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<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/6278daf6517cd20ea4bf63d3/bg1.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">第五章 <span class="ff2 sc1">PID<span class="_ _0"> </span></span>控制算法控制算法</div><div class="t m0 x2 h4 y3 ff2 fs1 fc0 sc1 ls0 ws0">5.1 PID<span class="_ _1"> </span><span class="ff1 sc0">控制原理与程序流程</span></div><div class="t m0 x3 h5 y4 ff2 fs2 fc0 sc1 ls0 ws0">5.1.1<span class="_ _2"> </span><span class="ff1 sc0">过程控制的基本概念</span></div><div class="t m0 x3 h5 y5 ff1 fs2 fc0 sc1 ls0 ws0">过程控制――对生产过程的某一或某些物理参数进行的自动控制。</div><div class="t m0 x3 h5 y6 ff1 fs2 fc0 sc1 ls0 ws0">一、<span class="_ _3"> </span>模拟控制系统</div><div class="t m0 x4 h6 y7 ff3 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x4 h5 y8 ff3 fs2 fc0 sc1 ls0 ws0"> <span class="ff1">图<span class="_ _2"> </span></span>5-1-1 <span class="ff1">基本模拟反馈控制回路</span></div><div class="t m0 x5 h5 y9 ff1 fs2 fc0 sc1 ls0 ws0">被控量<span class="_ _4"></span>的值由<span class="_ _4"></span>传感器<span class="_ _4"></span>或变送<span class="_ _4"></span>器来检<span class="_ _4"></span>测，这<span class="_ _4"></span>个值与<span class="_ _4"></span>给定值<span class="_ _4"></span>进行比<span class="_ _4"></span>较，得<span class="_ _4"></span>到偏差<span class="_ _4"></span>，模拟<span class="_ _4"></span>调</div><div class="t m0 x4 h5 ya ff1 fs2 fc0 sc1 ls0 ws0">节器依一定控制规律使操作变量变化，以使偏差趋近于零，其输出通过执行器作用于过程。</div><div class="t m0 x4 h5 yb ff3 fs2 fc0 sc1 ls0 ws0"> <span class="ff1">控制规律用对应的模拟硬件来实现，控制规律的修改需要更换模拟硬件。</span></div><div class="t m0 x3 h5 yc ff1 fs2 fc0 sc1 ls0 ws0">二、<span class="_ _3"> </span>微机过程控制系统</div><div class="t m0 x3 h5 yd ff3 fs2 fc0 sc1 ls0 ws0"> <span class="ff1">图<span class="_ _2"> </span></span>5-1-2 <span class="ff1">微机过程控制系统基本框图</span></div><div class="t m0 x3 h5 ye ff1 fs2 fc0 sc1 ls0 ws0">以微型计算机作为控制器。控制规律的实现，是通过软件来完成的。改变控制规律，只</div><div class="t m0 x4 h5 yf ff1 fs2 fc0 sc1 ls0 ws0">要改变相应的程序即可。</div><div class="t m0 x3 h5 y10 ff1 fs2 fc0 sc1 ls0 ws0">三、<span class="_ _3"> </span>数字控制系统<span class="_ _2"> </span><span class="ff3">DDC</span></div><div class="t m0 x6 h5 y11 ff4 fs2 fc0 sc1 ls0 ws0"> <span class="ff1">图<span class="_ _2"> </span></span>5-1-3 DDC<span class="_ _2"> </span><span class="ff1">系统构成框图</span></div><div class="t m0 x6 h5 y12 ff4 fs2 fc0 sc1 ls0 ws0">DDC(Direct Digital Congtro<span class="_ _4"></span>l)<span class="_ _4"></span><span class="ff1">系统是<span class="_ _4"></span>计算机<span class="_ _4"></span>用于过<span class="_ _4"></span>程控制<span class="_ _4"></span>的最典<span class="_ _4"></span>型的一<span class="_ _4"></span>种系统<span class="_ _4"></span>。微型<span class="_ _4"></span>计算</span></div><div class="t m0 x4 h5 y13 ff1 fs2 fc0 sc1 ls0 ws0">机通过过程输<span class="_ _4"></span>入通道对一个<span class="_ _4"></span>或多个物理量<span class="_ _4"></span>进行检测，并<span class="_ _4"></span>根据确定的控<span class="_ _4"></span>制规律<span class="_ _5"> </span><span class="ff4">(</span>算法<span class="ff4">)<span class="_ _4"></span></span>进行计算<span class="_ _4"></span>，</div><div class="t m0 x4 h5 y14 ff1 fs2 fc0 sc1 ls0 ws0">通过输出通道直接去控制执行机构，使各被控量达到预定的要求。由于计算机的决策直接作</div><div class="t m0 x4 h5 y15 ff1 fs2 fc0 sc1 ls0 ws0">用于过程，故称为直接数字控制。<span class="ff5"></span></div><div class="t m0 x3 h5 y16 ff4 fs2 fc0 sc1 ls0 ws0">DDC<span class="_ _2"> </span><span class="ff1">系统也是计算机在工业应用中最普遍的一种形式。</span></div></div><div class="t m0 x7 h7 y17 ff4 fs3 fc0 sc1 ls0 ws0">1</div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div>
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<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/6278daf6517cd20ea4bf63d3/bg2.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x3 h5 y18 ff6 fs2 fc0 sc1 ls0 ws0">5.1.2 <span class="ff1 sc0">模拟<span class="_ _2"> </span></span>PID<span class="_ _2"> </span><span class="ff1 sc0">调节器</span></div><div class="t m0 x3 h5 y19 ff1 fs2 fc0 sc1 ls0 ws0">一、模拟<span class="_ _2"> </span><span class="ff4">PID<span class="_ _2"> </span></span>控制系统组成</div><div class="t m0 x3 h8 y1a ff4 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x3 h5 y1b ff4 fs2 fc0 sc1 ls0 ws0"> <span class="ff1">图<span class="_ _2"> </span></span>5<span class="ff1">－</span>1<span class="ff1">－</span>4 <span class="ff1">模拟<span class="_ _2"> </span></span>PID<span class="_ _2"> </span><span class="ff1">控制系统原理框图</span></div><div class="t m0 x3 h5 y1c ff1 fs2 fc0 sc1 ls0 ws0">二、模拟<span class="_ _2"> </span><span class="ff4">PID<span class="_ _2"> </span></span>调节器的微分方程和传输函数<span class="ff5"></span></div><div class="t m0 x8 h5 y1d ff3 fs2 fc0 sc1 ls0 ws0">PID<span class="_ _2"> </span><span class="ff1">调节器是一种线性调节器，它将给定值<span class="_ _2"> </span></span>r(t)<span class="ff1">与实际输出值<span class="_ _2"> </span></span>c(t)<span class="ff1">的偏差的比例</span>(P)<span class="ff1">、</span></div><div class="t m0 x5 h5 y1e ff1 fs2 fc0 sc1 ls0 ws0">积分<span class="ff3">(I)</span>、微分<span class="ff3">(D)</span>通过线性组合构成控制量，对控制对象进行控制。<span class="ff5"></span></div><div class="t m0 x4 h5 y1f ff3 fs2 fc0 sc1 ls0 ws0"> 1<span class="ff1">、</span>PID<span class="_ _2"> </span><span class="ff1">调节器的微分方程</span></div><div class="t m0 x4 h6 y20 ff3 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x4 h5 y21 ff3 fs2 fc0 sc1 ls0 ws0"> <span class="ff1">式中 </span></div><div class="t m0 x4 h5 ya ff3 fs2 fc0 sc1 ls0 ws0"> 2<span class="ff1">、</span>PID<span class="_ _2"> </span><span class="ff1">调节器的传输函数</span></div><div class="t m0 x4 h6 y22 ff3 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x4 h5 y23 ff3 fs2 fc0 sc1 ls0 ws0"> <span class="ff1">三、</span>PID<span class="_ _2"> </span><span class="ff1">调节器各校正环节的作用</span></div><div class="t m0 x9 h5 y24 ff3 fs2 fc0 sc1 ls0 ws0">1<span class="_ _4"></span><span class="ff1">、比<span class="_ _4"></span>例<span class="_ _4"></span>环<span class="_ _4"></span>节<span class="_ _4"></span>：<span class="_ _4"></span>即<span class="_ _4"></span>时<span class="_ _4"></span>成比<span class="_ _4"></span>例<span class="_ _4"></span>地<span class="_ _4"></span>反<span class="_ _4"></span>应<span class="_ _4"></span>控制<span class="_ _4"></span>系<span class="_ _4"></span>统<span class="_ _4"></span>的<span class="_ _4"></span>偏<span class="_ _4"></span>差信<span class="_ _4"></span>号<span class="_"> </span></span>e(t)<span class="_ _4"></span><span class="ff1">，<span class="_ _4"></span>偏差<span class="_ _6"></span>一旦<span class="_ _4"></span>产<span class="_ _4"></span>生<span class="_ _4"></span>，<span class="_ _4"></span>调<span class="_ _4"></span>节</span></div><div class="t m0 xa h5 y25 ff1 fs2 fc0 sc1 ls0 ws0">器立即产生控制作用以减小偏差。</div><div class="t m0 x9 h5 y26 ff3 fs2 fc0 sc1 ls0 ws0">2<span class="_ _4"></span><span class="ff1">、积<span class="_ _4"></span>分<span class="_ _4"></span>环<span class="_ _4"></span>节<span class="_ _4"></span>：<span class="_ _4"></span>主<span class="_ _4"></span>要<span class="_ _4"></span>用于<span class="_ _4"></span>消<span class="_ _4"></span>除<span class="_ _4"></span>静<span class="_ _4"></span>差<span class="_ _4"></span>，提<span class="_ _4"></span>高<span class="_ _4"></span>系<span class="_ _4"></span>统<span class="_ _4"></span>的<span class="_ _4"></span>无差<span class="_ _4"></span>度<span class="_ _4"></span>。<span class="_ _4"></span>积<span class="_ _4"></span>分<span class="_ _4"></span>作<span class="_ _4"></span>用<span class="_ _4"></span>的强<span class="_ _4"></span>弱<span class="_ _4"></span>取<span class="_ _4"></span>决<span class="_ _4"></span>于<span class="_ _4"></span>积</span></div><div class="t m0 xa h5 y27 ff1 fs2 fc0 sc1 ls0 ws0">分时间常数<span class="_ _2"> </span><span class="ff3">TI</span>，<span class="ff3">TI<span class="_ _2"> </span></span>越大，积分作用越弱，反之则越强。</div><div class="t m0 x9 h5 yd ff3 fs2 fc0 sc1 ls0 ws0">3<span class="ff1">、微分环节：能反应偏差信号的变化趋势<span class="_ _4"></span></span>(<span class="ff1">变化速率</span>)<span class="ff1">，并能在偏差信号的值变得太</span></div><div class="t m0 xa h5 ye ff1 fs2 fc0 sc1 ls0 ws0">大之前，在系统中引入一个有效的早期修正信号，从而加快系统的动作速度，减</div><div class="t m0 xa h5 yf ff1 fs2 fc0 sc1 ls0 ws0">小调节时间。</div><div class="t m0 x3 h5 y28 ff2 fs2 fc0 sc1 ls0 ws0">5.1.3 <span class="ff1 sc0">数字<span class="_ _2"> </span></span>PID<span class="_ _2"> </span><span class="ff1 sc0">控制器</span></div><div class="t m0 x3 h5 y29 ff1 fs2 fc0 sc1 ls0 ws0">一、模拟<span class="_ _2"> </span><span class="ff3">PID<span class="_ _2"> </span></span>控制规律的离散化</div><div class="t m0 xb h5 y2a ff1 fs2 fc0 sc1 ls0 ws0">模拟形式<span class="_ _7"> </span>离散化形式</div></div><div class="c xb y2b w3 h9"><div class="t m0 xc ha y2c ff4 fs1 fc0 sc1 ls0 ws0">)<span class="_ _8"></span>(<span class="_ _9"></span>)<span class="_ _8"></span>(<span class="_ _a"></span>)<span class="_ _8"></span>(<span class="_ _b"> </span><span class="ff7">t<span class="_ _c"></span>c<span class="_ _9"></span>t<span class="_ _d"></span>r<span class="_ _e"></span>t<span class="_ _c"></span>e<span class="_ _f"> </span><span class="ff8"><span class="_ _10"></span></span></span></div></div><div class="c xd y2d w4 hb"><div class="t m0 xe hc y2e ff7 fs1 fc0 sc1 ls0 ws0">T</div><div class="t m0 xf ha y2f ff7 fs1 fc0 sc1 ls0 ws0">n<span class="_ _11"></span>e<span class="_ _a"></span>n<span class="_ _11"></span>e<span class="_ _12"> </span><span class="ff4">)<span class="_ _13"></span>1<span class="_ _a"></span>(<span class="_ _9"></span>)<span class="_ _14"></span>(<span class="_ _15"> </span><span class="ff8"><span class="_ _16"></span></span></span></div></div><div class="c x0 y1 w2 h2"><div class="t m0 x6 h5 y30 ff1 fs2 fc0 sc1 ls0 ws0">二、数字<span class="_ _2"> </span><span class="ff3">PID<span class="_ _2"> </span></span>控制器的差分方程</div></div><div class="t m0 x7 h7 y17 ff4 fs3 fc0 sc1 ls0 ws0">2</div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></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/6278daf6517cd20ea4bf63d3/bg3.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x3 h5 y31 ff1 fs2 fc0 sc1 ls0 ws0">式中 <span class="_ _17"> </span> 称为比例项</div><div class="t m0 x3 h5 y32 ff3 fs2 fc0 sc1 ls0 ws0"> <span class="_ _18"> </span> <span class="ff1">称为积分项</span></div><div class="t m0 x3 h5 y33 ff3 fs2 fc0 sc1 ls0 ws0"> <span class="_ _19"> </span> <span class="ff1">称为微分项</span></div><div class="t m0 x3 h5 y1d ff1 fs2 fc0 sc1 ls0 ws0">三、常用的控制方式</div><div class="t m0 x3 h5 y34 ff3 fs2 fc0 sc1 ls0 ws0"> 1<span class="ff1">、</span>P<span class="_ _2"> </span><span class="ff1">控制 </span></div><div class="t m0 x9 h5 y35 ff3 fs2 fc0 sc1 ls0 ws0">2<span class="ff1">、</span>PI<span class="_ _2"> </span><span class="ff1">控制 </span></div><div class="t m0 x9 h5 y36 ff3 fs2 fc0 sc1 ls0 ws0">3<span class="ff1">、</span>PD<span class="_ _2"> </span><span class="ff1">控制 </span></div><div class="t m0 x9 h5 y37 ff3 fs2 fc0 sc1 ls0 ws0">4<span class="ff1">、</span>PID<span class="_ _2"> </span><span class="ff1">控制 </span></div><div class="t m0 x4 h5 yc ff3 fs2 fc0 sc1 ls0 ws0"> <span class="ff1">四、</span>PID<span class="_ _2"> </span><span class="ff1">算法的两种类型</span></div><div class="t m0 x4 h5 y38 ff3 fs2 fc0 sc1 ls0 ws0"> 1<span class="ff1">、位置型控制――例如图<span class="_ _2"> </span></span>5<span class="ff1">－</span>1<span class="ff1">－</span>5<span class="_ _2"> </span><span class="ff1">调节阀控制</span></div><div class="t m0 x4 h6 y39 ff3 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x4 h5 y26 ff3 fs2 fc0 sc1 ls0 ws0"> 2<span class="ff1">、增量型控制――例如图<span class="_ _2"> </span></span>5<span class="ff1">－</span>1<span class="ff1">－</span>6<span class="_ _2"> </span><span class="ff1">步进电机控制</span></div><div class="t m0 x4 h6 y3a ff3 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x4 h6 y3b ff3 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x3 h5 y12 ff1 fs2 fc0 sc1 ls0 ws0">【例<span class="_ _1"> </span><span class="ff3">5—1</span>】设<span class="_ _4"></span>有一<span class="_ _4"></span>温度<span class="_ _4"></span>控制<span class="_ _4"></span>系统<span class="_ _4"></span>，温<span class="_ _4"></span>度测<span class="_ _4"></span>量范<span class="_ _4"></span>围是<span class="_"> </span><span class="ff3">0<span class="_ _4"></span></span>～<span class="_ _4"></span><span class="ff3">600℃</span>，<span class="_ _4"></span>温度<span class="_ _4"></span>采用<span class="_ _1"> </span><span class="ff3">PID<span class="_ _1"> </span></span>控制，</div><div class="t m0 x4 h5 y3c ff1 fs2 fc0 sc1 ls0 ws0">控制<span class="_ _4"></span>指<span class="_ _4"></span>标为<span class="_ _1"> </span><span class="ff3">450±2℃<span class="_ _4"></span></span>。<span class="_ _4"></span>已<span class="_ _4"></span>知比<span class="_ _4"></span>例<span class="_ _4"></span>系数<span class="_ _15"> </span><span class="ff3">,</span>积<span class="_ _4"></span>分<span class="_ _4"></span>时间<span class="_ _1a"> </span>，微<span class="_ _4"></span>分<span class="_ _4"></span>时间<span class="_ _1b"> </span>，</div><div class="t m0 x4 h5 y3d ff1 fs2 fc0 sc1 ls0 ws0">采<span class="_ _4"></span>样<span class="_ _6"></span>周<span class="_ _4"></span>期<span class="_ _1c"> </span>。<span class="_ _4"></span>当<span class="_ _6"></span>测<span class="_ _6"></span>量<span class="_ _4"></span>值<span class="_ _b"> </span>，<span class="_ _1d"> </span>，<span class="_ _1d"> </span>时，<span class="_ _6"></span>计<span class="_ _6"></span>算<span class="_ _6"></span>增</div><div class="t m0 x4 h5 y16 ff1 fs2 fc0 sc1 ls0 ws0">量输出</div></div><div class="t m0 x7 h7 y17 ff4 fs3 fc0 sc1 ls0 ws0">3</div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div>
PID学习
