PID算法

Programmer是通过PID方式来计算OP值的。PID中P是强度参数，控制强度；I是积分参数，用来接近设定值；D是微分参数，使输出稳定在设定值附近。PID控制实际上是调整设定斜率和实际斜率的差距，让实际斜率在设定斜率附近震动，最后趋于稳定。-Programmer PID algorithm to calculate the way through the PID value of the OP. P is the strength of the PID parameters to control the strength　I is the integral parameter settings used to close　D is the differential parameters of the output stability around the set value. Adjust the set PID control is actually the slope and the actual slope of the gap, so the actual slope of the slope near the shock in the set, and finally stabilized.