6GK7342-5DF00-0XE0 光纤通讯模块

6GK7342-5DF00-0XE0 CP342-5 光纤通讯模块

① 位置式：

优点：位置式 PID 是一种非递推式算法，带有积分作用，适用于不带积分部件的对象。

缺点：全量计算，计算错误影响很大；需要对偏差进行累加，运算量大。

② 增量式：

优点：只输出增量，计算错误影响小；不需要累计偏差，运算量少，实时性相对较好。

缺点：积分截断效应大，有稳态误差。

积分饱和问题

在位置式 PID 中，如果系统长时间无法达到目标值，累计偏差（积分）就会变得很大，此时系统的响应就很慢了。

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