智能车制作

标题: 如何判断PID的参数? [打印本页]

作者: lzyhx    时间: 2008-6-14 01:05
标题: 如何判断PID的参数?
<>请教我一直很困惑应用PID,所以我们的车上没有用!我就是很不理解PID那些参数是怎么调出来的?都需要绘制什么样的图形呢?</P><P>因为我们不知道数学模型所以就不能去模拟,如何判断它的超调如何判断上升时间???这些都是通过什么看出来的??观察不出那些参数还怎么调呢?</P><P>希望有人指点我一下!感谢!!!!!!!!!!</P>
作者: zdhly0401    时间: 2008-6-14 01:11
标题: Re:如何判断PID的参数?
&nbsp; <DIV class=O style="mso-char-wrap: 1; mso-kinsoku-overflow: 1" v:shape="_x0000_s1026"><SPAN style="FONT-SIZE: 36pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>凑试法确定</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 36pt; COLOR: blue; FONT-FAMILY: Tahoma; mso-ascii-font-family: Tahoma; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>ID</B></SPAN><SPAN style="FONT-SIZE: 36pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>参数</B></SPAN><SPAN style="FONT-SIZE: 36pt; COLOR: blue; FONT-FAMILY: Tahoma; mso-ascii-font-family: Tahoma; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B> </B></SPAN></DIV><DIV class=O v:shape="_x0000_s1026"><DIV style="mso-char-wrap: 1; mso-kinsoku-overflow: 1"><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><FONT color=#000000>&nbsp; <DIV class=O v:shape="_x0000_s1026"><DIV style="mso-char-wrap: 1; mso-kinsoku-overflow: 1; mso-line-spacing: &#39;100 50 0&#39;"><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>根据</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B><I>K</I></B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.37em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -25%"><B><I>P</I></B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B><I>、</I></B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B><I>T</I></B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.37em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -25%"><B><I>I</I></B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B><I>、</I></B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B><I>T</I></B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.37em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -25%"><B><I>D</I></B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>对系统动、静态特性的影响,采用凑试法对参数实行</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>“</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>先比例,</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>后积分,再微分</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>”</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>的整定。</B></SPAN></DIV><DIV style="mso-char-wrap: 1; mso-kinsoku-overflow: 1; mso-line-spacing: &#39;100 50 0&#39;"><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><FONT color=#000000>&nbsp;</FONT><DIV class=O style="mso-char-wrap: 1; mso-kinsoku-overflow: 1" v:shape="_x0000_s1026"><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>首先只整定比例部分,即将比例系数</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>K</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.45em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -30%"><B>P</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>由小变大,直到得到反应快,超调小的响应曲线。如果系统没有静差或静差已小到允许的范围内,并且响应曲线已属满意,</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>只需用比例调节器即可。</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B> </B></SPAN></DIV><DIV class=O style="mso-char-wrap: 1; mso-kinsoku-overflow: 1" v:shape="_x0000_s1026"><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>如果在(</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>1</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>)比例调节的基础上系统的静差不能满足设计要求,则需加入积分环</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>节。整定时,首先置积分时间</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>T</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.45em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -30%"><B>I</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>为一较大值,并将第一步整定得到的比例系数</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>略为缩小(</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>0.8 K</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.45em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -30%"><B>P</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>),然后减小积分时间,使在保持系统良好动态性能的情况</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>下,静差得到消除。在此过程中,可反复改变比例系数与积分时间,得到满意</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>的控制效果和整定参数。</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B> </B></SPAN><DIV class=O v:shape="_x0000_s1026"><DIV style="mso-char-wrap: 1; mso-kinsoku-overflow: 1; mso-line-spacing: &#39;100 50 0&#39;"><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>若使用比例积分调节消除了静差,但动态过程反复调整仍不能满意,则可加入</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>微分环节</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>PID</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>,在整定时,可先置微分时间</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>T</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.45em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -30%"><B>D</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>为零,在第一步整定的基础上,</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>增大</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>T</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.45em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -30%"><B>D</B></SPAN><SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN"><B>,同时相应改变比例系数和积分时间,逐步凑试,以获得满意的调节效</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>果。</B></SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B> </B></SPAN></DIV></DIV></SPAN></DIV></SPAN></FONT><SPAN style="FONT-SIZE: 36pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: Tahoma; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><STRONG>整定口诀</STRONG></SPAN></DIV></DIV></SPAN></DIV><DIV style="mso-char-wrap: 1; mso-kinsoku-overflow: 1"><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>参数整定找最佳,从小到大顺序查<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>先是比例后积分,最后再把微分加<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>曲线振荡很频繁,比例度盘要放大<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>曲线漂浮绕大湾,比例度盘往小扳<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>曲线偏离回复慢,积分时间往下降<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>曲线波动周期长,积分时间再加长<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>曲线振荡频率快,先把微分降下来<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>动差大来波动慢。微分时间应加长<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>理想曲线两个波,前高后低</B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>4</B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>比</B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>1<BR></B></SPAN><SPAN style="FONT-SIZE: 24pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B>一看二调多分析,调节质量不会低</B></SPAN><SPAN style="FONT-SIZE: 36pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"><B> </B></SPAN></DIV><DIV style="mso-char-wrap: 1; mso-kinsoku-overflow: 1; mso-line-spacing: &#39;100 50 0&#39;"></DIV></DIV>
作者: yhxiao321    时间: 2008-6-16 16:37
标题: Re:如何判断PID的参数?
<>感谢不过我就是不明白。。。<STRONG>即将比例系数<SPAN lang=EN-US style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN">K</SPAN><SPAN lang=EN-US style="FONT-SIZE: 13pt; COLOR: blue; FONT-FAMILY: &#39;Times New Roman&#39;; POSITION: relative; TOP: 0.45em; mso-ascii-font-family: &#39;Times New Roman&#39;; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;; mso-fareast-language: ZH-CN; mso-text-raise: -30%">P</SPAN><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;">由小变大,直到得到反应快,超调小的响应曲线 曲线是怎么画出来的啊??没有数学模型是怎么把曲线画出来的????这是我不明白的!我知道怎么凑数可是我不会画曲线!不知道怎么画出来的!</SPAN></STRONG></P><P><STRONG><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;"></SPAN></STRONG>&nbsp;</P><P><STRONG><SPAN style="FONT-SIZE: 20pt; COLOR: blue; FONT-FAMILY: 宋体; mso-ascii-font-family: 宋体; mso-fareast-font-family: 宋体; mso-hansi-font-family: &#39;Times New Roman&#39;">响应曲线是怎么画出来的呢?指点我一下。。。</SPAN></STRONG></P>
作者: keffee    时间: 2008-6-16 21:53
标题: Re:Re:如何判断PID的参数?
你把数据保存,用matlab或labview画都可以
作者: ^_^    时间: 2008-6-17 07:52
标题: Re:如何判断PID的参数?
p,d即可,i没什么用
作者: barrin    时间: 2008-6-19 17:42
标题: Re:如何判断PID的参数?
<>楼上的贴的什么文章啊~根本不是调车时候用的方法</P><P>PID控制的时候,基本准则就是首先调节P,让调节速度基本满意(但是可能会震荡等等,先不管-.-#)</P><P>然后判断你是否需要调节净差(也就是目标不断在变化,你永远跟不上),在咱们的比赛中应该是不需要的~所以I省略(如果使用I,主要目的是让车在跟踪目标时有可能"追上")</P><P>然后就是D了,D的主要用途是防震荡(不要管理论上什么乱七八糟的东西,一般系统它就这个用),如果车出现了震荡就用,没有就不用(由于很多系统固有特性中包含了一个系统提供的D项,所以经常是可以不用D的)</P>
作者: xufang    时间: 2012-2-12 16:40

作者: xufang    时间: 2012-2-12 16:40





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