1、无 锡 职 业 技 术 学 院 外文翻译 1 原文： A proportionalintegralderivative controller (PID controller) is a generic .control loop feedback mechanism widely used in industrial control systems. A PID controller attempts to correct the error between a measured process variable and a desired setpoint by calculating an
2、d then outputting a corrective action that can adjust the process accordingly. The PID controller calculation (algorithm) involves three separate parameters； the Proportional, the Integral and Derivative values. The Proportional value determines the reaction to the current error, the Integral determ
3、ines the reaction based on the sum of recent errors and the Derivative determines the reaction to the rate at which the error has been changing. The weightedsum of these three actions is used to adjust the process via a control element such as the position of a control valve or the power supply of a
4、 heating element.By tuning the three constants in the PID controller algorithm the PID can provide control action designed for specific process requirements. The response of the controller can be described in terms of the responsiveness of the controller to an error, the degree to which the controll
5、er overshoots the setpoint and the degree of system oscillation. Note that the use of the PID algorithm for control does not guarantee optimal control of the system or system stability. Some applications may require using only one or two modes to provide the appropriate system control. This is achie
6、ved by setting the gain of undesired control outputs to zero. A PID controller will be called a PI, PD, P or I controller in the absence of the respective control actions. PI controllers are particularly common, since derivative action is very sensitive to measurement noise, and the absence of an in
7、tegral value may prevent the system from reaching its target value due to the control action. Note: Due to the diversity of the field of control theory and application, many naming conventions for the relevant variables are in common use. 1.Control loop basics A familiar example of a control loop is
8、 the action taken to keep ones shower water at the ideal temperature, which typically involves the mixing of two process streams, cold and hot water. The person feels the water to estimate its temperature. Based on this 无 锡 职 业 技 术 学 院 外文翻译 2 measurement they perform a control action: use the cold w
9、ater tap to adjust the process. The person would repeat this input-output control loop, adjusting the hot water flow until the process temperature stabilized at the desired value. Feeling the water temperature is taking a measurement of the process value or process variable (PV). The desired tempera
10、ture is called the setpoint (SP). The output from the controller and input to the process (the tap position) is called the manipulated variable (MV). The difference between the measurement and the setpoint is the error (e), too hot or too cold and by how much.As a controller, one decides roughly how
11、 much to change the tap position (MV) after one determines the temperature (PV), and therefore the error. This first estimate is the equivalent of the proportional action of a PID controller. The integral action of a PID controller can be thought of as gradually adjusting the temperature when it is
12、almost right. Derivative action can be thought of as noticing the water temperature is getting hotter or colder, and how fast, and taking that into account when deciding how to adjust the tap.Making a change that is too large when the error is small is equivalent to a high gain controller and will l
13、ead to overshoot. If the controller were to repeatedly make changes that were too large and repeatedly overshoot the target, this control loop would be termed unstable and the output would oscillate around the setpoint in either a constant, growing, or decaying sinusoid. A human would not do this be
14、cause we are adaptive controllers, learning from the process history, but PID controllers do not have the ability to learn and must be set up correctly. Selecting the correct gains for effective control is known as tuning the controller. If a controller starts from a stable state at zero error (PV =
15、 SP), then further changes by the controller will be in response to changes in other measured or unmeasured inputs to the process that impact on the process, and hence on the PV. Variables that impact on the process other than the MV are known as disturbances and generally controllers are used to re
16、ject disturbances and/or implement setpoint changes. Changes in feed water temperature constitute a disturbance to the shower process. In theory, a controller can be used to control any process which has a measurable output (PV), a known ideal value for that output (SP) and an input to the process (
17、MV) that 无 锡 职 业 技 术 学 院 外文翻译 3 will affect the relevant PV. Controllers are used in industry to regulate temperature, pressure, flow rate, chemical composition, speed and practically every other variable for which a measurement exists. Automobile cruise control is an example of a process which util
18、izes automated control. Due to their long history, simplicity, well grounded theory and simple setup and maintenance requirements, PID controllers are the controllers of choice for many of these applications. While PID controllers are applicable to many control problems, they can perform poorly in s
19、ome applications.PID controllers, when used alone, can give poor performance when the PID loop gains must be reduced so that the control system does not overshoot, oscillate or hunt about the control setpoint value. The control system performance can be improved by combining the feedback (or closed-
20、loop) control of a PID controller with feed-forward (or open-loop) control. Knowledge about the system (such as the desired acceleration and inertia) can be fed forward and combined with the PID output to improve the overall system performance. The feed-forward value alone can often provide the majo
21、r portion of the controller output. The PID controller can then be used primarily to respond to whatever difference or error remains between the setpoint (SP) and the actual value of the process variable (PV). Since the feed-forward output is not affected by the process feedback, it can never cause
22、the control system to oscillate, thus improving the system response and stability. For example, in most motion control systems, in order to accelerate a mechanical load under control, more force or torque is required from the prime mover, motor, or actuator. If a velocity loop PID controller is bein
23、g used to control the speed of the load and command the force or torque being applied by the prime mover, then it is beneficial to take the instantaneous acceleration desired for the load, scale that value appropriately and add it to the output of the PID velocity loop controller. This means that whenever the load is being accelerated or decelerated, a proportional amount of force is commanded from the prime mover regardless of the feedback value. The PID loop in this situation uses the feedback information to effect any increase or decrease of the combined output in order to
