PID控制超详细教程

1 模拟PID控制......................................................................................................................................1 1.1 模拟PID控制原理......................................................................................................................1 2 数字PID控制......................................................................................................................................3 2.1 位置式PID算法..........................................................................................................................3 2.2 增量式PID算法..........................................................................................................................4 2.3 控制器参数整定.........................................................................................................................4 2.3.1 凑试法...........................................................................................................................5 2.3.2 临界比例法...................................................................................................................5 2.3.3 经验法...........................................................................................................................5 2.3.4 采样周期的选择...........................................................................................................6 2.4 参数调整规则的探索.................................................................................................................6 2.5 自校正PID控制器......................................................................................................................7