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I摘要近年来，伴随着微电子技术，通讯技术，控制技术，计算机技术和软件技术的发展，工业自动化设备的发展突飞猛进。可编程控制器是一种应用非常广泛的自动控制装置，它将传统的继电器控制技术、计算机技术和通讯技术融为一体，具有控制能力强、操作灵活方便、可靠性高、适宜长期连续工作的特点，非常适合液位控制的要求。PID闭环控制是控制系统中应用很广泛的一种控制算法，对大部分控制对象都有良好的控制效果。目前工业自动化水平已成为衡量各行各业现代化水平的一个重要标志。PID控制及其控制器已在工程实际中得到了广泛的应用。本文介绍了PID控制技术的基础知识和工作原理，并以由富士变频器、富士PID调节器、台湾亚锐公司可编程控制器（PLC）、压力变送器组成的单闭环控制系统为例，详尽介绍了PID调节器在工程实践中的具体应用。关键词：PID；闭环控制系统；变频器；PLC；压力变送器IIAbstractIndustrialautomationfacilitieshaveexperiencedarapidgrowthinrecentyearsalongwiththedevelopmentofmicroelectronicstechnology,communicationtechnology,controltechnology,computertechnology,andsoftwaretechnology.PLCisaself-controlfacilitywithwideapplicationprospect,whichintegratestraditionalrelaycontroltechnology,computertechnologyandcommunicationtechnology,havingthefeaturesofhighcontrollability,easyoperation,stability,fitforlongtermcontinuousworkingandsoon.Itmeetsthedemandsofliquidlevelcontrol.PIDclosedcontrolisawidelyusedcontrollingalgorithmincontrolsystem,andhasexcellentcontrollingeffectsonmostofcontrolledobjects.Atpresentthelevelofindustrialautomationhasbecomeanimportantsignofthemodernizationofeveryindustries.PIDcontrolandcontrollersnowhavebeenworkedinawiderangeofengineeringapplications.ThispaperintroducesthebasicknowledgeofPIDcontroltechnologyandtheworkprinciple,andbyFujiinverter,Fuji,PIDregulator,Taiwansharpcompanyprogrammablecontroller(PLC)andsingleclosed-loopcontrolsystemconsistingofpressuretransmitterasanexample,detailedintroducesthePIDregulatorinthespecificapplicationintheengineeringpractice.Keywords:PID；closed-loopcontrolsystem；transducer；PLC；pressuretransmitterIII目录1引言......................................................................................................................................11.1课题研究背景............................................................................................................11.2PID控制器的发展历史.............................................................................................21.3数字PID技术............................................................................................................32控制系统及PID控制..........................................................................................................42.1控制系统的构成及分类............................................................................................42.1.1开环控制系统..................................................................................................42.1.2闭环控制系统..................................................................................................42.2PID控制.....................................................................................................................52.2.1比例（P）控制................................................................................................52.2.2积分（I）控制.................................................................................................72.2.3微分（D）控制...............................................................................................83PID控制器基本原理.........................................................................................................113.1PID控制系统原理图...............................................................................................113.2基本原理和特点......................................................................................................123.2.1PID调节器的微分方程.................................................................................123.2.2PID调节器的传递函数.................................................................................123.3对控制性能的影响..................................................................................................123.4控制规律的选取......................................................................................................133.5PID参数整定方法...................................................................................................143.5.1经验法............................................................................................................143.5.2临界比例度法................................................................................................153.5.3衰减曲线法（阻尼振荡法）........................................................................153.5.4动态特性参数法............................................................................................163.6PID参数的预置与调整...........................................................................................173.7PID算法的离散化...................................................................................................174可编程控制器(FAB)..........................................................................................................194.1FAB简介..................................................................................................................19IV4.2FAB功能特点及应用范围......................................................................................194.2.1FAB功能特点................................................................................................194.2.2FAB应用范围.................................................