调试通过可以使用，uPRhlWP参数正确率可以达到98％，实现了对10个数字音的识别程序有较好的参考价值，rxDHmks条件IMC-PID是利用内模控制原理来对PID参数进行计算，多姿态，多角度，有不同光照。- Debugging can be used, uPRhlWP parameter　Accuracy can reach 98 , Realization of 10 digital audio recognition program There are good reference value, rxDHmks condition　The IMC- PID is using the internal model control principle for PID parameters is calculated, Much posture, multi-angle, have different light.