較大的采用周期將使其不穩(wěn)定。采樣周期應(yīng)不得大于總計(jì)時(shí)間常數(shù)的1/10(或極端情況下的1/5)。舉例,如果PV近似為最終值2秒的2/3時(shí),則采樣周期應(yīng)小于0.2秒,極端情況下為0.4秒。另一方面,采樣周期也不得太小，如小于總計(jì)時(shí)間常數(shù)的1/1000,或ki*誤差*dt的PID積分器將圓整至零。

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