该程序描述了用单片机实现离散的PID控制器，通过改变kp,ki,kp参数可以实现控制器的调节。-The program describes the use of single-chip realization of a discrete PID controller, by changing the kp, ki, kp controller parameter adjustment can be achieved.

pid //PID算法 //声明变量 //定义变量 float Kp float Ti float T float Td float a0 float a1 float a2 float ek float ek1 float ek2 float uk float uk1 float ad_just //变量初始化，根据实际情况初始化 Kp= Ti= T=