好的。
All right.

欢迎回来。
Welcome back.

那么让我们看看您在上一课中做了什么，我们使用了两个控制器。
So let's see what you have done in the last lesson we have took two controllers.

其一是控制的象征。
One was symbol of control.

这一个和另一个是按控制顺序控制死区的，我们已经看到，我们得到了这种振荡，你知道，很多时候你不需要隔离这些振荡。
This one and the other one was on of control the deadband in the order of control we have seen that we have we were getting this oscillations you know and these are not required many of time you don't in isolation.

我们需要稳定的反应。
We need a stable response.

所以这部分在这里这个地方。
So this part here this spot here.

这就是错误。
This is the error.

好的。
OK.

我们在生产和底部方向都有。
And we have both in the production and in the bottom direction.

所以屏幕上你知道这里的曲线，这就是反馈。
So the screen you know the curve here this is the feedback.

这是实际值。
This is the actual value.

这里的这条线是设定点。
And here this line over here this was the setpoint.

因此，这不是理想的响应，因为这将连续数百次打开输出。
So this is not a desired response because this will turn on the output continuously hundred and on and on and on.

所以这就是您知道的多次损坏您的执行器的原因。
So this is this you know damage your actuator many times.

因此，我们确实控制了该死区，而该死区的好处是我们降低了输出频率。
So then we did control that deadband and this deadband the benefit was we have decreased the frequency of the output.

所以现在输出在距离这里很长一段时间后才开始，并且正在这里进行。
So now the output is on after a long time from here and it's getting on here.

在这里，上车和下车都非常快。
Here it was very quickly getting on and off.

所以这仍然比控制要好得多。
So this is still much better then on of control.

因此，如果您没有任何其他选择，如果您无法进行适当的控制，您可以这样做。
So in case if you don't have any other choice if you're you cannot have proportionate control you can do on of that.

伙计，这会延长执行器的寿命。
Man this will increase the life of your actuators.

这就是我们在上一课中所做的。
So this is this is what we have done in the last lesson.

现在，下一部分是到目前为止我们刚刚使用数字控制进行的操作，我们只是拥有控制类型。
Now the next part is so far we were just doing with the digital control we were just having the type of control.

现在我们转向模拟控制。
Now we moved to analog control.

好的模拟控制，其中将按比例控制输出，而不是在数字中，我们有 100％，或者在模拟中我们只有 0％，您可以有一个范围从 100 到零的比例值。
OK analog control in which will control the output proportionally not here in the digital we have 100 percent or we have just zero percent in Analog you can have a proportional value ranging from 100 to zero.

可能是 10%。
It could be 10 percent.

任何人都可能是 75%，具体取决于错误。
It could be any person could be 75 percent that depends on the error.

让我们看看下一张幻灯片中的内容。
So let's see what we have in the next slide.

所以现在我们的控制中我们的控制是比例控制。
So now we have the control in our control is a proportional control.

好的，让我们看看我们有什么比例控制，我们将以液体为例。
OK so let's see what we have in proportionate control and we'll take the example of liquid.

因此 Saiz 控制器的输出与进入控制器的输入信号成正比。
So it's Saiz controller output is proportional to the input signal which is going to the controller.

现在，如果你忘记了“比例”这个词，“不成比例”意味着它不会像他的控制那样开关。
Now here if you forgot the word proportional disproportional means it will not be on and off unlike it his control.

如果它更大，则它将与控制成比例，如果它更小，则吊船的输出将更大，反之将成比例更小。
It will be proportional to the control if it is more the output of a gondola will be more if it is less the opposite will be less proportionally.

而比例的大小取决于控制器的增益。
And how much proportional it will be that is depending upon the gain of controller.

因此，我们将在这种情况下进行一个非常好的实验，您会更好地理解它。
So we will take a very nice experiment in this case and you will understand it much better.

并表示典型应用是错误率缓慢变化。
And it say that the typical application is slow change of error rate.

如果速度慢，可以使用比例控制，它的输入和输出之间具有线性关系。
If it is slow you can use proportional control and it has a linear relationship between input and output.

所以这是一个线性响应。
So it's a linear response.

因此，当您说这是线性响应时，您可以想象该操作是稳定的。
So when you say it's a linear response you can imagine this operation is stable.

一般来说，稳定性与线性关系有很大关系，如果你有非抑制性，那么稳定性就会扭曲。
Generally stability is much related to a linear relationship if you have a non inhibition should then stability will distort.

那么让我们看看这是如何工作的。
So let's see how does this work.

所以我们这里的第一个元素是错误。
So the first element we have here is the error.

现在，如果你知道 Studien 中的错误通常是错误，如果你认为我就在这里，这是输入减去输出，通常是错误。
Now if you know the error in Studien more is generally the error is if you consider I was right here this is inport minus output that is generally the error is.

因此，部分会发生的是需求输出即反馈。
So what will happen in part is the requirement output is the feedback.

因此，当您从过程中获得将从输入中减去的反馈时，您会在这里得到一些误差，该误差将转移到比例增益，这意味着误差将乘以增益。
So when you get feedback from your process that will be subtracted from the input and you will get some error here that error goes to the proportional gain which means the error will be multiplied by multiplied by the gain.

这将进入控制输出。
And that will go to the control output.

K 如果增益为 1，则 enever 直接进入输出，如果增益为 1，则误差将相乘并进入输出。
K if the gain is 1 then the enever go directly to the output if gain is to then the error would be multiplied and go to the output.

因此您可以看到，您正在按比例增加增益的输出。
So you can see that proportionately you're increasing the output by the gain.

如果误差为 0.5，则如果误差为 5，则输出将为 2.5 k。
If error is 0.5 then if the error is 5 the output will be 2.5 k.

所以这取决于增益设置。
So this depends upon the gain settings.

因此，让我们看看关于错误和多样性的术语是您的输出。
So let's see the terminologies we have for the error and variety is your output.

您的输入是什么。
And what is your input.

所以这里代替你代替 uty 也可以写成。
So here instead of you instead of uty You can also write as.

哦，对不起，这是一个输出。
Oh I'm sorry this is a to output.

为什么是最终的输出。
Why is the is the final output.

好吧，不要混淆这个尴尬的定义。
OK so don't get confused this define awkward.

不是这样的。
Not not.

不是这个。
Not this.

让我把它擦掉吧。
Let me just erase it.

这里的混乱Whitey就是最终的输出。
This confusion here Whitey is the final output.

我将在底部向您展示这一点。
I will show you that in the bottom.

所以你做控制器输出控制器。
So you do the controller output controller.

输出基本是。
Output is basically.

对不起。
Sorry.

控制器输出就是这个输出。
Controller output is this output.

从控制器输出到设备的输出。
The output which goes out from the controller to the plant.

所以这就是你的 U-T。
So this is your U-T.

然后你就有了 W.T.
Then you have W.T.

该图中未显示输入输出。
is the input output is not shown here in this diagram.

我会阅读另一张图表，而不是编辑器，vite 是不在该图表中的计划，再次出现在此处的 KBC 比例增益。
I would read another diagram than is the editor and vite is the plan which is not in this diagram again KBC proportional gain which comes here.

好的。
OK.

让我们看看这里有什么。
So let's see what we have here.

现在，这就是您应该关注两种不同颜色的汉族的确切图表。
Now this is the this is the exact diagram which you should focus on two different colors of Han.

所以这里你有参考输入。
So here you have reference input.

这是W.T.
This is W.T.

还有这个W.T.
and this W.T.

就是我在这里提到的。
is what I mentioned here.

这是用户所需的实际设定点。
This is the this is the actually set point set point set point which you required by the user.

所以用户会说“好吧，我需要 50% 的水平”。
So the user will say OK I need 50 percent level.

那是你的输入。
That is your input.

这是参考点和杠杆。
This is the reference point and lever.

所以这个信号到达求和点。
So this signal goes to the summation point.

如果杠杆已经达到 50%，您就会在此时获得反馈。
And this is the point where you get the feedback if the lever is already at 50 percent.

你知道，在我解释之前，误差将为零。
You know that before I have explained the error would be zero.

在这种情况下，如果它为零，则不会输出。
In that case if it is zero there is no going to the output.

但如果水平是 75%，那么内侧就是 50%。
But if the level is let's say 75 percent so inboard is 50 percent.

所以我的意思并不是说负25%。
So I don't really mean minus minus 25 percent.

因此，它将与您的反馈和输入成正比。
So it would be proportional to your feedback and input.

好的。
OK.

所以这个误差会传给你的比例控制器，它有一个增益 K.P.。
So this error goes to your proportional controller which has a gain K.P..

因此误差将乘以 K.P。
So the error will be multiplied by K.P.

然后你会得到一个控制器输出。
and then you will get a controller output.

好的。
OK.

同样，如果控制器再次为 1，则误差将仅转移到控制器，增益将加倍并发送到设备。
Again if the controller controller again is just 1 the error will just move to the controller out where the gain is to be doubled and go to the plant.

然后在绘图中，您会遇到一些扰动，这些扰动定义了您想要如何控制过程，因为如果出现扰动，变量就会发生变化，然后计划的输出就像水平的增加一样。
And then at the plot you have some disturbances which define how you want to control the process because if you have a disturbance the variables will change and then the planful has an output which is like increasing of level.

这是来自传感器的白色。
And this is whitey is coming from a sensor.

我们有一个传感器。
We have a sensor.

所以白色是由传感器从这里测量的。
So White is measured by the sensor from here.

这又回到了输入。
And that goes back to the input.

这就是比例控制的整个过程。
So this is the whole process in proportional control that.

好的。
All right.

现在，如果这有点令人困惑，我很抱歉如果这有点令人困惑，我们可以看一下这个例子，这会消除你的疑虑。
Now if this is a bit confusing I'm sorry if this if this is a little bit confusing we can see the example and that would clear your doubt.

因此，在继续这个例子之前，我想解释一下它所说的比例禁止的内容。
So before proceeding to the example there is something I would like to explain what it says proportional banned.

所以基本上人们应该禁止什么，比例禁令是比例增益的倒数，如果你在这里看到乘以100，因为在任何比率中都存在一个人Tahj的比例带所以比例带Saiz它被定义为对应的输入值的跨度完全改变输出。
So basically people should ban is nothing proportional ban is the inverse of proportional gain if you see here multiply by 100 because in any rate present proportional band of a person Tahj So a proportional band Saiz it is defined as the span of values of inport which corresponds to full change in the output.

这意味着，如果假设这是一个比例带，高于该带，则根据您的控制器，该值将是 100% 或 0%。
It means if suppose this is a proportional band here above this band this value will be 100 percent or zero percent based on your controller.

在这个人以下，该值将为 100% 或 0%。
And below this man the value will be 100 percent or 0 percent.

在此范围内，输出的值将成比例。
Within this band within this range the value of the of the output will be proportional.

好的，该比例高于比例带的值，低于比例值，否则在 ARS Ripper 上或在 ARS Ripper 上，输出将是 100% 的数字。
OK this is proportional above the value of proportionate band and below the value proportional bad the output will be digital either 100 percent on ARS Ripper's and on.

好的，这就是范围，因此范围定义了您的值将在其中成比例。
OK so this is the band so band defines in which your value will be proportionate.

让我们看一个例子，它说我们是否要花费 25% 到 25% 的跨度。
So let's see an example it says if we're going to spend 25 percent to 25 percent span.

例如，过程控制器为零 200 个单位。
Example the process controller is zero 200 units.

这意味着产量为 200 单位。
It means the output is 200 units.

做任何那个人都等于25个单位。
Do any that person is equal to 25 units.

VEIDT 表示该频带正好低于此值或任何您可以说低于此值的宽窗口的 25%。
VEIDT it means the band is 25 percent right below this or any of a wide window you can say below this.

如果你想象这个是 25%。
If you imagine this one is this one is 25 percent.

因此，在此窗口下方，输出将充满，在此窗口上方，进程会下降。
So below this window the output will be full on above this window the processes fall off.

在此内部，即使进程打开或关闭滑动锁定百分比，也会如此。
Inside this even though the process is on or off a sliding lock percentage so it will be.

这是一个有点令人困惑的短语，它的意​​思是它是成比例的。
This is a little confusing phrase it means it's proportional.

让我们看看。
So let's see that.

我希望这第三部分会让你有时感到困惑。
I hope this the third part is that you know confusing sometimes.

让我们看一个例子，我们有一个练习，这个练习说通过校准我们已经完成的传感器来读取计时的反馈。
So let's see an example we have an exercise and this exercise says read the feedback of the timing by calibrating the sensor we have done it.

使用 C K 生成比例控制算法。
Generate proportional control algorithm using a C K.

所以我们必须做一个末端返回控制独立旋钮的比例增益的增益。
So we have to make an end return control the gain of proportional gain from independent knob.

我们需要一个外部旋钮来再次控制显示。
We need a knob outside to control again display.

好的。
All right.

现在，如果我说这是比例控制，我们知道我们必须首先计算误差。
Now if I say it's a proportional control we know we have to first calculate the error.

解决这一点减去反馈的问题。
Address what is that point minus feedback.

好的减去反馈和控制器的输出。
Ok minus feedback and the output of the controller.

假设 T 是控制器输出，等于误差 Error 乘以 K.P.。
Let's say you of T which is the controller output that is equal to error Error multiply by K.P..

我们必须用C写discord..
We have to write discord in C..

所以最后我们的输出是填充是填充是它等于这个误差，即设定点减去反馈。
So finally our output is filling was filling was this will it be equal to this error which is set point minus feedback.

所以设定点减去反馈就是正确的。
So a set point minus feedback and right.

KP 再次乘以设定点减去反馈。
KP which is again multiply by set point minus feedback.

这就是您的控制器代码。
That said that's your code for a controller.

好的。
All right.

所以我们现在必须在我已经为您制作的 ACL 中编写此代码。
So we have to make this code now in a ACL which I've already made for you.

我只是要解释一下，这是代码，因为您之前看到的控制器的输出等于您的增益 K.P。
I'm just going to explain that this is the code because the output of controller you have seen before that is equal to your gain K.P.

乘以误差。
multiply by error.

这就是我们必须在这里编写的代码。
So this is the code we have to make in over here.

好的。
OK.

因此，让我们将其调用到工厂 IO 并生成代码，我将在此处开始此视频。
So let's call it to factory IO and generate the code and I'm going to start this video here.

我将在下一个视频中向您展示代码。
I will be showing you the code in the next video.

好的，谢谢您的观看。
All right so thank you for watching.