找到稳定的 Kp 和 Ki 增益后, 试试增加 Kd 以获得较快的输入响应且不产生 振荡。Kd 通常不需要而且有干扰 PV 时无法工作。 6. 检查不同 SP 操作点时的增益,必要时加上死区和小回转时间。有些反向 过程还要求设置配置字误差标志位或极性位。
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