National Instruments LabWindows/CVI, Руководство пользователя

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Chapter 2 PID Algorithms
© National Instruments Corporation 2-7 LabWindows/CVI PID Control Toolkit User Manual
Table 2-2. Tuning Formula under P-Only Control (Normal)
Controller K
c
T
i
T
d
P 0.2 K
u
— —
PI 0.18 K
u
0.8 T
u
—
PID 0.25 K
u
0.5 T
u
0.12 T
u
Table 2-3. Tuning Formula under P-Only Control (Slow)
Controller K
c
T
i
T
d
P 0.13 K
u
— —
PI 0.13 K
u
0.8 T
u
—
PID 0.15 K
u
0.5 T
u
0.12 T
u
Table 2-4. Tuning Formula under PI or PID Control (Fast)
Controller K
c
T
i
T
d
P T
p
/
τ
— —
PI 0.9 T
p
/
τ
3.33
τ
—
PID 1.1 T
p
/
τ
2.0
τ
0.5
τ
Table 2-5. Tuning Formula under PI or PID Control (Normal)
Controller K
c
T
i
T
d
P 0.44 T
p
/
τ
— —
PI 0.4 T
p
/
τ
5.33
τ
—
PID 0.53 T
p
/
τ
4.0
τ
0.8
τ