传统的PID控制器无法适用于各种形式的积分系统,或者鲁棒性不高,为时滞积分系统设计了一种采用直接合成法的PID控制器。首先,比较积分系统与PID控制器的特征方程,期望的特征方程包含多个极点,且此类极点均位于相同的期望位置;然后,对参数进行调节以获得期望的系统鲁棒性。将控制器方案应用于多种传递函数进行仿真实验,结果显示了算法可适用于多种积分系统,且保持了较好的鲁棒性。 The traditional PID controller can not be applied to all kinds of integral systems or its robustness is not high. A PID controller based on direct synthesis is designed for time-delay integral system. First, we compare the eigenvalue equation between the integral system and the PID controller. The desired eigenvalue contains multiple poles, and the poles are located at the same desired position. Then, the parameters are adjusted to obtain the desired system robustness. The controller scheme is applied to a variety of transfer functions for simulation experiments. The results show that the proposed algorithm can be applied to many kinds of integral systems and maintain good robustness.