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介绍旨在消除大纯滞后影响的ＰＩＰ控制器的基本原理．针对大时变纯滞后的ＰＩＰ控制器的实现问题，提出了一种根据变纯滞后的大小而动态改变采样周期来模拟纯滞后时间的方法，并给出了递推公式．仿真结果表明，这种方法对大时变纯滞后的对象具有优良的控制性能，并且简单、实用、易于在微机上实现．
Describes the basic principles of a PIP controller designed to eliminate the effects of large net hysteresis. Aimed at the realization of PIP controller with large time-varying pure lag, a method of simulating pure lag time by dynamically changing the sampling period according to the size of the lag is given and a recursive formula is given. Simulation results show that this method has excellent control performance for large time-varying and time-lag objects, and is simple, practical and easy to implement on a microcomputer.