8:

A

PID

: . .
: 2016 2017

:
: 14075
:
: 14:00 16:00
 [AYTOMA]
2 .

PID
. ,
,
MATLAB, ,
.

1: Block

(P)
H u e ,
() = ()

 [AYTOMA]
3 .

() = =

.
, ,
, . ,
.

.

()
H u e ,

() = ()
0

() =

.
()
, , u. H o
u y

r . ,

, .

, .

(PI)
 [AYTOMA]
4 .

H u e ,

() = () + ()
0

1
() = (1 + )

.

2: (PI)
(PD)
H u e ,
de(t)
() = () +


() = (1 + )
.
 [AYTOMA]
5 .

3: (PD)

(PID)

H u e ,
de(t)
() = () + + ()
0

() = (1 + )
.
PID
( )
( P)
( D)
 [AYTOMA]
6 .

4: (PID)

5:

 [AYTOMA]
7 .

6:
 [AYTOMA]
8 .

Table 1: P, M , D

P= 0.4
I=0
D 0 0.05 0.1 0.15 0.2

1 2 3 4 5

Table 2: P, M D,

P= 0.4
D=0
I 0.2 0.4 0.6 0.8 1

6 7 8 9 10

Table 3: P, M D,

P= 0.4
I=1
D 0 0.05 0.1 0.15 0.2

11 12 13 14 15
 [AYTOMA]
9 .

9: figure 1 from Table 1 7: figure 2 from Table 1

P=0.4, I=0,D = 0

8: figure 3 from Table 1

10: figure 4 from Table 1

11: figure 5 from Table 1 12: figure 6 from Table 2

 [AYTOMA]
10 .

13: : figure 7 from Table 2 14: figure 8 from Table 2

15: figure 9 from Table 2 16: figure 10 from Table 2

17: figure 11 from Table 3 18: : figure 12 from Table 3

 [AYTOMA]
11 .

19: figure 13 from Table 3 20: figure 14 from Table 3

21: figure 15 from Table 2

 [AYTOMA]
12 .

,
, . ,

.

, ,
.
,
, , PD

.

, P
I, . ,
,
.
PI
.

, P,
D.
,
,
, ,
, .
 [AYTOMA]
13 .

,
,
.

PID :

( )
( P)
( D)