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1、 4 1 PID Proportion Integral Differential 1 PID 2 PID PLC 1 2 PID 1500 6V 1000 4V e 500 2V 2000 e 500 PID PID PID Kp Ki Kd Kp e Ki edt Kd de dt t PID e 0 Kp e 0 Kd de dt 0 Ki edt 0 0 累百热 0 老7老7老7老7 总00总00总00总00 累百热累百热累百热累百热 工学累百热 累百热 累百热 累百热 开学 累百热 累百热 累百热 累百热 累百热 FB41 PID FB42 PID OB100 COM RST COM
2、 RST PID OB35 200MS PID A COM RST BOOL PID TURE PID PID PID MAN ON BOOL ON TURE PID MAN LMN PID PID PEPER ON BOOL ON PID PIW PIW FALSE P SEL BOOL ON P I SEL BOOL ON I INT HOLD BOOL I ITL ON BOOL I ITLVAL ON I ITLVAL PID D SEL BOOL ON D CYCLE TIME PID 200MS SP INT REAL PID PV IN REAL PID PV PER WORD
3、PEPER ON MAN REAL MAN ON GAIN REAL TI TIME TD TIME TM LAG TIME DEADB W REAL LMN HLM REAL PID 100 LMN LLM REAL PID 0 100 10V 100 PV FAC REAL PV OFF REAL OFFSET LMN FAC REAL PID LMN OFF REAL PID OFFSET I ITLVAL REAL PID I ITL ON DISV REAL B LMN REAL PID LMN P REAL PID P LMN I REAL PID I LMN D REAL PID
4、 D C PID 0 0 1 0 0 0 1 0 0 0 1 0 27648 100 27648 PV IN SP INT LMN 27648 100 PQW D PID D PI I 0 P 0 I 0 48 PID PID SIMATIC STEP7 PID PID PID PID PID P I D PID PID OB35 ob35 FB41 DB DB20 DB yes 1 MAN ON bool m0 0 true false 2 cycle T 100MS ob35 100ms 3 SP INT MD2 hmi 0 100 0 real 4 PV IN MD6 piw FC105
5、 5 MAN MD10 real 6 GAIN MD100 DB P 1 2 2 7 TI MW120 T 30S 8 DEAD W MD122 sp pv 0 100 0 0 9 LMN MD126 MD126 fc106 pqw pid LMN PER fc106 plcsim 1 man on true man 2 man on false pv sp pid COM RST BOOL PID TURE PID PID 1 PID a P b Ti c Td 2 a P P PID Ti 0 Td 0 PID PID 60 70 0 P P P PID P 60 70 P b Ti P
6、Ti Ti Ti Ti PID Ti 150 180 Ti c Td Td 0 P Ti 30 d PID PID P I D PID PID OB35 ob35 FB41 DB DB20 DB yes 1 MAN ON bool m0 0 true false 2 cycle T 100MS ob35 100ms 3 SP INT MD2 hmi 0 100 0 real 4 PV IN MD6 piw FC105 5 MAN MD10 real 6 GAIN MD100 DB P 1 2 2 7 TI MW120 T 30S 8 DEAD W MD122 sp pv 0 100 0 0 9
7、 LMN MD126 MD126 fc106 pqw pid LMN PER fc106 plcsim 1 man on true man 2 man on false pv sp pid COM RST BOOL PID TURE PID PID PID 102 2009 11 6 PID PID 0 0 PID 0 1 PID 1 PID D A A B IN A B PC PID PID 2 PID 3 PID PID 1 PID PID PID PID e k PD e k PID PID k k 0 1 2 Kp Ki Kd PID 2 2 3 PID Kp Ki Kd T Kp K
8、i Ziegler Nichols 4 K L T 3 S Ziegler Nichols s 2 max max PC PID LD SM0 0 ITD AIW0 AC0 DTR AC0 AC0 R 32000 0 AC0 MOVR AC0 VD100 LD I0 0 PID VB100 0 LD SM0 0 MOVR VD108 AC0 PID v VD100 VD108 PID PLC plc I0 0 Q0 0 plc s7 200 ob35 FB41 DB120 Db yes 1 MAN ON bool m0 0 true false 2 cycle T 100MS ob35 100
9、ms 3 SP INT MD2 hmi 0 100 0 real 4 PV IN md6 piw 0 100 0 5 MAN MD10 op real 0 100 0 6 GAIN md14 Pid P 1 2 2 7 TI MW20 pid i T 30S 8 DEAD W md22 sp pv 0 100 0 0 9 LMN MD26 0 100 0 fc106 word move pqw pid LMN PER fc106 plcsim 1 man on true man 2 man on false pv sp pid 3 a pv sp b p c 100 2 3 PID 4 5 6 7