PID算法(经典)（国外英文资料）.doc

PID算法(经典)（国外英文资料） Xiaoming received a task: There is a water cylinder leak (and the speed of the leak is not constant). To keep the water level at a certain point, When the water level is below the required position, water is added to the tank. Xiao Ming had been standing by the water tank when he received the mission, The long time was boring, and ran to the room to read the novel. Check the water level every 30 minutes. The water leaked too fast, Every time xiao Ming comes to inspect the water, the water is running out of water, far from the required height Xiao Ming changed every three minutes to check every time There is no need to add water. After several trials, Make sure to check every 10 minutes. This check time is called the sampling period. Start small Ming to add water, the faucet is ten meters from the water cylinder, He often ran several times before he could get enough water, so xiao Ming changed it to a bucket. One plus is one bucket, the number of runs is short, the speed of adding water is fast, But several times have overflowed the cylinder, accidentally wet a few shoes, xiao Ming thinks again, I dont use a ladle, I dont use a bucket, I use a pot, I do it a few times, and I find that its just fine, I dont need to run too many times, It wont let the water spill. The size of the water tool is called the ratio. Xiao Ming also found that water, though not overflowed, sometimes overflowed There is also the danger of wet shoes. He thought of a way to put a funnel in the water tank. Instead of pouring the water directly into the tank, pour it into the funnel and add it slowly. So the overflow problem is solved, But the water was slower, sometimes not as fast as the leak. So he tried to change the size of the funnel to control the speed of the water Finally, a satisfactory funnel was found. The time of the funnel is called the integral time. Xiao Ming finally took a breath, but the task was suddenly strict. The timeliness requirements of water level contro