PID

2. PID

MCGS

1. A/DD/A

MCGS

2. 6.1 I/A S

MCGS

1-2-1 1-2-1

MCGS

1 CPUD/AA/D

MCGS

2.

MCGS

1)1-1-2

MCGS

2)A/D/

MCGS

3) T s=1/T0T2TnT *(t)1.11 *(t) (kT) (t-kT)t=kT

MCGS

(1-2) (kT)(t)(1-1)(1-3)(t)*(t)

MCGS

4)*(t)(t)(t)max(t)*(t)(t)s2max 1-4 s max(t)s5~10maxsmax(t)

MCGS

5)

MCGS

3 ( 3 )

MCGS

(3) n N n(n-1) (n-N+1)

MCGS

N n N n ( N-1 ) N N 12 4

MCGS

(4) N

MCGS

(5)

MCGS

MCGS

(1-11)

MCGS

3. :.1) DO (Digital output)

MCGS

TLP521()TTL

MCGS

2 D/AV/I

MCGS

D/A

MCGS

2D/A()D/A

MCGS

4PID(PID)1)PIDesv-pvsvpvu(t)

MCGS

PID Kp TI TD (T)PID

MCGS

1.17

MCGS

1-12

MCGS

(1-16)nn-1(1-16)(1-17)(1-16)

MCGS

2)PID (1)PID

MCGS

2)PID (1)1.18 a-PIDb-PIDPIDPID

MCGS

PID

MCGS

(2) 1-21

MCGS

(2) PIDPID PVSVPI

MCGS

U(S) SVSV

MCGS

1-2-2.1-2-2

Sheet1

MCGS

12345678910111213

(10)

(20)

(10)

(10)

(10)

(20)

PID(20)

MCGS

1. 2. 3. 4. 5. 6. 7. PID