说明：  在基于频率特性的控制器参数自整定算法的研究中使用和撇混合编程进 行仿真实验, 利用两种语言的优势互补, 在实验速度与实时性方面有了很大提高。给出了实现设计的具体过 程, 使该算法从实验室仿真层次上向现场实际应用跨出了重要一步。
(Based on the frequency characteristics of the controller parameters self-tuning algorithm and write off the use of hybrid programming for simulation experiments, the use of two languages complement each other, in the experimental aspects of speed and real-time has been greatly improved. Given the specific design process, so that the algorithm-level simulation from the laboratory to practical application of the scene are taking an important step.)