典型的PID处理控制程序采用PID-PD算法。在偏差绝对值大于△e时，用PD算法，以改善动态品质。当偏差绝对值小于△e时，用PID算法，提高稳定精度。-Typical PID control procedures to deal with the use of PID-PD algorithm. The deviation is greater than the absolute value of △ e when PD algorithm to improve the dynamic quality. When the deviation is less than the absolute value of △ e when PID algorithm to improve accuracy and stability.