PID controller
A proportional–integral–derivative controller (PID controller) is a generic .control loop feedback mechanism widely used in industrial control systems. A PID controller attempts to correct the error between a measured process variable and a desired setpoint by calculating  and then outputting a corrective action that can adjust the process accordingly.
The  PID  controller  calculation  (algorithm)  involves  three  separate  parameters;  the Proportional, the  Integral  and Derivative values.  The Proportional  value  determines the reaction to the current error, the Integral determines the reaction based on the sum of recent    errors and the Derivative determines the reaction to the rate at which the error has been changing. The weightedsum of these three actions is used to adjust the process via a control    element such as the position of a control valve or the power supply of a heating element. By  "tuning" the three constants in the PID controller algorithm the PID can provide control action designed for specific process requirements. The response of the controller can be des
cribed in terms of the responsiveness  of the controller to  an error, the degree to  which the controller overshoots the setpoint and the degree of system oscillation. Some applications may require  using only one or two modes to provide the appropriate system control. This is achieved by    setting the gain of undesired control outputs to zero. A PID controller will be called a PI, PD, P or I controller in the absence of the respective control actions. PI controllers are particularly common, since derivative action is very sensitive to measurement noise, and the absence of an integral value may prevent the system from reaching its target value due to the control action.
1.Control loop basics
A familiar example of a control loop is the action taken to keep one's shower water at the ideal temperature, which typically involves the mixing of two process streams, cold and hot    water. The person feels the water to estimate its temperature. Based on this measurement they perform a control action: use the cold water tap to adjust the process. The person would repeat this input-output control loop, adjusting thecontroller翻译中文 hot water flow until the process temperature stabilized at the desired value.
Feeling the water temperature is taking a measurement of the process value or process    variable (PV). The desired temperature is called the setpoint (SP). The output from the controller and input to the process (the tap position) is called the manipulated variable (MV).  The difference between the measurement and the setpoint is the error (e), too hot or too cold  and by how much. As a controller, one decides roughly how much to change the tap position  (MV) after one determines the temperature (PV), and therefore the error. This first estimate is the equivalent of the proportional action of a PID controller. The integral action of a PID

controller can be thought  of as gradually adjusting the temperature when it is  almost right. Derivative action can be thought of as noticing the water temperature is getting hotter or colder, and how fast, and taking that into account when deciding how to adjust the tap. Making a change that is too large when the error is small is equivalent to a high gain controller and will lead to overshoot. If the controller were to repeatedly make changes that 
  were too large and repeatedly overshoot the target, this control loop would be termed unstable and the output would oscillate around the setpoint in either a constant, growing, or decaying  sinusoid. A human would not do this because we are adaptive controllers, learning from the    process history, but PID controllers do not have the ability to learn and must be set up correctly. Selecting the correct gains for effective control is known as tuning the controller.
If a controller starts from a stable state at zero error (PV = SP), then further changes by  the controller will be in response to changes in other measured or unmeasured inputs to the    process that impact on the process, and hence on the PV . Variables that impact on the process other than the MV are known as disturbances and generally controllers are used to reject disturbances  and/or  implement  setpoint  changes.  Changes  in  feed  water  temperature constitute a disturbance to the shower process.
In theory, a controller can be used to control any process which has a measurable output  (PV), a known ideal value for that output (SP) and an input to the process (MV) that will affe
ct the relevant PV. Controllers are used in industry to regulate temperature, pressure, flow rate,  chemical  composition,  speed  and  practically  every  other  variable  for  which  a measurement exists. Automobile cruise control is an example of a process which utilizes automated control.

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