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针对一阶时滞不稳定过程讨论了一类复合ＰＩＤ控制及其参数整定公式．该方法基于分步设计的思想，在比例控制器镇定基础上对闭环所构成的广义稳定对象，设计二级ＰＩＤ控制器．在二级控制器设计中，通过引入时滞二阶稳定模型优化ＰＩＤ参数．本文同时讨论了等价的二自由度ＰＩＤ控制器．
A class of compound PID control and parameter tuning formulas are discussed for the first-order unsteady process. Based on the idea of step-by-step design, this method designs a two-stage PID controller based on the stabilization of the proportional controller for the generalized stable object formed by the closed loop. In the second-order controller design, the PID parameters are optimized by introducing the second-order time-delay stable model. This article also discusses the equivalent two-degree-of-freedom PID controller.