微型計算機控制技術(shù)課件 第四章 直接數(shù)字控制及其算法_ppt.txt

1、絎洓绔?鐩存帴鏁板瓧鎺у埗鍙婂叾綆楁硶4.1PID璋冭妭4.2PID綆楁硶鐨勬暟瀛楀疄鐜?4.3PID綆楁硶鐨勫嚑縐嶅彂灞?4.4PID鍙傛暟鐨勬暣瀹?4.5澶ф灄綆楁硶4.1PID璋冭妭4.1.1PID璋冭妭鍣ㄧ殑浼樼偣4.1.2PID璋冭妭鍣ㄧ殑浣滅敤榪斿洖鏈珷棣栭〉4.1.1PID璋冭妭鍣ㄧ殑浼樼偣PID璋冭妭鍣ㄤ箣鎵€浠ョ粡涔呬笉琛幫紝涓昏鏈変互涓嬩紭鐐廣€??1.鎶€鏈垚鐔?2.鏄撹浜轟滑鐔熸?zhèn)夊拰鎺屾??3.涓嶉渶瑕佸

2、緩绔嬫暟瀛︽ā鍨?4.鎺у埗鏁堟灉濂?榪斿洖鏈妭4.1.2PID璋冭妭鍣ㄧ殑浣滅敤1.姣斾緥璋冭妭鍣?2.姣斾緥縐垎璋冭妭鍣?3.姣斾緥寰垎璋冭妭鍣?4.姣斾緥縐垎寰垎璋冭妭鍣?1.姣斾緥璋冭妭鍣?1.姣斾緥璋冭妭鍣?姣斾緥璋冭妭鍣ㄧ殑寰垎鏂圭▼涓猴細y=KPe(t)錛?1錛?寮忎腑錛?y涓鴻皟鑺傚櫒杈撳嚭錛汯p涓烘瘮渚嬬郴鏁幫紱e(t)涓鴻皟鑺傚櫒杈撳叆鍋忓樊銆?鐢變笂寮忓彲浠ョ湅鍑猴紝璋冭妭鍣ㄧ殑杈撳嚭涓庤緭鍏ュ亸宸垚姝

3、ｆ瘮銆傚洜姝わ紝鍙?鍋忓樊鍑虹幇錛屽氨鑳藉強鏃跺湴浜х敓涓庝箣鎴愭瘮渚嬬殑璋冭妭浣滅敤錛屽叿鏈夎皟鑺傚強鏃剁殑鐗圭偣銆傛瘮渚嬭皟鑺傚櫒鐨勭壒鎬ф洸綰匡紝濡傚浘41鎵€紺恒€?鍥?1闃惰穬鍝嶅簲鐗規(guī)€ф洸綰?2.姣斾緥縐垎璋冭妭鍣?2.姣斾緥縐垎璋冭妭鍣?鎵€璋撶Н鍒嗕綔鐢ㄦ槸鎸囪皟鑺傚櫒鐨勮緭鍑轟笌杈撳叆鍋忓樊鐨勭Н鍒嗘垚姣斾緥鐨勪綔鐢ㄣ€傜Н鍒嗘柟紼嬩負(fù)錛?寮忎腑錛?TI鏄Н鍒嗘椂闂村父鏁幫紝瀹冭〃紺虹Н鍒嗛€熷害鐨勫ぇ灝忥

4、紝TI瓚婂ぇ錛岀Н鍒嗛€熷害瓚婃參錛岀Н鍒嗕綔鐢ㄨ秺寮便€傜Н鍒嗕綔鐢ㄧ殑鍝嶅簲鐗規(guī)€ф洸綰匡紝濡傚浘42鎵€紺恒€?鍥?2縐垎浣滅敤鍝嶅簲鏇茬嚎鑻ュ皢姣斾緥鍜岀Н鍒嗕袱縐嶄綔鐢ㄧ粨鍚堣搗鏉ワ紝灝辨瀯鎴怭I璋冭妭鍣紝璋冭妭瑙勫緥涓猴細?PI璋冭妭鍣ㄧ殑杈撳嚭鐗規(guī)€ф洸綰垮鍥??3鎵€紺恒€?鍥?3PI璋冭妭鍣ㄧ殑杈撳嚭鐗規(guī)€ф洸綰?3.姣斾緥寰垎璋冭妭鍣?寰垎璋冭妭鍣ㄧ殑寰垎鏂圭▼涓猴細寰垎浣滅敤鍝嶅簲鏇茬嚎濡傚浘44鎵€紺恒

5、€?PD璋冭妭鍣ㄧ殑闃惰穬鍝嶅簲鏇茬嚎濡傚浘45鎵€紺恒€?4.姣斾緥縐垎寰垎璋冭妭鍣?涓轟簡榪涗竴姝ユ敼鍠勮皟鑺傚搧璐紝寰€寰€鎶婃瘮渚嬨€佺?Н鍒嗐€佸井鍒嗕笁縐嶄綔鐢ㄧ粍鍚堣搗鏉ACALLDSUM錛涙眰PP=螖e(n)=e(n)e(n1)MOVA錛孯7MOVR5錛孉錛涘瓨螖e(n)MOVA錛孯6MOVR4錛孉MOVR3錛?BH錛涘彇PIMOVR2錛?AHACALLDSUM錛涙眰PIPPMOV4BH錛孯7錛涘瓨(PIPP)MOV

6、4AH錛孯6MOVR5錛?9H錛涘彇e(n)MOVR4錛?AHMOVR3錛?DH錛涘彇e(n2錛?MOVR2錛?EHACALLDSUM錛涜綆梕(n)e(n2)MOVA錛孯7錛涘瓨(e(n)e(n2))MOVR5錛孉MOVA錛孯6MOVR4錛孉MOVR3錛?BH錛涘彇e(n1)MOVR2錛?CHACALLCPL1錛涙眰e(n1)鐨勮ˉ鐮?ACALLDSUM錛涜綆梕(n)e(n2)e(n1)MOVA錛孯7錛涘瓨鍜?MOVR5錛孉MOVA

7、錛孯6MOVR4錛孉MOVR3錛?BH錛涘彇e(n1)MOVR2錛?CHACALLCPL1錛涙眰e(n1)鐨勮ˉ鐮?ACALLDSUM錛涜綆梕(n)e(n2)2e(n1)MOVR3錛?7HMOVR2錛?6HMOVR5錛?FH錛涘彇y(n1)MOVR4錛?0HACALLDSUM錛涙眰鍑簓(n)=y(n1)KP脳(PIPPPD)MOV2FH錛孯7錛泍(n)閫佸叆y(n1)鍗曞厓MOV30H錛孯6MOV3DH錛?BH錛沞(n1)閫佸叆e(n