3BSE018059R1 TC512V1 RS485 双绞线调制解调器

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　　数字 PID 控制器有时用于管理单个设备，但也可以包含在整个系统中。它们用于根据某种程度的反馈正确调整温度控制器等系统中的输出信号。这些设备通常使用称为算法的数学计算，允许它们在达到编程阈值时激活。还可以在特定时间持续监测情况；这个函数被称为采样率。

　　PID算法用于工业中的各种控制系统。在机器人技术和特别是 FRC 中，人们通常可以看到为运动控制实施的 PID，无论是用于传动系统电机还是其他伺服执行器。大多数机器人系统都被削弱了，因此它们永远不会超过设定值。因此，调整此类系统的目标是减少上升时间和稳态误差，以实现性能。PID 控制仅对线性系统有效。如果存在非线性响应的系统，则对于响应曲线的某一部分有效调整系统的 PID 增益对响应曲线的其他部分无效，从而导致系统的不稳定和不受控制的行为。

　　误差信号有助于驱动数字 PID 控制器的功能。比例项是指在数学上减少误差，而积分函数通常旨在使误差尽可能小。比例-积分-微分控制器的三个元素通常由数学理论专家和软件程序员设计。一个控制界面，一个计算机程序，可以帮助人们在没有高级知识的情况下管理数字 PID 控制器。

　　有时需要软件代码来调整数字 PID 控制器，而可能需要调试来调整设备管理的变量。数字 PID 控制器还可以了解加热房间或冷却房间所需的时间。它们通常也能够保持房间内的温度稳定。

　　大多数数字 PID 控制器通过固定值起作用。可以连接不同的 PID 控制器来管理大型系统的性能。数字 PID 控制器的另一个好处是采样时间可以是调整参数所需时间的一小部分，因此通常可以限度地提高准确性和有效性。

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　　Digital PID controllers are sometimes used to manage single devices, but can also be included in an entire system. They are used to adjust the output signals correctly in systems such as temperature controllers, based on some level of feedback. These devices generally use mathematical calculations called algorithms, which can allow them to activate when programmed thresholds are reached. Conditions can also be monitored consistently at specific times; this function is called as the sample rate.

　　PID algorithms are used in a variety of control systems in industry. In robotics and for FRC specifically, one can commonly see PID implemented for motion control, either for drive train motors or for other servo actuators. Most robotics systems are weakened so that they never overshoot their setpoint. The goal of tuning such systems, then, is decreasing the rise-time and steady-state error to achieve the best possible performance. PID control is only effective for linear systems. If there is a system with non-linear response, the PID gains that are effective in tuning the system for one section of the response curve will not be valid for other parts of the response curve, resulting in erratic and uncontrolled behavior of the system.

　　Error signals help drive the function of digital PID controllers. The proportional term refers to the mathematically reducing of the error, while the integral function typically aims to make the error as small as possible. The three elements of proportional-integral-derivative controllers are often designed by experts in mathematical theory as well as by software programmers. A control interface, a computer program, can help people manage digital PID controllers without advanced expertise.

　　Sometimes software code is needed to tune a digital PID controller, while debugging may be needed to adjust the variables managed by the device. Digital PID controllers can also learn the times needed to heat up a room or cool it down. They are usually able to keep the temperatures steady in a room as well.

　　Most digital PID controllers function through fixed values. Different PID controllers can be connected to manage the performance of a large system. Another benefit of digital PID controllers is that the sampling time can be a small fraction of how long it takes for a parameter to be adjusted, so accuracy and effectiveness are typically maximized.