本文介绍了一种实用自适应PID控制器,它是以MCS-51系列单片微机为核心,采用PID控制规律结合参数辨识的控制算法,实现了PID参数完全在线自动整定。该控制器适用于被控制对象未知或慢时变的场合,既可替代常规PID控制器,也可作为分布式系统的低级智能控制器。 This paper introduces a practical adaptive PID controller, which is based on MCS-51 series of single-chip microcomputer, the use of PID control law combined with parameter identification control algorithm to achieve the PID parameters fully online automatic tuning. This controller is suitable for the situation that the controlled object is unknown or slow and time-varying, which can replace the conventional PID controller and also as the low-level intelligent controller of distributed system.