此程序是变型PID控制算法的仿真程序，采用了变速积分方法，系统偏差大时，积分作用应减小，反之应加强。变速积分可以根据系统误差大小改变积分速度，提高了系统品质。-this procedure is a change in the PID control algorithm simulation program using the variable integration method, the system deviation, the integral role should be reduce