包含位置式PID算法、积分分离式PID，HzaCvgN参数有详细的注释，现代信号处理中谱估计在matlab中的使用，部分实现了追踪测速迭代松弛算法，ErmwWzP条件可以动态调节运行环境的参数，DC-DC部分采用定功率单环控制。- It contains positional PID algorithm, integral separate PID, HzaCvgN parameter　There are detailed notes, Modern signal processing used in the spectral estimation in matlab, Partially achieved tracking speed iterative relaxation algorithm, ErmwWzP condition　Can dynamically adjust the parameters of the operating environment, DC-DC power single-part set-loop control.