| 摘要 |
The PID controller contains a P section (1) which is supplied with the control error (xw), a PI section (2) which follows the P section (1), and a DT1 section (3) which is supplied with the controlled variable (x). A summing element (4) combines the output signals of these elements to form the manipulated variable (y). It is possible to switch the structure from PID characteristic to P, PD or PI characteristic by operating switches (5, 6), there being no change in the scaling of the adjusting elements for the controller parameters. The controller parameters (Kp, Tv, Tn) are changed by alternately switching between a minimum value and a maximum value, the duty ratio of pulse sequences determining the respective value. The structure of such a P, PI and DT1 section is specified, the P section allowing a reversal in characteristic, the PI section not having any integral saturation and the DT1 section allowing, in addition to the variation of the correcting time constants (Tn), a variation of the gain factor (Kp). Furthermore, the interconnection of two such controllers in the sense of a selection control is specified. <IMAGE>
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