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应用不同ＰＩＤ参数对各种控制对象进行大量实验，观察分析其结果，总结出用波形法进行ＰＩＤ参数自整定的专家系统．系统具有预整定、自整定和自动起动功能，使过程在起动、设定值改变以及过程扰动情况下，根据性能指标要求在线整定ＰＩＤ参数，控制性能保持在较优状态．
A large number of experiments were carried out on various control objects with different PID parameters. The results were observed and analyzed, and the expert system for PID parameter self-tuning using waveform method was summarized. The system has the functions of pre-tuning, auto-tuning and auto-start, so that the process adjusts the PID parameters online according to the performance index when the process is started, set value changes and process disturbances, and the control performance remains in a better state.