| 摘要 |
PROBLEM TO BE SOLVED: To provide the adjustment method which can easily decide the PID parameter of optimum value to design a stable control system and also can automatically adjust a PID controller by the simulation of computer application by adjusting even the gain of an integration term when the PID parameter is adjusted by the critical sensitivity method. SOLUTION: When the PID parameter is decided by the critical sensitivity method the integration time and the differentiation time are set at the maximum value (T1 =∞) and the minimum value (TD=0) respectively and the proportional gain Kp is increased up to its maximum value from the minimum value in a normal application range. If the difference (y) is negative between the 1st and 2nd peaks, the sustained oscillation is decided. Thus a 1st step is prepared to set the proportional gain at Kpm of the relevant time point together with a 2nd step where the integration time is reduced down to its minimum value from the maximum value in the normal application range and then set at T1 M that produces the least error against the input with the porportional gain and the differentiation time are set at 0.2Kpm and the minimum value (TD=0) respectively. Then the differentiation time TD is set at the value obtained by multiplying the value T1 M by a certain coefficient.
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