2015/12/1 ME369-系统模型、分析与控制 8.2PD校正 School of Mechanical Engineering ME369-lecture 8.2 Shanghai Jiao Tong University Fall 2015 PID控制器 Disturbance Controller D(s) Reference Control Plant Input Error Gc(s) Input Output Gp(s) R(s) -E(s) U(s) Y(s) H(s) 比例(P)+积分(I)+微分(D) 时 :(-Ke()+Ke(dr+Kp). 频域： UG)-KKE() Gc(s) [Ko=Kc Ge()-Ke De 9 Nc(s)Kps2+Kps+KLKp(s+)s+) Kp=Kc(白+) 5 K1=Ko2 School of Mechanical Engineering ME369-lecture 8.2 Shanghai Jiao Tong University Fall 2015 12015/12/1 1 BE315-Lecture 8.2 Fall 2011 ME369-lecture 8.2 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 8.2 PID 校正 ME369-系统模型、分析与控制 BE315-Lecture 8.2 Fall 2011 ME369-lecture 8.2 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University PID 控制器 比例（P）+ 积分（I）+ 微分（D) 时域： 频域：