DEIF TAP-210DG/3在存储器中的控制程序

设置回路增益一Ziegler 和Nicholas调节方法

一旦K、Tp和Tc等三个过程模型参数确定后.即可用来评价初始PID回路增益。下面的调节方法由Ziegler 和Nicholas在1940年代发展起来。幅比即闭路响应中第二峰值与第-峰值之比。

1.计算作用速率:

R= K/Tc

2.只对比例控制,计算Kp

Kp= 1/(R* Tp) = Tc/(K* Tp)

3.对于比例和积分控制

Kp=0.9/(R* Tp) =0.9* Tc/(K* Tp)

Ki=0.3* Kp/Tp

4.对于PID控制,

Kp= G/CR*

此处G为1.2-2.0

Ki=0.5* Kp/Tp

Kd=0.5* Kp* Tp

5.检查采样周期是否在(Tp+ Tc)/10至(Tp+ Tc)/1000之间。

还有一种“理想调节”方法,可获得最佳的SP改变响应,仅由Tp过程延迟或死时间延迟。

Kp=2* Tc/(3* K* Tp)

Ki= Tc

Kd= KiV4

如果使用微分项。

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