140-CPU-672-60处理器

140-CPU-672-60处理器

140-CPU-672-60处理器

140-CPU-672-60处理器

在工程实际中，应用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依靠经验和现场调试来确定，这时应用PID控制技术为方便。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，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）。为了稳态误差，在控制器中引入“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。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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NACHI MDM212H1V RQAUS1 MDM212H1V

NACHI MDM212H2V RQAUS1 MDM212H2V

24136EW33 Nachi Spherical Roller Bearing Steel Cage Japan 180x300x118 13394

NACHI RAX11-C RQAUS1 RAX11C

7022CYP4 Nachi Angular Contact Bearing 110x170x28 Abec-7 Japan Large Ball 13460

Nachi UM870A Servo Amplifier Board

Nachi UM870C PC Board

NACHI RAX11 RQAUS1 RAX11

Nachi Servo Amplifier RIX2220

6240 Nachi Bearing Open C3 Japan 200mm x 360mm x 58mm Extra Large Ball Bearings

NACHI MSM302H4V1 RQAUS1 MSM302H4V1

Nachi MDM212H1V (1YR WARRANTY)

Nachi AXTP-FD0T-EC10 Teach Pendant  *REPAIR ONLY*

NACHI UM860-1 RQAUS1 UM8601

NACHI VDC-12B-1A5-1A3-20 NEW VARIABLE VANE PUMP VDC12B1A51A320

Nachi ROP501 AR Teach Pendant *REPAIR ONLY*

1  HYDRAULIC POWER PACK 10 HP MOTOR NACHI PUMP ***MAKE OFFER***

 NACHI MFM352Q5V AC SERVO MOTOR, 2000rpm, 3.5kW,BOXYC

 NACHI RTC261,S10-B01 NACHI-FUJIKOSHI TEACH PENDANT W/DIGITAL DISPLAY,BOXYQ

 NACHI PSUD-60A POWER SUPPLY UNIT NACHI CNSB, TOP9

 NACHI UM795D CIRCUIT BOARD UNIT MEC-40V-0,BOXZL

NACHI RAX11C SERVO AMPLIFIER, NACHI RAX11 SERVO DRIVE

 NACHI MQM082Q9V, A.C. SERVO MOTOR 3000rpm, 750W,BOXYH

NEW OLD NACHI UM837A ROBOTIC CONTROLLER RT-A 15-95050884, FAA 1851, SC 15 PCB FI

22244EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 220x400x108 13189

BNH012TDU/GLP4 Nachi Ceramic Angular Contact 60x95x18 Abec-7 Japan Ball Bearing

Nachi Teach Pendant RTP151-10 *Tested Refurbished*

23048EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 240x360x92 13228

23140EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 200x340x112 13246

Nachi UM098B PC Board 15-92022766 - New No Box

23048EW33 Nachi Roller Bearing Japan 240x360x92 Extra Bearings 10603

Nachi Rax11 Servo amp, RAX11, Nachi Robotics, Nachi Robot, Nachi SA,  robot

NU238MY Nachi Cylindrical Roller Bearing Bronze Cage Japan 190x340x55 10305

6332 Nachi Bearing Open C3 Japan 160x340x68 Extra Large Ball Bearings 9892

NACHI: SERVO MOTOR AC 2.1KW 2000RPM - MDM212H2V

NU332MY Nachi Cylindrical Roller Bearing 160x340x68 Bronze Cage Japan 13503

SL045032-PP Nachi Sheave Bearing 2 Rows Full Complement Bearings

E5032X NNTS1 Nachi Japan Sheave Bearing Double Row Full Complement 13124

6238 Nachi Bearing Open C3 Japan 190mm x 340mm x 55mm Extra Large Ball Bearings

29334E Nachi Spherical Thrust Bearing Bronze Cage Japan 170x280x67 Extra 10763

SL045030-PP Nachi Sheave Bearing 2 Rows Full Complement Bearings

23044EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 220x340x90 13227

120TAD20 P4 Nachi Double-direction Thrust Angular Contact Bearing 13596

22244EW33 Nachi Roller Bearing 220x400x108 Japan Spherical Bearings 10545

23140EW33 Nachi Roller Bearing Japan 200x340x112 Spherical Bearings 10617

E5030X NNTS1 Nachi Japan Sheave Bearing Double Row Full Complement 13123

24134EW33 Nachi Spherical Roller Bearing Steel Cage Japan 170x280x109 13278

NACHI USADED-37-FC43 RQAUS1 USADED37FC43

23044EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 220x340x90 10602

NACHI SUA301C RQAUS1 SUA301C

Nachi Fuji Koshi Servo Amplifier AUXL111  #5376

6334 Nachi Open C3 Japan 170mm x 360mm x 72mm Extra Large Ball Bearings

SL045028-PP Nachi Sheave Bearing 2 Rows Full Complement Bearings

Nachi DUY333 Servo Amplifier

110TAH10TDB Nachi Thrust Angular Contact Bearing 110x170x54 Abec-7 Japan 13569

NACHI UM852A CONTROL BOARD

NACHI-FUJIKOSHI MODEL AUY333C SERVO AMPLIFIER UNIT NEW!

NACHI-FUJIKOSHI MODEL BUY444 SERVO AMPLIFIER UNIT NEW!

Nachi UM836C PC Board

Nachi Fujikoshi RTP101-10 Robot Teach Pendant U30-B01 U32-A01 RTP10110 (TSC)

Nachi Fujikoshi RTP101-10 Robot Teach Pendant U30-B01 U32-A01 RTP10110 (TSC)

NACHI-FUJIKOSHI TEACH PENDANT RTP111-15 / U30-B01

 NACHI UM703H HCD MWB-1 PCB CONTROL CARD BOARD HCD MWB-I  FA

 NACHI UM702F HCD MWB-1 PCB CONTROL CARD BOARD HCD MWB-I  FA

NACHI DUY333 RQAUS1 DUY333

23236EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 180x320x112 13253

E5028X NNTS1 Nachi Japan Sheave Bearing Double Row Full Complement 13122

29332E Nachi Spherical Thrust Bearing Bronze Cage Japan 160x270x67 Extra 10761

 NACHI FUJIKOSHI DUY333,VORG-35,ICR34426,9102093 , DC15V  SERVO UNIT,BOXZN

130TAD20 P5 2 direction Thrust Angular Contact Bearing 130x200x84 13598

7016CYDUP4 Nachi Angular Contact Bearing 80x125x22 Abec-7 Japan Ball 14675

80BNC10S Nachi Angular Contact Bearing 80x125x22 Abec-7 Japan Ball 14677

NACHI UM806A RQAUS1 UM806A

NACHI UM806C RQAUS1 UM806C

NACHI UM802C RQAUS1 UM802C

Nachi RAX11C Servo Amplifier Drive for SA Series Robot SA160 TESTED

23234EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 170x310x110 13252

23234EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 170x310x86 13360

110TAD20 P4 Nachi Double-direction Thrust Angular Contact Bearing 13595

6848 Nachi Bearing Open Japan 240x300x28 Ball Bearings 13559

Nachi PSUA61A Power Supply

23948EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 240x320x60 13265

NACHI UM803-30 RQAUS1 UM80330

NACHI UM812C RQANS1 UM812C

NACHI 4.5K 2000RPM AC SERVO MOTOR MFMA452D6V3

NACHI RTC200 TEACH PENDANT

 NACHI RAX11 SERVO AMPLIFIER,BOXZT

23236EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 180x320x112 10640

7020CYDUP4 Nachi Angular Contact Bearing 100x150x24 Abec-7 Japan Large 10887

23238EW33 Nachi Spherical Bearing Steel Cage Made in Japan

23234AXW33 Nachi Roller Bearing Japan 170x310x110 Spherical Bearings 10639

YASKAWA TFUE-05ZC7 FEEDBACK UNIT W/ YASKAWA NACHI PMES-12-FC22  PRINT MOTOR

NACHI UM870B RQAUS1 UM870B

24038EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 190x290x100 13270

22334EW33 Nachi Roller Bearing Japan 170x360x120 Spherical Bearings 10584

7220CYDUP4 Nachi Angular Contact Bearing 100x180x34 Abec-7 Japan Large 10908

NN3032M2KC1NA P4 Nachi Cylindrical Roller Bearing Tapered Bore Japan 13664

22334EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 170x360x120 12128

24132EW33 Nachi Spherical Roller Bearing Steel Cage Japan 160x270x109 13393

NACHI AC SERVO MOTOR MSM152Q2D 3000 RPM 4.77 CONT.TORQUE 1.5KW

Nachi Fujikoshi MFMA452D6V3 4.5 kW Servo Motor 2000 r/min 21.5 N.M (TSC)

MAZAK SLANT TURN ROMAI AGW VDI 50 LIVE MILLING TOOL HOLDER 2000RPM

Nachi Hydraulikpumpe mit Motor für Mazak

29426EX Nachi Spherical Thrust Bearing Steel Cage Japan 130x270x85 Large 10756

NACHI AC SERVO MOTOR MSMA302D9V3

BNH016TU/GLP4L40060 Nachi Angular Contact 80x125x22 Abec-7 Japan Ball Bearings

NACHI UM136 RQAUS1 UM136

NN3030M2KC1NA P4 Nachi Cylindrical Roller Bearing Tapered Bore Japan 13662

23138EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 190x320x104 13245

6330ZZE Nachi Bearing Shielded C3 Japan 150x320x65 Large Ball Bearings 9615

NEW NACHI FUJIKOSHI CORP. IPH-48-32-20 IP PUMP IPH483220

Siemens Servo Motor NACHI MDM212Q3V

 2HP NACHI VARIABLE VANE HYDRAULIC PUMP PACKAGE - SERIES VDR

 2 HP NACHI VARIABLE VOLUME VANE HYDRAULIC PUMP PACKAGE - SERIES VDR

NACHI DUXL112 RQAUS1 DUXL112

BNH010TDU/GLP4 Ceramic Nachi Angular Contact Bearing 50x80x16 Abec-7 Japan 14686

23234EW33KC3BNLZ Nachi Spherical Roller Tapered Bore Japan 170x310x110 Spherical

NACHI MSM252Q3D AC SERVO MOTOR RATED REV. 3000 RPM CONT. TORQUE 7.94 #169070

22240EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 200x360x98 13188

24036EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 180x280x100 13269

NACHI UM803 RQAUS1 UM803

24034AXW33 Nachi Spherical Roller Bearing Bronze Cage Japan 170x260x90 13392

NACHI MSM152H2D AC SERVO MOTOR

NACHI MFM452H4V AC SERVO MOTOR

NACHI UMI36 PC BOARD **XLNT**

Nachi AC Servo Motor, # MFM352H3V, 3.5kW, ,  WARRANTY

Nachi HCD-MWB-1 PCB Board

NACHI R0P511-10 R0P51110 TEACH PENDANT

NACHI ESD-G01-C5 electro proportional valve

NACHI ROBOT TEACH PENDANT ROP601 ROP601G-10

NACHI SERVO DRIVE BOARD UM886

Kawasaki YK1169021900 Hydraulic Control Valve Assembly Nachi EAW-D2 24VDC EA-DS

Nachi Fujikoshi MSM302H4V1 3.0 kW Servo Motor 3000 r/min 9.54 N.M (TSC)

Nachi Robot Teach Pendant ROP601-10

Nachi Robot Teach Pendant ROP601 *Damaged Cable*

7232BMU Nachi Angular Contact Bearing Brass Cage C3 Japan 160x290x48 Extra 9991

NACHI SERVO AMP MODEL DUXL111B DUXL111

NACHI BUY444 RQAUS1 BUY444

Nachi 29426EX 29426 EX made in Japan, Spherical Thrust Bearing(=2 SKF, FAG)

JCB 803? 3ton Hydraulic Track Travel Motor ￡1000+VAT Nachi pump (Spare Parts) 9

 NACHI UM806E,JASP-AZ001B,DF8305751-B0,UM807C,UM806-1UM806-20 PC BOARD,BOXYM

 NACHI UM806A,UM817 JAMAGAWA AU9840 Z2-32,VG-35 R1,VG-35 R2  BOARD,BOXYM

 NACHI UM806A,UM815B JASP-AZ001B,DF8305751-A0,S120V 0,S120H-0  BOARD,BOXYM

 NACHI UM873D ,UM858  BOARD   CX

 NACHI UM883A ,UM884A PCB  BOARD   CX

 NACHI UM870D ,M870D,CG-5 PCB  BOARD   CX

 NACHI RTP151-10, TEACH PENDANT, NACHI-FUJIKOSHI RTP151-10,BOXYC

 NACHI MFM452H5V ,4.5KW  A.C. SERVO MOTOR, 21.5 TORQUE, 2000rpm, 32nM,BOXZL

Nachi PWUNIT10-10 Power Supply Repair Only!!!

7019CYDUP4 Nachi Angular Contact Bearing 95x145x24 Abec-7 Japan Ball 10886

22332EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 160x340x114 13211

6330 Nachi Bearing Open C3 Japan 150x320x65 Large Ball Bearings 9891

6330C3BNLS Nachi Bearing Open C3 Japan 150x320x65 Large Ball Bearings 14399

29424EX Nachi Spherical Thrust Bearing Steel Cage Japan 120x250x78 Large 10754

Nachi UM190 PC Board

Nachi AC Servo Motor MDM212Q3V _ 2.1 kW_Con. Torque 9.8_ Rated Rev 2000_TS5643N

23136EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 180x300x96 13243

23136EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 180x300x96 13244

6234ZZE Nachi Bearing Shielded C3 Japan 170x310x52 Extra Large Ball 13410

NACHI 22248E W33 M Y1 Y1 A B22 SPHERICAL BEARING NEW

Nachi SUD301A Servo Amplifier

Nachi SUD451A Servo Amplifier

24130EW33 Nachi Spherical Roller Bearing Steel Cage Japan 150x250x100 13277

NACHI-FUJIKOSHI RTP101-10 TEACH PENDANT

MAC Company MAC-8VA-SR-0T-1 NACHI Hydraulic Oil Supply Unit & Chiller Pump Sump

NACHI AC SERVO MOTOR TS-4138 N1 E30

Nachi Hydraulic Piston Pump PZ-3A-70E3A-4122C  #65199

22240EW33 Nachi Roller Bearing Japan 200x360x98 Extra Bearings 10544

NU330MY Nachi Roller 150mm x 320mm x 65mm Bronze Cage Japan Cylindrical Bearings

23944EW33 Nachi Spherical Roller Bearing Bronze Cage Japan 220x300x60 13264

7219CYDUP4 Nachi Angular Contact Bearing 95x170x32 Abec-7 Japan Ball 10907

120TAD20 P5 2 direction Thrust Angular Contact Bearing 120x180x72 13597

NACHI-FUJIKOSHI AC SERVO MOTOR MDMA102D2V3 1.0KW

PVS-2B-35P3-E13 Nachi Piston Hydraulic Pump 35CC 7/8" Shaft Remote Compensator

NACHI UM812C RQAUS1 UM812C

NACHI 14-91074733 RQAUS1 1491074733

100TAD20 P4 Nachi Double-direction Thrust Angular Contact Bearing 13593

NJ236MY Nachi Roller Bronze Cage Japan 180mm x 320mm x 52mm Cylindrical Bearings

22332EW33 Nachi Roller Bearing Japan 160x340x114 Spherical Bearings 10583

Nachi UM880B PC Board

23232EW33K Nachi Spherical Roller Bearing Tapered Bore Japan 160x290x104 13251

23232EW33 Nachi Spherical Roller Bearing Bronze Cage  160x290x104 Japan  13359

NACHI RTP15110 RQAUS1 RTP15110

NACHI VDR-1B-1A3-B VARIABLE VANE HYDRAULIC & UNI PUMP  WITH TANK & OIL COOLER

[Backordered] 6236 Nachi Bearing:Open:C3:Japan 180x320x52 9861

23136AXW33 Nachi Spherical Roller Bearing Bronze Cage Japan 180x300x96 10615

23138EW33 Nachi Roller Bearing Japan 190x320x104 Spherical Bearings 10616

Nachi AC Servo Motor MSM302H4V1 *Cut Cables*

NACHI USADED-15-FC31 RQAUS1 USADED15FC31

NACHI USADED-15-FC41 RQAUS1 USADED15FC41

NACHI RTC201 RQAUS1 RTC201