{"id":2224,"date":"2018-11-28T09:21:22","date_gmt":"2018-11-28T00:21:22","guid":{"rendered":"http:\/\/research.itplants.com\/?p=2224"},"modified":"2018-12-04T13:38:15","modified_gmt":"2018-12-04T04:38:15","slug":"pid%e3%82%aa%e3%83%bc%e3%83%88%e3%83%81%e3%83%a5%e3%83%bc%e3%83%b3%e3%83%8b%e3%83%b3%e3%82%b0","status":"publish","type":"post","link":"https:\/\/research.itplants.com\/?p=2224","title":{"rendered":"PID\u30aa\u30fc\u30c8\u30c1\u30e5\u30fc\u30f3\u30cb\u30f3\u30b0"},"content":{"rendered":"<p><a href=\"http:\/\/itbox.itplants.com\">\u6e29\u5ea6\u8abf\u6574\u6a5f\u80fd\u304c\u3042\u308bITBOX<\/a>\u306b\u3001<a href=\"http:\/\/arduinopid.web.fc2.com\/K5.html\">\u30b9\u30c6\u30c3\u30d7\u5fdc\u7b54\u6cd5\u306b\u3088\u308bPID\u30aa\u30fc\u30c8\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0<\/a>\u3092\u5b9f\u88c5\u3057\u3066\u307f\u307e\u3057\u305f\u3002\u30b9\u30c6\u30c3\u30d7\u5fdc\u7b54\u6cd5\u306b\u95a2\u3057\u3066\u306f\u3001\u30cd\u30c3\u30c8\u4e0a\u306b\u591a\u304f\u306e\u60c5\u5831\u304c\u3042\u308b\u306e\u3067\u3001\u8a73\u7d30\u306a\u8aac\u660e\u306f\u7701\u304d\u307e\u3059\u3002<\/p>\n<p>\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/p>\n<ol>\n<li>\u73fe\u5728\u6e29\u5ea6\u2212\uff11\u5ea6\u307e\u3067\u51b7\u3084\u3059<\/li>\n<li>A\u70b9\u306f\u3001\u73fe\u5728\u6e29\u5ea6\uff0b\uff11\u5ea6\u306e\u6e29\u5ea6\u70b9<\/li>\n<li>A\u70b9\u3092\u8d85\u3048\u308b\u307e\u3067\u6e29\u3081\u308b<\/li>\n<li>A\u70b9\u3092\u8d85\u3048\u305f\u3089\u51b7\u3084\u3059<\/li>\n<li>\u518d\u3073A\u70b9\u3092\u8d85\u3048\u305f\u3089\u505c\u6b62\u3059\u308b<\/li>\n<li>\u6e29\u5ea6\u5909\u5316\u66f2\u7dda\u304b\u3089PID\u3092\u7b97\u51fa<\/li>\n<\/ol>\n<p>\u73fe\u5728\u6e29\u5ea6\u306f\u3001\u6307\u5b9a\u6e29\u5ea6\u3001\u6e29\u5ea6\u5909\u5316\u3082\u4efb\u610f\u3067\u69cb\u3044\u307e\u305b\u3093\u304c\u3001\u73fe\u72b6\u6e29\u5ea6\u00b1\uff11\u5ea6\u306e\u5909\u5316\u304c\u6700\u3082\u65e9\u304f\u3067\u304d\u307e\u3059\u3002<\/p>\n<p><a href=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/50f9f7c0e4d5b669ff60e488162105f6.jpg\" data-rel=\"lightbox-image-0\" data-rl_title=\"\" data-rl_caption=\"\" title=\"\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-2227\" src=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/50f9f7c0e4d5b669ff60e488162105f6.jpg\" alt=\"\" width=\"536\" height=\"415\" srcset=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/50f9f7c0e4d5b669ff60e488162105f6.jpg 536w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/50f9f7c0e4d5b669ff60e488162105f6-300x232.jpg 300w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/50f9f7c0e4d5b669ff60e488162105f6-320x248.jpg 320w\" sizes=\"(max-width: 536px) 100vw, 536px\" \/><\/a>\u3053\u306e\u3088\u3046\u306a\u6e29\u5ea6\u5909\u52d5\u66f2\u7dda\u304c\u5f97\u3089\u308c\u307e\u3059\u3002\u3053\u306e\u66f2\u7dda\u304b\u3089\u3001\u6700\u5c0f\u6e29\u5ea6\u3068\u6700\u5927\u6e29\u5ea6\u306e\u9593\u306e\u30c7\u30fc\u30bf\u3092\u4f7f\u3044\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" class=\"aligncenter size-full wp-image-2225\" src=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/89d01a0e1b3edeacdbce2ebc5c78ec4b.jpg\" alt=\"\" width=\"455\" height=\"343\" srcset=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/89d01a0e1b3edeacdbce2ebc5c78ec4b.jpg 455w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/89d01a0e1b3edeacdbce2ebc5c78ec4b-300x226.jpg 300w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/89d01a0e1b3edeacdbce2ebc5c78ec4b-320x241.jpg 320w\" sizes=\"(max-width: 455px) 100vw, 455px\" \/>\u6700\u5c0f\u6e29\u5ea6\u6642\u70b9\u3092\uff10\u3068\u3057\u3066\u30010.632K\u306e\u70b9\u3092\u63a2\u3057\u3066icenter\u3068\u3057\u307e\u3059\u3002\u3053\u306e\u70b9\u306e\u524d\u5f8c\uff12\uff10\u70b9\u3067\u6700\u5c0f\u81ea\u4e57\u8fd1\u4f3c\u3092\u884c\u3044\u3001\u63a5\u7dda\u3092\u6c7a\u3081\u307e\u3059\u3002<\/p>\n<p>\u3053\u306e\u63a5\u7dda y = ax +b\u3088\u308a\u3001L\u3068T\u3092\u6c42\u3081\u307e\u3059\u3002<\/p>\n<p>L = -a\/b<br \/>\nT = icenter-L<\/p>\n<p>CHR\u6cd5\u306b\u3088\u308b\u4fc2\u6570\u6c7a\u5b9a\u65b9\u6cd5\u3092\u4f7f\u3044\u307e\u3059\u3002<\/p>\n<p>\u30aa\u30fc\u30d0\u30fc\u30b7\u30e5\u30fc\u30c8 0\n<p>KL = K*L<br \/>\nKp = 0.6*T\/KL*1000.0<br \/>\nKi = 0.6\/KL<br \/>\nKd = 0.3*T\/K<\/p>\n<p>\u30aa\u30fc\u30d0\u30fc\u30b7\u30e5\u30fc\u30c8 20\n<p>KL = K*L<br \/>\nKp = 0.95*T\/KL*1000.0<br \/>\nKi = 0.7\/KL<br \/>\nKd = 0.447*T\/K<\/p>\n<p>\u3068\u306a\u308a\u307e\u3059\u3002\u5177\u4f53\u7684\u306a\u7d50\u679c\u306f\u3001<\/p>\n<p>(&#8216;center = &#8216;, 26, 0.6199999999999974)<br \/>\na=-0.772541353383 b=0.0522406015038<br \/>\novershoot \u00a0 0\novershoot 20\n<p>\u3068\u306a\u308a\u307e\u3057\u305f\u3002Kp\u304c\uff11\u3088\u308a\u5927\u304d\u3044\u306e\u306f\u3001ITBOX\u3067\u306f\u30da\u30eb\u30c1\u30a7\u5236\u5fa1\u3092\uff10\u304b\u3089\uff11\uff10\uff10\uff10\u306e\u6574\u6570\u3067\u884c\u3063\u3066\u3044\u308b\u305f\u3081\u306b\uff11\uff10\uff10\uff10\u500d\u3055\u308c\u3066\u3044\u308b\u304b\u3089\u3067\u3059\u3002<\/p>\n<p>PID\u30aa\u30fc\u30c8\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u4e2d\u306f\u3001PID\u5236\u5fa1\u306f\u3067\u304d\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30aa\u30fc\u30c8\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u306f\u3001\u5e38\u306b\u5fc5\u8981\u306a\u308f\u3051\u3067\u306f\u306a\u304f\u3001\u6700\u521d\u306ePID\u30d1\u30e9\u30e1\u30fc\u30bf\u8a2d\u5b9a\u6642\u3060\u3051\u5b9f\u884c\u3059\u308b\u3060\u3051\u3067\u3059\u3002<\/p>\n<p><a href=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/chart-42.jpeg\" data-rel=\"lightbox-image-1\" data-rl_title=\"\" data-rl_caption=\"\" title=\"\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-2234\" src=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/chart-42.jpeg\" alt=\"\" width=\"1200\" height=\"800\" srcset=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/chart-42.jpeg 1200w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/chart-42-300x200.jpeg 300w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/chart-42-768x512.jpeg 768w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/chart-42-1024x683.jpeg 1024w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/chart-42-320x213.jpeg 320w\" sizes=\"(max-width: 1200px) 100vw, 1200px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/cbdd552941f20b2aec329bf0d3110ae2.jpg\" data-rel=\"lightbox-image-2\" data-rl_title=\"\" data-rl_caption=\"\" title=\"\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-2284\" src=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/cbdd552941f20b2aec329bf0d3110ae2.jpg\" alt=\"\" width=\"994\" height=\"951\" srcset=\"https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/cbdd552941f20b2aec329bf0d3110ae2.jpg 994w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/cbdd552941f20b2aec329bf0d3110ae2-300x287.jpg 300w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/cbdd552941f20b2aec329bf0d3110ae2-768x735.jpg 768w, https:\/\/research.itplants.com\/wp\/wp-content\/uploads\/2018\/11\/cbdd552941f20b2aec329bf0d3110ae2-320x306.jpg 320w\" sizes=\"(max-width: 994px) 100vw, 994px\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6e29\u5ea6\u8abf\u6574\u6a5f\u80fd\u304c\u3042\u308bITBOX\u306b\u3001\u30b9\u30c6\u30c3\u30d7\u5fdc\u7b54\u6cd5\u306b\u3088\u308bPID\u30aa\u30fc\u30c8\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u3092\u5b9f\u88c5\u3057\u3066\u307f\u307e\u3057\u305f\u3002\u30b9\u30c6\u30c3\u30d7\u5fdc\u7b54\u6cd5\u306b\u95a2\u3057\u3066\u306f\u3001\u30cd\u30c3\u30c8\u4e0a\u306b\u591a\u304f\u306e\u60c5\u5831\u304c\u3042\u308b\u306e\u3067\u3001\u8a73\u7d30\u306a\u8aac\u660e\u306f\u7701\u304d\u307e\u3059\u3002 \u30a2\u30eb\u30b4\u30ea\u30ba\u30e0 \u73fe\u5728\u6e29\u5ea6\u2212\uff11\u5ea6\u307e\u3067\u51b7\u3084\u3059 A&#8230;<\/p>\n<p><a class=\"more\" href=\"https:\/\/research.itplants.com\/?p=2224\"> Read more &rarr;<\/a><\/p>\n","protected":false},"author":1,"featured_media":2225,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1],"tags":[],"_links":{"self":[{"href":"https:\/\/research.itplants.com\/index.php?rest_route=\/wp\/v2\/posts\/2224"}],"collection":[{"href":"https:\/\/research.itplants.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/research.itplants.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/research.itplants.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/research.itplants.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2224"}],"version-history":[{"count":9,"href":"https:\/\/research.itplants.com\/index.php?rest_route=\/wp\/v2\/posts\/2224\/revisions"}],"predecessor-version":[{"id":2285,"href":"https:\/\/research.itplants.com\/index.php?rest_route=\/wp\/v2\/posts\/2224\/revisions\/2285"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/research.itplants.com\/index.php?rest_route=\/wp\/v2\/media\/2225"}],"wp:attachment":[{"href":"https:\/\/research.itplants.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2224"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/research.itplants.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2224"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/research.itplants.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2224"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}