第六章 控制器
Post on 05-Jan-2016
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6.1 6.2 6.3 6.4
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6.1
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6.2 6.2.0 6.2.1 6.2.2 PID
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6.2.0
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e(t)y(t) e(t)=y(t)-r(t)u(t)
u(t)e(t)
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85 8585
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y 85855855
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u(t)e(t) u(t)=u(0)+Kce(t) u(t)u(0)ee=y-rKc
85
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858585
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6.2.1
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umin
umax
u(t)
e(t)
emin
emax
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6.2.2 PID6.2.2.1 (P)(1) Kc Kcu(t)e(t)Kce(t)u(t)
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Kc
e(t)
A
O
t
u(t)
t
O
KcA
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(2) e (Zmax-Zmin) u(umax-umin)
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P10750%100%200%e50%100%200%umin umax
umin
umax
50%
EMBED Equation.DSMT4
=50%
50%
100%
=100%
=200%
_1158756129.unknown
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C
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KcKc
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400~8004~20mA6007008mA12mA400 eu
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(3) k
y
t
y
y
y
y
y
t
t
t
t
t
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y(t)
y(0)
t
a
y(t)
y(0)
b
t
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6.2.2.2 (PI)(1)u(t)e(t)KIe
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A u(t)=KIe(t)dt=KIAtKI du(t)/dt=KIA
t
O
u(t)
e(t)
A
t
O
KIAt
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(2)u(t)e(t)Kce(t)Kc /TIt0e(t)dtTIKc /TI=KI
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AKCAKCAKCA/TITITI
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TI100%ATITITI
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(3)TI TITITI
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TI
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(4)
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PI-PPIP
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6.2.2.3 (PD)(1) u(t)e(t) TD
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2
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KDKD APD T=TD/KD
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A
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KDKDKcA,tKcAKDTD
- KDKD510KD =1 KD >1KD
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TDAKDKcAKCA+0.368KCA(KD-1)tt=TD/KDtKDTD
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TD PID
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6.2.2.4 (PID)(1)(PID)PIDPIDKcTITD
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1TITD02TD0 3TI
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u(t)=u(t)+u(0)u(0)t=00
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PIDAPID(2)(PID) PID
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3TD
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TDTD1TD2TD3
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n n15%
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PIDTITD
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PPIPIPPIPID
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4PID PIDPDPIPDPI
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PID1mA t123
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(1) PD(2) KC=2KD=5TD=5
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(3) KCA=2KCKDA=10
t
u(t)
2
10
O
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6.3.1 6.3
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PID
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6.3.2 DDZ- 15V15VPID15V420mA
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II
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420mA15V250-420mA
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PDPI420mA
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ee=y-r
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1(1)(2)
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2(1)(2)
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3(1)(2)
TT
TC
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PIDPIDPID
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6.4.1 6.4
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6.4.2
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6.4.3 KMMKMMIECDIGITRONIKTDC-3000KMM
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CPUEPROMEPROMEPROMEPROMCPUEPROMEPROMEPROM
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