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吸取PID算法的基本思想,利用PLL的高精度和高灵敏度,从时域调参的角度提出了一种新的前端控制回路———PPLID控制回路,并介绍了其在FIRA机器人小车控制系统中的应用。
Based on the basic idea of PID algorithm, a new front-end control loop --- PPLID control loop is proposed by using the high-precision and high-sensitivity PLL. The control loop of PPLID is introduced in this paper. Applications.