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4锛庨枊鐧�(f膩)鐙€鎱�(t脿i)涓嬪彲瑷�(sh猫)缃帶浠剁殑绺介珨灞€�銆佽ō(sh猫)瀹�/鍙嶉鑼冨湇鍜屽弮鏁�(sh霉)瑷�(sh猫)瀹�銆�
5锛庨亱(y霉n)琛岀媭鎱�(t脿i)涓嬪彲瑷�(sh猫)缃甈ID鍙冩暩(sh霉)鍜屾墜鍕�(d貌ng)鑷嫊(d貌ng)鍒囨彌銆�
浜�銆佷娇鐢ㄨ鏄庯細
1锛庡湪鐣潰涓彃鍏ユ帶浠讹細绲勬厠(t脿i)鐜嬬暙闈㈣彍鍠腑绶ㄨ集\鎻掑叆閫氱敤鎺т欢锛屾垨鍦ㄥ伐鍏风涓柈鎿娾€滄彃鍏ラ€氱敤鎺т欢鈥濇寜閳�锛屽湪褰堝嚭鐨勫皪(du矛)瑭辨涓伕鎿� 鈥淜ingview Pid Control鈥�锛屽柈鎿婄⒑瀹�銆�
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锛�2锛夊爆鎬� 椤炲瀷 闂�(gu膩n)鑱�(li谩n)灏�(du矛)璞★細
鍦�3鍕�(d貌ng)鐣€f帴灞€р€斿爆鎬�
SP锛欶LOAT锛屾帶鍒跺櫒鐨勮ō(sh猫)瀹氬€�銆�
PV锛欶LOAT锛屾帶鍒跺櫒鐨勫弽楗嬪€�銆�
YOUT锛欶LOAT锛屾帶鍒跺櫒鐨勮几鍑哄€�銆�
Type锛歀ONG锛孭ID鐨勯鍨�銆�
CtrlPeriod锛歀ONG锛屾帶鍒跺懆鏈熴€�
FeedbackFilter锛欱OOL锛屽弽楗嬪姞鍏ユ烤娉€€�
FillterTime锛歀ONG锛屾烤娉㈡檪(sh铆)闁撳父鏁�(sh霉)銆�
CtrlLimitHigh锛欶LOAT锛屾帶鍒堕噺楂橀檺銆�
CtrlLimitLow锛欶LOAT锛屾帶鍒堕噺浣庨檺銆�
InputHigh锛欶LOAT锛岃ō(sh猫)瀹氬€糞P鐨勯珮闄�銆�
InputLow锛欶LOAT锛岃ō(sh猫)瀹氬€糞P鐨勪綆闄�銆�
OutputHigh锛欶LOAT锛屽弽楗嬪€糚V鐨勯珮闄愩€�
OutputLow锛欶LOAT锛屽弽楗嬪€糚V鐨勪綆闄�銆�
Kp锛欶LOAT锛屾瘮渚嬬郴鏁�(sh霉)銆�
Ti锛歀ONG锛岀⿳鍒嗘檪(sh铆)闁撳父鏁�(sh霉)銆�
Td锛歀ONG锛屽井鍒嗘檪(sh铆)闁撳父鏁�(sh霉)銆�
Tf锛歀ONG锛屾烤娉㈡檪(sh铆)闁撳父鏁�(sh霉)銆�
ReverseEffect锛欱OOL锛屽弽鍚戜綔鐢ㄣ€�
IncrementOutput锛欱OOL锛屾槸鍚﹀閲忓瀷杓稿嚭銆�
DeadBandLow锛歀ong锛岀劇鏁堛€�
Status锛欱OOL锛屾墜鑷嫊(d貌ng)鐙€鎱�(t脿i)銆�
M锛欶LOAT锛屾墜鍕�(d貌ng)瑷�(sh猫)瀹氬€笺€�
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