소방설비기사(전기) · 2019년 1회 · 31번

Question

비례+적분+미분동작(PID동작)식을 바르게 나타낸 것은?

Accepted Answer

$x_0=K_p\left(x_i+\dfrac{1}{T_I}\int x_i\,dt+T_D\dfrac{dx_i}{dt}\right)$

Answer

$x_0=K_p\left(x_i-\dfrac{1}{T_I}\int x_i\,dt-T_D\dfrac{dx_i}{dt}\right)$

Answer

$x_0=K_p\left(x_i+\dfrac{1}{T_I}\int x_i\,dt+T_D\dfrac{dt}{dx_i}\right)$

Answer

$x_0=K_p\left(x_i-\dfrac{1}{T_I}\int x_i\,dt-T_D\dfrac{dt}{dx_i}\right)$