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2.3 椹�(q奴)鍕曢浕璺�
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2.4 涓婁綅姗�(j墨)鎺у埗
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3 绯荤当(t菕ng)杌熶欢瑷�(sh猫)瑷�(j矛)
3.1 闁ラ杸闁嬪害瑾�(di脿o)绡€(ji茅)
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3.2 妯＄硦 PID 绠楁硶
鎺у埗鍣ㄤ娇鐢� PWM 椹�(q奴)鍕曟閫�(j矛n)闆绘(j墨)锛岀敱浜庝娇鐢ㄤ簡纭欢PWM 鐧�(f膩)鐢熷櫒锛屽柈浣嶆檪(sh铆)闁撳収(n猫i) PWM 娉㈢殑鍊�(g猫)鏁�(sh霉)闆ｄ互瑷�(j矛)绠�銆傚彟 澶�锛岃€冩叜鍒颁綅缃亸宸ぇ鏅�(sh铆)锛屾帶鍒惰姹傚揩閫熻窡韫�锛岃€屽亸宸純灏忔檪(sh铆)锛屽墖瑕佹眰鎻愰珮鎺у埗绮惧害锛屽洜姝ら渶瑕侀噰鐢� PID 绠楁硶銆�
PID 鎺у埗绋嬪簭娴佺▼鍦栧鍦�9鎵€绀�锛屽鏋滆鎺ч噺閬�(yu菐n)鏈帴杩戠郸瀹氬€�锛屽儏鍓涢枊濮嬪悜绲﹀畾鍊艰畩鍖栨檪(sh铆)锛岀敱浜庢瘮渚嬪拰绌嶅垎鍙嶅悜锛屽皣鏈冩笡鎱㈡帶鍒堕亷绋�銆傜偤浜嗗姞蹇枊濮嬬殑鍕曟厠(t脿i)閬庣▼锛屽彲浠ヨō(sh猫)瀹氫竴鍊�(g猫)鍋忓樊鑼冨湇 v锛岀暥(d膩ng)鍋忓樊| e ( t ) | < β鏅�(sh铆)锛屽嵆琚帶閲忔帴杩戠郸瀹氬€兼檪(sh铆)锛屽氨鎸夋甯歌(gu墨)寰嬭(di脿o)绡€(ji茅)锛岃€岀暥(d膩ng)| e ( t ) | ≥ β鏅�(sh铆)锛屽墖涓嶇姣斾緥浣滅敤鐐烘鎴�?y脿n)妯�?f霉)锛岄兘浣垮畠鍚戞湁鍒╀簬鎺ヨ繎绲﹀畾鍊肩殑鏂瑰悜瑾�(di脿o)鏁�锛屽嵆鍙栧叾鍊肩偤| e ( t ) - e ( t - 1 ) |锛屽叾绗﹁櫉鑸囩⿳鍒嗛爡(xi脿ng)涓€鑷�銆傛牴鎿�(j霉)PWM鐩搁棞(gu膩n)瀵勫瓨鐨勪娇鐢ㄦ柟娉�锛岀洿鎺ヨō(sh猫)缃浉鎳�(y墨ng)鐨勫瘎瀛樺櫒锛孭WM 妯″灏囨渻鐢�(ch菐n)鐢熼牷鐜囧拰鍗犵┖姣斿彲瑾�(di脿o)鐨� PWM娉�銆傜暥(d膩ng)PWM妯″涓€鏃﹂亱(y霉n)琛屽悗锛屽鏋滀笉浣跨敤杌熶欢鏂规硶鍘婚棞(gu膩n)闁�锛屽畠灏囦竴鐩磋几鍑虹浉鎳�(y墨ng)鍙冩暩(sh霉)鐨� PWM 鏂规尝锛岃垏鍏朵粬绋嬪簭鐨勯亱(y霉n)琛屾矑鏈夐棞(gu膩n)绯�锛屽緸鑰屽(sh铆)鐝�(xi脿n)澧為噺寮忔ā绯� PID 绠楁硶鐨勫(sh铆)鐝�(xi脿n)銆�
绯荤当(t菕ng)鍒╃敤妯＄硦 PID 绠楁硶锛岄€氶亷 PID 鐨勮几鍑烘帶鍒� PWM鐨勯牷鐜�锛屽彲鍔犲揩鎺у埗鐨勫嫊鎱�(t脿i)閬庣▼锛屼互婊胯冻鍋忓樊澶ф檪(sh铆)鐨勫揩閫熸€ц姹傚拰鍋忓樊灏忔檪(sh铆)鐨勭簿纰烘€ф帶鍒讹紝寰炶€岄仈(d谩)鍒拌(di脿o)绡€(ji茅)闆绘(j墨)閫熷害鍜岄槻姝㈤枊搴﹁(di脿o)绡€(ji茅)鎱ｆ€х敘(ch菐n)鐢熸尟钑╃殑鐩殑[7?10]銆傛澶�锛岀郴绲�(t菕ng)閭勫叿鍌欑法纰煎櫒鏁呴殰鎴栨€ュ仠淇濊(h霉)銆佹帀闆讳繚鎸佺瓑鍔熻兘銆�
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