PID控制器(比例-积分-微分控制器)，由比例单元P、积分单元I和微分单元D组成[1]。通过Kp，Ki和Kd三个参数的设定-PID controller (proportional integral differential controllers), P　the proportion, integral unit I and differential unit of D [1]. Through the Kp, Ki and Kd three parameters setting