分散PID组态模型与其应用.PDFVIP

19 2 ( ) . 19 . 2 Vo l N o 199 8 4 J ournal of Hu aqiao U niver sity ( N atural Science) A pr . 199 8 X PID 王启志　　王永初 ( 3620 11) P ID P ID . P ID SPC . P ID PI D T P 27 3 1 P ID . ( 1) . G ( S) H ( S ) H ( X) û min max 0m 0 0M m in m ax 0 S SS K K K T T T . ( S K T ) . ( 2) . P ID. ( 3) . PID PID D ( S) = K p ( 1+ 1/ T iS ) [ ( T dS + 1) / ( T dS / r+ 1) ] P ID . P ID . 2 PID . DCS PID . P ID . 1PID P ID . ( 1) P ID D ( S ) = K p ( 1 + 1/ T iS + T dS ) . ( 1) ( 2) PID D ( S ) = K p [ 1 + 1/ T iS + T DS / ( T DS / r + 1) ] . ( 2) ( 3) P ID D ( S ) = K p ( 1 + 1/ T iS ) [ ( T DS + 1) / ( T DS / r + 1) ] . ( 3) ( 3) PID Z D ( Z- 1) = Z {D ( S) } = Z {K p( 1 + 1/ T iS ) [ ( TD S + 1) / ( TD S/ r + 1) ] } X 1997 -12 -05 ; ( ) 199 8 186 K p - $ Tr / T D - 1 { 1 + ( 1 - r) ( 1 - r T i/ T D) - e + ( 1 - r) ( 1 - r T i/ T D) Z T i = - 1 - $T r/ T - 1