说明：  数字PID调节器算法的研究，采用常规的PI和PID调节器，构成计算机闭环系统，并对调节器的参数进行整定，使之具有满意的动态性能
(Digital PID controller algorithm, the conventional PI and PID regulator, constitute a closed-loop system computer, and the regulator tuning parameters, so that a satisfactory dynamic performance)