BL-MC100J-12SB原装进口

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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(3632) Boston Gear 1 HP AC Drive ACE104V3P0010C 460 V

(Q3-3) 1 GEMCO SD0292400 OUTPUT MODULE

(7555) Allen Bradley Contactor Sz 1 500-BOD93

(8572) Soane Technologies Hard Coat Controller BAC-A

(V31-3) 1  FANUC A20B-2902-0070/04B PC BOARD

(RR18-1) MARKEM-IMAJE 7033481 LABELHEAD PRINTER

(0888) Bodine Motor 34R4BFCI 1/15HP 115V

(RR26) WEST INSTRUMENTS M3100-L02-T1720-H10-C00-X00-8901 TEMPERATURE CONTROL

(Q1-1) 1 INDUSTRIAL DYNAMICS 07162 LOGIC PANEL

(7205) Siemens Simadyn Pc Board 6Dc-3040-1Dc

HONEYWELL FIRE DAMPER AND OPERATOR MP918B 1097 2 9206

ASCO EF8342C001 VALVE- NO BOX

JOSLYN CLARK DP3C253-120 CONTACTOR

ATHENA 2000-T TEMPERATURE CONTROL

SOLIDSTATE CONTROLS 80-209142-90 PC BOARD

Allen Bradley Overload Relay 193-EPD180 600 VAC

Reliance Electric Auto Reversing Card 0-54380

(X5-17) 1 NIB ALLEN BRADLEY 700-RT00N000A1 RELAY

(0496) Gems Warrick 26D1D0 Board Relay

(X2-4) 1 NIB ELECTROMATIC DUPLINE 128 FAD 1210 700 DUAL MONOSTABLE RECEIVER

(R2-2) 1  FANUC A16B-2200-0430 BOARD

(0809) Allen Bradley 849-ZOD323 Pneumatic Timing Relay

LEESON WASHGUARD INDUSTRIAL MOTOR C6Z143T17VK2

(R2-8) 1 GE K457 MOTOR 1/2 HP

(I9-3) 1  BALLUFF BIS-C-901-U1 ID SYSTEM PREAMPLIFIER

(RR11-3) 1  COPES VULCAN 860007 REV 9 RECEIVER-DRIVER ASSEMBLY

(Q4-4) 1  NAMCO EE100-10000 CYLINDICATOR PROXIMITY SWITCH

DRC ENCODER WITH MALE CONNECTION 25-F011-B15-2500

Phoenix Contact Terminal Block Interface IBST 24 DO32/2

ECLIPSE AIR VALVE 424 vsb

(RR27) FANUC IC660TBD024K TERMINAL ASSY

(RR26) FANUC IC697BEM731R CONTROLLER MODULE

FANUC FIBER OPTIC CABLE A66L-6001-0005-L2R003

(RR3-3) 1 NIB SEW EURODRIVE 11349808 TORQLOC KIT

(X8-14) 1  VICKERS 02120018 PA5DG4S4LW-018C-B-60 DIRECTIONAL VALVE

(6496) Kooltronic Fan KB651S 8 1/2"

(G6) 1  WATER KING 57820-402 ELECTRONIC DEMAND REGENERATION II

Vickers Pressure Reducing Valve DGMX2-5-PA-GH-B-30

(T2-2) 1 GEMINI VALVE A421 ACTUATOR

(O1-10) 1 TELEMECANIQUE XUR-H20753 PHOTOELECTRIC SENSOR

GE RELAY CR2810A14AC2

Dnu-50-160-Ppv-A Cylinder

SMC TU0805YR-100 ORANGE POLYURETHANE TUBING

(Y5-2) 1 NEW PSI-TRONIX DT-420-15 MOTION TRANSDUCER

Actr050-42L-S Safety Relay

12144-24 Actuator

Efhb8342C1Ms Solenoid Valve

ASCO RED HAT 8215B70 SOLENOID VALVE

HONEYWELL 922FSS4-A6N-Z744-30 PROXIMITY SWITCH SENSOR

Nidi-01 Interface Module

EATON CUTLER HAMMER E57-30LE22-AB

PARKER GP400 SOLENOID VALVE

NIB Action Pak Relay Module 2132-3202

TECUMSEH TK37509 REIRIGERANT ACCUMULATOR

NEW HUMPHREY 062E1-3-10-21-36 SOLENOID VALVE

(ENERPAC27) HUGE Lot of Enerpac Repair Kits PA1053949K1

LEEDS AND NORTHRUP 444508 DRIVER BOARD AMPLIFIER

(10249) Vickers DGMFN-5-X-A2W-B2W-30 Flow Control Valve

(X5-7) 1 New Honeywell 708X1D1B Skinner Solenoid Valve

 REXROTH HED-4-OH-16/50-Z14 PRESSURE SWITCH

AGASTAT 7022AK TIME DELAY RELAY

AGASTAT 7012ACM TIME DELAY RELAY

Numatics Solenoid Valve 082SA425M016T61

Siemens 3RT10 26-3KB40 Special Application Contactor, Cage Clamp Connection, ...

(6758) Asco 4 Way Solenoid Valve 8342701 1/4" 110/50 120/60

(V18) SP MOTION-MAKERS B040CK018 PACKING KIT

MCG DLP-10-25V2 DATA LINE PROTECTOR

(H2-4) Nib Agastat 2412-Af Timing Relay

CUTLER HAMMER EATON C65DNA315A 15A REVERSING CONTACTOR

(Q2-4) 1 NEW SQUARE D 8501-X01200 RELAY

(8569) IFM Efector Controller Flow Switch VS0200

(R2-1) 1  BAILEY CONTROLS 6637964E1 CONTROLLER BOARD

(E7) FANUC A02B-0094-C103 PMC CASSETTE C

(V22) SMC NIT202-302 REGULATOR

(Y5-2) 1 New Psi-Tronix Dt-420-40 Motion Transducer

(8219) BEI Encoder H25D-SS-1500-AC-8830-EM16

(9550) Allen Bradley Guardmaster Safety Relay 440R-M23080

SCHNEIDER AUTOMATION INC 140 DDI 353 00 INPUT MODULE

Siemens CQDA1BA Breaker Auxiliary Switch

(X8-14) 1  ADEPT TECHNOLOGY 10310-54020 INTERFACE BOARD

(10206) TB Woods Keypad for Drive PC233h

(Q2-3) ASCO 200262 REBUILD KIT

(V45-3) 1  ABB CC-U/STD UNIVERSAL ANALOG STANDARD SIGNAL CONVERTER

(L27-1) 1 OMEGA ENGINEERING 4201A-PF1 TEMPERATURE CONTROL

Raj Electricals Roto Flo Board 170259-17 (9037)

(10229) Encoder Products 711S-889635 Encoder

(K2-2) 1  600080 REV C PC BOARD

700-P400B44 Series D Ac Relay

(D2) 1 SIEMENS 3TF4-310-0BB4 CONTACTOR

(V46-2) 1 NIB ISSC 1213-1-C-B1 RESISTANCE DETECTOR

(RR7-3) 1  JOHNSON CONTROLS P-8000 PROPORTIONAL ACTION PRESSURE CONTROLLER

(6488) BEI Encoder H25E-F1-SS-1250-ABZC-8830-LED-EM18-S 5VDC

CUTLER-HAMMER C320KA3 AUXILIARY CONTACT

(V50-2) 1  ALLEN BRADLEY 1771-OFE2 B ANALOG OUTPUT MODULE

(X12) 1  TELEMECANIQUE LC1 D25 10 CONTACTOR W/ LR2-D1322 & LA1-DN20

Thermon Vil-1 Indicator Light

PARKER 73218BN4UN00N0C111P3 SOLENOID VALVE

(O1-6) 1 NEW NUMATICS 152SS500K000030 SOLENOID VALVE

(T6) New Bailey 6634664K1 Pc Board

(10392) Allen Bradley Fiber Optic Cable with Adapter 443GT-TIS10MS

West 3100 Temperature Control 3100-L02-T1418-H10

(X9-2) 1  HUB CITY 0220-00505-011 GEAR DRIVE

(Q4-1) 1 SQUARE D 8636SCT03 STARTER

(V57-1) 1 NIB FURNAS 75HF14 CONTACT KIT

AMETEK DC-200 GAUGE

Omron E3Ht-Ds3E1 Photoelectric Sensor

(K2-4) ALLEN-BRADLEY 42GDP-9005-QD PHOTOSWITCH

GE 546A301G2 CONTACT KIT

SMC PFM711-N02-B DIGITAL FLOW SWITCH

(H10) 1 ALLEN BRADLEY 1771-KA2 COMMUNICATION ADAPTER MODULE

8320B175Mo Solenoid Valve

(S1-6) 1 ABB SAFT166APC SUPPLY BOARD

(X1-2) 1 SICK WL10-431 PHOTOELECTRIC PROXIMITY 24VDC

(10066) Halter Motor DE71 B-4 1680 RPM

Allen Bradley Time Delay Relay 700-RTA00VOOOA1 120 VAC

(0194) Asco Repair Kit 83-09-253

(X7-2) 1  BINDICATOR US-5000 MODEL SUS200000

(X8-14) 1  VICKERS 02-119590 DG4S4LW 0160 B 60 DIRECTIONAL VALVE

(K2-1) 1  ZYMARK 38663 MODULE EIA CARD

(Q8-4) PARKER 71315SN2ENJ1N0C111P3 VALVE

M6Avs-4 Valve

(V46-2) 1 NIB GENERAL ELECTRIC 36A161007AA G01 REPAIR KIT

(C2) 1 New Allen Bradley 40185-808-01 Overload Relay

(N3-2) 1 NEW AIROTRONICS 45704-1 TIME DELAY RELAY

(R2-7) 1 NEW SMC FH990-06-400-M149 HYDRAULIC FILTER

Allen Bradley Control Relay 700-PK600A1 10A 115VAC

(Q3-5) 1 NIB AMERICAN AUTOGUARD 101585-003 MECHANICAL TORQUE LIMITER

(Q1-2) 1 NEW GENERAL ELECTRIC CR101-X112 CONTACT KIT

(R2-2) 1  SQUARE D 5201103701 MAIN BOARD

(Q1-1) 1 CUTLER-HAMMER A10ENO STARTER 90AMP SIZE3 3POLE

(X5-22) 1  PANALARM 070-0042-3-08-B MODULE CALIBRATOR

(H10) 1 ALLEN BRADLEY 1771-DC CLOCK MODULE

(O4-3) 1 NEW ROSEMOUNT 0068N21N00N120-E6V1 SENSOR ROD

(0425) Omron Output Module CQMI-DAO21

(V32) 1  ALLEN BRADLEY 634173I-90 PC BOARD

(M6-2) 1 PANASONIC WVBP314 CAMERA

(V57-1) 1 NIB FURNAS 75FB14A CONTACT KIT

Tyco Barksdale Thermostat Setpoint Freeze Protection Ammc-F5-Stat

(S1-1) 1  BAILEY NTAI02 TERMINATION UNIT TC INPUT 8INPUT NET 90

ORIENTAL MOTOR BRAKE PACK SB50 NEW OTHER

FURNAS ELECTRIC CONTACTOR 42CE35AG106 40A Coil: 75D56632G

(X8-12) 1 NIB CARR LANE ROEMHELD CLR-9425-001-PD PRESSURE GAUGE

Namco Diffuse Scanner EP130-15281 60 mm

(H2-5) 1 BEI 924-01002-347 ENCODER

(X6-4) 1 NEW TOLTEC ELECTRONICS PAC-1250 RELAY OUTPUT

(O4-4) 1 ALLEN BRADLEY 1333-AAB 1 HP DRIVE ADJUSTABLE FREQUENCY

(7925) Skanamatic High Speed Power Source T41300 115VAC

(G1-3) 1 VACON PC00273 RELAY OUTPUT CARD

(X5-16) 1 Nib Canadian General Electric Cr120Ac03002Aa 300V Relay

General Electric Size 00 Full Voltage Starter & Enclosure CR206A102

(8100) Western Ent. Innovator Compressed Gas Regulator SH180RV580

Phoenix Contact Input Module Ib Stme 24 Di32/2

509-A0Xab Full Voltage Starter

NORGREN A0015C POPPET VALVE

NEW SIEMENS 3UA59-00-0J OVERLOAD RELAY

NEW MAC VALVES CIRCUIT BAR COMPONENT

NEW WERMA 828-100-67 FLASHING BEACON

NEW PENTA KB POWER KBMM-125 SPEED CONTROL MOTOR

POTTER & BRUMFIELD CB-1042B-30 TIME DELAY RELAY

POTTER & BRUMFIELD CDF-38-70003 TIME DELAY RELAY

MATHESON 450B GAS PURIFIER

 EAGLE SIGNAL HP54A6 TIMER

Eaton C320KGT15 Nema Auxiliary Contact For Nema Starters

J6-148 Pressure Switch

(X5-25) 1 NIB ELECTRIC COUNTERS & CONTROLS MFV915 RELAY

 GE 204B6591AAG0002 AUXILIARY SELECT CD CARD