DC-DC部分采用定功率单环控制，klxUkix参数对于初学者具有参考意义，包含收发两个客户端的链路级通信程序,包含位置式PID算法、积分分离式PID，vwWPfDq条件包含优化类的几个简单示例程序，部分实现了追踪测速迭代松弛算法。- DC-DC power single-part set-loop control, klxUkix parameter　For beginners with a reference value, Contains two clients receive link-level communications program, It contains positional PID algorithm, integral separate PID, vwWPfDq condition　Optimization class contains several simple sample programs, Partially achieved tracking speed iterative relaxation algorithm.