pid_theory.lyx

CNC 的开放码,EMC2 V2.2.8版

Increase
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard

Small Change
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<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
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\layout Standard

Decrease
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</cell>
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<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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I
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Decrease
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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Increase
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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Increase
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</cell>
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Eliminate
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</cell>
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<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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D
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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Small Change
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<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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Decrease
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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Decrease
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Small Change
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\layout Standard
\align center 
Effects of increasing parameters
\layout Subparagraph

Ziegler-Nichols method
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Another tuning method is formally known as the "Ziegler-Nichols method",
 introduced by John G.
 Ziegler and Nathaniel B.
 Nichols.
 It starts in the same way as the method described before: first set the
 I and D gains to zero and then increase the P gain until the output of
 the loop starts to oscillate.
 Write down the critical gain (
\begin_inset Formula $K_{c}$
\end_inset 

) and the oscillation period of the output (
\begin_inset Formula $P_{c}$
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).
 Then adjust the P, I and D controls as the table shows:
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\pagebreak_bottom \align center 

\begin_inset  Tabular
<lyxtabular version="3" rows="4" columns="4">
<features>
<column alignment="center" valignment="top" leftline="true" width="0">
<column alignment="center" valignment="top" leftline="true" width="0">
<column alignment="center" valignment="top" leftline="true" width="0">
<column alignment="center" valignment="top" leftline="true" rightline="true" width="0">
<row topline="true" bottomline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard

Control type
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard

P
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

I
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
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\layout Standard

D
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</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard

P
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard


\begin_inset Formula $.5K_{c}$
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\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard

\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

PI
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard


\begin_inset Formula $.45K_{c}$
\end_inset 


\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard


\begin_inset Formula $1.2/P_{c}$
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\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
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\layout Standard

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</cell>
</row>
<row topline="true" bottomline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard

PID
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</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard


\begin_inset Formula $.6K_{c}$
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\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
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\layout Standard


\begin_inset Formula $2/P_{c}$
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\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
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\layout Standard


\begin_inset Formula $P\times P_{c}/8$
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\end_inset 
</cell>
</row>
</lyxtabular>

\end_inset 


\the_end