2015/12/1 PID参数整定 齐格勒-尼柯尔斯法则(Zieler-nichols Rules)之第二种方法 Step1:采用P控制，取得使输出第一次呈现持续振荡时的临界增益K,及此时对应的振荡 周期Pr Step2:按表确定PID值 K D Ta 0.5Ka PI 0.45Kr P/1.2 PID 0.6K P/2 P./8 School of Mechanical Engineering ME369-lecture 8.2 Shanghai Jiao Tong University Fall 2015 例]PID参数整定 齐格勒-尼柯尔斯法则-2R G.()a C G(s)= s(s+1)(s+5) School of Mechanical Engineering ME369-lecture 8.2 Shanghai Jiao Tong University Fall 2015 102015/12/1 10 BE315-Lecture 8.2 Fall 2011 ME369-lecture 8.2 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University PID参数整定 Step 1 : 采用P控制，取得使输出第一次呈现持续振荡时的临界增益Kcr及此时对应的振荡 周期Pcr Step 2 : 按表确定PID值 Kp Ti Td P 0.5Kcr PI 0.45Kcr Pcr/1.2 PID 0.6Kcr Pcr/2 Pcr/8 齐格勒-尼柯尔斯法则（Zieler –nichols Rules）之第二种方法 BE315-Lecture 8.2 Fall 2011 ME369-lecture 8.2 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University [例]PID参数整定 1 ( ) ( 1)( 5) G s s s s    齐格勒-尼柯尔斯法则-2