我一直在阅读这个网站： HTTP：// WWW。 csimn.com/CSI_pages/PIDforDummies.html 我很困惑的比例组成部分。下面是它说。的

I've been reading this website: http://www.csimn.com/CSI_pages/PIDforDummies.html and I'm confused about the proportional integral part. Here's what it says.

比例控制

下面是控制器的图，当我们启用只有P控制：

Here’s a diagram of the controller when we have enabled only P control:

在比例仅模式下，控制器简单地乘以比例增益（KP）的错误来获得控制器的输出。

In Proportional Only mode, the controller simply multiplies the Error by the Proportional Gain (Kp) to get the controller output.

比例增益，我们调从P只有控制器获得我们所需的性能设置。

The Proportional Gain is the setting that we tune to get our desired performance from a "P only" controller.

上天注定的一场比赛：在P + I控制器

如果我们把比例和积分行动起来，我们得到的谦逊PI控制器。下图显示了如何在算法中PI控制器的计算方法。

If we put Proportional and Integral Action together, we get the humble PI controller. The Diagram below shows how the algorithm in a PI controller is calculated.

有关积分作用棘手的事情是，它真的会搞砸了你的程序，除非你知道到底有多少积分作用提出申请。

The tricky thing about Integral Action is that it will really screw up your process unless you know exactly how much Integral action to apply.

有一个良好的PID调节技术，将计算到底有多少积分申请的具体过程 - 但如何是积分作用首先调整

A good PID Tuning technique will calculate exactly how much Integral to apply for your specific process - but how is the Integral Action adjusted in the first place?

正如你所看到的，比例部分是很容易理解它说，你通过调整变量乘以错误。我不明白的部分是，你从第二部分获得P和I，并用它来做点什么什么数学运算。我没有一个数学学位或高级微积分的知识，所以我会AP preciate如果你能尽量保持代数水平。的

As you can see, the proportional part is easy to understand it says that you multiply error by tuning variable. The part that I don't get is where you get the P and I from on the second part, and what mathematical operation you do with them. I don't have a degree in mathematics or advanced calculus knowledge, so I would appreciate it if you would try to keep it algebra level.

推荐答案

我不可分割的一部分就是总和也乘以某个常数。

I integral part is just summation also multiplied by some constant.

模拟集成是通过非线性增益和放大器完成。

数字集成的第一步是刚： Analogue integration is done by nonlinear gain and amplifier.

Digital integration of first order is just:

output += input*dt;

第二顺序是：

second order is:

temp   += input*dt; 
output += temp*dt;

DT是迭代循环的持续时间（计时器或什么都）

dt is the duration time of iteration loop (timer or what ever)

不要忘记，PI调节器能有更复杂的响应

do not forget that PI regulator can have more complicated response

i1 += input*dt; 
i2 += i1*dt;
i3 += i2*dt;
output = a0*input + a1*i1 + a2*i2 +a3*i3 ...;

其中a0是P的一部分

where a0 is the P part

现在的我调节增加了越来越多的量的控制值

Now the I regulator adds more and more amount of control value

，直至控制值是一样的preSET值 的时间越长其控制的速度更快与之相匹配 在此创建了各地preSET值快速振荡 在比较为P具有相同的增益 until the controlled value is the same as the preset value the longer it takes to match it the faster it controls this creates fast oscillations around preset value in comparison to P with the same gain 因此，我的增益通常要小得多创造记忆和流畅的效果LutzL提及。 （而规定时间是相似或更小的则只是对p调节）

受控制的设备都有自己的回应

The controlled device has its own response

在psented差分功能，这可以重新$ P $ 有很多理论在控制论如何获得正确的调节器的响应 来匹配您的流程需求为： 在控制质量 反应时间 在最大振荡幅度 稳定 this can be represented as differential function there is a lot of theory in cybernetics about obtaining the right regulator response to match your process needs as: quality of control reaction times max oscillations amplitude stability 强烈推荐使用拉普拉斯变换 但很多人还使用 Z变换而不是 strongly recommend use of Laplace transform but many people also use Z transform instead

所以我调节器加速度调节

So I-regulator add speed to regulation

，但它也创造了更大的振荡 当不匹配的监管系统正常也创造了不稳定 整合增加了监管的溢出风险（模拟集成是非常敏感的）

另外需要记住，您还可以减去了我的一部分，从控制值

Also take in mind you can also substracting the I part from control value

这将使正好相反 有时我越部件组合来满足所需的调节响应形状