The application discloses a PID control method. The method comprises: delta(t) is inputted into a first tracker to obtain an outputted first transition signal; delta(t)-1 is inputted into a second tracker to obtain an outputted second transition signal; the delta(t) is used as a unit step signal; a product of the first transition signal and an initial value of a preset proportional parameter is determined as a proportional parameter in PID parameters; a product of the second transition signal and an initial value of a preset differential parameter is determined as a differential parameter in the PID parameters; a PID control amount is calculated in real time based on the PID parameter; and thus a controlled object is controlled based on the PID control amount. According to the application,smooth continuity adjustment is realized; the overall control performance is improved effectively; the adverse effect on the system control effect by the time lag characteristic of the time lag system is eliminated; and the occurrence of system overshoot and oscillation is avoided. In addition, the application also discloses a PID control device and equipment which also have the same above-mentioned beneficial effects.