140-CPU-672-60處理器
140-CPU-672-60處理器
140-CPU-672-60處理器
在工程實際中，應用為廣泛的調節器控制規律為比例、積分、微分控制，簡稱PID控制，又稱PID調節。PID控制器問世至今已有近70年歷史，它以其結構簡單、穩定性好、工作可靠、調整方便而成為工業控制的主要技術之一。當被控對象的結構和參數不能完全掌握，或得不到的數學模型時，控制理論的其它技術難以採用時，係統控制器的結構和參數依靠經驗和現場調試來確定，這時應用PID控制技術為方便。即當我們不完全了解一個係統和被控對象﹐或不能通過有效的測量手段來獲得係統參數時，適合用PID控制技術。PID控制，實際中也有PI和PD控制。PID控制器就是根據係統的誤差，利用比例、積分、微分計算出控制量進行控制的。
比例（P）控制
比例控制是一種簡單的控制方式。其控制器的輸出與輸入誤差信號成比例關係。當僅有比例控制時係統輸出存在穩態誤差（Steady-state error）。
積分（I）控制
在積分控制中，控制器的輸出與輸入誤差信號的積分成正比關係。對一個自動控制係統，如果在進入穩態後存在穩態誤差，則稱這個控制係統是有穩態誤差的或簡稱有差係統（System with Steady-state Error）。為了穩態誤差，在控制器中引入“積分項”。積分項對誤差取決於時間的積分，隨著時間的增加，積分項會增大。這樣，即便誤差很小，積分項也會隨著時間的增加而加大，它推動控制器的輸出增大使穩態誤差進一步減小，直到等於零。因此，比例 積分(PI)控制器，可以使係統在進入穩態後無穩態誤差。
微分（D）控制
在微分控制中，控制器的輸出與輸入誤差信號的微分（即誤差的變化率）成正比關係。 自動控制係統在克服誤差的調節過程中可能會出現振蕩甚至失穩。其原因是由於存在有較大慣性組件（環節）或有滯後(delay)組件，具有抑制誤差的作用，其變化總是落後於誤差的變化。解決的辦法是使抑制誤差的作用的變化“超前”，即在誤差接近零時，抑制誤差的作用就應該是零。這就是說，在控制器中僅引入“比例”項往往是不夠的，比例項的作用僅是放大誤差的幅值，而目前需要增加的是“微分項”，它能預測誤差變化的趨勢，這樣，具有比例 微分的控制器，就能夠提前使抑制誤差的控制作用等於零，甚至為負值，從而避免了被控量的嚴重超調。所以對有較大慣性或滯後的被控對象，比例 微分(PD)控制器能改善係統在調節過程中的動態特性。
在PID參數進行整定時如果能夠有理論的方法確定PID參數當然是理想的方法，但是在實際的應用中，更多的是通過湊試法來確定PID的參數。
增大比例係數P一般將加快係統的響應，在有靜差的情況下有利於減小靜差，但是過大的比例係數會使係統有比較大的超調，並產生振蕩，使穩定性變壞。
增大積分時間I有利於減小超調，減小振蕩，使係統的穩定性增加，但是係統靜差時間變長。
增大微分時間D有利於加快係統的響應速度，使係統超調量減小，穩定性增加，但係統對擾動的抑制能力減弱。
在湊試時，可參考以上參數對係統控制過程的影響趨勢，對參數調整實行先比例、後積分，再微分的整定步驟。
首先整定比例部分。將比例參數由小變大，並觀察相應的係統響應，直至得到反應快、超調小的響應曲線。如果係統沒有靜差或靜差已經小到允許範圍內，並且對響應曲線已經滿意，則只需要比例調節器即可。
如果在比例調節的基礎上係統的靜差不能滿足設計要求，則加入積分環節。在整定時先將積分時間設定到一個比較大的值，然後將已經調節好的比例係數略為縮小，然後減小積分時間，使得係統在保持良好動態性能的情況下，靜差得到。在此過程中，可根據係統的響應曲線的好壞反復改變比例係數和積分時間，以期得到滿意的控制過程和整定參數。
如果在上述調整過程中對係統的動態過程反復調整還不能得到滿意的結果，則可以加入微分環節。首先把微分時間D設置為0，在上述基礎上逐漸增加微分時間，同時相應的改變比例係數和積分時間，逐步湊試，直至得到滿意的調節效果。
圖例：
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6238MC3BNLM Nachi Bearing Open C3 Japan 190x340x55 Extra Large Ball 14583
6238C3T179 Nachi Bearing Open C3 Japan 190x340x55 Extra Large Ball 14584
120TAH10TDB Nachi Thrust Angular Contact Bearing 120x180x54 Abec-7 Japan 13570
120BAR10 Nachi Thrust Angular Contact Bearing 120x180x27 Abec-7 Japan Ball 14619
NACHI MDM212HIV RQAUS1 MDM212HIV
NACHI MDM212H1V RQAUS1 MDM212H1V
NACHI MDM212H2V RQAUS1 MDM212H2V
24136EW33 Nachi Spherical Roller Bearing Steel Cage Japan 180x300x118 13394
NACHI RAX11-C RQAUS1 RAX11C
7022CYP4 Nachi Angular Contact Bearing 110x170x28 Abec-7 Japan Large Ball 13460
Nachi UM870A Servo Amplifier Board
Nachi UM870C PC Board
NACHI RAX11 RQAUS1 RAX11
Nachi Servo Amplifier RIX2220
6240 Nachi Bearing Open C3 Japan 200mm x 360mm x 58mm Extra Large Ball Bearings
NACHI MSM302H4V1 RQAUS1 MSM302H4V1
Nachi MDM212H1V (1YR WARRANTY)
Nachi AXTP-FD0T-EC10 Teach Pendant *REPAIR ONLY*
NACHI UM860-1 RQAUS1 UM8601
NACHI VDC-12B-1A5-1A3-20 NEW VARIABLE VANE PUMP VDC12B1A51A320
Nachi ROP501 AR Teach Pendant *REPAIR ONLY*
1 HYDRAULIC POWER PACK 10 HP MOTOR NACHI PUMP ***MAKE OFFER***
NACHI MFM352Q5V AC SERVO MOTOR, 2000rpm, 3.5kW,BOXYC
NACHI RTC261,S10-B01 NACHI-FUJIKOSHI TEACH PENDANT W/DIGITAL DISPLAY,BOXYQ
NACHI PSUD-60A POWER SUPPLY UNIT NACHI CNSB, TOP9
NACHI UM795D CIRCUIT BOARD UNIT MEC-40V-0,BOXZL
NACHI RAX11C SERVO AMPLIFIER, NACHI RAX11 SERVO DRIVE
NACHI MQM082Q9V, A.C. SERVO MOTOR 3000rpm, 750W,BOXYH
NEW OLD NACHI UM837A ROBOTIC CONTROLLER RT-A 15-95050884, FAA 1851, SC 15 PCB FI
22244EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 220x400x108 13189
BNH012TDU/GLP4 Nachi Ceramic Angular Contact 60x95x18 Abec-7 Japan Ball Bearing
Nachi Teach Pendant RTP151-10 *Tested Refurbished*
23048EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 240x360x92 13228
23140EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 200x340x112 13246
Nachi UM098B PC Board 15-92022766 - New No Box
23048EW33 Nachi Roller Bearing Japan 240x360x92 Extra Bearings 10603
Nachi Rax11 Servo amp, RAX11, Nachi Robotics, Nachi Robot, Nachi SA, robot
NU238MY Nachi Cylindrical Roller Bearing Bronze Cage Japan 190x340x55 10305
6332 Nachi Bearing Open C3 Japan 160x340x68 Extra Large Ball Bearings 9892
NACHI: SERVO MOTOR AC 2.1KW 2000RPM - MDM212H2V
NU332MY Nachi Cylindrical Roller Bearing 160x340x68 Bronze Cage Japan 13503
SL045032-PP Nachi Sheave Bearing 2 Rows Full Complement Bearings
E5032X NNTS1 Nachi Japan Sheave Bearing Double Row Full Complement 13124
6238 Nachi Bearing Open C3 Japan 190mm x 340mm x 55mm Extra Large Ball Bearings
29334E Nachi Spherical Thrust Bearing Bronze Cage Japan 170x280x67 Extra 10763
SL045030-PP Nachi Sheave Bearing 2 Rows Full Complement Bearings
23044EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 220x340x90 13227
120TAD20 P4 Nachi Double-direction Thrust Angular Contact Bearing 13596
22244EW33 Nachi Roller Bearing 220x400x108 Japan Spherical Bearings 10545
23140EW33 Nachi Roller Bearing Japan 200x340x112 Spherical Bearings 10617
E5030X NNTS1 Nachi Japan Sheave Bearing Double Row Full Complement 13123
24134EW33 Nachi Spherical Roller Bearing Steel Cage Japan 170x280x109 13278
NACHI USADED-37-FC43 RQAUS1 USADED37FC43
23044EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 220x340x90 10602
NACHI SUA301C RQAUS1 SUA301C
Nachi Fuji Koshi Servo Amplifier AUXL111 #5376
6334 Nachi Open C3 Japan 170mm x 360mm x 72mm Extra Large Ball Bearings
SL045028-PP Nachi Sheave Bearing 2 Rows Full Complement Bearings
Nachi DUY333 Servo Amplifier
110TAH10TDB Nachi Thrust Angular Contact Bearing 110x170x54 Abec-7 Japan 13569
NACHI UM852A CONTROL BOARD
NACHI-FUJIKOSHI MODEL AUY333C SERVO AMPLIFIER UNIT NEW!
NACHI-FUJIKOSHI MODEL BUY444 SERVO AMPLIFIER UNIT NEW!
Nachi UM836C PC Board
Nachi Fujikoshi RTP101-10 Robot Teach Pendant U30-B01 U32-A01 RTP10110 (TSC)
Nachi Fujikoshi RTP101-10 Robot Teach Pendant U30-B01 U32-A01 RTP10110 (TSC)
NACHI-FUJIKOSHI TEACH PENDANT RTP111-15 / U30-B01
NACHI UM703H HCD MWB-1 PCB CONTROL CARD BOARD HCD MWB-I FA
NACHI UM702F HCD MWB-1 PCB CONTROL CARD BOARD HCD MWB-I FA
NACHI DUY333 RQAUS1 DUY333
23236EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 180x320x112 13253
E5028X NNTS1 Nachi Japan Sheave Bearing Double Row Full Complement 13122
29332E Nachi Spherical Thrust Bearing Bronze Cage Japan 160x270x67 Extra 10761
NACHI FUJIKOSHI DUY333,VORG-35,ICR34426,9102093 , DC15V SERVO UNIT,BOXZN
130TAD20 P5 2 direction Thrust Angular Contact Bearing 130x200x84 13598
7016CYDUP4 Nachi Angular Contact Bearing 80x125x22 Abec-7 Japan Ball 14675
80BNC10S Nachi Angular Contact Bearing 80x125x22 Abec-7 Japan Ball 14677
NACHI UM806A RQAUS1 UM806A
NACHI UM806C RQAUS1 UM806C
NACHI UM802C RQAUS1 UM802C
Nachi RAX11C Servo Amplifier Drive for SA Series Robot SA160 TESTED
23234EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 170x310x110 13252
23234EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 170x310x86 13360
110TAD20 P4 Nachi Double-direction Thrust Angular Contact Bearing 13595
6848 Nachi Bearing Open Japan 240x300x28 Ball Bearings 13559
Nachi PSUA61A Power Supply
23948EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 240x320x60 13265
NACHI UM803-30 RQAUS1 UM80330
NACHI UM812C RQANS1 UM812C
NACHI 4.5K 2000RPM AC SERVO MOTOR MFMA452D6V3
NACHI RTC200 TEACH PENDANT
NACHI RAX11 SERVO AMPLIFIER,BOXZT
23236EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 180x320x112 10640
7020CYDUP4 Nachi Angular Contact Bearing 100x150x24 Abec-7 Japan Large 10887
23238EW33 Nachi Spherical Bearing Steel Cage Made in Japan
23234AXW33 Nachi Roller Bearing Japan 170x310x110 Spherical Bearings 10639
YASKAWA TFUE-05ZC7 FEEDBACK UNIT W/ YASKAWA NACHI PMES-12-FC22 PRINT MOTOR
NACHI UM870B RQAUS1 UM870B
24038EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 190x290x100 13270
22334EW33 Nachi Roller Bearing Japan 170x360x120 Spherical Bearings 10584
7220CYDUP4 Nachi Angular Contact Bearing 100x180x34 Abec-7 Japan Large 10908
NN3032M2KC1NA P4 Nachi Cylindrical Roller Bearing Tapered Bore Japan 13664
22334EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 170x360x120 12128
24132EW33 Nachi Spherical Roller Bearing Steel Cage Japan 160x270x109 13393
NACHI AC SERVO MOTOR MSM152Q2D 3000 RPM 4.77 CONT.TORQUE 1.5KW
Nachi Fujikoshi MFMA452D6V3 4.5 kW Servo Motor 2000 r/min 21.5 N.M (TSC)
MAZAK SLANT TURN ROMAI AGW VDI 50 LIVE MILLING TOOL HOLDER 2000RPM
Nachi Hydraulikpumpe mit Motor f徂r Mazak
29426EX Nachi Spherical Thrust Bearing Steel Cage Japan 130x270x85 Large 10756
NACHI AC SERVO MOTOR MSMA302D9V3
BNH016TU/GLP4L40060 Nachi Angular Contact 80x125x22 Abec-7 Japan Ball Bearings
NACHI UM136 RQAUS1 UM136
NN3030M2KC1NA P4 Nachi Cylindrical Roller Bearing Tapered Bore Japan 13662
23138EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 190x320x104 13245
6330ZZE Nachi Bearing Shielded C3 Japan 150x320x65 Large Ball Bearings 9615
NEW NACHI FUJIKOSHI CORP. IPH-48-32-20 IP PUMP IPH483220
Siemens Servo Motor NACHI MDM212Q3V
2HP NACHI VARIABLE VANE HYDRAULIC PUMP PACKAGE - SERIES VDR
2 HP NACHI VARIABLE VOLUME VANE HYDRAULIC PUMP PACKAGE - SERIES VDR
NACHI DUXL112 RQAUS1 DUXL112
BNH010TDU/GLP4 Ceramic Nachi Angular Contact Bearing 50x80x16 Abec-7 Japan 14686
23234EW33KC3BNLZ Nachi Spherical Roller Tapered Bore Japan 170x310x110 Spherical
NACHI MSM252Q3D AC SERVO MOTOR RATED REV. 3000 RPM CONT. TORQUE 7.94 #169070
22240EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 200x360x98 13188
24036EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 180x280x100 13269
NACHI UM803 RQAUS1 UM803
24034AXW33 Nachi Spherical Roller Bearing Bronze Cage Japan 170x260x90 13392
NACHI MSM152H2D AC SERVO MOTOR
NACHI MFM452H4V AC SERVO MOTOR
NACHI UMI36 PC BOARD **XLNT**
Nachi AC Servo Motor, # MFM352H3V, 3.5kW, , WARRANTY
Nachi HCD-MWB-1 PCB Board
NACHI R0P511-10 R0P51110 TEACH PENDANT
NACHI ESD-G01-C5 electro proportional valve
NACHI ROBOT TEACH PENDANT ROP601 ROP601G-10
NACHI SERVO DRIVE BOARD UM886
Kawasaki YK1169021900 Hydraulic Control Valve Assembly Nachi EAW-D2 24VDC EA-DS
Nachi Fujikoshi MSM302H4V1 3.0 kW Servo Motor 3000 r/min 9.54 N.M (TSC)
Nachi Robot Teach Pendant ROP601-10
Nachi Robot Teach Pendant ROP601 *Damaged Cable*
7232BMU Nachi Angular Contact Bearing Brass Cage C3 Japan 160x290x48 Extra 9991
NACHI SERVO AMP MODEL DUXL111B DUXL111
NACHI BUY444 RQAUS1 BUY444
Nachi 29426EX 29426 EX made in Japan, Spherical Thrust Bearing(=2 SKF, FAG)
JCB 803? 3ton Hydraulic Track Travel Motor £1000+VAT Nachi pump (Spare Parts) 9
NACHI UM806E,JASP-AZ001B,DF8305751-B0,UM807C,UM806-1UM806-20 PC BOARD,BOXYM
NACHI UM806A,UM817 JAMAGAWA AU9840 Z2-32,VG-35 R1,VG-35 R2 BOARD,BOXYM
NACHI UM806A,UM815B JASP-AZ001B,DF8305751-A0,S120V 0,S120H-0 BOARD,BOXYM
NACHI UM873D ,UM858 BOARD CX
NACHI UM883A ,UM884A PCB BOARD CX
NACHI UM870D ,M870D,CG-5 PCB BOARD CX
NACHI RTP151-10, TEACH PENDANT, NACHI-FUJIKOSHI RTP151-10,BOXYC
NACHI MFM452H5V ,4.5KW A.C. SERVO MOTOR, 21.5 TORQUE, 2000rpm, 32nM,BOXZL
Nachi PWUNIT10-10 Power Supply Repair Only!!!
7019CYDUP4 Nachi Angular Contact Bearing 95x145x24 Abec-7 Japan Ball 10886
22332EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 160x340x114 13211
6330 Nachi Bearing Open C3 Japan 150x320x65 Large Ball Bearings 9891
6330C3BNLS Nachi Bearing Open C3 Japan 150x320x65 Large Ball Bearings 14399
29424EX Nachi Spherical Thrust Bearing Steel Cage Japan 120x250x78 Large 10754
Nachi UM190 PC Board
Nachi AC Servo Motor MDM212Q3V _ 2.1 kW_Con. Torque 9.8_ Rated Rev 2000_TS5643N
23136EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 180x300x96 13243
23136EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 180x300x96 13244
6234ZZE Nachi Bearing Shielded C3 Japan 170x310x52 Extra Large Ball 13410
NACHI 22248E W33 M Y1 Y1 A B22 SPHERICAL BEARING NEW
Nachi SUD301A Servo Amplifier
Nachi SUD451A Servo Amplifier
24130EW33 Nachi Spherical Roller Bearing Steel Cage Japan 150x250x100 13277
NACHI-FUJIKOSHI RTP101-10 TEACH PENDANT
MAC Company MAC-8VA-SR-0T-1 NACHI Hydraulic Oil Supply Unit & Chiller Pump Sump
NACHI AC SERVO MOTOR TS-4138 N1 E30
Nachi Hydraulic Piston Pump PZ-3A-70E3A-4122C #65199
22240EW33 Nachi Roller Bearing Japan 200x360x98 Extra Bearings 10544
NU330MY Nachi Roller 150mm x 320mm x 65mm Bronze Cage Japan Cylindrical Bearings
23944EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 220x300x60 13264
7219CYDUP4 Nachi Angular Contact Bearing 95x170x32 Abec-7 Japan Ball 10907
120TAD20 P5 2 direction Thrust Angular Contact Bearing 120x180x72 13597
NACHI-FUJIKOSHI AC SERVO MOTOR MDMA102D2V3 1.0KW
PVS-2B-35P3-E13 Nachi Piston Hydraulic Pump 35CC 7/8" Shaft Remote Compensator
NACHI UM812C RQAUS1 UM812C
NACHI 14-91074733 RQAUS1 1491074733
100TAD20 P4 Nachi Double-direction Thrust Angular Contact Bearing 13593
NJ236MY Nachi Roller Bronze Cage Japan 180mm x 320mm x 52mm Cylindrical Bearings
22332EW33 Nachi Roller Bearing Japan 160x340x114 Spherical Bearings 10583
Nachi UM880B PC Board
23232EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 160x290x104 13251
23232EW33 Nachi Spherical Roller Bearing Bronze Cage 160x290x104 Japan 13359
NACHI RTP15110 RQAUS1 RTP15110
NACHI VDR-1B-1A3-B VARIABLE VANE HYDRAULIC & UNI PUMP WITH TANK & OIL COOLER
[Backordered] 6236 Nachi Bearing:Open:C3:Japan 180x320x52 9861
23136AXW33 Nachi Spherical Roller Bearing Bronze Cage Japan 180x300x96 10615
23138EW33 Nachi Roller Bearing Japan 190x320x104 Spherical Bearings 10616
Nachi AC Servo Motor MSM302H4V1 *Cut Cables*
NACHI USADED-15-FC31 RQAUS1 USADED15FC31
NACHI USADED-15-FC41 RQAUS1 USADED15FC41
NACHI RTC201 RQAUS1 RTC201
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