比例积分

• Next , consulting current feedback control , the flux feedback control algorithm is designed . this algorithm has two loops , the inner loop is flux feedback loop , the outer one is air gap feedback loop ; the outer loop uses pid controller whose output is expected flux density , the inner uses the proportional or pi controller whose output is the magnet control voltage
  其次,参照电流环控制的串级思想,设计出了基于磁通反馈的悬浮控制算法,该算法也采用双环控制,内环为磁通环,外环为位置环;外环采用pid控制器,输出为期望磁通密度,内环采用比例或比例积分控制器,输出为电磁铁控制电压。