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1、PIDControlIntroductionThePIDcontrolleristhemostcommonformoffeedback.Itwasanessentialelementofearlygovernorsanditbecamethestandardtoolwhenprocesscontrolemergedinthe1940s.Inprocesscontroltoday,morethan95%ofthecontrolloopsareofPIDtype,mostloopsareactuallyPIcontrol.PIDcontrollersaretodayfoundinallareasw
2、herecontrolisused.Thecontrollerscomeinmanydifferentforms.Therearestandalonesystemsinboxesforoneorafewloops,whicharemanufacturedbythehundredthousandsyearly.PIDcontrolisanimportantingredientofadistributedcontrolsystem.Thecontrollersarealsoembeddedinmanyspecialpurposecontrolsystems.PIDcontrolisoftencom
3、binedwithlogic,sequentialfunctions,selectors,andsimplefunctionblockstobuildthecomplicatedautomationsystemsusedforenergyproduction,transportation,andmanufacturing.Manysophisticatedcontrolstrategies,suchasmodelpredictivecontrol,arealsoorganizedhierarchically.PIDcontrolisusedatthelowestlevel;themultiva
4、riablecontrollergivesthesetpointstothecontrollersatthelowerlevel.ThePIDcontrollercanthusbesaidtobethe“breadandbutterofcontrolengineering.Itisanimportantcomponentineverycontrolengineer’stoolbox.PIDcontrollershavesurvivedmanychangesintechnology,frommechanicsandpneumaticstomicroprocessorsviaelectronict
5、ubes,transistors,integratedcircuits.ThemicroprocessorhashadadramaticinfluencethePIDcontroller.PracticallyallPIDcontrollersmadetodayarebasedonmicroprocessors.Thishasgivenopportunitiestoprovideadditionalfeatureslikeautomatictuning,gainscheduling,andcontinuousadaptation.6.2TheAlgorithmWewillstartbysumm
6、arizingthekeyfeaturesofthePIDcontroller.The“textbook”versionofthePIDalgorithmisdescribedby:6.1whereyisthemeasuredprocessvariable,rthereferencevariable,uisthecontrolsignalandeisthecontrolerror（e=−y）.Thereferencevariableisoftencalledthesetpoint.Thecontrolsignalisthusasumofthreeterms:theP-term（whichisp
7、roportionaltotheerror）,theI-term（whichisproportionaltotheintegraloftheerror）,andtheD-term（whichisproportionaltothederivativeoftheerror）.ThecontrollerparametersareproportionalgainK,integraltimeTi,andde
