PID 算法：在过程控制中，PID 控制器，一直是应用最为广泛的一种自动控制器；PID控制也一直是众多控制方法中应用最为普遍的控制算法-PID algorithm: in process control, PID controller, has been the most widely used of an automatic controller　PID control is one of many control methods have been applied most common control algorithm