MPL-A4560F-MJ74AA

MPL-A4560F-MJ74AA

Ki是積分增益。控制函數的積分項通過使用與隨時間累積的過去誤差量成比例的信號移動線性致動器來補償過去誤差。積分項用於穩態誤差是有意義的，因為該誤差是一個常數偏移量，它會隨著時間的推移增加積分，從而使控制函數試圖將其減小到零。

在調整的第二步中，我們保持在第一步中選擇的比例增益K p = 1，將微分增益K d設置為零，並增加積分增益K i直到執行器穩定得更接近目標位置 (700) ——即，直到穩態誤差接近於零。

MPL-A4560F-MJ74AA 

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