pid算法，将偏差的比例（Proportion）、积分（Integral）和微分（Differential）通过线性组合构成控制量，用这一控制量对被控对象进行控制，这样的控制器称PID控制器-pid algorithm, the deviation ratio (Proportion), integral (Integral) and differential (Differential) control the volume through the linear combination of