分析一下PID算法的基本原理

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简单地说，就是运用比例、积分、微分算法，来对回路中的偏差进行修正，通过执行器调节参数，使测量值稳定在设定值附近，，达到控制某一参数的目的。
以下为一例，显示出调节器的OUT与偏差之间的关系：
The series form is a discrete implementation of:

For L = OUT (which is the same as OUT being unconstrained) and P = D = E the equations reduce to:

A conventional Standard PID with feedforward,

and Series PID with derivative filter applied only to derivative action, with feedforward

Where:

E(s) is error (SP-PV)

± is + for reverse acting and – for direct acting (Direct_Acting in CONTROL_OPTS)

KNL is nonlinear gain applied to P + I terms but not to D term. Nonlinear action is activated in FRSIPID_OPTS by selecting Use_Nonlinear_Gain_Modification.

P(s) is the variable to which proportional action is applied. P(s) is determined by parameters STRUCTURE and BETA (which sets the weighting factor for proportional action applied to SP change).