鎽� 瑕�锛� 鍦ㄥ嵃鍒锋鐨勭尘鍋忔帶鍒朵腑锛屽浠ヨ(di脿o)绡€(ji茅)PID鎺у埗鍣ㄧ殑鍙冩暩(sh霉)鐐虹爺绌舵柟鍚�锛屼娇鍗板埛姗熺殑鎬ц兘鑹ソ銆傝嚜鎶楁摼鎺у埗鍣ㄧ殑鐗规€ф槸鎺у埗灏嶈薄鐨勬ā鍨嬫湭鐭ユ檪锛屼粛鑳藉?q奴)宕縁(xi脿n)杓冪偤绮剧⒑鐨勬摼鍕曡鍎�銆傛湰鏂囧緸鍗版鐗╃悊绲�(ji茅)妲�(g貌u)浠ュ強鍗板埛宸ヨ棟鍑虹櫦(f膩)锛岀郸鍑轰簡閮ㄥ垎鎺ㄥ皫(d菐o)鐒′富杌稿嚬鐗堝嵃鍒锋妯″瀷姝ラ浠ュ強瀹屾暣鎬濊矾銆傜劧鍚庨€氶亷浠跨湡寰楀埌鍩轰簬妯″瀷鐨勮嚜鎶楁摼鎺у埗鍣紙鍗充娇妯″瀷绮楃嚗锛夋瘮鏅€氱殑PID鎺у埗鍣紝浠ュ強鏅€氳嚜鎶楁摼鎺у埗鍣ㄦ湁鏇村ソ鐨勬€ц兘銆� 闂�(gu膩n)閸靛瓧锛氱劇涓昏桓鍑圭増鍗板埛姗�锛� 鍗板埛姗熸ā鍨�锛� 鑷姉鎿炬帶鍒跺櫒 锛� 锛�1 School of Control Science & Engineering 锛圫handong University锛� Jinan 250061; 2 B&R 锛圫hanghai锛� Industrial Automation Ltd cmp Shanghai 200235锛� Abstract: Tuning parameter of PID controller is the research direction in the correction control of printers in order to get better performance. Auto Disturbance Rejection Controller 锛圓DRC锛� can approximately compensate the disturbance even the model is unknown. The paper gives partial demonstration and complete thoughts to deduce the printer model on the basis of physical structure of printers and printing arts. ADRC based on model锛坋ven the model is not exact锛� has better performance than ordinary PID controller and ordinary ADRC according to simulation. 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