常规PID控制器主要采用模拟PID控制器。这种控制器的控制规律是：根据给定值和输出值构成的偏差按比例、积分和微分通过线性组合构成控制量，对被控对象进行控制。-Conventional PID controller is used mainly analog PID controller. This controller is the control law: according to the given value and output value constitutes a deviation by proportional, integral and differential form by a linear combination of the amount of control, control of the controlled object.