PID调节器结构简单、参数易于调整，当被控对象精确数学模型难以建立、系统的参数又经常发生变化时，应用PID控制技术，在线整定最为方便。 -PID adjustor simple structure, easy adjustable parameters, when the controlled object mathematical model is hard to build up, the parameters of the system and often changes, appli