说明：  增量型PID算法汇编程序，增量式PID算法的输出量为 UnΔ = Kp[(en-en-1)+(T/Ti)en+(Td/T)(en-2*en-1+en-2)] 式中，en、en-1、en-2分别为第n次、n-1次和n-2次的偏差值，Kp、Ti、Td分别为比例系数、积分系数和微分系数，T为采样周期。
(PID algorithm for incremental compilation process, incremental PID algorithm output for UnΔ = Kp [(en-en-1)+ (T/Ti) en+ (Td/T) (en-2* en-12B ! en-2)] where, en, en-1, en-2, respectively, for the first n times, n-1 and n-2 times the value of the deviation, Kp, Ti, Td, respectively, the proportional coefficient, integral coefficient and differential coefficient, T is sampling period.)