float Kp float Ti float T float Td float a0 float a1 float a2 float ek float ek1 float ek2 float uk float uk1 float ad_just Ti= T= Td=； a0=Kp*(1+T/Ti+Td/T) ek1=0 ek2=0 uk=0 uk1=0 ad_just=0

PID算法.txt

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