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PID

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PID

PID
PIDKp

PID
1

18

916

PID

PIDPID
1

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PID

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PID

3)

4PID

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PID

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PID

4PI

PID

6)

7DPID
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PID

PI

PID

PID

2015926@7

20150926

88

//
23

PIDcontrollerLeadlag

Kpproportionalgain,Tiintegraltime,\alpha1\tau

leadlagBode
Bodeplot120dB/dec
20141023

MarinaZhao
59

ygHUCharmYoung

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PID

2014.12.06

components

PIDPID

PID

P5v10v
5'V.15+510V
210v
10v20v

I
0
0
D

PID!
'PID
!PID

!
,
PID

PID
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PID

20141206

Data
22

groundhogscrapper
PID

PID

e(t)trackingerror
r(t)x

PID
D
Px

P
D
I
tI

MCKPID
P,DI

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PID

20140802

WiikongVan

PIDPID

http://zhouf601117.blog.163.com/blog/static/1265510662011030115310494/

20150406

bigtreePhD
13

CharmYoung
1.
P2.I3.
DPID

20150213

Plc
40

yulove

()

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PID

30

10

20140529

lo
10

oscarxupie
PID
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,
,

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PID

www.cmnxt.com

PID

PID
Kp,KiKdKs"ZieglerNichols"
PID

PID

KiKd0
Tp25.
Kp
1100
5Kp100/5=20+5,100,
0Tp
2Kp1100
3K's1001100,202000,10010000.
Kp
KpKpKp"Kc"
PID
KcKp
Pc)
Pc0.512
10,000

PIDNXTG
dT
0.0150.020
Kp,Ki,KcPPKp
(Ki'Kd'0)PIPID

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PID

K100
100Kp=Kc

Kp,KiKd30%

KTP
TPK1

ZieglerNicholsK'
dT)

Kp
Ki'
Kd'
P
0.50Kc
0
0
PI
0.45Kc
1.2KpdT/Pc
0
PID
0.60Kc
2KpdT/Pc
KpPc/(8dT)
Ki'Kd'Ki'Kd'ki'=ki*dtkd=kd/dt
dT
Kc300Kp=Kc0.8
Pc0.8PcdT
0.014/10,000NXT
PID
Kp=(0.60)(Kc)=(0.60)(300)=180
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PID

Ki=2(Kp)(dT)/(Pc)=2(180)(0.014)/(0.8)=6.3(whichisroundedto6)6
Kd=(Kp)(Pc)/((8)(dT))=(180)(0.8)/((8)(0.014))=1286
Kp,KiKd220,7500K
1002.20.075
Kp,Ki,Kd
PIDK
wiki
PID

Parameter

Risetime

Overshoot

Settlingtime

Errorat
equilibrium

Kp

Ki

Kd

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PID

KpKpKp

KdKiKp
Kd

......
0KiKd
KiKd

PPDKp
PPD
IKi

isef
20150418

/
15

PID
PID

PID

20150226

c
18

kingkong
pid

1,2,
3,

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PID

0.00000001n1n1n

PID
pidcpu
cpu
p
0mm1mm0.2mm0.2mm
cpu0.2,0.2cpu
0.2210cpu2

0.20.01
0.01100.1
0.11cpu1cpu
0.210.410.912.2
1mmcpu1cpu

20160112

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PID

41

20150926

fire
PIDPID

20150213

2B
2

ODE
PIDPrincipalIdealDomain
20150925

PI

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PID

CD
Fqp
A
20150424

yanliu
0

20160413

p
i
d
pid
20160114

pidnb

PIDPID

20151229

youtube.com/watch?...

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PID

MITteachingexampleforPIDbasedlanekeeping.BestEver
20151211

1483

10
43

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PID

PID95%
13

14

2016

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