鎽� 瑕侊細鏈枃浠嬬垂浜哖LC绯荤当(t菕ng)灏嶈嚜渚嗘按寤犻厤姘磋ō(sh猫)鍌欑殑鑷嫊鎺у埗銆傛牴鎿�(j霉)瑁濈疆鐨勭壒榛炲拰鐢ㄦ埗鐨勪娇鐢ㄦ儏娉�锛岄伕鐢ㄥ閲忓紡PID瑾�(di脿o)绡€(ji茅)銆傚苟閫氶亷杌熶欢鍜岀‖浠剁殑鍚堢悊閰嶅悎锛屼娇绯荤当(t菕ng)瀵︾従(xi脿n)杌熷暉銆佽粺鍋滃強鎭掑渚涙按銆� 闂�(gu膩n)閸佃锛�PLC;鑷嫊鎺у埗;PID;鎭掑渚涙按 1 鍓嶈█ 銆€銆€鍙法绋嬮倧杓帶鍒跺櫒锛圥LC锛夋槸鍏崄骞翠唬鐧�(f膩)灞曡捣渚嗙殑鏄泦鑷嫊鍖栨妧琛�(sh霉)銆佽▓绠楁鎶€琛�(sh霉)鍜岄€氫俊鎶€琛�(sh霉)浜庝竴楂旂殑鏂颁竴浠ｅ伐妤�(y猫)鎺у埗瑁濈疆銆� 銆€銆€鏍规摎(j霉)鎴戝湅鍖楁柟姘磋硣婧愮浉灏嶇己涔忕殑鐝�(xi脿n)鐙€锛屽埄鐢≒LC鎺у埗姘存车閫茶鐩存帴渚涙按锛屽鐝�(xi脿n)鐒″渚涙按锛屾晠鎭掑渚涙按椤緱灏ょ偤閲嶈銆� 2 纭欢瑷�(sh猫)瑷� 銆€銆€2.1 绯荤当(t菕ng)鎺у埗妗嗗湒锛堣鍦�1锛� [align=center] 锛堝湒 1锛塠/align] 銆€銆€2.2 绯荤当(t菕ng)鍩烘湰宸ヤ綔鍘熺悊 銆€銆€棣栧厛鏍规摎(j霉)渚涙按妯撳堡渚嗚ō(sh猫)瀹氫緵姘村鍔�锛屼互淇濊瓑鏈€楂樺堡鏈夎冻澶犵殑澹撳姏銆傚洜鐐虹暥鐢ㄦ埗鐢ㄩ噺澧炲ぇ鏅�锛屽鍔涘偝鎰熷櫒妾㈡脯鍒扮殑姘村灏辫畩灏忥紝閫欐檪瀵﹂殯姘村鑸囪ō(sh猫)瀹氭按鐨勫亸宸秺澶�銆傛牴鎿�(j霉)鍋忓樊鐨勫ぇ灏忎締姹哄畾鍟熷嫊娉电殑鏁�(sh霉)閲忥紝姝ゆ檪蹇呴爤鍔犲ぇ娴侀噺锛屼互婊胯冻鐢ㄦ埗鐨勫澶�;鐣剁敤姘撮噺娓涘皯鏅傦紝杓稿嚭鐨勫鍔涘氨鏈冨鍔狅紝鍋忓樊瓒婂皬锛屾牴鎿�(j霉)閫欏€嬪亸宸€间締姹哄畾闂�(gu膩n)闁夋车鐨勬暩(sh霉)閲�锛岀敤渚嗘渶澶ч檺搴﹀湴绡€(ji茅)鐪侀浕鑳�銆傜暥鐧�(f膩)鐢熺伀鐏�(z膩i)鏅�锛屽洓鑷烘车鍚屾檪璧峰嫊锛屼互淇濊瓑鏈€澶х殑渚涙按閲�銆傚埄鐢ㄦ车鐨勬暩(sh霉)閲忎締婊胯冻鐢ㄦ按閲忎互瀵︾従(xi脿n)鎭掑渚涙按銆� 銆€銆€2.3 绯荤当(t菕ng)纭欢閰嶇疆 銆€銆€涓夎彵璁婇牷鍣� 1鑷� 鐔辩辜闆诲櫒 4鑷� 銆€銆€鎺ヨЦ鍣� 8鑷� 璁婇牷闆绘 4鑷� 銆€銆€绌烘埃闁嬮棞(gu膩n) 1鍙� 涓夌浉淇濋毆鐩� 6濂� 銆€銆€涓婁綅瑷堢畻姗� 1濂� 妯℃摤閲忔ā濉� 1 濉� 銆€銆€涓夎彵閫氳▕鍗� 1濂� 涓夎彵PLC 1鑷� 銆€銆€2.4 绯荤当(t菕ng)杌熷暉銆佽粺鍋滀富闆昏矾锛氾紙瑕嬪湒2锛� [align=center] 锛堝湒2锛塠/align] 銆€ 銆€銆€2.5 绯荤当(t菕ng)绲�(ji茅)妲�(g貌u)妗嗗湒 銆€銆€鐐轰簡瀵︾従(xi脿n)鎭掑渚涙按锛岃姹傞€欑ó鎺у埗绯荤当(t菕ng)鍏锋湁寰堝ぇ鐨勯潏娲绘€�?锛熷垈鑼€顣�?sh霉)鏄撲簬璁婂嫊锛屾暩(sh霉)鎿�(j霉)瑷橀寗鍔熻兘瀹屽杽銆傞嚌灏嶉€欎簺瑕佹眰鑸囩壒榛�锛岀⒑瀹氭帶鍒剁郴绲�(t菕ng)閲囩敤鍏╃礆鐩�(ji膩n)鎺у埗鏂规锛岀祼(ji茅)妲�(g貌u)鍦栧鍙筹紙瑕嬪湒3锛夛細 [align=center] 锛堝湒 3锛塠/align] 銆€銆€2.6 绯荤当(t菕ng)宸ヤ綔鏂瑰紡閬告搰 銆€銆€瑭茬郴绲�(t菕ng)鍙互鐢ㄨ惉鑳借綁(zhu菐n)鎻涢枊闂�(gu膩n)閬稿畾绯荤当(t菕ng)鎵嬪嫊銆佽嚜鍕曞伐浣滄柟寮�銆傛墜鍕�銆佽嚜鍕曟檪姣忚嚭姘存车鍧囧彲鐢辫畩闋诲櫒閫茶杌熻捣鍕曘€佽粺鍋滄锛屽洓鑷烘按娉典簩鐢ㄤ簩鍌欍€佸苟鑳借嚜鍕曡瓨鍒�銆傜暥鐢ㄦ按閲忓皬鏅備竴鑷烘按娉甸亱琛�锛岀敤姘撮噺澶ф檪浜岃嚭姘存车閬嬭锛岀伀璀︽檪鍥涜嚭姘存车鍚屾檪渚涙按銆傚埄鐢ㄧ▼搴忛€茶瀹氭檪閬告搰姘存车宸ヤ綔鏂瑰紡銆傚湪鑷嫊閬嬭閬庣▼涓紝鑻ュ叐鑷烘按娉典緵姘村鍔涗綆鏅傛棦鍙敱杌熶欢鑷嫊宓屽叆绗笁鑷烘按娉靛伐浣�锛屼篃鍙墜鍕曡捣鍕曠涓夎嚭姘存车锛屾姇鍏ラ亱琛�銆傚湪鎵嬨€佽嚜鍕曟檪姣忚嚭姘存车鍧囩敱璁婇牷鍣ㄦ寜姘存车宸ヤ綔鏇茬窔鍒囨彌锛岄€氶亷灏嶈畩闋诲櫒绶ㄧ▼銆傜法绋嬫€濊矾锛氳綁(zhu菐n)閫焠灏忔檪闋荤巼f浣�锛屼絾闋荤巼f涓嶈兘浣庝簬6Hz, 鍚﹀墖闆绘鏈冭檿浜庡急纾佺媭鎱�(t脿i);n澧炲姞鏅俧涓婂崌锛宯绌�(w臎n)瀹氬湪椤嶅畾鍊兼檪f = 50Hz锛堟垨鐣ヤ綆浜�50 Hz锛�锛岃畩闋诲櫒鍒囨彌瀹屾垚銆� 3 杌熶欢瑷�(sh猫)瑷� 銆€銆€3.1 鎺у埗绋嬪簭娴佺▼鍦栵紙瑕嬪湒4锛� [align=center] 锛堝湒 4锛塠/align] 銆€銆€3.2 PID瑾�(di脿o)绡€(ji茅)浠ュ鐝�(xi脿n)鎭掑渚涙按 銆€銆€瑭茬郴绲�(t菕ng)鐐轰簡鍏嬫湇鍏�(n猫i)瀛樺閲忕殑涓嶈冻锛屾垜鍊戦伕鐢ㄥ閲忓紡PID鎺у埗锛屽嵆杓稿嚭閲忔槸鍏╁€嬮噰妯ｅ懆鏈熷€间箣宸甧锛坘锛�锛屾帶鍒跺櫒鐨勮几鍑哄閲忕偤鈻砋锛坘锛�銆傝〃閬斿紡濡備笅锛� 銆€銆€鈻砋锛坘锛�=U锛坘锛�-U锛坘-1锛� 銆€銆€=Kp锝沞锛坘锛�-e锛坘-1锛�+ T锛� e锛坘 锛� /T2+T0[e锛坘锛�-2e锛坘-1锛�+e锛坘-2锛� ]/T锝� 銆€銆€=Kp[锛�1+T/T2+T0/T锛夛紛e锛坘锛�-锛�1+2T0/T锛夛紛e锛坘-1锛�+T0锛奺锛坘-2锛�/T] 銆€銆€=K1锛奺锛坘锛�-K2锛奺锛坘-1锛�+K3锛奺锛坘-2锛� 銆€銆€鍏朵腑锛欿1銆並2銆� K3鐐虹稉(j墨ng)椹楃郴鏁�(sh霉)锛岄渶瑕佺従(xi脿n)鍫磋(di脿o)瑭︿慨鏀�銆� 銆€銆€e锛坘锛�銆� e锛坘-1锛�銆乪锛坘-2锛夌偤灏嶆噳(y墨ng)閲囨ǎ鏅傚埢鐨勫亸宸�銆� 銆€銆€鐣剁敤姘撮噺澧炲姞鏅傦紝Uf娓涘皬锛宔锛坘锛夊澶�锛岄渶瑕佹坊鍔犳按娉典緵姘�锛屼互閬斿埌瑷�(sh猫)瀹氭按澹�锛岄€氶亷閫欑ó鏂规硶瀵︾従(xi脿n)鎭掑渚涙按銆傚閲忓紡鎺у埗绋嬪簭妗嗗湒锛堣鍦�5锛�銆� 銆€銆€3. 3 鏁�(sh霉)瀛楁烤娉締淇濊瓑閲囨ǎ鏁�(sh霉)鎿�(j霉)鐨勬簴纰烘€� 銆€銆€鐐轰簡闃叉鐬檪鎶栧嫊锛屾彁楂橀噰妯ｆ暩(sh霉)鎿�(j霉)鐨勬簴纰烘€�锛岄噰鐢ㄥ叐绋檿鐞嗘柟娉曪細 銆€銆€1銆佺暥閲囨ǎ鍊兼瘮鏈€澶у€奸倓澶ф檪锛屾垜鍊�?n猫i)鈭界暡绗剧妾獲娆＄殑閲囨ǎ鍊笺€� 銆€銆€2銆佽€冩叜鍒扮簿搴︾殑瑕佹眰涓嶉珮锛屾垜鍊戦噰鐢ㄦ暩(sh霉)瀛楁烤娉腑鐨勫钩鍧囧€兼烤娉㈡柟娉�銆傛祦绋嬪湒濡備笅锛� [align=center] 锛堝湒 5锛� 锛堝湒 6锛塠/align] 銆€銆€3.4 绶ㄧ▼鎬濊矾鍙婂畨鍏ㄩ€ｉ帠 銆€銆€宸ヨ棟鎺у埗锛堟帶鍒跺皪璞′富瑕佹槸灏�4鑷烘按娉电殑鎺у埗锛夋寜鐢ㄦ埗鐢ㄦ按閲忕殑澶у皬锛屽彲鑷嫊瀹屾垚宸ヤ綔閬庣▼鐨勬帶鍒�銆傚埄鐢ㄥ劒(y艒u)鍏堢礆鎺у埗锛氬鍔涚殑鍎�(y艒u)鍏堢礆姣旀檪闁撶殑鍎�(y艒u)鍏堢礆楂�锛屼締纰轰繚澹撳姏鎭掑畾銆傞€氶亷灏嶈畩闋诲櫒鐨勭法绋嬶紝浣胯畩闋诲櫒鎸夌収姘存车鐨勭壒鎬ф洸绶氫締宸ヤ綔锛屽緸鑰屾湁鏁堝湴浣挎按娉电殑璧峰嫊鍜屽仠姝㈣純鐐哄钩绌�(w臎n)銆傛彌鍙ヨ┍瑾紝鍙鐝�(xi脿n)姘存车鐨勮粺璧�銆佽粺鍋�銆� 銆€銆€鐐轰簡闄嶄綆绯荤当(t菕ng)鎴愭湰锛屾墦鐮村父瑕�(gu墨)鎬濈董锛屾垜鍊戝皪鐔辩辜闆诲櫒鐨勭媭鎱�(t脿i)涓嶉€茶妾㈡脯锛屽埄鐢ㄧ啽绻奸浕鍣ㄧ殑甯搁枆瑙搁粸锛堢敤绻奸浕鍣ㄦ帶鍒舵€濊矾锛夊皪瀹冩墍淇濊闆绘鐨勬帴瑙稿櫒绶氬湀瀵﹁纭欢闁夐帠锛屽埄鐢ㄧ▼搴�?q奴)惟楠哄垈榻愬C瀵﹁杌熶欢闁夐帠銆傛牴鎿�(j霉)閰嶆按寤犵殑瑕佹眰鍙従(xi脿n)鍫翠换鎰忎慨鏀硅伅(li谩n)閹栨柟寮忥細涓嬩綅姗熺▼搴忚伅(li谩n)閹�銆佷笂浣嶆绋嬪簭鑵虫湰鑱�(li谩n)閹栥€� 銆€銆€閫氶亷涓婅堪涓夌ó鑱�(li谩n)閹栨柟寮�锛岃冻鍙互淇濊瓑宸ヤ綔閬庣▼銆佷汉鍝¤垏瑷�(sh猫)鍌欑殑瀹夊叏銆� 銆€銆€3.5 宸ヤ綔鏁�(sh霉)鎿�(j霉)鐨勮檿鐞� 銆€銆€灏嶆枃涓殑閰嶆按瑁濈疆鑰岃█锛屾暩(sh霉)鎿�(j霉)鏌ラ柋鍔熻兘椤緱灏ょ偤閲嶈銆傞€氶亷灏嶉厤姘存鍙叉暩(sh霉)鎿�(j霉)鏌ラ柋锛屽彲浠ョ郴绲�(t菕ng)鐨勫垎鏋愮敤鎴剁殑绺界敤姘存儏娉�锛岀偤闄嶄綆渚涙按鎴愭湰淇敼绋嬪簭鎻愪緵渚濇摎(j霉)銆傞€氶亷灏嶅嫊鎱�(t脿i)鏁�(sh霉)鎿�(j霉)鐨勬煡闁�锛屽彲浠ヤ娇绯荤当(t菕ng)绠＄悊鍝″皪绯荤当(t菕ng)鐨勫嫊鎱�(t脿i)閬庣▼鑳藉寰堝ソ鐨勭洠(ji膩n)鎺�锛屽緸鑰屾湁鏁堝湴銆佸悎鐞嗙殑鍒嗛厤姘磋硣婧愩€傚湪涓婁綅瑷堢畻姗熺殑Win鈥擝C绲勬厠(t脿i)杌熶欢涓�锛岄€氶亷妯欓憭瑷橀寗鍙鐝�(xi脿n)涓婅堪鍔熻兘銆� 銆€銆€3.6 鍫辫〃杓稿嚭鍙婄洠(ji膩n)鎺� 銆€銆€鍦ㄩ厤姘村闅涢亷绋嬩腑鐨勫牨琛ㄥ彲鍒嗙偤鍏╅锛氾紙1锛夊畾鏅傚牨琛紙渚嬪锛氬皬鏅傛暩(sh霉)鎿�(j霉)娴佹按甯冲牨琛級;锛�2锛夊嫊鎱�(t脿i)鏁�(sh霉)鎿�(j霉)鍒嗘瀽鍫辫〃銆傚湪涓婁綅瑷堢畻姗熺殑Win鈥擝C绲勬厠(t脿i)杌熶欢涓紝鍫辫〃鐨勭法杓櫒鍙鐝�(xi脿n)閫欎簺鍔熻兘锛氬皣榧犳鏀惧湪鏌愪竴灏嶈薄涓�锛屽彲褰堝嚭鐩告噳(y墨ng)鐨勬枃瀛楄鏄庡苟鎸佺簩(x霉)涓€娈垫檪闁�锛屾湁鍔╀簬鎿嶄綔浜哄摗灏嶉厤姘存祦绋嬬殑閫蹭竴姝ヤ簡瑙�銆� 4 绲�(ji茅)鏉熻獮 銆€銆€鏈枃鎵€鎻忚堪鐨勫閲忓紡PID鎺у埗鐨凞CS绯荤当(t菕ng)瀹屽叏鑳芥豢瓒抽厤姘村粻鐨勪緵姘磋姹�锛屼笖鍏锋湁鍔熻兘瀹屽杽銆佷娇鐢ㄦ柟渚�銆佹帶鍒剁簿纰虹瓑鐗归粸锛岀◢鍔犺畩鍖栧彲閬╁悎浠讳綍闇€瑕佹亽澹撴祦閲忥紙娑插锛夌郴绲�(t菕ng)銆傝┎绯荤当(t菕ng)鍦ㄥ寳鏂瑰悇澶ф〒瀹囪│鐢�锛屾晥鏋滆純鐐虹悊鎯炽€傛秷闃茶ō(sh猫)鍌欏潎鍙噰鐢ㄩ€欑ó鏂瑰紡渚涙按銆傞嚌灏嶄笉鍚岀殑绯荤当(t菕ng)闇€绋嶅姞鏇存敼锛岄€欎竴榛為渶瑕佹敞鎰�銆� 鍙冭€冩枃鐛�: 銆€銆€[1] 榛冧竴澶�. 寰瀷瑷堢畻姗熸帶鍒舵妧琛�(sh霉). 姗熸宸ユキ(y猫)鍑虹増绀炬渻. 1997.5 銆€銆€[2] 閻樿倗鏂�. 鍙法绋嬫帶鍒跺櫒鍘熺悊鍙婃噳(y墨ng)鐢�. 鑿崡鐞嗗伐澶у(xu茅)鍑虹増绀�. 1998.5 銆€銆€[3] 鍚屽織宸ヤ綔瀹�. Borland c++闁嬬櫦(f膩)鎶€宸т緥鏁欑▼. 浜烘皯閮甸浕鍑虹増. 2000.5