PID计算公式.doc

.正动作(OFF)MV=KP(Evn-Evn-1)+Ts/TiEvn+DnEVn=PVnf SVDn=TD/(TS+KD*TD)(-2PVnf-1+PVnf+PVnf-2)+ TD/(TS+KD*TD)Dn-1 MVn=MV反动作(ON)MV=KP(Evn-Evn-1)+Ts/TiEvn+DnEVn= SVPVnfDn=TD/(TS+KD*TD)(2PVnf-1 - PVnf - PVnf-2)+ TD/(TS+KD*TD)Dn-1 MVn=MV.Evn :本次采样时的偏差Evn-1 :1个周期前的偏差SV :目标值PVnf : 本次采样时测定值(滤波后)PVnf-1 : 1个周期前的测定值(滤波后)PVnf-2 : 2个周期前的测定值(滤波后)MV :输出变化量MVn :本次的操作量Dn : 本次的微分量Dn-1 : 1个周期前的微分量KP :比例增益TI :积分常数TS :采样周期TD :微分常数KD :微