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PID control block diagram Two, PID control overview In automatic control, generally P(proportion), I(integral), D(differential) are not used alone. PI control, PD control and PID control are often used. 1) PI control P motion control does not completely eliminate bias. To eliminate residual bias, PI control is generally used, that is, the sum of P+I operations. When using PI control, can eliminate by changing the target value and deviation. 2) PD control In order to make oscillation attenuation of P action and system stability, PD control can be used, that is, the sum of P and D operations. In other words, PD control applies to loads where the process itself has no braking effect. 3) PID control PID control is a combination of PI control and PD control. PID operation is the sum of P, I and D operations, which can obtain the control process with no deviation, high precision and system stability. (1) Negative effect: when the deviation X(target value – measured value) is positive, increase the amount of execution (output frequency); If the deviation is negative, the amount of execution is reduced. (2) Positive effect: when the deviation X(target value – measured value) is negative, increase the execution (output frequency); If the deviation is positive, the amount of execution is reduced.