The key to tuning PID by empirical method is”adjusting parameters and looking at the curve”.Therefore,in the adjustment process,it is necessary to clarify the influence relationship of the PID regulator parameter changes on the transition process curve.For example,when the curve fluctuates greatly,the P value(proportional degree)can no longer be reduced,and the I value should not be reduced or the D value should be increased,otherwise the system will oscillate violently.
经验法整定PID的关键是“调参数，看曲线”。因此，在调整过程中，必须弄清PID调节器参数变化对过渡过程曲线的影响关系。例如，看到曲线波动很大时，就不能再减小P值(比例度)，也不应该减小I值或加大D值，否则就会使系统出现剧烈振荡
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