PID 제어원리와 설정방법 - selco.kr

1 PID : ( ) 2014-02-25 ---------------------------------------- ---------------------------------------- ---------------------------------------- --------------------------- PID_ (1) StabilityPIDSPPVee'uDACPOTS tabilityparametersPIDparametersPOT/DACmo de SP : (input output) PV : feedback e : [ = SP PV] feedback Stability : PID POT input . , stability ramp . POT/DAC mode switch : analogy output (DAC) . PID : PID u : DAC output input. DAC : analogy output, POT : digital increase/decrease output. PID algorithm P = Gain ( ) I = Process delay (Integral) ( ) D = Derivated ( ) Do not change it. Same as acc. pump on an old car carburettor. l - I . - P P . - P.

2 - I overshoot . PID : ( ) 2014-02-25 ---------------------------------------- ---------------------------------------- ---------------------------------------- --------------------------- PID_ (2) . P : I : D : , , ( ) , , . PID / , , . , , . P, I, D . 1. P ( -Proportinal ) . On/Off , . On/Off . (Steady State Error) . On/Off Gain( ) .. 10 -1 ( ) -1 +.

3 10 , P 9 . 1 . P . PID : ( ) 2014-02-25 ---------------------------------------- ---------------------------------------- ---------------------------------------- --------------------------- . * P ..--;; 2. I ( Integral ) .. P ( ) P . I . P , I . I . PID . D PID . D . ( ).

4 3. D - . 4.. = Kp * + Ki * + Kd * kp, Ki, Kd . 5. PID . PID : ( ) 2014-02-25 ---------------------------------------- ---------------------------------------- ---------------------------------------- --------------------------- . , ( ) .. 3 . ( , .) A. Overshoot - .. TR TR TR . B.. 100% . % .. C.. PID P : (B) . I : (C) . D : ( -A) . P, I, D.

5 P,I,D . ( ).