參(can)數(shu)整定(ding)找*，從小(xiao)到大順序查(cha)，先是(shi)比(bi)(bi)例(li)(li)(li)后積(ji)(ji)分(fen)，zui后再把微分(fen)加(jia)(jia)，曲線振蕩很頻繁，比(bi)(bi)例(li)(li)(li)度盤要放大，曲線漂浮繞大灣，比(bi)(bi)例(li)(li)(li)度盤往(wang)小(xiao)扳(ban)，曲線偏離(li)回復(fu)慢，積(ji)(ji)分(fen)時間往(wang)下降，曲線波(bo)動(dong)周期長(chang)，積(ji)(ji)分(fen)時間再加(jia)(jia)長(chang)，曲線振蕩頻率快，先把微分(fen)降下來(lai)，動(dong)差大來(lai)波(bo)動(dong)慢，微分(fen)時間應加(jia)(jia)長(chang)，理(li)想曲線兩個(ge)波(bo)，前高后低(di)4比(bi)(bi)1， 2. 一看二調(diao)(diao)多分(fen)析，調(diao)(diao)節質量(liang)不會低(di) 2.PID控(kong)(kong)制器參(can)數(shu)的工(gong)程整定(ding),各種調(diao)(diao)節系統中(zhong)(zhong)P.I.D參(can)數(shu)經驗數(shu)據以下可參(can)照：　　溫(wen)度T: P=20~60%,T=180~600s,D=3-180s壓力P: P=30~70%,T=24~180s, 　　液位L: P=20~80%,T=60~300s, 　　流(liu)量(liang)L: P=40~,T=6~60s。 3.PID控(kong)(kong)制的原理(li)和特點 　　　　在(zai)工(gong)程實際(ji)中(zhong)(zhong)，應用的調(diao)(diao)節器控(kong)(kong)制規律為比(bi)(bi)例(li)(li)(li)、積(ji)(ji)分(fen)、微分(fen)控(kong)(kong)制，簡稱PID控(kong)(kong)制，又稱PID調(diao)(diao)節。

PID控(kong)制器問世至今已有近70年歷(li)史，它以其結(jie)構簡單、穩定(ding)(ding)性好(hao)、工作可靠(kao)、調(diao)(diao)整(zheng)方便(bian)而成(cheng)為工業控(kong)制的(de)(de)主(zhu)要技(ji)術之一。當被控(kong)對象(xiang)的(de)(de)結(jie)構和(he)(he)參數(shu)不(bu)能(neng)*掌握，或得(de)不(bu)到(dao)的(de)(de)數(shu)學模(mo)型(xing)時，控(kong)制理論的(de)(de)其它技(ji)術難(nan)以采用(yong)時，系(xi)統(tong)控(kong)制器的(de)(de)結(jie)構和(he)(he)參數(shu)必須依靠(kao)經(jing)驗和(he)(he)現場調(diao)(diao)試來(lai)確(que)定(ding)(ding)，這時應用(yong)PID控(kong)制技(ji)術zui為方便(bian)。即(ji)當我們不(bu)*了解(jie)一個系(xi)統(tong)和(he)(he)被控(kong)對象(xiang)﹐或不(bu)能(neng)通過有效(xiao)的(de)(de)測量手段(duan)來(lai)獲得(de)系(xi)統(tong)參數(shu)時，用(yong)PID控(kong)制技(ji)術。

PID控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)，實際中也有PI和PD控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)。PID控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)器就是(shi)根據(ju)系統(tong)的誤(wu)(wu)(wu)差(cha)(cha)(cha)，利(li)用比例(li)(li)、積(ji)(ji)分(fen)(fen)、微分(fen)(fen)計算(suan)出(chu)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)量進(jin)(jin)行控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)的。 　比例(li)(li)（P）控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi) 　比例(li)(li)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)是(shi)一種zui簡(jian)單的控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)方式。其控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)器的輸(shu)出(chu)與輸(shu)入(ru)(ru)誤(wu)(wu)(wu)差(cha)(cha)(cha)信號成比例(li)(li)關系。當僅(jin)有比例(li)(li)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)時(shi)系統(tong)輸(shu)出(chu)存(cun)(cun)在穩(wen)態(tai)(tai)誤(wu)(wu)(wu)差(cha)(cha)(cha)（Steady-state error）。 　積(ji)(ji)分(fen)(fen)（I）控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi) 　在積(ji)(ji)分(fen)(fen)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)中，控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)器的輸(shu)出(chu)與輸(shu)入(ru)(ru)誤(wu)(wu)(wu)差(cha)(cha)(cha)信號的積(ji)(ji)分(fen)(fen)成正比關系。對一個(ge)自(zi)動控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)系統(tong)，如(ru)果在進(jin)(jin)入(ru)(ru)穩(wen)態(tai)(tai)后存(cun)(cun)在穩(wen)態(tai)(tai)誤(wu)(wu)(wu)差(cha)(cha)(cha)，則(ze)稱(cheng)(cheng)這個(ge)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)系統(tong)是(shi)有穩(wen)態(tai)(tai)誤(wu)(wu)(wu)差(cha)(cha)(cha)的或簡(jian)稱(cheng)(cheng)有差(cha)(cha)(cha)系統(tong)（System with Steady-state Error）。為了(le)消除穩(wen)態(tai)(tai)誤(wu)(wu)(wu)差(cha)(cha)(cha)，在控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)器中必須引(yin)入(ru)(ru)“積(ji)(ji)分(fen)(fen)項”。積(ji)(ji)分(fen)(fen)項對誤(wu)(wu)(wu)差(cha)(cha)(cha)取決于時(shi)間(jian)的積(ji)(ji)分(fen)(fen)，隨著時(shi)間(jian)的增(zeng)加(jia)，積(ji)(ji)分(fen)(fen)項會(hui)增(zeng)大。這樣，即(ji)便(bian)誤(wu)(wu)(wu)差(cha)(cha)(cha)很小，積(ji)(ji)分(fen)(fen)項也會(hui)隨著時(shi)間(jian)的增(zeng)加(jia)而加(jia)大，它推(tui)動控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)器的輸(shu)出(chu)增(zeng)大使穩(wen)態(tai)(tai)誤(wu)(wu)(wu)差(cha)(cha)(cha)進(jin)(jin)一步(bu)減小，直到等于零。因此，比例(li)(li)+積(ji)(ji)分(fen)(fen)（PI）控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)器，可以(yi)使系統(tong)在進(jin)(jin)入(ru)(ru)穩(wen)態(tai)(tai)后無穩(wen)態(tai)(tai)誤(wu)(wu)(wu)差(cha)(cha)(cha)。 　    

微(wei)分(fen)(fen)(fen)（D）控(kong)(kong)(kong)(kong)(kong)制 　在微(wei)分(fen)(fen)(fen)控(kong)(kong)(kong)(kong)(kong)制中，控(kong)(kong)(kong)(kong)(kong)制器(qi)的(de)(de)(de)(de)輸出與輸入誤(wu)(wu)差(cha)(cha)(cha)信(xin)號的(de)(de)(de)(de)微(wei)分(fen)(fen)(fen)（即誤(wu)(wu)差(cha)(cha)(cha)的(de)(de)(de)(de)變化率）成正比(bi)關系。 自動(dong)控(kong)(kong)(kong)(kong)(kong)制系統在克服誤(wu)(wu)差(cha)(cha)(cha)的(de)(de)(de)(de)調節過程(cheng)中可(ke)能(neng)會出現振(zhen)蕩甚(shen)至失穩。其原因是(shi)由(you)于存在有(you)較大(da)(da)慣性(xing)(xing)(xing)組件(jian)（環節）或有(you)滯后（delay）組件(jian)，具(ju)有(you)抑制誤(wu)(wu)差(cha)(cha)(cha)的(de)(de)(de)(de)作(zuo)(zuo)用(yong)(yong)，其變化總(zong)是(shi)落后于誤(wu)(wu)差(cha)(cha)(cha)的(de)(de)(de)(de)變化。解決的(de)(de)(de)(de)辦(ban)法(fa)是(shi)使(shi)抑制誤(wu)(wu)差(cha)(cha)(cha)的(de)(de)(de)(de)作(zuo)(zuo)用(yong)(yong)的(de)(de)(de)(de)變化“超前”，即在誤(wu)(wu)差(cha)(cha)(cha)接(jie)近零時，抑制誤(wu)(wu)差(cha)(cha)(cha)的(de)(de)(de)(de)作(zuo)(zuo)用(yong)(yong)就(jiu)(jiu)應該(gai)是(shi)零。這就(jiu)(jiu)是(shi)說，在控(kong)(kong)(kong)(kong)(kong)制器(qi)中僅(jin)(jin)引入“比(bi)例”項往往是(shi)不夠(gou)的(de)(de)(de)(de)，比(bi)例項的(de)(de)(de)(de)作(zuo)(zuo)用(yong)(yong)僅(jin)(jin)是(shi)放大(da)(da)誤(wu)(wu)差(cha)(cha)(cha)的(de)(de)(de)(de)幅值(zhi)，而(er)目前需(xu)要增(zeng)加的(de)(de)(de)(de)是(shi)“微(wei)分(fen)(fen)(fen)項”，它能(neng)預測(ce)誤(wu)(wu)差(cha)(cha)(cha)變化的(de)(de)(de)(de)趨勢，這樣，具(ju)有(you)比(bi)例+微(wei)分(fen)(fen)(fen)的(de)(de)(de)(de)控(kong)(kong)(kong)(kong)(kong)制器(qi)，就(jiu)(jiu)能(neng)夠(gou)提(ti)前使(shi)抑制誤(wu)(wu)差(cha)(cha)(cha)的(de)(de)(de)(de)控(kong)(kong)(kong)(kong)(kong)制作(zuo)(zuo)用(yong)(yong)等于零，甚(shen)至為負(fu)值(zhi)，從而(er)避免(mian)了(le)被(bei)控(kong)(kong)(kong)(kong)(kong)量的(de)(de)(de)(de)嚴(yan)重超調。所以(yi)對有(you)較大(da)(da)慣性(xing)(xing)(xing)或滯后的(de)(de)(de)(de)被(bei)控(kong)(kong)(kong)(kong)(kong)對象，比(bi)例+微(wei)分(fen)(fen)(fen)（PD）控(kong)(kong)(kong)(kong)(kong)制器(qi)能(neng)改善系統在調節過程(cheng)中的(de)(de)(de)(de)動(dong)態特性(xing)(xing)(xing)。