How much to Guangxi optometry center with glasses
I don't remember it clearly.
it's very troublesome.
I need to go to registration computer optometry expert examination mydriasis optometry and try it on again in seven hours
Bus route: m332 → Luobao line → No.59, the whole journey is about 42.6km
1. Take no.m332 from Shangliao market, pass 15 stops, and reach the airport east subway station
2. Walk about 150m, and reach the airport east station
3. Take Luobao line, pass 19 stops, and reach chegongmiao station
4. Walk about 160m, and reach the China Merchants Bank building ① station
5. Take No.59, and pass 7 stops, To Beida hospital station 2 (you can also take No.79 or NO.213)
bus line: no.m413 → No.79, the whole journey is about 39.0km
1. Take no.m413 from Shangliao market, pass 29 stops, reach Baishizhou station 2
2, walk about 10m, reach Baishizhou station 1
3, take No.79, pass 13 stops, Arrive at Peking University Hospital Station 2
There is no pure metro line from Shenzhen Longgang to Ocean Park
bus scheme 1:
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bus route: m278 → Longgang line → 380b line, the whole journey is about 29.2km
1. Walk about 30m from Longgang District government to Jianshe building station
2. Take m278, pass 6 stops, and reach Ailian subway station (or take 811 or 812)
3. Walk about 100m to Ailian station
4. Take Longgang line, After 4 stops to Henggang station
5, walk about 120 meters to Henggang mansion station
6, take 380b line, after 12 stops to Xiaomeisha bus terminus
7, walk about 960 meters to Shenzhen Xiaomeisha ocean world
bus scheme 2:
bus route: Longgang line → 380b line, the whole journey is about 29.7 km
1 Walk about 1.0KM from Longgang District government to Longcheng Square Station
2. Take Longgang line, pass 6 stops to Henggang station
3. Walk about 120m to Henggang mansion station
4. Take 380b line, pass 12 stops to Xiaomeisha bus terminal
5. Walk about 960m to Xiaomeisha ocean world in Shenzhen
PID refers to proportion integral differential. In Chinese, it's proportional integral differential
remember two words:
1. PID is the classic control (used for a long time)
2. PID is the error control ()
to control the speed of hydraulic pump:
1. Frequency converter is used as motor drive; 2. Differential transformer - as output feedback
listen to me carefully about how PID controls the error:
the so-called "error" is the difference between the command and the output. For example, if you want to control the speed of the hydraulic pump to 1500 rpm (command voltage "= 6V), but in fact the speed of the hydraulic pump is only 1000 rpm (output voltage" = 4V), then the error is e = 500 rpm (corresponding voltage 2V). If the actual speed of the pump is 2000 rpm, the error E = - 500 rpm (note the sign)
the error value is sent to the PID controller as the input of the PID controller. The output of PID controller is: error multiplied by proportional coefficient Kp + ki * error integral + KD * error differential
KP * e + ki * ∫ EDT + KD * (De / DT) (where t is time, i.e. integration and differentiation of time)
the above formula is the sum of three terms (I hope you can understand), and the PID results are sent to the motor frequency converter or driver
from the above formula, if there is no error, i.e. e = 0, then KP * e = 0; Kd*de/dt=0 But ki * ∫ EDT is not necessarily 0. The sum of the three is not necessarily zero
in a word, if "error" exists, PID will adjust the frequency converter until the error = 0
there are three indexes to evaluate whether a control system is superior: fast, stable and accurate
the so-called fast is to make the pressure quickly reach the "command value" (I don't know how much time your system requires)
the so-called stable is to make the pressure stable without fluctuation or small fluctuation (I don't know how much fluctuation your system allows)
the so-called accurate, It requires that the error e between the "command value" and the "output value" be small (I don't know how much error your system allows)
for your system, if you want to be "fast", you can increase KP and Ki values
if you want to be "accurate", you can increase Ki values
if you want to be "stable", you can increase Kd values, It can rece pressure fluctuation
careful analysis shows that these three indicators are contradictory
if it is too fast, it may lead to instability
if it is too "stable", it may lead to "not fast"
as long as the system is stable and has integral Ki, the system has no static error (there will be dynamic error)
the so-called dynamic error refers to the error that exists when the "command value" is not constant and the "output value" cannot keep up with the "command value". No matter who designed the system, no matter how good the system is, there are dynamic errors. Dynamic errors reflect the tracking characteristics of the system. For example, some audio power amplifiers are not sensitive to high-frequency sound, which means that the tracking performance of the power amplifier is not good< There are two ways to adjust PID parameters: 1. Simulation method; 2; 2. "Trial and error method"
simulation method I don't think you will. Introce the recommended steps of "trial and error method"
"trial and error method" in setting PID parameters:
1. Set Ki and KD to 0 instead of integral and differential
2. Slowly increase KP value from 0, and observe whether the reaction speed of pressure is within your requirements
3. When the reaction speed of pressure reaches your requirement, stop increasing KP value
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5. Graally increase Ki value from 0
6. When the pressure begins to fluctuate, the increase of Ki will stop
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8. Slowly increase Kd value from 0, and observe whether the reaction speed of pressure is within your requirements;