针对立磨粉磨系统的非线性、大滞后、慢时变问题,设计了广义预测PID控制器(GPC-PID).通过构造广义预测控制目标函数中的控制加权序列使广义预测控制具有PID控制算法的结构,通过广义预测控制和PID的相互递推关系计算PID参数.仿真结果表明,广义预测PID控制能较好地稳定磨内压差,并且具有响应速度快、抗干扰性强、鲁棒性好等优点. A generalized predictive PID controller (GPC-PID) is designed for the non-linearity, large delay and slow time-varying problems of vertical mill grinding system.By constructing control weighted sequence in general objective predictive control objective function, The structure of the algorithm is calculated by generalized predictive control and PID recursion relationship.The simulation results show that the generalized predictive PID control can stabilize the internal pressure difference and has the advantages of fast response, strong anti-interference, robust Sex is good and so on.