控制简介中英文翻译word版

英语资料及译文About PID control Recentlyautomation technologyis based on theconcept offeedback.Elements offeedback theoryconsist ofthree parts:measurement,comparison andimplementation.Measurement variablesof concern,compared withexpectations,with the control system to correctthe errorresponse.The theory and applicationof automatic control,the keyis tomake thecorrect measurementand comparisonof howbest to rectify the system.PID proportional-integral-differential controlleras thefirst practicaluse of the controllermore than50years ofhistory,is stillthe most widely usedindustrial controller.Simple PID controller,the use of the system does not accuratelymodel aprerequisite that they havebecome the mostwidely used controller.PID controlleris the proportion ofcells P,integral unitI and the differentialunit Dcomponent.Because ofits widerange ofuses,the useof flexible,has beenserialized products,the useof onlythree parameterssetting Kp,Ti andTd can be.In manycases,does notnecessarily needall threemodules,which cantake1-2unit,but the proportion of the controlunit isessential.First of all,PID broadrange ofapplications.Although manyindustrial processesor time-varying non-linear,but canbe simplifiedthrough theirbasic non-linear anddynamic characteristics of the system overtime,so thatyou cancontrol thePID.Secondly,PID parametercan tuneeasier.That is,PID parametersKp,Ti andTd canbe basedon thedynamic characteristicsof the process ofsetting atimely manner.If thedynamic characteristicsof the process of制系统的传感器是温度传感器目前，PID控制及其控制器或智能PID控制器仪表已经很多，产品已在工程实际中得到了广泛的应用，有各种各样的PID控制器产品，各大公司都开发了具有PID参数自整定功能的智能调节器intelligent regulator,其中PID控制器参数的自动调整是通过智能化调整或自校正、自适应算法来实现有利用PID控制实现的压力、温度、流量、液位控制器，能实现PID控制功能的可编程控制器PLC,还有可实现PID控制的PC系统等等可编程控制器PLC是利用其闭环控制模块来实现PID控制，而可编程控制器PLC可以直接与ControlNet相连，如Rockwell的PLC-5等还有可以实现PID控制功能的控制器，如Rockwell的Logix产品系列，它可以直接与ControlNet相连，利用网络来实现其远程控制功能

1、开环控制系统开环控制系统是指被控对象的输出被控制量对控制器的输出没有影响在这种控制系统中，不依赖将被控量反送回来以形成任何闭环回路

2、闭环控制系统闭环控制系统的特点是系统被控对象的输出被控制量会反送回来影响控制器的输出，形成一个或多个闭环闭环控制系统有正反馈和负反馈，若反馈信号与系统给定值信号相反，则称为负反馈，若极性相同，则称为正反馈，一般闭环控制系统均采用负反馈，又称负反馈控制系统闭环控制系统的例子很多比如人就是一个具有负反馈的闭环控制系统，眼睛便是传感器，充当反馈，人体系统能通过不断的修正最后作出各种正确的动作如果没有眼睛，就没有了反馈回路，也就成了一个开环控制系统另例，当一台真正的全自动洗衣机具有能连续检查衣物是否洗净,并在洗净之后能自动切断电源，它就是一个闭环控制系统

3、阶跃响应阶跃响应是指将一个阶跃输入step function加到系统上时,系统的输出稳态误差是指系统的响应进入稳态后，系统的期望输出与实际输出之差控制系统的性能可以用稳、准、快三个字来描述稳是指系统的稳定性，一个系统要能正常工作，首先必须是稳定的，从阶跃响应上看应该是收敛的；准是指控制系统的准确性、控制精度，通常用稳态误差来描述，它表示系统输出稳态值与期望值之差；快是指控制系统响应的快速性，通常用上升时间来定量描述

4、PID控制的原理和特点在工程实际中，应用最为广泛的调节器控制规律为比例、积分、微分控制，简称PID控制，又称PID调节PID控制器问世至今已有近70年历史，它以其结构简单、稳定性好、工作可靠、调整方便而成为工业控制的主要技术之一当被控对象的结构和参数不能完全掌握，或得不到精确的数学模型时，控制理论的其它技术难以采用时，系统控制器的结构和参数必须依靠经验和现场调试来确定，这时应用PID控制技术最为方便即当我们不完全了解一个系统和被控对象，或不能通过有效的测量手段来获得系统参数时，最适合用PID控制技术PID控制，实际中也有PI和PD控制PID控制器就是根据系统的误差，利用比例、积分、微分计算出控制量进行控制的比例（P）控制比例控制是一种最简单的控制方式其控制器的输出与输入误差信号成比例关系当仅有比例控制时系统输出存在稳态误差积分（I）控制在积分控制中，控制器的输出与输入误差信号的积分成正比关系对一个自动控制系统，如果在进入稳态后存在稳态误差，则称这个控制系统是有稳态误差的或简称有差系统为了消除稳态误差，在控制器中必须引入“积分项”积分项对误差取决于时间的积分，随着时间的增加，积分项会增大这样，即便误差很小，积分项也会随着时间的增加而加大，它推动控制器的输出增大使稳态误差进一步减小，直到等于零因此，比例+积分（PI）控制器，可以使系统在进入稳态后无稳态误差微分（D）控制在微分控制中，控制器的输出与输入误差信号的微分（即误差的变化率）成正比关系自动控制系统在克服误差的调节过程中可能会出现振荡甚至失稳其原因是由于存在有较大惯性组件（环节）或有滞后组件，具有抑制误差的作用，其变化总是落后于误差的变化解决的办法是使抑制误差的作用的变化“超前”，即在误差接近零时，抑制误差的作用就应该是零这就是说，在控制器中仅引入“比例”项往往是不够的，比例项的作用仅是放大误差的幅值，而目前需要增加的是“微分项”，它能预测误差变化的趋势，这样，具有比例+微分的控制器，就能够提前使抑制误差的控制作用等于零，甚至为负值，从而避免了被控量的严重超调所以对有较大惯性或滞后的被控对象，比例+微分PD控制器能改善系统在调节过程中的动态特性change,for example,changes maybe causedby theload dynamic characteristicsof the systemchanges,PID parameterscanbere-tuning.Third,PID controllerin practiceis to be improvedcontinuously,the followingare twoexamples ofimprovements.In factories,we alwayssee alot ofloops arein manual,and becauseof thedifficulty of the courseso that the nautomatic nmode,a smoothworking.As aresult of these deficiencies,the useof the industrial control system PIDis alwayssubject toproduct quality,safety,waste production and energyproblems.PID parameter self-tuning PID parameters in order todeal withthis problemsetting generated.Now,the auto-tuning orself-tuning of PID controlleris abusiness single-loop controllersand distributedcontrol systemofastandard.In somecases the system-specific designof PID controller tocontrol verywell,but theyare there are stillsome problemstobesolved:If self-tuning should be basedon themodel,inordertore-PID tuningparameters onlineto findand maintaina goodprocess modelis moredifficult.When closed-loop works,the requirementsin theprocess ofinserting musthave atest signal.This methodwill causedisturbance,so model-based PIDparameter self-tuning is not toogood in theindustrialapplications.If self-tuning control law basedon theoften difficultto loaddisturbance causedby the impact anddynamic characteristicsof theprocess of theimpact of changes in thedistinction betweenthe effectsof sodisturbed overshootcontroller willhave tocreate aself-adaptive unnecessaryconversion.In addition,since thecontrollawbasedon the maturityof the system isnot the stability ofanalytical methods,the reliabilityof parametertuning,there aremany problems.Therefore,many self-tuning PID controller parameterswork inthe auto-tuning modeand notintheself-tuning mode.Auto-tuning isoften usedto describe the stateof open-loop basedonasimple processmodel to determine automaticcalculation of PIDparameters.PID incontrolling nonlinear,time-varying,coupling andparameter uncertaintyand structuralcomplexity of theprocess,the workisnotvery good.The mostimportant thingis,if thePID controllercan notcontrol thecomplexity of theprocess,regardless ofhow notto usetransfer parameters.Despite theseshortcomings,PID controlleris sometimesthe mostsimple is the bestcontroller.At present,the levelof industrialautomation hasbecome ameasure of the levelof modernizationin allwalks oflife animportant sign.At thesame time,the developmentof control theory has also experienceda classicalcontrol theory,modern controltheoryandintelligent controltheory ofthree stages.Classic exampleof intelligentcontrol is ambiguous,such asfull-automatic washingmachine.Automatic control system canbe dividedinto open-loop control systems andclosed-loop control system.A control system,including controllers,sensors,transmitters,implementing agencies,input andoutput interfaces.Controllers outputafter the output interface,the implementingagencies,added to the systemwas charged with;control systemcharged with the amount,after the sensor,transmitter,through theinput interfaceto thecontrol1er.Different controlsystem,thesensor,transmitter,the executingagency isnot thesame.For examplepressure sensorsneed tobe usedin pressurecontrolsystem.Electric heatingcontrolsystem is thesensor temperaturesensor.At present,PID controland PID controller ora smartcontroller instrumenthasalot ofproducts havebeen in practice inengineering iswidely used,there area widerange ofPID controllerproducts,major companieshave developedwith PIDparameterself-tuning regulatorfunction smartintelligent regulator,which thePID controllerparameters areautomatically adjustedthrough theintelligent orself-tuning,adaptive algorithmsto achieve.PID controlare achievedusing pressure,temperature,flow,liquid levelcontroller,PIDcontrol functions to achieve theprogrammable logic controller PLC,also enablesthe PCsystem,PIDcontroland soon.Programmable LogicController PLCis theuseofits closed-loop controlmodule toachieve PIDcontrol,and programmablelogiccontrollerPLC canbe connecteddirectly with the ControlNet,such asRockwelFs PLC-5and soon.There canbethe controller PIDcontrolfunctions,such asRockwelfs Logixproduct line,it canbe connecteddirectly withthe ControlNet,using theInternet toachieve itslong-range controlfunctions.1,Open-loop controlsystem Open-loop controlsystem is the objectof the output volume control onthe controllerdoesnotaffect theoutput.In thiscontrolsystem,do notrely onvolume will be chargedback to the formationof anti-any closed-loop circuit.2,Closed-loop controlsystem Closed-loop controlsystem ischaracterized bytheoutput of the system objectvolumecontrolwill besent backto theimpactofanti-output controller to formone ormore of the closed-loop.Closed-loop controlsystem haspositive feedbackand negative feedback,if thefeedback signaland thesystem toset thevalue of the signalthe otherhand,is referred to as negative feedback,if thesame polarityis calledpositive feedback,the generalclosed-loop controlsystem usingnegative feedback,also knownasnegativefeedback controlsystem.Closed-loop controlsystem hasmany examples.For example,people withnegativefeedbackisa closed-loop controlsystem,the eyeis thesensor toact asa feedback,the humanbody systemthrough theconstant varietyoftheright tomake amendmentsto thefinal action.If thereare noeyes,there isno feedbackloops,it becamean open-loop controlsystem.Another example,when afull-automatic washingmachine witha realcontinuously checkwhether thewashed clothing,and washoff automaticallyafter thepower supply,it isaclosed-loop controlsystem.3,Step responseStep responserefers toa stepinput stepfunction whenadded tothesystem,thesystemoutput.Steady-state erroristhesystem responseinto thesteady-state,the systemsdesired output and actualoutputofthe difference.The performanceof controlsystem canbe stable,accurate andfast threewords todescribe.Stability isthestabilityofthesystem,a systemmust beable towork,first ofall must be stable,from thestep responseshould bea convergencepoint ofview;quasi-controlsystem refers tothe accuracy,control precision,stability isusually state error description,it saidthesystemoutput steady-state valueandthedifference betweenexpectations;fast controlsystemreferstotherapid response,and usuallytoaquantitative descriptionoftherise time.4,Theory andthe characteristicsofPIDcontrol Inengineering practice,the mostwidelyusedcontrol lawsregulate the proportional,integral,differential control,referred toas PIDcontrol,also knownas PIDregulator.PID controllerhas beenavailable fornearly70years ofhistory,which inits simplestructure,stable,reliable,easy toadjust andbecome themain industrialcontrol technologies.When chargedwiththestructure and parameters ofthe objectcan notcompletely grasp,or lackof accuratemathematical model,controltheoryit isdifficult usingother techniques,thesystemcontroller structureandparametershave torely onexperience andon-site testingtodeterminewhen theapplication PIDcontrol ofthe mostconvenient technology.That is,when wedo notfully understandthesystemand chargedwith anobject,or cannot bean effectivemeans ofmeasuring systemparameters toobtain themost suitablePIDcontroltechnology.PIDcontrol,inpracticetherearePI andPD control.PIDcontrolleristhe error ofthesystem,using proportional,integral,differential calculationfor thecontrol ofthe volumecontrol.The ratioofPcontrol Proportionalcontrol isone ofthemostsimple controlmethods.The controllersoutput andinput error signal proportional tothe relationship.The outputhas theexistence ofsteady-state errorwhen there is onlya proportionalcontrolsystem.Integral Icontrol Inintegral control,the controllersoutput andinput errorsignal isproportional tothe integralrelationship.For anautomaticcontrolsystem,if steady-state errorexists afterentering thesteady-state,thecontrolsystemisreferredtoas steady-state erroror havinga poorsystem.In orderto eliminatesteady-state error,thecontrollermustbethe introductionofthen keypoints.”Points of error dependonthetime ofthe pointsoftheincrease overtime,will increase the integral term.In thisway,even ifthe erroris verysmall,integraltermwill increaseas timeincreases,it increasedto promotetheoutputofthecontroller sothat steady-state errorfurther reduceduntil zero.Therefore,theproportional+integral PIcontroller,you canmake thesystem afterentering thesteady-state non-steady-stateerror.Differential Dcontrol Inthe differentialcontrol,the controllersoutputandinput ofthe differentialerrorsignalthe rateof changeof erroris directlyproportionaltotherelationship.Automatic controlsystemtoovercome theerrors inthe adjustmentprocess maybe unstableor evenoscillation.The reasonis becauseof greater inertial componentslinks orthereislag components,can inhibit the role of error,the changesalways lagbehind changesin error.The solutionis toinhibitthechangesinthe roleof errorH inadvance，that isclose to zero intheerrorand suppressthe roleoferrorshouldbezero.This meansthatthecontroller onlythe introductionoftheproportion ofoften isnot enough,theproportion oftherole isonly toenlarge theamplitude error,the currentneed toincreasethen differentialitem nthat canchange thetrend ofprediction error,In thisway,withtheproportionof+differential controller,willbeable toadvance sothattheroleofinhibitory controlerror equaltozeroor evennegative,thus avoidingthe amountchargedwitha seriousovershoot.Therefore,greaterinertiaofthecharged objector lag,theproportionof+differential（PD）controllertoimprove thesystem inthe regulationofthedynamiccharacteristicsoftheprocess.PID控制简介当今的自动控制技术都是基于反馈的概念反馈理论的要素包括三个部分测量、比较和执行测量关心的变量，与期望值相比较，用这个误差纠正调节控制系统的响应这个理论和应用自动控制的关键是，做出正确的测量和比较后，如何才能更好地纠正系统PID（比例-积分-微分）控制器作为最早实用化的控制器已有50多年历史，现在仍然是应用最广泛的工业控制器PID控制器简单易懂，使用中不需精确的系统模型等先决条件，因而成为应用最为广泛的控制器PID控制器由比例单元（P）、积分单元（I）和微分单元（D）组成它由于用途广泛、使用灵活，已有系列化产品，使用中只需设定三个参数（Kp,Ti和Td）即可在很多情况下，并不一定需要全部三个单元，可以取其中的一到两个单元，但比例控制单元是必不可少的首先，PID应用范围广虽然很多工业过程是非线性或时变的，但通过对其简化可以变成基本线性和动态特性不随时间变化的系统，这样PID就可控制了其次，PID参数较易整定也就是，PID参数Kp,Ti和Td可以根据过程的动态特性及时整定如果过程的动态特性变化，例如可能由负载的变化引起系统动态特性变化，PID参数就可以重新整定第三，PID控制器在实践中也不断的得到改进，下面是两个改进的例子在工厂，总是能看到许多回路都处于手动状态，原因是很难让过程在“自动”模式下平稳工作由于这些不足，采用PID的工业控制系统总是受产品质量、安全、产量和能源浪费等问题的困扰PID参数自整定就是为了处理PID参数整定这个问题而产生的现在，自动整定或自身整定的PID控制器已是商业单回路控制器和分散控制系统的一个标准在一些情况下针对特定的系统设计的PID控制器控制得很好，但它们仍存在一些问题需要解决如果自整定要以模型为基础，为了PID参数的重新整定在线寻找和保持好过程模型是较难的闭环工作时，要求在过程中插入一个测试信号这个方法会引起扰动，所以基于模型的PID参数自整定在工业应用不是太好如果自整定是基于控制律的，经常难以把由负载干扰引起的影响和过程动态特性变化引起的影响区分开来，因此受到干扰的影响控制器会产生超调，产生一个不必要的自适应转换另外，由于基于控制律的系统没有成熟的稳定性分析方法，参数整定可靠与否存在很多问题因此，许多自身整定参数的PID控制器经常工作在自动整定模式而不是连续的自身整定模式自动整定通常是指根据开环状态确定的简单过程模型自动计算PID参数PID在控制非线性、时变、耦合及参数和结构不确定的复杂过程时，工作地不是太好最重要的是，如果PID控制器不能控制复杂过程，无论怎么调参数都没用虽然有这些缺点，PID控制器是最简单的有时却是最好的控制器目前工业自动化水平已成为衡量各行各业现代化水平的一个重要标志同时，控制理论的发展也经历了古典控制理论、现代控制理论和智能控制理论三个阶段智能控制的典型实例是模糊全自动洗衣机等自动控制系统可分为开环控制系统和闭环控制系统一个控制系统包括控制器、传感器、变送器、执行机构、输入输出接口控制器的输出经过输出接口、执行机构，加到被控系统上；控制系统的被控量，经过传感器，变送器，通过输入接口送到控制器不同的控制系统，其传感器、变送器、执行机构是不一样的比如压力控制系统要采用压力传感器电加热控。