采样量化，实现数字PID功能，并观察了PID实现后的误差。包含测试文件和实验报告-Sample quantization, digital PID function, and after observing the realization of the error of PID. Contains the test documents and test reports

FPGA闭环控制电路积分分离式PID算法子程序 算法函数 中断函数-Integral closed loop control circuit FPGA PID algorithm separate interrupt function subroutine algorithm function