6GK7342-5DA02-0XE0 CP342-5通讯模块
当 Ki 的值越大时,其对应的橙色曲线达到目标值的时间就越短,与此同时,橙色曲线出现了幅度的超调和振荡,这会使得系统的稳定性下降
因此,我们在设置积分系数的时候,并不是越大越好,而是要兼顾静态误差的时间以及整个系统的稳定性。
只要系统还存在偏差,积分环节就会不断地累计偏差。当系统偏差为 0的时候,说明已经达到目标值,此时的累计偏差不再变化,但是积分环节依旧在发挥作用(此时往往作用大),这就很容易产生超调的现象了。
因此,我们需要引入微分环节,提前减弱输出,抑制超调的发生。
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