说明：  PID是Proportional(比例)、Integral(积分)、Differential(微分)三者的缩写。PID调节是连续控制系统中技术最成熟、应用最广泛的调节方式。PID调节实质是根据输入的偏差值，按照比例、积分、微分的函数关系进行运算，运算结果用以控制输出
(PID is the abbreviation of proportional, integral and differential. PID regulation is the most mature and widely used regulation method in continuous control system. The essence of PID regulation is to operate according to the input deviation value and the function relationship of proportion, integral and differential, and the operation result is used to control the output)