CN108279634A - A kind of teaching aid and control method based on PID control system - Google Patents
A kind of teaching aid and control method based on PID control system Download PDFInfo
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- CN108279634A CN108279634A CN201810229974.5A CN201810229974A CN108279634A CN 108279634 A CN108279634 A CN 108279634A CN 201810229974 A CN201810229974 A CN 201810229974A CN 108279634 A CN108279634 A CN 108279634A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
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- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
- G09B23/183—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits
- G09B23/186—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits for digital electronics; for computers, e.g. microprocessors
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Abstract
The invention belongs to teaching aid technical fields,More particularly to a kind of teaching aid and control method based on PID control system,Including sprung mass system,The human-computer interaction device for controlling the PLC control circuit modules of sprung mass system operation and being connect with PLC control circuit modules,It is provided with several mass bodies in sprung mass system and drives the motor of mass body rotation,And it is sequentially connected by spring between mass body,The analog signal detection module for measuring each mass body rotating speed is provided in sprung mass system,Analog signal detection module feeds back to detection data in PLC control circuit modules,And detection data is shown in human-computer interaction device by treated,The object of the present invention is to provide a kind of teaching aid and control method based on PID control system,Realize the PLC applied teachings for the program write based on student,Student is enabled to understand the applications of PLC in the controls in depth in the relatively simple PID control system teaching aid of structure.
Description
Technical field
The invention belongs to teaching aid technical field, more particularly to a kind of teaching aid and control method based on PID control system.
Background technology
After developing the first in the world platform PLC by United States digital equipment company from 1969, because its reliability is high, anti-interference
Ability is strong, using modular construction, programming language is simple and installation is simple the features such as, PLC has been widely used in steel, stone
The industry-by-industries such as oil, chemical industry, electric power, building materials, machine-building, automobile, light textile, communications and transportation, environmental protection and entertainment.But
Colleges and universities still manage again during being related to the course teachings such as Mechanical ＆ electrical Transmission Control, robot control and mechanical engineering control at present
By light actual operational capacity of imparting knowledge to students, and automation relevant control theory effectively cannot more be had to the table of elephant in teaching process
It reaches, student is relatively more abstract in learning process, it is difficult to which how the relevant control knowwhy learned in books is applied to by understanding
It in Practical Project, therefore is highly desirable that related practical control object platform is added during course teaching, based on PLC, list
Control theory relevant knowledge is applied to the control of practical object by the microprocessors such as piece machine, enhances Link of Practice Teaching, is improved and is learned
Raw practical operative ability to turn out there is the student of " theoretical+to put into practice " compound ability to establish teaching basis.
Invention content
In order to overcome the defects of the prior art, the purpose of the present invention is to provide a kind of religions based on PID control system
Tool and control method are realized the PLC applied teachings for the program write based on student, enable to student relatively simple in structure
Understand the applications of PLC in the controls in PID control system teaching aid in depth.
The object of the present invention is achieved like this：
A kind of teaching aid based on PID control system, including sprung mass system, control sprung mass system operation
PLC control circuit modules and the human-computer interaction device being connect with PLC control circuit modules are provided in sprung mass system
Several mass bodies and the motor of driving mass body rotation, and be sequentially connected by spring between mass body, sprung mass system
On be provided with analog signal detection module for measuring each mass body rotating speed, analog signal detection module feeds back to detection data
In PLC control circuit modules, and detection data is shown in human-computer interaction device by treated.
The motor is direct current generator, and the H bridges driving electricity of driving direct current generator is provided in PLC control circuit modules
Road.
The sprung mass system includes bottom plate, and support base is fixedly installed on bottom plate, and the mass body passes through both sides
Support base be rotatably arranged on bottom plate, and analog signal detection module is fixed on support base.
The mass body is provided centrally with dismountable installation axle, and installation axle turns with the support base of mass body both sides respectively
Dynamic setting.
The bearing of support installation axle is fixedly installed on the support base.
The spring is detachably arranged between two adjacent installation axles.
The analog signal detection module is hollow shaft rotary encoder, and hollow shaft rotary encoder is fixed at support
On seat.
The mass body be cylinder not of uniform size, the central axis of mass body is conllinear, and motor driving mass body around
Respective center axis thereof.
The human-computer interaction device is touch screen, and there are three input data buttons, three data to press for setting on touch screen
Button controls the input of the original parameter value of ratio, integral and differential.
It is a kind of to be used to control the control method based on PID control system teaching aid, include the following steps：
Step 1：Check equipment and debugging routine in Practical training equipment；
Step 2：Complete the wiring between PC and human-computer interaction device；
Step 3：Configuration engineering is opened, is downloaded in human-computer interaction device after compiling；
Step 4：With SC-09 passing need degree cable connection serial ports of computers and PLC communication ports；
Step 5：Control program is opened, is compiled, PLC host power switch is opened, is downloaded in program to PLC；
Step 6：Passing need degree cable is removed from plc communication mouth after download, then communication cable is connected man-machine
" RUN/STOP " of PLC switch is finally allocated to " RUN " state by inter device communication mouth and PLC communication ports；
Step 7：Ratio, the initial parameter value of integral and differential are inputted in human-computer interaction device；
Step 8：Start button is pressed, three speed curves of human-computer interaction device's real-time display are watched；
Step 9：According to the speed curves of three real-time displays, whether three rotating speed response curves of detection, which tend to target, turns
Speed carries out step 10 if tending to rotating speed of target, if three rotating speed response curves, which do not tend to rotating speed of target, returns to step 7,
Three parameters of the knowledge pair adjusted according to pid parameter are adjusted, until three rotating speed response curves tend to rotating speed of target；
Step 10：Close button is pressed, it is out of service.
The present invention is prominent and beneficial compared with prior art to be had the technical effect that：
1, a kind of teaching aid based on PID control system of the present invention, including sprung mass system, control spring-mass
The PLC control circuit modules of body system operation and the human-computer interaction device being connect with PLC control circuit modules, are controlled by PLC
Circuit module control sprung mass system processed reduces the error of teaching aid, people convenient for being accurately controlled to sprung mass system
The setting of machine interactive device controls teaching aid convenient for user and adjusts PLC control circuit module relevant parameters, easy to operate, spring
It is provided with several mass bodies in mass body system and drives the motor of mass body rotation, and is connected successively by spring between mass body
It connects, adjacent two mass body is connected by spring, so that motor is driven all mass body rotations, and each mass body rotating speed is different,
Multi-group data is obtained simultaneously convenient for user, and processing analysis is carried out to data and obtains conclusion, is arranged in sprung mass system
It is useful for measuring the analog signal detection module of each mass body rotating speed, detection data is fed back to PLC and controlled by analog signal detection module
In circuit module processed, and by treated, detection data is shown in human-computer interaction device, and control is intuitively observed convenient for user
The control effect of system processed improves teaching efficiency.
2, motor of the present invention is direct current generator, and direct current generator has good starting characteristic and governor control characteristics, and straight
The torque of galvanic electricity machine is bigger, and repair is relatively cheap；The H bridges driving of driving direct current generator is provided in PLC control circuit modules
Circuit, the setting of H-bridge drive circuit is convenient for the control to direct current generator；The human-computer interaction device is touch screen, and touch screen
There are three input data button, the inputs of the original parameter value of three data button control ratios, integral and differential to lead to for upper setting
It crosses user and inputs different initial values, control motor different rotating speeds operating makes user will be seen that different proportion, integral
The understanding to PID control system is deepened in influence with differential parameter to motor speed, improves teaching efficiency.
3, sprung mass system of the present invention includes bottom plate, and support base, the mass body are fixedly installed on bottom plate
It is rotatably arranged on bottom plate by the support base of both sides, by support base by each mass body support base bottom plate, avoids quality
Body its own gravity influences its rotation, leads to experimental error；The mass body is provided centrally with dismountable installation axle, peace
It fills axis and is rotated respectively with the support base of mass body both sides and is arranged, replace different mass bodies convenient for user and test, obtain
More data deepen the understanding to control system, and the spring is detachably arranged between two adjacent installation axles, use
Person can replace different springs and test；The mass body is cylinder not of uniform size, and the central axis of mass body is conllinear,
And motor driving mass body show that the difference of each mass body turns around respective center axis thereof by mass body not of uniform size
Fast change curve reduces experimental error, improves teaching efficiency.
4, a kind of control method based on PID control system teaching aid of the present invention is detected each in real time by control system
The rotating speed of a mass body, and compared with rotating speed of target, PID tracking rotating speed of target controls are carried out to each mass body rotating speed, gram
Rotating speed is asynchronous caused by system flexibility disturbance caused by taking spring connection and different quality block, in order to realize online PID tri-
The adjustment and visualization of a parameter adjust three parameters of PID control system using touch screen and show each position in real time
Set the real-time curve of rotating speed；Learnt by this purpose, can intuitively show PID control system ratio (P), integral (I) and
Differential (D) plays the role of specific in the controls so that student's relatively tool is as ground understands and learns how PID control application
During engineering practice.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the mechanics schematic diagram of sprung mass system of the present invention；
Fig. 3 is the program flow diagram of PLC in PLC control circuit modules of the present invention；
Fig. 4 is sprung mass system PID control system structure chart of the present invention
Fig. 5 is the driving of H bridges and level shifting circuit schematic diagram in the present invention based on L298N；
Fig. 6 is PLC control circuit modules PID programming ladder diagrams one of the present invention；
Fig. 7 is PLC control circuit modules PID programming ladder diagrams two of the present invention.
Figure label meaning：
1- bottom plates；2- support bases；3- motors；4-PLC control circuit modules；5- mass bodies；6- springs；7- analog quantitys detect
Module；8- bearings；9- installation axles；10- shaft couplings；11- human-computer interaction devices；M1, m2, m3- mass block quality；K1, k2- spring
Coefficient of elasticity.
Specific implementation mode
With specific embodiment, the invention will be further described below in conjunction with the accompanying drawings：
Shown in Fig. 1 to Fig. 7, a kind of teaching aid based on PID control system, including sprung mass system, control bullet
The PLC control circuit modules 4 of spring mass body system operation and the human-computer interaction device 11 being connect with PLC control circuit modules 4,
Parameter is input in PLC control circuit modules 4 by human-computer interaction device 11, and bullet is controlled by PLC control circuit modules 4
Spring mass body system realizes that the adjusting control of sprung mass system, PLC control circuit modules 4 are excellent in this practical embodiment
Choosing uses FX3U PLC, and human-computer interaction device 11 is preferably touch screen, and setting is there are three input data button on touch screen, and three
The input of the original parameter value of a data button control ratio, integral and differential, different initial values is inputted by user,
The motor 3 for being provided with several mass bodies 5 in the sprung mass system and mass body 5 being driven to rotate, control motor 3 is different to be turned
Speed operating, makes user will be seen that the influence of different proportion, integral and differential parameter to 3 rotating speed of motor, deepens to PID control
The understanding of system improves teaching efficiency.
The motor 3 is direct current generator, and the H bridges driving electricity of driving direct current generator is provided in PLC control circuit modules 4
Driving of the user to direct current generator is convenient on road, the H bridge motor drive ics of model L298N is selected in the present invention, preferably directly
Galvanic electricity machine is hollow cup DC motor, and cored slab direct current generator has energy conversion efficiency very high, starts, brakes rapid, response
It is exceedingly fast, the advantages that operation stability is very reliable, the fluctuation very little of rotating speed uses convenient for user.
Be sequentially connected by spring 6 between the mass body 5, the present invention be preferably provided with three groups it is cylindrical and not of uniform size
The central axis of mass body 5, mass body 5 is conllinear, and motor 3 drives mass body 5 around respective center axis thereof, passes through motor 3
It drives each mass body 5 to rotate, and according to the rotation speed change rule of each mass body 5, is analyzed convenient for user and understand PID control
System pair is provided with the analog signal detection module 7 for measuring 5 rotating speed of each mass body, analog quantity in sprung mass system
Detection module 7 feeds back to detection data in PLC control circuit modules 4, and detection data is set in human-computer interaction by treated
It is shown in standby 11, the analog signal detection module 7 is preferably rotary encoder.
The sprung mass system includes bottom plate 1, and support base 2 is fixedly installed on bottom plate 1, and the mass body 5 passes through
The support base 2 of both sides is rotatably arranged on bottom plate 1, and rotary encoder is fixed on support base 2, will by support base 2
On 5 support base of mass body, 2 bottom plate 1, sprung mass internal system stress influence teaching aid testing result is avoided, influences normally to teach
It learns；Preferred mass body 5 of the present invention is provided centrally with dismountable installation axle 9, the support with 5 both sides of mass body respectively of installation axle 9
2 rotation setting of seat, and bearing 8 is provided on support base 2, the friction between support base 2 and installation axle 9 is reduced, preferably motor 3 is logical
It crosses shaft coupling 10 and is fixedly connected with the driving rotation of mass body 5 with installation axle 9, which replaces different mass bodies 5 convenient for user
The progress of multigroup experiment is carried out, deepens understanding of the user to control system, improves the quality of teaching；The spring 6 is detachably set
It sets between two adjacent installation axles 9, user can replace different springs and test.
Such as Fig. 2 sprung mass mechanics of system schematic diagrames can be obtained according to the above-mentioned teaching aid based on PID control system, it is known that straight
Motor reduction gearbox transmission ratio n is flowed, can be obtainedIgnore power attenuation, according to power conversion invariance, can obtain
I.e.：
Tm=n τm (1)
According to Kirchhoff's law, the voltage equation of direct current generator can be obtained：
In formula, back-emfkdFor back electromotive-force constant.
When magnetic flux is constant, direct current generator electromagnetic torque τ can be obtainede=keI, wherein keFor torque constant.According to torque
Equilibrium principle can obtain：
According to the Dynamic Modeling principle of signal acquisition device of mechanical rotation system, the differential side of sprung mass system rotating part can be obtained
Journey：
Wherein
m1~3For mass block quality, R1~3For mass block overall diameter, d is mass block interior diameter, J1~3The rotary inertia of mass block.
The system equation being made of (2)~(4) is after Laplace transform：
According to the definition of transmission function, the transmission function that system links are obtained by above formula is as follows：
According to the dynamic analysis above to sprung mass system rotary system, PID control system is added, it is carried out
Control structure figure such as Fig. 4 of rotating speed control.Based on the PID controller of PLC by the deviation of rotating speed of target and actual speed, to straight
The control source of galvanic electricity machine carries out automatic adjusument, achievees the purpose that control rotating speed.
PLC port assignments and function are as described in Table 1 in the present invention：
Table 1 --- PLC port assignments and menu
| FX3U components | Function declaration | FX3U components | Function declaration |
| X003 | Encoder 1 (level conversion) | Y000 | L298N (EA Enable Pins) |
| X004 | Encoder 2 (level conversion) | Y002 | L298N(In1) |
| X005 | Encoder 3 (level conversion) | Y003 | L298N(In2) |
| 0V(Com) | PLC inputs common end | Com1 | PLC exports common end |
PLC program of the present invention is referring to Fig. 6 and Fig. 7.
Since the mass body 5 that three block sizes of sprung mass system differ is fixed on vertical support by central shaft respectively
On seat 9, the central axis of three mass bodies 5 is on a horizontal line, passes through the spring with certain flexibility between mass body 5
6 connections, direct current generator output shaft drive mass body 5 to connect by shaft coupling 10, and direct current generator rotation can then drive three pieces of matter
It measures body 5 to rotate, each mass body 5 is both provided with corresponding feedback detection, can detect the tach signal of different location in real time.
PLC can detect three position signals in real time in the control system, and be compared with rotating speed of target, and PID is carried out to three rotating speeds
Rotating speed of target control is tracked, rotating speed caused by system flexibility disturbance caused by overcoming spring 6 to connect and three different quality blocks
It is asynchronous.And three parameters of PID control system are adjusted in real time using touch screen and show the real-time of three position rotating speeds
Curve realizes the adjustment and visualization of tri- parameters of online PID.
The above-mentioned teaching aid control method based on PID control system includes the following steps：
Step 1：Check equipment and debugging routine in Practical training equipment；
Step 2：Complete the wiring between PC and human-computer interaction device；
Step 3：Configuration engineering is opened, is downloaded in human-computer interaction device after compiling；
Step 4：With SC-09 passing need degree cable connection serial ports of computers and PLC communication ports；
Step 5：Control program is opened, is compiled, PLC host power switch is opened, is downloaded in program to PLC；
Step 6：Passing need degree cable is removed from plc communication mouth after download, then communication cable is connected man-machine
" RUN/STOP " of PLC switch is finally allocated to " RUN " state by inter device communication mouth and PLC communication ports；
Step 7：Ratio, the initial parameter value of integral and differential are inputted in human-computer interaction device；
Step 8：Start button is pressed, three speed curves of human-computer interaction device's real-time display are watched；
Step 9：According to the speed curves of three real-time displays, whether three rotating speed response curves of detection, which tend to target, turns
Speed carries out step 10 if tending to rotating speed of target, if three rotating speed response curves, which do not tend to rotating speed of target, returns to step 7,
Three parameters of the knowledge pair adjusted according to pid parameter are adjusted, until three rotating speed response curves tend to rotating speed of target；
Step 10：Close button is pressed, it is out of service.
It detects the rotating speed of each mass body in real time by control system, and is compared with rotating speed of target, to each mass body
Rotating speed carries out PID tracking rotating speed of target controls, and system flexibility disturbance and different quality block cause caused by overcoming spring to connect
Rotating speed it is asynchronous, in order to realize the adjustment and visualization of tri- parameters of online PID, using touch screen to PID control system three
A parameter is adjusted and shows the real-time curve of each position rotating speed in real time；Learnt by this purpose, can intuitively be opened up
Existing PID control system ratio (P), integral (I) and differential (D) play the role of specific in the controls so that student relatively has
As ground understands and learns how PID control being applied to during engineering practice.
Above-described embodiment is only presently preferred embodiments of the present invention, is not limited the scope of the invention according to this, therefore：It is all according to
The equivalence changes that structure, shape, the principle of the present invention is done, should all be covered by within protection scope of the present invention.
Claims (10)
1. a kind of teaching aid based on PID control system, it is characterised in that：Including sprung mass system, control sprung mass
The PLC control circuit modules (4) of system operation and the human-computer interaction device (11) being connect with PLC control circuit modules (4), bullet
The motor (3) for being provided with several mass bodies (5) in spring mass body system and mass body (5) being driven to rotate, and between mass body (5)
It is sequentially connected by spring (6), the analog quantity for measuring each mass body (5) rotating speed is provided in sprung mass system and is examined
Module (7) is surveyed, analog signal detection module (7) feeds back to detection data in PLC control circuit modules (4), and by treated
Detection data display in human-computer interaction device (11).
2. a kind of teaching aid based on PID control system according to claim 1, it is characterised in that：The motor (3) is straight
Galvanic electricity machine, and the H-bridge drive circuit of driving direct current generator is provided in PLC control circuit modules (4).
3. a kind of teaching aid based on PID control system according to claim 1 or 2, it is characterised in that：The spring-mass
System system includes bottom plate (1), and support base (2), the support base that the mass body (5) passes through both sides are fixedly installed on bottom plate (1)
(2) it is rotatably arranged on bottom plate (1), and analog signal detection module (7) is fixed on support base (2).
4. a kind of teaching aid based on PID control system according to claim 3, it is characterised in that：The mass body (5)
It is provided centrally with dismountable installation axle (9), installation axle (9) is rotated with the support base (2) of mass body (5) both sides respectively to be arranged.
5. a kind of teaching aid based on PID control system according to claim 4, it is characterised in that：On the support base (2)
It is fixedly installed the bearing (8) of support installation axle (9).
6. a kind of teaching aid based on PID control system according to claim 4, it is characterised in that：The spring (6) is removable
It unloads and is arranged between two adjacent installation axles (9).
7. a kind of teaching aid based on PID control system according to claim 4 or 5 or described in 6, it is characterised in that：The simulation
It is hollow shaft rotary encoder to measure detection module (7), and hollow shaft rotary encoder is fixed on support base (2).
8. a kind of teaching aid based on PID control system according to claims 1 or 2 or 4 or 5 or 6, it is characterised in that：Institute
It is cylinder not of uniform size to state mass body (5), and the central axis of mass body (5) is conllinear, and motor (3) driving mass body (5)
Around respective center axis thereof.
9. a kind of teaching aid based on PID control system according to claim 8, it is characterised in that：The human-computer interaction is set
Standby (11) are touch screen, and setting is there are three input data button on touch screen, three data button control ratios, integral and micro-
The input of the original parameter value divided.
10. a kind of control method for controlling based on PID control system teaching aid described in claim 1, it is characterised in that：Including
Following steps：
Step 1：Check equipment and debugging routine in Practical training equipment；
Step 2：Complete the wiring between PC and human-computer interaction device；
Step 3：Configuration engineering is opened, is downloaded in human-computer interaction device after compiling；
Step 4：With SC-09 passing need degree cable connection serial ports of computers and PLC communication ports；
Step 5：Control program is opened, is compiled, PLC host power switch is opened, is downloaded in program to PLC；
Step 6：Passing need degree cable is removed from plc communication mouth after download, then communication cable is connected into human-computer interaction
" RUN/STOP " of PLC switch is finally allocated to " RUN " state by equipment port and PLC communication ports；
Step 7：Ratio, the initial parameter value of integral and differential are inputted in human-computer interaction device；
Step 8：Start button is pressed, three speed curves of human-computer interaction device's real-time display are watched；
Step 9：According to the speed curves of three real-time displays, whether three rotating speed response curves of detection tend to rotating speed of target, if
Tend to rotating speed of target and then carry out step 10, step 7 is returned to if three rotating speed response curves do not tend to rotating speed of target, according to
Three parameters of knowledge pair that pid parameter is adjusted are adjusted, until three rotating speed response curves tend to rotating speed of target；
Step 10：Close button is pressed, it is out of service.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810229974.5A CN108279634A (en) | 2018-03-20 | 2018-03-20 | A kind of teaching aid and control method based on PID control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810229974.5A CN108279634A (en) | 2018-03-20 | 2018-03-20 | A kind of teaching aid and control method based on PID control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108279634A true CN108279634A (en) | 2018-07-13 |
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| CN201810229974.5A Withdrawn CN108279634A (en) | 2018-03-20 | 2018-03-20 | A kind of teaching aid and control method based on PID control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110827606A (en) * | 2019-11-27 | 2020-02-21 | 熊金鑫 | PID parameter tuning learning experiment instrument |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110827606A (en) * | 2019-11-27 | 2020-02-21 | 熊金鑫 | PID parameter tuning learning experiment instrument |
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