针对自衡对象,提出一种基于期望模型的PID自整定方法,该方法无需被控对象的数学模型.利用Maclaurin展开技术,给出了PID控制器的整定公式;并通过开环阶跃响应,实现了PID控制器的无模型自整定.仿真结果表明,利用该自整定方法所得的PID能有效地提高高阶被控对象的系统性能;即使在噪声环境下,该方法仍具有很好的鲁棒性. According to the self-balancing object, a PID self-tuning method based on expectation model is proposed, which does not need the mathematical model of the controlled object. By using Maclaurin expansion technique, the tuning formula of PID controller is given. Through the open loop step response, The PID controller self-tuning is realized.The simulation results show that the PID obtained by the self-tuning method can effectively improve the system performance of the high-order controlled object, and the method still has a good performance even in the noise environment Great.