西门子PID用法.pdfVIP

4 1 PID ProportionIntegralDifferential 1PID 2PID PLC 12 PID “” 1500 “ ”=6V 1000 “”=4V : e=500 2V 2000 e=500 PID PID PID Kp+Ki +Kd Kp*e + Ki*∫edt + Kd de/dt t PID e=0 Kp*e=0Kd de/dt =0 Ki*∫edt 0