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1、简单地说，就是运用比例、积分、微分算法，来对回路中的偏差进行修正，通过执行器调节参数，使测量值稳定在设定值附近，，达到控制某一参数的目的。

2、 以下为一例，显示出调节器的OUT与偏差之间的关系： The series form is a discrete implementation of: For L = OUT (which is the same as OUT being unconstrained) and P = D = E the equations reduce to: A conventional Standard PID with feedforward, and Series PID with derivative filter applied only to derivative action, with feedforward Where: E(s) is error (SP-PV) ± is + for reverse acting and – for direct acting (Direct_Acting in CONTROL_OPTS) KNL is nonlinear gain applied to P + I terms but not to D term. Nonlinear action is activated in FRSIPID_OPTS by selecting Use_Nonlinear_Gain_Modification. P(s) is the variable to which proportional action is applied. P(s) is determined by parameters STRUCTURE and BETA (which sets the weighting factor for proportional action applied to SP change). D(s) is the variable to which derivative action is applied. D(s) is determined by parameters STRUCTURE and GAMMA (which sets the weighting factor derivative action on SP change). L(s) is the external reset input which is either from BKCAL_IN or OUT. is reset time (parameter RESET) in seconds. is derivative time (parameter RATE) in seconds GAINa is normalized gain after scaling the parameter GAIN from PV to OUT (DV works in engineering units so it is necessary that the parameter GAIN be scaled to maintain the meaning of the normalized entry). F(s) is the feedforward contribution.。

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