中文摘要：

为了在复杂的动态操作环境下实现PID参数的自整定,探讨了基于继电反馈的参数自整定法,仿真结果表明使用该方法可以轻易实现自整定。一方面证明了这种识别和控制程序的先进、简单。另一方面,与以往的方法相比,这种新控制器有更强的抗干扰性、更好的鲁棒性能和动态响应。此外,该方法成功地应用于有大的时间滞后的一阶加纯滞后（FOPDT）系统,这是其他传统PID自整定方法所不能实现的。

英文摘要：

In order to operate in a complex dynamic environment to achieve the self-tuning PID parameters,this paper discusses the parameters based on relay feedback self-tuning method.It is shown that this proposed method realizes automatic tuning easily based on the relay identification.For one thing,an improved simple proof of this identification and control procedure is provided.For another thing,this new controller entitles stronger disturbance rejection and better robust performance and the dynamic response compared with the former methods.Furthermore,the proposed method successfully applies to the First-Order Plus Dead-Time（FOPDT） system with large time delay while many other traditional Proportional-Integral-Derivative（PID）self-tuning strategies even fail to achieve.