摘要：【中文】本申请提供了用于PID参数的渐进式整定方法，包括基于受控系统结构确定对应受控系统的优化问题表达式以及对应受控系统的参考系统模型表达式；确定作为参数整定约束条件的PID参数选取范围；确定优化目标参数初始值，基于当前参数值与目标参数值的数值关系，判定是否触发PID参数整定操作；如果判定触发，在参数整定约束条件下基于参考系统模型表达式对优化问题表达式进行循环求解。通过基于过程输入输出数据直接整定PID控制器参数，因此无需建模过程；从而避免了因建模引入的模型误差，以及建模所需的大量测试数据和测试建模的时间成本。同时只需要少量的测试数据和计算资源，所以整定过程不会对生成产生较大扰动，适用于PID控制器的在线整定。 【EN】The application provides a progressive setting method for PID parameters, which comprises the steps of determining an optimization problem expression corresponding to a controlled system and a reference system model expression corresponding to a controlled system based on a controlled system structure; determining a PID parameter selection range as a parameter setting constraint condition; determining an initial value of an optimized target parameter, and judging whether to trigger PID parameter setting operation or not based on the numerical relationship between the current parameter value and the target parameter value; and if the judgment is triggered, circularly solving the optimization problem expression based on the reference system model expression under the parameter setting constraint condition. PID controller parameters are directly set based on process input and output data, so that a modeling process is not needed; thereby avoiding model errors introduced by modeling, as well as the large amount of test data required for modeling and the time cost of test modeling. Meanwhile, only a small amount of test data and calculation resources are needed, so that the setting process does not generate large disturbance to the generation, and the method is suitable for the online setting of the PID controller.