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font-size: 14pt;">5.1 </span><span class="18" style="line-height: 14pt; text-indent: 0pt; font-family: Georgia; letter-spacing: 1pt; font-size: 10pt;">PID</span><span class="20" style="line-height: 14pt; text-indent: 0pt; font-family: 宋体; letter-spacing: -0.5pt; font-size: 14pt;">控制原理</span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">常规连续系统中，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器对输入的误差信号进行比例、积分和微分运算，从而 给出控制信号。</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制是一种简单有效的控制算法，鲁棒性（稳定性）强，对动态过 程无需知道太多便可以达到比较满意的控制效果，正好适合爬行的</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ADAMS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">仿真模型。 图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.2</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">中整个框内是个为</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器，，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器的输出值_取决于系统给定值咐 和系统输出值的偏差</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">eW</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">、</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">偏差的积分、偏差的微分的线性加权组合。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle23" style="margin-left: 0pt; text-indent: 0pt; page-break-after: avoid; line-height: 30.25pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: -0.5pt; font-size: 14pt;">5.2 </span><!--[endif]--><span class="19" style="font-family: Georgia; letter-spacing: 1pt; font-size: 10pt;">PI</span><span class="22" style="font-family: 宋体; letter-spacing: -0.5pt; font-size: 14pt;"> </span><span class="19" style="font-family: Georgia; letter-spacing: 1pt; font-size: 10pt;">D</span><span class="22" style="font-family: 宋体; letter-spacing: -0.5pt; font-size: 14pt;">控制器参数对控制性能的影响</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 14pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 0pt; line-height: 30.25pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.2.1 </span><!--[endif]--><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">比</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">例控制</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">rKp</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">；</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">对控制性能的影响</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在连续控制中，比例控制器是最简单的一种，其输出值随输入值成比例变化。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">由式</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.4</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">可以看出，比例控制器始终产生一个与输入信号成正比的输出值。输入信 号即为系统的被调量与给定值的偏差心故若偏差存在，比例控制器就有相应的控制作用 输出至被控对象，使偏差减少，从而抑制干扰的影响。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">但是比例控制存在一个缺点就是：不能克服静态误差。比例控制作用是以偏差的存 在为前提的，一旦偏差不存在，比例控制器的输出值则为零。 </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.2.2</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">积分控制</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">；对控制性能的影响在连续控制中，积分控制是保证系统控制无静态误差的关键。对于积分控制器，其 输出值与输入值的积分成正比。假设为控制器的输出，为控制器的输入，</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">7}</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">为积 分时间常数，则积分控制器的表达式为：</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">积分控制器的输出值与输入值的积分成正比，因此只要有输入值存在，其输出值就 会不断加强直到克服干扰为止。被调控量的偏差消失以后，由于积分规律的特点，输出 将停留在新的位置而不复回原位，因而能保证控制静态误差为零。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">单纯的积分控制器控制动作缓慢，在改善静态准确度的同时使控制的动态品质变差， 过度过程时间延长，甚至造成系统不稳定。在实际工业中，不能单独使用，必须和比例 控制结合使用。积分作用和比例作用是相对的，当比例作用弱的时候，积分作用也必须 得减弱，积分作用是辅助比例作用进行调节的。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">比例积分控制存在缺点：由于</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制不适合具有滞后性的控制对象；相对与比例控 制响应速度变慢，稳定性变差；会存在积分过饱和现象导致控制器调节出现偏差；参数 整定时困难增加。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.2.3</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">微分控制</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Td</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">对控制性能的影响</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">微分控制的主要作用是改善系统的动态性能，对于微分控制器，其输出值与输入值 的微分成正比。假设</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">vW</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">为控制器的输出，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">e</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">的为控制器的输入，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">h</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">为微分时间常数，则 微分控制器的时间表达常数为：</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">微分控制器的输出与输入的变化率成正比，因此微分控制器能在输入信号出现或者 变化的瞬间，根据变化的趋势产生输出作用。若输入的信号为系统偏差信号，则微分作 用能将偏差尽快消除。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">单纯的微分控制器对静态偏差也没有抑制力，不能单独使用，要和比例控制或者比 例积分控制结合起来使用，变成比例微分控制或者比例积分微分控制。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PD</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">调节器在调节系统偏差时，能够快速达到理想值，使系统在最短的时间内得 到强化调节，可调节静态偏差，适用于大滞后环节；</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器结合了 </span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PD</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">调节器的 快速性和</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">调节器的无静差（精确定位）特点，达到了比较高的调节质量。</span></p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"> </p> <p class="NewStyle24" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: 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