说明：  参考PID控制原理图在Matlab Simulink里搭建PID控制模块并对它进行封装，模块主要由比例环节、积分环节、微分环节构成，封装的模块可设置Kp、Ki、Kd、输出限幅最大、最小值等参数
(Referring to the PID control principle diagram, the PID control module is built and packaged in MATLAB Simulink. The module is mainly composed of proportional link, integral link and differential link. The packaged module can set parameters such as KP, Ki, KD, maximum and minimum output limit)