外文翻译（自动化专业）不 要在线翻译的

外文翻译（自动化专业）不 要在线翻译的

In the conventional PID control algorithm, the proportional, integral and derivative parts are implemented
在常规PID控制算法中，正向循环系统中需要执行比例，积分及微分部分，
in the forward loop, thus acting on the error between the set-point and closed-loop response. This PID
因此要对定点和闭环响应这二者的错误进行纠错。此PID控制
controller implementation may lead to an undesirable phenomenon, namely the derivative kick. Also, by moving
执行可能导致一种不愿看到的现象，叫作微分效应。同样，把PD部分转移到内部反馈环的话，一个不稳定或是
the PD part into an inner feedback loop, an unstable or integrating process can be stabilized and then
积分过程就会变得稳定而且将使正向PI控制起来更加高效。
controlled more effectively by the PI controller in the forward path.
Therefore, the control structure shown in Fig. 1, which is known as a PI-PD control structure, has been
所以，在图1所示的控制结构图即是PI-PD控制结构。在此结构中，G（s）为设备传递函数，GPI（s）
proposed. In this structure, G(s) is the plant transfer function
and GPI(s) and GPD(s) are the PI and PD controller transfer functions, respectively, which have the following
及GPD（s）分别为PI和PD控制传递函数，附其理想状态下的形式：
ideal forms:

This structure, which uses an inner feedback loop, is not a totally new concept. Benouarets [11] was the first to
此结构运用于内部反馈环并不是一个全新的概念。Benouarets是第一个
mention the PI-PD controller structure. Unfortunately, its true potential was not recognized there as it was used
提出PI-PD控制结构的人。不幸的是，它的潜在价值并没得到认可，因为它已被运用在一些设简单而稳定的实极
to control plants with simple stable real pole transfer functions where its advantages are relatively minor.
值传递函数的设备控制中，这种控制中它的优越性并不明显。
Later, Kwak et al. [6] and Park et al. [2] used a PID-P control structure for controlling integrating and unstable
随后，Kwak et al. [6] and Park et al. [2]使用一种PID-P控制结构分别对积分过程和不稳定的过程进行控制。
processes, respectively. However, as they still use the derivative term, D, in the forward path, the structure
然而，由于它们仍然在正向系统中运用微分项“D”，这种结构
may result in a derivative kick. Also, they use a gain only controller to alter the open-loop unstable or integrating
可能导致微分效应。同样，它们使用一个只增控制系统将开环但不稳定的过程或是积分
processes to open-loop stable processes and then
过程转换成开环且稳定的过程，然后运用PID控制对整个系统进行有效控制。
use the PID controller for an effective control of the overall system. It is better to use an inner feedback loop
内部反馈环与PD控制器配合使用要比
with a PD controller rather than a P-only controller, as this not only converts the open-loop unstable or
只使用单一比例控制器要好，因为这样不仅将开环但不稳定过程
integrating processes to open-loop stable processes but also guarantees more suitable pole locations. To
或是积分过程转换成开环且稳定的过程，而且能确保得到更加合适的极点位置。为了更好的弄清楚这一点，
clarify this better, consider the PD controller of the form given by
假定PD控制器传递函数为等式2所示，设备的传递函数如下所示
Eq. 2 and a general plant transfer function of

The closed-loop transfer function for the inner loop,with G(s) given by Eq. 3, is provided that n>m+2.
应用等式3得到内环闭环传递函数如下（……），已知n>m+2。

The modification in the last two terms of the denominator of Eq. 4, due to the insertion f the PD controller used
由于反馈环中PD控制器的引入，等式4中分母的最后两项的限制作用很明显。
in the feedback loop, is clear.
Let us assume that the coefficients a0 and a1 take suitable alues to make the plant transfer function given in
试想对回归参数a0和a1赋以适当的值，这样会将上述等式3所示的设备传递函数变为不稳定，积分或是共振态
Eq. 3 unstable, integrating or a resonant plant transfer function. The PD controller used in the inner feedback
设备传递函数。应用于内部反馈环中的PD控制器可用来转换为一个应用于正向环中使用PI控制器的开环且稳定
loop can be used to convert it to an open-loop stable plant transfer function for the PI controller used in the
的设备传递函数，这样可以得到一种更加令人满意的闭环控制效果。
forward loop, which can then be used for a more satisfactory closed-loop performance. Another point, which
另外有必要指出的一点是
should be pointed out, is that the use of the PI-PD controller gives more flexibility than a PID-P controller to
要想同时使用Kf和Td而不是只增变量Kf，在开环设备传递函数Gil(s)中得到更多合适极值点位，PI-PD的应用
locate the poles of open-loop plant transfer function Gil(s) in more desired locations, with the simultaneous
比PID-P显得更加灵活。
use of Kf and Td rather than a gain-only parameter Kf.

In the conventional PID control algorithm, the proportional, integral and derivative parts are implemented in the forward loop, thus acting on the error between the set-point and closed-loop response. This PID controller implementation may lead to an undesirable phenomenon, namely the derivative kick. Also, by moving the PD part into an inner feedback loop, an unstable or integrating process can be stabilized and then controlled more effectively by the PI controller in the forward path. 在传统的 PID 控制算法中将因此根据之间设置点和闭环响应错误的正向循环中实现比例、 积分和衍生金融工具的部件。 此 PID 控制器实现可能会导致一个不良的现象就是衍生的踢。 同时，通过将局部放电的一部分移动到一个内部反馈循环，一个不稳定的或将集成过程可以稳定，然后向前路径中的 PI 控制器通过更有效地控制。 Therefore, the control structure shown in Fig. 1, which is known as a PI-PD control structure, has been proposed. In this structure, G(s) is the plant transfer function因此，提出控制结构，称为 PI-PD 控制结构的图 1 所示。 在这种结构 G(s) 是植物传递函数 and GPI(s) and GPD(s) are the PI and PD controller transfer functions, respectively, which have the following ideal forms: 与 GPI(s) 和 GPD(s) PI 和 PD 控制器传输功能，分别是，哪有以下的理想形式： This structure, which uses an inner feedback loop, is not a totally new concept. Benouarets [11] was the first to mention the PI-PD controller structure. Unfortunately, its true potential was not recognized there as it was used to control plants with simple stable real pole transfer functions where its advantages are relatively minor. Later, Kwak et al. [6] and Park et al. [2] used a PID-P control structure for controlling integrating and unstable processes, respectively. However, as they still use the derivative term, D, in the forward path, the structure这种结构，使用一个内反馈循环，不是一种全新的概念。 Benouarets [11] 率先提 PI-PD 控制器结构。 不幸的是，它的真正潜力未被识别存在，它用来控制植物与真正的简单稳定杆传递函数，其优点是相对较小。 稍后，郭 et al.[6] 和 [2] 公园 et al.，分别控制集成和不稳定的进程使用-P PID 控制结构。 但是，作为他们仍使用该结构正向的路径中的衍生金融工具的术语 D， may result in a derivative kick. Also, they use a gain only controller to alter the open-loop unstable or integrating processes to open-loop stable processes and then可能会导致衍生的踢。 他们还，改变开环稳定进程的开环不稳定或集成过程使用增益唯一控制器，然后 use the PID controller for an effective control of the overall system. It is better to use an inner feedback loop with a PD controller rather than a P-only controller, as this not only converts the open-loop unstable or integrating processes to open-loop stable processes but also guarantees more suitable pole locations. To clarify this better, consider the PD controller of the form given by Eq. 2 and a general plant transfer function of 使用一个有效的控制整个系统的 PID 控制器。 最好 PD 控制器，而不是一个只 P 的控制器使用一个内反馈循环，因为这不仅能将开环不稳定或集成流程转换为开环稳定进程，也保证了更适合杆位置。 若要更好地阐明这，考虑给予式 2 和一个总厂传递函数的窗体的 PD 控制器The closed-loop transfer function for the inner loop, 在内部的循环的闭环传递函数 with G(s) given by Eq. 3, is获式 3 G(s)，是 provided that n>m+2. The modification in the last two erms of the denominator of Eq. 4, due to the insertion f the PD controller used in the feedback loop, is clear. 提供该 n > m + 2。 由于到使用反馈及时插入 f 规划署控制器的式 4，分母的最后两个条款的修改是清晰 Let us assume that the coefficients a0 and a1 take suitable alues to make the plant transfer function given in Eq. 3 unstable, integrating or a resonant plant transfer让我们假定您与系数 a0 a1 采取适当 alues 进行传递函数方程 3 不稳定，集成中给出的植物或共振的植物传输 function. The PD controller used in the inner feedback loop can be used to convert it to an open-loop stable plant transfer function for the PI controller used in the函数。 内反馈循环中使用的 PD 控制器可用来将其转换为一个开环稳定植物传递函数中使用的 PI 控制器， forward loop, which can then be used for a more satisfactory closed-loop performance. Another point, which should be pointed out, is that the use of the PI-PD controller gives more flexibility than a PID-P controller to locate the poles of open-loop plant transfer function Gil(s) in more desired locations, with the simultaneous转发，然后可用于更令人满意的闭环性能的循环。 应该指出，另一点是 PI-PD 控制器的使用提供更大的灵活性，比在更多所需的位置，同时与找到的开环植物传递函数 Gil(s) 杆将-P PID 控制器 use of Kf and Td rather than a gain-only parameter Kf. 使用的 Kf 和 Td 而不是只增益参数 Kf 呵呵，在线翻译的。