PID调速控制做电机速度控制

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PID调速控制做电机速度控制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.....................................................................................................................................8
3.3 DMC界面....................................................................................................................................8
3.4 子程序说明.................................................................................................................................9
4 程序范例...........................................................................................................................................16
4.1 DEMO程序...............................................................................................................................16
4.2 程序流程与说明.......................................................................................................................19
4.3 中断子流程与说明...................................................................................................................20
5 MCU使用资源.................................................................................................................................21
5.1 MCU硬件使用资源说明..........................................................................................................21
6 实验测试...........................................................................................................................................22
6.1 响应曲线...................................................................................................................................22
7 参考文献...........................................................................................................................................26