銆�銆�PID 鎺у埗鍣�鏄牴鎿�(j霉)PID 鎺у埗鍘熺悊灏嶆暣鍊嬫帶鍒剁郴绲�(t菕ng)閫茶鍋忓樊瑾跨瘈(ji茅)锛屽緸鑰屼娇琚帶璁婇噺鐨勫闅涘�艰垏宸ヨ棟瑕佹眰鐨勯爯瀹氬�间竴鑷淬�備笉鍚岀殑鎺у埗瑕�(gu墨)寰嬮仼鐢ㄤ簬涓嶅悓鐨勭敓鐢㈤亷绋�锛屽繀闋堝悎鐞嗛伕鎿囩浉鎳夌殑鎺у埗瑕�(gu墨)寰�锛屽惁鍓嘝ID 鎺у埗鍣ㄥ皣閬斾笉鍒伴爯鏈熺殑鎺у埗鏁堟灉銆�
銆�銆�PID鎺у埗鍣ㄧ殑鍙冩暩(sh霉)鏁村畾鏄帶鍒剁郴绲�(t菕ng)瑷▓鐨勬牳蹇冨収瀹�銆傚畠鏄牴鎿�(j霉)琚帶閬庣▼鐨勭壒鎬х⒑瀹歅ID鎺у埗鍣ㄧ殑姣斾緥绯绘暩(sh霉)銆佺⿳鍒嗘檪闁撳拰寰垎鏅傞枔鐨勫ぇ灏�銆侾ID鎺у埗鍣ㄥ弮鏁�(sh霉)鏁村畾鐨勬柟娉曞緢澶�锛屾鎷捣渚嗘湁鍏╁ぇ椤烇細涓�鏄悊璜栬▓绠楁暣瀹氭硶銆傚畠涓昏鏄緷鎿�(j霉)绯荤当(t菕ng)鐨勬暩(sh霉)瀛告ā鍨�锛岀稉(j墨ng)閬庣悊璜栬▓绠楃⒑瀹氭帶鍒跺櫒鍙冩暩(sh霉)銆傞�欑ó鏂规硶鎵�寰楀埌鐨勮▓绠楁暩(sh霉)鎿�(j霉)鏈繀鍙互鐩存帴鐢紝閭勫繀闋堥�氶亷宸ョ▼瀵﹂殯閫茶瑾挎暣鍜屼慨鏀�銆備簩鏄伐绋嬫暣瀹氭柟娉�锛屽畠涓昏渚濊炒宸ョ▼缍�(j墨ng)椹楋紝鐩存帴鍦ㄦ帶鍒剁郴绲�(t菕ng)鐨勮│椹椾腑閫茶锛屼笖鏂规硶绨″柈銆佹槗浜庢帉鎻�锛屽湪宸ョ▼瀵﹂殯涓寤ｆ硾閲囩敤銆侾ID鎺у埗鍣ㄥ弮鏁�(sh霉)鐨勫伐绋嬫暣瀹氭柟娉曪紝涓昏鏈夎嚚鐣屾瘮渚嬫硶銆佸弽鎳夋洸绶氭硶鍜岃“娓涙硶銆備笁绋柟娉曞悇鏈夊叾鐗归粸锛屽叾鍏卞悓榛為兘鏄�氶亷瑭﹂锛岀劧鍚庢寜鐓у伐绋嬬稉(j墨ng)椹楀叕寮忓皪鎺у埗鍣ㄥ弮鏁�(sh霉)閫茶鏁村畾銆備絾鐒¤珫閲囩敤鍝竴绋柟娉曟墍寰楀埌鐨勬帶鍒跺櫒鍙冩暩(sh霉)锛岄兘闇�瑕佸湪瀵﹂殯閬嬭涓�茶瑾挎暣鑸囧畬鍠�?锛孎(xi脿n)鍦ㄤ竴鑸噰鐢ㄧ殑鏄嚚鐣屾瘮渚嬫硶銆傚埄鐢ㄨ┎鏂规硶閫茶 PID鎺у埗鍣ㄥ弮鏁�(sh霉)鐨勬暣瀹氭椹熷涓嬶細(1)棣栧厛闋愰伕鎿囦竴鍊嬭冻澶犵煭鐨勯噰妯ｅ懆鏈熻畵绯荤当(t菕ng)宸ヤ綔锛�(2)鍍呭姞鍏ユ瘮渚嬫帶鍒剁挵(hu谩n)绡�(ji茅)锛岀洿鍒扮郴绲�(t菕ng)灏嶈几鍏ョ殑闅庤簫闊挎噳鍑虹従(xi脿n)鑷ㄧ晫鎸暕锛岃涓嬮�欐檪鐨勬瘮渚嬫斁澶х郴鏁�(sh霉)鍜岃嚚鐣屾尟钑╁懆鏈�锛�(3)鍦ㄤ竴瀹氱殑鎺у埗搴︿笅閫氶亷鍏紡瑷堢畻寰楀埌PID鎺у埗鍣ㄧ殑鍙冩暩(sh霉)銆�
銆�銆�鍦ㄥ闅涜瑭︿腑锛屽彧鑳藉厛澶ц嚧瑷畾涓�鍊嬬稉(j墨ng)椹楀�硷紝鐒跺悗鏍规摎(j霉)瑾跨瘈(ji茅)鏁堟灉淇敼銆�
銆�銆�灏嶄簬婧害绯荤当(t菕ng)锛歅锛圼%]锛�20--60锛孖锛堝垎锛�3--10锛孌锛堝垎锛�0.5--3
銆�銆�灏嶄簬娴侀噺绯荤当(t菕ng)锛歅锛圼%]锛�40--100锛孖锛堝垎锛�0.1--1
銆�銆�灏嶄簬澹撳姏绯荤当(t菕ng)锛歅锛圼%]锛�30--70锛孖锛堝垎锛�0.4--3
銆�銆�灏嶄簬娑蹭綅绯荤当(t菕ng)锛歅锛圼%]锛�20--80锛孖锛堝垎锛�1--5
銆�銆�鍙冩暩(sh霉)鏁村畾鎵�锛屽緸灏忓埌澶ч爢搴忔煡
銆�銆�鍏堟槸姣斾緥鍚庣⿳鍒嗭紝鍐嶆妸寰垎鍔�
銆�銆�鏇茬窔鎸暕寰堥牷绻�锛屾瘮渚嬪害鐩よ鏀惧ぇ
銆�銆�鏇茬窔婕傛诞绻炲ぇ鐏ｏ紝姣斾緥搴︾洡寰�灏忔壋
銆�銆�鏇茬窔鍋忛洟鍥炲京鎱�锛岀⿳鍒嗘檪闁撳線涓嬮檷
銆�銆�鏇茬窔娉㈠嫊鍛ㄦ湡闀�锛岀⿳鍒嗘檪闁撳啀鍔犻暦
銆�銆�鏇茬窔鎸暕闋荤巼蹇紝鍏堟妸寰垎闄嶄笅渚�
銆�銆�鍕曞樊澶т締娉㈠嫊鎱�銆傚井鍒嗘檪闁撴噳鍔犻暦
銆�銆�鐞嗘兂鏇茬窔鍏╁�嬫尝锛屽墠楂樺悗浣�4姣�
銆�銆�涓�鐪嬩簩瑾垮鍒嗘瀽锛岃绡�(ji茅)璩噺涓嶆渻浣�
銆�銆�1 锛� PID 鐨勫弽楗嬮倧杓�
銆�銆�鍚勭ó璁婇牷鍣ㄧ殑鍙嶉閭忚集绋辫瑐鍚勪笉鐩稿悓锛岀敋鑷虫湁椤炰技鐨勭ū璎傝�屽惈缇╃浉鍙嶇殑鎯呭舰銆傜郴绲�(t菕ng)瑷▓鏅傛噳浠ユ墍閬哥敤璁婇牷鍣ㄧ殑瑾槑鏇镐粙绱圭偤婧�銆傛墍璎傚弽楗嬮倧杓紝鏄寚琚帶鐗╃悊閲忕稉(j墨ng)鍌虫劅鍣ㄦ娓埌鐨勫弽楗嬩俊铏熷皪璁婇牷鍣ㄨ几鍑洪牷鐜囩殑鎺у埗妤垫��銆備緥濡備腑澶┖瑾跨郴绲�(t菕ng)涓�锛岀敤鍥炴按婧害鎺у埗瑾跨瘈(ji茅)璁婇牷鍣ㄧ殑杓稿嚭闋荤巼鍜屾按娉甸浕姗熺殑杞夐��銆傚啲澶╁埗鐔辨檪锛屽鏋滃洖姘存韩搴﹀亸浣�锛屽弽楗嬩俊铏熸笡灏忥紝瑾槑鎴块枔婧害浣�锛岃姹傛彁楂樿畩闋诲櫒杓稿嚭闋荤巼鍜岄浕姗熻綁閫�锛屽姞澶х啽姘寸殑娴侀噺锛涜�屽澶╁埗鍐锋檪锛屽鏋滃洖姘存韩搴﹀亸浣�锛屽弽楗嬩俊铏熸笡灏忥紝瑾槑鎴块枔婧害閬庝綆锛屽彲浠ラ檷浣庤畩闋诲櫒鐨勮几鍑洪牷鐜囧拰闆绘杞夐�燂紟娓涘皯鍐锋按鐨勬祦閲�銆傜敱涓婂彲瑕�锛屽悓妯ｆ槸婧害鍋忎綆锛屽弽楗嬩俊铏熸笡灏�锛屼絾瑕佹眰璁婇牷鍣ㄧ殑闋荤巼璁婂寲鏂瑰悜鍗绘槸鐩稿弽鐨勩�傞�欏氨鏄紩鍏ュ弽楗嬮倧杓殑鍘熺敱銆傚咕绋畩闋诲櫒鍙嶉閭忚集鐨勫姛鑳介伕鎿囪琛� 1 銆�
銆�銆�2 锛庢墦闁� PID 鍔熻兘
銆�銆�瑕佸鐝�(xi脿n)闁夌挵(hu谩n)鐨� PID 鎺у埗鍔熻兘锛岄鍏堟噳灏� PID 鍔熻兘闋愮疆鐐烘湁鏁堛�傚叿楂旀柟娉曟湁鍏╃ó锛氫竴鏄�氶亷璁婇牷鍣ㄧ殑鍔熻兘鍙冩暩(sh霉)纰奸爯缃�锛屼緥濡�锛屽悍娌� CVF-G2 绯诲垪璁婇牷鍣�锛屽皣鍙冩暩(sh霉) H-48 瑷偤 O 鏅�锛屽墖鐒� PID 鍔熻兘锛涜ō鐐� 1 鏅傜偤鏅�� PID 鎺у埗锛涜ō鐐� 2 鏅傜偤鎭掑渚涙按 PID 銆備簩鏄敱璁婇牷鍣ㄧ殑澶栨帴澶氬姛鑳界瀛愮殑鐙�鎱�(t脿i)姹哄畾銆備緥濡傚畨宸� CIMR-G 7A 绯诲垪璁婇牷鍣�锛屽鍦� 1 鎵�绀猴紝鍦ㄥ鍔熻兘杓稿叆绔瓙 Sl-S10 涓换閬镐竴鍊�锛屽皣鍔熻兘纰� H1-01 锝� H1-10( 鑸囩瀛� S1-S10 鐩稿皪鎳� ) 闋愮疆鐐� 19 锛屽墖瑭茬瀛愬嵆鍏锋湁姹哄畾 PI[) 鎺у埗鏄惁鏈夋晥鐨勫姛鑳斤紝瑭茬瀛愯垏鍏叡绔瓙 SC 鈥� ON 鈥濇檪鐒℃晥锛屸�� OFF 鈥濇檪鏈夋晥銆傛噳娉ㄦ剰鐨勬槸锛庡ぇ閮ㄥ垎璁婇牷鍣ㄥ吋鏈変笂杩板叐绋爯缃柟寮�锛屼絾鏈夊皯鏁�(sh霉)鍝佺墝鐨勮畩闋诲櫒鍙湁鍏朵腑鐨勪竴绋柟寮�銆�
銆�銆�鍦ㄤ竴浜涙帶鍒惰姹備笉鍗佸垎鍤存牸鐨勭郴绲�(t菕ng)涓�锛屾湁鏅傚儏浣跨敤 PI 鎺у埗鍔熻兘銆佷笉鍟熷嫊 D 鍔熻兘灏辫兘婊胯冻闇�瑕�锛岄�欐ǎ鐨勭郴绲�(t菕ng)瑾胯│閬庣▼姣旇純绨″柈銆�
銆�銆�3 锛庣洰妯欎俊铏熻垏鍙嶉淇¤櫉
銆�銆�娆蹭娇璁婇牷绯荤当(t菕ng)涓殑鏌愪竴鍊嬬墿鐞嗛噺绌�(w臎n)瀹氬湪闋愭湡鐨勭洰妯欏�间笂锛岃畩闋诲櫒鐨� PID 鍔熻兘闆昏矾灏囧弽楗嬩俊铏熻垏鐩淇¤櫉涓嶆柗鍦伴�茶姣旇純锛屽苟鏍规摎(j霉)姣旇純绲愭灉渚嗗鏅傚湴瑾挎暣杓稿嚭闋荤巼鍜岄浕鍕曟鐨勮綁閫�銆傛墍浠ワ紝璁婇牷鍣ㄧ殑 PID 鎺у埗鑷冲皯闇�瑕佸叐绋帶鍒朵俊铏燂細鐩淇¤櫉鍜屽弽楗嬩俊铏�銆傞�欓噷鎵�瑾殑鐩淇¤櫉鏄煇鐗╃悊閲忛爯鏈熺┅(w臎n)瀹氬�兼墍灏嶆噳鐨勯浕淇¤櫉锛屼害绋辩洰妯欏�兼垨绲﹀畾鍊�锛涜�岃┎鐗╃悊閲忛�氶亷鍌虫劅鍣ㄦ脯閲忓埌鐨勫闅涘�煎皪鎳夌殑闆讳俊铏熺ū鐐哄弽楗嬩俊铏�锛屼害绋卞弽楗嬮噺鎴栫暥鍓嶅��銆� PID 鎺у埗鐨勫姛鑳界ず鎰忓湒瑕嬪湒 2 銆傚湒涓湁涓�鍊� PID 闁嬮棞銆傚彲閫氶亷璁婇牷鍣ㄧ殑鍔熻兘鍙冩暩(sh霉)瑷疆浣� PID 鍔熻兘鏈夋晥鎴栫劇鏁�銆� PID 鍔熻兘鏈夋晥鏅�锛岀敱 PID 闆昏矾姹哄畾閬嬭闋荤巼锛� PID 鍔熻兘鐒℃晥鏅�锛岀敱闋荤巼瑷畾淇¤櫉姹哄畾閬嬭闋荤巼銆� PID 闁嬮棞銆佸嫊浣滈伕鎿囬枊闂滃拰鍙嶉淇¤櫉鍒囨彌闁嬮棞鍧囩敱鍔熻兘鍙冩暩(sh霉)鐨勮ō缃焙瀹氬叾宸ヤ綔鐙�鎱�(t脿i)銆�
銆�銆�4 锛庣洰妯欏�肩郸瀹�
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銆�銆�u(t)=KPe(t)+KI鈭玡(t)dt+KDde(t)/dt銆�銆�(1)
銆�銆�鍏朵腑锛�
銆�銆�e(t)鈥斺�旀帶鍒跺櫒鍋忓樊杓稿叆锛�
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銆�銆�鐢变簬瑷堢畻姗熸妧琛撶殑椋涢�熺櫦(f膩)灞�锛屼汉鍊戝凡灏囧伐妤�(y猫)鎺у埗瑷堢畻姗熷拰鍠墖姗熺瓑鎳夌敤浜庣敓鐢㈤亷绋嬩腑锛屽苟褰㈡垚澶氱礆鎺у埗缍�(w菐ng)绲�銆傚皪浜庢噳鐢ㄨ▓绠楁鎶�琛撶殑PID鎺у埗锛岄鍏堝繀闋堝皣(1)寮忛洟鏁ｅ寲鐐猴細
銆�銆�u(k)=KPe(k)+KIT e(k)+KD/T脳銆攅(k)-e(k-1)銆曘��銆�(2)
銆�銆�鍏跺閲忓舰寮忕偤锛�
銆�銆�螖u(k)=u(k)-u(k-1)=KP銆攅(k)-e(k-1)銆�+KITe(k)+K D/T脳銆攅(k)-2k(k-1)+e(k-2)銆曘��銆�(3)
銆�銆�鎴�
銆�銆�螖u(k)=KP銆攅(k)-e(k-1)銆�+K鈥睮e(k)+K鈥睤銆攅(k)-2e(k-1)+e(k-2)銆曘��銆�(4)
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銆�銆�K鈥睮=KIT锛孠鈥睤=KD/T鈥斺�擯ID澧為噺褰㈠紡鐨勭⿳鍒嗗拰寰垎绯绘暩(sh霉)锛�
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銆�銆�(4)寮忓皣(3)寮廗P銆並I銆並D銆乀鍥涘�嬪弮鏁�(sh霉)绨″寲鐐篕鈥� P銆並鈥睮銆並鈥睤涓夊�嬪弮鏁�(sh霉)鐨勬暣瀹�銆傛鐐烘婧栧舰寮忕殑PID鎺у埗鍣�锛屾牴鎿�(j霉)灏嶈薄涓嶅悓锛屼害鍙噰鐢≒I銆丳D銆佸付绌嶅垎鍒嗛洟PID鍜岃几鍑洪檺骞匬ID绛夊绋舰寮�銆�
銆�銆�甯歌(gu墨)PID鎺у埗鍣ㄦ槸涓�绋噳鐢ㄥ唬娉�銆佹妧琛撴垚鐔熺殑鎺у埗鏂规硶锛屽畠鑳芥豢瓒充竴鑸伐妤�(y猫)閬庣▼鎺у埗鐨勮姹�锛屽叾鍎�(y艒u)榛炲凡鐐轰汉鍊戞墍鍏辫瓨锛岄噰鐢≒ID绠楁硶鐨勬帶鍒剁郴绲�(t菕ng)鍏舵帶鍒跺搧璩殑鍎�(y艒u)鍔ｅ湪寰堝ぇ绋嬪害渚濊炒浜嶱ID鐨勪笂杩颁笁鍙冩暩(sh霉)鐨勬暣瀹�銆傝�屽叾鏁村畾鏂规硶閮芥槸鏍规摎(j霉)灏嶈薄鐗规�ч洟绶氶�茶鐨�锛屽洜姝�锛岀暥宸ユキ(y猫)灏嶈薄瀛樺湪鏅傝畩鎬�銆侀潪绶氭�у拰涓嶇⒑瀹氭�ф檪锛孭ID鎺у埗鍣ㄥ線寰�涓嶈兘淇濊瓑鑹ソ鐨勬帶鍒剁壒鎬�锛屽皪浜庡ぇ鎱ｆ��銆佸ぇ鏅傛化鐨勫皪璞�锛屽叾鏁堟灉浜︿笉鑳戒护浜烘豢鎰�锛屼富瑕佸師鍥犳槸甯歌(gu墨)PID鎺у埗鍣ㄧ殑鍙冩暩(sh霉)鏄稉(j墨ng)闆㈢窔鏁村畾鍚庣浉灏嶅浐瀹氱殑锛屼笉鑳芥牴鎿�(j霉)灏嶈薄鐗规�ц畩鍖栧拰鍕曟厠(t脿i)閬庣▼淇敼鍙冩暩(sh霉)銆�
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銆�銆�鍦�1銆�甯禨mith闋愪及瑁滃劅?sh霉)鑵淚D鎺у埗鍣ㄧ祼妲嬫鍦�
銆�銆�鍦�1瀵︾窔閮ㄥ垎鎵�绀虹郴绲�(t菕ng)鐨勯枆鐠�(hu谩n)鍌冲嚱鐐猴細
銆�銆�GB(S)=D(S)GP(S)e-蟿s/銆�1+
銆�銆�D(S)GP(S)e-蟿s銆曘��銆�(5)
銆�銆�鐢卞紡(5)鍙锛岀郴绲�(t菕ng)闁夌挵(hu谩n)鍌抽仦鍑芥暩(sh霉)鐨勫垎姣嶄腑鍚湁绱旀化鍚庣挵(hu谩n)绡�(ji茅)e-蟿s锛岄�欐渻浣跨郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭�ч檷浣�锛岃嫢蟿瓒冲澶э紝鍓囩郴绲�(t菕ng)灏囨槸涓嶇┅(w臎n)瀹氱殑锛岀偤浜嗘彁楂樼郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭��锛屽彲鍦ㄦ帶鍒跺櫒D(S)鐨勫叐绔苟鑱�(li谩n)涓�鍊嬪弽楗嬭鍎熺恫(w菐ng)绲�锛屽嵆鐐篠mith闋愪及瑁滃劅鍣紝鍏跺偝閬炲嚱鏁�(sh霉)G S(S)锛岃鍎熷悗鐨勭郴绲�(t菕ng)妗嗗湒濡傚湒1鎵�绀�銆�
銆�銆�鐢卞湒1鍙緱瑁滃劅鍚庣郴绲�(t菕ng)闁夌挵(hu谩n)鍌抽仦鍑芥暩(sh霉)鐐猴細
銆�銆�GBS(S)=D(S)GP(S)e-蟿s/{1+D(S)銆擥 S(S)+GP(S)e-蟿s銆晑銆�銆�(6)
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銆�銆�GBS(S)=D(S)GP(S)e-蟿s/銆�1+D(S)G P(S)銆曘��銆�(7)
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銆�銆�鏅鸿兘鎺у埗绛栫暐杓冪偤鐞嗘兂鐨勫鐝�(xi脿n)鏂瑰紡鏄熀浜庣‖浠躲�侳PGA 鎶�琛撶殑蹇�熺櫦(f膩)灞曡垏VHDL(Very high speed integrated circuit Hardware Description Language)纭欢鎻忚堪瑾炶█鐨勬敮鎸�锛� 浣垮緱鏅鸿兘鎺у埗绛栫暐(妯＄硦閭忚集銆佺缍�(j墨ng)缍�(w菐ng)绲�銆侀伜鍌崇畻娉曠瓑)鐨刅HDL鎻忚堪鍜孎PGA鍥烘牳瀵︾従(xi脿n)鐮旂┒涔熼毃 涔嬫椿韬嶃�傚湪妯＄硦閭忚集鎺у埗鏂归潰锛孴orralba绛変汉瀹屾垚浜�4杓稿叆銆�12鍊嬮毟灞害銆�64姊濊(gu墨)鍓囩殑 妯＄硦閭忚集鎺у埗鍣ㄧ殑FPGA瀵︾従(xi脿n)锛孋irstea绛変汉鍩轰簬FPGA瑷▓妯＄硦鎺у埗鍣ㄣ�傛垚鍔熺殑鐢ㄤ簬璁� 閫熷櫒鐨勬帶鍒�銆�
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銆�銆�2 鎺у埗鍣ㄥ師鐞�
銆�銆�妯＄硦鑷暣瀹歅ID鎺у埗鍣ㄧ祼妲�:鏄ā绯婃帶鍒跺櫒鑸囧偝绲�(t菕ng)PID鎺у埗鍣ㄧ殑绲愬悎,鍒╃敤妯＄硦鎺ㄧ悊鍒ゆ柗 鐨勬�濇兂,鏍规摎(j霉)涓嶅悓鐨勫亸宸�佸亸宸畩鍖栫巼灏峆ID鐨勫弮鏁�(sh霉)KP銆並I 銆並D 閫茶鍦ㄧ窔鑷暣瀹�,鍌崇当(t菕ng)PID 鎺у埗鍣ㄥ湪鐛插緱鏂扮殑KP銆並I銆並D鍚�,灏嶆帶鍒跺皪璞¤几鍑烘帶鍒堕噺銆傜敱姝ゆā绯奝ID鎺у埗鍣ㄧ殑绲愭 妗嗗湒濡傚湒1鎵�绀�銆�
銆�銆�3 鎺у埗鍣ㄧ殑VHDL鍒嗗堡瑷▓
銆�銆�妯＄硦PID 鎺у埗鍣ㄤ富瑕佺敱A/D 鎺у埗鍣ㄣ�佹ā绯婂寲妯″銆佹ā绯婃帹鐞嗘ā濉娿�佸弽妯＄硦鍖栨ā濉�銆佽(gu墨) 鍓囧瓨鍎插櫒銆佹暩(sh霉)瀛桺ID 閬嬬畻绛夐儴鍒嗙祫鎴愶紝鍏剁祼妲嬪鍦�3 鎵�绀�?锛孎(xi脿n)灏辨ā绯婂寲妯″銆佹ā绯婃帹鐞嗘ā 濉�銆佸弽妯＄硦鍖栨ā濉婄瓑涓昏妯″鐨勫缓绔嬩締鎻忚堪VHDL 鐨勮ō瑷堥亷绋嬨��
銆�銆�3.1妯＄硦鍖栨ā濉�
銆�銆�妯＄硦鍖栨ā濉婄殑鍔熻兘涓昏鍖呮嫭鍏╅儴鍒嗭細鎶婅几鍏ョ殑绮剧⒑閲忛�茶灏哄害璁婃彌锛岃畩鎻涘埌鐩告噳鐨� 璜栧煙鑼冨湇锛涘皣宸辫畩鎻涘埌璜栧煙鑼冨湇鐨勮几鍏ラ噺閫茶妯＄硦鍖栬檿鐞�锛屼富瑕佹槸瑷堢畻鍚勫�嬭几鍏ラ噺鐨勯毟灞� 搴�銆傜敱浜庤畩閲忕殑闅稿爆搴﹀嚱鏁�(sh霉)鍧囧彇鐢ㄧ瓑鑵颁笁瑙掑舰锛屽墖搴曢倞瀵害鍜屽簳閭婁腑榛炲氨鍙互纰哄畾闅稿爆鍑� 鏁�(sh霉)鐨勬墍鏈変俊鎭�銆傚垎鍒ョ敤涓�鍊嬪瓧绡�(ji茅)琛ㄧず姣忓�嬭獮瑷�璁婇噺鐨勫簳閭婂搴�(瀵﹂殯瀵害鐨勪竴鍗�)锛岀敤涓夊�� 浣�(bit)琛ㄧず搴曢倞涓粸浣嶇疆锛屽皣閫欓儴鍒嗕俊鎭瓨鍦ㄥ叐鍊嬭〃涓�傛牴鎿�(j霉)鍏╁�嬭〃涓殑淇℃伅锛屽彲浠ヨ▓绠� 鍑鸿几鍏ヨ畩閲忕殑闅稿爆搴︺�傜偤瀵︾従(xi脿n)闅稿爆搴︾殑瑷堢畻锛岄渶瑕佺敤鍒颁竴鍊嬪姞娉曞櫒锛屼竴鍊嬫笡娉曞櫒鍜屼竴鍊嬮櫎娉曞櫒銆傝▓绠楃殑绲愭灉鑲畾鏄皬鏁�(sh霉)(鐢遍毟灞害鐨勬�ц唱鍙煡)銆傜偤浜嗗鐝�(xi脿n)鏂逛究锛屽皣鍒嗗瓙鐨勮▓绠楃祼鏋� 宸︾Щ8 浣�銆傞�欐ǎ锛屽垎瀛愮殑瑷堢畻绲愭灉鏄�16 浣�锛屽垎姣嶆槸8 浣�锛岃▓绠楃祼鏋滄槸8 浣嶃�傚皪鍏堕儴鍒嗚几鍏� 閫茶妯＄硦鍖栫殑VHDL 鎻忚堪濡備笅锛�
銆�銆�3.2妯＄硦鎺ㄧ悊妯″
銆�銆�妯＄硦鎺ㄧ悊妯″鏄ā绯婃帶鍒跺櫒鐨勬牳蹇�锛屽畠灏囪几鍏ョ殑妯＄硦閲忕稉(j墨ng)閬庢帹鐞�锛岃畩?y艒u)妾╂暤榫呭摢锛氼惇淇�?妯＄硦鎺ㄧ悊閲囩敤Mamdani鎺ㄧ悊锛屼篃绋辩偤Max涓�Min鎺ㄧ悊锛屽嵆涓�鏈�灏忔帹鐞嗭紝鍥犵偤鍏朵腑涓昏鍖呮嫭 鍖栨ā濉婂拰鏈�灏忓寲妯″銆傚皪浜庡叐杓稿叆绯荤当(t菕ng)锛屾渶澶氳几鍑哄洓鍊嬭獮瑷�鍊煎拰鍥涘�嬮毟灞害銆傞�欐ǎ锛屽皪 浜庝竴鍊嬪叐杓稿叆绯荤当(t菕ng)锛屾渶澶氭縺娲诲洓姊濇ā绯婅(gu墨)鍓�銆備笂杩伴亷绋嬪氨鏄(gu墨)鍓囧尮閰嶇殑閬庣▼銆傝(gu墨)鍓囧尮閰嶉渶瑕� 鏈�灏忓寲閬嬬畻锛屽嵆Min閬嬬畻銆傝(gu墨)鍓囧悎骞跺氨鏄皣鍚庝欢鐩稿悓鐨勬ā绯婅(gu墨)鍓囬�茶鍚堝苟锛岃(gu墨)鍓囧悎骞堕渶瑕佹渶 澶у寲閬嬬畻锛屽嵆Max閬嬬畻銆傜敱妯＄硦鍖栨ā濉婅▓绠楁墍寰楃殑鍥涘�嬮毟灞嚱鏁�(sh霉)鍊煎湪鎺у埗淇¤櫉浣滅敤涓嬬稉(j墨ng)閬庡 璺伕鎿囧櫒杓稿叆鍒版瘮杓冨櫒锛涘彟澶栧叐鍊嬫帶鍒朵俊铏熺稉(j墨ng)閬庤纰煎悗閬镐腑闅稿爆鍑芥暩(sh霉)瀵勫瓨鍣ㄤ腑鐨勪竴鍊�锛屽悓鏅� 閬告搰杓稿嚭鏈�灏忓�煎埌姣旇純鍣�锛涙瘮杓冨櫒鐨勮几鍑虹祼鏋滃啀杓稿叆鍒伴毟灞嚱鏁�(sh霉)瀵勫瓨鍣ㄤ腑銆傞�欐ǎ锛岀稉(j墨ng)閬�4鍊� 寰挵(hu谩n)锛屽氨瀹屾垚浜嗕竴鍊嬫渶灏忓寲閬嬬畻銆傜敱浜嶸HDL鎻忚堪绨″柈锛屽湪閫欓噷鐪佺暐銆�
銆�銆�3.3鍙嶆ā绯婂寲妯″
銆�銆�鍙嶆ā绯婂寲閫氬父閲囩敤閲嶅績娉�锛岀敱浜庨毟灞害鍑芥暩(sh霉)閲囩敤8鐐轰簩閫插埗琛ㄧず锛岃�屾墍娑夊強鐨勮(gu墨)鍓囨暩(sh霉)鏈� 澶氱偤4姊�锛屾墍浠ュ垎瀛愰亱绠楅渶瑕佸洓鍊�8浣峹2浣嶇殑涔樻硶鍣紝3鍊�10浣嶅姞娉曞櫒锛屽垎姣嶉渶瑕�3鍊�8浣嶅姞娉� 鍣�銆傛澶栵紝閭勯渶瑕佷竴鍊�12浣�/10浣嶇殑闄ゆ硶鍣�銆傞櫎娉曞櫒鐨勮ō瑷堟柟娉曡垏妯＄硦鍖栨ā濉婁腑鐨勮ō瑷堟柟娉� 鐩稿悓銆傝�屼箻娉曞櫒鐨勮ō瑷堜篃鑸囬櫎娉曞櫒鐨勮ō瑷堟柟娉曠浉浼�銆傜浉鎳夌殑VHDL鎻忚堪濡備笅锛�
銆�銆�END IF; END IF; END PROCESS;
銆�銆�3.4 鏁�(sh霉)瀛桺ID閬嬬畻妯″
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銆�銆�4 瑭﹂绲愭灉
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銆�銆�鍚勬ā濉婄▼搴忕稉(j墨ng)閬庣法璀劒(y艒u)鍖栦箣鍚�锛岀敱Quartus鈪¤粺浠剁稖鍚堝苟鐢熸垚缍�(w菐ng)琛ㄦ枃浠�锛屼笅杓夊埌 Altera鍏徃鐨凜yclone绯诲垪鐨凟P1C6Q240C8鑺墖涓�銆傜稉(j墨ng)瀵﹂殯娓│椤ず锛岃┎妯＄硦PID鎺у埗鍣ㄦ帶鍒� 鏁堟灉鏄庨’鍎�(y艒u)浜庢櫘閫氱殑PID鎺у埗鍣�銆�
銆�銆�5 绲愯珫
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