采样周期和PID模块计划表PID模块是一一个模拟控制功能块的数字补充,所以PID输出公式中的dt采样时间不是模拟控制的无穷小的小值采样时间。多数控制过程可近似为一个带有1或2级延迟的增益,可能为一纯时间延迟。
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