1
妯＄硦鎺у埗鍣ㄤ粙缁?/p>
渚嬨�?/p>
宸茬煡
飥?/p>
飥?/p>
飥?/p>
飥?
0.5
2
5
1
2
3
s
G
e
s
s
s
飥?/p>
飥?
飥?/p>
飥?/p>
飥?/p>
锛屽垎鍒璁?/p>
PID
鎺у埗涓庢ā绯婃帶鍒讹紝浣跨郴缁熻揪
鍒拌緝濂芥�ц兘锛屽苟姣旇緝涓ょ鏂规硶鐨勭粨鏋溿�?/p>
PID/FC
G(s)
y
r
_
e
鍏蜂綋瑕佹眰锛?/p>
1
銆佸垎鍒噰鐢?/p>
fuzzy
宸ュ叿绠卞拰缂栫▼瀹炵幇妯＄硦鎺у埗鍣ㄣ�?/p>
2
銆佸垎鏋愰噺鍖栧洜瀛愬拰姣斾緥鍥犲瓙瀵规ā绯婃帶鍒跺櫒鎺у埗鎬ц兘鐨勫奖鍝嶃�?/p>
3
銆佸垎鏋愮郴缁熷湪妯＄硦鎺у埗鍜?/p>
PID
鎺у埗浣滅敤涓嬬殑鎶楀共鎵拌兘鍔?/p>
(
鍔犲櫔澹板共鎵?/p>
)
銆佹姉
闈炵嚎鎬ц兘鍔?/p>
(
鍔犳鍖哄拰楗卞拰鐗规�?/p>
)
浠ュ強鎶楁椂婊炵殑鑳藉姏
(
瀵规椂婊炲ぇ灏忓姞浠ユ敼鍙?/p>
)
銆?/p>
4
銆佽璁虹郴缁熷湪妯＄硦鎺у埗鍜?/p>
PID
鎺у埗浣滅敤涓嬬殑鏃堕棿鍙傛暟鍜岀粨鏋勫彉鍖栦笅鐨勬姉骞?/p>
鎵拌兘鍔涖�?/p>
妯＄硦鎺у埗閮ㄥ垎澶т綔涓氭棬鍦ㄥ埄鐢ㄦā绯婃帶鍒跺櫒鍜?/p>
PID
鎺у埗鍣ㄥ疄鐜板宸茬煡绯荤粺鐨?/p>
鎺у埗锛?/p>
鍒嗗埆寰楀埌杈冨ソ鐨勬帶鍒舵晥鏋溿�?/p>
鐒跺悗鏀瑰彉绯荤粺鐨勫弬鏁般�?/p>
缁撴瀯鎴栬�呭姞鍏ラ潪绾挎�х幆
鑺傦紝浠ラ獙璇佹ā绯婃帶鍒跺櫒鐨勯瞾妫掓�ц兘銆備互涓嬫槸浣滀笟杩囩▼锛?/p>
1
銆?/p>
PID
鎺у埗
鑰冭檻鍒扮郴缁熶腑瀛樺湪绾欢杩熺幆鑺傦紝
浣垮緱绯荤粺鐨勭ǔ瀹氭�уぇ澶ч檷浣庛�?/p>
濡傛灉绯荤粺鐨勫弽
棣堜俊鍙锋病鏈夊欢杩燂紝
绯荤粺鐨勫搷搴旂壒鎬у皢浼氬緱鍒板緢濂界殑鏀瑰杽銆?/p>
鍥犳锛?/p>
瀵逛簬瀛樺湪绾粸鍚?/p>
鐜妭鐨勭郴缁燂紝
鐗瑰埆鏄ぇ寤惰繜杩囩▼锛?/p>
涓�鑸噰鐢?/p>
Smith
棰勪及鎺у埗锛?/p>
鍗冲皢绾粸鍚庤ˉ鍋挎ā
鍨嬩笌
PID
鎺у埗鍣ㄥ苟鎺ャ�傛湰棰樹腑锛屽欢杩熺幆鑺傜殑鏃堕棿甯告暟涓嶆槸寰堝ぇ锛屼粎涓?/p>
0.2
锛屽洜姝?/p>
鍩烘湰涓婁笉浼氬奖鍝嶇郴缁熺殑绋冲畾锛岄噰鐢ㄥ父瑙?/p>
PID
鎺у埗涔熷熀鏈彲浠ヨ揪鍒板緢濂界殑鎺у埗鏁?/p>
鏋溿�傚父瑙?/p>
PID
鎺у埗妗嗗浘濡傚浘
1-1
锛堢浉搴旀枃浠讹細
PID.mdl
锛?/p>
Transport
Delay
1
s +2s+3
2
Transfer Fcn1
5
s+1
Transfer Fcn
c
To Workspace2
u
To Workspace1
r
To Workspace
Step
Scope
PID
PID Controller