pid算法(经典)（PID algorithm (Classic)）.docVIP

pid算法(经典)（PID algorithm (Classic)） Xiao Ming received such a task: There is a water tank leaking (and the speed of water leakage is not always fixed), Require the height of the water to remain at a certain position, Once the water level is below the desired level, add water to the tank. Xiao Ming has been guarding the water tank after he received the task, A long time, I feel bored, I ran to the room to read the novel, Check the water level every 30 minutes. Water too fast, Every time Xiao Ming came to inspect, the water was almost leaking. It was very far away from the required height Xiao Ming changed to every 3 minutes to check, the results of each flow did not leak There is no need to add water, it is too frequent, and the work is done without effort. After several tests, Be sure to check every 10 minutes. This check time is called (sampling cycle). Xiao Ming started with water dipper, water faucet from the water tank has a dozen meters distance, He often ran several times before adding enough water, so Xiao Ming changed to barrel, A plus is a bucket, running less, and adding water is also faster, But several times the cylinder to overflow, accidentally wet several shoes, Xiao Ming and brains, I dont need a bucket nor a bucket. I used it a few times and found it just right, not running too many times, Will not let the water overflow. The size of this water adding tool is called (scale coefficient). ) Xiao Ming also found that although the water will not increase excessive overflow, and sometimes higher than the requirements of the location of more Still, theres a risk of wet shoes. He thought of a way to fit a funnel in the tank, Each time the water is added, it does not pour directly into the water tank. Instead, it pours into the funnel to let it add slowly. So the overflow problem is solved, But the speed of adding water is slow, and sometimes it cant keep up with the water leakage rate. So he tried to change the size of the funnel to control the rate of wate