摘要:PID控制问世至今已有近70年历史，它以其结构简单、稳定性好、工作可靠、调整方便而成为工业控制的主要技术之一。当被控对象的结构和参数不能完全掌握，或得不到精确的数学模型时，控制理论的其它技术难以采用时，系统控制器的结构和参数必须依靠经验和现场调试来确定，这时应用PID控制技术最为方便。即当我们不完全了解一个系统和被控对象﹐或不能通过有效的测量手段来获得系统参数时，最适合用PID控制技术。

　　　PID控制，实际中也有PI和PD控制。PID控制就是根据系统的误差，利用比例、积分、微分计算出控制量进行控制的。 

　　　目前PID控制在工业控制系统中无处不见，随着控制效果的要求不断提高，PID逐渐向智能化发展，但形形色色“时髦”的现代控制理论中的PID最终还是源自经典PID理论。

　　　为什么PID应用如此广泛、又长久不衰？是因为PID解决了自动控制理论所要解决的最基本问题，既系统的稳定性、快速性和准确性。调节PID的参数，可实现在系统稳定的前提下，兼顾系统的带载能力和抗扰能力，同时，在PID调节器中引入积分项，系统增加了一个零积点，使之成为一阶或一阶以上的系统，这样系统阶跃响应的稳态误差就为零。

关键词 PID参数；PID控制器；PID控制；参数自整定；仿真

Abstract:　The advent of PID control has been nearly 70 years of history, with its simple structure, good stability, reliable, easy to adjust and become one of the main technology of industrial control. When the structure and parameters of the controlled object can not fully grasp, or the lack of a precise mathematical model, control theory is difficult to use other techniques, the system controller structure and parameters must rely on experience and on-site commissioning to determine, when the application PID control is most convenient. That is, when we do not fully understand a system and the controlled object, or can not be an effective means of measurement to obtain the system parameters, the most suitable PID control.     PID control, in practice there are PI and PD control. PID control is based on the error of the system, using a proportional, integral, differential control amount is calculated for the control.Currently PID control in industrial control systems have been witnessed, with the effect of increasing demands control, PID gradually to the development of intelligent, but all kinds of "fashionable" modern control theory ultimately derived from the classic PID PID theory.Why PID application is so wide and long-lasting? PID solution is due to the automatic control theory to solve the fundamental problem, both the stability, speed and accuracy. Adjust the PID parameters can be realized in the system is stable under the premise of both systems with the capacity and anti-interference ability, meanwhile, was introduced in the PID regulator integral term, the system adds a zero plot points, making an order or an order of more than one system, so the system step response of the steady-state error is zero.

Keywords  PID parameters  PID controller  PID control  parameter auto-tuning step   Simulation