说明：  { interface } type TPIDController = record PID_Kp, PID_Ki, PID_Kd: real; PID_Integrated : real; PID_Prev_Input: real; PID_MinOutput, PID_MaxOutput: real; PID_First_Time, PID_Int_Improvement, PID_Diff_Improvement: boolean; PID_Prev_AbsError: real; end; procedure Init_PID(var Controller: TPIDController; Kp, Ki, Kd, MinOutput, MaxOutput: real); // Initialises the PID engine of "Controller" // Kp = the "proportional" error multiplier // Ki = the "integrated value" error multiplier // Kd = the "derivative" error multiplier // MinOutput = the minimal value the output value can have (should be < 0) // MaxOutput = the maximal value the output can have (should be > 0)