pid调节（PID调节）.docVIP

pid调节（PID调节） 1PID debugging steps None of the control algorithms is more efficient and convenient than the PID regulation rule. Now, some of the trendy regulators come from PID. You can even say: is the PID controller any other control algorithms?. Why is PID used so widely and consistently? Because PID solves the most basic problem of automatic control theory, it is not only the stability, rapidity and accuracy of the system. Adjusting the parameters of PID, can realize the premise of system stability, taking into account the system load ability and anti disturbance ability, at the same time, the PID regulator is introduced in the integral item system adds a zero point, make it become a first-order system, the steady-state error of the step response of the system it is zero. Because the controlled object of the automatic control system is very diverse, the parameters of PID must also change to meet the performance requirements of the system. This gives users considerable trouble, especially for beginners. Heres a brief introduction of the general steps to debug PID parameters: 1. negative feedback Automatic control theory is also called negative feedback control theory. First, check the system wiring and determine the feedback of the system as negative feedback. For example, the motor speed regulation system, the input signal is positive, when the motor is about to turn, the feedback signal is positive (PID algorithm, error = input feedback), and the higher the motor speed, the greater the feedback signal. The rest of the system with this method. General principles of 2.PID debugging A. increases the proportional gain P when the output is not oscillating. B. reduces the integration time constant Ti when the output does not oscillate. C. increases the differential time constant Td when the output does not oscillate. 3. general steps A. determines the proportional gain P Determine the proportional gain P, first remove the PID integral and differential terms, usually