这类控制器在大偏差范围内利用模糊推理的方法调整系统的控制量U，而在小偏差范围内转换成PID控制，两者根据事先给定的偏差范围自动实现。-This kind of controller in the big deviation range by using fuzzy reasoning method to adjust the system control quantity U, and in small deviation range NaZhuan with PID control, both, according to a given skew range prior to implementation.