{"id":49534,"date":"2024-04-07T20:55:42","date_gmt":"2024-04-07T12:55:42","guid":{"rendered":"https:\/\/swarma.org\/?p=49534"},"modified":"2024-04-07T20:55:42","modified_gmt":"2024-04-07T12:55:42","slug":"%e8%b5%b5%e6%88%90%ef%bc%9apid%e6%8e%a7%e5%88%b6%e7%9a%84%e5%9f%ba%e7%a1%80%e7%90%86%e8%ae%ba%e4%b8%a8%e5%91%a8%e4%ba%8c%e7%9b%b4%e6%92%ad%c2%b7%e6%8e%a7%e5%88%b6%e7%a7%91%e5%ad%a6%e5%89%8d%e6%b2%bf","status":"publish","type":"post","link":"https:\/\/swarma.org\/?p=49534","title":{"rendered":"\u8d75\u6210\uff1aPID\u63a7\u5236\u7684\u57fa\u7840\u7406\u8bba\u4e28\u5468\u4e8c\u76f4\u64ad\u00b7\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5\u7cfb\u5217\u8bfe"},"content":{"rendered":"
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\u7b2c\u4e09\u8bfe\u201cPID\u63a7\u5236\u7684\u57fa\u7840\u7406\u8bba\u201d\u8bfe\u7a0b\u7b80\u4ecb<\/strong><\/span><\/strong><\/strong><\/p>\n<\/section>\n

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\u53cd\u9988\u662f\u7cfb\u7edf\u63a7\u5236\u9886\u57df\u7684\u4e00\u4e2a\u6838\u5fc3\u6982\u5ff5\u3002\u5728\u4f17\u591a\u53cd\u9988\u63a7\u5236\u7b97\u6cd5\u4e2d\uff0c\u5177\u6709\u767e\u4f59\u5e74\u5386\u53f2\u7684\u8457\u540d\u6bd4\u4f8b-\u79ef\u5206-\u5fae\u5206\uff08PID\uff09\u63a7\u5236\u5668\u662f\u8fc4\u4eca\u4e3a\u6b62\u81ea\u52a8\u63a7\u5236\u4e2d\u5e94\u7528\u6700\u4e3a\u5e7f\u6cdb\u7684\u53cd\u9988\u63a7\u5236\u65b9\u6cd5\u3002PID\u63a7\u5236\u5668\u5177\u6709\u7ed3\u6784\u7b80\u5355\u3001\u6613\u4e8e\u5b9e\u73b0\u3001\u4e0d\u4f9d\u8d56\u88ab\u63a7\u5bf9\u8c61\u5177\u4f53\u6570\u5b66\u6a21\u578b\u7b49\u7a81\u51fa\u4f18\u70b9\uff0c\u5b83\u4e0e\u5085\u91cc\u53f6\u53d8\u6362\u3001\u6392\u5e8f\u7b97\u6cd5\u3001\u968f\u673a\u6570\u751f\u6210\u7b49\u5341\u79cd\u7b97\u6cd5\u88ab\u8ba4\u4e3a\u662f\u201c\u7edf\u6cbb\u4e16\u754c\u7684\u5341\u5927\u7b97\u6cd5\u201d\u3002<\/span><\/p>\n


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\u957f\u671f\u4ee5\u6765\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u5bf9 PID \u63a7\u5236\u5668\u53c2\u6570\u7684\u9009\u62e9\u5927\u591a\u90fd\u4f9d\u8d56\u8bbe\u8ba1\u8005\u7684\u7ecf\u9a8c\u6216\u5b9e\u9a8c\uff0c\u5305\u62ec\u8457\u540d\u7684 Ziegler-Nichols\u65b9\u6cd5\u3002\u9488\u5bf9 PID \u63a7\u5236\u5668\u7684\u7406\u8bba\u7814\u7a76\u5927\u591a\u662f\u9488\u5bf9\u7ebf\u6027\u7cfb\u7edf\u6216\u5c40\u90e8\u7ebf\u6027\u5316\u6a21\u578b\u7684\u3002\u56e0\u6b64, PID\u7684\u57fa\u7840\u7406\u8bba\u4e0e\u5b9e\u9645\u5e94\u7528\u4e4b\u95f4\u5b58\u5728\u663e\u8457\u9e3f\u6c9f\u3002PID\u63a7\u5236\u7406\u8bba\u81f3\u5c11\u5e94\u8be5\u56de\u7b54\u4ee5\u4e0b\u51e0\u4e2a\u57fa\u672c\u95ee\u9898\uff1a<\/span><\/section>\n
1. PID\u63a7\u5236\u5668\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u5982\u6b64\u6210\u529f\u7684\u57fa\u672c\u539f\u7406\u662f\u4ec0\u4e48\uff1f<\/span><\/section>\n
2. PID\u8fd9\u4e2a\u7ebf\u6027\u53cd\u9988\u63a7\u5236\u80fd\u5426\u5e94\u5bf9\u5927\u8303\u56f4\u975e\u7ebf\u6027\u4e0d\u786e\u5b9a\u52a8\u6001\u7cfb\u7edf\uff1f<\/span><\/section>\n
3. \u5982\u4f55\u5177\u4f53\u8bbe\u8ba1\u4e09\u4e2aPID\u63a7\u5236\u53c2\u6570\uff1f<\/span><\/section>\n
4. PID\u63a7\u5236\u5177\u6709\u54ea\u4e9b\u5c40\u9650\uff1f<\/span><\/section>\n

5. \u80fd\u5426\u8bbe\u8ba1\u66f4\u4e3a\u667a\u80fd\u53ef\u9760\u7684PID\u578b\u63a7\u5236\u7b97\u6cd5\uff1f<\/span><\/p>\n

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\u5728\u672c\u6b21\u5206\u4eab\u4e2d\uff0c\u9996\u5148\u7b80\u8981\u4ecb\u7ecdPID\u63a7\u5236\u5668\u7684\u53d1\u5c55\u53f2\u4ee5\u53ca\u5f53\u524d\u5728\u5de5\u7a0b\u6280\u672f\u7cfb\u7edf\u4e2d\u7684\u91cd\u8981\u5730\u4f4d\u3002\u7136\u540e\uff0c\u4ece\u4e00\u7c7b\u7531Newton\u529b\u5b66\u65b9\u7a0b\u63cf\u8ff0\u7684\u4e8c\u9636\u975e\u7ebf\u6027\u4e0d\u786e\u5b9a\u7cfb\u7edf\u51fa\u53d1\uff0c\u8bba\u8bc1PID\u63a7\u5236\u5668\u5bf9\u4ed8\u975e\u7ebf\u6027\u548c\u4e0d\u786e\u5b9a\u6027\u7684\u80fd\u529b\uff0c\u5e76\u5177\u4f53\u7ed9\u51faPID\u63a7\u5236\u5668\u53c2\u6570\u7684\u8bbe\u8ba1\u65b9\u6cd5\u3002\u63a5\u4e0b\u6765\uff0c\u9610\u660ePID\u63a7\u5236\u5177\u6709\u7684\u8ddf\u8e2a\u4e0e\u6297\u6270\u6027\u80fd\uff0c\u4ee5\u53ca\u975e\u8026\u5408PID\u63a7\u5236\u5e94\u5bf9\u975e\u7ebf\u6027\u5f3a\u8026\u5408\u591a\u4e2a\u4f53\u7cfb\u7edf\u7684\u80fd\u529b\u3002\u6700\u540e\uff0c\u5c06\u7b80\u8981\u8ba8\u8bba\u4e00\u4e0bPID\u63a7\u5236\u5668\u5177\u6709\u7684\u4e00\u4e9b\u5c40\u9650\u6027\uff0c\u8fdb\u800c\u4e3a\u5de5\u7a0b\u5b9e\u8df5\u4eba\u5458\u7406\u89e3PID\u63a7\u5236\u7684\u6700\u5927\u80fd\u529b\u4ee5\u53ca\u8fdb\u4e00\u6b65\u4e3a\u514b\u670d\u8fd9\u4e9b\u5c40\u9650\u63d0\u4f9b\u7406\u8bba\u4f9d\u636e\u548c\u6307\u5f15\u65b9\u5411\u3002<\/span><\/p>\n

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\u56fe1\uff1a\u65e9\u671f\u7684PID\u63a7\u5236\u88c5\u7f6e<\/span><\/section>\n

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PID\u63a7\u5236\u7b97\u6cd5\u7684\u73b0\u5b9e\u5e94\u7528<\/strong><\/span><\/section>\n

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PID\u63a7\u5236\u4f5c\u4e3a\u5386\u53f2\u6700\u4e45\u3001\u751f\u547d\u529b\u6700\u5f3a\u7684\u57fa\u672c\u63a7\u5236\u65b9\u5f0f\uff0c\u662f\u5de5\u4e1a\u5e94\u7528\u4e2d\u6700\u5e7f\u6cdb\u7b97\u6cd5\u4e4b\u4e00\uff1a\u5728\u5de5\u4e1a\u751f\u4ea7\u8fc7\u7a0b\u4e2d\u7528\u4e8e\u6e29\u5ea6\u63a7\u5236\u3001\u538b\u529b\u63a7\u5236\u3001\u6d41\u91cf\u63a7\u5236\uff0c\u673a\u5668\u4eba\u63a7\u5236\u7cfb\u7edf\u4e2d\u7528\u4e8e\u63a7\u5236\u673a\u5668\u4eba\u7684\u59ff\u6001\u3001\u901f\u5ea6\u548c\u4f4d\u7f6e\u7b49\u7b49\u3002<\/span><\/section>\n

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\u56fe2\uff1a\u7b80\u5355\u5faa\u8ff9\uff0c\u5c0f\u8f66\u6447\u6446\u5e45\u5ea6\u5927<\/span><\/section>\n

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\u56fe3\uff1aPID\u7b97\u6cd5\u4f18\u5316\u540e\uff0c\u5bfb\u8ff9\u7a33\u5b9a<\/span><\/section>\n

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\u63a8\u8350\u9605\u8bfb\u8d44\u6599\uff1a<\/span><\/strong><\/span><\/span><\/p>\n

    \n
  1. \n

    C. Zhao and L. Guo. PID controller design for second order nonlinear uncertain systems, Science China Information Sciences, 60(2), 1-13, 2017.<\/span><\/p>\n<\/li>\n

  2. \n

    J. Zhang and L. Guo. Theory and design of PID controller for nonlinear uncertain systems, IEEE Control Systems Letters, 3(3), pp.643 – 648, 2019.<\/span><\/p>\n<\/li>\n

  3. \n

    C. Zhao and L. Guo. Towards a theoretical foundation of PID control for uncertain nonlinear systems, Automatica, vol. 142:110360, 2022.<\/span><\/p>\n<\/li>\n

  4. \n

    C. Zhao and S. Yuan. Tracking performance of PID for nonlinear stochastic systems, arXiv preprint arXiv:2303.10537, 2023.<\/span><\/p>\n<\/li>\n

  5. \n

    C. Zhao and L. Guo. Control of nonlinear uncertain systems by extended PID, IEEE Transactions on Automatic Control, 66(8), 3840-3847, 2021.<\/span><\/p>\n<\/li>\n

  6. \n

    K.J. Astrom and T. Hagglund. PID controllers: theory, design and tuning. Research Triangle Park, NC: Instrument society of America. 1995.<\/span><\/p>\n<\/li>\n

  7. \n

    \u97e9\u4eac\u6e05\uff0c\u81ea\u6297\u6270\u63a7\u5236\u6280\u672f\uff1a\u4f30\u8ba1\u8865\u507f\u4e0d\u786e\u5b9a\u56e0\u7d20\u7684\u63a7\u5236\u6280\u672f. \u5317\u4eac\uff1a\u56fd\u9632\u5de5\u4e1a\u51fa\u7248\u793e\uff0c2008.<\/span><\/p>\n<\/li>\n

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    \u767d\u5fd7\u521a\uff0c\u81ea\u52a8\u8c03\u8282\u7cfb\u7edf\u89e3\u6790\u4e0ePID\u6574\u5b9a. \u5316\u5b66\u5de5\u4e1a\u51fa\u7248\u793e\uff0c2012.<\/span><\/section>\n<\/li>\n<\/ol>\n

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    \u8d75\u6210<\/strong>\uff0c\u4e2d\u56fd\u79d1\u5b66\u9662\u6570\u5b66\u4e0e\u7cfb\u7edf\u79d1\u5b66\u7814\u7a76\u9662\u526f\u7814\u7a76\u5458\uff0c\u76ee\u524d\u7814\u7a76\u5174\u8da3\u5305\u62ec\u4e0d\u786e\u5b9a\u975e\u7ebf\u6027\u7cfb\u7edf\u63a7\u5236\u7406\u8bba\u53ca\u5e94\u7528\u3001\u968f\u673a\u7cfb\u7edf\u63a7\u5236\u4ee5\u53caPID\u63a7\u5236\u7406\u8bba\u7b49\u3002\u5165\u9009\u7b2c\u4e5d\u5c4a\u4e2d\u56fd\u79d1\u534f\u9752\u5e74\u4eba\u624d\u6258\u4e3e\u5de5\u7a0b\uff0c\u7b2c\u5341\u4e94\u5c4a\u201c\u9648\u666f\u6da6\u672a\u6765\u4e4b\u661f\u201d\u7b49\u4eba\u624d\u9879\u76ee\u548c\u8ba1\u5212\uff0c\u5728IEEE-TAC\u3001Automatica\u3001\u4e2d\u56fd\u79d1\u5b66\uff1a\u4fe1\u606f\u79d1\u5b66\u7b49\u671f\u520a\u53d1\u8868\u8bba\u658710\u4f59\u7bc7\u3002\u73b0\u62c5\u4efbJournal of Systems Science and Complexity\u671f\u520a\u9752\u5e74\u7f16\u59d4\uff0c\u4e2d\u56fd\u81ea\u52a8\u5316\u5b66\u4f1a\u7a7a\u95f4\u65e0\u4eba\u7cfb\u7edf\u81ea\u4e3b\u8fd0\u884c\u6280\u672f\u4e13\u4e1a\u59d4\u5458\u4f1a\u59d4\u5458\uff0c\u8363\u83b7\u4e2d\u56fd\u79d1\u5b66\uff1a\u4fe1\u606f\u79d1\u5b66\u9ad8\u5f71\u54cd\u529b\u8bba\u6587\u3001\u5173\u8087\u76f4\u9752\u5e74\u7814\u7a76\u5956\u3001\u4e2d\u56fd\u79d1\u5b66\u9662\u4f18\u79c0\u535a\u58eb\u8bba\u6587\u4ee5\u53ca\u7b2c\u56db\u5c4a\u4e2d\u56fd\u79d1\u534f\u4f18\u79c0\u79d1\u6280\u8bba\u6587\u7b49\u8363\u8a89\u548c\u5956\u9879\u3002<\/span><\/section>\n

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    \u5206\u4eab\u65b9\u5f0f<\/strong>\uff1a<\/span><\/p>\n

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      \u96c6\u667a\u5b66\u56ed\u89c6\u9891\u53f7\u76f4\u64ad<\/p>\n<\/li>\n<\/ol>\n

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      \u5bf9\u590d\u6742\u52a8\u6001\u7cfb\u7edf\u7684\u5b9a\u91cf\u8ba4\u8bc6\u4e0e\u79d1\u5b66\u8c03\u63a7\uff0c\u7cfb\u7edf\u5b66\u4e0e\u63a7\u5236\u8bba\u662f\u5173\u952e\u57fa\u7840\u3002\u96c6\u667a\u5b66\u56ed\u8054\u5408\u4e2d\u79d1\u9662\u6570\u5b66\u4e0e\u7cfb\u7edf\u79d1\u5b66\u7814\u7a76\u9662\u591a\u4f4d\u63a7\u5236\u79d1\u5b66\u4e0e\u5de5\u7a0b\u9886\u57df\u4e13\u5bb6\u5171\u540c\u5f00\u8bbe\u4e86\u300a\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5\u300b\u7cfb\u5217\u8bfe\u7a0b\uff0c\u4e3a\u9762\u5411\u63a7\u5236\u4e13\u4e1a\u9886\u57df\u5b66\u751f\u4ee5\u53ca\u8de8\u9886\u57df\u7684\u5b66\u4e60\u8005\u505a\u6df1\u5ea6\u79d1\u666e\uff0c\u5e2e\u52a9\u5b66\u4e60\u63a7\u5236\u8bba\u7684\u6838\u5fc3\u601d\u60f3\u3001\u6846\u67b6\u4e0e\u65b9\u6cd5\u3002<\/span><\/section>\n

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      \u901a\u8fc7\u5b66\u4e60\u8fd9\u4e9b\u8bfe\u7a0b\uff0c\u5b66\u751f\u5c06\u4e86\u89e3\u63a7\u5236\u8bba\u7684\u53d1\u5c55\u5386\u7a0b\uff0c\u638c\u63e1\u7ecf\u5178\u548c\u73b0\u4ee3\u63a7\u5236\u65b9\u6cd5\uff0c\u63a2\u7d22\u63a7\u5236\u7cfb\u7edf\u7684\u7f8e\u5999\u4e4b\u5904\u3002\u6b64\u7cfb\u5217\u8bfe\u7a0b\u5171\u8ba110\u8282\uff0c\u4ece2024\u5e744\u67082\u65e5\u8d77\uff0c\u6bcf\u5468\u4e8c\u665a19:00-21:00\u7ebf\u4e0a\u4e0a\u8bfe\u3002\u6b22\u8fce\u611f\u5174\u8da3\u7684\u670b\u53cb\u62a5\u540d\u53c2\u4e0e\uff01<\/span><\/section>\n

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      \u7cfb\u5217\u8bfe\u7a0b\u8be6\u7ec6\u4fe1\u606f\uff1a2024\u5f00\u5e74\u91cd\u78c5\u8bfe\u7a0b\uff1a\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5<\/a><\/span><\/section>\n

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      2. \n

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        <\/section>\n

        <\/section>\n

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