过程控制金以慧课后习题答案.docVIP

3.7 1.t=[0:5:85]; y=[0.650,0.651,0.652,0.668,0.735,0.817,0.881,0.979,1.075,1.151,1.213,1.239,1.262,1.311,1.329,1.338,1.350,1.351]; deltu=5 length(y) ywd=1.351; delty=ywd-y(1);%y的变化值 K=delty/deltu y=(y-y(1))/delty; %标幺化 plot(t,y); 结果如下：K =0.1402 由下图曲线用切线法可以得到: T=35.85 τ=18.23 2.用动态特性参数法选择PID参数： ε=K/T=0.1402/35.85=0.0039 δ=0.85*ε*τ =0.85*0.0039*18.23=0.0604 Ti=2.0*τ=2.0*18.23=36.46 Td=0.5*τ=9.115 3.11（a）、 得到:Kc=0.23 Tcr=11.8 δcr=1/Kc=1/0.23=4.35 δ=2.2δcr=2.2*4.35=9.565; Ti=0.85*Tcr=0.85*11.8=10.03 (b)、 得到:Kc=2.06 Tcr=2.4 δcr=1/Kc=1/2.06=0.485 δ=1.67δcr=1.67*0.485=0.81; Ti=0.5*Tcr=0.5*2.4=1.