以工业控制计算机为控制器，在数控焊接变位机的实时控制中，设计了一种基于模糊控制和 Ｐ Ｉ Ｄ 控制加权合成的双模智能协调控制器．从仿真和实验的结果来看，这种控制系统取得了满意的动、静态性能，不仅响应速度超过了改进后的模糊控制，而且稳态误差也比常规的 Ｐ Ｉ Ｄ 控制大大减小了，在数控焊机变位机的控制中具有较高的实用价值． Taking the industrial control computer as the controller, a dual-mode intelligent coordinated controller based on fuzzy control and PID control weighted synthesis was designed in the real-time control of CNC welding positioner. From the simulation and experimental results, this control system has achieved satisfactory dynamic and static performance, not only the response speed exceeds the improved fuzzy control, but also the steady-state error is greatly reduced than the conventional PID control, CNC welding positioner in the control of high practical value.