pid调试步骤(转)（PID debugging steps (RPM)）.docVIP

pid调试步骤(转)（PID debugging steps (RPM)） Debug PID (transfer) Without a control algorithm than PID regulation is more effective and more convenient. Now some fashionable point basic regulator from PID. Even we can say: PID regulator is the other control algorithms do. Why PID is so widely used and enduring? Because the basic problem is solved by PID control theory to solve the stability, rapidity and accuracy of the system is. Adjusting the parameters of PID, can realize the premise of system stability, taking into account the system load ability and anti disturbance ability, at the same time, the PID regulator is introduced in the integral item system adds a zero point, make it become a first-order system, the steady-state error of the step response of the system it is zero. The automatic control system of the controlled object vary, PID parameters must also change, in order to meet the requirements of the performance of the system. This will bring considerable trouble to users, especially for beginners. Following a brief general steps of debugging PID parameters: 1. negative feedback Automatic control theory is also called negative feedback control theory. First check system wiring, determine the system feedback negative feedback. For example, the motor speed control system, the input signal is required, the motor is transferred, the feedback signal is positive (PID algorithm, error = input feedback), and the higher the motor speed, the greater the feedback signal. The rest of the system with this method. The general principle of 2.PID debugging A. in the output oscillation, increasing the proportional gain of P. B. in the output oscillation, reduce the integral time constant Ti. C. in the output oscillation, increase the differential time constant Td. 3. general steps A. determines the proportional gain P To determine the proportional gain P, remove the integral and differential PID first, Ti=0, Td=0 (general is to see specific PID parameters, the PID control instru