榫欐簮鏈熷垔缃?/p>
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PID
鎺у埗鍣ㄤ笌鐘舵�佸弽棣堟帶鍒跺櫒
MATLAB
鏁?/p>
瀛﹀疄渚嬭璁?/p>
浣滆�咃細寮犳爧
鏉ユ簮锛氥�婃暀鑲叉暀瀛﹁鍧涖�?/p>
2015
骞寸
04
鏈?/p>
鎽樿锛氫负瑙ｅ喅鎺у埗鐞嗚鎺堣杩囩▼涓?/p>
PID
鎺у埗鍣ㄤ笌鐘舵�佸弽棣堟帶鍒跺櫒璁捐鐨勫尯鍒笌鑱旂郴锛屾湰鏂?/p>
璁捐浜嗕竴涓?/p>
MATLAB/SIMULINK
浠跨湡鏁欏瀹炰緥锛屼究浜庡鐢熸繁鍏ョ悊瑙ｄ笌鎺屾彙鏁欏杩囩▼涓殑鍩烘湰
鐞嗚涓庢柟娉曘�?/p>
鍏抽敭璇嶏細
PID
鎺у埗鍣紱鐘舵�佸弽棣堬紱瑙傛祴鍣紱鍙傛暟鏁村畾
涓浘鍒嗙被鍙凤細
G642.1
鏂囩尞鏍囧織鐮侊細
A
鏂囩珷缂栧彿锛?/p>
1674-9324
锛?/p>
2015
锛?/p>
04-0165-02
涓�銆佸紩瑷�
PID
鎺у埗鍣ㄨ璁′笌鐘舵�佸弽棣堟帶鍒跺櫒涓ょ被鎺у埗鍣?/p>
[1
锛?/p>
2]
鐩稿悓涔嬪涓轰簩鑰呭潎灞炰簬鍙嶉鎺у埗锛屽洜
姝ゅ湪瀹為檯浣跨敤涓紝閮介渶鑰冭檻闂幆绯荤粺鐨勭ǔ瀹氭�э紱涓ょ被鎺у埗鍣ㄦ渶涓昏鐨勭浉寮備箣澶勪负浜岃�呴棴鐜郴缁?/p>
鏋佺偣鐨勯厤缃伒娲绘�т笉鍚岋細
PID
鎺у埗鍣ㄥ睘浜庤緭鍑哄弽棣堬紝鍙兘灏嗛棴鐜瀬鐐归厤缃埌闂幆绯荤粺鐨勬牴杞ㄨ抗
涓婏紱鑰岀姸鎬佸弽棣堟帶鍒跺櫒鍦ㄨ鎺х郴缁熺姸鎬佸畬鍏ㄥ彲鎺х殑鏉′欢涓嬶紝鍙互灏嗛棴鐜瀬鐐逛换鎰忛厤缃�?/p>
鏈枃鍒╃敤
MATLAB
涓?/p>
SIMULINK
浠跨湡璁捐浜嗕竴涓疄渚嬶紝瀵瑰悓涓�涓鎺у璞¤繘琛?/p>
PID
鎺у埗
鍣ㄨ璁′笌鍩轰簬瑙傛祴鍣ㄧ殑鐘舵�佸弽棣堟帶鍒跺櫒璁捐锛屽皢鏁欏杩囩▼涓緝娣卞埢鐨勬帶鍒跺櫒璁捐鐞嗚鐢ㄦ渶鐩磋
鐨勬柟寮忎綋鐜板嚭鏉ワ紝鍒╀簬瀛︾敓鐨勭悊瑙ｄ笌鎺屾彙銆?/p>
浜屻�佷豢鐪熷疄渚嬭璁?/p>
閫夊彇琚帶瀵硅薄寰垎鏂圭▼鏁板妯″瀷濡備笅锛?/p>
涓夌鎺у埗鍣ㄤ笅锛屽崟浣嶉樁璺冨搷搴旀洸绾垮鍥?/p>
2
鎵�绀恒�?/p>
鍦?/p>
MATLAB
涓緭鍏ュ涓嬩唬鐮侊細
G=tf
锛?/p>
[2.93*6 23.898*6 48.721*6]
锛?/p>
[1
锛?/p>
6
锛?/p>
41
锛?/p>
7
锛?/p>
0]
锛?/p>
%
璁＄畻甯︽湁
PID
鎺у埗鍣ㄧ殑鎺у埗绯荤粺
鍓嶅悜閫氶亾浼犻�掑嚱鏁帮紱
rlocfind
锛?/p>
G
锛?/p>
%
褰?/p>
K=1
鏃讹紝浠庢牴杞ㄨ抗鍙栫浉搴旈棴鐜瀬鐐癸紱
rlocus
锛?/p>
G
锛?/p>
%
缁樺埗闂幆绯荤粺鏍硅建杩瑰浘锛?/p>