控制算法-----PID控制理论.zip_飞思卡尔底层驱动_带PID算法芯片

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6267ffa94c65f412597776e6/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6267ffa94c65f412597776e6/bg1.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _0"> </span> </div><div class="t m0 x2 h4 y3 ff1 fs1 fc0 sc0 ls0 ws0">第五章 <span class="_ _1"> </span>PID<span class="_ _1"> </span>控制算法</div><div class="t m0 x3 h5 y4 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y5 ff1 fs3 fc0 sc0 ls0 ws0">5.1 PID<span class="_ _2"> </span>控制原理与程序流程</div><div class="t m0 x3 h5 y6 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y7 ff1 fs3 fc0 sc0 ls0 ws0">5.2<span class="_ _2"> </span>标准<span class="_ _3"> </span>PID<span class="_ _3"> </span>算法的改进</div><div class="t m0 x3 h5 y8 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y9 ff1 fs3 fc0 sc0 ls0 ws0">学号：<span class="_ _3"> </span>50090810208 </div><div class="t m0 x3 h5 ya ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 yb ff1 fs3 fc0 sc0 ls0 ws0">姓名：刘杰徽</div></div></div><div class="pi" data-data='{"ctm":[1.333333,0.000000,0.000000,1.333333,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6267ffa94c65f412597776e6/bg2.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _0"> </span> </div><div class="t m0 x3 h7 yc ff1 fs4 fc0 sc0 ls0 ws0">5.1.1 <span class="_ _3"> </span>引言</div><div class="t m0 x5 h8 y9 ff2 fs5 fc1 sc0 ls0 ws0"></div><div class="t m0 x6 h9 yd ff1 fs6 fc0 sc0 ls0 ws0">图<span class="_ _4"> </span>5-1-1 <span class="_ _4"> </span>基本模拟反馈控制回路</div></div></div><div class="pi" data-data='{"ctm":[1.333333,0.000000,0.000000,1.333333,0.000000,0.000000]}'></div></div>

<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6267ffa94c65f412597776e6/bg3.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _0"> </span> </div><div class="t m0 x3 ha ye ff3 fs7 fc0 sc0 ls0 ws0">5.1.2<span class="_ _5"></span> <span class="_ _6"> </span><span class="ff1">比较模拟控制过程<span class="_ _5"></span>与数字控制过程</span></div><div class="t m0 x3 hb yf ff1 fs7 fc0 sc0 ls0 ws0">的不同<span class="fs8">：</span></div><div class="t m0 x3 h5 y10 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y11 ff1 fs3 fc0 sc1 ls0 ws0">模拟<span class="_ _3"> </span>PID<span class="_ _2"> </span>控制：<span class="sc0">控制规律的修改需要更换模</span></div><div class="t m0 x4 h6 y12 ff1 fs3 fc0 sc0 ls0 ws0">拟硬件，所以缺乏灵活性<span class="_ _3"> </span>.</div><div class="t m0 x3 h5 y13 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y14 ff1 fs3 fc0 sc1 ls0 ws0">计算机控制系统的优点：</div><div class="t m0 x3 h5 y15 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y16 ff3 fs3 fc0 sc0 ls0 ws0">(1)<span class="_ _3"> </span><span class="ff1">一机多用；</span></div><div class="t m0 x3 h5 y17 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y18 ff3 fs3 fc0 sc0 ls0 ws0">(2)<span class="_ _3"> </span><span class="ff1">控制算法灵活；</span></div><div class="t m0 x3 h5 y19 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y1a ff3 fs3 fc0 sc0 ls0 ws0">(3)<span class="_ _3"> </span><span class="ff1">可靠性好；</span></div><div class="t m0 x3 h5 y1b ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y1c ff3 fs3 fc0 sc0 ls0 ws0">(4)<span class="_ _3"> </span><span class="ff1">控制品质高；</span></div></div></div><div class="pi" data-data='{"ctm":[1.333333,0.000000,0.000000,1.333333,0.000000,0.000000]}'></div></div>

<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6267ffa94c65f412597776e6/bg4.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _0"> </span> </div><div class="t m0 x3 ha y1d ff3 fs7 fc0 sc0 ls0 ws0">5.1.3<span class="_ _5"></span> <span class="_ _6"> </span><span class="ff1">几个概念：</span></div><div class="t m0 x3 h5 y10 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y11 ff1 fs3 fc0 sc0 ls0 ws0">程序控制：使被控量按照预先规定的时间函</div><div class="t m0 x4 h6 y12 ff1 fs3 fc0 sc0 ls0 ws0">数变化所作的控制，被控量是时间的函数。</div><div class="t m0 x3 h5 y13 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y14 ff1 fs3 fc0 sc0 ls0 ws0">顺序控制：是指控制系统根据预先规定的控</div><div class="t m0 x4 h6 y15 ff1 fs3 fc0 sc0 ls0 ws0">制要求，按照各个输入信号的条件，使过程</div><div class="t m0 x4 h6 y1e ff1 fs3 fc0 sc0 ls0 ws0">的各个执行机构自动地按预先规定的顺序动</div><div class="t m0 x4 h6 y1f ff1 fs3 fc0 sc0 ls0 ws0">作。</div><div class="t m0 x3 h5 y20 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y21 ff3 fs3 fc0 sc0 ls0 ws0">PID<span class="_ _3"> </span><span class="ff1">控制：调节器的输出是输入的比例、积</span></div><div class="t m0 x4 h6 y22 ff1 fs3 fc0 sc0 ls0 ws0">分、微分的函数。</div></div></div><div class="pi" data-data='{"ctm":[1.333333,0.000000,0.000000,1.333333,0.000000,0.000000]}'></div></div>

<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6267ffa94c65f412597776e6/bg5.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _0"> </span> </div><div class="t m0 x3 h5 y10 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y11 ff1 fs3 fc0 sc0 ls0 ws0">直接数字控制：根据采样定理，先把被控对</div><div class="t m0 x4 h6 y12 ff1 fs3 fc0 sc0 ls0 ws0">象的数学模型离散化，然后由计算机根据数</div><div class="t m0 x4 h6 y23 ff1 fs3 fc0 sc0 ls0 ws0">学模型进行控制。</div><div class="t m0 x3 h5 y24 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y15 ff1 fs3 fc0 sc0 ls0 ws0">最优控制：是一种使控制过程处在某种最优</div><div class="t m0 x4 h6 y1e ff1 fs3 fc0 sc0 ls0 ws0">状态的控制。</div><div class="t m0 x3 h5 y25 ff2 fs2 fc1 sc0 ls0 ws0"></div><div class="t m0 x4 h6 y26 ff1 fs3 fc0 sc0 ls0 ws0">模糊控制：由于被控对象的不确定性，可采</div><div class="t m0 x4 h6 y21 ff1 fs3 fc0 sc0 ls0 ws0">用模糊控制。</div></div></div><div class="pi" data-data='{"ctm":[1.333333,0.000000,0.000000,1.333333,0.000000,0.000000]}'></div></div>