PID算法是自动控制领域最常用的误差消除算法，可以用其将一个动态数据输入序列进行处理达到 自稳定的特性。在这里实现的是PID算法的核心（比例、积分、微分）的数值计算部分，采用模块 化数据结构使得该代码能够在一个项目中完成多个PID控制任务的实现。-PID algorithm is the most commonly used in the field of automatic control error elimination algorithm, you can use a dynamic data input sequence processing to achieve self-stabilizing characteristics. Here the numerical calculation of the core of the PID algorithm (proportional, integral, derivative), modular data structure so that the code implementation of the PID control tasks can be completed in a project.