IC693CHS397NB PLC底板

IC693CHS397NB PLC底板

我们继续使用大棚温控去分析微分环节的作用。如果温控系统目标温度为 30℃，在上午八点的时候存在偏差15℃，经过一段时间的调节，到了上午九点，此时偏差已经缩小到5℃，偏差的变化量= 九点的偏差（第 k 次）-八点的偏差（第 k-1 次）= -10，结合上述公式可知，此时微分环节会削弱比例和积分环节的作用，减小输出以抑制超调。

终得到了一个 PID算法公式：

这个公式是 PID 离散公式之一，除了离散公式之外，PID 还有连续的公式，但是因为连续的公式不利于机器计算，我们一般不研究。每一个系统的 PID 系数并不是通用的，这需要根据实际的情况去设置。

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