edf\u8fbe\u5230\u76f8\u5bf9\u7a33\u5b9a\u7684\u54cd\u5e94\u65f6\uff0c\u9010\u6b65\u589e\u5927I\u7684\u503c\u3002I\u7684\u4f5c\u7528\u662f\u6d88\u9664\u8bef\u5dee\uff0c\u4f46\u4e0d\u5b9c\u8fc7\u5927\uff0c\u5426\u5219\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u53cd\u5e94\u53d8\u6162\u751a\u81f3\u4e0d\u7a33\u5b9a\u3002\u8c03\u6574I\u5230\u4e00\u4e2a\u5408\u9002\u7684\u6c34\u5e73\uff0c\u4f7f\u7cfb\u7edf\u7a33\u6001\u8bef\u5dee\u5c3d\u53ef\u80fd\u5c0f\uff0c\u8fbe\u5230\u7a33\u5b9a\u5e73\u8861\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6b65\u9aa43\uff1a\u6dfb\u52a0D\u53c2\u6570\u4ee5\u51cf\u5c0f\u8d85\u8c03\u548c\u9707\u8361<\/strong>\n<ul>\n<li>\u5728P\u548cI\u8c03\u597d\u540e\uff0c\u9010\u6b65\u589e\u52a0D\u7684\u503c\uff0c\u89c2\u5bdf\u7cfb\u7edf\u7684\u8d85\u8c03\u548c\u9707\u8361\u60c5\u51b5\u3002D\u7684\u4e3b\u8981\u4f5c\u7528\u662f\u6291\u5236\u8bef\u5dee\u7684\u5feb\u901f\u53d8\u5316\uff0c\u56e0\u6b64\u5408\u9002\u7684D\u503c\u53ef\u4ee5\u51cf\u5c0f\u8d85\u8c03\u5e76\u52a0\u901f\u7cfb\u7edf\u7a33\u5b9a\uff0c\u4f46D\u8fc7\u5927\u5bb9\u6613\u4f7f\u7cfb\u7edf\u654f\u611f\u3001\u6296\u52a8\u589e\u5927\u3002\u627e\u5230D\u7684\u6700\u4f73\u503c\uff0c\u4f7f\u7cfb\u7edf\u53cd\u5e94\u5e73\u7a33\u4e14\u5feb\u901f\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h4>\uff082\uff09Ziegler-Nichols\u6cd5<\/h4>\n<p>Ziegler-Nichols\u6cd5\u662f\u7ecf\u5178\u7684\u5de5\u7a0b\u8c03\u53c2\u65b9\u6cd5\uff0c\u901a\u8fc7\u8bf1\u53d1\u7cfb\u7edf\u632f\u8361\u6765\u786e\u5b9aPID\u53c2\u6570\uff0c\u9002\u5408\u63a7\u5236\u6027\u80fd\u7a33\u5b9a\u7684\u7cfb\u7edf\u3002<\/p>\n<ul>\n<li><strong>\u6b65\u9aa41\uff1a\u8bbe\u5b9aI\u548cD\u4e3a0\uff0c\u4ec5\u8c03\u6574P<\/strong>\n<ul>\n<li>\u589e\u5927P\u503c\uff0c\u76f4\u5230\u7cfb\u7edf\u8f93\u51fa\u5f00\u59cb\u6301\u7eed\u9707\u8361\uff0c\u8bb0\u5f55\u6b64\u65f6\u7684P\u503c\uff08\u79f0\u4e3a\u201c\u4e34\u754c\u6bd4\u4f8b\u589e\u76ca\u201d $K_u$\uff09\uff0c\u4ee5\u53ca\u9707\u8361\u5468\u671f $T_u$\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6b65\u9aa42\uff1a\u6839\u636eZiegler-Nichols\u516c\u5f0f\u786e\u5b9aP\u3001I\u3001D\u503c<\/strong>\n<ul>\n<li>\u6839\u636e\u9707\u8361\u5468\u671f\u548c\u4e34\u754c\u589e\u76ca\u503c\uff0c\u901a\u8fc7\u4ee5\u4e0b\u516c\u5f0f\u8bbe\u5b9aPID\u53c2\u6570\uff1a\n<ul>\n<li><strong>P\u63a7\u5236\u5668<\/strong>\uff1a $P = 0.5 \\times K_u$<\/li>\n<li><strong>PI\u63a7\u5236\u5668<\/strong>\uff1a $P = 0.45 \\times K_u$, $I = 1 \/ (1.2 \\times T_u)$<\/li>\n<li><strong>PID\u63a7\u5236\u5668<\/strong>\uff1a $P = 0.6 \\times K_u$, $I = 2 \/ T_u$, $D = T_u \/ 8$<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6b65\u9aa43\uff1a\u6839\u636e\u9700\u8981\u8fdb\u884c\u5fae\u8c03<\/strong>\n<ul>\n<li>\u6839\u636e\u7cfb\u7edf\u8868\u73b0\uff0c\u53ef\u4ee5\u5fae\u8c03\u5404\u4e2a\u53c2\u6570\uff0c\u4f7f\u7cfb\u7edf\u5728\u5b9e\u9645\u73af\u5883\u4e2d\u8fbe\u5230\u66f4\u597d\u7684\u6548\u679c\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>3. \u8c03\u53c2\u4e2d\u7684\u5e38\u89c1\u95ee\u9898\u4e0e\u8c03\u6574\u6280\u5de7<\/h3>\n<ul>\n<li><strong>\u7cfb\u7edf\u54cd\u5e94\u8fc7\u6162<\/strong>\uff1a\u589e\u5927P\u6216\u51cf\u5c0fI\u503c\u3002<\/li>\n<li><strong>\u7cfb\u7edf\u9707\u8361\u4e25\u91cd<\/strong>\uff1a\u964d\u4f4eP\u6216\u589e\u5927D\u503c\u3002<\/li>\n<li><strong>\u7a33\u6001\u8bef\u5dee\u5b58\u5728<\/strong>\uff1a\u589e\u5927I\u503c\uff0c\u51cf\u5c0fP\u503c\u3002<\/li>\n<li><strong>\u8d85\u8c03\u73b0\u8c61\u660e\u663e<\/strong>\uff1a\u589e\u5927D\u503c\u6216\u51cf\u5c0fP\u503c\u3002<\/li>\n<\/ul>\n<p>PID\u8c03\u53c2\u662f\u4e00\u4e2a\u9700\u8981\u7ed3\u5408\u7cfb\u7edf\u5b9e\u9645\u60c5\u51b5\u53cd\u590d\u5c1d\u8bd5\u7684\u8fc7\u7a0b\uff0c\u901a\u8fc7\u9010\u6b65\u8c03\u6574\u5404\u4e2a\u53c2\u6570\uff0c\u627e\u5230\u80fd\u591f\u5728\u54cd\u5e94\u901f\u5ea6\u3001\u7a33\u5b9a\u6027\u548c\u7cbe\u5ea6\u4e4b\u95f4\u8fbe\u5230\u5e73\u8861\u7684\u53c2\u6570\u7ec4\u5408\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>PID\u63a7\u5236\u5668\u901a\u8fc7\u6bd4\u4f8b\uff08P\uff09\u3001\u79ef\u5206\uff08I\uff09\u548c\u5fae\u5206\uff08D\uff09\u4e09\u79cd\u53c2\u6570\u6765\u8c03\u8282\u7cfb\u7edf\u8f93\u51fa&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8],"tags":[],"class_list":["post-417","post","type-post","status-publish","format-standard","hentry","category-8"],"views":2504,"_links":{"self":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/417","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=417"}],"version-history":[{"count":3,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/417\/revisions"}],"predecessor-version":[{"id":420,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/417\/revisions\/420"}],"wp:attachment":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=417"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=417"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=417"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}