The paper presents self - regulation factor fuzzy - pid controller and pid self - regulation fuzzy controller in order to control temperature lagging object and nonlinear object in taking - up device 针对热风箱温度滞后的控制和卷绕过程中的非线性控制,本文提出了自调整因子模糊? pid复合控制器和pid参数自调整模糊控制器。