针对传统的PID控制技术中参数优化难题以及就PID控制用于轨迹跟踪时存在收敛速度慢的问题,提出了一种新的PID控制器设计方法。该方法首先构建基于输出反馈的PI控制器,然后把传统的PID参数求解问题转换为状态输出反馈K的求解,经数次迭代运算获得优化后的PID控制参数。仿真和实验结果表明,采用该方法设计的PI-P控制器,被控系统可以获得较高的控制精度和跟踪性能。 Aiming at the problem of parameter optimization in traditional PID control technology and the problem of slow convergence speed when PID control is used in trajectory tracking, a new PID controller design method is proposed. Firstly, the PI controller based on output feedback is constructed. Then, the traditional PID parameter solving problem is transformed into the solution of state output feedback K, and the optimized PID control parameters are obtained after several iterations. The simulation and experimental results show that the PI-P controller and the controlled system designed by this method can achieve higher control accuracy and tracking performance.