PID算法 做了一些改进 增量式的 希望能够有用-PID algorithm to do a number of incremental improvements in the hope that can be useful

很有参考价值的，PID控制算法在基于STM32处理器和uC/OS-II上的实现。-Great reference value, PID control algorithm based on the STM32 processor and uC/OS-II on the implementation.