PID控制器文章 [英] PID Controller Article
问题描述
SilicOre09两年前写了一篇有关PID控制器的文章，当时我正在研究我打算实施的PID项目.
在我看来，Dterm的符号错误:
dTerm = kd *(pv-lastPV)/dT;
应该是
dTerm = kd *(lastPV-pv)/dT;
减去过程变量的导数及其错误是合法的，
但错误的符号相反.换句话说，如果PID控制器将巡航控制系统的速度从50 mph加速到60 mph，则由于速度在增加，所以速度差为正.但是，随着达到设定点，其误差会减小.
我很确定PID控制器的导数项必须遵循误差项导数的符号.
如果作者提供有关我的分析的反馈意见，我将不胜感激-我可能是错的，因为我对PID控制器还是一个新手.
Jack.
SilicOre09 wrote an article about PID controllers 2 years ago that I was studying for a PID project I plan to implement.
It seems to me that the Dterm has the wrong sign:
dTerm = kd * (pv - lastPV) / dT;
should be
dTerm = kd * (lastPV - pv) / dT;
It is legal to substitude the derivative of the process variable vice its error,
but the error has the opposite sign. In other words, if the PID controller is driving the speed of the cruise control system from 50 mph to 60 mph, then the speed differential is positive because the speed is increasing. However, its error is decreasing as the set point is reached.
I am pretty sure that the derivative term of the PID controller needs to follow the sign of the error term derivative.
I would appreciate it if the author provide feedback regarding my analysis -- I could be wrong because I am somewhat of a novice regarding PID controllers.
Jack.
推荐答案
不要将此问题发布在问题与解决方案"下答案-如果您从某篇文章中获取了代码，那么该文章的底部会出现一个新消息"按钮，该按钮会导致向作者发送电子邮件.然后会通知他们您希望与他们交谈.
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我认为您的意思是这篇文章:工业.NET-PID控制器 [
Don''t post this under Questions & Answers - if you got the code from an article, then there is a "new message" button at the bottom of that article, which causes an email to be sent to the author. They are then alerted that you wish to speak to them.
Posting this here relies on them "dropping by" and realising it is for them.
I assume you means this article: Industrial .NET - PID Controllers[^]
看起来像你"没错.导数项必须为
D out = K d de(t)/dt，
其中错误e(t)= SetPoint-ProcessVariable
如果导数项D out 本身在控制器的输出总和中带有正号，则此方法有效.
在> http://en.wikipedia.org/wiki/PID_controller [
It looks like you''re right. The derivative term must be
Dout = Kd de(t)/dt,
where error e(t) = SetPoint − ProcessVariable
This is valid if the derivative term Dout itself comes with positive sign in the sum of controller''s output.
Compare with equations at http://en.wikipedia.org/wiki/PID_controller[^].
—SA
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