P14H1446N-TN
日期：2018-10-11
在工程实际中，应用最为广泛的调节器控制规律为比例、积分、微分控制，简称PID控制，又称PID调节。PID控制器问世至今已有近70年历史，它以其结构简单、稳定性好、工作可靠、调整方便而成为工业控制的主要技术之一。当被控对象的结构和参数不能完全掌握，或得不到精确的数学模型时，控制理论的其它技术难以采用时，系统控制器的结构和参数必须依靠经验和现场调试来确定，这时应用PID控制技术最为方便。即当我们不完全了解一个系统和被控对象﹐或不能通过有效的测量手段来获得系统参数时，最适合用PID控制技术。PID控制，实际中也有PI和PD控制。PID控制器就是根据系统的误差，利用比例、积分、微分计算出控制量进行控制的。
比例（P）控制
比例控制是一种最简单的控制方式。其控制器的输出与输入误差信号成比例关系。当仅有比例控制时系统输出存在稳态误差（Steady-state error）。
积分（I）控制
在积分控制中，控制器的输出与输入误差信号的积分成正比关系。对一个自动控制系统，如果在进入稳态后存在稳态误差，则称这个控制系统是有稳态误差的或简称有差系统（System with Steady-state Error）。为了消除稳态误差，在控制器中必须引入“积分项”。积分项对误差取决于时间的积分，随着时间的增加，积分项会增大。这样，即便误差很小，积分项也会随着时间的增加而加大，它推动控制器的输出增大使稳态误差进一步减小，直到等于零。因此，比例 积分(PI)控制器，可以使系统在进入稳态后无稳态误差。
微分（D）控制
在微分控制中，控制器的输出与输入误差信号的微分（即误差的变化率）成正比关系。 自动控制系统在克服误差的调节过程中可能会出现振荡甚至失稳。其原因是由于存在有较大惯性组件（环节）或有滞后(delay)组件，具有抑制误差的作用，其变化总是落后于误差的变化。解决的办法是使抑制误差的作用的变化“超前”，即在误差接近零时，抑制误差的作用就应该是零。这就是说，在控制器中仅引入“比例”项往往是不够的，比例项的作用仅是放大误差的幅值，而目前需要增加的是“微分项”，它能预测误差变化的趋势，这样，具有比例 微分的控制器，就能够提前使抑制误差的控制作用等于零，甚至为负值，从而避免了被控量的严重超调。所以对有较大惯性或滞后的被控对象，比例 微分(PD)控制器能改善系统在调节过程中的动态特性。
在PID参数进行整定时如果能够有理论的方法确定PID参数当然是最理想的方法，但是在实际的应用中，更多的是通过凑试法来确定PID的参数。
增大比例系数P一般将加快系统的响应，在有静差的情况下有利于减小静差，但是过大的比例系数会使系统有比较大的超调，并产生振荡，使稳定性变坏。
增大积分时间I有利于减小超调，减小振荡，使系统的稳定性增加，但是系统静差消除时间变长。
增大微分时间D有利于加快系统的响应速度，使系统超调量减小，稳定性增加，但系统对扰动的抑制能力减弱。
在凑试时，可参考以上参数对系统控制过程的影响趋势，对参数调整实行先比例、后积分，再微分的整定步骤。
首先整定比例部分。将比例参数由小变大，并观察相应的系统响应，直至得到反应快、超调小的响应曲线。如果系统没有静差或静差已经小到允许范围内，并且对响应曲线已经满意，则只需要比例调节器即可。
如果在比例调节的基础上系统的静差不能满足设计要求，则必须加入积分环节。在整定时先将积分时间设定到一个比较大的值，然后将已经调节好的比例系数略为缩小，然后减小积分时间，使得系统在保持良好动态性能的情况下，静差得到消除。在此过程中，可根据系统的响应曲线的好坏反复改变比例系数和积分时间，以期得到满意的控制过程和整定参数。
如果在上述调整过程中对系统的动态过程反复调整还不能得到满意的结果，则可以加入微分环节。首先把微分时间D设置为0，在上述基础上逐渐增加微分时间，同时相应的改变比例系数和积分时间，逐步凑试，直至得到满意的调节效果。
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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