\u5434\u6d2a\u660e1 \u5e26\u94a2\u7cfb\u7edf\u7684\u7ea0\u504f\u539f\u7406\u5e26\u94a2\u7ea0\u504f\u6db2\u538b\u4f3a\u670d\u7cfb\u7edf\u7531\u6db2\u538b\u6e90\u3001\u7535\u6db2\u4f3a\u670d\u9600\u3001\u653e\u5927\u5668\u3001\u4f3a\u670d\u6db2\u538b\u7f38\u3001\u5377\u7b52\u3001\u4f4d\u7f6e\u68c0\u6d4b\u4f20\u611f\u5668[1] \u7b49\u90e8\u4ef6\u7ec4\u6210\u3002\u6574\u4e2a\u6db2\u538b\u4f3a\u670d\u7cfb\u7edf\u662f\u4e00\u4e2a\u5355\u4f4d\u8d1f\u53cd\u9988\u7cfb\u7edf\u3002\u5149\u7535\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u5e26\u94a2\u7684\u4f4d\u7f6e\u53d1\u751f\u504f\u79fb\u65f6\uff0c\u5c06\u68c0\u6d4b\u5230\u7684\u504f\u79fb\u4fe1\u53f7\u4f5c\u4e3a\u8fd9\u4e2a\u7cfb\u7edf\u7684\u8f93\u5165\u4fe1\u53f7\uff0c\u6bd4\u8f83\u5668\u6bd4\u8f83\u68c0\u6d4b\u5230\u504f\u79fb\u4fe1\u53f7\u4e0e\u6db2\u538b\u7f38\u63a8\u52a8\u5e26\u94a2\u79fb\u52a8\u7684\u4f4d\u79fb\u4fe1\u53f7\uff0c\u504f\u5dee\u4fe1\u53f7\u7ecf\u8fc7\u653e\u5927\u5668\u540e\u4f5c\u7528\u4e8e\u7535\u6db2\u4f3a\u670d\u9600\u4e0a\uff0c\u6db2\u538b\u7f38\u6839\u636e\u4f3a\u670d\u9600\u5f00\u53e3\u5927\u5c0f\u6267\u884c\u76f8\u5e94\u7684\u52a8\u4f5c\uff0c\u53cd\u590d\u8fdb\u884c\u4e0a\u8ff0\u8fc7\u7a0b\uff0c\u76f4\u5230\u504f\u5dee\u4fe1\u53f7\u4e3a0\u3002\u6db2\u538b\u6e90\u4e3a\u6574\u4e2a\u7cfb\u7edf\u63d0\u4f9b\u52a8\u529b\u3002\u6574\u4e2a\u5e26\u94a2\u7ea0\u504f\u7cfb\u7edf\u7684\u7ed3\u6784\u539f\u7406\u7b80\u56fe\u5982\u56fe1 \u6240\u793a\u30021. \u5e26\u94a2 2. \u5149\u7535\u4f20\u611f\u5668 3. \u6db2\u538b\u7f38 4. \u5377\u7b52\u56fe1 \u5e26\u94a2\u7ea0\u504f\u7cfb\u7edf\u7ed3\u6784\u539f\u7406\u7b80\u56fe2 \u5e26\u94a2\u6db2\u538b\u7ea0\u504f\u7cfb\u7edf\u5206\u6790\u4e0e\u5efa\u6a21\u5e26\u94a2\u6db2\u538b\u7ea0\u504f\u7cfb\u7edf\u4f3a\u670d\u90e8\u5206\u7684\u5de5\u4f5c\u539f\u7406\u6846\u56fe[2] \u5982\u56fe2 \u6240\u793a\u3002\u56fe2 \u6db2\u538b\u4f3a\u670d\u63a7\u5236\u7684\u539f\u7406\u672c\u6587\u4ee5\u5177\u4f53\u7684\u5e26\u94a2\u6db2\u538b\u7cfb\u7edf\u4e3a\u4f8b\u8fdb\u884c\u5206\u6790\u3002\u7cfb\u7edf\u7684\u8981\u6c42\uff1a1\uff09\u6db2\u538b\u7f38\u63a8\u52a8\u5377\u7b52\u8fd0\u52a8\u65f6\u7684\u6700\u5927\u901f\u5ea6v = 25 mm\/s\uff1b2\uff09\u5377\u7b52\u6700\u5927\u8d28\u91cf1 m = 18 000 kg\uff0c\u5176\u4f59\u90e8\u5206\u8d28\u91cf2 m = 22 000 kg\uff1b4\uff09\u6db2\u538b\u7f38\u5de5\u4f5c\u884c\u7a0bL = 160 mm ;5\uff09\u63a7\u5236\u7cfb\u7edf\u6700\u5927\u8c03\u8282\u901f\u5ea6\u4e0d\u5c0f\u4e8e25 mm\/s \uff0c\u7cfb\u7edf\u9891\u5bbd\u03c9 \uff1e22 rad\/s\uff0c\u6700\u5927\u52a0\u901f\u5ea6a = 5 mm\/s2\uff0c\u7cfb\u7edf\u7684\u6700\u5927\u8bef\u5deee \uff1c\u00b11.5 mm\u30022.1 \u7cfb\u7edf\u4e3b\u8981\u53c2\u6570\u8ba1\u7b971\uff09\u4f9b\u6cb9\u538b\u529b\u7684\u9009\u62e9\u8be5\u7cfb\u7edf\u91c7\u7528\u6052\u538b\u53d8\u91cf\u6cf5\uff0c\u4e3a\u4e86\u51cf\u5c0f\u6cc4\u6f0f\u540c\u65f6\u51cf\u5c11\u80fd\u91cf\u635f\u5931\uff0c\u7cfb\u7edf\u91c7\u7528\u8f83\u4f4e\u7684\u4f9b\u6cb9\u538b\u529b\uff0c\u53d6p s=5 MPa\u30022\uff09\u4f3a\u670d\u9600\u7684\u89c4\u683c\u53ca\u5176\u7a7a\u8f7d\u6d41\u91cf\u7684\u786e\u5b9a\u4e3a\u4fdd\u8bc1\u4f3a\u670d\u7cfb\u7edf\u5728\u4efb\u4f55\u60c5\u51b5\u4e0b\u5747\u6ee1\u8db3\u8d1f\u8f7d\u7684\u8981\u6c42\uff0c\u4ee5\u7cfb\u7edf\u7684\u6700\u5927\u8d1f\u8f7d\u8fdb\u884c\u8ba1\u7b97\u5f0f\u4e2d\uff1aF Lmax \u4e3a\u6700\u5927\u8d1f\u8f7d\u529b\uff0cN\uff1bm \u4e3a\u6d3b\u585e\u53ca\u8d1f\u8f7d\u6298\u7b97\u5230\u6d3b\u585e\u4e0a\u7684\u603b\u8d28\u91cf\uff0ckg\uff1bx p \u4e3a\u6d3b\u585e\u4f4d\u79fb\uff0cm\uff1bB p \u4e3a\u6d3b\u585e\u53ca\u8d1f\u8f7d\u7684\u7c98\u6027\u963b\u5c3c\u7cfb\u6570\uff1bK \u4e3a\u8d1f\u8f7d\u5f39\u6027\u521a\u5ea6\uff0cN\/m\uff1bF L \u4e3a\u4f5c\u7528\u5728\u6d3b\u585e\u4e0a\u7684\u4efb\u610f\u5916\u8d1f\u8f7d\u529b\uff0cN\u3002\u7531\u4e8e\u8be5\u6db2\u538b\u7cfb\u7edf\u6ca1\u6709\u5f39\u6027\u8d1f\u8f7d\uff0c\u4e14\u7c98\u6027\u963b\u5c3c\u7cfb\u6570\u4e00\u822c\u5f88\u5c0f\uff0c\u53ef\u4ee5\u5ffd\u7565\u4e0d\u8ba1\uff0c\u5373K=B p=0\uff1b\u540c\u65f6\uff0c\u7cfb\u7edf\u7684\u5916\u8d1f\u8f7d\u529b\u4e3b\u8981\u662f\u6469\u64e6\u529b\uff0cF L=fmg \uff0c\u7531\u5de5\u7a0b\u7ecf\u9a8c\u77e5\uff0c\u53ef\u53d6f =0.05\uff0c\u5219\u7cfb\u7edf\u7684\u6700\u5927\u8d1f\u8f7d\u529bF Lmax=19 800 N\u3002\u4e3a\u4fdd\u8bc1\u8be5\u7cfb\u7edf\u6548\u7387\u6700\u5927\u540c\u65f6\u6027\u80fd\u6700\u4f18\uff0c\u53d6\u8d1f\u8f7d\u538b\u529b\u5219\u6db2\u538b\u7f38\u7684\u6709\u6548\u9762\u79ef\u4e3a\u4e86\u4f7f\u8be5\u4f3a\u670d\u7cfb\u7edf\u7684\u6027\u80fd\u66f4\u4f18\uff0c\u53ef\u4ee5\u589e\u5927\u6db2\u538b\u7f38\u6d3b\u585e\u7684\u9762\u79efAp\uff0c\u63d0\u9ad8\u5176\u6db2\u538b\u56fa\u6709\u9891\u7387[2]\uff0c\u56e0\u6b64\uff0c\u8d1f\u8f7d\u538b\u529b\u53ef\u53d6\u66f4\u5c0f\u503c\u3002\u9009\u62e9\u5185\u5f8432 mm\u3001\u6746\u5f8425 mm \u7684\u4f3a\u670d\u6db2\u538b\u7f38\uff0c\u5219\u4f3a\u670d\u9600\u7a7a\u8f7d\u6d41\u91cf\u6839\u636e\u6700\u5927\u8d1f\u8f7d\u901f\u5ea6\u6765\u786e\u5b9a\uff0c\u5e76\u8ba4\u4e3a\u6700\u5927\u8d1f\u8f7d\u901f\u5ea6\u548c\u6700\u5927\u8d1f\u8f7d\u529b\u540c\u65f6\u51fa\u73b0\u3002\u5219\u4f3a\u670d\u9600\u7a7a\u8f7d\u6d41\u91cf[2]\u6240\u9009\u4f3a\u670d\u9600\u538b\u964d\u0394 p =1.4 MPa\uff0c\u6839\u636e\u6d41\u91cf\u548c\u4f3a\u670d\u9600\u538b\u964d\uff0c\u9009\u62e9\u989d\u5b9a\u6d41\u91cf\u4e3a90 L\/min \u7684\u4f3a\u670d\u9600\u53ef\u6ee1\u8db3\u7cfb\u7edf\u7684\u8981\u6c42\u30023\uff09\u5176\u4ed6\u7ec4\u6210\u5143\u4ef6\u7531\u4e8e\u68c0\u6d4b\u5668\u4e0e\u653e\u5927\u5668\u7684\u65f6\u95f4\u5e38\u6570\u975e\u5e38\u5c0f\uff0c\u56e0\u6b64\u5149\u7535\u68c0\u6d4b\u5668\u7684\u589e\u76ca2.2 \u7cfb\u7edf\u5efa\u6a211\uff09\u52a8\u529b\u5143\u4ef6\u7684\u4f20\u9012\u51fd\u6570\u6db2\u538b\u7f38\u7684\u6d41\u91cf\u8fde\u7eed\u65b9\u7a0b\u4e3a\u5f0f\u4e2d\uff1aq L \u4e3a\u6db2\u538b\u7f38\u6d41\u91cf\uff0cx p \u4e3a\u76ee\u6807\u4f4d\u79fb\uff0cC tp \u4e3a\u6db2\u538b\u7f38\u7684\u603b\u6cc4\u6f0f\u7cfb\u6570\uff0cVt \u4e3a\u6db2\u538b\u7f38\u5904\u4e8e\u4e2d\u95f4\u4f4d\u7f6e\u65f6\u4e24\u8154\u7684\u4f53\u79ef\uff0c\u03b2 e \u4e3a\u6709\u6548\u4f53\u79ef\u5f39\u6027\u6a21\u91cf\u3002\u6db2\u538b\u7f38\u548c\u8d1f\u8f7d\u7684\u529b\u5e73\u8861\u65b9\u7a0b\u4e3a\u6839\u636e\u62c9\u5f0f\u53d8\u6362\u65b9\u7a0b\u5efa\u7acb\u5982\u56fe3 \u6240\u793a\u7684\u52a8\u529b\u5143\u4ef6\u65b9\u5757\u56fe\u56fe3 \u9600\u63a7\u6db2\u538b\u7f38\u65b9\u6846\u56fe\u8ba1\u7b97\u5206\u6790\u5c06F L \u4f5c\u4e3a\u6052\u5b9a\u8d1f\u8f7d\u5904\u7406\uff0c\u5219\u7cfb\u7edf\u5bf9QL\u7684\u54cd\u5e94\u4e3a\u5f0f\u4e2d\uff1a\u03c9 h \u4e3a\u6db2\u538b\u56fa\u6709\u9891\u7387\uff0c\u03be h \u4e3a\u6db2\u538b\u963b\u5c3c\u6bd4\u3002\u7531\u4e8eB p \u5f88\u5c0f\uff0c\u53ef\u4ee5\u5ffd\u7565\u4e0d\u8ba1\uff0c\u5219\u6709\u53d6V t=0.15\u00d71.33\u00d710-2=2.873\u00d710-3 m3\uff0c \u53d6\u03b2 e=7\u00d7108N\/m2\uff0c\u6545\u52a8\u529b\u5143\u4ef6\u7684\u6db2\u538b\u56fa\u6709\u9891\u7387\u03c9 h=78.8rad\/s\uff1b\u53d6\u03be h=0.25\uff0c\u5219\u6db2\u538b\u52a8\u529b\u5143\u4ef6\u7684\u4f20\u9012\u51fd\u6570\u4e3a\u4e8c\u7ea7\u7535\u6db2\u4f3a\u670d\u9600\u7684\u4f20\u9012\u51fd\u6570\u4e3a\u5f0f\u4e2d\uff1aKsv \u4e3a\u7a7a\u8f7d\u5e73\u5747\u6d41\u91cf\u589e\u76ca\uff0c\u03c9 sv \u4e3a\u4f3a\u670d\u9600\u56fa\u6709\u9891\u7387\uff0c\u03be sv \u4e3a\u4f3a\u670d\u9600\u963b\u5c3c\u6bd4\u3002\u4f3a\u670d\u9600\u7684\u52a8\u6001\u53c2\u6570\u53ef\u6309\u6837\u672c\u53d6\u503c\uff0c\u5f53\u4f9b\u6cb9\u538b\u529bp s=4MPa \u65f6\uff0c\u7a7a\u8f7d\u6d41\u91cf\u4e3a40 L\/min\uff0c\u5f97\u5230\u4f3a\u670d\u9600\u7684\u7a7a\u8f7d\u5e73\u5747\u6d41\u91cf\u589e\u76ca\u7531\u6837\u672c\u67e5\u5f97\u03c9 sv=160 rad\/s\uff0c\u03be sv=0.7\uff0c\u4ee3\u5165\u5f0f\uff0813\uff09\u4f3a\u670d\u9600\u7684\u4f20\u9012\u51fd\u6570\u4e3a\u7cfb\u7edf\u7684\u5f00\u73af\u4f20\u9012\u51fd\u6570\u4e3a\u5176\u4e2d\u6839\u636e\u4e0a\u8ff0\u6570\u636e\uff0c\u7ed8\u5236Simulink \u4eff\u771f\u56fe\u5f62\uff0c\u5982\u56fe4 \u6240\u793a\u3002\u56fe5 \u662f\u7cfb\u7edf\u4f2f\u5fb7\u56fe\uff0c\u56fe6 \u662f\u7cfb\u7edf\u5bf9\u5355\u4f4d\u9636\u8dc3\u4fe1\u53f7\u7684\u54cd\u5e94\u3002\u56fe4 Simulink \u4eff\u771f\u6846\u56fe\u56fe5 \u5e26\u94a2\u7ea0\u504f\u7cfb\u7edf\u4f2f\u5fb7\u56fe\u56fe6 \u5355\u4f4d\u9636\u8dc3\u54cd\u5e94\u4eff\u771f\u7ed3\u679c\u7531\u8fd0\u884c\u7ed3\u679c\u53ef\u77e5\uff0c\u8be5\u4f3a\u670d\u7cfb\u7edf\u7684\u7684\u5e45\u503c\u88d5\u5ea6\u4e3a0.239dB, \u76f8\u4f4d\u88d5\u5ea6\u4e3a46.9\u00b0\uff0c\u7cfb\u7edf\u8fbe\u5230\u6700\u7ec8\u7a33\u6001\u503c\u9700\u8981\u7684\u65f6\u95f4\u4e3a10 s\u3002\u7cfb\u7edf\u867d\u7136\u6700\u7ec8\u80fd\u591f\u8fbe\u5230\u7a33\u5b9a\uff0c\u4f46\u7cfb\u7edf\u7684\u7a33\u6001\u6027\u80fd\u5f88\u5dee\u3002\u4e3a\u4e86\u4f7f\u8be5\u7cfb\u7edf\u80fd\u591f\u771f\u6b63\u5728\u5b9e\u9645\u63a7\u5236\u8fc7\u7a0b\u4e2d\u5bf9\u5e26\u94a2\u8fdb\u884c\u6709\u6548\u7ea0\u504f\uff0c\u5fc5\u987b\u5bf9\u5176\u8fdb\u884c\u4f18\u5316\u5904\u7406\u3002\u8be5\u7cfb\u7edf\u7684\u603b\u8bef\u5dee3 PID \u63a7\u5236\u5668\u7684\u8bbe\u8ba1\u4e3a\u4e86\u6539\u5584\u8be5\u4f3a\u670d\u7cfb\u7edf\u7684\u6027\u80fd\uff0c\u4e3a\u8be5\u4f3a\u670d\u7cfb\u7edf\u589e\u8bbePID\u63a7\u5236\u5668\uff0c\u4f7f\u7cfb\u7edf\u5728\u5b9e\u9645\u63a7\u5236\u8fc7\u7a0b\u4e2d\u52a8\u6001\u6027\u80fd\u5f97\u5230\u6539\u5584\u3002\u5e38\u89c1\u7684PID \u53c2\u6570\u6574\u5b9a\u7684\u65b9\u6cd5\u6709\u8870\u51cf\u66f2\u7ebf\u6cd5\u3001\u7ecf\u9a8c\u6cd5\u548c\u4e34\u754c\u6bd4\u4f8b\u5ea6\u6cd5\u3002\u672c\u6587\u91c7\u7528\u4e34\u754c\u6bd4\u4f8b\u5ea6\u6cd5\u5bf9PID \u53c2\u6570\u8fdb\u884c\u6574\u5b9a\u3002\u8be5\u65b9\u6cd5\u662f\u57fa\u4e8e\u7a33\u5b9a\u6027\u5206\u6790\u7684PID \u6574\u5b9a\u65b9\u6cd5\uff0c\u5176\u6574\u5b9a\u601d\u60f3\u662f\uff1a\u9996\u5148\u4ee4\u79ef\u5206\u548c\u5fae\u5206\u73af\u8282\u7684\u589e\u76ca\u4e3a0\uff0c\u7136\u540e\u589e\u52a0KP \u76f4\u81f3\u7cfb\u7edf\u5f00\u59cb\u9707\u8361\uff0c\u7136\u540e\u6839\u636e\u6574\u5b9a\u516c\u5f0f\u521d\u6b65\u786e\u5b9aPID \u7684\u4e09\u4e2a\u53c2\u6570\u503c[3]\u3002\u5176\u6574\u5b9a\u516c\u5f0f\u4e3a\u5f0f\u4e2d\uff1aKm \u4e3a\u7cfb\u7edf\u5f00\u59cb\u632f\u8361\u65f6\u7684K \u503c\uff0c\u03c9 m \u4e3a\u632f\u8361\u65f6\u7684\u9891\u7387\u3002\u5728\u8be5\u6db2\u538b\u4f3a\u670d\u63a7\u5236\u4e2d\uff0c\u5149\u7535\u68c0\u6d4b\u5668\u8c03\u8282PID \u63a7\u5236\u5668\u4e2d\u7684\u6bd4\u4f8b\u589e\u76caKP=K\uff0c\u7cfb\u7edf\u7684\u5f00\u73af\u4f20\u9012\u51fd\u6570\u53ef\u4ee5\u8868\u793a\u4e3a\u6539\u53d8\u6bd4\u4f8b\u589e\u76ca\u503c\uff0c\u7ed8\u5236\u6bcf\u4e2aKP \u5bf9\u5e94\u7684\u5355\u4f4d\u9636\u8dc3\u54cd\u5e94\u56fe\uff0c\u76f4\u5230\u5176\u54cd\u5e94\u56fe\u5904\u4e8e\u4e34\u754c\u632f\u8361\u72b6\u6001\uff0c\u5982\u56fe7 \u6240\u793a\u3002\u56fe7 \u4e0d\u540c\u6bd4\u4f8b\u589e\u76ca\u5bf9\u5e94\u7684\u5355\u4f4d\u9636\u8dc3\u54cd\u5e94\u7531\u56fe7 \u53ef\u77e5\uff1a\u5f53\u7cfb\u7edf\u5904\u4e8e\u4e34\u754c\u7a33\u5b9a\u65f6\uff0cKm=205\uff0c\u8be5\u70b9\u7684\u9891\u7387\u03c9 m=66.2 rad\/s\u3002\u6309\u7167\u4e34\u754c\u6bd4\u4f8b\u6574\u5b9a\u516c\u5f0f\u53ef\u77e5KP=123\uff0cKD=1.46\uff0cKI=2 591\u3002\u521d\u6b65\u8ba1\u7b97\u5f97\u51fa\u7684PID \u53c2\u6570\u53ea\u80fd\u521d\u6b65\u6539\u5584\u7cfb\u7edf\u6027\u80fd\uff0c\u53ef\u901a\u8fc7Matlab \u4e2d\u7684PID \u63a7\u5236\u5668\u8c03\u8282\uff0c\u5bf9PID \u7684\u53c2\u6570\u8fdb\u4e00\u6b65\u8fdb\u884c\u8c03\u6574\uff0c\u5f97\u5230\u66f4\u52a0\u4f18\u5316\u7684PID \u53c2\u6570\uff1aKP=95.7\uff0cKI=28.2\uff0cKD=1.0\u3002\u52a0\u5165PID \u63a7\u5236\u5668\u540e\u7684\u7cfb\u7edf\u5f00\u73af\u4f20\u9012\u51fd\u6570\u4e3aSimulink \u73af\u5883\u4e0b\u5efa\u7acb\u7684\u7cfb\u7edf\u4eff\u771f\u6a21\u578b\u5982\u56fe8 \u6240\u793a\uff0c\u5355\u4f4d\u9636\u8dc3\u54cd\u5e94\u5982\u56fe9 \u6240\u793a\u3002\u56fe8 PID \u63a7\u5236\u7684Simulink \u4eff\u771f\u6846\u56fe\u56fe9 \u52a0\u5165PID \u63a7\u5236\u5668\u540e\u7cfb\u7edf\u9636\u8dc3\u54cd\u5e94\u7531\u56fe9 \u53ef\u77e5\uff0c\u63a7\u5236\u7cfb\u7edf\u7684\u4e0a\u5347\u65f6\u95f4t r=0.14 s\uff0c\u5cf0\u503c\u65f6\u95f4t p=0.16 s\uff0c\u6700\u5927\u8d85\u8c03\u91cfMp=6%\uff0c\u7cfb\u7edf\u8fbe\u5230\u7a33\u6001\u503c\u7684\u65f6\u95f4\u4e3a0.6 s\u30024 \u6a21\u7ccaPID \u63a7\u5236\u5668\u7684\u8bbe\u8ba14.1 \u6a21\u7ccaPID \u63a7\u5236\u7684\u7279\u70b9PID \u63a7\u5236\u5177\u6709\u539f\u7406\u7b80\u5355\u3001\u5b9e\u73b0\u5bb9\u6613\u3001\u9002\u7528\u8303\u56f4\u5e7f\u7684\u4f18\u70b9\u3002\u4f46PID \u53c2\u6570\u7684\u6574\u5b9a\u5177\u6709\u4e00\u5b9a\u56f0\u96be\uff0c\u8981\u83b7\u5f97\u8f83\u597d\u7684\u8c03\u8282\u6548\u679c\u4e00\u822c\u9700\u8981\u4e30\u5bcc\u7684\u7ecf\u9a8c\u6216\u8005\u9700\u8981\u5bf9\u73b0\u6709\u7684\u7cfb\u7edf\u8fdb\u884c\u8bd5\u9a8c\uff0c\u800c\u4e14\uff0c\u5f53\u786e\u5b9a\u4e86\u4e00\u7ec4PID \u7684\u53c2\u6570\u503c\u540e\uff0c\u53ef\u80fd\u4e0d\u540c\u65f6\u8ba9\u7cfb\u7edf\u7684\u54cd\u5e94\u65f6\u95f4\u3001\u8d85\u8c03\u91cf\u7b49\u53c2\u6570\u8fbe\u5230\u6700\u4f18\u3002\u6a21\u7cca\u63a7\u5236\u5177\u6709\u4ee5\u4e0b\u4f18\u70b9\uff1a\u5728\u4f7f\u7528\u65f6\uff0c\u5373\u4f7f\u6ca1\u6709\u5efa\u7acb\u975e\u5e38\u7cbe\u786e\u7684\u6570\u5b66\u6a21\u578b\u4e5f\u4e0d\u4f1a\u5bf9\u63a7\u5236\u6548\u679c\u4ea7\u751f\u8f83\u5927\u7684\u5f71\u54cd\uff1b\u540c\u65f6\u6a21\u7cca\u63a7\u5236\u5177\u6709\u8f83\u5f3a\u7684\u9c81\u68d2\u6027\u548c\u5bb9\u9519\u80fd\u529b\u3002\u5728PID \u63a7\u5236\u4e2d\u52a0\u5165\u6a21\u7cca\u63a7\u5236\u5668\uff0c\u6784\u6210\u6a21\u7ccaPID \u590d\u5408\u63a7\u5236\uff0c\u53ef\u4ee5\u540c\u65f6\u5177\u6709PID \u63a7\u5236\u548c\u6a21\u7cca\u63a7\u5236\u7684\u4f18\u70b9\uff1a\u66f4\u5feb\u7684\u52a8\u6001\u54cd\u5e94\u7279\u6027\uff0c\u66f4\u5c0f\u7684\u8d85\u8c03\u91cf\uff0c\u66f4\u9ad8\u7684\u7a33\u6001\u7cbe\u5ea6\u30024.2 \u6a21\u7cca\u63a7\u5236\u5668\u7684\u8bbe\u8ba1\u76ee\u524d\u5e7f\u4e3a\u5e94\u7528\u7684\u662f\u4e8c\u7ef4\u7684\u6a21\u7cca\u63a7\u5236\u5668\u3002\u672c\u6587\u91c7\u7528\u4e8c\u7ef4\u8f93\u5165\u4e09\u7ef4\u8f93\u51fa\u7684\u6a21\u7cca\u63a7\u5236\u5668\uff0c\u5c06\u8bef\u5deee \u548c\u8bef\u5dee\u7684\u53d8\u5316\u0394e \u4f5c\u4e3a\u6a21\u7cca\u63a7\u5236\u5668\u7684\u8f93\u5165\u91cf\uff0c\u4ee5PID \u7684\u4e09\u4e2a\u53c2\u6570\u4f5c\u4e3a\u8f93\u51fa\u91cf\u30024.2.1 \u6a21\u7cca\u63a7\u5236\u5668\u6a21\u7cca\u89c4\u5219\u5efa\u7acb\u7684\u57fa\u672c\u539f\u52191\uff09\u82e5\u8bef\u5dee\u4e3a\u6b63\u540c\u65f6\u8bef\u5dee\u7684\u53d8\u5316\u4e3a\u6b63\uff0c\u6b64\u65f6\u5e94\u589e\u5927\u6267\u884c\u673a\u6784\u7684\u63a7\u5236\u91cf\uff0c\u4ee5\u51cf\u5c0f\u7cfb\u7edf\u8bef\u5dee\uff1b2\uff09\u82e5\u8bef\u5dee\u4e3a\u6b63\u540c\u65f6\u8bef\u5dee\u7684\u53d8\u5316\u4e3a\u8d1f\uff0c\u8fd9\u65f6\u6267\u884c\u673a\u6784\u672c\u8eab\u5df2\u6709\u6d88\u9664\u8bef\u5dee\u7684\u8d8b\u52bf\uff0c\u53d6\u63a7\u5236\u91cf\u4e3a0 \u6216\u8f83\u5c0f\uff0c\u53ef\u5c3d\u5feb\u6d88\u9664\u8bef\u5dee\u4e14\u4fdd\u8bc1\u4e0d\u8d85\u8c03\uff1b3\uff09\u5982\u679c\u8bef\u5dee\u4e3a\u8d1f\u800c\u8bef\u5dee\u7684\u53d8\u5316\u4e3a\u6b63\uff0c\u5e94\u53d6\u8f83\u5c0f\u7684\u63a7\u5236\u91cf\uff1b4\uff09\u5982\u679c\u8bef\u5dee\u4e3a\u8d1f\u4e14\u8bef\u5dee\u7684\u53d8\u5316\u4e3a\u8d1f\uff0c\u6b64\u65f6\u5e94\u589e\u5927\u6267\u884c\u673a\u6784\u7684\u63a7\u5236\u91cf\uff0c\u6291\u5236\u8d85\u8c03\u91cf\u30024.2.2 PID \u4e09\u4e2a\u53c2\u6570\u7684\u4f5c\u75281\uff09\u9002\u5f53\u589e\u5927\u6bd4\u4f8b\u53c2\u6570KP \u7684\u503c\u53ef\u4ee5\u52a0\u5feb\u7cfb\u7edf\u7684\u54cd\u5e94\u901f\u5ea6\uff0c\u540c\u65f6\u51cf\u5c0f\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\uff0c\u4f46\u7cfb\u7edf\u7684\u8d85\u8c03\u91cf\u4f1a\u589e\u52a0\uff1b\u968f\u7740KP \u7684\u8fdb\u4e00\u6b65\u589e\u5927\uff0c\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\u53d8\u5dee\uff0c\u6700\u7ec8\u5c06\u5bfc\u81f4\u7cfb\u7edf\u4e0d\u7a33\u5b9a\u30022\uff09\u79ef\u5206\u4f5c\u7528\u53c2\u6570KI \u7684\u4e3b\u8981\u4f5c\u7528\u662f\u5f71\u54cd\u6d88\u9664\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\u7684\u901f\u5ea6\uff0cKI \u589e\u5927\u65f6\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\u6d88\u9664\u53d8\u5feb\u3002\u4f46KI \u4e5f\u4e0d\u80fd\u8fc7\u5927\uff0c\u5426\u5219\u5728\u54cd\u5e94\u8fc7\u7a0b\u7684\u521d\u671f\u4f1a\u4ea7\u751f\u79ef\u5206\u9971\u548c\u73b0\u8c61\uff0c\u5f53KI \u51cf\u5c0f\uff0c\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\u5c06\u96be\u4ee5\u6d88\u9664\uff0c\u6700\u7ec8\u4f1a\u5f71\u54cd\u7cfb\u7edf\u7684\u8c03\u8282\u7cbe\u5ea6\u30023\uff09\u5fae\u5206\u589e\u76ca\u53c2\u6570K D \u7684\u4f5c\u7528\u662f\u5f71\u54cd\u7cfb\u7edf\u7684\u52a8\u6001\u6027\u80fd\uff0c\u8c03\u8282KD \u7684\u503c\u53ef\u4ee5\u505a\u5230\u5728\u54cd\u5e94\u8fc7\u7a0b\u4e2d\u6291\u5236\u504f\u5dee\u5411\u4efb\u4f55\u65b9\u5411\u7684\u53d8\u5316\uff0c\u63d0\u524d\u9884\u6d4b\u504f\u5dee\u53d8\u5316\u8d8b\u52bf\u3002\u4f46KD \u4e0d\u80fd\u8fc7\u5927\uff0c\u5426\u5219\u4f1a\u4f7f\u54cd\u5e94\u8fc7\u7a0b\u63d0\u524d\u5236\u52a8\uff0c\u5ef6\u957f\u8c03\u8282\u65f6\u95f4\uff0c\u5e76\u4e14\u4f1a\u964d\u4f4e\u7cfb\u7edf\u7684\u6297\u5e72\u6270\u6027\u80fd\u30024.2.3 \u6a21\u7ccaPID \u63a7\u5236\u5668\u7684\u8bbe\u8ba1\u6b65\u9aa41\uff09\u786e\u5b9a\u6a21\u7cca\u63a7\u5236\u5668\u7684\u8f93\u5165\u8f93\u51fa\u53d8\u91cf\u5c06\u5355\u4f4d\u8d1f\u53cd\u9988\u7cfb\u7edf\u7684\u8bef\u5deee \u548c\u8bef\u5dee\u7684\u53d8\u5316\u7387\u0394e \u4f5c\u4e3a\u63a7\u5236\u5668\u7684\u8f93\u5165\uff0c\u5c06KP\u3001P I\u3001P D \u4f5c\u4e3a\u63a7\u5236\u5668\u7684\u8f93\u5165\uff0c\u4ed6\u4eec\u5404\u81ea\u7684\u6a21\u7cca\u5b50\u96c6\u4e3ae ={NB,NM,NS,ZO,PS,PM,PB}\uff1b\u0394e = 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