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PIDąǿϵyOӋĺăǸ^(gu)̵Դ_PIDıϵe֕r(sh)g֕r(sh)gĴСPIDķܶ(li)Ѓɴ(li)һՓӋҪϵyĔW(xu)ģ(jng)^(gu)ՓӋ_@NõӋ㔵δؿֱ߀ͨ^(gu)̌(sh)HM(jn){ǹҪه(li)̽(jng)ֱڿϵyԇM(jn)ҷ(jin)ڹ̌(sh)HбVPIDĹҪR(xin)˥pNc(din)乲ͬc(din)ͨ^(gu)ԇȻչ̽(jng)ʽM(jn)o(w)ՓһNõĿҪڌ(sh)H\M(jn){cơFһõRԓM(jn) PIDE£(1)Axһ(g)̵IJɘϵy(2)Hƭh(hun)ֱϵyݔAS푑FRʎӛ@r(sh)ıŴϵRʎ(3)һĿƶͨ^(gu)ʽӋõPIDą PIDOǿ(jng)ˇϤyֵۙcOֵ(xin)Ķ{P\I\DĴС I/D=2wֵɸx{PP^(gu)^_ĕr(sh)gL(chng)P̫(hu )ʎhҲOҪ PIDĹ,N{ϵyP.I.D(jng)¿Ʌգ ضT: P=20~60%,T=180~600s,D=3-180s P: P=30~70%,T=24~180s, ҺλL: P=20~80%,T=60~300s, L: P=40~100%,T=6~60s ÿE С DZeּٰ (xin)ʎlȱP(pn)ҪŴ (xin)Ư@ȱP(pn)С (xin)ƫx؏e֕r(sh)g½ (xin)(dng)L(chng)e֕r(sh)gټL(chng) (xin)ʎlʿȰֽ(li) (dng)(li)(dng)֕r(sh)gL(chng) (xin)ɂ(g)ǰߺ41 һ{{|(zh)(hu ) MATLAB·һ ͌(dng)B(ti)Ӱ ՈM(jn)PIDƼMATLAB桱ӹI(y)20031° 늄(dng)y_(ki)ȁ(li)_ƜضǿԵ҂(g)Jñ늴y늄(dng)yȫԌ(sh)FPIDĿ늴yИ˜ʵģMݔ̖ͷ̖ҾPID{(jng)^(gu)Ĺ(jng)҂(g)JPIDOõĴСһҪƌľwrһǽ(jng)PǽQֵʎP˕(hu )FֵʎķȴʎlСϵy_r(sh)gL(chng)IǽQ(dng)푑ٶȿI푑ٶ֮tDoB(ti)`һDOö^СҌϵyӰ푱^СڜضȿϵyP5-10%֮gI180-240s֮gD30ډϵyP30-60%֮gI30-90s֮gD30 |
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