加入了积分运算，高速震荡变小了，选择了积分系数是0.1，和采样周期一样。但是高速震荡还是存在，超调基本上没有了。

当把积分数值除以十的时候，你会发现输出的震荡明显减少了，和开环控制的时候差不多，由此可以猜测，震荡有可能是由测试信号的精度决定的，另一方面可能是

因为PWM所引起的。通过综合比较发现，闭环系统的启动速度很快，比开环的快很多，但是加装了积分部分后，输出似乎变小了。-Add the integral operator, high-speed shocks become smaller, select the integral coefficient is 0.1, and the same sampling period. But there is still some high-speed shocks, basically there is no overshoot. When the integral value divided by ten, you will find that the output shocks significantly reduced, and the open-loop control is almost time, it can be speculated that turbulence could be the accuracy of signals from the testing decision, on the other hand may be arising because PWM. Through a comprehensive comparison, the closed-loop system to start fast, faster than the open-loop, but after the installation of an integral part of, the output seems to become smaller.