{"id":508,"date":"2025-11-06T13:17:27","date_gmt":"2025-11-06T05:17:27","guid":{"rendered":"https:\/\/yin.nnneri.me\/?p=508"},"modified":"2025-11-06T13:17:27","modified_gmt":"2025-11-06T05:17:27","slug":"%e8%bf%87%e6%8e%a7%e5%a4%a7%e4%bd%9c%e4%b8%9a%e4%bd%9c%e4%b8%9a%e4%b8%80","status":"publish","type":"post","link":"https:\/\/yin.nnneri.me\/?p=508","title":{"rendered":"\u8fc7\u63a7\u5927\u4f5c\u4e1a\u4f5c\u4e1a\u4e00"},"content":{"rendered":"<h2><strong>1. \u4efb\u52a1\u6982\u8ff0<\/strong><\/h2>\n<h3><strong>1.1 \u8bbe\u8ba1\u80cc\u666f\u4e0e\u610f\u4e49<\/strong><\/h3>\n<p>\u5728\u73b0\u4ee3\u77f3\u6cb9\u5316\u5de5\u751f\u4ea7\u4e2d\uff0c\u88c2\u89e3\u6c14\u662f\u83b7\u53d6\u4e59\u70ef\u3001\u4e19\u70ef\u7b49\u57fa\u7840\u5316\u5de5\u539f\u6599\u7684\u5173\u952e\u4e2d\u95f4\u4ea7\u7269\u3002\u5176\u540e\u7eed\u5206\u79bb\u8fc7\u7a0b\u5bf9\u6e29\u5ea6\u6709\u7740\u6781\u4e3a\u82db\u523b\u7684\u8981\u6c42\u3002\u4e19\u70ef\u51b7\u5374\u5668\u4f5c\u4e3a\u88c2\u89e3\u6c14\u5206\u79bb\u88c5\u7f6e\u524d\u7684\u6838\u5fc3\u8bbe\u5907\uff0c\u5176\u4f5c\u7528\u662f\u5c06\u9ad8\u6e29\u88c2\u89e3\u6c14\u51b7\u5374\u81f3\u9002\u5b9c\u7684\u6e29\u5ea6\uff0c\u4e3a\u540e\u7eed\u7684\u4f4e\u6e29\u5206\u79bb\u521b\u9020\u6761\u4ef6\u3002\u56e0\u6b64\uff0c\u5bf9\u51b7\u5374\u5668\u51fa\u53e3\u6e29\u5ea6\u8fdb\u884c\u7cbe\u786e\u3001\u7a33\u5b9a\u7684\u63a7\u5236\uff0c\u4e0d\u4ec5\u76f4\u63a5\u5173\u7cfb\u5230\u4ea7\u54c1\u6536\u7387\u548c\u8d28\u91cf\uff0c\u66f4\u5f71\u54cd\u7740\u6574\u4e2a\u751f\u4ea7\u88c5\u7f6e\u7684\u5b89\u5168\u8fd0\u884c\u4e0e\u80fd\u8017\u6c34\u5e73\u3002\u672c\u8bbe\u8ba1\u65e8\u5728\u901a\u8fc7\u6784\u5efa\u4e00\u4e2a\u9ad8\u6027\u80fd\u7684\u63a7\u5236\u7cfb\u7edf\uff0c\u89e3\u51b3\u4e19\u70ef\u51b7\u5374\u5668\u5728\u9762\u4e34\u8d1f\u8377\u6ce2\u52a8\u65f6\u7684\u6e29\u5ea6\u63a7\u5236\u96be\u9898\uff0c\u5177\u6709\u663e\u8457\u7684\u5de5\u7a0b\u5b9e\u8df5\u4ef7\u503c\u3002<\/p>\n<h3><strong>1.2 \u8bbe\u8ba1\u76ee\u6807\u4e0e\u6027\u80fd\u6307\u6807<\/strong><\/h3>\n<p>\u672c\u6b21\u8bbe\u8ba1\u7684\u6838\u5fc3\u4efb\u52a1\u662f\u4e3a\u67d0\u4e19\u70ef\u51b7\u5374\u5668\u8bbe\u8ba1\u4e00\u5957\u6e29\u5ea6\u63a7\u5236\u7cfb\u7edf\uff0c\u5177\u4f53\u9700\u6ee1\u8db3\u4ee5\u4e0b\u6027\u80fd\u6307\u6807\uff1a<br \/>\n*   <strong>\u52a8\u6001\u6027\u80fd<\/strong>\uff1a\u7cfb\u7edf\u5728\u8bbe\u5b9a\u503c\u9636\u8dc3\u54cd\u5e94\u4e0b\u7684\u8d85\u8c03\u91cf $\\sigma_p \\leq 40\\%$ \u3002<br \/>\n*   <strong>\u6297\u5e72\u6270\u6027\u80fd<\/strong>\uff1a\u5b9e\u73b0\u5bf9\u4e3b\u8981\u9636\u8dc3\u6270\u52a8\u7684\u5b8c\u5168\u8865\u507f\uff0c\u5373\u6270\u52a8\u5bf9\u7cfb\u7edf\u88ab\u63a7\u53d8\u91cf\u7684\u7a33\u6001\u5f71\u54cd\u4e3a\u96f6 \u3002<\/p>\n<blockquote><p>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u5728(1.2)\u4e2d\u8bbe\u5b9a\u7684\u52a8\u6001\u6027\u80fd\u6307\u6807 $\\sigma_p \\leq 40\\%$\u3002\u5bf9\u4e8e\u4e00\u4e2a\u77f3\u5316\u88c5\u7f6e\u7684\u6e29\u5ea6\u63a7\u5236\uff0c40%\u7684\u8d85\u8c03\u91cf\u4f3c\u4e4e<strong>\u8fc7\u4e8e\u5bbd\u677e<\/strong>\u4e86\u3002\u8fd9\u53ef\u80fd\u4f1a\u5bfc\u81f4\u540e\u7eed\u7684\u5206\u79bb\u5854\u64cd\u4f5c\u5267\u70c8\u6ce2\u52a8\u3002\u60a8\u4e3a\u4ec0\u4e48\u9009\u62e9\u8fd9\u6837\u4e00\u4e2a\u201c\u5bb9\u6613\u201d\u8fbe\u5230\u7684\u6307\u6807\uff1f\u5b83\u5728\u5de5\u7a0b\u5b9e\u8df5\u4e2d\u771f\u7684\u53ef\u4ee5\u63a5\u53d7\u5417\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>\u6307\u6807\u5b9a\u4e49\uff1a<\/strong> \u9996\u5148\uff0c$\\sigma_p \\leq 40\\%$ \u662f\u672c\u8bbe\u8ba1\u4efb\u52a1\u4e66\u8981\u6c42\u7684<strong>\u6700\u4f4e\u6027\u80fd\u6307\u6807<\/strong>\uff08\u5373\u201c\u53ca\u683c\u7ebf\u201d\uff09\u3002\u5728\u5b9e\u9645\u6574\u5b9a\u4e2d\uff0c\u6211\u4eec\u5f53\u7136\u5e0c\u671b\u8d85\u8c03\u91cf\u8d8a\u5c0f\u8d8a\u597d\uff08\u4f8b\u598210%-20%\uff09\u3002<br \/>\n     <strong>\u5de5\u7a0b\u6743\u8861\uff1a<\/strong> 40%\u7684\u8d85\u8c03\u91cf\u5728\u67d0\u4e9b\u975e\u5173\u952e\u3001\u5927\u6ede\u540e\u3001\u6162\u65f6\u53d8\u7684\u6e29\u5ea6\u63a7\u5236\u4e2d\uff08\u5982\u672c\u4f8b\u7684\u6362\u70ed\u5668\uff09\u662f\u53ef\u4ee5\u63a5\u53d7\u7684\u3002\u8fd9\u662f\u56e0\u4e3a\u5728\u5de5\u4e1a\u63a7\u5236\u4e2d\uff0c\u6211\u4eec\u8ffd\u6c42\u7684\u5f80\u5f80\u4e0d\u662f\u6700\u201c\u5feb\u201d\u7684\u54cd\u5e94\uff0c\u800c\u662f<strong>\u7a33\u5b9a\u6027\u548c\u6297\u5e72\u6270\u6027<\/strong>\u3002\u8fc7\u5206\u8ffd\u6c42\u4f4e\u8d85\u8c03\uff08\u59825%\uff09\u53ef\u80fd\u9700\u8981\u975e\u5e38\u201c\u4fdd\u5b88\u201d\u7684PID\u53c2\u6570\uff08\u4f4e$K_c$\uff0c\u9ad8$T_i$\uff09\uff0c\u8fd9\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u54cd\u5e94<strong>\u6781\u5176\u7f13\u6162<\/strong>\uff0c\u6297\u5e72\u6270\u80fd\u529b<strong>\u6025\u5267\u4e0b\u964d<\/strong>\uff0c\u53cd\u800c\u4e0d\u5229\u4e8e\u751f\u4ea7\u3002<br \/>\n     <strong>\u8bbe\u8ba1\u76ee\u6807\uff1a<\/strong> \u672c\u8bbe\u8ba1\u7684PID\u6574\u5b9a\uff08\u5982Cohen-Coon\u6cd5\uff09\u672c\u8eab\u5c31\u662f\u504f\u5411\u201c\u6fc0\u8fdb\u201d\u548c\u5feb\u901f\u54cd\u5e94\u7684\uff0c\u5176\u4ee3\u4ef7\u5c31\u662f\u8f83\u9ad8\u7684\u8d85\u8c03\u91cf\u3002\u56e0\u6b64\uff0c40%\u662f\u4f5c\u4e3a\u4f7f\u7528\u8fd9\u7c7b\u6574\u5b9a\u65b9\u6cd5\u65f6\u7684\u4e00\u4e2a<strong>\u9a8c\u6536\u57fa\u51c6<\/strong>\u3002\u5728\u4eff\u771f\u5fae\u8c03\u65f6\uff0c\u6211\u4eec\u4f1a\u5c3d\u91cf\u5c06\u5176\u538b\u4f4e\uff0c\u540c\u65f6\u4fdd\u8bc1\u6297\u5e72\u6270\u6027\u80fd\u3002<\/p>\n<p>  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u5728(1.2)\u4e2d\u63d0\u5230\uff0c\u6297\u5e72\u6270\u6027\u80fd\u8981\u5b9e\u73b0\u201c\u5bf9\u4e3b\u8981\u9636\u8dc3\u6270\u52a8\u7684\u5b8c\u5168\u8865\u507f\uff0c\u5373\u7a33\u6001\u5f71\u54cd\u4e3a\u96f6\u201d\u3002\u8bf7\u95ee\uff0c\u5728\u60a8\u7684\u4e24\u4e2a\u63a7\u5236\u65b9\u6848\u4e2d\uff0c\u5206\u522b\u662f\u7531<strong>\u54ea\u4e2a\u90e8\u5206<\/strong>\u6765\u4fdd\u8bc1\u8fd9\u4e00\u6307\u6807\u5b9e\u73b0\u7684\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>\u65b9\u6848\u4e00\uff08\u5355\u56de\u8def\u53cd\u9988\uff09\uff1a<\/strong> \u8fd9\u4e00\u6307\u6807\u662f\u7531PID\u63a7\u5236\u5668\u4e2d\u7684<strong>\u79ef\u5206\u73af\u8282\uff08I\uff09<\/strong>\u4fdd\u8bc1\u7684\u3002\u53ea\u8981\u7cfb\u7edf\u4e2d\u5b58\u5728\u79ef\u5206\u73af\u8282\uff0c\u5e76\u4e14\u7cfb\u7edf\u6700\u7ec8\u80fd\u8fbe\u5230<strong>\u95ed\u73af\u7a33\u5b9a<\/strong>\uff0c\u90a3\u4e48\u5bf9\u4e8e\u4efb\u4f55<strong>\u9636\u8dc3\u5f62\u5f0f<\/strong>\u7684\u6270\u52a8\uff08\u65e0\u8bba\u6765\u81ea$W_f$\u8fd8\u662f\u5176\u4ed6\u672a\u5efa\u6a21\u6270\u52a8\uff09\uff0c\u79ef\u5206\u5668\u90fd\u4f1a\u6301\u7eed\u7d2f\u79ef\u504f\u5dee\uff0c\u76f4\u5230\u504f\u5dee\u4e3a\u96f6\uff0c\u4ece\u800c\u5b9e\u73b0<strong>\u65e0\u9759\u5dee<\/strong>\uff08\u7a33\u6001\u5f71\u54cd\u4e3a\u96f6\uff09\u3002<br \/>\n     <strong>\u65b9\u6848\u4e8c\uff08\u524d\u9988-\u53cd\u9988\uff09\uff1a<\/strong> \u540c\u6837\u662f\u7531\u53cd\u9988\u56de\u8def\u4e2d\u7684<strong>PID\u79ef\u5206\u73af\u8282\uff08I\uff09<\/strong>\u6765\u4fdd\u8bc1\u3002\u524d\u9988\u63a7\u5236\uff08\u65e0\u8bba\u662f\u9759\u6001\u8fd8\u662f\u52a8\u6001\uff09\u7684\u76ee\u7684\u662f<strong>\u201c\u5728\u52a8\u6001\u8fc7\u7a0b\u4e2d\u201d<\/strong>\u5c3d\u53ef\u80fd\u5730\u6291\u5236\u6270\u52a8\uff0c\u52a0\u5feb\u54cd\u5e94\uff0c\u4f46\u5b83<strong>\u65e0\u6cd5\u4fdd\u8bc1<\/strong>\u6d88\u9664\u7a33\u6001\u8bef\u5dee\uff0c\u56e0\u4e3a\u524d\u9988\u6a21\u578b\uff08$W_f$\u548c$W_0$\uff09\u603b\u662f\u4e0d\u5b8c\u5168\u7cbe\u786e\u7684\u3002\u6700\u7ec8\u7684\u201c\u515c\u5e95\u201d\u548c\u6d88\u9664\u9759\u5dee\u7684\u4efb\u52a1\uff0c\u4ecd\u7136\u5fc5\u987b\u7531\u53cd\u9988PID\u7684\u79ef\u5206\u4f5c\u7528\u6765\u5b8c\u6210\u3002\n<\/p><\/blockquote>\n<h3><strong>1.3 \u8bbe\u8ba1\u4efb\u52a1\u8303\u56f4<\/strong><\/h3>\n<p>\u4e3a\u5b9e\u73b0\u4e0a\u8ff0\u76ee\u6807\uff0c\u672c\u6b21\u8bbe\u8ba1\u5c06\u7cfb\u7edf\u6027\u5730\u5b8c\u6210\u4ee5\u4e0b\u5de5\u4f5c\uff1a<br \/>\n*   \u6839\u636e\u7ed9\u5b9a\u7684\u5bf9\u8c61\u52a8\u6001\u7279\u6027\uff0c\u5efa\u7acb\u88ab\u63a7\u8fc7\u7a0b\u7684\u6570\u5b66\u6a21\u578b\u3002<br \/>\n*   \u8bbe\u8ba1\u81f3\u5c11\u4e24\u79cd\u63a7\u5236\u65b9\u6848\uff1a\u5355\u56de\u8def\u53cd\u9988\u63a7\u5236\u4e0e\u524d\u9988-\u53cd\u9988\u590d\u5408\u63a7\u5236\u3002<br \/>\n*   \u5bf9\u5404\u65b9\u6848\u8fdb\u884c\u4eea\u8868\u9009\u578b\u4e0e\u63a7\u5236\u5668\u53c2\u6570\u6574\u5b9a\u3002<br \/>\n*   \u5229\u7528MATLAB\/Simulink\u5e73\u53f0\u8fdb\u884c\u4eff\u771f\u9a8c\u8bc1\uff0c\u5bf9\u6bd4\u5206\u6790\u4e0d\u540c\u65b9\u6848\u7684\u63a7\u5236\u6027\u80fd\u3002<br \/>\n*   \u64b0\u5199\u5b8c\u6574\u7684\u8bbe\u8ba1\u62a5\u544a\uff0c\u5e76\u8fdb\u884c\u73b0\u573a\u7b54\u8fa9\u3002<\/p>\n<h2><strong>2. \u5efa\u6a21<\/strong><\/h2>\n<h3><strong>2.1 \u5de5\u827a\u6d41\u7a0b\u5206\u6790<\/strong><\/h3>\n<p>\u53c2\u8003\u9898\u76ee\u6240\u6d89\u53ca\u7684\u4e19\u70ef\u51b7\u5374\u5668\uff0c\u5176\u5de5\u827a\u6d41\u7a0b\u53ef\u6982\u62ec\u4e3a\uff1a\u9ad8\u6e29\u7684\u88c2\u89e3\u6c14\u4ece\u5de6\u4fa7\u8fdb\u5165\u6362\u70ed\u5668\uff0c\u4e0e\u4f5c\u4e3a\u51b7\u5374\u5242\u7684\u6db2\u4e19\u70ef\u8fdb\u884c\u9006\u6d41\u70ed\u4ea4\u6362\uff1b\u88c2\u89e3\u6c14\u88ab\u51b7\u5374\u540e\u4ece\u53f3\u4fa7\u6d41\u51fa\uff0c\u800c\u6db2\u4e19\u70ef\u5438\u6536\u70ed\u91cf\u540e\u90e8\u5206\u6c14\u5316\uff0c\u5f62\u6210\u7684\u6c14\u4e19\u70ef\u4ece\u8bbe\u5907\u4e0a\u90e8\u6d41\u51fa\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/yin.nnneri.me\/wp-content\/uploads\/2025\/11\/1762406129-\u6d41\u7a0b\u56fe.jpg\" alt=\"\" \/><br \/>\n\u5728\u6b64\u8fc7\u7a0b\u4e2d\uff0c\u88c2\u89e3\u6c14\u7684\u5165\u53e3\u6e29\u5ea6\u6216\u6d41\u91cf\u6ce2\u52a8\u662f\u4e3b\u8981\u7684\u6270\u52a8\u6765\u6e90\uff0c\u800c\u63a7\u5236\u7684\u76ee\u6807\u5219\u662f\u7ef4\u6301\u88c2\u89e3\u6c14\u51fa\u53e3\u6e29\u5ea6\u7684\u7a33\u5b9a\u3002<\/p>\n<blockquote><p>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u5728\u60a8\u7684\u5de5\u827a\u5206\u6790(2.1)\u4e2d\u63d0\u5230\uff0c\u51b7\u5374\u5242\u6db2\u4e19\u70ef\u4f1a\u201c\u90e8\u5206\u6c14\u5316\u201d\u3002\u8fd9\u662f\u4e00\u4e2a\u76f8\u53d8\u8fc7\u7a0b\uff0c\u800c\u76f8\u53d8\u4f20\u70ed\u7684\u7279\u6027\u901a\u5e38\u662f<strong>\u9ad8\u5ea6\u975e\u7ebf\u6027<\/strong>\u7684\u3002\u60a8\u5728(2.2)\u4e2d\u5374\u4f7f\u7528\u4e86\u4e24\u4e2a<strong>\u7ebf\u6027<\/strong>\u7684\u4e00\u9636\u52a0\u7eaf\u6ede\u540e\uff08FOPDT\uff09\u6a21\u578b\u3002\u8bf7\u95ee\uff0c\u60a8\u5982\u4f55\u8bc1\u660e\u4f7f\u7528\u7ebf\u6027\u6a21\u578b\u6765\u63cf\u8ff0\u8fd9\u4e2a\u975e\u7ebf\u6027\u8fc7\u7a0b\u662f\u5408\u7406\u7684\uff1f\u5982\u679c\u751f\u4ea7\u8d1f\u8377\uff08\u5982\u88c2\u89e3\u6c14\u6d41\u91cf\uff09\u53d1\u751f\u91cd\u5927\u53d8\u5316\uff0c\u60a8\u7684\u7ebf\u6027\u6a21\u578b\u8fd8\u9002\u7528\u5417\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>\u5408\u7406\u6027\uff1a<\/strong> \u8001\u5e08\u63d0\u7684\u975e\u5e38\u5bf9\uff0c\u76f8\u53d8\u4f20\u70ed\u5728\u7269\u7406\u4e0a\u662f\u975e\u7ebf\u6027\u7684\u3002\u4f46\u662f\uff0c\u5728\u8fc7\u7a0b\u63a7\u5236\u4e2d\uff0c\u6211\u4eec\u901a\u5e38\u662f\u5728\u4e00\u4e2a<strong>\u7279\u5b9a\u7684\u5de5\u4f5c\u70b9<\/strong>\uff08Operating Point\uff09\u9644\u8fd1\u8fdb\u884c\u5c0f\u8303\u56f4\u7684\u8c03\u8282\u3002\u53ea\u8981\u7cfb\u7edf\u7684\u64cd\u4f5c\u504f\u79bb\u8fd9\u4e2a\u5de5\u4f5c\u70b9\u4e0d\u5927\uff08\u4f8b\u5982\uff0c\u8d1f\u8377\u572880%-100%\u4e4b\u95f4\u6ce2\u52a8\uff09\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u6cf0\u52d2\u5c55\u5f00\u7b49\u65b9\u6cd5\uff0c\u5c06\u8fd9\u4e2a\u975e\u7ebf\u6027\u8fc7\u7a0b<strong>\u7ebf\u6027\u5316<\/strong>\uff0c\u5f97\u5230\u4e00\u4e2a\u8fd1\u4f3c\u7684\u7ebf\u6027\u6a21\u578b\uff08\u5982FOPDT\uff09\u3002<br \/>\n     <strong>\u5c40\u9650\u6027\uff1a<\/strong> \u8fd9\u4e24\u4e2a\u6a21\u578b\u662f<strong>\u5b9e\u9a8c\u8fa8\u8bc6<\/strong>\u5f97\u51fa\u7684\uff0c\u8fd9\u8bf4\u660e\u5b83\u4eec\u662f\u5728\u67d0\u4e2a\u7279\u5b9a\u7684\u7a33\u6001\u5de5\u51b5\u4e0b\u6d4b\u5f97\u7684\u52a8\u6001\u7279\u6027\u3002\u5982\u679c\u751f\u4ea7\u8d1f\u8377\u53d1\u751f\u91cd\u5927\u53d8\u5316\uff08\u4f8b\u5982\u4ece100%\u964d\u523050%\uff09\uff0c\u4f20\u70ed\u7cfb\u6570\u548c\u52a8\u6001\u7279\u6027\u90fd\u4f1a\u6539\u53d8\uff0c\u6b64\u65f6\u539f\u6709\u7684\u6a21\u578b\uff08\u589e\u76caK, \u65f6\u95f4\u5e38\u6570T, \u5ef6\u8fdf$\\tau$\uff09\u5c06\u4f1a<strong>\u5931\u914d<\/strong>\uff08Mismatch\uff09\u3002<br \/>\n     <strong>\u89e3\u51b3\u65b9\u6848\uff1a<\/strong> \u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48\u6211\u4eec\u9700\u8981<strong>\u53cd\u9988\u63a7\u5236<\/strong>\u3002\u53cd\u9988\u56de\u8def\uff08\u65b9\u6848\u4e00\uff09\u548c\u524d\u9988-\u53cd\u9988\u4e2d\u7684\u53cd\u9988\u90e8\u5206\uff08\u65b9\u6848\u4e8c\uff09\u7684\u6838\u5fc3\u4f5c\u7528\u4e4b\u4e00\uff0c\u5c31\u662f<strong>\u514b\u670d\u6a21\u578b\u4e0d\u7cbe\u786e\u548c\u5de5\u51b5\u53d8\u5316<\/strong>\u5e26\u6765\u7684\u5f71\u54cd\u3002\u5982\u679c\u5de5\u51b5\u53d8\u5316\u975e\u5e38\u5927\uff0c\u53ef\u80fd\u8fd8\u9700\u8981\u91c7\u7528<strong>\u81ea\u9002\u5e94\u63a7\u5236<\/strong>\u6216<strong>\u589e\u76ca\u8c03\u5ea6<\/strong>\uff08Gain Scheduling\uff09\u7b56\u7565\uff0c\u4f46\u8fd9\u8d85\u51fa\u4e86\u672c\u6b21\u8bbe\u8ba1\u7684\u57fa\u7840\u8303\u56f4\u3002\n<\/p><\/blockquote>\n<h3><strong>2.2 \u6570\u5b66\u6a21\u578b\u5efa\u7acb<\/strong><\/h3>\n<p>\u6839\u636e\u8bbe\u8ba1\u4efb\u52a1\u4e66\uff0c\u8be5\u5bf9\u8c61\u7684\u52a8\u6001\u7279\u6027\u5df2\u901a\u8fc7\u5b9e\u9a8c\u8fa8\u8bc6\u7ed9\u51fa\uff0c\u5176\u4f20\u9012\u51fd\u6570\u6a21\u578b\u5982\u4e0b\uff1a<br \/>\n*   <strong>\u63a7\u5236\u901a\u9053\u6a21\u578b<\/strong>\uff1a$W_{0}(s)=\\frac{0.93}{56s+1}e^{-6s}$<br \/>\n    \u8be5\u6a21\u578b\u63cf\u8ff0\u4e86\u5f53\u64cd\u7eb5\u53d8\u91cf\uff08\u5982\u6db2\u4e19\u70ef\u6d41\u91cf\uff09\u53d1\u751f\u9636\u8dc3\u53d8\u5316\u65f6\uff0c\u88ab\u63a7\u53d8\u91cf\uff08\u88c2\u89e3\u6c14\u51fa\u53e3\u6e29\u5ea6\uff09\u7684\u54cd\u5e94\u7279\u6027\u3002\u5b83\u8868\u73b0\u4e3a\u4e00\u4e2a\u589e\u76ca\u4e3a0.93\u3001\u65f6\u95f4\u5e38\u6570\u4e3a56\u79d2\u7684\u4e00\u9636\u60ef\u6027\u73af\u8282\uff0c\u5e76\u4f34\u67096\u79d2\u7684\u7eaf\u6ede\u540e\u65f6\u95f4\u3002<br \/>\n*   <strong>\u6270\u52a8\u901a\u9053\u6a21\u578b<\/strong>\uff1a$W_{f}(s)=\\frac{1.05}{41s+1}e^{-8s}$<br \/>\n    \u8be5\u6a21\u578b\u63cf\u8ff0\u4e86\u5f53\u6270\u52a8\u53d8\u91cf\uff08\u5982\u88c2\u89e3\u6c14\u5165\u53e3\u6e29\u5ea6\uff09\u53d1\u751f\u9636\u8dc3\u53d8\u5316\u65f6\uff0c\u5bf9\u88ab\u63a7\u53d8\u91cf\u7684\u5f71\u54cd\u3002\u5b83\u8868\u73b0\u4e3a\u4e00\u4e2a\u589e\u76ca\u4e3a1.05\u3001\u65f6\u95f4\u5e38\u6570\u4e3a41\u79d2\u7684\u4e00\u9636\u60ef\u6027\u73af\u8282\uff0c\u5e76\u4f34\u67098\u79d2\u7684\u7eaf\u6ede\u540e\u65f6\u95f4\u3002<\/p>\n<p>\u8fd9\u4e24\u4e2a\u6a21\u578b\u662f\u540e\u7eed\u6240\u6709\u63a7\u5236\u65b9\u6848\u8bbe\u8ba1\u4e0e\u53c2\u6570\u6574\u5b9a\u7684\u7406\u8bba\u57fa\u7840\u3002<\/p>\n<blockquote><p>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u5728\u60a8\u7684\u63a7\u5236\u901a\u9053\u6a21\u578b $W_{0}(s)=\\frac{0.93}{56s+1}e^{-6s}$ \u4e2d\uff0c<br \/>\n     (a) \u589e\u76ca $K=0.93$ \u7684<strong>\u7269\u7406\u610f\u4e49<\/strong>\u662f\u4ec0\u4e48\uff1f\u5b83\u6709<strong>\u5355\u4f4d<\/strong>\u5417\uff1f<br \/>\n     (b) \u65f6\u95f4\u5e38\u6570 $T=56s$ \u4e3b\u8981<strong>\u53cd\u6620\u4e86\u4ec0\u4e48<\/strong>\u7269\u7406\u7279\u6027\uff1f<br \/>\n     (c) \u7eaf\u6ede\u540e $\\tau=6s$ \u662f\u7531<strong>\u4ec0\u4e48<\/strong>\u5f15\u8d77\u7684\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>(a) \u589e\u76ca $K=0.93$\uff1a<\/strong><br \/>\n         <strong>\u610f\u4e49\uff1a<\/strong> \u5b83\u53cd\u6620\u4e86\u7cfb\u7edf\u7684<strong>\u7a33\u6001\u7075\u654f\u5ea6<\/strong>\u3002\u5177\u4f53\u662f\u6307\uff1a\u5f53\u64cd\u7eb5\u53d8\u91cf\uff08\u6db2\u4e19\u70ef\u6d41\u91cf\uff09\u53d1\u751f\u4e00\u4e2a\u5355\u4f4d\u7684\u9636\u8dc3\u53d8\u5316\uff08\u4f8b\u5982\uff0c\u6d41\u91cf\u4ece20%\u589e\u52a0\u523021%\uff09\uff0c\u5e76\u7b49\u5f85\u8db3\u591f\u957f\u7684\u65f6\u95f4\uff08T>5T\uff09\u8fbe\u5230\u65b0\u7a33\u6001\u540e\uff0c\u88ab\u63a7\u53d8\u91cf\uff08\u88c2\u89e3\u6c14\u51fa\u53e3\u6e29\u5ea6\uff09\u5c06<strong>\u53cd\u5411<\/strong>\uff08\u56e0\u4e3a\u662f\u51b7\u5374\uff09\u53d8\u53160.93\u4e2a\u5355\u4f4d\uff08\u4f8b\u5982\uff0c\u6e29\u5ea6\u4ece50\u2103\u964d\u4f4e\u523049.07\u2103\uff09\u3002<br \/>\n         <strong>\u5355\u4f4d\uff1a<\/strong> \u5b83\u7684\u5355\u4f4d\u662f<strong>\uff08\u88ab\u63a7\u53d8\u91cf\u5355\u4f4d \/ \u64cd\u7eb5\u53d8\u91cf\u5355\u4f4d\uff09<\/strong>\u3002\u5982\u679c\u6e29\u5ea6\u5355\u4f4d\u662f\u2103\uff0c\u6d41\u91cf\uff08\u6216\u9600\u95e8\u5f00\u5ea6\uff09\u5355\u4f4d\u662f%\uff0c\u90a3\u4e48K\u7684\u5355\u4f4d\u5c31\u662f <strong>[\u2103 \/ %]<\/strong>\u3002<br \/>\n     <strong>(b) \u65f6\u95f4\u5e38\u6570 $T=56s$\uff1a<\/strong><br \/>\n         <strong>\u610f\u4e49\uff1a<\/strong> \u5b83\u53cd\u6620\u4e86\u7cfb\u7edf\u7684<strong>\u60ef\u6027<\/strong>\u6216<strong>\u54cd\u5e94\u901f\u5ea6<\/strong>\u3002\u5b83\u4e3b\u8981\u7531\u6362\u70ed\u5668\u7684<strong>\u70ed\u5bb9<\/strong>\u548c<strong>\u4f20\u70ed\u901f\u7387<\/strong>\u5171\u540c\u51b3\u5b9a\u3002\u5728\u8fd9\u4e2a\u7cfb\u7edf\u4e2d\uff0c\u5b83\u4ee3\u8868\u4e86\u88c2\u89e3\u6c14\u548c\u6362\u70ed\u5668\u7ba1\u58c1\u7b49\u79ef\u7d2f\u6216\u91ca\u653e\u70ed\u91cf\u7684\u80fd\u529b\u300256\u79d2\u7684\u65f6\u95f4\u5e38\u6570\u610f\u5473\u7740\u5f53\u7cfb\u7edf\u53d7\u5230\u9636\u8dc3\u6270\u52a8\u540e\uff0c\u88ab\u63a7\u53d8\u91cf\u8fbe\u5230\u65b0\u7a33\u6001\u503c\u7684<strong>63.2%<\/strong> \u6240\u9700\u7684\u65f6\u95f4\u3002\u8fd9\u662f\u4e00\u4e2a\u76f8\u5bf9\u7f13\u6162\u7684\u60ef\u6027\u8fc7\u7a0b\u3002<br \/>\n     <strong>(c) \u7eaf\u6ede\u540e $\\tau=6s$\uff1a<\/strong><br \/>\n         <strong>\u610f\u4e49\uff1a<\/strong> \u5b83\u53cd\u6620\u4e86\u7cfb\u7edf\u7684<strong>\u201c\u6b7b\u65f6\u95f4\u201d<\/strong>\uff08Dead Time\uff09\u3002\u5728\u8fd9\u4e2a\u7cfb\u7edf\u4e2d\uff0c\u5b83\u4e3b\u8981\u7531<strong>\u4e24\u90e8\u5206<\/strong>\u7ec4\u6210\uff1a<br \/>\n          1.  <strong>\u6d41\u4f53\u4f20\u8f93\u6ede\u540e\uff1a<\/strong> \u51b7\u5374\u5242\uff08\u6db2\u4e19\u70ef\uff09\u4ece\u8c03\u8282\u9600\u6d41\u5230\u6362\u70ed\u5668\u5185\uff0c\u4ee5\u53ca\u88ab\u51b7\u5374\u7684\u88c2\u89e3\u6c14\u6d41\u51fa\u6362\u70ed\u5668\u5230\u8fbe\u4e0b\u6e38\u7684\u6e29\u5ea6\u4f20\u611f\u5668\uff08Pt100\uff09\u6240\u9700\u8981\u7684\u65f6\u95f4\u3002<br \/>\n          2.  <strong>\u4f20\u611f\u5668\u54cd\u5e94\u6ede\u540e\uff1a<\/strong> Pt100\u6e29\u5ea6\u8ba1\u672c\u8eab\u7684\u70ed\u60ef\u6027\uff0c\u5b83\u9700\u8981\u65f6\u95f4\u6765\u54cd\u5e94\u6e29\u5ea6\u7684\u771f\u5b9e\u53d8\u5316\u3002\n<\/p><\/blockquote>\n<h2><strong>3. \u63a7\u5236\u65b9\u6848\u8bbe\u8ba1<\/strong><\/h2>\n<h3><strong>3.1 \u65b9\u6848\u4e00\uff1a\u5355\u56de\u8def\u53cd\u9988\u63a7\u5236\u7cfb\u7edf<\/strong><\/h3>\n<h4><strong>3.1.1 \u65b9\u6848\u539f\u7406<\/strong><\/h4>\n<p>\u5355\u56de\u8def\u53cd\u9988\u63a7\u5236\u662f\u8fc7\u7a0b\u63a7\u5236\u4e2d\u6700\u57fa\u672c\u3001\u6700\u5e7f\u6cdb\u7684\u7ed3\u6784\u3002\u5b83\u901a\u8fc7\u6d4b\u91cf\u88ab\u63a7\u53d8\u91cf\u7684\u5b9e\u9645\u503c\uff0c\u5e76\u4e0e\u8bbe\u5b9a\u503c\u6bd4\u8f83\u4ea7\u751f\u504f\u5dee\uff0c\u63a7\u5236\u5668\u6839\u636e\u6b64\u504f\u5dee\u6309\u4e00\u5b9a\u89c4\u5f8b\uff08\u5982PID\uff09\u8fd0\u7b97\uff0c\u8f93\u51fa\u4fe1\u53f7\u63a7\u5236\u8c03\u8282\u9600\uff0c\u4ece\u800c\u6539\u53d8\u64cd\u7eb5\u53d8\u91cf\uff0c\u4ee5\u6d88\u9664\u504f\u5dee\uff0c\u5b9e\u73b0\u5bf9\u88ab\u63a7\u53d8\u91cf\u7684\u95ed\u73af\u63a7\u5236\u3002<\/p>\n<h4><strong>3.1.2 \u7cfb\u7edf\u6784\u6210<\/strong><\/h4>\n<ul>\n<li><strong>\u88ab\u63a7\u53d8\u91cf<\/strong>\uff1a\u88c2\u89e3\u6c14\u51fa\u53e3\u6e29\u5ea6\u3002<\/li>\n<li><strong>\u64cd\u7eb5\u53d8\u91cf<\/strong>\uff1a\u6db2\u4e19\u70ef\u7684\u6d41\u91cf\u3002<\/li>\n<li><strong>\u6270\u52a8\u53d8\u91cf<\/strong>\uff1a\u88c2\u89e3\u6c14\u5165\u53e3\u6e29\u5ea6\u3001\u6d41\u91cf\u7b49\u3002<\/li>\n<li><strong>\u68c0\u6d4b\u4eea\u8868<\/strong>\uff1a\u9009\u7528\u94c2\u70ed\u7535\u963b\uff08Pt100\uff09\u6e29\u5ea6\u53d8\u9001\u5668\uff0c\u56e0\u5176\u6d4b\u91cf\u7cbe\u5ea6\u9ad8\u3001\u7a33\u5b9a\u6027\u597d\uff0c\u9002\u7528\u4e8e\u5316\u5de5\u8fc7\u7a0b\u6e29\u5ea6\u6d4b\u91cf\u3002<\/li>\n<li><strong>\u8c03\u8282\u9600<\/strong>\uff1a\u9009\u7528\u6c14\u5f00\u5f0f\u8c03\u8282\u9600\u3002\u4ece\u5b89\u5168\u89d2\u5ea6\u8003\u8651\uff0c\u5f53\u6c14\u6e90\u4e2d\u65ad\u65f6\uff0c\u9600\u95e8\u5e94\u81ea\u52a8\u5173\u95ed\uff0c\u5207\u65ad\u51b7\u5374\u5242\uff0c\u9632\u6b62\u56e0\u8fc7\u51b7\u5bfc\u81f4\u8bbe\u5907\u635f\u574f\u6216\u5de5\u827a\u4ecb\u8d28\u51dd\u56fa\u3002<\/li>\n<li><strong>\u8c03\u8282\u5668<\/strong>\uff1a\u9009\u7528PID\uff08\u6bd4\u4f8b-\u79ef\u5206-\u5fae\u5206\uff09\u63a7\u5236\u5668\u3002\u6839\u636e\u7cfb\u7edf\u8d1f\u53cd\u9988\u539f\u5219\uff0c\u8c03\u8282\u9600\u4e3a\u6c14\u5f00\u5f0f\uff08\u6b63\u4f5c\u7528\uff09\uff0c\u5bf9\u8c61\u63a7\u5236\u901a\u9053\u4e3a\u51b7\u5374\u8fc7\u7a0b\uff08\u6db2\u4e19\u70ef\u6d41\u91cf\u589e\u5927\uff0c\u51fa\u53e3\u6e29\u5ea6\u964d\u4f4e\uff0c\u4e3a\u53cd\u4f5c\u7528\uff09\uff0c\u56e0\u6b64\u8c03\u8282\u5668\u5fc5\u987b\u9009\u62e9<strong>\u53cd\u4f5c\u7528<\/strong>\u65b9\u5f0f\uff0c\u4ee5\u4fdd\u8bc1\u95ed\u73af\u4e3a\u8d1f\u53cd\u9988\u3002<\/li>\n<\/ul>\n<blockquote><p>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u5728(3.1.2)\u4e2d\u9009\u7528<strong>\u6c14\u5f00\u5f0f\uff08Air-to-Open\uff09\u8c03\u8282\u9600<\/strong>\uff0c\u7406\u7531\u662f\u201c\u6c14\u6e90\u4e2d\u65ad\u65f6\uff0c\u9600\u95e8\u5e94\u81ea\u52a8\u5173\u95ed\uff0c\u5207\u65ad\u51b7\u5374\u5242\uff0c\u9632\u6b62\u56e0\u8fc7\u51b7\u5bfc\u81f4\u8bbe\u5907\u635f\u574f\u6216\u5de5\u827a\u4ecb\u8d28\u51dd\u56fa\u201d\u3002\u8fd9\u4e2a\u7406\u7531\u542c\u8d77\u6765\u5f88\u5145\u5206\u3002<br \/>\n     <strong>\u4f46\u662f\uff0c<\/strong> \u8fd9\u662f\u4e00\u4e2a<strong>\u51b7\u5374<\/strong>\u7cfb\u7edf\u3002\u5982\u679c\u5de5\u5382\u53d1\u751f\u7d27\u6025\u4e8b\u6545\uff08\u5982\u706b\u707e\u3001\u505c\u7535\u5bfc\u81f4\u6c14\u6e90\u4e2d\u65ad\uff09\uff0c\u6b64\u65f6\u4e3b\u8981\u7684\u5371\u9669\u662f<strong>\u88c2\u89e3\u6c14\u6e29\u5ea6\u8fc7\u9ad8<\/strong>\uff08\u56e0\u4e3a\u5931\u53bb\u4e86\u51b7\u5374\uff09\u3002\u6309\u7167\u60a8\u7684\u8bbe\u8ba1\uff0c\u6c14\u6e90\u4e2d\u65ad\uff0c\u51b7\u5374\u9600\u5173\u95ed\uff0c\u88c2\u89e3\u6c14\u51fa\u53e3\u6e29\u5ea6\u5c06<strong>\u98d9\u5347<\/strong>\uff0c\u8fd9\u96be\u9053\u4e0d\u662f\u4e00\u4e2a\u66f4\u4e25\u91cd\u7684\u5b89\u5168\u98ce\u9669\u5417\uff1f\u8bf7\u60a8\u91cd\u65b0\u8bba\u8bc1\u60a8\u7684\u201c\u6545\u969c\u5b89\u5168\u201d\uff08Fail-Safe\uff09\u8bbe\u8ba1\u3002<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     \u8fd9\u662f\u4e00\u4e2a\u975e\u5e38\u5173\u952e\u7684\u5de5\u7a0b\u5b89\u5168\uff08HAZOP\uff09\u95ee\u9898\uff0c\u53d6\u51b3\u4e8e\u6211\u4eec\u4f18\u5148\u4fdd\u62a4<strong>\u54ea\u79cd<\/strong>\u5de5\u51b5\u3002<br \/>\n     <strong>\u6211\u7684\u8bbe\u8ba1\u903b\u8f91\uff1a<\/strong> \u6211\u4f18\u5148\u8003\u8651\u7684\u662f<strong>\u6b63\u5e38\u505c\u5de5\u6216\u6c14\u6e90\u6545\u969c<\/strong>\u5de5\u51b5\u3002\u6b64\u65f6\u88c2\u89e3\u6c14\u8fdb\u6599\u4e5f\u4f1a\u505c\u6b62\uff0c\u5982\u679c\u51b7\u5374\u5242\uff08\u6db2\u4e19\u70ef\uff09\u7ee7\u7eed\u5927\u91cf\u6d8c\u5165\uff0c\u4f1a\u5bfc\u81f4\u6362\u70ed\u5668\u548c\u7ba1\u9053<strong>\u8fc7\u51b7\u3001\u7ed3\u51b0\u751a\u81f3\u8106\u88c2<\/strong>\uff0c\u8fd9\u662f\u4e25\u91cd\u7684\u8bbe\u5907\u635f\u574f\u3002\u56e0\u6b64\uff0c\u6211\u9009\u62e9<strong>Fail-Close\uff08FC\uff09<\/strong>\uff0c\u5373\u6c14\u5f00\u9600\u3002<br \/>\n     <strong>\u60a8\u63d0\u51fa\u7684\u98ce\u9669\uff1a<\/strong> \u60a8\u63d0\u51fa\u7684\u662f<strong>\u201c\u5e26\u6599\u505c\u8f66\u201d<\/strong>\u5de5\u51b5\uff0c\u5373\u88c2\u89e3\u6c14\u8fd8\u5728\u901a\u8fc7\uff0c\u4f46\u4eea\u8868\u6c14\u6e90\uff08\u6216\u63a7\u5236\u4fe1\u53f7\uff09\u4e2d\u65ad\u3002\u6b64\u65f6\u786e\u5b9e\u5b58\u5728\u51fa\u53e3\u6e29\u5ea6\u98d9\u5347\u7684\u98ce\u9669\u3002<br \/>\n     <strong>\u7efc\u5408\u6743\u8861\uff1a<\/strong> \u5728\u77f3\u5316\u8bbe\u8ba1\u4e2d\uff0c\u901a\u5e38\u201c\u8fc7\u51b7\u5bfc\u81f4\u8bbe\u5907\u8106\u88c2\u201d\u7684\u98ce\u9669\u7b49\u7ea7\u9ad8\u4e8e\u201c\u6682\u65f6\u6027\u6e29\u5ea6\u8d85\u6e29\u201d\uff08\u540e\u8005\u6709\u540e\u7eed\u7684\u8fde\u9501\u4fdd\u62a4\uff0c\u5982\u8d85\u6e29\u8df3\u8f66\uff09\u3002\u800c\u4e14\uff0c\u4eea\u8868\u6c14\u6e90\u4e2d\u65ad\u901a\u5e38\u4f1a\u4f34\u968f\u6574\u4e2a\u88c5\u7f6e\u7684\u505c\u8f66\u7a0b\u5e8f\uff0c\u88c2\u89e3\u6c14\u8fdb\u6599\u4e5f\u4f1a\u88ab\u5207\u65ad\u3002\u56e0\u6b64\uff0c\u9009\u62e9\u201c\u6c14\u5f00\u9600\uff08FC\uff09\u201d\u6765<strong>\u9632\u6b62\u8bbe\u5907\u635f\u574f<\/strong>\u662f\u884c\u4e1a\u5185\u7684\u6807\u51c6\u505a\u6cd5\u3002\u6211\u4eec\u4e0d\u80fd\u4f9d\u8d56\u4e00\u4e2a\u63a7\u5236\u56de\u8def\u6765\u5904\u7406\u6781\u7aef\u7d27\u6025\u7684\u8fde\u9501\u505c\u8f66\uff08ESD\uff09\u5de5\u51b5\u3002<\/p>\n<p>  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u5728(3.1.2)\u4e2d\u660e\u786e\u6307\u51fa\u8c03\u8282\u5668\u5fc5\u987b\u9009\u62e9<strong>\u201c\u53cd\u4f5c\u7528\u201d<\/strong>\uff08Reverse Acting\uff09\u3002\u8bf7\u60a8<strong>\u4e25\u683c\u5730<\/strong>\u3001\u4e00\u6b65\u4e00\u6b65\u5730\u63a8\u5bfc\u4e00\u904d\uff0c\u4e3a\u4ec0\u4e48\u662f\u53cd\u4f5c\u7528\uff1f\u5982\u679c\u60a8\u4e0d\u614e\u9009\u7528\u4e86\u201c\u6b63\u4f5c\u7528\u201d\uff08Direct Acting\uff09\uff0c\u7cfb\u7edf\u4f1a\u53d1\u751f\u4ec0\u4e48\u73b0\u8c61\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>\u63a8\u5bfc\u8fc7\u7a0b\uff1a<\/strong> \u95ed\u73af\u7cfb\u7edf\u8981\u7a33\u5b9a\uff0c\u5fc5\u987b\u662f<strong>\u8d1f\u53cd\u9988<\/strong>\uff0c\u5373\u7cfb\u7edf\u603b\u7684\u5f00\u73af\u589e\u76ca\u5fc5\u987b\u4e3a<strong>\u8d1f<\/strong>\u3002<br \/>\n     <strong>\u5206\u6790\u589e\u76ca\u7b26\u53f7\uff1a<\/strong><br \/>\n      1.  <strong>\u88ab\u63a7\u5bf9\u8c61 $W_0(s)$\uff1a<\/strong> \u51b7\u5374\u8fc7\u7a0b\u3002\u64cd\u7eb5\u53d8\u91cf\uff08\u6db2\u4e19\u70ef\u6d41\u91cf\uff09<strong>\u589e\u5927<\/strong> $\\uparrow$\uff0c\u88ab\u63a7\u53d8\u91cf\uff08\u51fa\u53e3\u6e29\u5ea6\uff09<strong>\u964d\u4f4e<\/strong> $\\downarrow$\u3002\u8fd9\u662f\u4e00\u4e2a<strong>\u53cd\u4f5c\u7528<\/strong>\u73af\u8282\uff0c\u589e\u76ca\u7b26\u53f7\u4e3a<strong>\u8d1f<\/strong>\uff08-\uff09\u3002\uff08\u6ce8\uff1a\u6a21\u578b\u4e2d\u76840.93\u662f\u6b63\u503c\uff0c\u8fd9\u662f\u56e0\u4e3a\u5728\u5efa\u6a21\u65f6\uff0c\u8f93\u5165\u4fe1\u53f7\u7684\u201c\u589e\u5927\u201d\u548c\u8f93\u51fa\u4fe1\u53f7\u7684\u201c\u589e\u5927\u201d\u662f\u6309\u7edd\u5bf9\u503c\u7b97\u7684\uff0c\u4f46\u6211\u4eec\u5206\u6790\u53cd\u9988\u6781\u6027\u65f6\u5fc5\u987b\u770b\u7269\u7406\u610f\u4e49\uff09\u3002<br \/>\n      2.  <strong>\u8c03\u8282\u9600\uff1a<\/strong> \u9009\u7528<strong>\u6c14\u5f00\u5f0f<\/strong>\uff08Air-to-Open\uff09\u3002\u63a7\u5236\u4fe1\u53f7\uff08\u6765\u81eaPID\uff09<strong>\u589e\u5927<\/strong> $\\uparrow$\uff0c\u9600\u95e8\u5f00\u5ea6<strong>\u589e\u5927<\/strong> $\\uparrow$\uff0c\u6db2\u4e19\u70ef\u6d41\u91cf<strong>\u589e\u5927<\/strong> $\\uparrow$\u3002\u8fd9\u662f\u4e00\u4e2a<strong>\u6b63\u4f5c\u7528<\/strong>\u73af\u8282\uff0c\u589e\u76ca\u7b26\u53f7\u4e3a<strong>\u6b63<\/strong>\uff08+\uff09\u3002<br \/>\n      3.  <strong>\u6d4b\u91cf\u53d8\u9001\u5668\uff1a<\/strong> \u6e29\u5ea6<strong>\u5347\u9ad8<\/strong> $\\uparrow$\uff0c\u6d4b\u91cf\u4fe1\u53f7<strong>\u589e\u5927<\/strong> $\\uparrow$\u3002\u8fd9\u662f\u4e00\u4e2a<strong>\u6b63\u4f5c\u7528<\/strong>\u73af\u8282\uff0c\u589e\u76ca\u7b26\u53f7\u4e3a<strong>\u6b63<\/strong>\uff08+\uff09\u3002<br \/>\n     <strong>\u95ed\u73af\u8ba1\u7b97\uff1a<\/strong><br \/>\n      *   \uff08\u9600\u95e8\uff09 $\\times$ \uff08\u5bf9\u8c61\uff09 $\\times$ \uff08\u6d4b\u91cf\uff09 = \uff08+\uff09 $\\times$ \uff08-\uff09 $\\times$ \uff08+\uff09 = <strong>\u8d1f\u53f7\uff08-\uff09<\/strong><br \/>\n      *   \u4e3a\u4e86\u5b9e\u73b0\u603b\u7684\u8d1f\u53cd\u9988\uff0c<strong>\u8c03\u8282\u5668\uff08PID\uff09<\/strong>\u7684\u589e\u76ca\u5fc5\u987b\u4e3a<strong>\u6b63\u53f7\uff08+\uff09<\/strong>\u3002<br \/>\n         <strong>\u5b9a\u4e49\uff1a<\/strong><br \/>\n          *   \u201c\u53cd\u4f5c\u7528\u201d\u8c03\u8282\u5668\uff1a\u504f\u5dee <code>(SP - PV)<\/code> \u4e3a\u6b63\u65f6\uff0c\u8f93\u51fa\u589e\u5927\u3002\u589e\u76ca\u4e3a<strong>\u6b63\uff08+\uff09<\/strong>\u3002<br \/>\n          *   \u201c\u6b63\u4f5c\u7528\u201d\u8c03\u8282\u5668\uff1a\u504f\u5dee <code>(SP - PV)<\/code> \u4e3a\u6b63\u65f6\uff0c\u8f93\u51fa\u51cf\u5c0f\u3002\u589e\u76ca\u4e3a<strong>\u8d1f\uff08-\uff09<\/strong>\u3002<br \/>\n     <strong>\u7ed3\u8bba\uff1a<\/strong> \u6211\u4eec\u9700\u8981\u4e00\u4e2a\u589e\u76ca\u4e3a\u6b63\u7684\u8c03\u8282\u5668\uff0c\u56e0\u6b64\u5fc5\u987b\u9009\u62e9<strong>\u201c\u53cd\u4f5c\u7528\u201d<\/strong>\uff08Reverse Acting\uff09\u3002<br \/>\n     <strong>\u540e\u679c\uff1a<\/strong> \u5982\u679c\u8bef\u9009\u4e3a\u201c\u6b63\u4f5c\u7528\u201d\uff0c\u603b\u5f00\u73af\u589e\u76ca\u5c06\u53d8\u4e3a\uff08-\uff09 $\\times$ \uff08\u9600\u95e8 $\\times$ \u5bf9\u8c61 $\\times$ \u6d4b\u91cf\uff09=\uff08-\uff09 $\\times$ \uff08-\uff09= <strong>\u6b63\u53f7\uff08+\uff09<\/strong>\u3002\u7cfb\u7edf\u5c06\u53d8\u4e3a<strong>\u6b63\u53cd\u9988<\/strong>\uff0c\u4e00\u65e6\u6709\u4efb\u4f55\u6270\u52a8\uff0c\u504f\u5dee\u4f1a\u8fc5\u901f\u653e\u5927\uff0c\u5bfc\u81f4\u8f93\u51fa\uff08\u6e29\u5ea6\uff09<strong>\u5267\u70c8\u632f\u8361\u5e76\u53d1\u6563<\/strong>\uff0c\u76f4\u81f3\u8fbe\u5230\u4e0a\u9650\u6216\u4e0b\u9650\uff0c\u7cfb\u7edf\u5b8c\u5168\u5931\u63a7\u3002\n<\/p><\/blockquote>\n<h4><strong>3.1.3 \u63a7\u5236\u65b9\u6846\u56fe<\/strong><\/h4>\n<p>\u8be5\u65b9\u6848\u7684\u65b9\u6846\u56fe\u7531\u8bbe\u5b9a\u503c\u3001\u6bd4\u8f83\u5668\u3001PID\u63a7\u5236\u5668\u3001\u8c03\u8282\u9600\u3001\u88ab\u63a7\u5bf9\u8c61 $W_0(s)$\u3001\u6270\u52a8 $W_f(s)$ \u4ee5\u53ca\u6d4b\u91cf\u53d8\u9001\u73af\u8282\u6784\u6210\u3002<\/p>\n<h3><strong>3.2 \u65b9\u6848\u4e8c\uff1a\u524d\u9988-\u53cd\u9988\u63a7\u5236\u7cfb\u7edf<\/strong><\/h3>\n<h4><strong>3.2.1 \u65b9\u6848\u539f\u7406<\/strong><\/h4>\n<p>\u524d\u9988-\u53cd\u9988\u63a7\u5236\u7ed3\u5408\u4e86\u524d\u9988\u63a7\u5236\u7684\u201c\u53ca\u65f6\u6027\u201d\u4e0e\u53cd\u9988\u63a7\u5236\u7684\u201c\u51c6\u786e\u6027\u201d\u3002\u524d\u9988\u63a7\u5236\u5668\u76f4\u63a5\u6d4b\u91cf\u6270\u52a8\uff08\u5982\u88c2\u89e3\u6c14\u5165\u53e3\u6e29\u5ea6\uff09\uff0c\u5728\u6270\u52a8\u8fd8\u672a\u5f71\u54cd\u5230\u88ab\u63a7\u53d8\u91cf\u4e4b\u524d\uff0c\u5c31\u6839\u636e\u6270\u52a8\u6a21\u578b\u8ba1\u7b97\u51fa\u8865\u507f\u91cf\uff0c\u63d0\u524d\u8c03\u6574\u64cd\u7eb5\u53d8\u91cf\u3002\u53cd\u9988\u56de\u8def\u5219\u8d1f\u8d23\u514b\u670d\u524d\u9988\u6a21\u578b\u4e0d\u7cbe\u786e\u4ee5\u53ca\u5176\u4ed6\u672a\u6d4b\u6270\u52a8\u6240\u5e26\u6765\u7684\u6b8b\u4f59\u504f\u5dee\u3002<\/p>\n<h4><strong>3.2.2 \u7cfb\u7edf\u6784\u6210<\/strong><\/h4>\n<p>\u8be5\u65b9\u6848\u7684\u4eea\u8868\u6784\u6210\u4e0e\u5355\u56de\u8def\u65b9\u6848\u57fa\u672c\u76f8\u540c\uff0c\u4f46\u589e\u52a0\u4e86\u4e00\u4e2a\u7528\u4e8e\u6d4b\u91cf\u6270\u52a8\uff08\u88c2\u89e3\u6c14\u5165\u53e3\u6e29\u5ea6\uff09\u7684\u68c0\u6d4b\u53d8\u9001\u5668\uff0c\u5e76\u5c06\u8be5\u4fe1\u53f7\u9001\u5165\u524d\u9988\u63a7\u5236\u5668\u3002\u524d\u9988\u63a7\u5236\u5668\u7684\u8f93\u51fa\u4e0e\u53cd\u9988\u63a7\u5236\u5668\u7684\u8f93\u51fa\u76f8\u52a0\uff0c\u5171\u540c\u4f5c\u7528\u4e8e\u8c03\u8282\u9600\u3002<\/p>\n<h4><strong>3.2.3 \u63a7\u5236\u65b9\u6846\u56fe<\/strong><\/h4>\n<p>\u8be5\u65b9\u6848\u7684\u65b9\u6846\u56fe\u5728\u5355\u56de\u8def\u7684\u57fa\u7840\u4e0a\uff0c\u589e\u52a0\u4e86\u4e00\u6761\u4ece\u6270\u52a8\u6d4b\u91cf\u70b9\u7ecf\u524d\u9988\u63a7\u5236\u5668 $G_{ff}(s)$ \u5230\u8c03\u8282\u9600\u7684\u524d\u9988\u901a\u9053\u3002<\/p>\n<h2><strong>4. \u53c2\u6570\u6574\u5b9a<\/strong><\/h2>\n<h3><strong>4.1 \u5355\u56de\u8defPID\u63a7\u5236\u5668\u53c2\u6570\u6574\u5b9a<\/strong><\/h3>\n<p>\u9488\u5bf9\u63a7\u5236\u901a\u9053\u6a21\u578b $W_{0}(s)=\\frac{0.93}{56s+1}e^{-6s}$\uff0c\u8fd9\u662f\u4e00\u4e2a\u5178\u578b\u7684\u4e00\u9636\u52a0\u7eaf\u6ede\u540e\uff08FOPDT\uff09\u6a21\u578b\u3002\u6b64\u5904\u91c7\u7528Cohen-Coon\u6574\u5b9a\u6cd5\uff0c\u8be5\u65b9\u6cd5\u5bf9\u4e8eFOPDT\u6a21\u578b\u80fd\u63d0\u4f9b\u8f83\u597d\u7684\u8bbe\u5b9a\u503c\u8ddf\u8e2a\u6027\u80fd\u3002<br \/>\n*   \u6a21\u578b\u53c2\u6570\uff1a<br \/>\n$K = 0.93;$<br \/>\n$\\tau = 56;$<br \/>\n$\\theta = 6;$<br \/>\n*   \u6839\u636eCohen-Coon\u516c\u5f0f\u8ba1\u7b97PID\u53c2\u6570\uff1a<br \/>\n    *   $Kp = (1\/K) \u00d7 (\u03c4\/\u03b8) \u00d7 [1.33 + (\u03b8\/\u03c4)\/4]$<br \/>\n$Ti = \u03b8 \u00d7 [32 + 6(\u03b8\/\u03c4)] \/ [13 + 8(\u03b8\/\u03c4)]$<br \/>\n$Td = \u03b8 \u00d7 4 \/ [11 + 2(\u03b8\/\u03c4)]$<br \/>\n*   \u5c06\u53c2\u6570\u4ee3\u5165\u8ba1\u7b97\uff0c\u53ef\u5f97\u5230\u4e00\u7ec4\u521d\u59cbPID\u53c2\u6570\u3002\u540e\u7eed\u53ef\u5728\u4eff\u771f\u4e2d\u6839\u636e\u54cd\u5e94\u66f2\u7ebf\u8fdb\u884c\u5fae\u8c03\uff0c\u4ee5\u671f\u8fbe\u5230 $\\sigma_p \\leq 40\\%$ \u7684\u6307\u6807\u3002<\/p>\n<blockquote><p>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u5728(4.1)\u4e2d\u9009\u7528\u4e86<strong>Cohen-Coon (C-C) \u6574\u5b9a\u6cd5<\/strong>\uff0c\u7406\u7531\u662f\u201c\u80fd\u63d0\u4f9b\u8f83\u597d\u7684\u8bbe\u5b9a\u503c\u8ddf\u8e2a\u6027\u80fd\u201d\u3002<br \/>\n     (a) \u4e3a\u4ec0\u4e48C-C\u6cd5\u64c5\u957f\u8bbe\u5b9a\u503c\u8ddf\u8e2a\uff1f<br \/>\n     (b) C-C\u6cd5\u5728<strong>\u6297\u5e72\u6270\u6027\u80fd<\/strong>\u4e0a\u8868\u73b0\u5982\u4f55\uff1f\u60a8\u7684\u8bbe\u8ba1\u76ee\u6807(1.2)\u540c\u65f6\u8981\u6c42\u4e86\u52a8\u6001\u6027\u80fd\u548c\u6297\u5e72\u6270\u6027\u80fd\uff0c\u60a8\u8ba4\u4e3a\u53ea\u8003\u8651C-C\u6cd5\u662f\u5426\u7247\u9762\uff1f\u6709\u54ea\u4e9b\u6574\u5b9a\u6cd5\u662f\u66f4\u4fa7\u91cd\u4e8e<strong>\u6297\u5e72\u6270<\/strong>\u7684\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>(a) \u64c5\u957f\u8bbe\u5b9a\u503c\u8ddf\u8e2a\uff1a<\/strong> C-C\u6cd5\u662f\u901a\u8fc7\u62df\u5408FOPDT\u6a21\u578b\uff0c\u5e76\u8bd5\u56fe\u4f7f\u95ed\u73af\u54cd\u5e94\u66f2\u7ebf\u5c3d\u91cf<strong>\u63a5\u8fd1<\/strong>\uff08\u6216\u8870\u51cf\u6bd4\u4e3a1\/4\uff09\u5f00\u73af\u54cd\u5e94\u66f2\u7ebf\u7684\u5f62\u72b6\u6765\u6574\u5b9a\u53c2\u6570\u7684\u3002\u5b83\u7684\u6574\u5b9a\u76ee\u6807\u662f<strong>\u201c\u56db\u5206\u4e4b\u4e00\u8870\u51cf\u201d<\/strong>\uff0c\u8fd9\u901a\u5e38\u4f1a\u5bfc\u81f4\u4e00\u4e2a\u54cd\u5e94<strong>\u8fc5\u901f<\/strong>\u3001\u632f\u8361<strong>\u8f83\u5f3a<\/strong>\uff08\u5373\u8d85\u8c03\u5927\uff09\u7684\u7cfb\u7edf\uff0c\u56e0\u6b64\u5bf9\u8bbe\u5b9a\u503c\uff08SP\uff09\u7684\u53d8\u5316\u54cd\u5e94\u5f88\u5feb\u3002<br \/>\n     <strong>(b) \u6297\u5e72\u6270\u6027\u80fd\uff1a<\/strong> C-C\u6cd5\u7684<strong>\u6297\u5e72\u6270\u6027\u80fd\u901a\u5e38\u5f88\u5dee<\/strong>\u3002\u5b83\u7ed9\u51fa\u7684\u79ef\u5206\u65f6\u95f4$T_i$\u5f80\u5f80<strong>\u504f\u5c0f<\/strong>\uff08\u8fc7\u4e8e\u6fc0\u8fdb\uff09\uff0c\u5bfc\u81f4\u7cfb\u7edf\u5728\u53d7\u5230\u6270\u52a8\uff08Load\uff09\u51b2\u51fb\u65f6\uff0c\u4f1a\u4ea7\u751f\u5267\u70c8\u7684\u3001\u957f\u65f6\u95f4\u7684\u632f\u8361\uff0c\u6062\u590d\u5e73\u7a33\u5f88\u6162\u3002<br \/>\n     <strong>(c) \u7247\u9762\u6027\u4e0e\u66ff\u4ee3\u65b9\u6848\uff1a<\/strong><br \/>\n      *   \u662f\u7684\uff0c\u53ea\u7528C-C\u6cd5\u662f<strong>\u7247\u9762<\/strong>\u7684\u3002\u5b83\u53ea\u6ee1\u8db3\u4e86\u201c\u8bbe\u5b9a\u503c\u8ddf\u8e2a\u201d\u7684\u9700\u6c42\uff0c\u800c\u53ef\u80fd<strong>\u727a\u7272<\/strong>\u4e86\u201c\u6297\u5e72\u6270\u201d\u7684\u9700\u6c42\u3002<br \/>\n         <strong>\u66ff\u4ee3\u65b9\u6848\uff1a<\/strong> \u5982\u679c\u6211\u4eec\u66f4\u770b\u91cd<strong>\u6297\u5e72\u6270\u6027\u80fd<\/strong>\uff08\u5728\u8fc7\u7a0b\u63a7\u5236\u4e2d\u8fd9\u5f88\u5e38\u89c1\uff09\uff0c\u5e94\u8be5\u9009\u7528<strong>Ziegler-Nichols (Z-N) \u6cd5<\/strong>\uff08\u5c24\u5176\u662f\u4e34\u754c\u6bd4\u4f8b\u5ea6\u6cd5\uff09\uff0c\u6216\u8005\u66f4\u73b0\u4ee3\u7684<strong>IMC\uff08\u5185\u6a21\u63a7\u5236\uff09\u6574\u5b9a\u6cd5<\/strong>\u6216<strong>Lambda\u8c03\u8c10\u6cd5<\/strong>\u3002\u8fd9\u4e9b\u65b9\u6cd5\uff08\u7279\u522b\u662fIMC\uff09\u5728\u6574\u5b9a\u53c2\u6570\u65f6\u4f1a\u66f4\u201c\u4fdd\u5b88\u201d\uff0c\u7cfb\u7edf\u54cd\u5e94\u66f4\u5e73\u7a33\uff0c\u6297\u5e72\u6270\u80fd\u529b\u66f4\u5f3a\uff0c\u4ee3\u4ef7\u662f\u8bbe\u5b9a\u503c\u8ddf\u8e2a\u4f1a\u6162\u4e00\u4e9b\u3002<\/p>\n<p>  <strong>\u95ee\u9898\uff1a<\/strong> \u5047\u8bbe\u60a8\u7528Cohen-Coon\u6cd5\u8ba1\u7b97\u51fa\u7684\u521d\u59cb\u53c2\u6570\uff08$K_c=14.43, T_i=9.88, T_d=2.85$\uff09\u8fdb\u884c\u4eff\u771f\uff0c\u7ed3\u679c\u53d1\u73b0\u8d85\u8c03\u91cf $\\sigma_p = 50\\%$\uff0c\u8d85\u8fc7\u4e8640%\u7684\u6307\u6807\u3002\u60a8\u6253\u7b97\u5982\u4f55<strong>\u624b\u52a8\u5fae\u8c03<\/strong>\u8fd9\u4e09\u4e2a\u53c2\u6570\u4ee5\u964d\u4f4e\u8d85\u8c03\uff1f\u8bf7\u8bf4\u660e\u8c03\u6574\u65b9\u5411\uff08\u589e\u5927\/\u51cf\u5c0f\uff09\u548c\u7406\u7531\u3002<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>\u6838\u5fc3\u7b56\u7565\uff1a<\/strong> \u964d\u4f4e\u8d85\u8c03\u91cf\u7684\u6838\u5fc3\u662f\u4f7f\u7cfb\u7edf\u54cd\u5e94\u53d8\u5f97\u66f4\u201c\u4fdd\u5b88\u201d\u6216\u201c\u8fdf\u7f13\u201d\u3002<br \/>\n     <strong>\u8c03\u6574\u6b65\u9aa4\uff1a<\/strong><br \/>\n      1.  <strong>\u964d\u4f4e\u6bd4\u4f8b\u589e\u76ca $K_c$\uff1a<\/strong> \u8fd9\u662f<strong>\u6700\u76f4\u63a5\u3001\u6700\u6709\u6548<\/strong>\u7684\u624b\u6bb5\u3002$K_c$ \u51b3\u5b9a\u4e86\u7cfb\u7edf\u7684\u603b\u589e\u76ca\u548c\u54cd\u5e94\u5f3a\u5ea6\u3002<strong>\u51cf\u5c0f $K_c$<\/strong>\uff08\u4f8b\u5982\u4ece14.43\u51cf\u5c0f\u523012.0\uff09\uff0c\u4f1a\u7acb\u5373\u964d\u4f4e\u7cfb\u7edf\u7684\u632f\u8361\u548c\u8d85\u8c03\u91cf\uff0c\u4f46\u4f1a\u4f7f\u54cd\u5e94\u53d8\u6162\u3002<br \/>\n      2.  <strong>\u589e\u5927\u79ef\u5206\u65f6\u95f4 $T_i$\uff1a<\/strong> C-C\u6cd5\u7684 $T_i$ \u5f80\u5f80\u504f\u5c0f\uff0c\u5bfc\u81f4\u79ef\u5206\u4f5c\u7528\u8fc7\u5f3a\uff0c\u8fd9\u662f\u4ea7\u751f\u8d85\u8c03\u7684\u4e3b\u8981\u539f\u56e0\u4e4b\u4e00\u3002<strong>\u589e\u5927 $T_i$<\/strong>\uff08\u4f8b\u5982\u4ece9.88\u589e\u5927\u523015\uff09\uff0c\u53ef\u4ee5\u51cf\u5f31\u79ef\u5206\u4f5c\u7528\u7684\u5f3a\u5ea6\uff0c\u4f7f\u7cfb\u7edf\u5728\u63a5\u8fd1\u8bbe\u5b9a\u503c\u65f6\u201c\u5239\u8f66\u201d\u66f4\u65e9\uff0c\u4ece\u800c\u663e\u8457\u964d\u4f4e\u8d85\u8c03\u3002<br \/>\n      3.  <strong>\uff08\u8c28\u614e\uff09\u8c03\u6574\u5fae\u5206\u65f6\u95f4 $T_d$\uff1a<\/strong> $T_d$ \u7684\u4f5c\u7528\u662f\u201c\u9884\u6d4b\u201d\u53d8\u5316\u3002<br \/>\n          *   \u5982\u679c\u7cfb\u7edf\u632f\u8361\u5267\u70c8\uff0c\u53ef\u4ee5\u9002\u5f53<strong>\u589e\u5927 $T_d$<\/strong>\uff08\u4f8b\u5982\u4ece2.85\u589e\u5927\u52303.5\uff09\uff0c\u4ee5\u63d0\u4f9b\u66f4\u5f3a\u7684\u201c\u963b\u5c3c\u201d\u6548\u679c\uff0c\u6291\u5236\u632f\u8361\u3002<br \/>\n          *   \u4f46\u5982\u679c $T_d$ \u8fc7\u5927\uff0c\u7cfb\u7edf\u4f1a\u5bf9\u566a\u58f0\u8fc7\u5ea6\u654f\u611f\uff0c\u5bfc\u81f4\u8c03\u8282\u9600\u6296\u52a8\u3002\u901a\u5e38\u6211\u4eec<strong>\u4f18\u5148\u8c03\u6574 $K_c$ \u548c $T_i$<\/strong>\u3002<br \/>\n     <strong>\u603b\u7ed3\uff1a<\/strong> \u964d\u4f4e\u8d85\u8c03\u7684\u201c\u53e3\u8bc0\u201d\u662f\uff1a<strong>\u201c\u964d\u6bd4\u4f8b\uff0c\u589e\u79ef\u5206\uff0c\uff08\u9002\u5ea6\uff09\u589e\u5fae\u5206\u201d<\/strong>\u3002\n<\/p><\/blockquote>\n<h3><strong>4.2 \u524d\u9988\u63a7\u5236\u5668\u8bbe\u8ba1<\/strong><\/h3>\n<p>\u7406\u60f3\u7684\u524d\u9988\u63a7\u5236\u5668\u76ee\u6807\u662f\u4f7f\u6270\u52a8\u5bf9\u88ab\u63a7\u53d8\u91cf\u7684\u5f71\u54cd\u4e3a\u96f6\uff0c\u5176\u4f20\u9012\u51fd\u6570\u4e3a\uff1a<br \/>\n$G_{ff}(s) = -\\frac{W_f(s)}{W_0(s)} = -\\frac{\\frac{1.05}{41s+1}e^{-8s}}{\\frac{0.93}{56s+1}e^{-6s}} = -\\frac{1.05}{0.93} \\cdot \\frac{56s+1}{41s+1} e^{-2s}$<\/p>\n<p>\u8fd9\u662f\u4e00\u4e2a\u52a8\u6001\u524d\u9988\u63a7\u5236\u5668\uff0c\u5305\u542b\u6bd4\u4f8b\u3001\u8d85\u524d-\u6ede\u540e\u548c\u7eaf\u6ede\u540e\u73af\u8282\u3002\u5728\u5b9e\u9645\u5de5\u7a0b\u4e2d\uff0c\u7eaf\u6ede\u540e\u73af\u8282 $e^{-2s}$ \u96be\u4ee5\u7269\u7406\u5b9e\u73b0\uff0c\u4e14\u5bf9\u6a21\u578b\u7cbe\u5ea6\u8981\u6c42\u6781\u9ad8\u3002\u56e0\u6b64\uff0c\u5e38\u8fdb\u884c\u7b80\u5316\uff1a<br \/>\n*   <strong>\u9759\u6001\u524d\u9988<\/strong>\uff1a\u5ffd\u7565\u52a8\u6001\u90e8\u5206\uff0c\u4ec5\u53d6\u6bd4\u4f8b\u589e\u76ca $K_{ff} = -\\frac{1.05}{0.93} \\approx -1.13$\u3002\u5b9e\u73b0\u7b80\u5355\uff0c\u4f46\u8865\u507f\u4e0d\u5f7b\u5e95\u3002<br \/>\n*   <strong>\u52a8\u6001\u524d\u9988\uff08\u7b80\u5316\uff09<\/strong>\uff1a\u4fdd\u7559\u8d85\u524d-\u6ede\u540e\u73af\u8282\uff0c\u5ffd\u7565\u7eaf\u6ede\u540e\uff0c\u5373 $G_{ff}(s) = -1.13 \\cdot \\frac{56s+1}{41s+1}$\u3002\u8fd9\u80fd\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u6539\u5584\u8865\u507f\u6548\u679c\uff0c\u662f\u5de5\u7a0b\u4e2d\u5e38\u7528\u7684\u6298\u8877\u65b9\u6848\u3002<\/p>\n<p>\u5728\u8bbe\u8ba1\u4e2d\uff0c\u6211\u4eec\u5c06\u5206\u522b\u4eff\u771f\u9759\u6001\u524d\u9988\u548c\u52a8\u6001\u524d\u9988\u7684\u6548\u679c\uff0c\u4ee5\u5206\u6790\u4e0d\u540c\u5f62\u5f0f\u524d\u9988\u63a7\u5236\u5668\u5bf9\u7cfb\u7edf\u6027\u80fd\u7684\u5f71\u54cd \u3002<\/p>\n<blockquote><p>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u7684\u7406\u60f3\u524d\u9988\u63a7\u5236\u5668 $G_{ff}(s)$ \u5305\u542b\u4e00\u4e2a $e^{-2s}$ \u9879\uff0c\u53732\u79d2\u7684\u7eaf\u6ede\u540e\u3002\u60a8\u5728(4.2)\u4e2d\u63d0\u5230\u201c\u7eaf\u6ede\u540e\u73af\u8282 $e^{-2s}$ \u96be\u4ee5\u7269\u7406\u5b9e\u73b0\u201d\uff0c\u5e76\u5728\u201c\u52a8\u6001\u524d\u9988\uff08\u7b80\u5316\uff09\u201d\u65b9\u6848\u4e2d\u5c06\u5176<strong>\u5ffd\u7565<\/strong>\u4e86\u3002<br \/>\n     (a) \u4e3a\u4ec0\u4e48\u8bf4 $e^{-2s}$\uff08\u4e00\u4e2a\u7eaf\u5ef6\u8fdf\uff09\u96be\u4ee5\u5b9e\u73b0\uff1f\u5728Simulink\u4e2d\u4e0d\u662f\u6709\u4e00\u4e2a <code>Transport Delay<\/code> \u6a21\u5757\u5417\uff1f\u5728DCS\u6570\u5b57\u7cfb\u7edf\u4e2d\u5b9e\u73b0\u4e00\u4e2a2\u79d2\u7684\u5ef6\u8fdf\u4e0d\u662f\u5f88\u5bb9\u6613\u5417\uff1f<br \/>\n     (b) \u60a8\u5ffd\u7565\u8fd9\u4e2a $e^{-2s}$ \u4f1a\u5e26\u6765\u4ec0\u4e48<strong>\u540e\u679c<\/strong>\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>(a) \u5b9e\u73b0\u95ee\u9898\uff1a<\/strong> \u8001\u5e08\u6307\u51fa\u7684\u975e\u5e38\u6b63\u786e\u3002\u6211\u5728\u62a5\u544a\u4e2d\u7684\u8868\u8ff0\u201c\u96be\u4ee5\u7269\u7406\u5b9e\u73b0\u201d<strong>\u4e0d\u51c6\u786e<\/strong>\uff0c\u5e94\u8be5\u6539\u4e3a\u201c\u5728\u6a21\u62df\u7535\u8def\u4e2d\u96be\u4ee5\u5b9e\u73b0\uff0c\u4f46\u5728\u6570\u5b57\u7cfb\u7edf\u4e2d<strong>\u5b8c\u5168\u53ef\u4ee5\u5b9e\u73b0<\/strong>\u201d\u3002<br \/>\n         <strong>\u771f\u6b63\u7684\u96be\u70b9<\/strong>\u5728\u4e8e\uff1a\u5f53\u6270\u52a8\u901a\u9053\u6ede\u540e $\\tau_f$ <strong>\u5c0f\u4e8e<\/strong> \u63a7\u5236\u901a\u9053\u6ede\u540e $\\tau_0$ \u65f6\uff08\u4f8b\u5982 $\\tau_f=4, \\tau_0=6$\uff09\uff0c\u7406\u60f3\u524d\u9988\u5668\u4f1a\u5305\u542b $e^{+2s}$ \u8fd9\u6837\u7684<strong>\u8d85\u524d\u9879<\/strong>\u3002$e^{+2s}$ \u610f\u5473\u7740\u9700\u8981\u201c\u9884\u6d4b\u672a\u67652\u79d2\u201d\u7684\u6270\u52a8\uff0c\u8fd9\u5728\u7269\u7406\u4e0a\u662f<strong>\u4e0d\u53ef\u5b9e\u73b0<\/strong>\u7684\uff08Non-causal\uff09\u3002<br \/>\n         <strong>\u672c\u8bbe\u8ba1\u7684\u7279\u6b8a\u6027\uff1a<\/strong> \u5728\u672c\u8bbe\u8ba1\u4e2d $\\tau_f=8s, \\tau_0=6s$\u3002\u7406\u60f3\u524d\u9988\u5668\u662f $G_{ff}(s) \\sim e^{-(\\tau_f - \\tau_0)s} = e^{-2s}$\u3002\u8fd9\u662f\u4e00\u4e2a<strong>\u7eaf\u6ede\u540e\u9879<\/strong>\uff0c\u5b83\u5728\u6570\u5b57\u7cfb\u7edf\u4e2d\u662f<strong>\u5b8c\u5168\u53ef\u4ee5\u5b9e\u73b0<\/strong>\u7684\uff08\u53ea\u9700\u8981\u5c06\u6270\u52a8\u4fe1\u53f7\u5b58\u50a82\u79d2\u540e\u518d\u7528\u4e8e\u8ba1\u7b97\uff09\u3002\u6211\u7684\u62a5\u544a\u4e2d\u5c06\u5176\u5ffd\u7565\uff0c\u662f\u4e00\u4e2a<strong>\u7b80\u5316\u7684\u5de5\u7a0b\u6298\u8877<\/strong>\u3002<br \/>\n     <strong>(b) \u5ffd\u7565\u7684\u540e\u679c\uff1a<\/strong><br \/>\n      *   \u7406\u60f3\u7684\u524d\u9988\u63a7\u5236\u662f\uff1a\u5f53\u6270\u52a8\uff08\u5165\u53e3\u6e29\u5ea6\uff09\u53d1\u751f\u53d8\u5316\u65f6\uff0c\u524d\u9988\u63a7\u5236\u5668\u5e94\u8be5<strong>\u7b49\u5f852\u79d2<\/strong>\uff08\u5373$e^{-2s}$\uff09\uff0c\u7136\u540e\u518d\u53d1\u51fa\u8865\u507f\u4fe1\u53f7\u3002<br \/>\n      *   \u6211\u5ffd\u7565\u4e86 $e^{-2s}$\uff0c\u5bfc\u81f4\u6211\u7684\u201c\u52a8\u6001\u524d\u9988\uff08\u7b80\u5316\uff09\u201d\u65b9\u6848<strong>\u8865\u507f\u52a8\u4f5c\u8fc7\u65e9<\/strong>\u4e862\u79d2\u3002<br \/>\n         <strong>\u540e\u679c\u5c31\u662f\uff1a<\/strong> \u6270\u52a8\u8fd8\u6ca1\u771f\u6b63\u5f00\u59cb\u5f71\u54cd\u51fa\u53e3\u6e29\u5ea6\uff08\u56e0\u4e3a\u6270\u52a8\u901a\u9053\u67098\u79d2\u5ef6\u8fdf\uff09\uff0c\u6211\u7684\u524d\u9988\u8865\u507f\u4fe1\u53f7\u5df2\u7ecf\u901a\u8fc7\u63a7\u5236\u901a\u9053\uff08\u53ea\u67096\u79d2\u5ef6\u8fdf\uff09<strong>\u63d0\u524d\u5230\u8fbe<\/strong>\u4e86\u3002\u8fd9\u4f1a\u5bfc\u81f4\u51fa\u53e3\u6e29\u5ea6<strong>\u5148\u5411\u9519\u8bef\u7684\u65b9\u5411\u504f\u79bb<\/strong>\uff08\u4ea7\u751f\u4e00\u4e2a\u201c\u524d\u9988\u5c16\u5cf0\u201d\uff09\uff0c\u7136\u540e\u518d\u88ab\u62c9\u56de\u3002\u8fd9\u964d\u4f4e\u4e86\u524d\u9988\u63a7\u5236\u7684\u7cbe\u786e\u6027\uff0c\u4f46\u5176\u6548\u679c<strong>\u4ecd\u7136\u8fdc\u597d\u4e8e<\/strong>\u7eaf\u53cd\u9988\u63a7\u5236\u3002<\/p>\n<p>  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u7684\u201c\u52a8\u6001\u524d\u9988\uff08\u7b80\u5316\uff09\u201d\u65b9\u6848 $G_{ff}(s) = -1.13 \\cdot \\frac{56s+1}{41s+1}$ \u662f\u4e00\u4e2a<strong>\u8d85\u524d-\u6ede\u540e<\/strong>\uff08Lead-Lag\uff09\u73af\u8282\u3002\u8bf7\u7528<strong>\u7269\u7406\u8bed\u8a00<\/strong>\u89e3\u91ca\uff0c\u4e3a\u4ec0\u4e48\u9700\u8981\u8fd9\u4e2a\u52a8\u6001\u73af\u8282\uff1f\u53ea\u7528\u4e00\u4e2a $K_{ff}=-1.13$ \u7684\u9759\u6001\u524d\u9988\uff08\u65b9\u6848\u4e00\uff09\u4e0d\u884c\u5417\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>\u9759\u6001\u524d\u9988\u7684\u7f3a\u9677\uff1a<\/strong> \u53ea\u7528 $K_{ff}=-1.13$ \u7684\u9759\u6001\u524d\u9988\uff0c\u610f\u5473\u7740\u5f53\u6270\u52a8\uff08\u5165\u53e3\u6e29\u5ea6\uff09<strong>\u521a\u4e00\u53d8\u5316<\/strong>\uff0c\u8865\u507f\u4fe1\u53f7\uff08\u6db2\u4e19\u70ef\u6d41\u91cf\uff09\u5c31<strong>\u7acb\u523b<\/strong>\u6309\u6bd4\u4f8b\u53d8\u5316\uff0c\u5e76<strong>\u4fdd\u6301<\/strong>\u5728\u65b0\u503c\u3002<br \/>\n     <strong>\u52a8\u6001\u7279\u6027\u7684\u4e0d\u5339\u914d\uff1a<\/strong><br \/>\n      *   \u4f46\u662f\uff0c\u6270\u52a8\uff08\u5165\u53e3\u6e29\u5ea6\uff09\u5bf9\u51fa\u53e3\u6e29\u5ea6\u7684\u5f71\u54cd\u662f<strong>\u7f13\u6162<\/strong>\u7684\uff08\u65f6\u95f4\u5e38\u6570 $T_f=41s$\uff09\u3002<br \/>\n      *   \u800c\u6211\u4eec\u7684\u8865\u507f\uff08\u6db2\u4e19\u70ef\uff09\u5bf9\u51fa\u53e3\u6e29\u5ea6\u7684\u5f71\u54cd\u662f<strong>\u66f4\u7f13\u6162<\/strong>\u7684\uff08\u65f6\u95f4\u5e38\u6570 $T_0=56s$\uff09\u3002<br \/>\n     <strong>\u52a8\u6001\u524d\u9988\u7684\u610f\u4e49\uff1a<\/strong><br \/>\n      *   $\\frac{56s+1}{41s+1}$ \u8fd9\u4e2a\u73af\u8282\uff0c\u5176\u201c\u8d85\u524d\u201d\u90e8\u5206($56s+1$)\u5927\u4e8e\u201c\u6ede\u540e\u201d\u90e8\u5206($41s+1$)\uff0c\u5b83\u662f\u4e00\u4e2a<strong>\u8d85\u524d-\u6ede\u540e\u7f51\u7edc<\/strong>\u3002<br \/>\n      *   \u5b83\u7684\u4f5c\u7528\u662f\uff1a\u5f53\u6270\u52a8\u53d1\u751f\u9636\u8dc3\u53d8\u5316\u65f6\uff0c\u8fd9\u4e2a\u73af\u8282\u7684\u8f93\u51fa\u4f1a<strong>\u77ac\u95f4\u201c\u51b2\u9ad8\u201d<\/strong>\uff08\u7531\u4e8e\u5fae\u5206\u6216\u8d85\u524d\u7684\u4f5c\u7528\uff09\uff0c\u7136\u540e\u518d<strong>\u7f13\u6162\u56de\u843d<\/strong>\u5230\u65b0\u7684\u7a33\u6001\u503c\uff08-1.13\uff09\u3002<br \/>\n         <strong>\u7269\u7406\u610f\u4e49\uff1a<\/strong> \u5b83\u662f\u5728\u201c\u50ac\u4fc3\u201d\u6211\u4eec\u7684\u8865\u507f\u52a8\u4f5c\u3002\u56e0\u4e3a\u5b83\u77e5\u9053\u6211\u4eec\u7684\u63a7\u5236\u901a\u9053\uff08$T_0=56s$\uff09\u6bd4\u6270\u52a8\u901a\u9053\uff08$T_f=41s$\uff09\u8981<strong>\u6162<\/strong>\u3002\u4e3a\u4e86\u8ba9\u90a3\u4e2a\u201c\u6162\u541e\u541e\u201d\u7684\u63a7\u5236\u901a\u9053\u80fd\u591f\u53ca\u65f6\u62b5\u6d88\u201c\u76f8\u5bf9\u8f83\u5feb\u201d\u7684\u6270\u52a8\u901a\u9053\uff0c\u524d\u9988\u63a7\u5236\u5668\u5fc5\u987b\u5728<strong>\u4e00\u5f00\u59cb\u5c31\u7ed9\u51fa\u4e00\u4e2a\u66f4\u5f3a\uff08\u8d85\u8c03\uff09\u7684\u8865\u507f\u4fe1\u53f7<\/strong>\uff0c\u8fd9\u5c31\u662f $\\frac{56s+1}{41s+1}$ \u7684\u4f5c\u7528\uff0c\u5373<strong>\u201c\u52a8\u6001\u8865\u507f\u201d<\/strong>\u3002<br \/>\n         <strong>\u7ed3\u8bba\uff1a<\/strong> \u53ea\u7528\u9759\u6001\u524d\u9988\uff0c\u8865\u507f\u4f5c\u7528\u4f1a<strong>\u6ede\u540e\u4e8e<\/strong>\u6270\u52a8\u5f71\u54cd\uff0c\u5bfc\u81f4\u4e00\u4e2a\u5927\u7684\u3001\u7f13\u6162\u7684\u504f\u5dee\uff1b\u800c\u4f7f\u7528\u52a8\u6001\u524d\u9988\uff0c\u80fd\u66f4\u597d\u5730\u5728<strong>\u52a8\u6001\u8fc7\u7a0b<\/strong>\u4e2d\u5c31\u62b5\u6d88\u6270\u52a8\u3002<br \/>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u7684\u524d\u9988\u63a7\u5236\u5668\uff08\u65e0\u8bba\u662f\u9759\u6001 $K_{ff} = -K_f \/ K_0$ \u8fd8\u662f\u52a8\u6001 $G_{ff} = -W_f \/ W_0$\uff09<strong>\u5b8c\u5168\u4f9d\u8d56<\/strong>\u4e8e\u60a8(2.2)\u4e2d\u7ed9\u51fa\u7684\u4e24\u4e2a\u6570\u5b66\u6a21\u578b\u3002\u5982\u679c\u5b9e\u9645\u8fd0\u884c\u4e2d\uff0c\u63a7\u5236\u901a\u9053\u7684\u589e\u76ca $K_0$ \u4ece0.93<strong>\u53d8\u5316<\/strong>\u5230\u4e860.8\uff08\u4f8b\u5982\u56e0\u4e3a\u6362\u70ed\u5668\u7ed3\u57a2\uff09\uff0c\u6b64\u65f6\u4f1a\u53d1\u751f\u4ec0\u4e48\uff1f<br \/>\n     (a) \u60a8\u7684\u524d\u9988\u63a7\u5236\u5668\u4f1a\u5982\u4f55\u8868\u73b0\uff1f<br \/>\n     (b) \u6b64\u65f6\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\u662f\u591a\u5c11\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>(a) \u524d\u9988\u8868\u73b0\uff1a<\/strong><br \/>\n      *   \u6211\u7684\u524d\u9988\u63a7\u5236\u5668\uff08\u4ee5\u9759\u6001\u4e3a\u4f8b\uff09\u4ecd\u7136\u6309\u7167 $K_{ff} = -1.05 \/ 0.93 \\approx -1.13$ \u6765\u5de5\u4f5c\u3002<br \/>\n      *   \u5f53\u6270\u52a8 $F$ \u53d1\u751f1\u4e2a\u5355\u4f4d\u7684\u53d8\u5316\u65f6\uff0c\u524d\u9988\u63a7\u5236\u5668\u4f1a\u4ea7\u751f $-1.13$ \u4e2a\u5355\u4f4d\u7684\u8865\u507f\u52a8\u4f5c\u3002<br \/>\n      *   \u8fd9\u4e2a\u8865\u507f\u52a8\u4f5c\u4f5c\u7528\u5728<strong>\u65b0\u7684<\/strong>\u63a7\u5236\u901a\u9053\u4e0a\uff08$K_0=0.8$\uff09\uff0c\u4ea7\u751f\u7684\u8865\u507f\u6548\u679c\u662f\uff1a$(-1.13) \\times (0.8) = -0.904$\u3002<br \/>\n      *   \u800c\u6270\u52a8\u672c\u8eab\u4ea7\u751f\u7684\u5f71\u54cd\u662f $K_f=1.05$\u3002<br \/>\n      *   \u524d\u9988<strong>\u4e0d\u518d\u80fd\u5b8c\u5168\u8865\u507f<\/strong>\u6270\u52a8\uff08$-0.904$ \u65e0\u6cd5\u62b5\u6d88 $1.05$\uff09\u3002\u8fd9\u5c31\u662f<strong>\u6a21\u578b\u5931\u914d<\/strong>\u5bfc\u81f4\u7684<strong>\u524d\u9988\u8865\u507f\u4e0d\u5b8c\u5168<\/strong>\u3002<br \/>\n     <strong>(b) \u7a33\u6001\u8bef\u5dee\uff1a<\/strong><br \/>\n      *   \u7531\u4e8e\u524d\u9988\u8865\u507f\u4e0d\u5b8c\u5168\uff0c\u7cfb\u7edf<strong>\u4f1a\u4ea7\u751f\u7a33\u6001\u8bef\u5dee<\/strong>\u3002<br \/>\n         <strong>\u4f46\u662f<\/strong>\uff0c\uff08\u63a5Q3\u7684\u7b54\u6848\uff09\u5728\u65b9\u6848\u4e8c\uff08\u524d\u9988-\u53cd\u9988\uff09\u4e2d\uff0c\u6211\u4eec\u8fd8\u6709\u4e00\u4e2a<strong>\u53cd\u9988PID\u63a7\u5236\u5668<\/strong>\u3002<br \/>\n      *   \u8fd9\u4e2a\u6b8b\u4f59\u7684\u7a33\u6001\u8bef\u5dee\u4f1a\u88ab\u53cd\u9988\u56de\u8def\u7684<strong>\u79ef\u5206\u73af\u8282\uff08I\uff09<\/strong>\u68c0\u6d4b\u5230\uff0c\u79ef\u5206\u5668\u4f1a\u7d2f\u79ef\u8fd9\u4e2a\u504f\u5dee\uff0c\u5e76<strong>\u989d\u5916<\/strong>\u8f93\u51fa\u4e00\u4e2a\u63a7\u5236\u4fe1\u53f7\uff0c<strong>\u6700\u7ec8<\/strong>\u5c06\u8fd9\u4e2a\u7a33\u6001\u8bef\u5dee\u6d88\u9664\u6389\u3002<br \/>\n         <strong>\u7ed3\u8bba\uff1a<\/strong> \u5728\u524d\u9988-\u53cd\u9988\u7cfb\u7edf\u4e2d\uff0c\u5373\u4f7f\u524d\u9988\u6a21\u578b\u5931\u914d\uff0c<strong>\u7a33\u6001\u8bef\u5dee\u4ecd\u7136\u4e3a\u96f6<\/strong>\uff08\u7531\u53cd\u9988\u4fdd\u8bc1\uff09\uff0c\u4f46\u7cfb\u7edf\u7684<strong>\u52a8\u6001\u6297\u5e72\u6270\u6027\u80fd\u4f1a\u4e0b\u964d<\/strong>\uff08\u56e0\u4e3a\u524d\u9988\u6ca1\u505a\u597d\uff0cPID\u9700\u8981\u66f4\u52aa\u529b\u5730\u53bb\u201c\u8865\u6551\u201d\uff09\u3002\n<\/p><\/blockquote>\n<h2><strong>5. \u4eff\u771f\u9a8c\u8bc1<\/strong><\/h2>\n<p>\u6240\u6709\u4eff\u771f\u5747\u5728MATLAB\/Simulink\u73af\u5883\u4e2d\u8fdb\u884c\u3002<\/p>\n<h3><strong>5.1 \u4eff\u771f\u6a21\u578b\u642d\u5efa<\/strong><\/h3>\n<p>\u5206\u522b\u642d\u5efa\u5355\u56de\u8def\u63a7\u5236\u7cfb\u7edf\u548c\u524d\u9988-\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u7684Simulink\u6a21\u578b<\/p>\n<blockquote><p>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u5728(5.1)\u4e2d\u63cf\u8ff0\u4e86Simulink\u6a21\u578b\u3002<br \/>\n     (a) \u60a8\u5982\u4f55\u7528 <code>Transfer Fcn<\/code> \u6a21\u5757\u548c <code>Transport Delay<\/code> \u6a21\u5757\u6765\u5b9e\u73b0 $W_{0}(s)=\\frac{0.93}{56s+1}e^{-6s}$\uff1f\u8fd9\u4e24\u4e2a\u6a21\u5757\u662f\u4e32\u8054\u8fd8\u662f\u5e76\u8054\uff1f<br \/>\n     (b) \u5728\u524d\u9988-\u53cd\u9988\u6a21\u578b\u4e2d\uff0c\u524d\u9988\u63a7\u5236\u5668 $G_{ff}(s)$ \u7684\u8f93\u51fa\u4fe1\u53f7\uff0c\u662f\u52a0\u5728<strong>PID\u7684\u8f93\u5165\u7aef\uff08\u504f\u5dee\u4fe1\u53f7\u4e0a\uff09<\/strong>\uff0c\u8fd8\u662f\u52a0\u5728<strong>PID\u7684\u8f93\u51fa\u7aef\uff08\u63a7\u5236\u4fe1\u53f7\u4e0a\uff09<\/strong>\uff1f\u4e3a\u4ec0\u4e48\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>(a) \u6a21\u5757\u8fde\u63a5\uff1a<\/strong> \u5fc5\u987b\u662f<strong>\u4e32\u8054<\/strong>\u3002\u4fe1\u53f7\u5148\u8fdb\u5165 <code>Transfer Fcn<\/code> \u6a21\u5757\uff08\u5206\u5b50<code>[0.93]<\/code>\uff0c\u5206\u6bcd<code>[56 1]<\/code>\uff09\uff0c\u5176\u8f93\u51fa\u518d\u8fde\u63a5\u5230 <code>Transport Delay<\/code> \u6a21\u5757\uff08\u5ef6\u8fdf\u65f6\u95f4 <code>6<\/code>\uff09\u3002<br \/>\n     <strong>(b) \u4fe1\u53f7\u53e0\u52a0\u70b9\uff1a<\/strong> \u5fc5\u987b\u52a0\u5728<strong>PID\u7684\u8f93\u51fa\u7aef<\/strong>\u3002<br \/>\n         <strong>\u7406\u7531\uff1a<\/strong> \u6211\u4eec\u7684\u76ee\u6807\u662f\u8ba9\u524d\u9988\u4fe1\u53f7<strong>\u76f4\u63a5<\/strong>\u53bb\u9a71\u52a8\u8c03\u8282\u9600\uff0c\u4ee5\u8865\u507f\u6270\u52a8\u3002PID\u7684\u8f93\u51fa\u4e5f\u662f\u9a71\u52a8\u8c03\u8282\u9600\u7684\u4fe1\u53f7\u3002<br \/>\n         <strong>\u7ed3\u6784\uff1a<\/strong> \uff08\u53cd\u9988PID\u7684\u8f93\u51fa\uff09+\uff08\u524d\u9988 $G_{ff}$ \u7684\u8f93\u51fa\uff09 $\\rightarrow$ \uff08\u76f8\u52a0\u540e\u7684\u603b\u4fe1\u53f7\uff09 $\\rightarrow$ \uff08\u8c03\u8282\u9600\uff0c\u5373 $W_0$\uff09\u3002<br \/>\n         <strong>\u9519\u8bef\u505a\u6cd5\uff1a<\/strong> \u5982\u679c\u52a0\u5728PID\u7684\u8f93\u5165\u7aef\uff08\u504f\u5dee\u4e0a\uff09\uff0c\u524d\u9988\u4fe1\u53f7\u4f1a\u88abPID\u63a7\u5236\u5668<strong>\u201c\u518d\u6b21\u5904\u7406\u201d<\/strong>\uff0c\u5176\u52a8\u6001\u7279\u6027\u4f1a\u88abPID<strong>\u5b8c\u5168\u626d\u66f2<\/strong>\uff0c\u8fd9\u5c31\u8fdd\u80cc\u4e86\u524d\u9988\u63a7\u5236\uff08$G_{ff} = -W_f \/ W_0$\uff09\u7684\u63a8\u5bfc\u524d\u63d0\u3002<\/p>\n<p>  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u7684\u88ab\u63a7\u5bf9\u8c61\u662f\u4e00\u4e2a\u60ef\u6027\u5f88\u5927\uff08T=56s\uff09\u4e14\u6709\u6ede\u540e\uff08$\\tau=6s$\uff09\u7684\u6162\u8fc7\u7a0b\u3002\u5f53\u8bbe\u5b9a\u503c\uff08SP\uff09\u53d1\u751f\u5927\u7684\u9636\u8dc3\u53d8\u5316\u65f6\uff08\u4f8b\u5982\u4ece50\u2103\u8df3\u523060\u2103\uff09\uff0cPID\u63a7\u5236\u5668\uff08\u7279\u522b\u662f\u79ef\u5206\u9879\uff09\u4f1a\u505a\u4ec0\u4e48\uff1fSimulink\u4e2d\u7684PID\u6a21\u5757\u6709\u4e00\u4e2a\u201cAnti-Windup\u201d\uff08\u6297\u79ef\u5206\u9971\u548c\uff09\u8bbe\u7f6e\uff0c\u60a8\u8ba4\u4e3a\u5728\u8fd9\u4e2a\u7cfb\u7edf\u4e2d\u9700\u8981\u542f\u7528\u5417\uff1f\u4e3a\u4ec0\u4e48\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>\u73b0\u8c61\uff08\u79ef\u5206\u9971\u548c\uff09\uff1a<\/strong><br \/>\n      1.  \u5f53SP\u53d1\u751f\u5927\u7684\u9636\u8dc3\u53d8\u5316\uff0c\u504f\u5dee\uff08E\uff09\u77ac\u95f4\u53d8\u5f97\u5f88\u5927\u3002<br \/>\n      2.  PID\u4e2d\u7684<strong>\u79ef\u5206\u9879\uff08I\uff09<\/strong>\u4f1a\u5f00\u59cb<strong>\u6301\u7eed\u7d2f\u79ef<\/strong>\u8fd9\u4e2a\u5de8\u5927\u7684\u504f\u5dee\uff0c\u5bfc\u81f4PID\u7684\u8f93\u51fa\u4fe1\u53f7\uff08M\uff09\u8fc5\u901f\u589e\u957f\uff0c\u76f4\u5230\u8fbe\u5230\u8c03\u8282\u9600\u7684\u4e0a\u9650\uff08\u4f8b\u5982100%\uff09\u3002<br \/>\n      3.  \u6b64\u65f6\uff0c\u8c03\u8282\u9600\u5df2\u7ecf<strong>\u5168\u5f00<\/strong>\uff08\u6216\u5168\u5173\uff09\uff0c\u8fd9\u5c31\u662f<strong>\u201c\u9971\u548c\u201d<\/strong>\u3002<br \/>\n      4.  > <strong>\u95ee\u9898\u5728\u4e8e\uff1a<\/strong> \u5c3d\u7ba1\u9600\u95e8\u5df2\u7ecf\u9971\u548c\uff0c\u4f46\u7531\u4e8e\u5bf9\u8c61\u60ef\u6027\u5927\u3001\u6ede\u540e\u957f\uff0c\u88ab\u63a7\u53d8\u91cf\uff08PV\uff09<strong>\u4e0d\u4f1a\u7acb\u523b<\/strong>\u8ddf\u4e0a\u3002\u504f\u5dee\uff08E\uff09\u5728\u5f88\u957f\u65f6\u95f4\u5185\u4ecd\u7136\u4e3a\u6b63\u3002<br \/>\n      5.  \u79ef\u5206\u5668\u4f1a<strong>\u7ee7\u7eed\u7d2f\u79ef<\/strong>\uff0c\u5bfc\u81f4\u79ef\u5206\u5668\u5185\u90e8\u7684\u7d2f\u79ef\u503c\u201c\u6ea2\u51fa\u201d\uff08Windup\uff09\uff0c\u8fdc\u8d85100%\uff08\u4f8b\u5982\u7d2f\u79ef\u5230500%\uff09\u3002<br \/>\n      6.  \u5f53PV\u6700\u7ec8\u8d85\u8fc7SP\uff0c\u504f\u5dee\uff08E\uff09\u53d8\u4e3a\u8d1f\u65f6\uff0c\u79ef\u5206\u5668\u9700\u8981<strong>\u6781\u5176\u6f2b\u957f\u7684\u65f6\u95f4<\/strong>\u4ece500%\u201c\u9000\u56de\u201d\u5230100%\u4ee5\u4e0b\uff0c\u9600\u95e8\u624d\u80fd\u5f00\u59cb\u5173\u95ed\u3002<br \/>\n     <strong>\u540e\u679c\uff1a<\/strong> \u5bfc\u81f4<strong>\u5de8\u5927\u4e14\u6301\u4e45\u7684\u8d85\u8c03<\/strong>\u548c<strong>\u632f\u8361<\/strong>\u3002<br \/>\n     <strong>Anti-Windup\uff1a<\/strong><br \/>\n         <strong>\u5fc5\u987b\u542f\u7528\uff01<\/strong> Anti-Windup\uff08\u6297\u9971\u548c\uff09\u7684\u4f5c\u7528\u662f\uff1a\u5f53PID\u68c0\u6d4b\u5230\u5176\u8f93\u51fa\u5df2\u7ecf\u8fbe\u5230\u9971\u548c\uff08\u5982100%\uff09\u65f6\uff0c\u5b83\u4f1a<strong>\u7acb\u523b\u201c\u51bb\u7ed3\u201d\u79ef\u5206\u5668<\/strong>\uff0c\u963b\u6b62\u5176\u7ee7\u7eed\u7d2f\u79ef\u3002<br \/>\n      *   \u8fd9\u6837\uff0c\u4e00\u65e6PV\u8d85\u8fc7SP\uff0c\u79ef\u5206\u5668\u80fd\u7acb\u5373\u53cd\u5411\u4f5c\u7528\uff0c\u9600\u95e8\u4e5f\u80fd\u8fc5\u901f\u54cd\u5e94\uff0c\u4ece\u800c<strong>\u6781\u5927\u5730<\/strong>\u6291\u5236\u8d85\u8c03\u3002<br \/>\n      *   \u5bf9\u4e8e\u8fd9\u79cd\u201c\u6162\u8fc7\u7a0b+PID\u63a7\u5236\u201d\uff0c\u6297\u79ef\u5206\u9971\u548c\u662f<strong>\u5de5\u7a0b\u5b9e\u8df5\u4e2d\u5fc5\u987b\u914d\u7f6e<\/strong>\u7684\u529f\u80fd\u3002<\/p>\n<p>  <strong>\u95ee\u9898\uff1a<\/strong> \u60a8\u5728(3.1.2)\u4e2d\u9009\u7528\u4e86Pt100\u6e29\u5ea6\u53d8\u9001\u5668\uff0c\u4f46\u5728(2.2)\u7684\u6a21\u578b\u4e2d\uff0c\u60a8\u662f\u5426\u8003\u8651\u4e86Pt100\u672c\u8eab\u7684<strong>\u52a8\u6001\u7279\u6027<\/strong>\uff1fPt100\u81ea\u8eab\u4e5f\u662f\u4e00\u4e2a\u60ef\u6027\u73af\u8282\uff08\u901a\u5e38\u6709\u51e0\u79d2\u5230\u51e0\u5341\u79d2\u7684\u65f6\u95f4\u5e38\u6570\uff09\u3002<br \/>\n     (a) \u60a8\u8ba4\u4e3a $W_0(s)$ \u4e2d\u76846\u79d2\u7eaf\u6ede\u540e\uff0c\u662f\u5426\u5df2\u7ecf\u5305\u542b\u4e86\u4f20\u611f\u5668\u7684\u6ede\u540e\uff1f<br \/>\n     (b) \u5982\u679c\u6ca1\u6709\u5305\u542b\uff0c\u5b83\u4f1a\u5bf9\u60a8\u7684\u63a7\u5236\u6027\u80fd\u4ea7\u751f\u4ec0\u4e48\u5f71\u54cd\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>(a) \u662f\u5426\u5305\u542b\uff1a<\/strong> \u662f\u7684\uff0c(2.2)\u4e2d\u7684\u6a21\u578b\u662f\u201c\u5b9e\u9a8c\u8fa8\u8bc6\u201d\u5f97\u51fa\u7684\uff0c\u8fd9\u610f\u5473\u7740\u5b83\u662f\u4ece\u201c\u8c03\u8282\u9600\u52a8\u4f5c\u201d\u5230\u201c\u53d8\u9001\u5668\u8bfb\u6570\u53d8\u5316\u201d\u7684<strong>\u7aef\u5230\u7aef<\/strong>\u6a21\u578b\u3002\u56e0\u6b64\uff0c$T=56s$ \u548c $\\tau=6s$ \u8fd9\u4e2aFOPDT\u6a21\u578b\uff0c\u662f<strong>\u5df2\u7ecf\u5305\u542b\u4e86<\/strong>\u8c03\u8282\u9600\u52a8\u6001\u3001\u6362\u70ed\u5668\u52a8\u6001\u548cPt100\u4f20\u611f\u5668\u52a8\u6001\u7684<strong>\u201c\u96c6\u603b\u6a21\u578b\u201d<\/strong>\uff08Lumped Model\uff09\u30026\u79d2\u7684\u6ede\u540e\u5f88\u53ef\u80fd\u5c31\u662f\u4f20\u611f\u5668\u4f4d\u7f6e\u548c\u5176\u81ea\u8eab\u70ed\u60ef\u6027\u7684\u4f53\u73b0\u3002<br \/>\n     <strong>(b) \u5f71\u54cd\uff1a<\/strong><br \/>\n      *   \u6b63\u56e0\u4e3a\u4f20\u611f\u5668\u6ede\u540e\uff08\u5305\u542b\u57286\u79d2\u5185\uff09<strong>\u4e0d\u53ef\u907f\u514d<\/strong>\uff0c\u5b83\u9650\u5236\u4e86\u6211\u4eec\u63a7\u5236\u7cfb\u7edf\u7684\u6027\u80fd\u4e0a\u9650\u3002<br \/>\n         <strong>Smith\u9884\u4f30\u63a7\u5236<\/strong>\uff08\u4e00\u79cd\u5904\u7406\u5927\u6ede\u540e\u7684\u65b9\u6cd5\uff09\u4e4b\u6240\u4ee5\u96be\u4ee5\u5728\u5b9e\u9645\u4e2d\u5b8c\u7f8e\u5e94\u7528\uff0c\u5c31\u662f\u56e0\u4e3a\u5b83\u8981\u6c42\u5c06\u201c\u7eaf\u6ede\u540e\u201d\u548c\u201c\u60ef\u6027\u201d\u5b8c\u7f8e\u5206\u5f00\uff0c\u4f46\u4f20\u611f\u5668\u6ede\u540e\uff08\u60ef\u6027\uff09\u5f80\u5f80\u548c\u8fc7\u7a0b\u6ede\u540e\uff08\u60ef\u6027\uff09<strong>\u8026\u5408<\/strong>\u5728\u4e00\u8d77\uff0c\u5bfc\u81f4\u6a21\u578b\uff08\u5982FOPDT\uff09\u53ea\u662f\u4e00\u4e2a\u8fd1\u4f3c\u3002<br \/>\n      *   \u5728\u672c\u8bbe\u8ba1\u4e2d\uff0c\u6211\u4eec\u57fa\u4e8e\u8fd9\u4e2a\u96c6\u603b\u6a21\u578b\u8fdb\u884c\u6574\u5b9a\u662f\u6b63\u786e\u7684\uff0c\u56e0\u4e3a\u6211\u4eec\u63a7\u5236\u7684\u5c31\u662f\u201c\u4f20\u611f\u5668\u8bfb\u6570\u201d\uff0c\u800c\u4e0d\u662f\u201c\u65e0\u6cd5\u6d4b\u91cf\u7684\u771f\u5b9e\u6e29\u5ea6\u201d\u3002<br \/>\n  <strong>\u95ee\u9898\uff1a<\/strong> \u5728\u4e00\u4e2a\u5b9e\u9645\u7684\u5316\u5de5\u5382\u4e2d\uff0c\u60a8\u5c06\u5982\u4f55<strong>\u6295\u8fd0<\/strong>\uff08Commissioning\uff09\u60a8\u8bbe\u8ba1\u7684\u201c\u65b9\u6848\u4e8c\uff1a\u524d\u9988-\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u201d\uff1f\u662f\u5148\u628aPID\u6295\u201c\u81ea\u52a8\u201d\uff0c\u518d\u6295\u201c\u524d\u9988\u201d\u5417\uff1f<\/p>\n<p>  <strong>\u53c2\u8003\u7b54\u6848\uff1a<\/strong><br \/>\n     <strong>\u6295\u8fd0\u6b65\u9aa4\uff1a<\/strong> \u987a\u5e8f\u975e\u5e38\u91cd\u8981\uff0c\u901a\u5e38\u662f<strong>\u201c\u5148\u53cd\u9988\uff0c\u540e\u524d\u9988\u201d<\/strong>\u3002<br \/>\n      1.  <strong>\u68c0\u67e5\u4eea\u8868\uff1a<\/strong> \u786e\u4fddPV\uff08\u51fa\u53e3\u6e29\u5ea6\uff09\u548cDV\uff08\u5165\u53e3\u6e29\u5ea6\u6270\u52a8\uff09\u7684\u6d4b\u91cf\u90fd\u51c6\u786e\u3002<br \/>\n      2.  <strong>\u6295\u8fd0\u53cd\u9988\u56de\u8def\uff1a<\/strong> \u65ad\u5f00\u524d\u9988\u73af\u8282\u3002\u5c06PID\u63a7\u5236\u5668\u7f6e\u4e8e<strong>\u201c\u624b\u52a8\u201d<\/strong>\uff08Manual\uff09\u6a21\u5f0f\uff0c\u624b\u52a8\u63a7\u5236\u8c03\u8282\u9600\uff0c\u89c2\u5bdf\u7cfb\u7edf\u7a33\u5b9a\u3002<br \/>\n      3.  <strong>\u6574\u5b9aPID\uff1a<\/strong> \u5c06PID\u5207\u6362\u5230<strong>\u201c\u81ea\u52a8\u201d<\/strong>\uff08Auto\uff09\u6a21\u5f0f\uff0c\u4f7f\u7528\u4e00\u79cd\u6574\u5b9a\u65b9\u6cd5\uff08\u5982Z-N\u6cd5\u6216\u8bd5\u51d1\u6cd5\uff09\u6574\u5b9aPID\u53c2\u6570\uff08$K_c, T_i, T_d$\uff09\uff0c\u4f7f\u5176\u5bf9<strong>\u8bbe\u5b9a\u503c\uff08SP\uff09<\/strong>\u7684\u53d8\u5316\u6709\u7a33\u5b9a\u4e14\u53ef\u63a5\u53d7\u7684\u54cd\u5e94\u3002<strong>\u8fd9\u4e00\u6b65\u662f\u4e3a\u4e86\u786e\u4fdd\u7cfb\u7edf\u7684\u57fa\u672c\u7a33\u5b9a\u3002<\/strong><br \/>\n      4.  <strong>\u6295\u8fd0\u524d\u9988\u56de\u8def\uff1a<\/strong> <strong>\u4fdd\u6301PID\u5728\u201c\u81ea\u52a8\u201d\u6a21\u5f0f<\/strong>\uff0c\u7136\u540e\u6295\u5165\uff08Bypass off\uff09\u524d\u9988\u63a7\u5236\u5668 $G_{ff}(s)$\u3002<br \/>\n      5.  <strong>\u6574\u5b9a\u524d\u9988\u53c2\u6570\uff1a<\/strong> \u4eba\u4e3a\u5730\u5728\u6270\u52a8\u901a\u9053\uff08\u5165\u53e3\u6e29\u5ea6\uff09\u4e0a\u5236\u9020\u4e00\u4e2a\u5c0f\u7684\u9636\u8dc3\u53d8\u5316\uff08\u5982\u679c\u5de5\u827a\u5141\u8bb8\uff09\uff0c\u6216\u8005\u7b49\u5f85\u4e00\u4e2a\u81ea\u7136\u6270\u52a8\u3002<br \/>\n      6.  <strong>\u89c2\u5bdf\u54cd\u5e94\uff1a<\/strong><br \/>\n          *   \u5982\u679c\u51fa\u53e3\u6e29\u5ea6PV<strong>\u51e0\u4e4e\u4e0d\u53d8<\/strong>\uff0c\u8bf4\u660e\u524d\u9988\u589e\u76ca\uff08$K_{ff}$\uff09\u548c\u52a8\u6001\u53c2\u6570\uff08$T_{lead}, T_{lag}$\uff09\u90fd\u6574\u5b9a\u5f97\u5f88\u597d\u3002<br \/>\n          *   \u5982\u679cPV\u5148\u4e0a\u5347\u540e\u4e0b\u964d\uff08\u6216\u53cd\u4e4b\uff09\uff0c\u8bf4\u660e<strong>\u52a8\u6001\u53c2\u6570<\/strong>\u4e0d\u5339\u914d\u3002<br \/>\n          *   \u5982\u679cPV\u6700\u7ec8\u7a33\u5b9a\u5728\u4e00\u4e2a<strong>\u65b0\u7684\u504f\u5dee<\/strong>\u4e0a\uff0c\u8bf4\u660e<strong>\u524d\u9988\u589e\u76ca $K_{ff}$<\/strong> \u4e0d\u51c6\uff0c\u9700\u8981\u5fae\u8c03\uff08\u6b64\u65f6PID\u7684\u79ef\u5206\u4f5c\u7528\u4f1a\u7f13\u6162\u5730\u628a\u504f\u5dee\u62c9\u56de\uff0c\u6211\u4eec\u89c2\u5bdf\u7684\u5c31\u662fPID\u7684<strong>\u989d\u5916<\/strong>\u52a8\u4f5c\u91cf\uff09\u3002<br \/>\n     <strong>\u603b\u7ed3\uff1a<\/strong> \u5fc5\u987b\u5148\u8ba9\u53cd\u9988\u56de\u8def\uff08PID\uff09\u80fd<strong>\u201c\u7a33\u4f4f\u201d<\/strong>\u7cfb\u7edf\uff0c\u7136\u540e\u518d\u6295\u5165\u524d\u9988\u53bb<strong>\u201c\u6539\u5584\u201d<\/strong>\u52a8\u6001\u54cd\u5e94\u3002\n<\/p><\/blockquote>\n<h4><strong>1. \u5355\u56de\u8def\u63a7\u5236\u7cfb\u7edf\u6a21\u578b<\/strong><\/h4>\n<ul>\n<li><strong>\u6a21\u5757\u6e05\u5355<\/strong>\uff1a\n<ul>\n<li><code>Step<\/code> (\u8bbe\u5b9a\u503c\u8f93\u5165)<\/li>\n<li><code>Sum<\/code> (\u6bd4\u8f83\u5668\uff0c\u7528\u4e8e\u8ba1\u7b97\u504f\u5dee)<\/li>\n<li><code>PID Controller<\/code> (Simulink\u5e93\u4e2d\u7684\u6807\u51c6PID\u6a21\u5757)<\/li>\n<li><code>Transfer Fcn<\/code> (\u63a7\u5236\u901a\u9053\u6a21\u578b $W_0(s)$)<\/li>\n<li><code>Transfer Fcn<\/code> (\u6270\u52a8\u901a\u9053\u6a21\u578b $W_f(s)$)<\/li>\n<li><code>Step<\/code> (\u6270\u52a8\u8f93\u5165)<\/li>\n<li><code>Sum<\/code> (\u5c06\u6270\u52a8\u53e0\u52a0\u5230\u63a7\u5236\u901a\u9053\u8f93\u51fa)<\/li>\n<li><code>Scope<\/code> (\u793a\u6ce2\u5668\uff0c\u7528\u4e8e\u89c2\u5bdf\u8f93\u51fa)<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6a21\u578b\u7ed3\u6784<\/strong>\uff1a<br \/>\n\u8bbe\u5b9a\u503c <code>Step<\/code> \u2192 <code>Sum<\/code> (\u6bd4\u8f83\u5668) \u2192 <code>PID Controller<\/code> \u2192 <code>Transfer Fcn<\/code> ($W_0(s)$) \u2192 <code>Sum<\/code> (\u6270\u52a8\u53e0\u52a0\u70b9) \u2192 <code>Scope<\/code><br \/>\n\u6270\u52a8 <code>Step<\/code> \u2192 <code>Transfer Fcn<\/code> ($W_f(s)$) \u2197<\/p>\n<\/li>\n<li>\n<p><strong>\u53c2\u6570\u8bbe\u7f6e<\/strong>\uff1a<\/p>\n<ul>\n<li>\u63a7\u5236\u901a\u9053 <code>Transfer Fcn<\/code> \u5206\u5b50\u7cfb\u6570 <code>[0.93]<\/code>\uff0c\u5206\u6bcd\u7cfb\u6570 <code>[56 1]<\/code>\u3002<\/li>\n<li>\u6270\u52a8\u901a\u9053 <code>Transfer Fcn<\/code> \u5206\u5b50\u7cfb\u6570 <code>[1.05]<\/code>\uff0c\u5206\u6bcd\u7cfb\u6570 <code>[41 1]<\/code>\u3002<\/li>\n<li>\u5728\u4e24\u4e2a <code>Transfer Fcn<\/code> \u6a21\u5757\u540e\u5206\u522b\u4e32\u8054 <code>Transport Delay<\/code> \u6216 <code>Delay<\/code> \u6a21\u5757\uff0c\u8bbe\u7f6e\u5ef6\u8fdf\u65f6\u95f4\u5206\u522b\u4e3a <code>6<\/code> \u548c <code>8<\/code> \u79d2\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h4><strong>2. \u524d\u9988-\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u6a21\u578b<\/strong><\/h4>\n<ul>\n<li><strong>\u6a21\u5757\u6e05\u5355<\/strong>\uff1a\n<ul>\n<li>\u5728\u5355\u56de\u8def\u6a21\u578b\u7684\u57fa\u7840\u4e0a\uff0c\u589e\u52a0\u4e00\u4e2a <code>Transfer Fcn<\/code> \u6a21\u5757\u4f5c\u4e3a\u524d\u9988\u63a7\u5236\u5668 $G_{ff}(s)$\u3002<\/li>\n<li>\u589e\u52a0\u4e00\u4e2a <code>Sum<\/code> \u6a21\u5757\uff0c\u7528\u4e8e\u5c06\u53cd\u9988\u63a7\u5236\u5668\u8f93\u51fa\u4e0e\u524d\u9988\u63a7\u5236\u5668\u8f93\u51fa\u76f8\u52a0\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u6a21\u578b\u7ed3\u6784<\/strong>\uff1a<br \/>\n\u8bbe\u5b9a\u503c <code>Step<\/code> \u2192 <code>Sum<\/code> (\u6bd4\u8f83\u5668) \u2192 <code>PID Controller<\/code> \u2192 <code>Sum<\/code> (\u63a7\u5236\u5668\u8f93\u51fa\u53e0\u52a0) \u2192 <code>Transfer Fcn<\/code> ($W_0(s)$) \u2192 <code>Sum<\/code> (\u6270\u52a8\u53e0\u52a0\u70b9) \u2192 <code>Scope<\/code><br \/>\n\u6270\u52a8 <code>Step<\/code> \u2192 <code>Transfer Fcn<\/code> ($W_f(s)$) \u2197<br \/>\n\u6270\u52a8 <code>Step<\/code> \u2192 <code>Transfer Fcn<\/code> ($G_{ff}(s)$) \u2192 <code>Sum<\/code> (\u63a7\u5236\u5668\u8f93\u51fa\u53e0\u52a0) \u2197<\/p>\n<\/li>\n<li>\n<p><strong>\u53c2\u6570\u8bbe\u7f6e<\/strong>\uff1a<\/p>\n<ul>\n<li>\u524d\u9988\u63a7\u5236\u5668 <code>Transfer Fcn<\/code> \u5206\u5b50\u7cfb\u6570 <code>[-1.13*56, -1.13]<\/code>\uff0c\u5206\u6bcd\u7cfb\u6570 <code>[41, 1]<\/code>\u3002\u6ce8\u610f\u589e\u76ca\u4e3a\u8d1f\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3><strong>5.2 MATLAB\u811a\u672c\u4e0e\u53c2\u6570\u6574\u5b9a<\/strong><\/h3>\n<h4><strong>5.2.1 \u5355\u56de\u8def\u7cfb\u7edf\u6027\u80fd<\/strong><\/h4>\n<ul>\n<li><strong>\u8bbe\u5b9a\u503c\u8ddf\u8e2a<\/strong>\uff1a\u5728t=50s\u65f6\u52a0\u5165\u5355\u4f4d\u9636\u8dc3\u8bbe\u5b9a\u503c\uff0c\u7cfb\u7edf\u54cd\u5e94\u66f2\u7ebf\u663e\u793a\u51fa\u4e00\u5b9a\u7684\u8d85\u8c03\u91cf\uff0c\u901a\u8fc7\u8c03\u6574PID\u53c2\u6570\uff0c\u6700\u7ec8\u53ef\u4f7f \u4f7f\u7528MATLAB\u811a\u672c\u53ef\u4ee5\u65b9\u4fbf\u5730\u8bbe\u7f6e\u53c2\u6570\u3001\u8fd0\u884c\u4eff\u771f\u5e76\u7ed8\u5236\u7ed3\u679c\uff0c\u4fbf\u4e8e\u5bf9\u6bd4\u5206\u6790\u3002<\/li>\n<\/ul>\n<pre><code class=\"language-matlab \">%% \u5355\u56de\u8defPID\u63a7\u5236\u7cfb\u7edf\u4eff\u771f\n% \u6e05\u9664\u5de5\u4f5c\u533a\nclear; clc; close all;\n\n%% \u7cfb\u7edf\u53c2\u6570\u8bbe\u7f6e\n% \u63a7\u5236\u901a\u9053\u53c2\u6570\nKp_plant = 0.93;        % \u63a7\u5236\u901a\u9053\u589e\u76ca\ntau_plant = 56;         % \u63a7\u5236\u901a\u9053\u65f6\u95f4\u5e38\u6570 (\u79d2)\ndelay_plant = 6;        % \u63a7\u5236\u901a\u9053\u7eaf\u6ede\u540e\u65f6\u95f4 (\u79d2)\n\n% \u6270\u52a8\u901a\u9053\u53c2\u6570\nKp_dist = 1.05;         % \u6270\u52a8\u901a\u9053\u589e\u76ca\ntau_dist = 41;          % \u6270\u52a8\u901a\u9053\u65f6\u95f4\u5e38\u6570 (\u79d2)\ndelay_dist = 8;         % \u6270\u52a8\u901a\u9053\u7eaf\u6ede\u540e\u65f6\u95f4 (\u79d2)\n\n% \u4eff\u771f\u53c2\u6570\nsim_time = 500;         % \u4eff\u771f\u65f6\u95f4 (\u79d2)\n\n%% PID\u63a7\u5236\u5668\u53c2\u6570\uff08\u9700\u8981\u6839\u636e\u6027\u80fd\u8981\u6c42\u8c03\u6574\uff09\nKp = 1.5;               % \u6bd4\u4f8b\u589e\u76ca\nKi = 0.02;              % \u79ef\u5206\u589e\u76ca\nKd = 10;                % \u5fae\u5206\u589e\u76ca\nN = 100;                % \u5fae\u5206\u6ee4\u6ce2\u5668\u7cfb\u6570\n\n%% \u521b\u5efaSimulink\u6a21\u578b\nmodel_name = 'PID_Control_System';\nnew_system(model_name);\nopen_system(model_name);\n\n%% \u6dfb\u52a0\u6a21\u5757\n% \u53c2\u8003\u8f93\u5165 - \u9636\u8dc3\u4fe1\u53f7\nadd_block('simulink\/Sources\/Step', [model_name '\/Reference']);\nset_param([model_name '\/Reference'], 'Time', '50', 'Before', '0', 'After', '1');\n\n% PID\u63a7\u5236\u5668\nadd_block('simulink\/Continuous\/PID Controller', [model_name '\/PID Controller']);\nset_param([model_name '\/PID Controller'], 'P', num2str(Kp), ...\n                                         'I', num2str(Ki), ...\n                                         'D', num2str(Kd), ...\n                                         'N', num2str(N));\n\n% \u63a7\u5236\u901a\u9053\u4f20\u9012\u51fd\u6570\nadd_block('simulink\/Continuous\/Transfer Fcn', [model_name '\/Plant TF']);\nset_param([model_name '\/Plant TF'], 'Numerator', num2str(Kp_plant), ...\n                                   'Denominator', ['[', num2str(tau_plant), ' 1]']);\n\n% \u63a7\u5236\u901a\u9053\u65f6\u6ede\nadd_block('simulink\/Continuous\/Transport Delay', [model_name '\/Plant Delay']);\nset_param([model_name '\/Plant Delay'], 'DelayTime', num2str(delay_plant));\n\n% \u6270\u52a8\u8f93\u5165\nadd_block('simulink\/Sources\/Step', [model_name '\/Disturbance']);\nset_param([model_name '\/Disturbance'], 'Time', '200', 'Before', '0', 'After', '0.5');\n\n% \u6270\u52a8\u901a\u9053\u4f20\u9012\u51fd\u6570\nadd_block('simulink\/Continuous\/Transfer Fcn', [model_name '\/Disturbance TF']);\nset_param([model_name '\/Disturbance TF'], 'Numerator', num2str(Kp_dist), ...\n                                         'Denominator', ['[', num2str(tau_dist), ' 1]']);\n\n% \u6270\u52a8\u901a\u9053\u65f6\u6ede\nadd_block('simulink\/Continuous\/Transport Delay', [model_name '\/Disturbance Delay']);\nset_param([model_name '\/Disturbance Delay'], 'DelayTime', num2str(delay_dist));\n\n% \u6c42\u548c\u70b9\nadd_block('simulink\/Math Operations\/Sum', [model_name '\/Sum1']);\nset_param([model_name '\/Sum1'], 'Inputs', '|+-');\n\nadd_block('simulink\/Math Operations\/Sum', [model_name '\/Sum2']);\nset_param([model_name '\/Sum2'], 'Inputs', '++');\n\n% \u793a\u6ce2\u5668\nadd_block('simulink\/Sinks\/Scope', [model_name '\/Output Scope']);\n\n%% \u8fde\u63a5\u6a21\u5757\n% \u4e3b\u63a7\u5236\u56de\u8def\nadd_line(model_name, 'Reference\/1', 'Sum1\/1');\nadd_line(model_name, 'Sum1\/1', 'PID Controller\/1');\nadd_line(model_name, 'PID Controller\/1', 'Plant TF\/1');\nadd_line(model_name, 'Plant TF\/1', 'Plant Delay\/1');\nadd_line(model_name, 'Plant Delay\/1', 'Sum2\/1');\nadd_line(model_name, 'Sum2\/1', 'Output Scope\/1');\nadd_line(model_name, 'Sum2\/1', 'Sum1\/2');\n\n% \u6270\u52a8\u901a\u9053\nadd_line(model_name, 'Disturbance\/1', 'Disturbance TF\/1');\nadd_line(model_name, 'Disturbance TF\/1', 'Disturbance Delay\/1');\nadd_line(model_name, 'Disturbance Delay\/1', 'Sum2\/2');\n\n%% \u4fdd\u5b58\u5e76\u8fd0\u884c\u4eff\u771f\nsave_system(model_name);\nsim(model_name);\n\n%% PID\u53c2\u6570\u6574\u5b9a\u5efa\u8bae\uff08\u57fa\u4e8e\u6a21\u578b\u7279\u6027\uff09\nfprintf('\u57fa\u4e8e\u7cfb\u7edf\u6a21\u578b\u7684PID\u53c2\u6570\u6574\u5b9a\u5efa\u8bae:\\n');\nfprintf('\u63a7\u5236\u901a\u9053: \u589e\u76ca=%.2f, \u65f6\u95f4\u5e38\u6570=%.0fs, \u6ede\u540e=%.0fs\\n', Kp_plant, tau_plant, delay_plant);\nfprintf('\u6270\u52a8\u901a\u9053: \u589e\u76ca=%.2f, \u65f6\u95f4\u5e38\u6570=%.0fs, \u6ede\u540e=%.0fs\\n', Kp_dist, tau_dist, delay_dist);\nfprintf('\\nPID\u53c2\u6570\u6574\u5b9a\u65b9\u6cd5\u5efa\u8bae:\\n');\nfprintf('1. \u9996\u5148\u8c03\u6574\u6bd4\u4f8b\u589e\u76caKp\uff0c\u89c2\u5bdf\u7cfb\u7edf\u54cd\u5e94\u901f\u5ea6\\n');\nfprintf('2. \u7136\u540e\u52a0\u5165\u79ef\u5206\u4f5c\u7528Ki\uff0c\u6d88\u9664\u7a33\u6001\u8bef\u5dee\\n');\nfprintf('3. \u6700\u540e\u52a0\u5165\u5fae\u5206\u4f5c\u7528Kd\uff0c\u6539\u5584\u52a8\u6001\u6027\u80fd\\n');\nfprintf('4. \u8003\u8651\u4f7f\u7528Smith\u9884\u4f30\u5668\u8865\u507f\u5927\u65f6\u6ede\u6548\u5e94\\n');\n<\/code><\/pre>\n<h4>5.2.2 \u524d\u9988-\u53cd\u9988\u7cfb\u7edf\u6027\u80fd<\/h4>\n<ul>\n<li><strong>\u8bbe\u5b9a\u503c\u8ddf\u8e2a<\/strong>\uff1a\u5176\u8ddf\u8e2a\u6027\u80fd\u4e3b\u8981\u7531\u53cd\u9988\u56de\u8def\u51b3\u5b9a\uff0c\u56e0\u6b64\u4e0e\u5355\u56de\u8def\u7cfb\u7edf\u76f8\u4f3c\u3002<\/li>\n<li><strong>\u6297\u5e72\u6270\u6027\u80fd<\/strong>\uff1a<br \/>\n\u91c7\u7528\u9759\u6001\u524d\u9988\uff1a\u5f53\u9636\u8dc3\u6270\u52a8\u6765\u4e34\u65f6\uff0c\u6e29\u5ea6\u504f\u79bb\u8bbe\u5b9a\u503c\u7684\u5e45\u5ea6\u663e\u8457\u51cf\u5c0f\uff0c\u4f46\u4ecd\u5b58\u5728\u7a33\u6001\u8bef\u5dee\u3002<br \/>\n\u91c7\u7528\u52a8\u6001\u524d\u9988\uff1a\u5f53\u9636\u8dc3\u6270\u52a8\u6765\u4e34\u65f6\uff0c\u6e29\u5ea6\u66f2\u7ebf\u51e0\u4e4e\u4fdd\u6301\u4e00\u6761\u6c34\u5e73\u76f4\u7ebf\uff0c\u6ce2\u52a8\u6781\u5c0f\uff0c\u5b9e\u73b0\u4e86\u5bf9\u6270\u52a8\u7684\u8fd1\u4e4e\u5b8c\u5168\u8865\u507f\u3002\u8fd9\u9a8c\u8bc1\u4e86\u52a8\u6001\u524d\u9988-\u53cd\u9988\u65b9\u6848\u5728\u6297\u5e72\u6270\u65b9\u9762\u7684\u4f18\u8d8a\u6027\uff0c\u6210\u529f\u6ee1\u8db3\u4e86\u8bbe\u8ba1\u6307\u6807\u3002<\/li>\n<\/ul>\n<pre><code class=\"language-matlab \">%% \u524d\u9988-PID\u63a7\u5236\u7cfb\u7edf\u4eff\u771f\n% \u6e05\u9664\u5de5\u4f5c\u533a\nclear; clc; close all;\n\n%% \u7cfb\u7edf\u53c2\u6570\u8bbe\u7f6e\n% \u63a7\u5236\u901a\u9053\u53c2\u6570\nKp_plant = 0.93;        % \u63a7\u5236\u901a\u9053\u589e\u76ca\ntau_plant = 56;         % \u63a7\u5236\u901a\u9053\u65f6\u95f4\u5e38\u6570 (\u79d2)\ndelay_plant = 6;        % \u63a7\u5236\u901a\u9053\u7eaf\u6ede\u540e\u65f6\u95f4 (\u79d2)\n\n% \u6270\u52a8\u901a\u9053\u53c2\u6570\nKp_dist = 1.05;         % \u6270\u52a8\u901a\u9053\u589e\u76ca\ntau_dist = 41;          % \u6270\u52a8\u901a\u9053\u65f6\u95f4\u5e38\u6570 (\u79d2)\ndelay_dist = 8;         % \u6270\u52a8\u901a\u9053\u7eaf\u6ede\u540e\u65f6\u95f4 (\u79d2)\n\n% \u524d\u9988\u63a7\u5236\u5668\u53c2\u6570\nK_ff = -Kp_dist \/ Kp_plant;  % \u524d\u9988\u589e\u76ca = -1.05\/0.93 = -1.129\ntau_ff1 = tau_plant;         % \u524d\u9988\u63a7\u5236\u5668\u5206\u5b50\u65f6\u95f4\u5e38\u6570\ntau_ff2 = tau_dist;          % \u524d\u9988\u63a7\u5236\u5668\u5206\u6bcd\u65f6\u95f4\u5e38\u6570\ndelay_ff = delay_dist - delay_plant;  % \u524d\u9988\u65f6\u6ede\u8865\u507f = 8-6 = 2\u79d2\n\n% \u53cd\u9988PID\u63a7\u5236\u5668\u53c2\u6570\uff08Cohen-Coon\u6574\u5b9a\uff09\nKp = 13.26;             % \u6bd4\u4f8b\u589e\u76ca\nKi = 0.1005;            % \u79ef\u5206\u589e\u76ca\nKd = 264.8;             % \u5fae\u5206\u589e\u76ca\nN = 10;                 % \u5fae\u5206\u6ee4\u6ce2\u5668\u7cfb\u6570\n\n%% \u521b\u5efaSimulink\u6a21\u578b\nmodel_name = 'Feedforward_PID_Control_System';\ntry\n    close_system(model_name, 0);\ncatch\nend\n\nnew_system(model_name);\nopen_system(model_name);\n\n%% \u8bbe\u7f6e\u4eff\u771f\u53c2\u6570\nset_param(model_name, 'StopTime', '500');\n\n%% \u6dfb\u52a0\u6a21\u5757 - \u8f93\u5165\u4fe1\u53f7\n% \u53c2\u8003\u8f93\u5165 - \u9636\u8dc3\u4fe1\u53f7\uff0850s\u89e6\u53d1\uff09\nadd_block('simulink\/Sources\/Step', [model_name '\/Reference']);\nset_param([model_name '\/Reference'], 'Time', '50', 'Before', '0', 'After', '1', 'Position', [100, 100, 130, 130]);\n\n% \u6270\u52a8\u8f93\u5165 - \u9636\u8dc3\u4fe1\u53f7\uff08200s\u89e6\u53d1\uff09\nadd_block('simulink\/Sources\/Step', [model_name '\/Disturbance']);\nset_param([model_name '\/Disturbance'], 'Time', '200', 'Before', '0', 'After', '0.5', 'Position', [100, 250, 130, 280]);\n\n%% \u6dfb\u52a0\u6a21\u5757 - \u63a7\u5236\u5668\n% \u53cd\u9988PID\u63a7\u5236\u5668\nadd_block('simulink\/Continuous\/PID Controller', [model_name '\/PID Controller']);\nset_param([model_name '\/PID Controller'], 'P', num2str(Kp), ...\n                                         'I', num2str(Ki), ...\n                                         'D', num2str(Kd), ...\n                                         'N', num2str(N), ...\n                                         'Position', [300, 100, 350, 140]);\n\n% \u524d\u9988\u63a7\u5236\u5668 - \u8d85\u524d\u6ede\u540e\u8865\u507f\nadd_block('simulink\/Continuous\/Transfer Fcn', [model_name '\/Feedforward TF']);\nnumerator_ff = [K_ff*tau_ff1, K_ff];  % \u5206\u5b50\u7cfb\u6570 [-63.224, -1.129]\ndenominator_ff = [tau_ff2, 1];        % \u5206\u6bcd\u7cfb\u6570 [41, 1]\nset_param([model_name '\/Feedforward TF'], 'Numerator', mat2str(numerator_ff), ...\n                                         'Denominator', mat2str(denominator_ff), ...\n                                         'Position', [300, 250, 350, 290]);\n\n% \u524d\u9988\u65f6\u6ede\u8865\u507f\nadd_block('simulink\/Continuous\/Transport Delay', [model_name '\/Feedforward Delay']);\nset_param([model_name '\/Feedforward Delay'], 'DelayTime', num2str(delay_ff), ...\n                                            'Position', [400, 250, 430, 290]);\n\n%% \u6dfb\u52a0\u6a21\u5757 - \u88ab\u63a7\u8fc7\u7a0b\n% \u63a7\u5236\u901a\u9053\u4f20\u9012\u51fd\u6570\nadd_block('simulink\/Continuous\/Transfer Fcn', [model_name '\/Plant TF']);\nset_param([model_name '\/Plant TF'], 'Numerator', num2str(Kp_plant), ...\n                                   'Denominator', mat2str([tau_plant, 1]), ...\n                                   'Position', [550, 150, 600, 190]);\n\n% \u63a7\u5236\u901a\u9053\u65f6\u6ede\nadd_block('simulink\/Continuous\/Transport Delay', [model_name '\/Plant Delay']);\nset_param([model_name '\/Plant Delay'], 'DelayTime', num2str(delay_plant), ...\n                                      'Position', [650, 150, 680, 190]);\n\n% \u6270\u52a8\u901a\u9053\u4f20\u9012\u51fd\u6570\nadd_block('simulink\/Continuous\/Transfer Fcn', [model_name '\/Disturbance TF']);\nset_param([model_name '\/Disturbance TF'], 'Numerator', num2str(Kp_dist), ...\n                                         'Denominator', mat2str([tau_dist, 1]), ...\n                                         'Position', [550, 300, 600, 340]);\n\n% \u6270\u52a8\u901a\u9053\u65f6\u6ede\nadd_block('simulink\/Continuous\/Transport Delay', [model_name '\/Disturbance Delay']);\nset_param([model_name '\/Disturbance Delay'], 'DelayTime', num2str(delay_dist), ...\n                                            'Position', [650, 300, 680, 340]);\n\n%% \u6dfb\u52a0\u6a21\u5757 - \u4fe1\u53f7\u5904\u7406\n% \u6c42\u548c\u70b9\nadd_block('simulink\/Math Operations\/Sum', [model_name '\/Error Sum']);\nset_param([model_name '\/Error Sum'], 'Inputs', '|+-', 'Position', [200, 100, 220, 140]);\n\nadd_block('simulink\/Math Operations\/Sum', [model_name '\/Control Sum']);\nset_param([model_name '\/Control Sum'], 'Inputs', '++', 'Position', [450, 150, 470, 190]);\n\nadd_block('simulink\/Math Operations\/Sum', [model_name '\/Output Sum']);\nset_param([model_name '\/Output Sum'], 'Inputs', '++', 'Position', [700, 150, 720, 190]);\n\n%% \u6dfb\u52a0\u6a21\u5757 - \u663e\u793a\u548c\u8f93\u51fa\n% \u793a\u6ce2\u5668 - \u7cfb\u7edf\u8f93\u51fa\nadd_block('simulink\/Sinks\/Scope', [model_name '\/Output Scope']);\nset_param([model_name '\/Output Scope'], 'Position', [750, 100, 800, 300], 'NumInputPorts', '1');\n\n% \u793a\u6ce2\u5668 - \u63a7\u5236\u4fe1\u53f7\nadd_block('simulink\/Sinks\/Scope', [model_name '\/Control Scope']);\nset_param([model_name '\/Control Scope'], 'Position', [750, 350, 800, 550], 'NumInputPorts', '1');\n\n% \u8f93\u51fa\u5230\u5de5\u4f5c\u533a\nadd_block('simulink\/Sinks\/To Workspace', [model_name '\/Output To Workspace']);\nset_param([model_name '\/Output To Workspace'], 'VariableName', 'system_output', ...\n                                              'SaveFormat', 'Array', ...\n                                              'Position', [750, 200, 780, 220]);\n\nadd_block('simulink\/Sinks\/To Workspace', [model_name '\/Control To Workspace']);\nset_param([model_name '\/Control To Workspace'], 'VariableName', 'control_signal', ...\n                                               'SaveFormat', 'Array', ...\n                                               'Position', [750, 400, 780, 420]);\n\n%% \u8fde\u63a5\u6a21\u5757\n% \u4e3b\u53cd\u9988\u56de\u8def\nadd_line(model_name, 'Reference\/1', 'Error Sum\/1');\nadd_line(model_name, 'Output Sum\/1', 'Error Sum\/2');\nadd_line(model_name, 'Error Sum\/1', 'PID Controller\/1');\nadd_line(model_name, 'PID Controller\/1', 'Control Sum\/1');\n\n% \u524d\u9988\u901a\u9053\nadd_line(model_name, 'Disturbance\/1', 'Feedforward TF\/1');\nadd_line(model_name, 'Feedforward TF\/1', 'Feedforward Delay\/1');\nadd_line(model_name, 'Feedforward Delay\/1', 'Control Sum\/2');\n\n% \u63a7\u5236\u901a\u9053\nadd_line(model_name, 'Control Sum\/1', 'Plant TF\/1');\nadd_line(model_name, 'Plant TF\/1', 'Plant Delay\/1');\nadd_line(model_name, 'Plant Delay\/1', 'Output Sum\/1');\n\n% \u6270\u52a8\u901a\u9053\nadd_line(model_name, 'Disturbance\/1', 'Disturbance TF\/1');\nadd_line(model_name, 'Disturbance TF\/1', 'Disturbance Delay\/1');\nadd_line(model_name, 'Disturbance Delay\/1', 'Output Sum\/2');\n\n% \u8f93\u51fa\u663e\u793a\nadd_line(model_name, 'Output Sum\/1', 'Output Scope\/1');\nadd_line(model_name, 'Output Sum\/1', 'Output To Workspace\/1');\nadd_line(model_name, 'Control Sum\/1', 'Control Scope\/1');\nadd_line(model_name, 'Control Sum\/1', 'Control To Workspace\/1');\n\n%% \u4fdd\u5b58\u5e76\u8fd0\u884c\u4eff\u771f\nsave_system(model_name);\nfprintf('Simulink\u6a21\u578b\u5df2\u4fdd\u5b58: %s.slx\\n', model_name);\n\n% \u8fd0\u884c\u4eff\u771f\nfprintf('\u5f00\u59cb\u4eff\u771f...\\n');\nsimOut = sim(model_name, 'StopTime', '500');\nfprintf('\u4eff\u771f\u5b8c\u6210!\\n');\n\n%% \u663e\u793a\u7cfb\u7edf\u4fe1\u606f\nfprintf('\\n========== \u524d\u9988-PID\u63a7\u5236\u7cfb\u7edf\u8bbe\u8ba1 ==========\\n');\nfprintf('\\n\u7cfb\u7edf\u6a21\u578b\u53c2\u6570:\\n');\nfprintf('\u63a7\u5236\u901a\u9053: W0(s) = %.2f\/(%.0fs+1) * e^(-%.0fs)\\n', Kp_plant, tau_plant, delay_plant);\nfprintf('\u6270\u52a8\u901a\u9053: Wf(s) = %.2f\/(%.0fs+1) * e^(-%.0fs)\\n', Kp_dist, tau_dist, delay_dist);\n\nfprintf('\\n\u524d\u9988\u63a7\u5236\u5668\u8bbe\u8ba1:\\n');\nfprintf('\u524d\u9988\u63a7\u5236\u5668: Wff(s) = %.3f * (%.1fs+1)\/(%.1fs+1) * e^(-%.1fs)\\n', ...\n        K_ff, tau_ff1, tau_ff2, delay_ff);\nfprintf('\u524d\u9988\u589e\u76ca: %.3f\\n', K_ff);\nfprintf('\u52a8\u6001\u8865\u507f: \u8d85\u524d\u65f6\u95f4 %.1fs, \u6ede\u540e\u65f6\u95f4 %.1fs\\n', tau_ff1, tau_ff2);\nfprintf('\u65f6\u6ede\u8865\u507f: %.1f\u79d2\\n', delay_ff);\n\nfprintf('\\n\u53cd\u9988PID\u63a7\u5236\u5668\u53c2\u6570 (Cohen-Coon\u6574\u5b9a):\\n');\nfprintf('\u6bd4\u4f8b\u589e\u76ca Kp = %.2f\\n', Kp);\nfprintf('\u79ef\u5206\u589e\u76ca Ki = %.4f\\n', Ki);\nfprintf('\u5fae\u5206\u589e\u76ca Kd = %.1f\\n', Kd);\nfprintf('\u5fae\u5206\u6ee4\u6ce2\u5668\u7cfb\u6570 N = %.0f\\n', N);\n\nfprintf('\\n\u6d4b\u8bd5\u4fe1\u53f7\u8bbe\u7f6e:\\n');\nfprintf('\u53c2\u8003\u8f93\u5165: 50\u79d2\u65f6\u9636\u8dc3\u53d8\u5316 (0 \u2192 1)\\n');\nfprintf('\u6270\u52a8\u8f93\u5165: 200\u79d2\u65f6\u9636\u8dc3\u53d8\u5316 (0 \u2192 0.5)\\n');\n\n%% \u6027\u80fd\u5206\u6790\uff08\u5982\u679c\u6570\u636e\u53ef\u7528\uff09\ntry\n    % \u83b7\u53d6\u4eff\u771f\u65f6\u95f4\n    t = simOut.tout;\n\n    % \u8ba1\u7b97\u6027\u80fd\u6307\u6807\n    if exist('system_output', 'var')\n        % \u627e\u5230\u8bbe\u5b9a\u503c\u53d8\u5316\u540e\u7684\u54cd\u5e94\n        ref_change_idx = find(t &gt;= 50, 1);\n        dist_change_idx = find(t &gt;= 200, 1);\n\n        % \u8ba1\u7b97\u8bbe\u5b9a\u503c\u8ddf\u8e2a\u6027\u80fd\n        steady_state = mean(system_output(t &gt; 400));\n        overshoot = max(system_output(t &gt;= 50 &amp; t &lt;= 150)) - 1;\n        if overshoot &lt; 0, overshoot = 0; end\n\n        fprintf('\\n\u7cfb\u7edf\u6027\u80fd\u6307\u6807:\\n');\n        fprintf('\u7a33\u6001\u503c: %.4f\\n', steady_state);\n        fprintf('\u8d85\u8c03\u91cf: %.2f%%\\n', overshoot * 100);\n\n        % \u8ba1\u7b97\u6297\u6270\u52a8\u6027\u80fd\n        if dist_change_idx &gt; 0\n            max_disturbance = max(abs(system_output(t &gt;= 200) - steady_state));\n            fprintf('\u6700\u5927\u6270\u52a8\u504f\u5dee: %.4f\\n', max_disturbance);\n        end\n    end\ncatch\n    fprintf('\\n\u6ce8\u610f: \u65e0\u6cd5\u81ea\u52a8\u8ba1\u7b97\u6027\u80fd\u6307\u6807\uff0c\u8bf7\u624b\u52a8\u5206\u6790\u4eff\u771f\u7ed3\u679c\u3002\\n');\nend\n\nfprintf('\\n\u4eff\u771f\u5df2\u5b8c\u6210\uff0c\u8bf7\u67e5\u770bSimulink\u4e2d\u7684Scope\u6a21\u5757\u5206\u6790\u7cfb\u7edf\u6027\u80fd\u3002\\n');\n<\/code><\/pre>\n<h3><strong>5.3 \u7ed3\u679c\u5206\u6790\u4e0e\u89e3\u8bfb<\/strong><\/h3>\n<h4>5.3.1 \u5355\u56de\u8def\u7cfb\u7edf\u7ed3\u679c<\/h4>\n<p><img decoding=\"async\" src=\"https:\/\/yin.nnneri.me\/wp-content\/uploads\/2025\/11\/1762406128-\u5355\u56de\u8def\u7cfb\u7edf.png\" alt=\"\" \/><br \/>\n\u4f7f\u7528simulink\u6784\u5efa\u7684\u5355\u56de\u8def\u7cfb\u7edf<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/yin.nnneri.me\/wp-content\/uploads\/2025\/11\/1762406127-\u5355\u56de\u8defpid.png\" alt=\"\" \/><br \/>\n\u4f7f\u7528simulink\u81ea\u5e26\u7684pid\u8c03\u8282\u5668\u5feb\u901f\u8c03\u8282\u51fa\u7406\u60f3\u53c2\u6570<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/yin.nnneri.me\/wp-content\/uploads\/2025\/11\/1762406128-\u5355\u56de\u8def\u7ed3\u679c.png\" alt=\"\" \/><br \/>\n\u7ed3\u679c\u5982\u4e0a\u56fe\u6240\u793a\u3002\u7cfb\u7edf\u6ee1\u8db3\u8d85\u8c03\u91cf\u5c0f\u4e8e40%\u7684\u8981\u6c42\uff0c\u4f46\u662f\u5bf9\u4e8e\u5916\u90e8\u7684\u6270\u52a8\u4ecd\u53ef\u80fd\u5bf9\u7cfb\u7edf\u9020\u6210\u4e00\u5b9a\u91cf\u7684\u5f71\u54cd\u3002<br \/>\n\u5355\u56de\u8def\u7cfb\u7edf\u7684\u4e3b\u8981\u95ee\u9898\u5728\u4e8e\u5176\u6297\u5e72\u6270\u6027\u80fd\u7684\u5c40\u9650\u6027\u3002\u8be5\u7cfb\u7edf\u4ec5\u5728\u6270\u52a8\u5bf9\u88ab\u63a7\u53d8\u91cf\u4ea7\u751f\u5f71\u54cd\u540e\uff0c\u901a\u8fc7\u53cd\u9988\u56de\u8def\u8fdb\u884c\u8c03\u8282\uff0c\u5bfc\u81f4\u7cfb\u7edf\u8f93\u51fa\u5728\u6270\u52a8\u4f5c\u7528\u4e0b\u4f1a\u51fa\u73b0\u663e\u8457\u7684\u6682\u6001\u504f\u5dee\u548c\u8f83\u957f\u7684\u6062\u590d\u65f6\u95f4\uff0c\u65e0\u6cd5\u6ee1\u8db3\u5bf9\u6270\u52a8\u6291\u5236\u8981\u6c42\u8f83\u9ad8\u7684\u6027\u80fd\u6307\u6807\u3002<\/p>\n<h4>5.3.2 \u524d\u9988-\u53cd\u9988\u7cfb\u7edf\u7ed3\u679c<\/h4>\n<p><img decoding=\"async\" src=\"https:\/\/yin.nnneri.me\/wp-content\/uploads\/2025\/11\/1762406131-\u524d\u9988\u7cfb\u7edf.png\" alt=\"\" \/><br \/>\n\u4f7f\u7528simulink\u6784\u5efa\u7684\u524d\u9988-\u53cd\u9988\u7cfb\u7edf\u7cfb\u7edf<br \/>\n<img decoding=\"async\" src=\"https:\/\/yin.nnneri.me\/wp-content\/uploads\/2025\/11\/1762406129-\u524d\u9988pid.png\" alt=\"\" \/><br \/>\n\u4f7f\u7528simulink\u81ea\u5e26\u7684pid\u8c03\u8282\u5668\u5feb\u901f\u8c03\u8282\u51fa\u7406\u60f3\u53c2\u6570<br \/>\n<img decoding=\"async\" src=\"https:\/\/yin.nnneri.me\/wp-content\/uploads\/2025\/11\/1762406130-\u524d\u9988\u7ed3\u679c.png\" alt=\"\" \/><br \/>\n\u7ed3\u679c\u5982\u4e0a\u56fe\u6240\u793a\u3002\u7cfb\u7edf\u6ee1\u8db3\u8d85\u8c03\u91cf\u5c0f\u4e8e40%\u7684\u8981\u6c42\uff0c\u5e76\u4e14\u5bf9\u4e0d\u53d7\u5916\u90e8\u6270\u52a8\u7684\u5f71\u54cd\u3002<br \/>\n\u524d\u9988-\u53cd\u9988\u7cfb\u7edf\u7684\u4f18\u70b9\u5728\u4e8e\u5176\u80fd\u591f\u663e\u8457\u63d0\u5347\u7cfb\u7edf\u7684\u6297\u5e72\u6270\u6027\u80fd\u3002\u8be5\u7cfb\u7edf\u901a\u8fc7\u524d\u9988\u901a\u9053\u76f4\u63a5\u6d4b\u91cf\u6270\u52a8\u5e76\u63d0\u524d\u8fdb\u884c\u8865\u507f\uff0c\u6709\u6548\u6291\u5236\u4e86\u6270\u52a8\u5bf9\u88ab\u63a7\u53d8\u91cf\u7684\u5f71\u54cd\uff0c\u540c\u65f6\u53cd\u9988\u56de\u8def\u8d1f\u8d23\u6d88\u9664\u56e0\u524d\u9988\u6a21\u578b\u4e0d\u7cbe\u786e\u6216\u5176\u4ed6\u672a\u6d4b\u6270\u52a8\u6240\u5f15\u8d77\u7684\u6b8b\u4f59\u504f\u5dee\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u6bd4\u5355\u56de\u8def\u7cfb\u7edf\u66f4\u4f18\u7684\u63a7\u5236\u54c1\u8d28\u3002<\/p>\n<h2><strong>6. \u7ed3\u8bba\u4e0e\u5c55\u671b<\/strong><\/h2>\n<h3><strong>6.1 \u8bbe\u8ba1\u6210\u679c\u603b\u7ed3<\/strong><\/h3>\n<p>\u672c\u8bbe\u8ba1\u56f4\u7ed5\u4e19\u70ef\u51b7\u5374\u5668\u51fa\u53e3\u6e29\u5ea6\u63a7\u5236\u8fd9\u4e00\u6838\u5fc3\u4efb\u52a1\uff0c\u7cfb\u7edf\u6027\u5730\u5b8c\u6210\u4e86\u4ece\u5de5\u827a\u6d41\u7a0b\u5206\u6790\u3001\u6570\u5b66\u6a21\u578b\u5efa\u7acb\u3001\u63a7\u5236\u65b9\u6848\u8bbe\u8ba1\u5230\u4eff\u771f\u9a8c\u8bc1\u7684\u5168\u8fc7\u7a0b\u3002\u901a\u8fc7\u5bf9\u88ab\u63a7\u5bf9\u8c61\u52a8\u6001\u7279\u6027\u7684\u6df1\u5165\u5206\u6790\uff0c\u6211\u4eec\u6210\u529f\u5efa\u7acb\u4e86\u63a7\u5236\u901a\u9053 $W_0(s)=\\frac{0.93}{56s+1}e^{-6s}$ \u548c\u6270\u52a8\u901a\u9053 $W_f(s)=\\frac{1.05}{41s+1}e^{-8s}$ \u7684\u7cbe\u786e\u6570\u5b66\u6a21\u578b\uff0c\u4e3a\u540e\u7eed\u63a7\u5236\u7b56\u7565\u7684\u8bbe\u8ba1\u5960\u5b9a\u4e86\u575a\u5b9e\u57fa\u7840\u3002<\/p>\n<p>\u5728\u63a7\u5236\u65b9\u6848\u8bbe\u8ba1\u9636\u6bb5\uff0c\u6211\u4eec\u521b\u65b0\u6027\u5730\u63d0\u51fa\u4e86\u4e24\u79cd\u4e0d\u540c\u5c42\u7ea7\u7684\u89e3\u51b3\u65b9\u6848\uff1a\u57fa\u7840\u7684\u5355\u56de\u8def\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u548c\u5148\u8fdb\u7684\u524d\u9988-\u53cd\u9988\u590d\u5408\u63a7\u5236\u7cfb\u7edf\u3002\u5355\u56de\u8def\u65b9\u6848\u4ee5\u5176\u7ed3\u6784\u7b80\u5355\u3001\u5b9e\u65bd\u4fbf\u6377\u7684\u7279\u70b9\uff0c\u5c55\u73b0\u4e86\u4f20\u7edfPID\u63a7\u5236\u5728\u8bbe\u5b9a\u503c\u8ddf\u8e2a\u65b9\u9762\u7684\u57fa\u672c\u80fd\u529b\uff1b\u800c\u524d\u9988-\u53cd\u9988\u65b9\u6848\u5219\u901a\u8fc7\u5f15\u5165\u6270\u52a8\u524d\u9988\u8865\u507f\u673a\u5236\uff0c\u663e\u8457\u63d0\u5347\u4e86\u7cfb\u7edf\u7684\u6297\u5e72\u6270\u6027\u80fd\u3002\u7279\u522b\u503c\u5f97\u5f3a\u8c03\u7684\u662f\uff0c\u6211\u4eec\u5728\u524d\u9988\u63a7\u5236\u5668\u8bbe\u8ba1\u4e2d\uff0c\u4e0d\u4ec5\u8003\u8651\u4e86\u9759\u6001\u589e\u76ca\u8865\u507f\uff0c\u8fd8\u6df1\u5165\u5206\u6790\u4e86\u52a8\u6001\u7279\u6027\u5339\u914d\u95ee\u9898\uff0c\u8bbe\u8ba1\u4e86\u5305\u542b\u8d85\u524d-\u6ede\u540e\u73af\u8282\u7684\u52a8\u6001\u524d\u9988\u63a7\u5236\u5668 $G_{ff}(s) = -1.13 \\cdot \\frac{56s+1}{41s+1}$\uff0c\u8fd9\u4e00\u8bbe\u8ba1\u4f53\u73b0\u4e86\u5bf9\u8fc7\u7a0b\u52a8\u6001\u7279\u6027\u7684\u6df1\u523b\u7406\u89e3\u3002<\/p>\n<p>\u5728\u53c2\u6570\u6574\u5b9a\u65b9\u9762\uff0c\u6211\u4eec\u57fa\u4e8eCohen-Coon\u6574\u5b9a\u6cd5\u83b7\u5f97\u4e86\u521d\u59cbPID\u53c2\u6570\uff0c\u5e76\u901a\u8fc7\u4eff\u771f\u73af\u5883\u4e2d\u7684\u7cbe\u7ec6\u8c03\u6574\uff0c\u4f7f\u7cfb\u7edf\u5728\u8bbe\u5b9a\u503c\u9636\u8dc3\u54cd\u5e94\u4e2d\u7684\u8d85\u8c03\u91cf\u4e25\u683c\u63a7\u5236\u572840%\u4ee5\u5185\uff0c\u540c\u65f6\u4fdd\u8bc1\u4e86\u7cfb\u7edf\u5bf9\u4e3b\u8981\u6270\u52a8\u7684\u5b8c\u5168\u8865\u507f\u80fd\u529b\u3002\u4eff\u771f\u7ed3\u679c\u5145\u5206\u9a8c\u8bc1\u4e86\u524d\u9988-\u53cd\u9988\u590d\u5408\u63a7\u5236\u7b56\u7565\u7684\u4f18\u8d8a\u6027\u2014\u2014\u5728\u76f8\u540c\u7684\u6270\u52a8\u6761\u4ef6\u4e0b\uff0c\u76f8\u6bd4\u5355\u56de\u8def\u7cfb\u7edf\uff0c\u524d\u9988-\u53cd\u9988\u7cfb\u7edf\u80fd\u591f\u5c06\u6e29\u5ea6\u6ce2\u52a8\u5e45\u5ea6\u964d\u4f4e\u7ea670%\uff0c\u6062\u590d\u65f6\u95f4\u7f29\u77ed\u7ea660%\uff0c\u5c55\u73b0\u51fa\u5353\u8d8a\u7684\u63a7\u5236\u54c1\u8d28\u3002<\/p>\n<h3><strong>6.2 \u65b9\u6848\u6027\u80fd\u5bf9\u6bd4\u4e0e\u5de5\u7a0b\u9002\u7528\u6027\u5206\u6790<\/strong><\/h3>\n<p>\u901a\u8fc7\u5bf9\u4e24\u79cd\u63a7\u5236\u65b9\u6848\u7684\u6df1\u5165\u5bf9\u6bd4\uff0c\u6211\u4eec\u5f97\u51fa\u4e86\u5177\u6709\u91cd\u8981\u5de5\u7a0b\u6307\u5bfc\u610f\u4e49\u7684\u7ed3\u8bba\uff1a\u5355\u56de\u8def\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u867d\u7136\u7ed3\u6784\u7b80\u5355\u3001\u6210\u672c\u8f83\u4f4e\uff0c\u4f46\u5176\u56fa\u6709\u7684\"\u4e8b\u540e\u8c03\u8282\"\u7279\u6027\u51b3\u5b9a\u4e86\u5b83\u5728\u9762\u5bf9\u9891\u7e41\u6216\u5927\u5e45\u503c\u6270\u52a8\u65f6\u8868\u73b0\u6b20\u4f73\uff0c\u4ec5\u9002\u7528\u4e8e\u5bf9\u63a7\u5236\u7cbe\u5ea6\u8981\u6c42\u4e0d\u9ad8\u6216\u6270\u52a8\u8f83\u5c0f\u7684\u5de5\u51b5\u6761\u4ef6\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u524d\u9988-\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u867d\u7136\u589e\u52a0\u4e86\u7cfb\u7edf\u590d\u6742\u6027\u548c\u521d\u671f\u6295\u8d44\uff0c\u4f46\u5176\"\u4e8b\u524d\u8865\u507f\"\u7684\u63a7\u5236\u7406\u5ff5\u80fd\u591f\u4e3b\u52a8\u62b5\u6d88\u6270\u52a8\u5f71\u54cd\uff0c\u7279\u522b\u9002\u5408\u4e8e\u50cf\u4e19\u70ef\u51b7\u5374\u5668\u8fd9\u6837\u5177\u6709\u663e\u8457\u6270\u52a8\u4e14\u5bf9\u6e29\u5ea6\u7a33\u5b9a\u6027\u8981\u6c42\u4e25\u683c\u7684\u5de5\u4e1a\u8fc7\u7a0b\u3002<\/p>\n<p>\u4ece\u5de5\u7a0b\u5b9e\u65bd\u89d2\u5ea6\u8003\u8651\uff0c\u4e24\u79cd\u65b9\u6848\u5404\u6709\u5176\u9002\u7528\u573a\u666f\u3002\u5728\u9884\u7b97\u6709\u9650\u3001\u6270\u52a8\u7279\u6027\u76f8\u5bf9\u6e29\u548c\u7684\u4e2d\u5c0f\u578b\u88c5\u7f6e\u4e2d\uff0c\u7ecf\u8fc7\u7cbe\u5fc3\u6574\u5b9a\u7684\u5355\u56de\u8defPID\u63a7\u5236\u7cfb\u7edf\u53ef\u80fd\u5df2\u80fd\u6ee1\u8db3\u57fa\u672c\u751f\u4ea7\u9700\u6c42\uff1b\u800c\u5728\u5927\u578b\u3001\u8fde\u7eed\u5316\u751f\u4ea7\u7684\u77f3\u5316\u88c5\u7f6e\u4e2d\uff0c\u524d\u9988-\u53cd\u9988\u7cfb\u7edf\u5e26\u6765\u7684\u751f\u4ea7\u7a33\u5b9a\u6027\u63d0\u5347\u548c\u4ea7\u54c1\u8d28\u91cf\u4fdd\u969c\uff0c\u5f80\u5f80\u80fd\u591f\u5feb\u901f\u56de\u62a5\u5176\u989d\u5916\u7684\u6295\u8d44\u6210\u672c\u3002\u672c\u8bbe\u8ba1\u4e3a\u4e0d\u540c\u89c4\u6a21\u7684\u5de5\u4e1a\u7528\u6237\u63d0\u4f9b\u4e86\u53ef\u9009\u7684\u6280\u672f\u8def\u7ebf\uff0c\u4f53\u73b0\u4e86\u7075\u6d3b\u52a1\u5b9e\u7684\u8bbe\u8ba1\u7406\u5ff5\u3002<\/p>\n<h3><strong>6.3 \u8bbe\u8ba1\u4ef7\u503c\u4e0e\u5c40\u9650\u6027<\/strong><\/h3>\n<p>\u672c\u8bbe\u8ba1\u7684\u6838\u5fc3\u4ef7\u503c\u5728\u4e8e\u5b83\u63d0\u4f9b\u4e86\u4e00\u4e2a\u4ece\u7406\u8bba\u5230\u5b9e\u8df5\u7684\u5b8c\u6574\u63a7\u5236\u5de5\u7a0b\u8bbe\u8ba1\u8303\u4f8b\u3002\u6211\u4eec\u4e0d\u4ec5\u5173\u6ce8\u63a7\u5236\u7b97\u6cd5\u7684\u8bbe\u8ba1\uff0c\u8fd8\u6df1\u5165\u8003\u8651\u4e86\u5de5\u7a0b\u5b9e\u65bd\u4e2d\u7684\u5173\u952e\u7ec6\u8282\uff0c\u5305\u62ec\u8c03\u8282\u9600\u7684\u6c14\u5f00\/\u6c14\u5173\u9009\u62e9\u3001\u63a7\u5236\u5668\u6b63\u53cd\u4f5c\u7528\u7684\u786e\u5b9a\u3001\u6297\u79ef\u5206\u9971\u548c\u529f\u80fd\u7684\u914d\u7f6e\u7b49\uff0c\u8fd9\u4e9b\u8003\u91cf\u4f7f\u5f97\u8bbe\u8ba1\u65b9\u6848\u5177\u6709\u8f83\u5f3a\u7684\u5de5\u7a0b\u5b9e\u7528\u6027\u3002\u7279\u522b\u662f\u5bf9\u524d\u9988\u63a7\u5236\u5668\u53ef\u5b9e\u73b0\u6027\u7684\u5206\u6790\u3001\u5bf9\u4f20\u611f\u5668\u52a8\u6001\u7279\u6027\u5f71\u54cd\u7684\u8bc4\u4f30\uff0c\u4ee5\u53ca\u5bf9\u7cfb\u7edf\u6295\u8fd0\u6b65\u9aa4\u7684\u89c4\u5212\uff0c\u90fd\u4f53\u73b0\u4e86\u9762\u5411\u5de5\u4e1a\u5e94\u7528\u7684\u7ec6\u81f4\u601d\u8003\u3002<\/p>\n<p>\u7136\u800c\uff0c\u6211\u4eec\u4e5f\u6e05\u9192\u5730\u8ba4\u8bc6\u5230\u672c\u8bbe\u8ba1\u7684\u5c40\u9650\u6027\u3002\u9996\u5148\uff0c\u8bbe\u8ba1\u57fa\u4e8e\u7ebf\u6027\u65f6\u4e0d\u53d8\u6a21\u578b\uff0c\u800c\u5b9e\u9645\u7684\u6362\u70ed\u8fc7\u7a0b\u5b58\u5728\u7740\u663e\u8457\u7684\u975e\u7ebf\u6027\u548c\u65f6\u53d8\u7279\u6027\uff0c\u7279\u522b\u662f\u5728\u4e0d\u540c\u751f\u4ea7\u8d1f\u8377\u4e0b\uff0c\u5bf9\u8c61\u7684\u52a8\u6001\u7279\u6027\u4f1a\u53d1\u751f\u660e\u663e\u53d8\u5316\u3002\u5176\u6b21\uff0c\u6211\u4eec\u7684\u524d\u9988\u63a7\u5236\u5668\u8bbe\u8ba1\u4f9d\u8d56\u4e8e\u7cbe\u786e\u7684\u6570\u5b66\u6a21\u578b\uff0c\u5728\u5b9e\u9645\u5de5\u4e1a\u73af\u5883\u4e2d\uff0c\u6a21\u578b\u5931\u914d\u662f\u4e0d\u53ef\u907f\u514d\u7684\u3002\u6b64\u5916\uff0c\u8bbe\u8ba1\u4e2d\u5c1a\u672a\u8003\u8651\u591a\u53d8\u91cf\u8026\u5408\u6548\u5e94\uff0c\u800c\u5b9e\u9645\u7684\u51b7\u5374\u5668\u7cfb\u7edf\u53ef\u80fd\u5b58\u5728\u6e29\u5ea6\u4e0e\u538b\u529b\u3001\u6d41\u91cf\u7b49\u591a\u4e2a\u53d8\u91cf\u95f4\u7684\u76f8\u4e92\u5f71\u54cd\u3002<\/p>\n<h3><strong>6.4 \u6280\u672f\u5c55\u671b\u4e0e\u672a\u6765\u53d1\u5c55\u65b9\u5411<\/strong><\/h3>\n<p>\u57fa\u4e8e\u5f53\u524d\u8bbe\u8ba1\u7684\u6210\u679c\u4e0e\u4e0d\u8db3\uff0c\u6211\u4eec\u63d0\u51fa\u4ee5\u4e0b\u5177\u6709\u524d\u77bb\u6027\u7684\u6280\u672f\u53d1\u5c55\u65b9\u5411\uff1a<\/p>\n<p><strong>\u5148\u8fdb\u63a7\u5236\u7b56\u7565\u7684\u6df1\u5ea6\u5e94\u7528\uff1a<\/strong><br \/>\n- <strong>\u81ea\u9002\u5e94\u63a7\u5236\u6280\u672f<\/strong>\uff1a\u7814\u53d1\u57fa\u4e8e\u5728\u7ebf\u8fa8\u8bc6\u7684\u81ea\u9002\u5e94PID\u63a7\u5236\u5668\uff0c\u4f7f\u7cfb\u7edf\u80fd\u591f\u81ea\u52a8\u8ddf\u8e2a\u5bf9\u8c61\u7279\u6027\u7684\u53d8\u5316\uff0c\u59cb\u7ec8\u4fdd\u6301\u6700\u4f18\u63a7\u5236\u6027\u80fd\u3002\u7279\u522b\u662f\u5728\u5904\u7406\u6362\u70ed\u5668\u7ed3\u57a2\u3001\u50ac\u5316\u5242\u6d3b\u6027\u53d8\u5316\u7b49\u6162\u65f6\u53d8\u8fc7\u7a0b\u65f6\uff0c\u81ea\u9002\u5e94\u63a7\u5236\u5c55\u73b0\u51fa\u72ec\u7279\u4f18\u52bf\u3002<br \/>\n- <strong>\u6a21\u578b\u9884\u6d4b\u63a7\u5236(MPC)<\/strong>\uff1a\u9488\u5bf9\u591a\u53d8\u91cf\u3001\u5f3a\u8026\u5408\u3001\u5e26\u7ea6\u675f\u7684\u590d\u6742\u8fc7\u7a0b\uff0cMPC\u80fd\u591f\u901a\u8fc7\u4f18\u5316\u6eda\u52a8\u65f6\u57df\u5185\u7684\u63a7\u5236\u5e8f\u5217\uff0c\u7cfb\u7edf\u5904\u7406\u5404\u79cd\u64cd\u4f5c\u7ea6\u675f\uff0c\u4e3a\u6574\u4e2a\u5206\u79bb\u88c5\u7f6e\u63d0\u4f9b\u534f\u540c\u4f18\u5316\u63a7\u5236\u3002<br \/>\n- <strong>\u9c81\u68d2\u63a7\u5236\u8bbe\u8ba1<\/strong>\uff1a\u91c7\u7528H\u221e\u7b49\u9c81\u68d2\u63a7\u5236\u65b9\u6cd5\uff0c\u5728\u8bbe\u8ba1\u9636\u6bb5\u5c31\u8003\u8651\u6a21\u578b\u4e0d\u786e\u5b9a\u6027\uff0c\u4f7f\u63a7\u5236\u7cfb\u7edf\u5bf9\u53c2\u6570\u53d8\u5316\u548c\u672a\u5efa\u6a21\u52a8\u6001\u5177\u6709\u66f4\u5f3a\u7684\u9002\u5e94\u80fd\u529b\u3002<\/p>\n<p><strong>\u7cfb\u7edf\u667a\u80fd\u5316\u4e0e\u53ef\u9760\u6027\u63d0\u5347\uff1a<\/strong><br \/>\n- <strong>\u667a\u80fd\u6545\u969c\u8bca\u65ad\u4e0e\u81ea\u6108\u63a7\u5236<\/strong>\uff1a\u96c6\u6210\u4eba\u5de5\u667a\u80fd\u6280\u672f\uff0c\u5f00\u53d1\u57fa\u4e8e\u6570\u636e\u9a71\u52a8\u7684\u6545\u969c\u65e9\u671f\u8bca\u65ad\u7cfb\u7edf\uff0c\u5b9e\u73b0\u5bf9\u4f20\u611f\u5668\u5931\u6548\u3001\u6267\u884c\u673a\u6784\u5361\u6ede\u7b49\u5e38\u89c1\u6545\u969c\u7684\u81ea\u52a8\u68c0\u6d4b\u4e0e\u8865\u507f\uff0c\u63d0\u9ad8\u7cfb\u7edf\u8fd0\u884c\u53ef\u9760\u6027\u3002<br \/>\n- <strong>\u6570\u5b57\u5b6a\u751f\u6280\u672f\u5e94\u7528<\/strong>\uff1a\u6784\u5efa\u51b7\u5374\u5668\u7cfb\u7edf\u7684\u6570\u5b57\u5b6a\u751f\u6a21\u578b\uff0c\u5b9e\u73b0\u63a7\u5236\u7b56\u7565\u7684\u865a\u62df\u8c03\u8bd5\u4e0e\u4f18\u5316\uff0c\u5927\u5e45\u7f29\u77ed\u5de5\u7a0b\u5b9e\u65bd\u5468\u671f\uff0c\u964d\u4f4e\u8bd5\u8f66\u98ce\u9669\u3002<\/p>\n<p><strong>\u7cfb\u7edf\u96c6\u6210\u4e0e\u5168\u6d41\u7a0b\u4f18\u5316\uff1a<\/strong><br \/>\n- <strong>\u88c5\u7f6e\u7ea7\u534f\u540c\u63a7\u5236<\/strong>\uff1a\u5c06\u51b7\u5374\u5668\u63a7\u5236\u4e0e\u4e0a\u4e0b\u6e38\u5206\u79bb\u5854\u3001\u538b\u7f29\u673a\u7b49\u8bbe\u5907\u8fdb\u884c\u534f\u540c\u4f18\u5316\uff0c\u4ece\u5168\u5c40\u89c6\u89d2\u5bfb\u6c42\u6700\u4f18\u64cd\u4f5c\u70b9\uff0c\u5b9e\u73b0\u5168\u88c5\u7f6e\u80fd\u8017\u6700\u5c0f\u5316\u548c\u7ecf\u6d4e\u6548\u76ca\u6700\u5927\u5316\u3002<br \/>\n- <strong>\u57fa\u4e8e\u4e91\u5e73\u53f0\u7684\u8fdc\u7a0b\u76d1\u63a7\u4e0e\u4f18\u5316<\/strong>\uff1a\u5229\u7528\u5de5\u4e1a\u4e92\u8054\u7f51\u6280\u672f\uff0c\u5efa\u7acb\u51b7\u5374\u5668\u7cfb\u7edf\u7684\u4e91\u8fb9\u534f\u540c\u667a\u80fd\u8fd0\u7ef4\u5e73\u53f0\uff0c\u5b9e\u73b0\u8fdc\u7a0b\u76d1\u63a7\u3001\u6027\u80fd\u8bc4\u4f30\u548c\u63a7\u5236\u53c2\u6570\u7684\u81ea\u6574\u5b9a\u3002<\/p>\n<p>\u968f\u7740\u5de5\u4e1a4.0\u65f6\u4ee3\u7684\u5230\u6765\uff0c\u77f3\u6cb9\u5316\u5de5\u8fc7\u7a0b\u7684\u667a\u80fd\u5316\u8f6c\u578b\u5df2\u6210\u4e3a\u5fc5\u7136\u8d8b\u52bf\u3002\u672c\u8bbe\u8ba1\u6240\u5efa\u7acb\u7684\u57fa\u7840\u63a7\u5236\u65b9\u6848\u4e3a\u540e\u7eed\u7684\u667a\u80fd\u5316\u5347\u7ea7\u63d0\u4f9b\u4e86\u826f\u597d\u7684\u5e73\u53f0\uff0c\u65e0\u8bba\u662f\u6dfb\u52a0\u9ad8\u7ea7\u63a7\u5236\u7b97\u6cd5\u8fd8\u662f\u96c6\u6210\u667a\u80fd\u8fd0\u7ef4\u529f\u80fd\uff0c\u90fd\u5177\u6709\u8f83\u5f3a\u7684\u53ef\u6269\u5c55\u6027\u3002\u6211\u4eec\u76f8\u4fe1\uff0c\u901a\u8fc7\u6301\u7eed\u7684\u6280\u672f\u521b\u65b0\u548c\u5de5\u7a0b\u5b9e\u8df5\uff0c\u4e19\u70ef\u51b7\u5374\u5668\u4e43\u81f3\u6574\u4e2a\u88c2\u89e3\u6c14\u5206\u79bb\u8fc7\u7a0b\u7684\u63a7\u5236\u6c34\u5e73\u5c06\u4e0d\u65ad\u63d0\u5347\uff0c\u4e3a\u77f3\u5316\u884c\u4e1a\u7684\u9ad8\u8d28\u91cf\u53d1\u5c55\u63d0\u4f9b\u575a\u5b9e\u7684\u6280\u672f\u652f\u6491\u3002<\/p>\n<hr \/>\n","protected":false},"excerpt":{"rendered":"<p>1. \u4efb\u52a1\u6982\u8ff0 1.1 \u8bbe\u8ba1\u80cc\u666f\u4e0e\u610f\u4e49 \u5728\u73b0\u4ee3\u77f3\u6cb9\u5316\u5de5\u751f\u4ea7\u4e2d\uff0c\u88c2\u89e3\u6c14\u662f\u83b7\u53d6\u4e59\u70ef\u3001\u4e19\u70ef\u7b49\u57fa\u7840\u5316\u5de5\u539f\u6599\u7684\u5173\u952e\u4e2d\u95f4\u4ea7\u7269\u3002\u5176\u540e\u7eed\u5206\u79bb\u8fc7\u7a0b\u5bf9 &#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"emotion":"","emotion_color":"","title_style":"","license":"","footnotes":""},"categories":[2],"tags":[],"class_list":["post-508","post","type-post","status-publish","format-standard","hentry","category-schoolwork"],"_links":{"self":[{"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=\/wp\/v2\/posts\/508","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=508"}],"version-history":[{"count":1,"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=\/wp\/v2\/posts\/508\/revisions"}],"predecessor-version":[{"id":516,"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=\/wp\/v2\/posts\/508\/revisions\/516"}],"wp:attachment":[{"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=508"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=508"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yin.nnneri.me\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=508"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}