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1、? ?PID ?PID? ?PID? ? ? !“#$?%?/?AB./C?DEBF,G./?/? HIJBK(LMNOPQR?PIDST?UV=WXPID?YZ ?_?./aR?bcdef 1ghi./?jkl/?K(?)mkl/?n?op/?nqrst/uv? w*?01?kl?D?Y?B?s?PQl?xy?2kz|GF? PQl?L#?P?P?n?2? l?NOPQ?2kz?z?L? ?/? ?x?PQC? ?:? hi./?w*?2?PQl? nqrsPQl?v?kl 2gx?ve(t). ?lGo“?v? o?,? 01?-?|? ,?fi *?|,fl ?9%GK?L?,? 3g?
2、.ve(t) = e(t) + e(t-1) + e(t-2) + + e(1)?K?J?sl*?vG?j? K?”,j?*?|?t/?K?T?c,? 4gx?v?n?v e(t)-e(t-1)?s?x?v?s?x?v? ? PQ?K?T?c,? 5gcx?+,fKp, Ki, Kd. K?cPQ?,?T?L?,?T? ,j?T?,? ?PQ?2? ?,G?2?9?PQR?f ?L?v?%v?L?- ?v?L?-z?v?9?L? ? ? ?v?vO?v?T?34?h?v? ?T?T?G?T?T?“?,?T? ?u?T?z?T?T? r?0? ? ?T?v?=?v? =?PQ?Bv?!u?fl
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6、zN?L,?78“?%YZKc?J?0 ?LPQ/?J?PQ?BRZZO?NO?NO?v?G ?RZZO?J?K?+,”?|?J%?z?O?-?PQ? ?L#0PQ?ZO?#oNORZ?JPQ?BZRZ?K ?vG WRZZ?J?X./w*?,?-?w*ZRZZ?,?%?NO RRR?RZ RRR | ?-?/wR?K?J?L,?XJK(? ?N?$%?./?%|,K?ST?JPQ?x?l?./?”? |?z?Tj?T?K?J?”?-x?Kz ”?BK(x?%J?d PQ4*oGu“?PQ?Tj?TBK(0?zST?x? ?PQ? ?NO?X?O?JUV?T?L34?z?78K?T?,?J?
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