【Purposes】 PID controllers are widely used in the control of integral systems. In the practical application of the integral system, the control effect is usually affected by the delay time. At the same time, the controller will be affected when the controlled integral parameter changes greatly. 【Methods】 In this context, an adaptive dynamic PID controller parameter tuning method suitable for time delay integral systems is proposed in this paper, considering the influence of parameters such as the voltage of the integral system, the variation range of the controlled object, and delay time. The relationship between the PID controller parameters and the integral system control object is clarified. At the same time, the tuning of the differential filter parameters in practical applications is considered. 【Conclusion】 In Simulink, a non-linear system with a 10-fold change of the controlled integral parameter is simulated, and the dynamic control of the non-linear system is achieved with the method proposed in this paper, which shows good control results. Besides, the application feasibility of the method is verified in a practical PWM control system.