微型计算机控制技术课程设计报告.doc

课 程 设 计 设计题目 变速积分PID控制系统设计 课程名称 计算机控制技术B 姓名 成绩 学号 教师 班级 日期 变速积分PID控制系统设计 计算机控制技术设计课程设计报告 - 14 - - PAGE I - 变速积分PID控制系统设计（小二号黑体） 摘 要（四号黑体） PID调节是是连续系统中技术最成熟、应用最广泛的一中调节方式。PID实质是根据输入的偏差值，按照比例、积分、微分的函数关系进行运算，其运算结果用以输出控制。实际使用时，可根据被控对象的特性和控制要求，可灵活改变PID的结构，取其中一部分环节构成控制规律，如P、PI、PD、PID。标准PID算式在使用中，积分系数Ki是常数，在整个调节过程中，积分增益不变，无法达到系统对积分项的要求。 在本次课程设计中，控制对象传递函数为。采用TDN-AC/ACS计算机控制技术实验箱为平台，设计一数字控制器以完成变速积分PID控制系统设计。 变速积分的基本作法是设法改变积分项的累加速度，使其与偏差大小相呼应。偏差大时，积分作用弱；偏差小时，使积分累加速度加快，积分作用增强。 在控制系统中，计算机不断采入误差E，进行积分判别与PID运算，然后根据是误差大小，判断积分系数，最后将控制量输送给系统，以此来改善系统调节品质。 关键词：控制器；偏差；积分系数 - 13 - Design for PID Control System of Gearshift Integral Abstract PID regulation is in continuous systems technology is the most mature, the most widely used a regulated manner. PID is essentially based on the input value, according to the proportion, integral, differential function computation, the result is used to output control. In practical use, according to the characteristics of the objects and control requirements, the flexibility to change the structure of PID, taking the part of control rules, such as P, PI, PD, PID. Standard PID formula in use, integral coefficient Ki is constant throughout the process of adjustment, integral gain constant, is unable to achieve the system to the integration of the requirements. In the curriculum design, control of the transfer function of the object. Using TDN-AC / ACS computer control technique experimental box platform to design a digital controller to complete the gearshift integral PID control system design. Gearshift integral main course of action is to change the integral tired acceleration, and the deviation of echoes. Deviation, integral effect is weak; the deviation is small, so that the integral tired acceleration accelerate, integral effect is enhanced. In the control system, computer continuous mining into the error of E, integral discriminant and PID operations, then according to the error size, judge the integral coefficient, finally the control quanti