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PID
ﺘﻌﺘﺒﺭ ﺍﻟﻤﻌﺎﻴﺭﺓ ﺠﻴﺩﺓ ﺇﺫﺍ ﺤﻘﻘﻨﺎ: ﺘﻨﺎﺴﺏ ،ﺘﻜﺎﻤل ﻭ ﺍﺸﺘﻘﺎﻕ ﺨﻁﺄ ﺍﻟﻤﻭﻀﻊ.
ﺘﺠﺎﻭﺯ ) (overshootﺃﻗل ﻤﺎﻴﻤﻜﻥ. .1 ﺘﺒﻴﻥ ﺍﻟﻤﻌﺎﺩﻟﺔ ﺍﻟﺘﺎﻟﻴـﺔ ﻤﻬﻤـﺔ ﻜـل ﻤـﻥ ﻫـﺫﻩ
ﺍﻟﻤﻌﺎﻤﻼﺕ:
ﺃﻗل ﺯﻤﻥ ﺼﻌﻭﺩ )(Rise timeﻤﻤﻜﻥ. .2
Vout KPei KI ei KD(ei ) ei 1
ﺃﻗل ﺨﻁﺄ ﺤﺎﻟﺔ )(Steady-state error .3
ﺤﻴﺙ:
ﻤﻤﻜﻥ.
= KPﺍﻟﺭﺒﺢ ﺍﻟﺘﻨﺎﺴﺒﻲ). (Proportional Gain
ﻻ ﻴﻤﻜﻥ ﻷﻱ ﻤﻥ ﻋﻭﺍﻤل ﺍﻟﺭﺒﺢ KP,KD,KIﻤﻥ
= KIﺍﻟﺭﺒﺢ ﺍﻟﺘﻜﺎﻤﻠﻲ ).(Integral Gain
ﺃﻥ ﺘﺤﺴﻥ ﻤﻌﺎﻤﻼﺕ ﺍﻻﺴﺘﺠﺎﺒﺔ ﺍﻟﺜﻼﺙ ﺍﻟﺴﺎﺒﻘﺔ ﻤﻌﺎ
= KDﺍﻟﺭﺒﺢ ﺍﻟﺘﻔﺎﻀﻠﻲ ).(Differential Gain
ﻨﻼﺤﻅ ﻓﻲ ﺍﻟﺠﺩﻭل ﺍﻟﻤﺭﻓﻕ ﻜﻴﻑ ﻴﺅﺜﺭ ﻜل ﻤﻥ = eiﺍﻟﺨﻁﺄ
ﺒﺎﺭﻤﺘﺭﺍﺕ ﺍﻟﺘﻭﻟﻴﻑ .KP,KD,KI
ﻟﻤﺭﺍﻗﺒﺔ ﻜﻴﻑ ﺘﺅﺜﺭ ﺍﻟﻤﻌﺎﻤﻼﺕ KP,KD,KIﻋﻠﻰ
ﺍﺴﺘﺠﺎﺒﺔ ﺍﻟﻤﺤﺭﻙ ﺍﻨﻅﺭ ﺇﻟﻰ ﺍﻻﺴـﺘﺠﺎﺒﺔ ﺍﻟﻭﺍﺤﺩﻴـﺔ ﻓـﻲ
KP KD KI
ﺍﻟﺸﻜل ) , (1ﺍﻟﺨﻁ ﺍﻷﺯﺭﻕ ﻫـﻭ ﺍﻷﻤـﺭ )ﺍﻟﺴـﺭﻋﺔ ﺃﻭ
Overshoot ﺍﻟﻤﻭﻀﻊ( ﻭﺍﻟﺨﻁ ﺍﻟﺒﺭﺘﻘﺎﻟﻲ ﻫـﻭ ﺍﻻﺴـﺘﺠﺎﺒﺔ ﺍﻟﺤﻘﻴﻘﻴـﺔ
Rise Time ﻟﻠﻤﺤﺭﻙ.
Steady-state
Error
Overshoot
.1
ETTA SYSTEMS- Tel: +963 11 332 5519, Fax: +963 11 334 26 39 – email: ettasys@scs-net.org - www.ettasystems.com
ETTA SYSTEMS- Tel: +963 11 332 5519, Fax: +963 11 334 26 39 – email: ettasys@scs-net.org - www.ettasystems.com