说明：  此程序为模糊PID控制程序，自适应模糊PID控制器以误差e和误差变化率e 作为输入，可以满足不同时刻的e和e 对PID参数自整定的要求。利用模糊控制规则在线对PID参数进行修改，便构成了自适应模糊PID控制器。
(procedure for fuzzy PID control procedures, adaptive fuzzy PID controller error e and e error rate of change as input to meet the different moments of e and e PID tuning parameters from the request. Fuzzy-control rules on PID parameters changed, they constitute the adaptive fuzzy PID controller.)