PID是控制智能小车的经典算法在过程控制中，按偏差的比例（P）、积分（I）和微分（D）进行控制的PID控制器（亦称PID调节器）是应用最为广泛的一种自动控制器。它具有原理简单，易于实现，适用面广，控制参数相互独立，参数的选定比较简单等优点；而且在理论上可以证明，对于过程控制的典型对象──“一阶滞后＋纯滞后”与“二阶滞后＋纯滞后”的控制对象，PID控制器是一种最优控制-PID control of the smart car is the classic algorithm in process control, according to the percentage of deviation (P), Integral (I) and differential (D) control of PID controller (also known as PID regulators) is the most widely used as a automatic controller. It has simple, easy to realize, the application of a wide range of control parameters are independent of each other, the selection of relatively simple parameters, etc.　and in theory can be proved that for a typical process control objects ─ ─