pid算法，将偏差的比例（Proportion）、积分（Integral）和微分（Differential）通过线性组合构成控制量，用这一控制量对被控对象进行控制，这样的控制器称PID控制器-pid algorithm, the deviation ratio (Proportion), integral (Integral) and differential (Differential) control the volume through the linear combination of form, use this control to control the amount of the controlled object, such a controller, said PID controller