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href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-7.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"876\" height=\"514\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-7.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-193\" style=\"width:491px;height:auto\"  sizes=\"auto, (max-width: 876px) 100vw, 876px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-8.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"391\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-8.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-195\" style=\"width:484px;height:auto\"  sizes=\"auto, (max-width: 863px) 100vw, 863px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-9.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"871\" height=\"578\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-9.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-197\" style=\"width:495px;height:auto\"  sizes=\"auto, (max-width: 871px) 100vw, 871px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-10.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"871\" height=\"594\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-10.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-199\" style=\"width:479px;height:auto\"  sizes=\"auto, (max-width: 871px) 100vw, 871px\" \/><\/div><\/figure>\n\n\n\n<p><strong>\u7b2c\u4e09\u7ae0 \u6267\u884c\u5668<\/strong><\/p>\n\n\n\n<p><strong>\u6267\u884c\u5668\u6982\u8ff0<\/strong><\/p>\n\n\n\n<ul 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src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"812\" height=\"449\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-154.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-784\" style=\"width:644px;height:auto\"  sizes=\"auto, (max-width: 812px) 100vw, 812px\" \/><\/div><\/figure><\/div>\n\n\n<p><strong>\u8c03\u8282\u9600\u7684\u7279\u6027<\/strong><\/p>\n\n\n\n<p>\u7ed3\u6784\u7279\u6027<\/p>\n\n\n\n<ul 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src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"342\" height=\"230\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-155.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-787\" style=\"width:290px;height:auto\"  sizes=\"auto, (max-width: 342px) 100vw, 342px\" \/><\/div><\/figure><\/div>\n\n\n<p>\u5e76\u8054\u7ba1\u9053<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5168\u5f00\u6d41\u91cf\u6bd4<\/li>\n<\/ul>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/cef5543f1411d9048de82b567dccf0a.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"911\" height=\"823\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/cef5543f1411d9048de82b567dccf0a.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-790\" style=\"width:294px;height:auto\"  sizes=\"auto, (max-width: 911px) 100vw, 911px\" 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src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-793\" style=\"width:268px;height:auto\"  sizes=\"auto, (max-width: 330px) 100vw, 330px\" \/><\/div><\/figure><\/div>\n\n\n<ul class=\"wp-block-list\">\n<li>\u5e76\u8054\u7ba1\u9053<\/li>\n<\/ul>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-157.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"347\" height=\"374\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-157.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-796\" style=\"width:206px;height:auto\"  sizes=\"auto, (max-width: 347px) 100vw, 347px\" \/><\/div><\/figure><\/div>\n\n\n<p>\u8c03\u8282\u9600\u7684\u9009\u62e9<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">pid\u63a7\u5236\u539f\u7406<\/h2>\n\n\n\n<p>\u8fd9\u4f4d\u535a\u4e3b\u7684pid\u7b97\u6cd5\u8bb2\u89e3\u53ef\u4ee5\u53c2\u8003<\/p>\n\n\n\n<p>http:\/\/blog.chinaunix.net\/uid-30497107-id-5855168.html<\/p>\n\n\n\n<p>stm32 pid\u63a7\u5236<\/p>\n\n\n\n<p><a href=\"https:\/\/blog.csdn.net\/kk1kk2kk3kk4\/article\/details\/137402385\">https:\/\/blog.csdn.net\/kk1kk2kk3kk4\/article\/details\/137402385<\/a><\/p>\n\n\n\n<p>pid\u63a7\u5236\u6982\u8ff0<\/p>\n\n\n\n<p>PID\u662f\u5e94\u7528\u6700\u5e7f\u6cdb\u7684\u95ed\u73af\u63a7\u5236\u65b9\u6cd5\u4e4b\u4e00\uff0c\u662f\u4e00\u79cd\u5e38\u7528\u7684\u53cd\u9988\u63a7\u5236\u65b9\u6cd5\uff0c\u5bf9\u4e8e\u6bcf\u4e2aPID\u63a7\u5236\u5668\u7531\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\uff1a\u6bd4\u4f8b\u63a7\u5236\uff08Proportional\uff09\u3001\u79ef\u5206\u63a7\u5236\uff08Integral\uff09\u548c\u5fae\u5206\u63a7\u5236\uff08Derivative\uff09\u3002<\/p>\n\n\n\n<p>\u4e00\u822c\u800c\u8a00\uff0c\u76ee\u6807\u503c\u548c\u53cd\u9988\u503c\u4e3a\u540c\u79cd\u7269\u7406\u91cf\uff0c\u8f93\u51fa\u503c\u53ef\u4ee5\u662f\u65bd\u52a0\u5728\u88ab\u63a7\u7269\u4f53\u4e0a\u7684\u63a7\u5236\u91cf<br><strong>\u4e3e\u4f8b<\/strong>\uff1a\u5bf9\u7269\u4f53\u8fdb\u884c\u4f4d\u7f6e\u63a7\u5236\u65f6\uff0c\u76ee\u6807\u503c=\u76ee\u6807\u4f4d\u7f6e\uff0c\u53cd\u9988\u503c=\u5f53\u524d\u4f4d\u7f6e\uff0c\u8f93\u51fa\u503c=\u65bd\u52a0\u7684\u9a71\u52a8\u529b\u5927\u5c0f\uff0cPID\u5c31\u80fd\u5b9e\u65f6\u8ba1\u7b97\u51fa\u9a71\u52a8\u529b\u4f7f\u7269\u4f53\u5230\u8fbe\u76ee\u6807\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>\u63a7\u5236\u7a0b\u5e8f\u4e00\u822c\u4f1a\u5b9a\u65f6\u8fd0\u884cPID\u7b97\u6cd5\uff0c\u5728\u6bcf\u6b21\u8fd0\u884c\u65f6\uff0c\u5148\u8ba1\u7b97\u51fa<strong>\u8bef\u5dee=\u76ee\u6807\u503c-\u53cd\u9988\u503c<\/strong>\uff0c\u7136\u540e\u5206\u522b\u7531P\u3001I\u3001D\u4e09\u4e2a\u73af\u8282\u6839\u636e\u8bef\u5dee\u8ba1\u7b97\u51fa\u8f93\u51fa\u5206\u91cf\uff0c\u4e09\u4e2a\u5206\u91cf\u52a0\u548c\u5373\u4e3a\u6700\u7ec8\u8f93\u51fa\u503c\u3002<\/p>\n\n\n\n<p><strong>pid\u516c\u5f0f\u65f6\u57df\u548c\u9891\u57df<\/strong>?<\/p>\n\n\n\n<p>pid\u7279\u70b9<\/p>\n\n\n\n<p>\u6bd4\u4f8b\u73af\u8282\uff08\u73b0\u5728\uff09\u79ef\u5206\u73af\u8282\uff08\u8fc7\u53bb\uff09\u5fae\u5206\u73af\u8282\uff08\u672a\u6765\uff09<\/p>\n\n\n\n<p>PID\u6846\u56fe<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-167-1024x313.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"313\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-167-1024x313.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-833\" style=\"width:723px;height:auto\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure><\/div>\n\n\n<p><strong>PID\u4e09\u4e2a\u73af\u8282\u7684\u4f5c\u7528<\/strong><\/p>\n\n\n\n<p>\u7531\u63a7\u5236\u65e0\u4eba\u673a\u6848\u4f8b\u6211\u4eec\u53ef\u4ee5\u603b\u7ed3\u51faPID\u4e09\u4e2a\u73af\u8282\u5404\u81ea\u7684\u4e3b\u8981\u4f5c\u7528\u548c\u6548\u5e94\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6bd4\u4f8b\u73af\u8282<\/strong>\uff1a\u8d77\u4e3b\u8981\u63a7\u5236\u4f5c\u7528\uff0c\u4f7f\u53cd\u9988\u91cf\u5411\u76ee\u6807\u503c\u9760\u62e2\uff0c\u4f46\u53ef\u80fd\u5bfc\u81f4\u632f\u8361\u3002<\/li>\n\n\n\n<li><strong>\u79ef\u5206\u73af\u8282<\/strong>\uff1a<strong>\u6d88\u9664\u7a33\u6001\u8bef\u5dee<\/strong>\uff0c\u4f46\u4f1a\u589e\u52a0\u8d85\u8c03\u91cf\u3002(\u7a33\u6001\u8bef\u5dee\u51b3\u5b9a\u8d8b\u4e8e\u7a33\u5b9a\uff0c\u60f3\u8c61\u4e00\u4e2a\u4e0d\u65ad\u8870\u51cf\u7684\u632f\u8361\u66f2\u7ebf)<\/li>\n\n\n\n<li><strong>\u5fae\u5206\u73af\u8282<\/strong>\uff1a\u4ea7\u751f<strong>\u963b\u5c3c\u6548\u679c<\/strong>\uff0c\u6291\u5236\u632f\u8361\u548c\u8d85\u8c03\uff0c\u4f46\u4f1a\u964d\u4f4e\u54cd\u5e94\u901f\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5982\u4f55\u786e\u5b9a\u5b9e\u9645\u7269\u7406\u91cf<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u76ee\u6807\u503c\u548c\u53cd\u9988\u503c<\/strong>\uff1a\u901a\u5e38\u4e3a\u540c\u79cd\u7269\u7406\u91cf\uff0c\u5c31\u662f\u4f60\u9700\u8981\u63a7\u5236\u7684\u7269\u7406\u91cf\u3002<\/li>\n\n\n\n<li><strong>\u8f93\u51fa\u503c<\/strong>\uff1a\u901a\u5e38\u662f\u76f4\u63a5\u9a71\u52a8\u88ab\u63a7\u5bf9\u8c61\u7684\u63a7\u5236\u91cf\u3002\u8f93\u51fa\u91cf\u4f5c\u7528\u5728\u88ab\u63a7\u5bf9\u8c61\u4e0a\u9700\u8981\u7ecf\u8fc7\u65f6\u95f4\u79ef\u7d2f\u624d\u4f1a\u4ea7\u751f\u53cd\u9988\u91cf\u7684\u53d8\u5316\uff0c\u6362\u8a00\u4e4b\uff0c\u8f93\u51fa\u503c\u901a\u5e38\u4e3a\u53cd\u9988\u503c\u5bf9\u4e8e\u65f6\u95f4\u7684\u4f4e\u9636\u7269\u7406\u91cf\u3002\u4f8b\u5982\uff1a\u76ee\u6807\u503c\u548c\u53cd\u9988\u503c\u4e3a\u4f4d\u7f6e\uff0c\u5219\u8f93\u51fa\u503c\u53ef\u4ee5\u4e3a\u901f\u5ea6\u6216\u52a0\u901f\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5c0f\u7ed3\uff1a\u9700\u8981\u5f3a\u8c03\u7684\u662f\uff0cPID\u5e76\u4e0d\u77e5\u9053\u88ab\u63a7\u5bf9\u8c61\u662f\u4ec0\u4e48\uff0c\u5b83\u4ec5\u8d1f\u8d23\u8fdb\u884c\u6570\u503c\u8ba1\u7b97\uff0c\u800c\u6211\u4eec\u2014\u2014\u4f5c\u4e3a\u63a7\u5236\u7cfb\u7edf\u7684\u8bbe\u8ba1\u8005\uff0c\u5c31\u9700\u8981\u4e3aPID\u6307\u5b9a\u8fd9\u4e09\u4e2a\u91cf\u6240\u5bf9\u5e94\u7684\u5b9e\u9645\u7269\u7406\u91cf\uff0c\u8fd9\u5728\u4e0d\u540c\u7684\u63a7\u5236\u7cfb\u7edf\u4e2d\u662f\u4e0d\u4e00\u6837\u7684\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5e38\u7528\u672f\u8bed<\/h2>\n\n\n\n<p>\u88ab\u63a7\u5bf9\u8c61\uff1a\u9700\u8981\u63a7\u5236\u7684\u5bf9\u8c61\u3002\u4f8b\u5982\uff0c\u6e29\u5ea6\u63a7\u5236\u4e2d\u7684\u52a0\u70ed\u5668\u3001\u901f\u5ea6\u63a7\u5236\u4e2d\u7684\u7535\u673a\u7b49\u3002<br>\u76ee\u6807\u503c\uff08Setpoint\uff09\uff1a\u671f\u671b\u88ab\u63a7\u5bf9\u8c61\u8fbe\u5230\u7684\u72b6\u6001\u91cf\u3002\u4f8b\u5982\uff0c\u6e29\u5ea6\u63a7\u5236\u4e2d\u7684\u671f\u671b\u6e29\u5ea6\u3001\u901f\u5ea6\u63a7\u5236\u4e2d\u7684\u76ee\u6807\u901f\u5ea6\u3002<br>\u53cd\u9988\u503c\uff08Measured Value\uff09\uff1a\u88ab\u63a7\u5bf9\u8c61\u5f53\u524d\u65f6\u523b\u7684\u72b6\u6001\u91cf\u3002\u4f8b\u5982\uff0c\u5f53\u524d\u7684\u6e29\u5ea6\u3001\u5f53\u524d\u7684\u901f\u5ea6\u3002<br>\u589e\u76ca\uff08Gain\uff09\uff1a\u6bd4\u4f8b\u3001\u79ef\u5206\u548c\u5fae\u5206\u90e8\u5206\u7684\u653e\u5927\u7cfb\u6570\uff0c\u5206\u522b\u662fKp\u3001Ki\u548cKd\u3002<br>\u8f93\u51fa\u91cf\uff08Output\uff09\uff1aPID\u7684\u8ba1\u7b97\u7ed3\u679c\uff0c\u7528\u4e8e\u8c03\u6574\u88ab\u63a7\u5bf9\u8c61\u7684\u63a7\u5236\u529b\u3002\u4f8b\u5982\uff0c\u52a0\u70ed\u5668\u7684\u529f\u7387\u3001\u9a71\u52a8\u7535\u673a\u7684\u7535\u538b\u3002<br>\u8bef\u5dee\uff08Error\uff09\uff1a\u76ee\u6807\u503c\u4e0e\u53cd\u9988\u503c\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u516c\u5f0f\u4e3a\uff1a\u8bef\u5dee = \u76ee\u6807\u503c &#8211; \u53cd\u9988\u503c\u3002<br>\u7a33\u6001\u8bef\u5dee\uff08Steady-State Error\uff09\uff1a\u7cfb\u7edf\u5728\u7a33\u5b9a\u72b6\u6001\u4e0b\u4ecd\u7136\u5b58\u5728\u7684\u8bef\u5dee\u3002\u4f8b\u5982\uff0c\u52a0\u5165\u5e72\u6270\u540e\u4ecd\u5b58\u5728\u7684\u8bef\u5dee\u3002<br>\u9636\u8dc3\u8f93\u5165\uff08Step Input\uff09\uff1a\u5728\u7cfb\u7edf\u7a33\u5b9a\u72b6\u6001\u4e0b\uff0c\u76ee\u6807\u503c\u53d1\u751f\u7a81\u7136\u53d8\u5316\u3002\u4f8b\u5982\uff0c\u76ee\u6807\u6e29\u5ea6\u4ece20\u00b0C\u7a81\u7136\u5347\u9ad8\u523025\u00b0C\u3002<br>\u9636\u8dc3\u54cd\u5e94\uff08Step Response\uff09\uff1a\u9636\u8dc3\u8f93\u5165\u540e\uff0c\u88ab\u63a7\u5bf9\u8c61\u7684\u54cd\u5e94\u72b6\u6001\uff0c\u80fd\u591f\u4ee3\u8868\u7cfb\u7edf\u7684\u63a7\u5236\u6027\u80fd\u3002<br>\u77ac\u6001\u54cd\u5e94\uff08Transient Response\uff09\uff1a\u7cfb\u7edf\u4ece\u521d\u59cb\u72b6\u6001\u5230\u8fbe\u5230\u7a33\u6001\u7684\u8fc7\u6e21\u8fc7\u7a0b\uff0c\u5305\u62ec\u4e0a\u5347\u65f6\u95f4\u3001\u8d85\u8c03\u91cf\u548c\u8c03\u8282\u65f6\u95f4\u7b49\u3002<br>\u54cd\u5e94\u901f\u5ea6\uff08Response Speed\uff09\uff1a\u9636\u8dc3\u8f93\u5165\u540e\uff0c\u88ab\u63a7\u5bf9\u8c61\u518d\u6b21\u5230\u8fbe\u76ee\u6807\u503c\u7684\u901f\u5ea6\u3002<br>\u8d85\u8c03\u91cf\uff08Overshoot\uff09\uff1a\u9636\u8dc3\u8f93\u5165\u540e\uff0c\u88ab\u63a7\u5bf9\u8c61\u5230\u8fbe\u76ee\u6807\u503c\u540e\u8d85\u51fa\u76ee\u6807\u503c\u7684\u8ddd\u79bb\u3002<\/p>\n\n\n\n<p><br><strong>\u6bd4\u4f8b\u63a7\u5236<\/strong>(<strong>Proportional<\/strong>\uff09<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-168-1024x271.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"271\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-168-1024x271.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-837\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u8ba1\u7b97\u516c\u5f0fKp * error<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5047\u5982\u8ba9\u65e0\u4eba\u673a\u60ac\u505c\u572810\u7c73\u7684\u9ad8\u5ea6\uff0c\u4f46\u6b64\u65f6\u9ad8\u5ea6\u4e3a2\u7c73\uff0c\u6240\u4ee5\u6b64\u65f6\u8bef\u5dee(error)\u4e3a8\u7c73\uff0c\u5047\u8bbeKp=0.5\uff0c\u6bd4\u4f8b\u63a7\u5236\u6bcf\u6b21\u8c03\u8282\u7684\u9ad8\u5ea6\u5c31\u4e3a\uff1aKp * error<\/li>\n\n\n\n<li>\u6240\u4ee5\u7b2c\u4e00\u6b21\u8c03\u8282\u4e3a 0.5*8=4\uff0c\u6b64\u65f6\u8bef\u5dee\u53d8\u4e3a4\u7c73\u3002<\/li>\n\n\n\n<li>\u7b2c\u4e8c\u6b21\u8c03\u8282\uff1a0.5*4=2\uff0c\u6b64\u65f6\u8bef\u5dee\u53d8\u4e3a2\u7c73\u3002<\/li>\n\n\n\n<li>\u4f9d\u6b21\u8fdb\u884c\u8c03\u8282\uff0c\u8bef\u5dee\u9010\u6e10\u53d8\u5c0f\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u5c31\u53eb\u505a\u6bd4\u4f8b\u8c03\u8282\u3002<\/li>\n\n\n\n<li>Kp\u503c\u8d8a\u5927\uff0c\u7cfb\u7edf\u53cd\u5e94\u901f\u5ea6\u8d8a\u5feb\uff0c\u65e0\u4eba\u673a\u66f4\u5feb\u9760\u8fd1\u8bef\u5dee\u3002<\/li>\n\n\n\n<li>\u7f3a\u70b9\uff1a<strong>\u5e72\u6270<\/strong>\uff1a\u5bb9\u6613\u53d7\u5230\u5916\u754c\u5e72\u6270\uff0c\u6bd4\u5982\u6b64\u65f6\u6709\u6301\u7eed\u7684\u98ce\u5c06\u65e0\u4eba\u673a\u5411\u4e0b\u5439\uff0c\u5bfc\u81f4\u65e0\u4eba\u673a\u540c\u4e00\u5468\u671f\u5411\u4e0b1\u7c73\uff0c\u6b64\u65f6\u6bd4\u4f8b\u63a7\u5236\u7684\u8ba1\u7b97\u7ed3\u679c\u4e3a0.5*2=1\uff0c\uff08?\uff09\u6240\u4ee5\uff0c\u8fd9\u4f1a\u5bfc\u81f4\u65e0\u4eba\u673a\u6c38\u8fdc\u4fdd\u6301\u5728\u516b\u7c73\u7684\u9ad8\u5ea6\uff0c\u8bef\u5dee\u4fdd\u6301\u57282\u7c73\u3002\u8fd9\u4e5f\u53eb\u505a\u7a33\u6001\u8bef\u5dee\u3002<\/li>\n\n\n\n<li><strong>\u9707\u8361<\/strong>\uff1aKp\u503c\u8d8a\u5927\uff0c\u7cfb\u7edf\u53cd\u5e94\u901f\u5ea6\u8d8a\u5feb\uff0c\u65e0\u4eba\u673a\u66f4\u5feb\u9760\u8fd1\u8bef\u5dee\uff0c\u4f46\u540c\u65f6\u65e0\u4eba\u673a\u5728\u63a5\u8fd1\u76ee\u6807\u9ad8\u5ea6\u65f6\uff0c\u4ea7\u751f\u7684\u9707\u8361\u4e5f\u8d8a\u4e25\u91cd\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u79ef\u5206\u63a7\u5236\uff08Integral\uff09<\/strong><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-169-1024x326.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"326\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-169-1024x326.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-839\" style=\"width:722px;height:auto\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-170.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"899\" height=\"138\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-170.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-840\" style=\"width:658px;height:auto\"  sizes=\"auto, (max-width: 899px) 100vw, 899px\" \/><\/div><\/figure><\/div>\n\n\n<p>0.1*12=1.2\uff0c\u6240\u4ee5\u53ca\u65f6\u6709\u5411\u4e0b\u6301\u7eed\u7684\u98ce\u5f71\u54cd\u65e0\u4eba\u673a\uff0c\u7531\u4e8e\u79ef\u5206\u63a7\u5236\uff0c\u65e0\u4eba\u673a\u8fd8\u662f\u4f1a\u5411\u4e0a\u8d701.2\u7c73\u3002<\/p>\n\n\n\n<p>\u6240\u4ee5\u79ef\u5206\u63a7\u5236\u4f1a\u5bf9\u8bef\u5dee\u8fdb\u884c\u7d2f\u8ba1\uff0c\u4ece\u800c\u63d0\u4f9b\u66f4\u5927\u7684\u5347\u529b\uff0c\u8ba9\u65e0\u4eba\u673a\u6162\u6162\u7684\u671d\u7740\u76ee\u6807\u70b9\u9760\u8fd1\uff0c\u6700\u7ec8\u8bef\u5dee\u6d88\u9664\u4e3a0\u3002<\/p>\n\n\n\n<p>\u6240\u4ee5\u7ecf\u8fc7\u7b2c\u4e09\u6b21\u8c03\u8282\uff0c\u7d2f\u8ba1\u8bef\u5dee\u4ece12\u8c03\u6574\u5230\u4e8612.8\uff0c\u90a3\u4e48\u7b2c\u56db\u6b21\u8c03\u8282\u7684\u7ed3\u679c0.1*12.8=1.28\u3002<\/p>\n\n\n\n<p>\u4f46\u6b64\u65f6\u65e0\u4eba\u673a\u8ddd\u79bb\u76ee\u6807\u9ad8\u5ea6\u4ec5\u4e3a0.8\u7c73\uff0c\u5982\u679c\u8fd8\u662f\u8c03\u82821.28\u7c73\uff0c\u5c31\u4f1a\u51fa\u73b0<strong>\u8fc7\u51b2<\/strong>\u73b0\u8c61\u3002<\/p>\n\n\n\n<p>\u6b64\u65f6\u5c31\u9700\u8981\u4f7f\u7528\u5fae\u5206\u63a7\u5236\u8fdb\u884c\u66f4\u7ec6\u81f4\u7684\u8c03\u8282\u3002<\/p>\n\n\n\n<p><strong>\u5fae\u5206\u63a7\u5236\uff08Derivative\uff09<\/strong><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-171-1024x315.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"315\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-171-1024x315.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-841\" style=\"width:608px;height:auto\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure><\/div>\n\n\n<p>\u5fae\u5206\u63a7\u5236\u5c31\u662f\u901a\u8fc7\u5f53\u524d\u65f6\u523b\u4e0e\u524d\u4e00\u523b\u8bef\u5dee\u91cf\u7684\u5dee\u503c\u5bf9\u672a\u6765\u505a\u9884\u6d4b\u3002\u5982\u679c\u5dee\u503c\u4e3a\u6b63\uff0c\u5c31\u8868\u793a\u8bef\u5dee\u5728\u53d8\u5927\uff0c\u4e3a\u8d1f\u5c31\u8868\u793a\u8bef\u5dee\u5728\u51cf\u5c0f\u3002\u5982\u679c\u8bef\u5dee\u5728\u53d8\u5927\uff0c\u5c31\u4f1a\u52a0\u5927\u63a7\u5236\u5f3a\u5ea6\uff0c\u8ba9\u8bef\u5dee\u964d\u4e0b\u6765\u3002\u5982\u679c\u8bef\u5dee\u51cf\u5c0f\uff0c\u5c31\u4f1a\u51cf\u5c0f\u63a7\u5236\u5f3a\u5ea6\uff0c\u8ba9\u65e0\u4eba\u673a\u5e73\u7a33\u7f13\u548c\u7684\u5230\u8fbe\u6307\u5b9a\u503c\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-172.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1005\" height=\"95\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-172.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-842\" style=\"width:624px;height:auto\"  sizes=\"auto, (max-width: 1005px) 100vw, 1005px\" \/><\/div><\/figure><\/div>\n\n\n<p class=\"has-text-align-center\"><strong>d(error)\/dt = \u901f\u5ea6<\/strong><\/p>\n\n\n\n<p>\u5fae\u5206\u63a7\u5236\u7b97\u6cd5\u53ef\u4ee5\u5bf9\u65e0\u4eba\u673a\u7684\u901f\u5ea6\u505a\u51fa\u54cd\u5e94\uff0c\u5f53\u65e0\u4eba\u673a\u7684\u901f\u5ea6\u8fc7\u5feb\u65f6\uff0c\u5fae\u5206\u63a7\u5236\u4f1a\u62b5\u6d88\u4e00\u90e8\u5206\u7531\u6bd4\u4f8b\u63a7\u5236\u8ba1\u7b97\u51fa\u6765\u7684\u5347\u529b\uff0c\u4ece\u800c\u51cf\u7f13\u7cfb\u7edf\u7684\u9707\u8361\u3002\u6240\u4ee5\u5f53\u6211\u4eec\u63d0\u9ad8Kd\u7684\u503c\uff0c\u7cfb\u7edf\u7684\u9707\u8361\u4f1a\u9010\u6b65\u51cf\u5c0f\u3002<\/p>\n\n\n\n<p>\u4f46\u65e0\u8bba\u662f\u6bd4\u4f8b\uff0c\u79ef\u5206\u8fd8\u662f\u5fae\u5206\u63a7\u5236\uff0c\u6570\u503c\u8c03\u7684\u8fc7\u5927\uff0c\u65e0\u4eba\u673a\u5c31\u4f1a\u51fa\u73b0\u8fc7\u51b2\u73b0\u8c61\u3002<\/p>\n\n\n\n<p>PID\u8c03\u8282\u5668\u7684\u8f93\u5165\u8f93\u51fa\u5173\u7cfb\u4e3a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-191.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"978\" height=\"82\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-191.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1062\"  sizes=\"auto, (max-width: 978px) 100vw, 978px\" \/><\/div><\/figure><\/div>\n\n\n<p>\u6a21\u62df\u4eff\u771f<\/p>\n\n\n\n<p>\u4e0b\u9762\u8fd9\u4e2a\u7f51\u7ad9\u53ef\u4ee5\u6a21\u62df\u8c03\u8282PID\u53c2\u6570\u6765\u63a7\u5236\u65e0\u4eba\u673a<\/p>\n\n\n\n<p><a href=\"https:\/\/rossning92.github.io\/pid-simulation\">https:\/\/rossning92.github.io\/pid-simulation<\/a><\/p>\n\n\n\n<p>\u6bd4\u4f8b\u73af\u8282<\/p>\n\n\n\n<p><strong>\u6bd4\u4f8b\u5e26<\/strong>\uff1f<\/p>\n\n\n\n<p>\u610f\u4e49\uff1a\u4ee3\u8868\u63a7\u5236\u5668\u6709\u6548\u8303\u56f4<\/p>\n\n\n\n<p>\u6570\u5b57\u5f0fpid\u7b97\u6cd5<\/p>\n\n\n\n<p>\u4f4d\u7f6e\u5f0f\u548c\u589e\u91cf\u5f0f<\/p>\n\n\n\n<p>\u4f4d\u7f6e\u5f0fPID\u548c<a href=\"https:\/\/so.csdn.net\/so\/search?q=%E5%A2%9E%E9%87%8F%E5%BC%8FPID&amp;spm=1001.2101.3001.7020\" target=\"_blank\" rel=\"noreferrer noopener\">\u589e\u91cf\u5f0fPID<\/a>\u662fPID\u63a7\u5236\u7b97\u6cd5\u7684\u4e24\u79cd\u5f62\u5f0f\uff0c\u5b83\u4eec\u5728\u5b9e\u73b0\u4e0a\u6709\u4e00\u5b9a\u7684\u533a\u522b\uff0c\u4f46\u6838\u5fc3\u601d\u60f3\u76f8\u540c\uff0c\u90fd\u662f\u901a\u8fc7\u6bd4\u4f8b\u3001\u79ef\u5206\u548c\u5fae\u5206\u4e09\u4e2a\u90e8\u5206\u6765\u63a7\u5236\u7cfb\u7edf\u7684\u8f93\u51fa<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4f4d\u7f6e\u5f0fPID<\/h4>\n\n\n\n<p>\u4f4d\u7f6e\u5f0fPID\u76f4\u63a5\u8ba1\u7b97\u63a7\u5236\u91cf\uff08\u8f93\u51fa\uff09\u7684\u7edd\u5bf9\u503c\uff0c\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-192.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"587\" height=\"116\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-192.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1064\"  sizes=\"auto, (max-width: 587px) 100vw, 587px\" \/><\/div><\/figure><\/div>\n\n\n<p>\u4f4d\u7f6e\u5f0fPID\u63a7\u5236\u5668\u7684\u8f93\u51fa\u662f\u63a7\u5236\u91cf\u7684\u201c\u4f4d\u7f6e\u201d\u6216\u7edd\u5bf9\u503c\uff0c\u5b83\u9002\u7528\u4e8e\u7cfb\u7edf\u72b6\u6001\u80fd\u591f\u8fdb\u884c\u7d2f\u79ef\u63a7\u5236\u7684\u573a\u5408\uff0c\u4f46\u53ef\u80fd\u4f1a\u5728\u4e00\u4e9b\u573a\u5408\u4ea7\u751f\u8f83\u5927\u7684\u63a7\u5236\u8f93\u51fa\uff0c\u5bfc\u81f4\u7cfb\u7edf\u4e0d\u7a33\u5b9a\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u589e\u91cf\u5f0fPID<\/h4>\n\n\n\n<p>\u589e\u91cf\u5f0fPID\u8ba1\u7b97\u7684\u662f\u63a7\u5236\u91cf\u7684\u589e\u91cf\uff0c\u5373\u76f8\u5bf9\u4e8e\u4e0a\u4e00\u6b21\u7684\u53d8\u5316\u91cf\u3002\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-193.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"966\" height=\"65\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/image-193.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1065\"  sizes=\"auto, (max-width: 966px) 100vw, 966px\" \/><\/div><\/figure><\/div>\n\n\n<p>\u5728\u589e\u91cf\u5f0fPID\u4e2d\uff0c\u63a7\u5236\u5668\u6bcf\u6b21\u53ea\u8c03\u6574\u8f93\u51fa\u503c\u7684\u589e\u91cf\uff0c\u8fd9\u6837\u7684\u597d\u5904\u662f\u80fd\u66f4\u597d\u5730\u63a7\u5236\u8f93\u51fa\u7684\u53d8\u5316\uff0c\u9002\u7528\u4e8e\u6570\u5b57\u63a7\u5236\u7cfb\u7edf\u3002\u7531\u4e8e\u6bcf\u6b21\u53ea\u8f93\u51fa\u589e\u91cf\uff0c\u7cfb\u7edf\u66f4\u4e3a\u7a33\u5b9a\uff0c\u9002\u5408\u7cbe\u7ec6\u8c03\u8282\u3002<\/p>\n\n\n\n<p>\u4f4d\u7f6e\u5f0fpid<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>#include &lt;stdio.h&gt;\n\n\/\/ \u5b9a\u4e49\u4e00\u4e2a\u7ed3\u6784\u4f53\u6765\u4fdd\u5b58PID\u63a7\u5236\u5668\u7684\u72b6\u6001\ntypedef struct {\n    double Kp;   \/\/ \u6bd4\u4f8b\u7cfb\u6570\n    double Ki;   \/\/ \u79ef\u5206\u7cfb\u6570\n    double Kd;   \/\/ \u5fae\u5206\u7cfb\u6570\n    double prev_error;   \/\/ \u4e0a\u4e00\u6b21\u7684\u8bef\u5dee\n    double integral;     \/\/ \u8bef\u5dee\u7684\u79ef\u5206\u503c\n} PIDController;\n\n\/\/ PID\u63a7\u5236\u5668\u7684\u521d\u59cb\u5316\u51fd\u6570\nvoid PID_Init(PIDController *pid, double Kp, double Ki, double Kd) {\n    pid-&gt;Kp = Kp;\n    pid-&gt;Ki = Ki;\n    pid-&gt;Kd = Kd;\n    pid-&gt;prev_error = 0;\n    pid-&gt;integral = 0;\n}\n\n\/\/ PID\u63a7\u5236\u5668\u7684\u8ba1\u7b97\u51fd\u6570\ndouble PID_Compute(PIDController *pid, double setpoint, double measured_value, double dt) {\n    double error = setpoint - measured_value;  \/\/ \u8ba1\u7b97\u5f53\u524d\u8bef\u5dee\n    pid-&gt;integral += error * dt;  \/\/ \u8ba1\u7b97\u8bef\u5dee\u7684\u79ef\u5206\u503c\n    double derivative = (error - pid-&gt;prev_error) \/ dt;  \/\/ \u8ba1\u7b97\u8bef\u5dee\u7684\u5fae\u5206\u503c\n\n    \/\/ PID\u8f93\u51fa\n    double output = pid-&gt;Kp * error + pid-&gt;Ki * pid-&gt;integral + pid-&gt;Kd * derivative;\n\n    \/\/ \u4fdd\u5b58\u5f53\u524d\u8bef\u5dee\u4ee5\u4f9b\u4e0b\u6b21\u8ba1\u7b97\u5fae\u5206\u4f7f\u7528\n    pid-&gt;prev_error = error;\n\n    return output;\n}\n\nint main() {\n    PIDController pid;\n    PID_Init(&amp;pid, 1.0, 0.1, 0.01);  \/\/ \u521d\u59cb\u5316PID\u63a7\u5236\u5668\u53c2\u6570\uff0cKp=1.0, Ki=0.1, Kd=0.01\n\n    double setpoint = 100.0;  \/\/ \u76ee\u6807\u503c\n    double measured_value = 90.0;  \/\/ \u6d4b\u91cf\u503c\n    double dt = 0.1;  \/\/ \u65f6\u95f4\u95f4\u9694\n\n    double output = PID_Compute(&amp;pid, setpoint, measured_value, dt);  \/\/ \u8ba1\u7b97PID\u8f93\u51fa\n\n    printf(\"PID Output: %f\\n\", output);\n\n    return 0;\n}\n<\/code><\/pre>\n\n\n\n<p>\u589e\u91cf\u5f0fpid<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>#include &lt;stdio.h&gt;\n\n\/\/ PID\u63a7\u5236\u5668\u7ed3\u6784\u4f53\ntypedef struct {\n    float Kp;     \/\/ \u6bd4\u4f8b\u7cfb\u6570\n    float Ki;     \/\/ \u79ef\u5206\u7cfb\u6570\n    float Kd;     \/\/ \u5fae\u5206\u7cfb\u6570\n    float prev_error;  \/\/ \u4e0a\u4e00\u6b21\u7684\u8bef\u5dee\n    float prev_prev_error; \/\/ \u4e0a\u4e0a\u6b21\u7684\u8bef\u5dee\n    float integral; \/\/ \u79ef\u5206\u9879\n} PID_Controller;\n\n\/\/ \u521d\u59cb\u5316PID\u63a7\u5236\u5668\nvoid PID_Init(PID_Controller *pid, float Kp, float Ki, float Kd) {\n    pid-&gt;Kp = Kp;\n    pid-&gt;Ki = Ki;\n    pid-&gt;Kd = Kd;\n    pid-&gt;prev_error = 0.0f;\n    pid-&gt;prev_prev_error = 0.0f;\n    pid-&gt;integral = 0.0f;\n}\n\n\/\/ \u8ba1\u7b97\u589e\u91cf\u5f0fPID\u63a7\u5236\u5668\u7684\u8f93\u51fa\nfloat PID_Compute(PID_Controller *pid, float setpoint, float measured_value) {\n    float error = setpoint - measured_value;  \/\/ \u5f53\u524d\u8bef\u5dee\n    float P_term = pid-&gt;Kp * (error - pid-&gt;prev_error);  \/\/ \u6bd4\u4f8b\u9879\n    float I_term = pid-&gt;Ki * error;  \/\/ \u79ef\u5206\u9879\n    float D_term = pid-&gt;Kd * (error - 2.0f * pid-&gt;prev_error + pid-&gt;prev_prev_error);  \/\/ \u5fae\u5206\u9879\n\n    \/\/ \u8ba1\u7b97PID\u8f93\u51fa\u7684\u589e\u91cf\n    float delta_u = P_term + I_term + D_term;\n\n    \/\/ \u66f4\u65b0\u8bef\u5dee\u8bb0\u5f55\n    pid-&gt;prev_prev_error = pid-&gt;prev_error;\n    pid-&gt;prev_error = error;\n\n    return delta_u;\n}\n\nint main() {\n    PID_Controller pid;\n    PID_Init(&amp;pid, 1.0, 0.1, 0.01);  \/\/ \u521d\u59cb\u5316PID\u53c2\u6570\n\n    float setpoint = 100.0;  \/\/ \u76ee\u6807\u503c\n    float measured_value = 95.0;  \/\/ \u6d4b\u91cf\u503c\n    float control_output;\n\n    control_output = PID_Compute(&amp;pid, setpoint, measured_value);\n\n    printf(\"PID\u63a7\u5236\u5668\u8f93\u51fa: %f\\n\", control_output);\n\n    return 0;\n}\n<\/code><\/pre>\n\n\n\n<p>\u6539\u8fdb\u5f0f\u6570\u5b57pid\u7b97\u6cd5<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u8bfe\u540e<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/2dca3a4ea6e2838813dc3d64597898e-1024x582.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"582\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/2dca3a4ea6e2838813dc3d64597898e-1024x582.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1102\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/e15c6d1902960532b830e860300b3f0.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"928\" height=\"627\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/e15c6d1902960532b830e860300b3f0.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1096\" style=\"width:632px;height:auto\"  sizes=\"auto, (max-width: 928px) 100vw, 928px\" \/><\/div><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/1f43f8d761f987c32babcf5fee8c3ee.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"988\" height=\"568\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/1f43f8d761f987c32babcf5fee8c3ee.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1098\"  sizes=\"auto, (max-width: 988px) 100vw, 988px\" \/><\/div><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/57296168563d004ec051a96078e0774-1024x598.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"598\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/57296168563d004ec051a96078e0774-1024x598.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1101\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure><\/div>\n\n\n<p><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/2e5c977c1c63e1038697fb9025b0144-1024x621.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"621\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/2e5c977c1c63e1038697fb9025b0144-1024x621.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1097\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/8c9fa03b78c3827fc6316019a3159c4.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1006\" height=\"625\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/8c9fa03b78c3827fc6316019a3159c4.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1100\" style=\"width:700px;height:auto\"  sizes=\"auto, (max-width: 1006px) 100vw, 1006px\" \/><\/div><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/2f5af64a839794f2ea8cd4db4961da4.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"975\" height=\"605\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/2f5af64a839794f2ea8cd4db4961da4.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1105\" style=\"width:668px;height:auto\"  sizes=\"auto, (max-width: 975px) 100vw, 975px\" \/><\/div><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/eefa9e538ee4ca17be0a262f3a8f238.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"994\" height=\"615\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/eefa9e538ee4ca17be0a262f3a8f238.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1104\"  sizes=\"auto, (max-width: 994px) 100vw, 994px\" \/><\/div><\/figure><\/div>\n\n\n<p><strong>\u7b80\u5355\u63a7\u5236\u7cfb\u7edf<\/strong><\/p>\n\n\n\n<p>\u63a7\u5236\u7cfb\u7edf\u7684\u5de5\u4f5c\u8fc7\u7a0b(\u8d1f\u53cd\u9988\u539f\u7406\u7684\u63a7\u5236\u8fc7\u7a0b)<\/p>\n\n\n\n<p>\u6c7d\u5305\uff08\u7b80\u5f62\u538b\u529b\u5bb9\u5668\uff09<\/p>\n\n\n\n<p>\u6807\u51c6\u65b9\u6846\u56fe<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' 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class=\"aligncenter size-large is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/3d1b7b42d1c4291bb4791a5a28846c0-1024x561.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"561\" data-original=\"https:\/\/www.luisss.top\/wp-content\/uploads\/2024\/09\/3d1b7b42d1c4291bb4791a5a28846c0-1024x561.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-1166\" style=\"width:609px;height:auto\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" 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