銆婃満姊板伐绋嬫帶鍒跺熀纭�銆嬭瘯鍗风畝绛旈绛旀
锛堣嚜鑰冩湰绉戯級
1.
浣曡皳鎺у埗绯荤粺锛屽紑鐜郴缁熶笌闂幆绯荤粺鏈夊摢浜涘尯鍒紵
绛旓細鎺у埗绯荤粺鏄寚绯荤粺鐨勮緭鍑猴紝鑳芥寜鐓ц姹傜殑鍙傝�冭緭鍏ユ垨鎺у埗杈撳叆杩涜璋?/p>
鑺傜殑銆傚紑鐜郴缁熸瀯閫犵畝鍗曪紝涓嶅瓨鍦ㄤ笉绋冲畾闂銆佽緭鍑洪噺涓嶇敤娴嬮噺锛涢棴鐜郴
缁熸湁鍙嶉銆佹帶鍒剁簿搴﹂珮銆佺粨鏋勫鏉傘�佽璁℃椂闇�瑕佹牎鏍哥ǔ瀹氭�с�?/p>
2.
浠�涔堝彨鐩镐綅瑁曢噺锛熶粈涔堝彨骞呭�艰閲忥紵
绛旓細鐩镐綅瑁曢噺鏄寚鍦ㄤ箖濂庢柉鐗瑰浘涓婏紝浠庡師鐐瑰埌涔冨鏂壒鍥句笌鍗曚綅鍦嗙殑浜ょ偣
杩炰竴鐩寸嚎锛岃鐩寸嚎涓庤礋瀹炶酱鐨勫す瑙掋�傚箙鍊艰閲忔槸鎸囧湪涔冨鏂壒鍥句笂锛屼箖濂?/p>
鏂壒鍥句笌璐熷疄杞翠氦鐐瑰骞呭�肩殑鍊掓暟銆?/p>
3.
璇曞啓鍑?/p>
PID
鎺у埗鍣ㄧ殑浼犻�掑嚱鏁帮紵
绛旓細
G
C
(s)=K
P
+K
Ds
+K
I
/s
4,
浠�涔堝彨鏍℃锛堟垨琛ュ伩锛夛紵
绛旓細
鎵�璋撴牎姝?/p>
锛堟垨绉拌ˉ鍋匡級
锛?/p>
灏辨槸鎸囧湪绯荤粺涓鍔犳柊鐨勭幆鑺傛垨鏀瑰彉鏌愪簺鍙傛暟锛?/p>
浠ユ敼鍠勭郴缁熸�ц兘鐨勬柟娉曘�?/p>
5.
璇风畝杩伴『棣堟牎姝ｇ殑鐗圭偣
绛旓細椤洪鏍℃鐨勭壒鐐规槸鍦ㄥ共鎵板紩璧疯宸箣鍓嶅氨瀵瑰畠杩涜杩戜技琛ュ伩锛屼互渚垮強
鏃舵秷闄ゅ共鎵扮殑褰卞搷銆?/p>
6.
浼犲嚱鐨勪富瑕佺壒鐐规湁鍝簺锛?/p>
绛旓細
锛?/p>
1
锛変紶閫掑嚱鏁板弽鏄犵郴缁熸湰韬殑鍔ㄦ�佺壒鎬э紝鍙笌鏈韩鍙傛暟鍜岀粨鏋勬湁鍏筹紝
涓庡鐣岃緭鍏ユ棤鍏筹紱
锛?/p>
2
锛夊浜庣墿鐞嗗彲瀹炵幇绯荤粺锛屼紶閫掑嚱鏁板垎姣嶄腑
s
鐨勯樁鏁板繀
涓嶅皯浜庡垎瀛愪腑
s
鐨勯樁鏁帮紱
锛?/p>
3
锛変紶閫掑嚱鏁颁笉璇存槑绯荤粺鐨勭墿鐞嗙粨鏋勶紝涓嶅悓鐨勭墿
鐞嗙粨鏋勭郴缁燂紝鍙浠栦滑鐨勫姩鎬佺壒鎬х浉鍚岋紝鍏朵紶閫掑嚱鏁扮浉鍚屻�?/p>
7.
璁剧郴缁熺殑鐗瑰緛鏂圭▼寮忎负
4s
4
+6s
3
+5s
2
+3s+6=0
锛岃瘯鍒ゆ柇绯荤粺绯荤粺鐨勭ǔ瀹氭�с�?/p>
绛旓細鍚勯」绯绘暟涓烘锛屼笖涓嶄负闆讹紝婊¤冻绋冲畾鐨勫繀瑕佹潯浠躲�傚垪鍑哄姵鏂暟鍒楋細
s
4
4
s
3
6 3
s
2
3 6