A pid controller chikamu chakakosha chechero control system. Iwe unoishandisa kuchengetedza maitiro ari padyo nenzvimbo yako yakatarwa nekudzikisa kukanganisa pakati pezvaunoda uye izvo chaizvo zvinoitika. Paunoisa chinangwa, mutongi anogadzirisa kutonga kuti atungamirire maitiro. Maindasitiri anovimba nemapid controller pamabasa akaita setembiricha, kufamba, uye kuyerera kwekudzora. Muchokwadi, ingangoita 95% yemaindasitiri otomatiki inoshandisa pid. Musika wepasi rose wevatongi vepid wakasvika madhora mazana maviri nemakumi matatu emadhora muna 2.3, nekukura kwakasimba kunotarisirwa. Iwe unoona pid mune zvese kubva kune dc mota controller kune yakaoma Brushed DC mota controllers. Iyo Ziegler-Nichols nzira inokubatsira kuti utune mutongi kuti uwane mibairo yakanaka, sezvakaratidzwa mutafura pazasi.
Type Control | Proportional Gain (P) | Nguva Yakakosha (Ti) | Derivative Time (Td) |
|---|---|---|---|
P | 0.5 × Kc | N / A | N / A |
PI | 0.45 × Kc | Pc / 1.2 | N / A |
PID | 0.60 × Kc | 0.5 × Pc | Pc / 8 |
Zvitsva Zvitsva
PID controllers anobatsira kuchengetedza zvinhu. Vanoita izvi nekudzikisa mukaha uripo pakati pezvaunoda nezvaunowana. Vanoshandisa zviito zvitatu: zvakaenzana, zvakakosha, uye zvinobva.
Chikamu chimwe nechimwe chePID chine basa rayo. Proportional inoita nekukurumidza kana paine chikanganiso. Integral inogadzirisa zvikanganiso zvinogara kwenguva refu. Derivative inofungidzira zvichaitika mberi kuti urege kuenda kure.
Kune marudzi akasiyana ePID controller emabasa akasiyana. Zvimwe zviri nyore, seP controller. Yakazara PID controllers inobata mabasa akaomarara. Mhando dzepamusoro dzinopa kudzora kuri nani kana zvinhu zvachinja.
PID controllers anoshandiswa munzvimbo dzakawanda. Iwo ari mumafekitari, marobhoti, uye masisitimu emagetsi. Vanhu vanoashandisa nekuti akavimbika uye ari nyore kugadzirisa. Vanoshandawo zvakanaka kana zvinhu zvachinja.
Kuti uwane mibairo yakanakisa, gadzira PID marongero nehanya. Chinja imwe seti panguva. Tarisa kuti system yacho inoshanda sei. Shandisa maturusi kana nzira seZiegler-Nichols kukubatsira.
PID Controller Basics
tsananguro
Pid controller chishandiso chinobatsira kuti zvinhu zvirambe zvakadzikama. Inotarisa musiyano pakati pezvaunoda nezvaunazvo. Zvadaro, inoshandura kutonga kuita kuti mutsauko uyu uve mudiki. Unoishandisa paunenge uchida kuti muchina uchengetedze imwe sipidhi kana tembiricha. Mutongi anoshandisa zviito zvitatu: kuenzanisa, kubatanidza, uye kubva.
A pid controller anoshanda mune yemhinduro loop. Iyo inoyera iyo yakabuda uye inoienzanisa iyo setpoint. Zvadaro, inoshandura iyo yekuisa kuti iswedere kune chinangwa. Izvi zvinoitika zvakare uye zvakare. Inobatsira kuti sisitimu irambe yakasimba uye ishande zvakanaka.
Vatsvagiri vakaedza pid controller mune akawanda chaiwo mamiriro. Semuyenzaniso:
Mainjiniya vakaita nzira nyowani yekutarisa kana pid controller yakavimbika. Vaiona kushanda kwayaiita nekufamba kwenguva, kunyangwe zvinhu pazvachinja.
Mune imwe bvunzo, pid controller yakamhanyisa hydraulic system mundege. Yakaramba ichishanda zvakanaka, kunyange sezvo zvikamu zvakasakara.
Imwe bvunzo yakashandisa pid controller kuchengetedza kudzvanywa uye kuyerera kwakadzikama panguva yekuuraya tsime. Yakaratidza kuti mutongi anogona kubata zvakaoma uye kuchinja mabasa.
Zvidzidzo izvi zvinoratidza kuti unogona kuvimba nepid controller mune akawanda masystem ekutonga. Inoshanda kunyange mumabasa anokosha uye akaoma.
chinangwa
Iwe unoshandisa pid controller kuchengetedza maitiro padyo nechinangwa chako. Inoshanda kunyange kana zvinhu zvakaipoteredza zvachinja. Basa guru nderokuita kukanganisa pakati peseti uye kukosha kwechokwadi kudiki sezvinobvira. Mutongi anoita izvi nekushandura chiratidzo chekutonga nenzira yakangwara. Inoshandisa zviito zvitatu zvakavakwa mukugadzirwa kwayo.
MaPid controllers anozivikanwa nekuti anoshanda munzvimbo zhinji uye ari nyore kushandisa. Iwe haufanire kuziva zvese nezve system. Iwe unongoyera zvakabuda uye wowana kukanganisa. Mudzori anoita zvimwe. Izvi zvinoita kuti pid controllers ive sarudzo yepamusoro muindasitiri, sainzi, uye minda mitsva senanotechnology.
Chinyorwa cheNI LabVIEW chinoti pid controller inochengeta zvinhu zvakatsiga. Inogara ichitarisa zvabuda, inowana kukanganisa, uye inoita shanduko nekukurumidza. Iyi nzira iri nyore inoshanda mune dzakawanda kudzora masisitimu, kubva kumafekitori kusvika kumalabhu.
Zvidzidzo zvinoratidza mapid controllers anoshandiswa mune inopfuura 90% yemaindasitiri ekudzora loops. Vanobatsira nezvinetso zvakaita sekunonoka, kuchinja kamwe kamwe, uye miganhu yemidziyo. Vatsvagiri vakawana ese matatu zvikamu zvepid controller anobatsira sisitimu kuita nekukurumidza uye kugara yakatsiga. Mune imwe ongororo, vadzori vepid vakatsanangura shanduko zhinji mumashandisirwo anoita vanhu nemichina. Izvi zvinoratidza kubatsira kwavanoita.
Iwe unogona kuona pid controller munzvimbo dzakawanda:
Kuchengeta tembiricha yakadzikama mumakemikari reactor
Kudzora kumhanya kwemota murobhoti
Kutarisira kufamba kwezvinwiwa mufekitari
Iyo pid controller inokupa iwe yakapusa asi yakasimba nzira yekugadzira control system. Inoshanda zvakanaka, kunyangwe kana zvinhu zvaoma. Iwe unogona kushandura controller kuti ikwane zvaunoda. Izvi zvinoita kuti zvive zvakanaka kune akawanda magadzirirwo.
PID Controller Benefits | tsananguro |
|---|---|
Robust Performance | Inobata shanduko nematambudziko zvakanaka |
Chigadzirwa Chakareruka | Zviri nyore kuseta uye kushandisa mune akawanda masisitimu |
Wide application | Inoshanda muindasitiri, sainzi, uye tekinoroji |
Kudzora kwakavimbika | Kuratidzwa mumiyedzo uye nehupenyu chaihwo |
Iyo PID Inoshanda sei
Mhinduro Yekunze
Iwe unoshandisa mhinduro loop kuita kuti pid controller ishande. Mune yakavharwa loop system, mutongi anogara achitarisa maitiro. Inofananidza kuburitsa kune yakatarwa point. Kana iyo yakabuda isingaenderani nenzvimbo yakatarwa, mutongi anoshandisa pid algorithm kushandura chiratidzo chekutonga. Izvi zvinochengeta maitiro ari pedyo nechinangwa chako.
Feedback loop ine matanho makuru matatu:
Kuyera nzira inobuda.
Enzanisa zvakabuda kune yakatarwa poindi.
Shandisa pid algorithm kugadzirisa chiratidzo chekutonga.
Gwaro rehunyanzvi rinotsanangura kuti yakavharwa loop system inoshanda nekugara ichienzanisa yakabuda kune yakatarwa point. Iyo pid controller inoshandisa mhinduro kuita shanduko. Mutongi anoshandisa zviito zvakaenzanirana, zvakabatanidzwa, uye zvinobva pakugadzira zvinhu zvekugadzirisa. Iwe unogona kuona izvi mu block diagram uye chaiyo-yenyika mienzaniso, senge dc mota controller.
Iyo yemhinduro loop inokubatsira kuti uchengetedze maitiro. Mutongi anochinja kune shanduko. Kana iyo process ikadonha, iyo pid algorithm inoidzosa. Izvi zvinoita kuti pid controller ive chikamu chakakosha chechero control system. Iwe unowana mhinduro zvishwe munzvimbo dzakawanda, senge dc mota controller kana tembiricha yekudzora system.
Error Calculation
Iwe unofanirwa kuziva kukanganisa kushandisa pid controller. Iko kukanganisa ndiko mutsauko pakati peiyo yakatarwa uye nzira yekubuda. Iyo pid algorithm inoshandisa kukanganisa uku kusarudza maitiro ekuchinja chiratidzo chekudzora.
Iyo pid algorithm inoverenga kukanganisa se:
error = set point - process outputMutongi anobva ashandisa mazwi matatu:
Proportional: inobata kune kukanganisa kwazvino.
Integral: inowedzera zvikanganiso zvekare.
Derivative: inofanotaura zvikanganiso zvenguva yemberi.
The pid algorithm inosanganisa mazwi matatu aya kugadzira chiratidzo chekutonga. Tsvagiridzo yedzidzo inoratidza kuti modhi iyi inoshanda nemazvo. Iwe unogona kushandisa nzira dzekugadzirisa, senzira yeZiegler-Nichols, kuseta zvakanakisa tsika dzetemu yega yega. Idzi nzira dzinoshandisa maitiro ekuita kuti akubatsire kurongedza controller.
Unogona kuvimba nepid algorithm nekuti nyanzvi dzakazviyedza mumasystem akawanda. Iko kukanganisa kuverenga modhi iri nyore asi ine simba. Iwe unoishandisa mune yega pid controller, kubva kune dc mota controller kuenda kune yakaoma process plant.
Iyo dc mota controller inoshandisa iyo pid algorithm kuchengetedza mota ichimhanya panzvimbo yakatarwa. Mutongi anotarisa maitiro ekubuda, anoona kukanganisa, uye anoshandura chiratidzo chekutonga. Izvi zvinoita kuti maitiro arambe akagadzikana uye zvinobuda padyo nechinangwa chako.
PID zvikamu
Proportional Term
Izwi rekuenzanisa ndiro chikamu chekutanga chepid controller. Iyo inobata ipapo ipapo kukanganisa pakati peseti yako uye maitiro ekubuda. Mudzori anowedzera kukanganisa uku nenhamba inonzi proportional gain. Kana iwe ukaita iyi pfuma yakakura, controller inoita nekukurumidza. Iyo nzira inofamba nekukurumidza kune chinangwa chako. Asi kana kuwana kwacho kwakanyanya, maitiro anogona kuve asina kugadzikana. Inogona kutanga kutenderera ichienda mberi. Izwi rakaenzanirana rinobatsira kudzika-tsika-chikanganiso chikanganiso, asi haigone kubvisa zvese. Semuenzaniso, mumudziyo wekudziya wemvura, izwi iri rinoshanda nekukurumidza kana tembiricha yadonha. Zvakadaro, inogona kusaunza kupisa chaiko kune yakatarwa.
Zano: Shandura kuenzana kuwana zvishoma nezvishoma. Zvakawanda zvinogona kuita kuti hurongwa hutenderere kana kusagadzikana.
Integral Term
Izwi rakakosha rinotarisa zvikanganiso zvese zvekare. Inowedzera kukanganisa nekufamba kwenguva. Izvi zvinobatsira kubvisa steady-state kukanganisa. Kana iyo nzira yekubuda ikaramba iri pasi peiyo setpoint, iyo yakakosha izwi rinoramba richiita kuti mutongi aite zvakanyanya. Inoita izvi kusvika iyo inobuda ichienderana nezvakarongwa. Izvi zvinoita kuti pid controller ive yakanaka kumabasa anoda kudzora chaiko. Miedzo inoratidza kuti kusimudza kukosha kwakakosha kunobatsira maitiro kusvika pakugadzika. Inodzikisirawo steady-state kukanganisa. Asi kuita kwakawanda kwakabatana kunogona kuita kuti hurongwa huwedzere kana kusagadzikana. Dambudziko iri rinonzi integral windup. Unogona kushandisa anti-windip tricks kumisa izvi kuti zvisaitike.
PID Term | Main Effect | Ngozi kana Yakanyanya Kunyanya |
|---|---|---|
Proportional | Kupindura nekukurumidza, kunoderedza kukanganisa | Oscillation, kusagadzikana |
Kubatanidzwa | Inobvisa kukanganisa kwakagadzikana | Overshoot, windup |
Derivative | Damps oscillations, inofanotaura kukanganisa | Noise amplification |
Derivative Term
Izwi rinobva pairi rinoedza kufungidzira kuti iko kukanganisa kuchachinja sei inotevera. Inotarisa kuti kukanganisa kuri kuchinja sei. Paunoshandisa derivative chiito, controller inononoka sezvo inoswedera pedyo nekugadzirisa. Izvi zvinobatsira kumisa overshoot uye zvinoita kuti maitiro asadengenyeke. Izwi rinobva kune rinoita kuti pid controller iwedzere kugadzikana, kunyanya kana zvinhu zvachinja nekukurumidza. Asi izwi iri rinogonawo kuita ruzha mukuita kukuru. Iwe unofanirwa kushandisa mafirita kana kuaisa nekuchenjerera. Kana iwe ukaseta nguva yekubuda zvakanaka, unogona kushandisa yakawedzera kuenzana kuwana uye uchiri kuchengetedza zvinhu zvakatsiga.
Cherechedza: Izwi rinobva kune rimwe rinogona kuita kuti ruzha ruwedzere. Shandisa mafirita kubatsira controller yako kuti irambe yakatsiga.
Iwe unoda ese matatu mazwi mune iyo pid algorithm kune yakanakisa mhedzisiro. Izwi rekuenzanisa rinoita nekukurumidza, izwi rakakosha rinobvisa chikanganiso chakatsiga, uye izwi rekubva rinowedzera kudzikama. Paunoisa mazwi aya, iwe unobatsira mutongi kuchengetedza maitiro ekubuda padyo nenzvimbo yako, kunyangwe zvinhu zvikachinja.
Mhando dzePID Controllers
Pane nzira dzakasiyana dzekushandisa pid controller. Mhando yega yega inoshanda zvakanyanya kune mamwe mabasa. Iwe unogona kusarudza iyo chaiyo kana iwe uchiziva mashandiro anoita imwe neimwe.
P Controller
AP controller inoshandisa chete chikamu chakaenzana. Yakanakira masisitimu ari nyore. Iyo controller inoshandura kuburitsa kwayo kana ikaona kukanganisa. Kana iwe uchida kuti iite nekukurumidza, iwe unogona kuita kuti pfuma iwedzere. Muchirimwa chemakemikari, P controller yaichengeta tembiricha ye reactor yakatsiga. Izvi zvakaita kuti chigadzirwa ive nani uye kuchengetedza simba. Munzvimbo inochenesa oiri, P controller yakabatsira kudzora kudzvanywa uye kugadzira chigadzirwa chakawanda. Rudzi urwu rwakareruka, asi iwe unogona kuramba uchiona steady-state kukanganisa. Iwe unofanirwa kurongedza kuwana nekungwarira. Kuwana zvakawanda kunogona kuita kuti zvinhu zvisagadzikana.
Nyore kushandisa uye kumisa
Zvakanakisa kune masisitimu asina kuoma
Zvingada kuti iwe uzvigadzirise kugadzirisa steady-state kukanganisa
PI Controller
A PI controller anowedzera chikamu chakakosha. Izvi zvinobatsira kubvisa steady-state kukanganisa. Iwe unoishandisa kana iwe uchida kukurumidza uye nekururama. Zvidzidzo zvinoratidza PI controller inopa mhinduro nekukurumidza uye yakaderera kukanganisa. Asi iwe unogona kuona zvimwe zvakanyanyisa. MuDC mota madhiraivha, PI controller akajairika. Dzakasimba uye dziri nyore kuridza. Iwe unogona kushandisa mamodheru akareruka kuamisa. Kana iwe uchida kunyange nani kutonga, unogona kuedza yakazara pid controller.
Zano: Vatongi vePI vakanakira mabasa mazhinji efekitori. Iwe unogona kuaisa iwo ese ari maviri kumhanya uye nemazvo.
PD Controller
A PD controller anoshandisa zvikamu zvakaenzana uye zvinobuda. Izvi zvinokubatsira kufungidzira shanduko uye kumisa overshoot. PD controllers anoshandiswa mumasisitimu anoda kukurumidza kuita uye kunonoka kudiki. Semuenzaniso, mune DC-DC buck converter, PD controller yaichengeta voltage yakatsiga panguva yekuchinja kamwe kamwe. Mune satellite, PD controllers inobatsira nekukurumidza mafambiro uye kubata matambudziko. Iwe unowana kugadzikana kuri nani, asi yakatsiga-mamiriro kukanganisa kunogona kuitika.
Yakazara PID Controller
A full pid controller inoshandisa zvikamu zvitatu zvose. Izvi zvinokupa iwe wakanakisa musanganiswa wekumhanya, huchokwadi, uye kugadzikana. Iwe unoshandisa izvi kumabasa akaoma kana akakosha. Mune exothermic reactor, yakazara pid controller inochengetedza tembiricha yakachengeteka uye inomisa kuita kwakashata. Iwe unofanirwa kuziva maitiro ako kuti uiite zvakanaka. Unogona kushandisa bvunzo kana mhando dzemakombuta kuti ubatsire kuigadzirisa. Yepamberi tuning inokubatsira kubata akasiyana marudzi emaitiro uye inoita kuti controller isimbe.
Full pid controllers anoshandiswa munzvimbo dzakawanda, senge mafekitori nemarobhoti.
Iwe unogona kushandisa yakakosha tuning yemaitiro nekunonoka kana iyo inoshandura yakawanda.
Iwe unogona kuedza mutongi nekuita shanduko diki uye kuona zvinoitika.
Advanced Types
Mamwe masisitimu anoda mhando dzemhando yepamusoro. Cascaded pid controller rega mumwe controller atonge mumwe. Iwe unoona izvi mumhepo inopisa kupisa. Imwe controller inochengeta kudzvanya kwakadzikama, uye imwe inodzora tembiricha. Feedforward control inokutendera kuti uite dambudziko risati raitika. Wana kuronga shanduko marongero sezvo maitiro anochinja. Muzvidyarwa zvemagetsi, unogona kusanganisa pid nemodhi yekufungidzira kudzora kune zvirinani mhedzisiro. Digital pid controllers vanoshandisa makomputa kumhanyisa algorithm. Izvi zvinoita kuti zvive nyore kuchinja uye kuwedzera zvitsva.
Yepamberi PID Type | Kwaunoshandisa | Batsirwa |
|---|---|---|
Cascade Control | Robhoti, kudzora maitiro | Kururama kuri nani uye kugadzikana |
Feedforward Control | Tembiricha, kudzora kufamba | Kukurumidza kupindura kune shanduko |
Wana Kuronga | Nonlinear maitiro | Inoenderana nekuchinja kwemamiriro |
Model Predictive Control | Kugadzira simba, indasitiri | Inofanotaura uye inodzivirira kukanganisa |
Ongorora: Sarudza iyo chaiyo yekutonga mhando nekutarisa izvo zvaunoda kuita uye zvinangwa zvako.
PID Applications
Industrial Use
Pid controllers anoshandiswa mune rinenge rese basa refekitori. Kupfuura 90% yevatongi veindasitiri vanoshandisa pid kana PI control. Iwe unoshandisa pid kubata tembiricha, kudzvanywa, kuyerera, uye nhanho mumakemikari zvidyarwa uye zvinonatsa. Iyo mhinduro system inobatsira kuchengetedza zvinhu zvakadzikama uye kushanda zvakanaka. Mumafekitori, pid zvishwe zvinokubatsira iwe kusvika pachinangwa chako nekukurumidza uye kuchengeta zvikanganiso zvidiki. Unogona kutarisa kuti pid yako inoshanda sei nekutarisa nguva yekusimuka, nguva yekugadzika, uye chibodzwa chakakodzera.
Metric | tsananguro |
|---|---|
Simuka Nguva | Zvinotora nguva yakareba sei kuti usvike pane yakatarwa. |
Kugadzirisa Nguva | Zvinotora nguva yakareba sei kuti ugare pane setpoint. |
Yakatsiga State Error | Musiyano pakati peiyo setpoint uye yekupedzisira kukosha. |
Maintenance Score | Inokuudza kana iwe uchida kugadzirisa kana kushandura controller. |
Fit Score | Inoratidza kuti pid tuning inochengetedza sei zvinhu zvakadzikama uye nekukurumidza. |
Pid controllers yakanaka nekuti unogona kuvashandura kumabasa akasiyana. Iwe haufanire kuziva zvese nezve system. Izvi zvinoita kuti pid ive yemhando yepamusoro yekushandisa kwakawanda.
Robotic uye Automation
Pid controllers akakosha mumarobhoti nemichina. Iwe unoshandisa pid kudzora kuti inokurumidza sei uye kupi DC motors, robhoti maoko, uye CNC michina inofamba. Mune rimwe nerimwe basa, pid mhinduro inobatsira iro robhoti kufamba zvakanaka uye kugara munzira. Semuenzaniso, pid inogona kuchengeta robhoti ruoko pakona yekurudyi kana kubatsira drone kubhururuka nekumhanya kwakadzikama.
Zvidzidzo zvinoratidza pid controllers anobatsira marobhoti kutevera nzira zvirinani uye kumisa kufamba kwakawanda kupfuura chinangwa. Iwe unogona kudzvanya controller kuti iite nekukurumidza uye kushomeka. Mune bvunzo chaidzo, mapid controllers akashanda zvirinani pane dzimwe nzira dzekumhanya nekurongeka. Pid zvakare iri nyore kushandisa ine microcontrollers, saka unogona kuvaka marobhoti nemichina ine basa shoma.
Zano: Unogona kushandisa pid mumarobhoti akareruka kana epamberi. Mutongi anochinja sezvo mutoro kana basa rinoshanduka, saka rinoshanda kune akawanda mabasa.
Simba Nesimba
Pid controllers inobatsira kuchengetedza simba uye kuita kuti masisitimu emagetsi ashande zvirinani. Iwe unoshandisa pid kune tembiricha mumayuniti emhepo, kudzvanywa mumhepo masisitimu, uye frequency mumamicrogrids. Mubasa rega rega, pid inochengetedza zvinhu uye inoshandisa simba shoma.
Chidzidzo muchirimwa chemishonga chakaratidza kuti tuning pid yekushisa yakachengetedza 23.35% simba. Maitiro akasvika pachinangwa nekukurumidza uye akashandisa simba shoma. Mune masystem emhepo, pid yaichengeta kudzvanywa pedyo nevavariro uye kuchengetedza simba. Pid inzira yakanaka yekuyera kushandiswa kwesimba mumabasa mazhinji emagetsi.
Pid controllers inokupa nzira iri nyore yekudzora kumhanya, tembiricha, uye kugadzikana. Iwe unogona kuvimba nepid kubatsira mumabasa mazhinji akakosha.
Brushed DC Motor Controllers
DC Motor Controller Overview
Iyo dc mota controller inokubatsira iwe kumhanya brushed dc mota. Unogona kuishandisa kutanga kana kumisa mota. Inokuita kuti uchinje nzira iyo mota inotenderera. Iwe unogona zvakare kuita kuti mota iende nekukurumidza kana zvishoma. Mutongi anoshandura kukurumidza uye simba remotokari. Vazhinji vatongi vanoshandisa pwm kudzora simba. Pwm inomirira pulse-width modulation. Nekuchinja pwm, unogona kuita kuti mota itenderere nekumhanya kwakasiyana. Iyo controller zvakare inochengetedza mota kuti isanyanya kupisa kana kuputsika.
Iyo brushed dc mota controller ine zvikamu zvakakosha. Aya ndiwo stator, rotor, uye commutator. Iye controller anoshandisa H-bhiriji reketi ine simba switch inonzi MOSFETs. Izvi zvinobatsira ikozvino kuyerera nenzira kwayo kuburikidza nemota. Iwe unoona izvi zvinodzora mumarobhoti, maprinta, uye CNC michina. Ivo vanoshanda neese analog uye masaini masaini. Mutongi wedhijitari anoshandisa mamicrocontrollers kumhanyisa nzira dzakangwara dzekudzora senge pid.
Kuonekwa | tsananguro |
|---|---|
mabasa | Kutanga/kumira, kutungamira, kumhanya, torque, kudzivirira |
Simba reMutemo | Linear kana switching (pwm) |
Control Types | Vhura-loop kana yakavharwa-loop (ine pid) |
Circuit Elements | H-bhiriji, MOSFETs, sensors |
Applications | Robhoti, CNC, maprinta, mota dzemagetsi |
Kudzora Maitiro
Unogona kushandisa nzira dzakasiyana dzekudzora brashi dc mota. Nzira yakajairika ndeye pwm. Mutongi anotumira pwm chiratidzo kumota. Izvi zvinoshandura avhareji yemagetsi uye inodzora kuti inotenderera sei. Pulse-width modulation inokupa kutonga kwakanaka uye inochengetedza simba. Iwe unogona kushandisa yakavhurika-loop control. Nenzira iyi, mutongi haatarise kumhanya chaiko kwemota. Kuti udzore zvirinani, unoshandisa yakavharwa-loop control ine pid. Iyo pid controller inotarisa kumhanya, inoienzanisa nechinangwa chako, uye inoshandura pwm kuti ichengetedze kumhanya.
Pid yakakosha kwazvo mubrushed dc mota controllers. Iwe unoshandisa pid kuita kuti chikanganiso chiite chidiki uye chengetedza kumhanya kwakadzikama. Zvidzidzo zvinoratidza kuti tuning pid nemaitiro akangwara, senge particle swarm optimization, inoita kuti iyo yekumhanyisa loop igadzikane uye inodzikisa yakatsiga-mamiriro kukanganisa. MATLAB bvunzo dzinoratidza pid controllers inoshanda zvirinani pane fuzzy logic controller yekumhanyisa kudzora. Iwe unogona zvakare kushandisa nguva yakatevedzana yekuongorora kuti uchinje pid marongero sezvo mota inokura kana zvinhu zvachinja. Izvi zvinoita kuti controller yako isimbe.
Paunotarisa brushed dc motor controllers uye brushless dc motor controllers, unoona misiyano mikuru:
Kuonekwa | Brushed DC Motor Control | Brushless DC Motor Control |
|---|---|---|
Kuchinja | Mechanical (mabhurashi, commutator) | Yemagetsi (inoshanda kudzora zvemagetsi) |
Drive Electronics | Rakareruka H-bhiriji ine pwm | Matatu-chikamu zambuko, advanced commutation |
Feedback | Kwete | Inodiwa (Hall sensors kana kumashure EMF) |
Kudzora Kuoma | Low | Yakakwira (microcontroller kana DSP inodiwa) |
rechengetedzo | Mabhurasho anosakara | Kupfeka kushoma, kuchengetedza kwakaderera |
mutambo | Kunyanya ruzha, kushanda kwakaderera | Kunyarara, kushanda kwepamusoro |
Iwe unotora brushed dc motor controllers kune mabasa ari nyore uye akachipa. Iwe unoshandisa brushless dc mota zvinodzora kana iwe uchida kunyarara, kushanda, uye yakaderera-yekugadzirisa mota. Mhando dzese dziri mbiri dzinoshandisa pwm uye pid, asi kutonga uye kuseta zvakasiyana. Iine mutongi akakodzera uye tuning, unogona kudzora kumhanya uye kusimba kweiyo brushed dc mota yako zvakanaka.
Chaiyo-Hupenyu Implementation
Mazano anobatsira
Iwe unogona kuwana mibairo yakanaka nepid controllers kana iwe uchitevera matanho anoshanda. Kutanga, dzidza nezve system yako. Ita bvunzo yakavhurika. Chinja chinobuda mutongi zvishoma uye tarisa zvinoitika. Ona kuti zvinotora nguva yakareba sei kuti maitiro aite. Nyora pasi nguva yakafa uye kuti zvinhu zvinoshanduka nekukurumidza sei. Shandisa manhamba aya kuona pid yako. Iyo Ziegler-Nichols nzira inokupa iwe kutanga kukosha. Chinja imwe seti panguva. Tarisa kuti system yacho inoshanda sei. Ita shanduko diki uye tarisa kana zvinhu zvichiramba zvakatsiga.
Zano: Chinja marongero mamwe chete panguva. Izvi zvinokuita kuti uone zvinoita shanduko yega yega.
Iwe unogona kushandisa akakosha maturusi kumhanyisa controller nekukurumidza. Zvishandiso izvi zvinoshandisa mitemo kana modhi kusarudza pid marongero. Kuti uwane mhedzisiro yakanaka, shandisa aya maturusi uye ruzivo rwako pamwe chete. Tarisa yako control loop kazhinji. Tarisa maitiro kana kuchinja kamwe kamwe. Shandisa machati kuti uwane matambudziko nekukurumidza.
Heino mimwe mienzaniso yehupenyu chaihwo:
Mune marobhoti, pid controllers anobatsira kufambisa maoko uye grippers chaizvo. Iwe unogona kudzora kuti majoini anofamba sei uye kudzokorora zviito.
Mumotokari, pid inokuchengetedza. Anti-lock mabhureki anoshandisa pid kushandura brake pressure uye kumisa mavhiri kukiya.
Mumafekitari, pid inodzora tembiricha, kudzvanywa, uye kuyerera. Izvi zvinochengeta zvigadzirwa zvakafanana uye zvakachengeteka.
Matambudziko Anowanikwa
Unogona kunge uine matambudziko kana uchishandisa pid controller. Dzimwe nguva, iwe hauzive zvakakwana nezve system yako. Izvi zvinogona kuita kuti pid ishande zvakashata. Gara uchidzidza nezve system yako usati wagadzirisa. Kushata kwakashata kunogona kuita kuti sisitimu itenderere kana kuita zvishoma nezvishoma. Kana iwe ukaona yakatsiga-mamiriro kukanganisa, edza kusimudza iyo yakakosha pfuma. Kuwana zvakawanda zvinobva muropa kunogona kuita kuti ruzha ruwedzere. Shandisa mafirita kubatsira pane izvi.
Challenge | Migumisiro | mhinduro |
|---|---|---|
Ruzivo rwemaitiro asina kunaka | Bad pid performance | Dzidza maitiro |
Wrong tuning | Kuswinging, kunonokera, kana kuremerwa-kurongeka | Chinja pid kuwana, teerera zvakare |
Zvisiri-mutsara | Kudzora kusina kugadzikana kana kunoshamisa | Edza kudzora kwepamusoro |
Noise amplification | Kubuda kunodengenyeka kana kuti ruzha | Shandisa mafirita, akadzika kubva |
Iwe unogona kugadzirisa matambudziko mazhinji nekutarisa data rako uye kugadzirisa iyo pid inowanikwa. Shandisa maturusi kuti uwane chakashata. Ramba uine kuchengetedza uye kudzidziswa kudzivirira kukanganisa. Muhupenyu chaihwo, unogona kuona masisitimu anochinja kana kuita nenzira nyowani. Adaptive pid kana modhi yekufungidzira inogona kubatsira nenyaya idzi.
Ongorora: Pid controllers inoshanda zvakanyanya kana iwe uchinge wanyatso tarisa, itarise nguva zhinji, uye uzive system yako zvakanaka.
Zvakanakira uye Zvakaipa
Benefits
Vatongi vanokupa zvinhu zvakawanda zvakanaka muhurongwa hwako. Vanokubatsira kuzadzisa chinangwa chako nekukurumidza. Vanochengeta maitiro ako akatsiga uye akachengeteka. Vatongi vanotarisa zvabuda uye voita shanduko ipapo ipapo. Izvi zvinobatsira kuti system yako irambe iri munzira, kunyangwe zvinhu zvikachinja. Haufanire kuziva zvese zvidiki nezve maitiro ako. Iwe unogona kushandisa mutongi mumwechete kumabasa akasiyana. Izvi zvinokuchengetedza nguva nebasa.
Heano mamwe mabhenefiti makuru:
Iwe unowana chokwadi chirinani chetembiricha, kumhanya, uye kuyerera.
Maitiro ako anowedzera kugadzikana uye mashoma kuzunguza.
Iwe unogona kushandisa imwe controller dhizaini mune akawanda masisitimu.
Iwe unochengetedza nguva nekuti haudi mutongi mutsva pabasa rega rega.
Iwe unowana mhedzisiro yakanaka pasina kuwanda kwekuwedzera basa.
Zano: Tuning controller yako inokubatsira kuti uwane iyo yakanyanya kurongeka kune yako system.
Nokuremara
Vatongi vanewo mamwe matambudziko aunofanirwa kuziva. Dzimwe nguva, controller haigone kugadzirisa nyaya dzese. Kana maitiro ako achichinja zvakanyanya, ungangoda kuchinja marongero kazhinji. Ruzha muhurongwa hwako hunogona kuita kuti zviome kuve chokwadi. Mamwe ma controller anoda kutariswa nekungwarira kana anogona kuita kuti sisitimu yako itenderere kana kufamba zvishoma nezvishoma.
Tarisa tafura iyi kune matambudziko akajairika:
Kuganhurirwa | Impact paKugadzira |
|---|---|
Inoda tuning | Zvinotora nguva kugadzira |
Inonzwa ruzha | Inogona kuderedza kururama |
Hazvina kunaka kune ese masisitimu | Inogona kusakwana magadzirirwo ese |
Inogona kukonzera overshoot | Inogona kukanganisa chokwadi |
Inoda kuongororwa nguva dzose | Inowedzera basa kudhizaini yako |
Ongorora: Gara uchiyedza controller yako mune yako chaiyo system. Izvi zvinokubatsira kuti uve nechokwadi chekuti unowana kurongeka uye kugadzikana kwaunoda.
Dzimwe nzira dzePID
On-Off Control
Iwe unogona kushandisa on-off control kana iwe uchida nzira iri nyore yekuchengeta maitiro padyo nenzvimbo yakatarwa. Iyi nzira inochinja inoburitsa zvizere kana kudzima, senge switch yemwenje. Semuyenzaniso, thermostat yepamba inoshandisa on-off control kubatidza hita kana mukamuri mava kutonhora nekudzimwa kana kwava kudziya zvakakwana. Iwe hauwane shanduko dzakapfava neiyi nzira. Maitiro acho anowanzo kutenderera kumusoro uye pasi peiyo setpoint.
Tip: On-off control inoshanda zvakanyanya kune masisitimu ayo asingade yakanyanya kunaka.
zvayakanakira:
Zviri nyore kuisa
Hapana tuning inodiwa
Low mutengo
nezvayakaipira:
Zvinokonzera oscillation
Hazvina kunaka kutonga chaiko
Fuzzy Logic
Fuzzy logic control inokupa nzira yekubata masisitimu akaoma kutevedzera. Unoshandisa mitemo inobva pakufunga kwevanhu, kwete masvomhu chete. Semuenzaniso, unogona kuisa mutemo wakaita sekuti, "Kana tembiricha yakakwira zvishoma, dzikisa kupisa zvishoma." Fuzzy logic inoshanda nemazvo kana iwe usingakwanise kutsanangura maitiro nemaequation akareruka.
mamiriro | Fuzzy Logic Control | PID Kudzora |
|---|---|---|
Gadzirira | Anoshandisa mitemo | Inoshandisa mazwi emasvomhu |
Kubvuma sanduko | Pamusoro soro | nzira |
Tuning | Inoda nyanzvi | Inoshandisa mafomula |
Ongorora: Fuzzy logic inogona kubata ruzha uye shanduko zvirinani pane PID mune dzimwe nguva.
Kudzora Kwepamusoro
Iwe unogona kushandisa nzira dzepamusoro dzekutonga kune dzakaoma masisitimu. Izvi zvinosanganisira Model Predictive Control (MPC), adaptive control, uye neural network. MPC inofanotaura shanduko yeramangwana uye inogadzirisa chiratidzo chekutonga matambudziko asati aitika. Adaptive control inoshandura marongero ayo sezvo sisitimu inochinja. Neural network inodzidza kubva kune data uye inovandudza nekufamba kwenguva.
Example:
MPC controls a chemical plant by predicting how the process will react.
It adjusts the valves before the process drifts away from the setpoint.
Iwe unofanirwa kusarudza yepamberi kutonga kana iwe uchida kuita kwepamusoro kana kana system yako ichichinja zvakanyanya. Idzi nzira dzinoda kuseta uye simba rekombuta, asi dzinogona kukupa mhedzisiro iri nani pane PID.
PID controllers akakosha kwazvo mukutonga masisitimu. Iwe unovawana mumafekitori, marobhoti, mota, uye zvidyarwa zvemagetsi. Chikamu chimwe nechimwe chemutongi chine basa. Kana iwe uchiziva mashandiro avanoita, unogona kuita kuti controller yako ive nani. Zvidzidzo zvinoratidza PID controllers anobatsira masisitimu kuti arambe akatsiga uye ashandise simba shoma. Vanoitawo kuti zvinhu zvishande nekukurumidza. Unogona kuedza zvimwe kudzora nzira, kunge fuzzy logic kana neural network, kuona izvo zvinoshanda zvakanyanya. Kana iwe ukagadzirisa mutongi wako uye uchitarisa kazhinji, yako system inoshanda nemazvo.
FAQ
Chii chinonzi PID?
PID inomirira Proportional, Integral, uye Derivative. Iwe unoshandisa aya mazwi matatu kudzora mabatiro anoita system kune zvikanganiso. Chikamu chega chega chinokubatsira kuti uchengetedze maitiro ako ari padyo neako chinangwa.
Iwe unogadzirisa sei PID controller?
Iwe unogona kuisa PID controller nekushandura P, I, uye D maitiro. Tanga nekuchinja kudiki. Tarisa kuti system yako inoita sei. Shandisa nzira dzakaita seZiegler-Nichols kune yakanaka yekutanga nzvimbo.
Zano: Chinja marongero mamwe panguva kuti uwane mibairo yakanaka.
Unoshandisa kupi PID controllers?
Iwe unoshandisa PID controller munzvimbo dzakawanda. Iwe unovawana mumafekitori, marobhoti, mota, uye zvidyarwa zvemagetsi. Vanokubatsira kudzora tembiricha, kumhanya, kudzvanywa, uye kuyerera.
kunyoresa | muenzaniso |
|---|---|
Robotics | Mota inomhanya kutonga |
indasitiri | Kuderedza kupisa |
Masimba masimba | Frequency regulation |
Sei PID yangu controller ichikonzera oscillation?
Yako PID controller inogona kukonzera oscillation kana kuwana kwakanyanyisa. Iwe unofanirwa kudzikisa kuenzana kana kwakakosha kuwana. Tarisa kune ruzha muhurongwa hwako. Shandisa mafirita kana zvichidiwa.
Unogona kushandisa PID kune asiri-mutsara masisitimu?
Unogona kushandisa PID kune mamwe asiri-mutsara masisitimu, asi anogona kusashanda zvakanaka kune vese. Kune masystem akaoma, edza nzira dzepamusoro dzekudzora senge fuzzy logic kana modhi yekufungidzira kudzora.
