using?System;
using?System.Collections.Generic;
using?System.ComponentModel;
using?System.Data;
using?System.Drawing;
using?System.Linq;
using?System.Text;
using?System.Windows.Forms;
using?System.Threading;

namespace?PID初探
{
????public?partial?class?Form1?:?Form
????{
????????public?Form1（）
????????{
????????????InitializeComponent（）;
????????}
????????/*
?????????三個參數要綜合考慮，一般先將ID設為0，調好P達到基本的響應速度和誤差，
?????????再加上I使誤差為0，這時再加入D三個參數要反復調試，最終達到較好的結果。
?????????不同的控制對象，調試的難度相差很大，祝好運！
?????????*?
?????????*?（1）?確定比例系數Kp
????????????確定比例系數Kp時，首先去掉PID的積分項和微分項，可以令Ti=0、Td=0，使之成為
????????????純比例調節。輸入設定為系統允許輸出最大值的60％～70％，比例系數Kp由0開始逐漸增大，直至系統出現振蕩；再反過來，從此時的比例系數Kp逐漸減小，直至系統振蕩消失。記錄此時的比例系數Kp，設定PID的比例系數Kp為當前值的60％～70％。
????????????（2）?確定積分時間常數Ti
????????????比例系數Kp確定之后，設定一個較大的積分時間常數Ti，然后逐漸減小Ti，直至系統出現振蕩，然后再反過來，逐漸增大Ti，直至系統振蕩消失。記錄此時的Ti，設定PID的積分時間常數Ti為當前值的150％～180％。
????????????（3）?確定微分時間常數Td
????????????微分時間常數Td一般不用設定，為0即可，此時PID調節轉換為PI調節。如果需要設定，則與確定Kp的方法相同，取不振蕩時其值的30％。
???????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-03-28?23:00??PID初探\
?????目錄???????????0??2019-03-28?23:00??PID初探\PID初探\
?????文件???????14410??2014-09-07?11:03??PID初探\PID初探\Form1.Designer.cs
?????文件????????6413??2014-09-07?11:40??PID初探\PID初探\Form1.cs
?????文件????????6184??2014-09-07?11:03??PID初探\PID初探\Form1.resx
?????文件????????3810??2014-09-06?15:47??PID初探\PID初探\PID初探.csproj
?????文件?????????490??2014-09-06?15:22??PID初探\PID初探\Program.cs
?????目錄???????????0??2019-03-28?23:00??PID初探\PID初探\Properties\
?????文件????????1368??2014-09-06?15:22??PID初探\PID初探\Properties\AssemblyInfo.cs
?????文件????????2869??2014-09-06?15:22??PID初探\PID初探\Properties\Resources.Designer.cs
?????文件????????5612??2014-09-06?15:22??PID初探\PID初探\Properties\Resources.resx
?????文件????????1095??2014-09-06?15:22??PID初探\PID初探\Properties\Settings.Designer.cs
?????文件?????????249??2014-09-06?15:22??PID初探\PID初探\Properties\Settings.settings
?????文件???????20480??2008-01-23?08:02??PID初探\PID初探\UI.dll
?????目錄???????????0??2019-03-28?23:00??PID初探\PID初探\bin\
?????目錄???????????0??2019-03-28?23:00??PID初探\PID初探\bin\Debug\
?????文件???????14336??2014-09-07?11:40??PID初探\PID初探\bin\Debug\PID初探.exe
?????文件???????28160??2014-09-07?11:40??PID初探\PID初探\bin\Debug\PID初探.pdb
?????文件???????11600??2014-09-07?11:40??PID初探\PID初探\bin\Debug\PID初探.vshost.exe
?????文件?????????490??2010-03-17?22:39??PID初探\PID初探\bin\Debug\PID初探.vshost.exe.manifest
?????文件???????20480??2008-01-23?08:02??PID初探\PID初探\bin\Debug\UI.dll
?????目錄???????????0??2019-03-28?23:00??PID初探\PID初探\obj\
?????目錄???????????0??2019-03-28?23:00??PID初探\PID初探\obj\x86\
?????目錄???????????0??2019-03-28?23:00??PID初探\PID初探\obj\x86\Debug\
?????文件????????7663??2014-09-06?15:22??PID初探\PID初探\obj\x86\Debug\DesignTimeResolveAssemblyReferences.cache
?????文件????????6269??2014-09-07?11:40??PID初探\PID初探\obj\x86\Debug\DesignTimeResolveAssemblyReferencesInput.cache
?????文件?????????188??2014-09-07?11:03??PID初探\PID初探\obj\x86\Debug\GenerateResource.read.1.tlog
?????文件?????????466??2014-09-07?11:03??PID初探\PID初探\obj\x86\Debug\GenerateResource.write.1.tlog
?????文件?????????180??2014-09-07?11:03??PID初探\PID初探\obj\x86\Debug\PID初探.Form1.resources
?????文件?????????180??2014-09-06?15:47??PID初探\PID初探\obj\x86\Debug\PID初探.Properties.Resources.resources
?????文件?????????698??2014-09-07?11:40??PID初探\PID初探\obj\x86\Debug\PID初探.csproj.FileListAbsolute.txt
............此處省略6個文件信息