CIMR-V7AM47P5變頻器
CIMR-V7AM47P5變頻器
CIMR-V7AM47P5變頻器
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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NORGREN TI5-814-E2AD - UNBENUTZT/UN -
9500400, NORGREN
V岢rin linaire NORGREN / M46025/M/400 / pneumatique / Automatisation / bricolage
? NORGREN Drucksensor 4346-99 mit 74505-50 Gew-Flansch G1/2 -NEU- #GO
Norgren 5/2 Magnetventil 2637250
Norgren 5/2 Magnetventil 2637250
Norgren QM/45025/00 DICHTUNGSSATZ
Norgren C72S-D0295 - G 3/8 A-FR Kombination Wartungseinheit
Norgren 33D 0863216 Druckschalter P max. 30 bar I max. 0,5 A
norgren IMI F15-M3 MAX. 16 bar 80°C
Martonair / Norgren S 560D 42 / S560D42 Ventil
Norgren V62C513A-A313L Magnetventil 2 - 10 bar 24 V Spulenspannung
NORGREN EC63D-A-1-ACA019M(X91M)90A-R-90-2-0 PNEUMATIC POWER CLAMP #156772
NORGREN EC63D-A-1-X41M-90A-L-90-10-0 PNEUMATIC POWER CLAMP #156765
Norgren X3343802
Norgren X3343802
NORGREN SPI 11-818 001 Pneumatikregler Hochpr?zisions-Druckregler NEU
Norgren A0333A1 Pneumatic Cylinder
NORGREN A0133A1-PS-1-1/2X6 RQANS2 A0133A1PS112X6
NORGREN E1024C-CE RQANS1 E1024CCE
NORGREN K71DA00KS6KP0 RQANS1 K71DA00KS6KP0
NORGREN DA/8032/M/80 RQAUS1 DA8032M80
NORGREN 08173-00 RQAUS1 0817300
NEW NORGREN 1301 2104271.1301.230.50 230V-AC 1/2 IN NPT SOLENOID VALVE D536850
NORGREN V60PA11DC313AA PNEUMATIC VALVE, NEW #128659
NEW NORGREN PNEUMATIC CYLINDER 250PSI - ND03A-E02-AAC00
Norgren E1024C-X0 XO Pneumatic Valve
New Norgren Precision 11-818-101 Regulator
NORGREN B73G-4AK-AD3-RMN **
NORGREN 0799014 RQAUS1 0799014
(V29-2) PEPPERL & FUCHS NJ3-C-E02-1.025-V1 NORGREN CPS-C-3 PROXIMITY SWITCH
NORGREN C24731 **NNB**
NORGREN AC2150BMP14Z **NNB**
NORGREN EA0133A1REV3 **NNB**
NORGREN 8235403.93-24DC RQANS2 82354039324DC
NORGREN COK-120925-A RQANS2 COK120925A
NORGREN AIR FILTER F17 800 M3DA , PNEUMATIC AIR FILTER 1 INCH
NORGREN K81EA00KC0KB6 VALVE NEW
NEW NORGREN V45A611D-C318B SOLENOID VALVE V45A611DC318B
Norgren Double Acting Air Cylinder - EJ1277A1
NORGREN PRESSURE SWITCH 0882320 *NEW OUT OF BOX*
NORGREN MARTONAIR PRA/8040 A/M/* SPGB/NPP/28283 AIR PNEUMATIC CYLINDER NEW
NORGREN K910023 VALVE, 4-WAY, HAND,
CA Norgren 11-002-061 Fluid Pressure Regulating Valve Assembly
NORGREN-POWER CLAMP - GL500-J12F5A1L1G2 GRIPPER
NORGREN-POWER CLAMP - GL500-J12F5A1L1G4 GRIPPER
1 NORGREN P72SA09 AIR CONTROL VALVE *MAKE OFFER*
NEW NORGREN F46-424-MADA FILTER 1/2" VAPOR REMOVAL FILTER 1/2" 250 PSIG 150oF
NORGREN-POWER CLAMP - GL500-J12F5A1G2G4-GRIPPER PART#-22114356
NORGREN-POWER CLAMP - GL500-J12F5A1GxG2- GMT 920
NORGREN-POWER CLAMP - GL500-J12F5A1G2G4 REVISION
NORGREN 1.0-12BAR SOLENOID VALVE 23 915 00 102670
GENUINE NORGREN / EXCELON FILTER REGULATOR B73G-4AK-QP1-RMG / B73G4AKQP1RMG
Norgren 11-818-998 Druckregler 02-0,5 G1/4 11818998 11 818 998
Norgren Herion 0820159 0.2-12 bar Pressure switch -un-
Norgren Herion 1804700 Pressure Switch -un/OVP-
Norgren Herion 0804400 0.05-2.5 bar Druckschalter -un/OVP-
Norgren Herion 0817200 3-40bar Pressure Switch -un/OVP-
Norgren Herion 1816605 0000 001 00 10-220 bar Pressure Switch -un/OVP-
Norgren Herion 0807700 10-400 bar Pressure Switch -un-
Norgren BL74-601G Filter,Druckregler und ?ler
Norgren Herion 5/2-Wegeventil,2636200
NORGREN DRUCKREGULATOR R73G-2AK-RMG OVP
NORGREN DRUCKREGELVENTIL MK III R 13-000-RNMD
Herion Norgren 81-100-07Exis. H302 24V SMC NAR3000 -NO3, Nass Magnet 1259 06
? NORGREN T68H-8GB-B2N -FS- Absperrventil / shut off valve #GO
? NORGREN MARTONAIR M/1701D/33 Wegeventil G1/8 - 2-10bar -NEU- #GO
Norgren (07) Zylinder Art.Nr. PRA/182032/JM/50 doppeltwirkend
Buschjost Norgren 8510200.8304 2/2-Wegeventil 0-16bar -un-
NORGREN Druckschalter 0886100 OVP
NORGREN K71DA00-KS6-KQ4 RQANS1 K71DA00KS6KQ4
NORGREN RM/8020/M/200 RQANS2 RM8020M200
NORGREN D1024B RQAUS1 D1024B
NORGREN EC90G-2-0-0-0-0-GCA131M-3-D-60-10 POWER CLAMP, WITH CLAMP ARM,
Solenoid Valve Norgren VS26S511DF313A
Norgren #18-033-101 0-10 PSID In-Line Differential Press Indicator
NORGREN DA-8040-50 RQAUS1 DA804050
NORGREN K41EA00KC0KT1 RQANS1 K41EA00KC0KT1
NORGREN MH01GDG74AMPA RQANS1 MH01GDG74AMPA
NORGREN K81EAO6KVOKVO RQANS2 K81EAO6KVOKVO
NORGREN M/41/2 RQANS2 M412
NORGREN B74G-3AK-AD1-RMG RQANS1 B74G3AKAD1RMG
NORGREN L74C-3AE-QPN RQAUS1 L74C3AEQPN
Norgren 12-VBO-0428 12VBO0428 Right angle Flow Control (Pack of 3) - New No Box
Norgren - manual Button/ Spring Black 3041402
Norgren - manual Button/Spring Red 3041602
Norgren Reparatursatz 0566606000000000
NORGREN C33121 **New no box**
NORGREN F74G-3AN-QP1 RQANS1 F74G3ANQP1
NORGREN F74G3ANQD1 **New in Factory Packaging**
Norgren 11-018-100 Precision Air Pressure Regulator
11-002-612 Norgren 1/2" Air Pressure Regulator Max in 400 psig Max out 125 NEW
NORGREN EC50A01X93M180AD607D POWER CLAMP ATTACHED PART CLAMP ARM 6" #154601
NORGREN EC63D-A-1-ACA007M(X51M)-180A-L-133 #156787
NORGREN EC63D-A-1-X56M-180A-R-90-2-0 POWER PNEUMATIC CLAMP #156781
Norgren - 1/4 3/2 Nc Solenoid/Sp Basic V61B413A-A2000
NORGREN 52019170593 RQAUS1 52019170593
NORGREN 03041922 RQANS1 03041922
NORGREN W74D-2AN-NPN RQANS1 W74D2ANNPN
F17-800-M3DA Norgren COALESCING FILTER
NORGREN K71EA00KS6KV1 PNEUMATIC VALVE *NEW IN BOX*
1PC New NORGREN S/666/8
Norgren CC06A-A01-AAADM CC06AA01AAADM Cylinder - New No Box
Norgren K71EA00KS6KD4 Valve - New No Box
NORGREN B07270M1EA **NIB**
NORGREN Rundzylinder ISO 6432 doppelwirkend RM/8017/M/125 mit einstellbarer D?m
NORGREN T64E-6AB-P1N RQAUS1 T64E6ABP1N
NORGREN 5478120 RQANS2 5478120
Norgren 3163-03 Replacement Filter Element, OEM Equivalent
NORGREN EC63DA1X91M90A #100398
Norgren - manual Button/Spring Green 3041502
NORGREN MQ008A RQANS1 MQ008A
Cylinder Norgren PRA/182040/M/200
Norgren LPAC250 Flange Mount Pancake Cylinder - New No Box
Norgren - 1/8 5/2 Single Solenoid Basic V60A513A-A2000
NORGREN EJ0155A RQAUS1 EJ0155A
NORGREN V60P711AA213JA RQAUS1 V60P711AA213JA
NORGREN R40200BNSA RQANS1 R40200BNSA
NORGREN K81EA05 RQANS2 K81EA05
NORGREN K41-DA0-0KS1K32 RQAUS1 K41DA00KS1K32
Norgren - manual Knob, Push/Knob, Pull Blk X3046502
NORGREN RP075X8.000-DAD-PS RQANS1 RP075X8000DADPS
Norgren 370CA-20A-AA100 Actuator 1-1/2" Bore -
NORGREN L17-600-OPDA RQAUS1 L17600OPDA
Norgren 4341-01 Replacement Filter Element, OEM Equivalent
Norgren MK01CEA35ALJC Valve -
Norgren F74G-4AN-QP3 Pneumatic Filter
Norgren LPAC200 Cylinder - New No Box
NORGREN Rundzylinder ISO 6432 doppelwirkend RM/8017/M/100 mit einstellbarer D?m
NORGREN 17-016-104, DRIP LEG DRAIN, 1/2" NPT, 150 PSI, 0.16 LTR, NEW SEALED
NORGREN CE04A-X07-EAA98 RQANS2 CE04AX07EAA98
NORGREN R05-200-RNLA RQAUS1 R05200RNLA
Norgren 3/2 Directional Control Solenoid Valve Model# 9032700-0162-G
Norgren Air Control Poppet Valve Model# D1024B-C11R9
Norgren Air Control Poppet Valve Model# D1024B-CC1WA
NORGREN A10278-CF1WH REGULATOR FILTER, 150 PSIG MAX, 1/4" NPT, NEW
1PC New Norgren solenoid valve V61B513A-A2
NORGREN HERION 39D1341/C3 5/3 Ventil Teilventil 25 833 00
Norgren Regulator Lubricator Olympian IMI
Norgren Filtereinheit B64G-NNK-AD3-RMN
Norgren (15) Pneumatikzylinder doppelwirkend PRA/182040/M/200
Norgren Magnetventil V44A511D-C313A
NORGREN C74S-D0127 , 2156892 , C74S - D0127 ohne original Verpackg. NEU
Norgren F73G-3AN-AD3 Filter
Norgren R12-400-RNLA Pressure Relief Valve with Ashcroft Pressure Guage
Norgren Anfahrventil P72F-3GC-PFA
NORGREN R83-200-RNSA REGULATOR 1/4" LOT OF 7 NEW
NORGREN PNEUMATIC CYLINDER EA1255A1-REV.#3 2" BORE 3" STROKE
NORGREN 14113500000 Super X In Line Solenoid Valve w/o 3311110
NORGREN MANIFOLD WITH 6- # V60P511AA218JB VALVES 120VAC
NEW Norgren R17-800-RGSA 1" Pressure Regulator
Norgren Regulator R68G-8GK-RLN #49160
NORGREN REGULATOR 11-024-0 *NEW OUT OF BOX*
Lot Of 2, Norgren Control Valve 1/4",FNPT, T1000C3800, Shipsameday#152R
Norgren A1233A2-REV. #3 Air Cylinder 2 1/2 X 2
NEW NORGREN V61R711AA313JB VALVE 1/4" NPT
NORGREN PRESSURE REGULATORS - FILTER- OIL MIST LUBRICATOR-PRESSURE GAUGE
Norgren Pressure Regulating Valve 11-002-067 0-160 PSI
Norgren Quitaire Muffler 676600001501
FACTORY SEALED NORGREN V62S511AA313JB SOLENOID VALVE
NORGREN AIR VALVE K41DA00KS1KL0 **
CA Norgren 11-002-061 Fluid Pressure Regulating Valve Assembly NSN4820006279176
LOT OF 5 NEW NORGREN C/S6 PLAS POR SILENCERS 3/4 PTF CS6
NORGREN PNEUMATIC CONTROL 5BV-010-10A
Norgren 11-002-061 Fluid Pressure Regulating Valve Assembly NSN4820006279176
NORGREN Actuator A4233C1-6X4 - NEW Surplus!
NORGREN B73G-2AK-QP3-RMN FILTER / REGULATOR NEW
NORGREN B73G-2AK-QT1-RMG FILTER / REGULATOR NEW
NIB NORGREN T74T-6AA-P1S SHUT OFF VALVE T74T6AAP1S
NORGREN K71DA00KC0KL6 VALVE *NEW NO BOX*
LOT OF 5 NORGREN T79EA00 VALVE 150 PSIG **
Norgren C/1340/8 1/4'' NPT 3 Way Heavy Duty Viton Seal Poppet Valve .25 Inch NEW
Norgren Prospector Series Poppet Valve w/IP65 Power Connctor - NEW Old Stock
C.A. NORGREN CO. VALVE_D0005D_DOOO5D
NORGREN B74G-3AK-QP3-RMG REGULATOR (AS PICTURED) **
MartonAir/Norgren L88A 3 Bore X 8 Stroke Pneumatic Cylinder
New Norgren V19P511AB218B Solenoid Valve
New Norgren Control Valve 30-150PSI 3WAY 1/4NPTF 375-02-007-68-5
NORGREN MN01EGA25BTTB *NEW IN BOX*
NORGREN 2625700 SOLENOID VALVE 24VDC **
NORGREN F74H-4AD-AD0 **
NORGREN K71DA00KC0KB2 *NEW OUT OF A BOX*
NORGREN F08-300-M3DA **
NORGREN GRIPPER CYLINDER XGL400-J2-4-X-1-H-X-X-X *NEW OUT OF BOX*
NORGREN P81DA13PD1PD1 *NEW IN BOX*
LOT OF 2 NORGREN L74M-6AP-QPN LUBRICATOR 3/4" *NEW IN A BOX*
NORGREN B1015H-CE POPPET VALVE *NEW IN A BOX*
NORGREN P910010 **
NORGREN MN01EGA25BTTB *NEW IN A BOX*
NORGREN E1025C-MA VALVE **
NORGREN B72G-2AK-SD3-RMN *NEW IN A BOX*
NORGREN B13-096-A3L0 REGULATOR *NEW IN A BOX*
NORGREN K41DA00KV2KV2 *NEW IN A BOX*
NEW NORGREN V62S417AA2000A SOLENOID VALVE 145 PSI MAX, TEMP 14-122 F
NORGREN REGULATOR & SEPERATOR 17-016-107 & 11-018-110
NEW NORGREN B73G-3GK-AP2-RMN FILTER REGULATOR
NORGREN R24-400-RGLA RQANS1 R24400RGLA
NORGREN 0-125PSI 1IN. PORT PRESSURE REGULATOR R68G-NNK-RLN *NEW IN BOX*
NORGREN 09-211-103 MINI SOLENOID VALVE W/ SWAGELOK-316 LPT FITTINGS
NORGREN FLITER AND REGULATOR 250PSI B73G-3AK-AD3-RMN/R7G3-3AK/ RMN *NEW*
NEW NORGREN 0820792 PRESSURE SWITCH
NORGREN K81EA06KC0KL2 AIR CONTROL VALVE *NEW IN A BOX*
NORGREN SXE95731700023NB SOLENOID VALVE / MANIFOLD
CA Norgren 11-002-067 Fluid Pressure Regulating Valve Assembly NSN4820006187826
Norgren 11-002-067 Fluid Pressure Regulating Valve Assembly NSN4820006187826
C.A. Norgren Air Control Valve PN E0004F
Norgren P74F-4AC-MNN Oil Filter
C.A. Norgren Air Control Valve PN D0005F
NEW NORGREN EXCELON F73G-4AN-AP3 FILTER 150PSIG, 10BAR, F73G4ANAP3
Norgren PDC/182050/M/325, Double Acting Pneumatic Cylinder
PARKER TACO NORGREN PNEUMATIC AIR FILTER REGULATOR VALVE 06E22B13AC CNC
NORGREN EXCELON AIR FILTER REGULATOR L74M-4AP-QDN
BUSCHJOST Ex Solenoid Valve , # 8240200.9186, 2/2 NC , 24 VDC, 1/2 in , 1-16 bar
NORGREN K41DA00KA1KB0 RQANS1 K41DA00KA1KB0
豫公網安備41010502000017號 
