模糊PID双模复合控制器将模糊控制和PID控制相结合，综合了模糊控制和PID控制的优点，但是模糊PID双模复合控制器在两种控制模式之间切换时存在阈值选取以及抖动的问题。文章提出了一种改进的模糊PID双模复合控制器，解决了在两种控制模式之间切换时的阈值选取以及抖动问题。最后，通过Matlab仿真软件对控制器的性能进行了仿真分析。结果表明，该控制器能够保证在整个控制过程中平滑运行，不存在抖动问题。

Fuzzy-PID dual-mode compound controller combines fuzzy control and PID control, which synthesizes the advantages of fuzzy control and PID control. However, there are some problems such as threshold selection and chattering when the fuzzy-PID dual-mode compound controller switches between the two control modes. In this paper, an improved fuzzy-PID dual-mode compound controller is proposed, which solves the problem of threshold selection and chattering when switching between two control modes. Finally, the performance of the controller is simulated and analyzed by the simulation software of Matlab. The results show that the controller can ensure smooth operation in the whole control process, and there is no jitter problem.