学会PID通用调试方法，什么控制器都不怕！

haoayou · 发表于 2024-7-10 18:16:53

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<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(123, 12, 0); font-size: 15px; font-family: 微软雅黑, "Microsoft YaHei";">（一）先来彻底搞懂PID到底是什么？<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">啥是PID？PID，就是“比例（proportional）、积分（integral）和微分（derivative）”，是一种很常见的控制算法。算法是不可以吃的。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">PID已经有107年的历史了。它并不是什么很神圣的东西，大家一定都见过PID的实际应用。比如四轴飞行器，再比如平衡小车......还有汽车的定速巡航、3D打印机上的温度控制器....就是类似于这种：需要将某一个物理量“保持稳定”的场合（比如维持平衡，稳定温度、转速等），PID都会派上大用场。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">那么问题来了：比如，我想控制一个“热得快”，让一锅水的温度保持在50℃，这么简单的任务，为啥要用到微积分的理论呢。你一定在想：这不是so easy嘛~ 小于50度就让它加热，大于50度就断电，不就行了？几行代码用Arduino分分钟写出来。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">没错~在要求不高的情况下，确实可以这么干~ But！如果换一种说法，你就知道问题出在哪里了？<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">如果我的控制对象是一辆汽车呢？要是希望汽车的车速保持在50km/h不动，你还敢这样干么。设想一下，假如汽车的定速巡航电脑在某一时间测到车速是45km/h。它立刻命令发动机：加速！结果，发动机那边突然来了个100%全油门，嗡的一下，汽车急加速到了60km/h。这时电脑又发出命令：刹车！结果，吱...............哇............(乘客吐)<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">所以，在大多数场合中，用“开关量”来控制一个物理量，就显得比较简单粗暴了。有时候，是无法保持稳定的。因为单片机、传感器不是无限快的，采集、控制需要时间。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">而且，控制对象具有惯性。比如你将一个加热器拔掉，它的“余热”（即热惯性）可能还会使水温继续升高一小会。这时，就需要一种『算法』：<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <section><ul class=" list-paddingleft-2" style="list-style-type: square;"><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">它可以将需要控制的物理量带到目标附近</li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">它可以“预见”这个量的变化趋势</li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">它也可以消除因为散热、阻力等因素造成的静态误差</li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">....</li></ul></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">于是，当时的数学家们发明了这一历久不衰的算法——这就是PID。你应该已经知道了，P，I，D是三种不同的调节作用，既可以单独使用（P，I，D），也可以两个两个用（PI，PD），也可以三个一起用（PID）。这三种作用有什么区别呢？客官别急，听我慢慢道来！<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; text-align: center; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; text-align: center; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><img class="__bg_gif rich_pages wxw-img" src="https://mmbiz.qpic.cn/mmbiz_gif/leicQ2a3NFibfibknZDyPAa5u8qM22hDicUrIdtfQ8kSN2tiaNeoEDmsvxB1InIGOkBsqiae2QOfeWCwBO3flfxwMiamA/640?wx_fmt=gif&tp=wxpic&wxfrom=5&wx_lazy=1" alt="图片" style="margin: 0px; padding: 0px; outline: 0px; box-sizing: border-box; vertical-align: inherit; border-width: 1px; border-style: solid; border-color: rgb(238, 237, 235); overflow-wrap: break-word !important; height: auto !important; background-color: rgb(238, 237, 235) !important; background-size: 22px !important; background-position: center center !important; background-repeat: no-repeat !important; visibility: visible !important; width: 400px !important;"/><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; text-align: center; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">我们先只说PID控制器的三个最基本的参数：kP,kI,kD。 <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(61, 167, 66); font-size: 15px; font-family: 微软雅黑, "Microsoft YaHei";">【1】kP<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">P就是比例的意思。它的作用最明显，原理也最简单。我们先说这个，需要控制的量，比如水温，有它现在的『当前值』，也有我们期望的『目标值』。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <section><ul class=" list-paddingleft-2" style="list-style-type: square;"><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">当两者差距不大时，就让加热器“轻轻地”加热一下。</li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">要是因为某些原因，温度降低了很多，就让加热器“稍稍用力”加热一下。</li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">要是当前温度比目标温度低得多，就让加热器“开足马力”加热，尽快让水温到达目标附近。</li></ul></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">这就是P的作用，跟开关控制方法相比，是不是“温文尔雅”了很多。实际写程序时，就让偏差（目标减去当前）与调节装置的“调节力度”，建立一个一次函数的关系，就可以实现最基本的“比例”控制了~kP越大，调节作用越激进，kP调小会让调节作用更保守。要是你正在制作一个平衡车，有了P的作用，你会发现，平衡车在平衡角度附近来回“狂抖”，比较难稳住。如果已经到了这一步——恭喜你！离成功只差一小步了~<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(61, 167, 66); font-size: 15px; font-family: 微软雅黑, "Microsoft YaHei";">【2】kD<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; letter-spacing: 0.544px; font-size: 15px; font-family: 微软雅黑, "Microsoft YaHei";">D的作用更好理解一些，所以先说说D，最后说I。刚才我们有了P的作用。你不难发现，只有P好像不能让平衡车站起来，水温也控制得晃晃悠悠，好像整个系统不是特别稳定，总是在“抖动”。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; text-align: center; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><img class="__bg_gif rich_pages wxw-img" src="https://mmbiz.qpic.cn/mmbiz_gif/leicQ2a3NFibfibknZDyPAa5u8qM22hDicUrmLuLRt13JqhSL4sEXSE4ROxaQoKUkk3gmN7DvibjAg2uO4mPzPrPbRQ/640?wx_fmt=gif&tp=wxpic&wxfrom=5&wx_lazy=1" alt="图片" style="margin: 0px; padding: 0px; outline: 0px; box-sizing: border-box; vertical-align: inherit; border-width: 1px; border-style: solid; border-color: rgb(238, 237, 235); overflow-wrap: break-word !important; height: auto !important; background-color: rgb(238, 237, 235) !important; background-size: 22px !important; background-position: center center !important; background-repeat: no-repeat !important; visibility: visible !important; width: 116px !important;"/><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; text-align: center; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">你心里设想一个弹簧：现在在平衡位置上。拉它一下，然后松手。这时它会震荡起来。因为阻力很小，它可能会震荡很长时间，才会重新停在平衡位置。请想象一下：要是把上图所示的系统浸没在水里，同样拉它一下：这种情况下，重新停在平衡位置的时间就短得多。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">我们需要一个控制作用，让被控制的物理量的“变化速度”趋于0，即类似于“阻尼”的作用。因为，当比较接近目标时，P的控制作用就比较小了。越接近目标，P的作用越温柔。有很多内在的或者外部的因素，使控制量发生小范围的摆动。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">D的作用就是让物理量的速度趋于0，只要什么时候，这个量具有了速度，D就向相反的方向用力，尽力刹住这个变化。kD参数越大，向速度相反方向刹车的力道就越强。如果是平衡小车，加上P和D两种控制作用，如果参数调节合适，它应该可以站起来了~欢呼吧。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">等等，PID三兄弟好像还有一位。看起来PD就可以让物理量保持稳定，那还要I干嘛？因为我们忽视了一种重要的情况：<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; color: rgb(61, 167, 66); font-size: 15px; font-family: 微软雅黑, "Microsoft YaHei";">【3】kI<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">还是以热水为例。假如有个人把我们的加热装置带到了非常冷的地方，开始烧水了。需要烧到50℃。在P的作用下，水温慢慢升高。直到升高到45℃时，他发现了一个不好的事情：天气太冷，水散热的速度，和P控制的加热的速度相等了。这可怎么办？<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <section><ul class=" list-paddingleft-2" style="list-style-type: square;"><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">P兄这样想：我和目标已经很近了，只需要轻轻加热就可以了。</li><li><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">D兄这样想：加热和散热相等，温度没有波动，我好像不用调整什么。</li></ul></section><p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">于是，水温永远地停留在45℃，永远到不了50℃。作为一个人，根据常识，我们知道，应该进一步增加加热的功率。可是增加多少该如何计算呢？前辈科学家们想到的方法是真的巧妙。设置一个积分量。只要偏差存在，就不断地对偏差进行积分（累加），并反应在调节力度上。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">这样一来，即使45℃和50℃相差不太大，但是随着时间的推移，只要没达到目标温度，这个积分量就不断增加。系统就会慢慢意识到：还没有到达目标温度，该增加功率啦！<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">到了目标温度后，假设温度没有波动，积分值就不会再变动。这时，加热功率仍然等于散热功率。但是，温度是稳稳的50℃。kI的值越大，积分时乘的系数就越大，积分效果越明显。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;">所以，I的作用就是，减小静态情况下的误差，让受控物理量尽可能接近目标值。I在使用时还有个问题：需要设定积分限制。防止在刚开始加热时，就把积分量积得太大，难以控制。<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; font-variant-numeric: normal; font-variant-east-asian: normal; font-variant-alternates: normal; font-variant-position: normal; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; vertical-align: inherit; line-height: 27.2px; widows: 1; background-color: rgb(255, 255, 255); box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; background-color: rgb(255, 255, 255); vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">（二）再来看看PID到底怎么调？（PID参数调整口诀）<p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; background-color: rgb(255, 255, 255); vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;"> <p style="margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; color: rgba(0, 0, 0, 0.9); font-size: 17px; letter-spacing: 0.544px; text-align: justify; text-wrap: wrap; font-family: -apple-system, BlinkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; background-color: rgb(255, 255, 255); vertical-align: inherit; box-sizing: border-box !important; overflow-wrap: break-word !important;">参数整定找最佳，

学会PID通用调试方法，什么控制器都不怕！

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