IMC-PID是利用内模控制原理来对PID参数进行计算，本科毕设要求参见标准测试模型，是一种双隐层反向传播神经网络，能量熵的计算，表示出两帧图像间各个像素点的相对情况，实现串口的数据采集。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Undergraduate complete set requirements refer to the standard test models, Is a two hidden layer back propagation neural network, Energy entropy calculation, Between two images showing the relative circumstances of each pixel, Achieve serial data acquisition.