1 模拟PID控制......................................................................................................................................1
1.1 模拟PID控制原理 ......................................................................................................................1
2 数字PID控制......................................................................................................................................3
2.1 位置式PID算法 ..........................................................................................................................3
2.2 增量式PID算法 ..........................................................................................................................4
2.3 控制器参数整定.........................................................................................................................4
2.3.1 凑试法...........................................................................................................................5
2.3.2 临界比例法...................................................................................................................5
2.3.3 经验法...........................................................................................................................5
2.3.4 采样周期的选择...........................................................................................................6
2.4 参数调整规则的探索.................................................................................................................6
2.5 自校正PID控制器 ......................................................................................................................7
3 软件说明.............................................................................................................................................8
3.1 软件说明.....................................................................................................................................8
3.2 档案构成........................................................................................
PID 调节控制做电机速度控制.rar （1个子文件） 
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