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3.1 PID 3.1.1 PID 3.1.2 PID 3.1.3 PID 3.1.4 PID 3.1.5 PID 3.2 3.3 PID 2
3
3.1.1 PID 4
3.1 PID 3.1.1 PID 3.1.2 PID 3.1.3 PID 3.1.4 PID 3.1.5 PID 3.2 3.3 PID 5
3.1.2 PID 6
ut () = Kt () + u p 0 7
8
1 t u= Kp t () + tdt () + u 0 i i 0 9
(t) 1 t u= Kp t () + tdt () + u 0 i 0 u(t) 10
11
1 t d( t) ut () = Kp[() t + tdt () + d ] + u 0 dt d i 0 t = t 0 12
1 t d( t) ut () = Kp[() t + tdt () + d ] + u 0 dt (t) i 0 u(t) 13
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3.1 PID 3.1.1 PID 3.1.2 PID 3.1.3 PID 3.1.4 PID 3.1.5 PID 3.2 3.3 PID 15
3.1.3 PID 16
U E ( s ) ( s ) = K p i 1 p (1 + s + i d s ) 1 t d( t) u( t) = K p [1 + ( t) dt + ] 0 d i dt K u d 17
t 0 ( t ) dt j = = 0,1,2,L ( 1) () 1 0 d ( t ) ( ) ( 1 ) dt ( j ) 18
19 = + + = j d i p j K u 0 1)]} ( ) ( [ ) ( ) ( { ) ( () u
PID PID PID 1 d u = Kp( + dt+ d ) dt i PID u = K p { + 1 i j= 1 j + d 1 } 20
21 = + + = j d j i p K u 1 1 } 1 { PID PID ) 2 ( ) ( 2 1 1 + + + = d i p K K K u
22 PID 1 = u u u = + + = j d j i p K u 1 1 } 1 { = + + = 1 1 2 1 1 1 } 1 { j d j i p K u ) 2 ( ) ( 2 1 ) {( 2 1 1 2 1 1 + + + = + + + = d i p d i p K K K K u i p i K K = K K d p d =
PID u = A + B + 1 CK 2 A = K p (1 + + i d ) B = K p (1 + 2 d ) C = K p d PID 1 2 3 23
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3.1 PID 3.1.1 PID 3.1.2 PID 3.1.3 PID 3.1.4 PID 3.1.5 PID 3.2 3.3 PID 25
3.1.4 PID 1 PID B B B u = u 0 < B B B B B B 26
3.1.4 PID 2. (1) D/A PID 27
28
u ( ) = K ( ) + α K ( j) + K [ ( ) ( 1)] P I D j= 0 ε ; ()>ε α=0 ()<=ε α=1 29
u() u(-1) () u ( 1) u ( ) 0 max min ( ) < 0 u ( 1) u ( ) 0 ( ) > 0 30
u ( 1) u max u ( 1) < u max 31
s 1/ t s =0 s s 32
3.1.4 PID 3 PID 33
PID PID KP / I KPDs U() s = KP + + E() s = UP() s + UI() s + UD() s s 1+ f s Ks P D d UD () s = E() s D( ) d() u t 1 + f + ud() t = K t PD s f dt dt ud( ) ud( 1) ( ) ( 1) ud ( ) + f = KPD f KPD ud( ) = ud( 1) + [ ( ) ( 1)] + f + f K u u P D D( ) = α D( 1) + (1 α)[ ( ) ( 1)] = P + I + j= 0 u ( ) K ( ) K ( j) u ( ) 34 D
PID PID () 35
PID 36
3.1.4 PID 4. 1 1 z 1 1 ( ) I 37
5. PI PID 5-29 PI 1 p α z u ( ) = ( ) = (1 ) ( ) 1 p + 1 α z 1 z 1 1 (1 ) 1 α z 1 α z 1 (1 α) z = 1 1 u ( ) = u( ) 1 38
3.1 PID 3.1.1 PID 3.1.2 PID 3.1.3 PID 3.1.4 PID 3.1.5 PID 3.2 3.3 PID 39
3.1.5 PID K p i d K p i d 40
1 f s ( 5 ~ 10) f max 10~20s 1~5s 3~10s 6~8s 15~20s 41
2 PID (1) K P (2) i 1 K P i K P i (3) PI 2 d K P i 42
3 (1) 1/10 (2) (=1/K P ) ( ) (3) = 2 [ ( t)d t] 0 DDC 2 [ ( t)d t] 0 (4) K P i d (5) P I D 43
/ K P /K i /R d / 1.05 PI PID 0.03 0.014 0.53 0.63 0.88 0.49 0.14 1.20 PI PID 0.05 0.043 0.49 0.47 0.91 0.47 0.16 1.50 PI PID 0.14 0.09 0.42 0.34 0.99 0.43 0.20 2.0 PI PID 0.22 0.16 0.36 0.27 1.05 0.40 0.22 44
= i = 0. 5 d = 0. 125 0. 1 / K p /K i / d / PI 0.45 0.83 PID 0.1 0.6 0.5 0.125 i d PID u = u K p = d {( 1) + + ( 2 1 + 2 )} K p ( 2.45 3.5 1 + 1.25 2) 45 i
3.1 PID 3.1.1 PID 3.1.2 PID 3.1.3 PID 3.1.4 PID 3.1.5 PID 3.2 3.3 PID 46
3.2 3.2.1 47
3.2 3.2.1 48
3.2 3.2.2 49
3.2 3.2.2 50
3.2 3.2.2 Smith) G B DsG () p() s () s = 1 + D( sg ) ( s ) τ s p τ s τ s 51
3.2 3.2.2 Smith) Smith Ds () Dτ () s = s 1 + τ DsG ( ) ( s)(1 ) (, ) DsG () () s G () s = + p p τ s B 1 DsG ( ) p( s) 52
3.2 3.2.2 Smith) PID K τ s p τ s G p ( s) = 1 + p s K G ( s) = G ( s)(1 ) = (1 ) τ s p τ s τ p 1 + p s 53
3.2 3.2.2 Smith) (1) (2) (3) (4) PID ( ) 1 ( ) = r( ) y( ) 1 y ( ) Ys ( s) K s p Ns G p ( s)(1 τ = ) = (1 ) U( s) 1+ s y s( ) = ays( 1) + b[ u( 1) u( N 1)] a = + ( ) p 2 2( ) = 1( ) ys( ) u ( ) P 2 2 i 2 d 2 2 2 p s b= K (1 ) p a u ( ) = K[ ( ) ( 1)] + K( ) + K[ ( ) 2 ( 1) + ( 2)] 54
3.1 PID 3.1.1 PID 3.1.2 PID 3.1.3 PID 3.1.4 PID 3.1.5 PID 3.2 3.3 PID 55
3.3 PID PID PID -- 56
3.3 PID 3.3.1 57
3.3 PID 3.3.2 58
3.3 PID 3.3.3 59
3.3 PID 3.3.3 1) 2) 3) 4) 60
3.3 PID 3.3.3 1) =1 =0 = = r y y r 2) 3) 4) 61
3.3 PID 3.3.3 1) 2) 3) 4) 62
3.3 PID 3.3.3 1) 2) 3) u = K u PID K = 0 < 0 PID K < 1 1 PID PID 4) 63
3.3 PID 3.3.3 1) 2) 3) 4) ICM ICM = 0 1 2 3 64
3.3 PID 3.3.4 PID (1) PID? (2)? 65
3.3 PID 3.3.5 66
3.3 PID 3.3.5 1) PID OCM OCM = 0 1 2 3 67
3.3 PID 3.3.5 2) 3) 4) } 68
3.3 PID 3.3.6 69
83794165 xzdai@su.du.cn 70
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