鍗曠墖鏈?/p>
PID
璋冭妭鐨勯�氫織璁茶В
鎺у埗妯″瀷锛氫綘鎺у埗涓�涓汉璁╀粬浠?/p>
PID
鎺у埗鐨勬柟寮忚蛋
110
姝ュ悗鍋滀笅銆?/p>
1
銆?/p>
P
姣斾緥鎺у埗锛?/p>
灏辨槸璁╀粬璧?/p>
110
姝ワ紝
浠栨寜鐓т竴瀹氱殑姝ヤ紣璧板埌涓�鐧鹃浂鍑犳
锛堝
108
姝ワ級
鎴?/p>
100
澶氭
锛堝
112
姝ワ級灏卞仠浜嗐�傝鏄庯細
P
姣斾緥鎺у埗鏄竴绉嶆渶绠�鍗曠殑鎺у埗鏂瑰紡銆傚叾鎺у埗鍣ㄧ殑杈撳嚭涓庤緭鍏ヨ宸俊
鍙锋垚姣斾緥鍏崇郴銆?/p>
褰撲粎鏈夋瘮渚嬫帶鍒舵椂绯荤粺杈撳嚭瀛樺湪绋虫�佽宸?/p>
锛?/p>
Steady-state error
锛?/p>
銆?/p>
2
銆?/p>
PI
绉?/p>
鍒嗘帶鍒讹紝
灏辨槸浠栨寜鐓т竴瀹氱殑姝ヤ紣璧板埌
112
姝ョ劧鍚庡洖澶存帴鐫�璧帮紝璧板埌
108
姝ヤ綅缃椂锛?/p>
鐒跺悗鍙?/p>
鍥炲ご鍚?/p>
110
姝ヤ綅缃蛋銆傚湪
110
姝ヤ綅缃鏉ュ洖鏅冨嚑娆★紝鏈�鍚庡仠鍦?/p>
110
姝ョ殑浣嶇疆銆傝鏄庯細鍦?/p>
绉垎
I
鎺у埗涓紝鎺у埗鍣ㄧ殑杈撳嚭涓庤緭鍏ヨ宸俊鍙风殑绉垎鎴愭姣斿叧绯汇�傚涓�涓嚜鍔ㄦ帶鍒剁郴缁燂紝
濡傛灉鍦ㄨ繘鍏ョǔ鎬佸悗瀛樺湪绋虫�佽宸紝鍒欑О杩欎釜鎺у埗绯荤粺鏄湁绋虫�佽宸殑鎴栫畝绉版湁宸郴缁?/p>
锛?/p>
System
with
Steady-state
Error
锛?/p>
銆備负浜嗘秷闄ょǔ鎬佽宸紝鍦ㄦ帶鍒跺櫒涓繀椤诲紩鍏モ�滅Н鍒?/p>
椤光�濄�傜Н鍒嗛」瀵硅宸彇鍐充簬鏃堕棿鐨勭Н鍒嗭紝闅忕潃鏃堕棿鐨勫鍔狅紝绉垎椤逛細澧炲ぇ銆傝繖鏍凤紝鍗充究璇?/p>
宸緢灏忥紝绉垎椤逛篃浼氶殢鐫�鏃堕棿鐨勫鍔犺�屽姞澶э紝瀹冩帹鍔ㄦ帶鍒跺櫒鐨勮緭鍑哄澶т娇绋虫�佽宸繘涓�姝?/p>
鍑忓皬锛?/p>
鐩村埌绛変簬闆躲�?/p>
鍥犳锛?/p>
姣斾緥
+
绉垎
锛?/p>
PI
锛?/p>
鎺у埗鍣紝
鍙互浣跨郴缁熷湪杩涘叆绋虫�佸悗鏃犵ǔ鎬佽宸�?/p>
3
銆?/p>
PD
寰垎鎺у埗锛屽氨鏄粬鎸夌収涓�瀹氱殑姝ヤ紣璧板埌涓�鐧鹃浂鍑犳鍚庯紝鍐嶆參鎱㈠湴鍚?/p>
110
姝ョ殑浣嶇疆
闈犺繎锛屽鏋滄渶鍚庤兘绮剧‘鍋滃湪
110
姝ョ殑浣嶇疆锛屽氨鏄棤闈欏樊鎺у埗锛涘鏋滃仠鍦?/p>
110
姝ラ檮杩戯紙濡?/p>
109
姝ユ垨
111
姝ヤ綅缃級
锛屽氨鏄湁闈欏樊鎺у埗銆傝鏄庯細鍦ㄥ井鍒嗘帶鍒?/p>
D
涓紝鎺у埗鍣ㄧ殑杈撳嚭涓庤緭鍏?/p>
璇樊淇″彿鐨勫井鍒嗭紙鍗宠宸殑鍙樺寲鐜囷級鎴愭姣斿叧绯汇�傝嚜鍔ㄦ帶鍒剁郴缁熷湪鍏嬫湇璇樊鐨勮皟鑺傝繃绋嬩腑
鍙兘浼氬嚭鐜版尟鑽＄敋鑷冲け绋筹紝鍏跺師鍥犳槸鐢变簬瀛樺湪鏈夎緝澶ф儻鎬х粍浠讹紙鐜妭锛夋垨鏈夋粸鍚庯紙
delay
锛?/p>
缁勪欢锛屽叿鏈夋姂鍒惰宸殑浣滅敤锛屽叾鍙樺寲鎬绘槸钀藉悗浜庤宸殑鍙樺寲銆傝В鍐崇殑鍔炴硶鏄娇鎶戝埗璇樊浣?/p>
鐢ㄧ殑鍙樺寲鈥滆秴鍓嶁�濓紝鍗冲湪璇樊鎺ヨ繎闆舵椂锛屾姂鍒惰宸殑浣滅敤灏卞簲璇ユ槸闆躲�傝繖灏辨槸璇达紝鍦ㄦ帶鍒?/p>
鍣ㄤ腑浠呭紩鍏モ�滄瘮渚?/p>
P鈥濋」寰�寰�鏄笉澶熺殑锛屾瘮渚嬮」鐨勪綔鐢ㄤ粎鏄斁澶ц宸殑骞呭�硷紝鑰岀洰鍓嶉渶瑕?/p>
澧炲姞鐨勬槸鈥滃井鍒嗛」鈥濓紝瀹冭兘棰勬祴璇樊鍙樺寲鐨勮秼鍔裤�傝繖鏍凤紝鍏锋湁姣斾緥
+
寰垎鐨勬帶鍒跺櫒锛屽氨鑳?/p>
澶熸彁鍓嶄娇鎶戝埗璇樊鐨勬帶鍒朵綔鐢ㄧ瓑浜庨浂锛岀敋鑷充负璐熷�硷紝浠庤�岄伩鍏嶄簡琚帶閲忕殑涓ラ噸瓒呰皟銆傛墍浠?/p>
瀵规湁杈冨ぇ鎯�ф垨婊炲悗鐨勮鎺у璞★紝姣斾緥
P+
寰垎
D
锛?/p>
PD
锛夋帶鍒跺櫒鑳芥敼鍠勭郴缁熷湪璋冭妭杩囩▼涓?