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##### PID algorithm 微分控制系统的算法

The most widely used regulator control law is a proportional , integral, differential control , referred to as PID control , also known as PID regulator . The advent of the PID controller has been nearly 70 years of history , with its simple structure , good stability , reliable , easy to adjust and become a major industrial control technology a . When the structure and parameters of the controlled object can not fully grasp , or the lack of a precise mathematical model, control theory is difficult to use other technologies , the system controller structure and parameters must rely on experience and on-site commissioning to determine , when the application PID control is most convenient. That is, when we do not fully understand a system and the controlled object , or can not be an effective means of measurement to obtain the system parameters , the most suitable PID control . PID control , in practice there are PI and PD control . PID controller is based on the error of the system , using a proportional , integral , differential control amount is calculated for the control .

Proportional (P) control : Proportional control is a simple control. Its controller's output and input error signal proportional relationship . When only proportional control system output when there is steady-state error (Steady-state error).

Proportional regulation : a proportionate response system deviation , once the system has gone wrong , proportional control regulation to reduce immediate bias. Proportional effect, and can speed up the adjustment, reduce errors, but the proportion is too large , so that the stability of the system down , and even cause system instability.

Integral (I) control: integral control , the controller output and input error signal proportional to the integral relationship . For an automatic control system, if present , after entering the steady state error , the control system is called the steady-state error or simply a poor system (System with Steady-state Error). In order to eliminate the steady state error , the controller must introduce the " integral term ." Integral term of the error depends on the time integral , as time increases , the integral term will increase. Thus, even if the error is small , the integral term will increase with the increase of time , it pushes the output of the controller increases the steady-state error further reduced until it is equal to zero . Therefore, the proportional + integral (PI) controller, you can make the system after entering the no steady state error .

Integral regulation : Is the system to eliminate the steady state error , no gradient to improve . Because there is an error , integral control will be carried out until no difference , integral control stop , integral control outputs a constant value . Integral action depends on the strength of the integral time constant Ti, Ti is smaller, the stronger the integral action . On the contrary , the integral role of the weak Ti large , adding integral control allows th论文英语论文网提供整理，提供论文代写英语论文代写代写论文代写英语论文代写留学生论文代写英文论文留学生论文代写相关核心关键词搜索。

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