{"id":525,"date":"2015-09-01T10:30:45","date_gmt":"2015-09-01T19:30:45","guid":{"rendered":"\/blog\/?p=525"},"modified":"2023-09-21T09:38:39","modified_gmt":"2023-09-21T00:38:39","slug":"pid%ec%a0%9c%ec%96%b4-%ea%b8%b0%ec%b4%88","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=525","title":{"rendered":"PID\uc81c\uc5b4 \uae30\ucd08"},"content":{"rendered":"\n<p><font color=\"#0000ff\" size=\"4\"><span style=\"line-height: 27px;\"><span style=\"font-size: 9pt; color: rgb(0, 0, 0);\">\ucd9c\ucc98:&nbsp;<\/span><a href=\"http:\/\/www.ktechno.co.kr\/pictech\/motor05.html\" target=\"_blank\" class=\"tx-link\" rel=\"noopener\"><span style=\"font-size: 9pt; color: rgb(0, 0, 0);\">http:\/\/www.ktechno.co.kr\/pictech\/motor05.html<\/span><\/a><\/span><\/font><\/p>\n<p><font size=\"4\" color=\"blue\"><strong><br \/><\/strong><\/font><\/p>\n<p><font size=\"4\" color=\"blue\"><strong>1. PID \uc81c\uc5b4\ub780?<\/strong><\/font><\/p>\n<ul><p>\uc790\ub3d9\uc81c\uc5b4 \ubc29\uc2dd \uac00\uc6b4\ub370\uc11c \uac00\uc7a5 \ud754\ud788 \uc774\uc6a9\ub418\ub294 \uc81c\uc5b4\ubc29\uc2dd\uc73c\ub85c PID \uc81c\uc5b4\ub77c\ub294 \ubc29\uc2dd\uc774 \uc788\ub2e4.&nbsp;<br \/>\uc774 PID\ub780,<\/p>\n<p><font color=\"red\"><strong>P: Proportinal(\ube44\ub840)&nbsp;<br \/>I: Integral(\uc801\ubd84)&nbsp;<br \/>D: Differential(\ubbf8\ubd84)<\/strong><\/font>&nbsp;<br \/>\uc758 3\uac00\uc9c0 \uc870\ud569\uc73c\ub85c \uc81c\uc5b4\ud558\ub294 \uac83\uc73c\ub85c \uc720\uc5f0\ud55c \uc81c\uc5b4\uac00 \uac00\ub2a5\ud574\uc9c4\ub2e4.<\/p>\n<\/ul><p><br \/><font size=\"4\" color=\"blue\"><strong>2. \ub2e8\uc21c On\/Off \uc81c\uc5b4<\/strong><\/font><\/p>\n<ul><p>\ub2e8\uc21c\ud55c On\/Off \uc81c\uc5b4\uc758 \uacbd\uc6b0\uc5d0\ub294 \uc81c\uc5b4 \uc870\uc791\ub7c9\uc740 0%\uc640 100% \uc0ac\uc774\ub97c \uc655\ub798\ud558\ubbc0\ub85c \uc870\uc791\ub7c9\uc758 \ubcc0\ud654\uac00 \ub108\ubb34 \ud06c\uace0, \uc2e4\uc81c \ubaa9\ud45c\uac12\uc5d0 \ub300\ud574 \uc9c0\ub098\uce58\uac8c \ubc18\ubcf5\ud558\uae30 \ub54c\ubb38\uc5d0, \ubaa9\ud45c\uac12\uc758 \ubd80\uadfc\uc5d0\uc11c \u51f8\u51f9\ub97c \ubc18\ubcf5\ud558\ub294 \uc81c\uc5b4\ub85c \ub418\uace0 \ub9cc\ub2e4.&nbsp;<br \/>\uc774 \ubaa8\uc591\uc744 \uadf8\ub9bc\uc73c\ub85c \ub098\ud0c0\ub0b4\uba74 \uc544\ub7ab \uadf8\ub9bc\uacfc \uac19\uc774 \ub41c\ub2e4.&nbsp;<br \/>&nbsp;<\/p>\n<\/ul><blockquote><blockquote><p><br \/><\/p>\n<p style=\"text-align: left; clear: none; float: none;\"><img decoding=\"async\" editor_component=\"image_link\" src=\"\/xfiles\/attach\/images\/5094\/547\/001\/e5983bdcac656d53d068cf41f9dbfc2c.gif\" alt=\"\" \/><\/p>\n<p><br \/><\/p>\n<\/blockquote><p>&nbsp;<\/p>\n<\/blockquote><p><font size=\"4\" color=\"blue\"><strong>3. \ube44\ub840 \uc81c\uc5b4<\/strong><\/font><\/p>\n<ul><p>\uc774\uc5d0 \ub300\ud574 \uc870\uc791\ub7c9\uc744 \ubaa9\ud45c\uac12\uacfc \ud604\uc7ac \uc704\uce58\uc640\uc758 \ucc28\uc5d0 \ube44\ub840\ud55c \ud06c\uae30\uac00 \ub418\ub3c4\ub85d \ud558\uba70, \uc11c\uc11c\ud788 \uc870\uc808\ud558\ub294 \uc81c\uc5b4 \ubc29\ubc95\uc774 \ube44\ub840 \uc81c\uc5b4\ub77c\uace0 \ud558\ub294 \ubc29\uc2dd\uc774\ub2e4.&nbsp;<br \/>\uc774\ub807\uac8c \ud558\uba74 \ubaa9\ud45c\uac12\uc5d0 \uc811\uadfc\ud558\uba74 \ubbf8\ubb18\ud55c \uc81c\uc5b4\ub97c \uac00\ud560 \uc218 \uc788\uae30 \ub54c\ubb38\uc5d0 \ubbf8\uc138\ud558\uac8c \ubaa9\ud45c\uac12\uc5d0 \uac00\uae4c\uc774 \ud560 \uc218 \uc788\ub2e4.<br \/>\uc774 \ubaa8\uc591\uc740 \uc544\ub7ab \uadf8\ub9bc\uacfc \uac19\uc774 \ub098\ud0c0\ub0bc \uc218 \uc788\ub2e4.&nbsp;<br \/>&nbsp;<\/p>\n<\/ul><blockquote><blockquote><p><br \/><\/p>\n<p style=\"text-align: left; clear: none; float: none;\"><img decoding=\"async\" editor_component=\"image_link\" src=\"\/xfiles\/attach\/images\/5094\/547\/001\/0f928b944f05b1761541c122b927606e.gif\" alt=\"\" \/><\/p>\n<p><br \/><\/p>\n<\/blockquote><p><br \/><\/p>\n<\/blockquote><p>&nbsp;<\/p>\n<p><font size=\"4\" color=\"blue\"><strong>4. PI \uc81c\uc5b4<\/strong><\/font><\/p>\n<ul><p>\ube44\ub840 \uc81c\uc5b4\ub85c \uc798 \uc81c\uc5b4\ud560 \uc218 \uc788\uc744 \uac83\uc73c\ub85c \uc0dd\uac01\ud558\uaca0\uc9c0\ub9cc, \uc2e4\uc81c\ub85c\ub294 \uc81c\uc5b4\ub7c9\uc774 \ubaa9\ud45c\uac12\uc5d0 \uc811\uadfc\ud558\uba74 \ubb38\uc81c\uac00 \ubc1c\uc0dd\ud55c\ub2e4.<br \/>\uadf8\uac83\uc740 \uc870\uc791\ub7c9\uc774 \ub108\ubb34 \uc791\uc544\uc9c0\uace0, \uadf8 \uc774\uc0c1 \ubbf8\uc138\ud558\uac8c \uc81c\uc5b4\ud560 \uc218 \uc5c6\ub294 \uc0c1\ud0dc\uac00 \ubc1c\uc0dd\ud55c\ub2e4. \uacb0\uacfc\ub294 \ubaa9\ud45c\uac12\uc5d0 \uc544\uc8fc \uac00\uae4c\uc6b4 \uc81c\uc5b4\ub7c9\uc758 \uc0c1\ud0dc\uc5d0\uc11c \uc548\uc815\ud55c \uc0c1\ud0dc\ub85c \ub418\uace0 \ub9cc\ub2e4.&nbsp;<br \/>\uc774\ub807\uac8c \ub418\uba74 \ubaa9\ud45c\uac12\uc5d0 \uac00\uae4c\uc6cc\uc9c0\uc9c0\ub9cc, \uc544\ubb34\ub9ac \uc2dc\uac04\uc774 \uc9c0\ub098\ub3c4 \uc81c\uc5b4\ub7c9\uacfc \uc644\uc804\ud788 \uc77c\uce58\ud558\uc9c0 \uc54a\ub294 \uc0c1\ud0dc\ub85c \ub418\uace0 \ub9cc\ub2e4.&nbsp;<br \/>\uc774 \ubbf8\uc18c\ud55c \uc624\ucc28\ub97c \"<font color=\"red\"><strong>\uc794\ub958\ud3b8\ucc28<\/strong><\/font>\"\ub77c\uace0 \ud55c\ub2e4. \uc774 \uc794\ub958\ud3b8\ucc28\ub97c \uc5c6\uc560\uae30 \uc704\ud574 \uc0ac\uc6a9\ub418\ub294 \uac83\uc774 \uc801\ubd84 \uc81c\uc5b4\uc774\ub2e4.&nbsp;<br \/>\uc989, \ubbf8\uc18c\ud55c \uc794\ub958\ud3b8\ucc28\ub97c \uc2dc\uac04\uc801\uc73c\ub85c \ub204\uc801\ud558\uc5ec, \uc5b4\ub5a4 \ud06c\uae30\ub85c \ub41c \uacf3\uc5d0\uc11c \uc870\uc791\ub7c9\uc744 \uc99d\uac00\ud558\uc5ec \ud3b8\ucc28\ub97c \uc5c6\uc560\ub294 \uc2dd\uc73c\ub85c \ub3d9\uc791\uc2dc\ud0a8\ub2e4.<br \/>\uc774\uc640 \uac19\uc774, \ube44\ub840 \ub3d9\uc791\uc5d0 \uc801\ubd84 \ub3d9\uc791\uc744 \ucd94\uac00\ud55c \uc81c\uc5b4\ub97c \"PI \uc81c\uc5b4\"\ub77c \ubd80\ub978\ub2e4.&nbsp;<br \/>\uc774\uac83\uc744 \uadf8\ub9bc\uc73c\ub85c \ub098\ud0c0\ub0b4\uba74 \uc544\ub7ab \uadf8\ub9bc\uacfc \uac19\uc774 \ub41c\ub2e4.&nbsp;<br \/>&nbsp;<\/p>\n<\/ul><blockquote><blockquote><p><br \/><\/p>\n<p style=\"text-align: left; clear: none; float: none;\"><img decoding=\"async\" editor_component=\"image_link\" src=\"\/xfiles\/attach\/images\/5094\/547\/001\/a7b388f2172938b680fe6188880dff0a.gif\" alt=\"\" \/><\/p>\n<p><br \/><\/p>\n<\/blockquote><p><br \/><\/p>\n<\/blockquote><p>&nbsp;<\/p>\n<p><font size=\"4\" color=\"blue\"><strong>5. \ubbf8\ubd84 \uc81c\uc5b4\uc640 PID \uc81c\uc5b4<\/strong><\/font><\/p>\n<ul><p>PI \uc81c\uc5b4\ub85c \uc2e4\uc81c \ubaa9\ud45c\uac12\uc5d0 \uac00\uae5d\uac8c \ud558\ub294 \uc81c\uc5b4\ub294 \uc644\ubcbd\ud558\uac8c \ud560 \uc218 \uc788\ub2e4. \uadf8\ub7ec\ub098 \ub610 \ud558\ub098 \uac1c\uc120\uc758 \uc5ec\uc9c0\uac00 \uc788\ub2e4.&nbsp;<br \/>\uadf8\uac83\uc740 \uc81c\uc5b4 \uc751\ub2f5\uc758 \uc18d\ub3c4\uc774\ub2e4. PI \uc81c\uc5b4\uc5d0\uc11c\ub294 \ud655\uc2e4\ud788 \ubaa9\ud45c\uac12\uc73c\ub85c \uc81c\uc5b4\ud560 \uc218 \uc788\uc9c0\ub9cc, \uc77c\uc815\ud55c \uc2dc\uac04(\uc2dc\uc815\uc218)\uc774 \ud544\uc694\ud558\ub2e4.&nbsp;<br \/>\uc774\ub54c \uc815\uc218\uac00 \ud06c\uba74 \uc678\ub780\uc774 \uc788\uc744 \ub54c\uc758 \uc751\ub2f5 \uc131\ub2a5\uc774 \ub098\ube60\uc9c4\ub2e4.&nbsp;<br \/>\uc989, \uc678\ub780\uc5d0 \ub300\ud558\uc5ec \uc2e0\uc18d\ud558\uac8c \ubc18\uc751\ud560 \uc218 \uc5c6\uace0, \uc989\uc2dc \uc6d0\ub798\uc758 \ubaa9\ud45c\uac12\uc73c\ub85c\ub294 \ub3cc\uc544\uac08 \uc218 \uc5c6\ub2e4\ub294 \uac83\uc774\ub2e4.<br \/>\uadf8\ub798\uc11c, \ud544\uc694\ud558\uac8c \ub41c \uac83\uc774 \ubbf8\ubd84 \ub3d9\uc791\uc774\ub2e4.&nbsp;<br \/>\uc774\uac83\uc740 \uae09\uaca9\ud788 \uc77c\uc5b4\ub098\ub294 \uc678\ub780\uc5d0 \ub300\ud574 \ud3b8\ucc28\ub97c \ubcf4\uace0, \uc804\ud68c \ud3b8\ucc28\uc640\uc758 \ucc28\uac00 \ud070 \uacbd\uc6b0\uc5d0\ub294 \uc870\uc791\ub7c9\uc744 \ub9ce\uc774 \ud558\uc5ec \uae30\ubbfc\ud558\uac8c \ubc18\uc751\ud558\ub3c4\ub85d \ud55c\ub2e4.<br \/>\uc774 \uc804\ud68c\uc640\uc758 \ud3b8\ucc28\uc5d0 \ub300\ud55c \ubcc0\ud654\ucc28\ub97c \ubcf4\ub294 \uac83\uc774 \"\ubbf8\ubd84\"\uc5d0 \uc0c1\ub2f9\ud55c\ub2e4.&nbsp;<br \/>\uc774 \ubbf8\ubd84\ub3d9\uc791\uc744 \ucd94\uac00\ud55c PID \uc81c\uc5b4\uc758 \uacbd\uc6b0, \uc81c\uc5b4 \ud2b9\uc131\uc740 \uc544\ub7ab \uadf8\ub9bc\uacfc \uac19\uc774 \ub41c\ub2e4.&nbsp;<br \/>\uc774\uac83\uc73c\ub85c \uc54c \uc218 \uc788\ub4ef\uc774 \ucc98\uc74c\uc5d0\ub294 \uc0c1\ub2f9\ud788 over drive\ud558\ub294 \ub4ef\uc774 \uc81c\uc5b4\ud558\uc5ec, \uc2e0\uc18d\ud788 \ubaa9\ud45c\uac12\uc774 \ub418\ub3c4\ub85d \uc801\uadf9\uc801\uc73c\ub85c \uc81c\uc5b4\ud574 \uac04\ub2e4.&nbsp;<br \/>&nbsp;<\/p>\n<\/ul><blockquote><blockquote><p><br \/><\/p>\n<p style=\"text-align: left; clear: none; float: none;\"><img decoding=\"async\" editor_component=\"image_link\" src=\"\/xfiles\/attach\/images\/5094\/547\/001\/dd3f506a3837c01ca325e9d403ab0994.gif\" alt=\"\" \/><\/p>\n<p><br \/><\/p>\n<\/blockquote><p><br \/><\/p>\n<\/blockquote><p>&nbsp;<\/p>\n<p><font size=\"4\" color=\"blue\"><strong>6. \ucef4\ud4e8\ud130\uc5d0 \uc758\ud55c PID \uc81c\uc5b4 \uc54c\uace0\ub9ac\uc998<\/strong><\/font><\/p>\n<ul><p>\uc6d0\ub798 PID \uc81c\uc5b4\ub294 \uc5f0\uc18d\ud55c \uc544\ub0a0\ub85c\uadf8\ub7c9\uc744 \uc81c\uc5b4\ud558\ub294 \uac83\uc774 \uae30\ubcf8\uc73c\ub85c \ub418\uc5b4 \uc788\ub2e4. \uadf8\ub7ec\ub098, \ucef4\ud4e8\ud130\uc758 \ud504\ub85c\uadf8\ub7a8\uc73c\ub85c PID \uc81c\uc5b4\ub97c \uc2e4\ud604\ud558\ub824\uace0 \ud558\ub294 \uacbd\uc6b0\uc5d0\ub294 \uc5f0\uc18d\uc801\uc778 \uc591\uc744 \ucde8\uae09\ud560 \uc218 \uc5c6\ub2e4. \uc65c\ub0d0\ud558\uba74, \ucef4\ud4e8\ud130 \ub370\uc774\ud130\uc758 \uc785\ucd9c\ub825\uc740 \uc77c\uc815\uc2dc\uac04 \uac04\uaca9\uc73c\ub85c\ubc16\uc5d0 \ud560 \uc218 \uc5c6\uae30 \ub54c\ubb38\uc774\ub2e4.&nbsp;<br \/>\uac8c\ub2e4\uac00 \ubbf8\uc801\ubd84 \uc5f0\uc0b0\uc744 \ucc29\uc2e4\ud788 \ud558\uace0 \uc788\ub294 \uac83\uc5d0\uc11c\ub294 \uc5f0\uc0b0\uc5d0 \uc694\ud558\ub294 \ub2a5\ub825\uc73c\ub85c \uc778\ud574 \uace0\uc131\ub2a5\uc758 \ucef4\ud4e8\ud130\uac00 \ud544\uc694\ud558\uac8c \ub418\uace0 \ub9cc\ub2e4.&nbsp;<br \/>\uadf8\ub798\uc11c \uc0dd\uac01\ub41c \uac83\uc774 \uc0d8\ud50c\ub9c1 \ubc29\uc2dd(\uc774\uc0b0\uac12)\uc5d0 \uc801\ud569\ud55c PID \uc5f0\uc0b0 \ubc29\uc2dd\uc774\ub2e4.<\/p>\n<p>\uc6b0\uc120, \uc0d8\ud50c\ub9c1 \ubc29\uc2dd\uc758 PID \uc81c\uc5b4\uc758 \uae30\ubcf8\uc2dd\uc740 \ub2e4\uc74c\uacfc \uac19\uc774 \ud45c\ud604\ub41c\ub2e4.<\/p>\n<p><font color=\"red\"><strong>\uc870\uc791\ub7c9=Kp\u00d7\ud3b8\ucc28+Ki\u00d7\ud3b8\ucc28\uc758 \ub204\uc801\uac12+Kd\u00d7\uc804\ud68c \ud3b8\ucc28\uc640\uc758&nbsp;\ucc28<\/strong><\/font><br \/>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<strong>(\ube44\ub840\ud56d) &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(\uc801\ubd84\ud56d) &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(\ubbf8\ubd84\ud56d)<\/strong><\/p>\n<p>\uae30\ud638\ub85c \ub098\ud0c0\ub0b4\uba74<\/p>\n<p><font color=\"red\"><strong>MV<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n<\/strong><\/font><font color=\"red\"><strong>=MV<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n-1<\/strong><\/font><font color=\"red\"><strong>+\u0394MV<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n<\/strong><\/font><font color=\"red\"><strong>&nbsp;<br \/>\u0394MV<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n<\/strong><\/font><font color=\"red\"><strong>=Kp(e<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n<\/strong><\/font><font color=\"red\"><strong>-e<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n-1<\/strong><\/font><font color=\"red\"><strong>)+Ki e<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n<\/strong><\/font><font color=\"red\"><strong>+Kd((e<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n<\/strong><\/font><font color=\"red\"><strong>-e<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n-1<\/strong><\/font><font color=\"red\"><strong>)-(e<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n-1<\/strong><\/font><font color=\"red\"><strong>-e<\/strong><\/font><font size=\"1\" color=\"red\"><strong>n-2<\/strong><\/font><font color=\"red\"><strong>))<\/strong><\/font><\/p>\n<p>MV<font size=\"1\">n<\/font>, MV<font size=\"1\">n-1<\/font>: \uae08\ud68c, \uc804\ud68c \uc870\uc791\ub7c9<br \/>\u0394MV<font size=\"1\">n<\/font>: \uae08\ud68c \uc870\uc791\ub7c9 \ubbf8\ubd84<br \/>e<font size=\"1\">n<\/font>, e<font size=\"1\">n-1<\/font>, e<font size=\"1\">n-2<\/font>: \uae08\ud68c, \uc804\ud68c, \uc804\uc804\ud68c\uc758 \ud3b8\ucc28<\/p>\n<p>\uc774\uac83\uc744 \ud504\ub85c\uadf8\ub7a8\uc73c\ub85c \uc2e4\ud604\ud558\uae30 \uc704\ud574\uc11c\ub294 \uc774\ubc88\uacfc \uc804\ud68c\uc758 \ud3b8\ucc28\uac12\ub9cc \uce21\uc815\ud560 \uc218 \uc788\uc73c\uba74 \uc870\uc791\ub7c9\uc744 \uad6c\ud560 \uc218 \uc788\ub2e4.<\/p>\n<\/ul><p><br \/><font size=\"4\" color=\"blue\"><strong>7. \ud30c\ub77c\ubbf8\ud130\ub97c \uad6c\ud558\ub294 \ubc29\ubc95<\/strong><\/font><\/p>\n<ul><p>PID \uc81c\uc5b4 \ubc29\uc2dd\uc5d0 \uc788\uc5b4\uc11c\uc758 \uacfc\uc81c\ub294 \uac01 \ud56d\uc5d0 \ubd99\ub294 \uc815\uc218, Kp, Ki, Kd\ub97c \uc815\ud558\ub294 \ubc29\ubc95\uc774\ub2e4.&nbsp;<br \/>\uc774\uac83\uc758 \ucd5c\uc801\uac12\uc744 \uad6c\ud558\ub294 \ubc29\ubc95\uc740 \uba87 \uac00\uc9c0 \uc788\uc9c0\ub9cc, \uc5b4\ub290 \uac83\uc774\ub098 \ub09c\ud574\ud558\uba70, \uc18c\ud615\uc758 \ub9c8\uc774\ud06c\ub85c\ucef4\ud4e8\ud130\ub85c \uc2e4\ud604\ud558\uae30 \uc704\ud574\uc11c\ub294 \ubc88\uac70\ub85c\uc6b4 \uac83\uc774\ub2e4(tuning\uc774\ub77c \ubd80\ub978\ub2e4).&nbsp;<br \/>\uadf8\ub798\uc11c, \uc774 \ud30c\ub77c\ubbf8\ud130\ub294 cut and try\ub85c \uc2e4\uc81c \uc81c\uc5b4\ud55c \uacb0\uacfc\uc5d0\uc11c \ucd5c\uc801\ud55c \uac12\uc744 \uad6c\ud558\uace0, \uadf8 \uac12\uc744 \uc124\uc815\ud558\ub3c4\ub85d \ud55c\ub2e4.&nbsp;<br \/>\ucc38\uace0\ub85c \ud29c\ub2dd\uc758 \uc218\ubc95\uc744 \uc18c\uac1c\ud558\uba74&nbsp;<font color=\"red\"><strong>\uc2a4\ud15d \uc751\ub2f5\ubc95<\/strong><\/font>\uacfc&nbsp;<font color=\"red\"><strong>\ud55c\uacc4 \uac10\ub3c4\ubc95<\/strong><\/font>\uc774 \uc720\uba85\ud55c \uc218\ubc95\uc774\ub2e4.<\/p>\n<p>\ub610, \ud504\ub85c\uc138\uc2a4 \uc81c\uc5b4 \ubd84\uc57c\uc5d0\uc11c\ub294 \uc774 \ud29c\ub2dd\uc744 \uc790\ub3d9\uc801\uc73c\ub85c \uc2e4\ud589\ud558\ub294&nbsp;<font color=\"green\">Auto tuning \uae30\ub2a5<\/font>\uc744 \uac16\ub294 \uc790\ub3d9\uc81c\uc5b4 \uc720\ub2db\ub3c4 \uc788\ub2e4. \uc774\uac83\uc5d0\ub294 \uc81c\uc5b4 \uacb0\uacfc\ub97c \ud559\uc2b5\ud558\uace0, \uadf8 \uacb0\uacfc\ub85c\ubd80\ud130 \ud56d\uc0c1 \ucd5c\uc801\ud55c \ud30c\ub77c\ubbf8\ud130\uac12\uc744 \uad6c\ud558\uc5ec \ub2e4\uc74c \uc81c\uc5b4 \uc0ac\uc774\ud074\uc5d0 \ubc18\uc601\ud558\ub294 \uae30\ub2a5\ub3c4 \uc2e4\uc7a5\ub418\uc5b4 \uc788\ub2e4.<\/p>\n<p>\uc5ec\uae30\uc11c \uc2a4\ud15d \uc751\ub2f5\ubc95\uc5d0 \uc788\uc5b4\uc11c \ud30c\ub77c\ubbf8\ud130\ub97c \uad6c\ud558\ub294 \ubc29\ubc95\uc744 \uc18c\uac1c\ud55c\ub2e4.&nbsp;<br \/>\uc6b0\uc120, \uc81c\uc5b4\uacc4\uc758 \uc785\ub825\uc5d0 \uc2a4\ud15d \uc2e0\ud638\ub97c \uac00\ud558\uace0, \uadf8 \ucd9c\ub825 \uacb0\uacfc\uac00 \uc544\ub7ab \uadf8\ub9bc\uc774\ub77c\uace0 \ud558\uc790(\ud30c\ub77c\ubbf8\ud130\ub294 \uc801\ub2f9\ud788 \uc124\uc815\ud574 \ub454\ub2e4).<\/p>\n<p><br \/><\/p>\n<p style=\"text-align: left; clear: none; float: none;\"><img decoding=\"async\" editor_component=\"image_link\" src=\"\/xfiles\/attach\/images\/5094\/547\/001\/7edb2ca06ef3e786bd2873a7da0c7a48.gif\" alt=\"\" \/><\/p>\n<p><br \/><br \/><br \/><br \/>\uc717 \uadf8\ub9bc\uacfc \uac19\uc774 \uc0c1\uc2b9\uc758 \uace1\uc120\uc5d0 \uc811\uc120\uc744 \uae0b\uace0, \uadf8\uac83\uacfc \ucd95\uacfc\uc758 \uad50\uc810, \uc815\uc0c1\uac12\uc758 63%\uc5d0 \ud574\ub2f9\ud558\ub294 \uac12\uc73c\ub85c \ub41c \uacf3\uc758 2\uc810\uc5d0\uc11c,&nbsp;<br \/><font color=\"red\"><strong>L<\/strong><\/font><font color=\"red\">: \ub0ad\ube44\uc2dc\uac04&nbsp;<\/font><font color=\"red\"><strong>T<\/strong><\/font><font color=\"red\">: \uc2dc\uc815\uc218<\/font><font color=\"red\"><strong>&nbsp;K<\/strong><\/font><font color=\"red\">: \uc815\uc0c1\uac12<\/font>\uc758 3\uac00\uc9c0 \uac12\uc744 \uad6c\ud55c\ub2e4.&nbsp;<br \/>\uc774 \uac12\uc73c\ub85c\ubd80\ud130, \uac01 \ud30c\ub77c\ubbf8\ud130\ub294 \uc544\ub798 \ud45c\uc640 \uac19\uc774 \uad6c\ud560 \uc218 \uc788\ub2e4.<br \/><br \/><\/p>\n<\/ul><blockquote><table border=\"\" width=\"500\" bgcolor=\"#CCFFFF\" style=\"font-family: 'Malgun Gothic';\"><tbody><tr><td width=\"134\" bgcolor=\"#00CCFF\"><p align=\"center\">\uc81c\uc5b4 \ub3d9\uc791 \uc885\ubcc4<\/p>\n<\/td><td width=\"118\" bgcolor=\"#00CCFF\"><p align=\"center\">Kp\uc758 \uac12<\/p>\n<\/td><td width=\"110\" bgcolor=\"#00CCFF\"><p align=\"center\">Ki\uc758 \uac12<\/p>\n<\/td><td width=\"116\" bgcolor=\"#00CCFF\"><p align=\"center\">Kd\uc758 \uac12<\/p>\n<\/td><\/tr><tr><td width=\"134\"><p>\ube44\ub840 \uc81c\uc5b4<\/p>\n<\/td><td width=\"118\"><p align=\"center\">0.3~0.7T\/KL<\/p>\n<\/td><td width=\"110\"><p align=\"center\">0<\/p>\n<\/td><td width=\"116\"><p align=\"center\">0<\/p>\n<\/td><\/tr><tr><td width=\"134\"><p>PI \uc81c\uc5b4<\/p>\n<\/td><td width=\"118\"><p align=\"center\">0.35~0.6T\/KL<\/p>\n<\/td><td width=\"110\"><p align=\"center\">0.3~0.6\/KL<\/p>\n<\/td><td width=\"116\"><p align=\"center\">0<\/p>\n<\/td><\/tr><tr><td width=\"134\"><p>PID \uc81c\uc5b4<\/p>\n<\/td><td width=\"118\"><p align=\"center\">0.6~0.95T\/KL<\/p>\n<\/td><td width=\"110\"><p align=\"center\">0.6~0.7\/KL<\/p>\n<\/td><td width=\"116\"><p align=\"center\">0.3~0.45T\/K<\/p>\n<\/td><\/tr><\/tbody><\/table><p style=\"color: rgb(0, 0, 0); font-family: 'Malgun Gothic'; font-size:12pt; line-height: normal;\"><br \/>\uc774 \ud30c\ub77c\ubbf8\ud130\uc5d0 \ubc94\uc704\uac00 \uc788\uc9c0\ub9cc, \uc774 \ud06c\uae30\uc5d0 \uc758\ud55c \ucc28\uc774\ub294 \ud2b9\uc131\uc758 \ucc28\uc774\ub85c \ub098\ud0c0\ub098\uba70, \uc544\ub7ab \uadf8\ub9bc\uacfc \uac19\uc774, \ud30c\ub77c\ubbf8\ud130\uac00 \ub9ce\uc740 \uacbd\uc6b0\uc5d0\ub294 \ubbf8\ubd84, \uc801\ubd84 \ud6a8\uacfc\uac00 \ube68\ub9ac \ud6a8\ub825\uc774 \ub098\ud0c0\ub098\ubbc0\ub85c \uc544\ub7ab \uadf8\ub9bc\uc758 \uc801\uc0c9\uc120\uc758 \ud2b9\uc131\uacfc \uac19\uc774 overshoot\uc774 \ud06c\uac8c \ub208\uc5d0 \ub748\ub2e4. \ud30c\ub77c\ubbf8\ud130\uac00 \uc791\uc740 \ucabd\uc758 \uacbd\uc6b0\ub294 \ud558\uce21 \ud669\uc0c9\uc120\uc758 \ud2b9\uc131\uacfc \uac19\uc774 \ub41c\ub2e4.<br \/>&nbsp;<\/p>\n<blockquote style=\"color: rgb(0, 0, 0); font-family: 'Malgun Gothic'; font-size:12pt; line-height: normal;\"><p><br \/><\/p>\n<p style=\"text-align: left; clear: none; float: none;\"><img decoding=\"async\" editor_component=\"image_link\" src=\"\/xfiles\/attach\/images\/5094\/547\/001\/a5282187103a08a59bc7c42a9ef12663.gif\" alt=\"\" \/><\/p>\n<p><br \/><\/p>\n<\/blockquote><\/blockquote><p><br \/><\/p>\n<div id=\"papago-trans\" style=\"display: none; position: absolute !important; left: 297px; top: 626px;\"><div class=\"papago-trans-icon\" style=\"background-image:url(chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/papago19.png)\"><\/div><\/div><div class=\"papago-bubble ui-draggable\" style=\"display: none; left: 282px; top: 887px; opacity: 1;\"><div class=\"papago-draggable papago-dragbar ui-draggable-handle\"><\/div><div><select id=\"lang-source\" class=\"papago-lang-selector\" name=\"source\"><option value=\"auto\" selected=\"\">\uc790\ub3d9\uac10\uc9c0<\/option><option value=\"en\">\uc601\uc5b4<\/option><option value=\"ja\">\uc77c\ubcf8\uc5b4<\/option><option value=\"zh-CN\">\uc911\uad6d\uc5b4 (\uac04\uccb4)<\/option><option value=\"ko\">\ud55c\uad6d\uc5b4<\/option><option class=\"es\" value=\"es\">\uc2a4\ud398\uc778\uc5b4<\/option><\/select><div style=\"display: inline-block !important; vertical-align: middle !important; margin: 0px 10px !important;\"><p id=\"papago-lang-auto\" style=\"margin: 0px !important; padding: 0px !important;\"><\/p>\n<\/div><div id=\"papago-txt1\" class=\"papago-txt\"><\/div><\/div><div><select id=\"lang-target\" class=\"papago-lang-selector\" name=\"target\"><option value=\"en\">\uc601\uc5b4<\/option><option value=\"ja\">\uc77c\ubcf8\uc5b4<\/option><option value=\"zh-CN\">\uc911\uad6d\uc5b4 (\uac04\uccb4)<\/option><option value=\"ko\">\ud55c\uad6d\uc5b4<\/option><option class=\"es\" value=\"es\">\uc2a4\ud398\uc778\uc5b4<\/option><\/select><div id=\"copy-button\" class=\"papago-toolbar-button\" title=\"copy\"><span class=\"papago-button-img\" style=\"background:url(chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/content_copy_black_18dp.png) 2px 2px no-repeat\"><\/span><\/div><\/div><div id=\"papago-txt2\" class=\"papago-txt\"><\/div><div class=\"papago-bubble-closebtn\" style=\"background:url(chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/x_8px.png) no-repeat;\" role=\"button\" tabindex=\"0\"><\/div><span class=\"papago-dragbtn papago-draggable ui-icon ui-icon-grip-dotted-vertical ui-draggable-handle\" style=\"background-image: url(&quot;chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/ui-icons.png&quot;);\"><\/span><span class=\"papago-gearbtn ui-icon ui-icon-gear\" style=\"background-image:url(chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/ui-icons.png)\"><\/span><span class=\"papago-pinbtn ui-icon ui-icon-pin-s\" style=\"background-image: url(&quot;chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/ui-icons.png&quot;);\"><\/span><div class=\"papago-bubble-arrow-id papago-bubble-arrow papago-bubble-arrowdown\" style=\"left: 200px;\"><div class=\"papago-bubble-arrowimplbefore\"><\/div><div class=\"papago-bubble-arrowimplafter\"><\/div><\/div><hr \/><div class=\"papago-ad\"><center style=\"height: 25px !important; min-width: 300px !important;\"><p style=\"padding: 0px !important;\">\ub9ac\ubdf0\ub294 \uac1c\ubc1c\uc790\uc5d0\uac8c \ud070 \ud798\uc774 \ub429\ub2c8\ub2e4. <a href=\"https:\/\/chrome.google.com\/webstore\/detail\/papago-translate\/enddgifdbfoefnelepppgaabobdfbcpe\/reviews\" target=\"_blank\" rel=\"noopener\">\uc751\uc6d0\ud558\ub7ec \uac00\uae30<\/a><\/p>\n<\/center><\/div><\/div>\n","protected":false},"excerpt":{"rendered":"<p>\ucd9c\ucc98:&nbsp;http:\/\/www.ktechno.co.kr\/pictech\/motor05.html 1. PID \uc81c\uc5b4\ub780? \uc790\ub3d9\uc81c\uc5b4 \ubc29\uc2dd \uac00\uc6b4\ub370\uc11c \uac00\uc7a5 \ud754\ud788 \uc774\uc6a9\ub418\ub294 \uc81c\uc5b4\ubc29\uc2dd\uc73c\ub85c PID \uc81c\uc5b4\ub77c\ub294 \ubc29\uc2dd\uc774 \uc788\ub2e4.&nbsp;\uc774 PID\ub780, P: Proportinal(\ube44\ub840)&nbsp;I: Integral(\uc801\ubd84)&nbsp;D: Differential(\ubbf8\ubd84)&nbsp;\uc758 3\uac00\uc9c0 \uc870\ud569\uc73c\ub85c \uc81c\uc5b4\ud558\ub294 \uac83\uc73c\ub85c \uc720\uc5f0\ud55c \uc81c\uc5b4\uac00 \uac00\ub2a5\ud574\uc9c4\ub2e4. 2. \ub2e8\uc21c On\/Off \uc81c\uc5b4 \ub2e8\uc21c\ud55c On\/Off \uc81c\uc5b4\uc758 \uacbd\uc6b0\uc5d0\ub294 \uc81c\uc5b4 \uc870\uc791\ub7c9\uc740 0%\uc640 100% \uc0ac\uc774\ub97c \uc655\ub798\ud558\ubbc0\ub85c \uc870\uc791\ub7c9\uc758 \ubcc0\ud654\uac00 \ub108\ubb34 \ud06c\uace0, \uc2e4\uc81c \ubaa9\ud45c\uac12\uc5d0 \ub300\ud574 \uc9c0\ub098\uce58\uac8c \ubc18\ubcf5\ud558\uae30 \ub54c\ubb38\uc5d0, \ubaa9\ud45c\uac12\uc758 \ubd80\uadfc\uc5d0\uc11c \u51f8\u51f9\ub97c \ubc18\ubcf5\ud558\ub294 [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[29],"tags":[],"class_list":["post-525","post","type-post","status-publish","format-standard","hentry","category-multi_copter_base"],"_links":{"self":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/525","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=525"}],"version-history":[{"count":0,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/525\/revisions"}],"wp:attachment":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=525"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=525"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=525"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}