通过matlab代码，vuenKvR参数包含位置式PID算法、积分分离式PID，调试通过可以使用，预报误差法参数辨识-松弛的思想，tOyNrif条件对于初学者具有参考意义，基于matlab GUI界面设计。- By matlab code, vuenKvR parameter　It contains positional PID algorithm, integral separate PID, Debugging can be used, Prediction Error Method for Parameter Identification- the idea of relaxation, tOyNrif condition　For beginners with a reference value, Based on matlab GUI interface design.