{"id":618,"date":"2026-05-17T15:27:05","date_gmt":"2026-05-17T07:27:05","guid":{"rendered":"http:\/\/qianmo.icu\/?p=618"},"modified":"2026-05-26T23:32:20","modified_gmt":"2026-05-26T15:32:20","slug":"pid_helper%e4%b8%b2%e5%8f%a3%e8%87%aa%e5%8a%a8%e8%b0%83%e5%8f%82%e5%8a%a9%e6%89%8b","status":"publish","type":"post","link":"http:\/\/qianmo.icu\/index.php\/2026\/05\/17\/pid_helper%e4%b8%b2%e5%8f%a3%e8%87%aa%e5%8a%a8%e8%b0%83%e5%8f%82%e5%8a%a9%e6%89%8b\/","title":{"rendered":"PID_Helper\u4e32\u53e3\u81ea\u52a8\u8c03\u53c2\u52a9\u624b"},"content":{"rendered":"\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u60f3\u4e86\u89e3\u66f4\u591a\u9879\u76ee\u8bf7\u641c\u7d22\u201c\u9879\u76ee\u201d\u6807\u7b7e\u6216\u8005\u8bbf\u95ee\u6211\u7684github\u4ed3\u5e93\u3002<br>\u4ed3\u5e93\u5730\u5740\uff1a<a href=\"https:\/\/github.com\/QianmoNai?tab=repositories\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/projects\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/projects\">\u4ed3\u5e93 &#8211; \u9621\u964c (qianmonai) &#8211; Gitee.com<\/a><\/p>\n<\/blockquote>\n\n\n\n<figure class=\"wp-block-image size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='http:\/\/qianmo.icu\/wp-content\/uploads\/2026\/05\/Image_1778825481490_865-1024x576.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" data-original=\"http:\/\/qianmo.icu\/wp-content\/uploads\/2026\/05\/Image_1778825481490_865-1024x576.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-621\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='http:\/\/qianmo.icu\/wp-content\/uploads\/2026\/05\/Image_1778825482942_521-1024x576.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" data-original=\"http:\/\/qianmo.icu\/wp-content\/uploads\/2026\/05\/Image_1778825482942_521-1024x576.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-622\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='http:\/\/qianmo.icu\/wp-content\/uploads\/2026\/05\/Image_1778825484388_708-1024x576.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" data-original=\"http:\/\/qianmo.icu\/wp-content\/uploads\/2026\/05\/Image_1778825484388_708-1024x576.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-623\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\">PID_Helper\u4e00\u4e2a\u4fb5\u5165\u5f0f\u7684PID\u4e32\u53e3\u81ea\u52a8\u8c03\u53c2\u52a9\u624b\u8f6f\u4ef6<\/h1>\n\n\n\n<figure class=\"wp-block-image size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='http:\/\/qianmo.icu\/wp-content\/uploads\/2026\/05\/image-9-1024x576.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" data-original=\"http:\/\/qianmo.icu\/wp-content\/uploads\/2026\/05\/image-9-1024x576.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-660\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u9879\u76ee\u5730\u5740\uff1a<a href=\"https:\/\/github.com\/QianmoNai\/PID_Helper\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/PID_Helper\"><\/a><a href=\"https:\/\/github.com\/QianmoNai\/PID_Helper_Stm32H7_Example\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/pid_-helper_-stm32-h7_-example\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/PID_Helper\">\u9621\u964c\/PID_Helper<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f00\u53d1\u7684 PID_Helper \u8f6f\u4ef6\uff0c\u76ee\u524d\u5df2\u5305\u542b\u529f\u80fd\u6709\uff1a\u4e0a\u4f4d\u673a\u548c\u4e0b\u4f4d\u673a MCU \u901a\u4fe1\u534f\u8bae\uff0c\u7535\u673a\u901f\u5ea6\u73af\uff0c\u4f4d\u7f6e\u73af PID \u53c2\u6570\u81ea\u52a8\u4f18\u5316\uff0c\u7cfb\u7edf\u8fa8\u8bc6\u7ed9 PID \u521d\u503c\u3002\u53c2\u6570\u81ea\u52a8\u4f18\u5316\u90e8\u5206\u6709\u7c92\u5b50\u7fa4\u641c\u7d22\u548c\u5206\u9636\u6bb5\u6574\u5b9a\u8fd9\u4e24\u79cd\u65b9\u6848\uff0c\u540e\u8005\u76ee\u524d\u6548\u679c\u66f4\u597d\uff0c\u90fd\u662f\u901a\u8fc7\u5f97\u5206\u6743\u91cd\u53c2\u6570\u6765\u8fed\u4ee3\u4f18\u5316\u7684\uff0c\u5f97\u5206\u6743\u91cd\u53c2\u6570\u53ef\u5728\u9ad8\u7ea7\u9009\u9879\u91cc\u81ea\u5df1\u81ea\u5b9a\u4e49\uff0c\u6700\u7ec8\u80fd\u4f18\u5316\u5f97\u5230\u4e0d\u540c\u503e\u5411\u7684 PID \u53c2\u6570\u3002\u76ee\u524d\u901f\u5ea6\u73af\u548c\u4f4d\u7f6e\u73af\u771f\u5b9e\u8c03\u53c2\u6d4b\u8bd5\u662f\u53ef\u4ee5\u4e86\uff0c\u521a\u4e0b\u8f7d\u4f7f\u7528\u53ef\u4ee5\u5728\u4e32\u53e3\u9009\u62e9\u8fde\u63a5\u865a\u62df\u8bbe\u5907\u8fdb\u884c\u6a21\u62df\u6d4b\u8bd5\uff0c\u8f6f\u4ef6\u76ee\u524d\u8fd8\u4e0d\u662f\u6700\u7ec8\u7248\u672c\uff0c\u8fd8\u9700\u8fdb\u4e00\u6b65\u4f18\u5316\u548c\u6dfb\u52a0\u529f\u80fd\uff0c\u5982\u679c\u6709\u51fa\u73b0\u95ee\u9898\u8bf7\u7559\u8a00\uff0c\u6211\u4f1a\u5c3d\u5feb\u4fee\u590d\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">1.\u9879\u76ee\u80cc\u666f<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u9879\u76ee\u7684\u76ee\u7684\u662f\u628a\u5728\u7535\u63a7\u8c03\u8bd5\u8fc7\u7a0b\u4e2d\u51fa\u73b0\u7684PID\u8c03\u53c2\u8fc7\u7a0b\u81ea\u52a8\u5316\u548c\u53ef\u89c6\u5316\u3002\u76f8\u6bd4\u4e8eAI\u76f4\u63a5\u8bfb\u53d6\u4e32\u53e3\u6765\u81ea\u52a8\u4f18\u5316\u7684\u65b9\u6848\uff0c\u672c\u8f6f\u4ef6\u81ea\u52a8\u7684\u8c03\u4f18\u8fc7\u7a0b\u90fd\u662f\u5728\u672c\u5730\u5b8c\u6210\uff0c\u4e0d\u4f9d\u8d56\u4e8e\u5916\u90e8AI\u8c03\u7528\uff0c\u4f18\u5316\u8fc7\u7a0b\u7a33\u5b9a\u4e0d\u4ea7\u751f\u8d39\u7528\uff0c\u4e5f\u4e0d\u6015AI\u62bd\u98ce\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6ce8\u610f\u26a0\ufe0f\uff1a\u76ee\u524d\u8f6f\u4ef6\u7684\u5e94\u7528\u573a\u666f\u6700\u4f73\u7684\u662f\u8d1f\u8f7d\/\u65e0\u8d1f\u8f7d\u88f8\u673a\u548c\u65e0\u9650\u4f4d\u7684\u4e8c\u7ef4\u4e91\u53f0\u8c03\u53c2\uff0c\u6709\u9650\u4f4d\u7684\u4e8c\u7ef4\u4e91\u53f0\u53ef\u4ee5\u4f7f\u7528\u4f4d\u7f6e\u73af\u6a21\u5f0f\uff0c\u5176\u4ed6\u7684\u5e94\u7528\u573a\u666f\u53ef\u80fd\u4e0d\u592a\u9002\u5408\uff0c\u540e\u7eed\u4f1a\u9488\u5bf9\u6709\u9650\u4f4d\u4e8c\u7ef4\u4e91\u53f0\u548c\u5c0f\u8f66\u8fd9\u6837\u7684\u5e94\u7528\u573a\u666f\u63a8\u51fa\u65b0\u7684\u6a21\u5f0f\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">2.\u9879\u76ee\u4ecb\u7ecd<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u60f3\u8981\u4f7f\u7528\u8fd9\u4e2a\u9879\u76ee\u8bf7\u8be6\u7ec6\u9605\u8bfbREADME\u6587\u4ef6\u548cdoc\u6587\u4ef6\u4e0b\u7684md\u6587\u4ef6\uff0c\u5e76\u4e14\u5728\u4f60\u7684MCU\u9879\u76ee\u4e2d\u6dfb\u52a0\u76f8\u5e94\u7684\u63a5\u53e3\u548c\u4e32\u53e3\u534f\u8bae\u5185\u5bb9\uff0c\u6216\u8005\u76f4\u63a5\u4f7f\u7528\u4f8b\u7a0b\u4ee3\u7801\u3002\u4f8b\u7a0b\u7684\u7535\u673a\u548c\u63a7\u5236\u677f\u4f7f\u7528\u7684\u662f\u6dd8\u5b9d\u5e97\u94faM\u521b\u52a8\u5de5\u574a\u7684<a href=\"https:\/\/e.tb.cn\/h.R1JtwtL9ilSrf2b?tk=LW225sSrEax\">https:\/\/e.tb.cn\/h.R1JtwtL9ilSrf2b?tk=LW225sSrEax<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u63d0\u793a\uff1a\u8bf7\u81ea\u884c\u505a\u597d\u7a0b\u5e8f\u4e0a\u7684\u4fdd\u62a4\uff01\u9632\u6b62\u4e0a\u4f4d\u673a\u8f93\u5165\u53c2\u6570\u6709\u8bef\uff0c\u6216\u8005\u5931\u63a7\u5bfc\u81f4\u7684\u673a\u68b0\u786c\u4ef6\u635f\u574f\uff01\uff01\uff01<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u63d0\u4f9b\u4ee5\u4e0b\u53c2\u8003\u4f8b\u7a0b\uff1a<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>STM32H7\uff08\u9e7f\u5c0f\u73ed\u5f00\u53d1\u677f\uff09\uff1a<\/strong><a href=\"https:\/\/github.com\/QianmoNai\/PID_Helper_Stm32H7_Example\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/pid_-helper_-stm32-h7_-example\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/PID_Helper\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/pid_-helper_-stm32-h7_-example\">\u9621\u964c\/PID_Helper_Stm32H7_Example<\/a><\/li>\n\n\n\n<li><strong>ESP32C3\uff08\u53cctype-c\u6838\u5fc3\u677f\uff09\uff1a<\/strong><a href=\"https:\/\/github.com\/QianmoNai\/PID_Helper_ESP32C3_Example\"><\/a><a href=\"https:\/\/gitee.com\/qianmonai\/pid_-helper_-esp32-c3_-example\">\u9621\u964c\/PID_Helper_ESP32C3_Example<\/a><\/li>\n\n\n\n<li><strong>STM32F103\uff08c8t6\u7cfb\u7edf\u677f\uff09\uff1a<a href=\"https:\/\/gitee.com\/qianmonai\/pid_-helper_-stm32-f1_-example\">\u9621\u964c\/PID_Helper_Stm32F1_Example<\/a><\/strong><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u529f\u80fd\u4ecb\u7ecd\uff1a<\/strong><\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>1. \u4e32\u53e3\u901a\u4fe1<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8fde\u63a5\u4e0b\u4f4d\u673a\u4e32\u53e3\u3002<\/li>\n\n\n\n<li>\u63a5\u6536\u4e0b\u4f4d\u673a\u53cd\u9988\u6570\u636e\u3002<\/li>\n\n\n\n<li>\u5411\u4e0b\u4f4d\u673a\u53d1\u9001\u76ee\u6807\u503c\u3001PID \u53c2\u6570\u3001\u6a21\u5f0f\u5207\u6362\u7b49\u63a7\u5236\u6307\u4ee4\u3002<\/li>\n\n\n\n<li>\u652f\u6301\u901f\u5ea6\u73af\u548c\u4f4d\u7f6e\u73af\u6a21\u5f0f\u540c\u6b65\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>2. \u5b9e\u65f6\u6570\u636e\u76d1\u63a7<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b9e\u65f6\u663e\u793a&nbsp;actual\u3001target\u3001input\u3001error\u3001P\/I\/D&nbsp;\u7b49\u6570\u636e\u3002<\/li>\n\n\n\n<li>\u7ed8\u5236\u5b9e\u65f6\u66f2\u7ebf\uff0c\u65b9\u4fbf\u89c2\u5bdf\u8d85\u8c03\u3001\u6296\u52a8\u3001\u7a33\u6001\u8bef\u5dee\u7b49\u73b0\u8c61\u3002<\/li>\n\n\n\n<li>\u663e\u793a\u53cd\u9988\u6570\u636e\u548c\u56de\u5e94\u6570\u636e\u7684\u89e3\u6790\u7ed3\u679c\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>3. PID \u53c2\u6570\u8c03\u8bd5<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u624b\u52a8\u4fee\u6539\u5e76\u4e0b\u53d1&nbsp;Kp \/ Ki \/ Kd\u3002<\/li>\n\n\n\n<li>\u652f\u6301\u901f\u5ea6\u73af\u3001\u4f4d\u7f6e\u73af\u4e0d\u540c\u5e94\u7528\u80cc\u666f\u3002<\/li>\n\n\n\n<li>\u4f4d\u7f6e\u73af\u76ee\u6807\u8303\u56f4\u9650\u5236\u4e3a&nbsp;-180\u00b0 ~ 180\u00b0\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>4. \u81ea\u52a8\u6d4b\u8bd5\u4e0e\u4f18\u5316<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u901f\u5ea6\u73af\u652f\u6301\u81ea\u52a8\u8fa8\u8bc6\u3002<\/li>\n\n\n\n<li>\u652f\u6301\u9636\u8dc3\u54cd\u5e94\u6d4b\u8bd5\u3002<\/li>\n\n\n\n<li>\u652f\u6301\u95ed\u73af\u81ea\u52a8\u4f18\u5316 PID\u3002<\/li>\n\n\n\n<li>\u95ed\u73af\u4f18\u5316\u652f\u6301\u5206\u9636\u6bb5\u6574\u5b9a\u548c PSO \u7c92\u5b50\u7fa4\u4f18\u5316\u3002<\/li>\n\n\n\n<li>\u9ad8\u7ea7\u9009\u9879\u91cc\u53ef\u4ee5\u81ea\u5b9a\u4e49\u8bc4\u5206\u6743\u91cd\u548c\u6574\u5b9a\u767e\u5206\u6bd4\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>5. \u4e0b\u4f4d\u673a\u534f\u8bae\u652f\u6301<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63a5\u6536\u534f\u8bae\u91c7\u7528\u5c0f\u7aef\u4e8c\u8fdb\u5236\u6570\u636e\u6d41\uff0c\u8282\u7701\u5e26\u5bbd\u3002<\/li>\n\n\n\n<li>\u4e0b\u4f4d\u673a\u53cd\u9988\u5305\u542b 8 \u4e2a\u5b57\u6bb5\uff1a<br>timestamp_ms, actual, target, input, error, p, i, d<\/li>\n\n\n\n<li>\u4e0a\u4f4d\u673a\u63a7\u5236\u534f\u8bae\u7528\u4e8e\u8bbe\u7f6e PID\u3001\u76ee\u6807\u503c\u3001\u5f00\u73af\/\u95ed\u73af\u3001\u901f\u5ea6\u73af\/\u4f4d\u7f6e\u73af\u6a21\u5f0f\u7b49\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">3.\u9879\u76ee\u91cd\u70b9\u5185\u5bb9<\/h2>\n\n\n\n<!--\n  PID Helper WordPress \u81ea\u5b9a\u4e49 HTML \u7247\u6bb5\n  \u4f7f\u7528\u65b9\u5f0f\uff1a\u590d\u5236\u672c\u6587\u4ef6\u5168\u90e8\u5185\u5bb9\uff0c\u7c98\u8d34\u5230 WordPress \u7684\u201c\u81ea\u5b9a\u4e49 HTML\u201d\u533a\u5757\u3002\n  \u8bf4\u660e\uff1a\u6837\u5f0f\u5168\u90e8\u9650\u5b9a\u5728 .pid-helper-wp-showcase \u5185\uff0c\u4e0d\u4f1a\u5f71\u54cd\u9875\u9762\u5176\u4ed6\u5143\u7d20\u3002\n-->\n<style>\n  .pid-helper-wp-showcase {\n    --pid-helper-bg: #07131f;\n    --pid-helper-card: rgba(11, 27, 43, 0.76);\n    --pid-helper-card-strong: rgba(15, 38, 60, 0.92);\n    --pid-helper-line: rgba(112, 211, 255, 0.24);\n    --pid-helper-cyan: #58d8ff;\n    --pid-helper-green: #65f0b4;\n    --pid-helper-blue: #7897ff;\n    --pid-helper-amber: #ffd166;\n    --pid-helper-text: #f2f9ff;\n    --pid-helper-muted: #a9bfd1;\n    --pid-helper-soft: #7890a4;\n    position: relative;\n    isolation: isolate;\n    overflow: hidden;\n    box-sizing: border-box;\n    max-width: 1180px;\n    margin: 32px auto;\n    padding: 34px;\n    color: var(--pid-helper-text);\n    font-family: \"Microsoft YaHei\", \"PingFang SC\", \"Segoe UI\", sans-serif;\n    border: 1px solid rgba(112, 211, 255, 0.24);\n    border-radius: 30px;\n    background:\n      radial-gradient(circle at 10% 10%, rgba(88, 216, 255, 0.26), transparent 28%),\n      radial-gradient(circle at 86% 8%, rgba(101, 240, 180, 0.16), transparent 24%),\n      linear-gradient(135deg, #07131f 0%, #10263d 52%, #07131f 100%);\n    box-shadow: 0 24px 80px rgba(0, 18, 38, 0.38);\n  }\n\n  .pid-helper-wp-showcase,\n  .pid-helper-wp-showcase * {\n    box-sizing: border-box;\n  }\n\n  .pid-helper-wp-showcase::before {\n    content: \"\";\n    position: absolute;\n    inset: 0;\n    z-index: -2;\n    opacity: 0.28;\n    background-image:\n      linear-gradient(rgba(112, 211, 255, 0.18) 1px, transparent 1px),\n      linear-gradient(90deg, rgba(112, 211, 255, 0.18) 1px, transparent 1px);\n    background-size: 36px 36px;\n    mask-image: radial-gradient(circle at center, #000 0%, transparent 76%);\n  }\n\n  .pid-helper-wp-showcase::after {\n    content: \"\";\n    position: absolute;\n    right: -180px;\n    bottom: -210px;\n    z-index: -1;\n    width: 470px;\n    height: 470px;\n    border-radius: 50%;\n    background: radial-gradient(circle, rgba(88, 216, 255, 0.25), transparent 68%);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-main {\n    display: grid;\n    grid-template-columns: minmax(0, 1.1fr) minmax(320px, 0.9fr);\n    gap: 28px;\n    align-items: start;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-badge {\n    display: inline-flex;\n    align-items: center;\n    gap: 10px;\n    width: fit-content;\n    margin: 0 0 18px;\n    padding: 8px 13px;\n    color: #e4faff;\n    font-size: 13px;\n    font-weight: 700;\n    line-height: 1.2;\n    letter-spacing: 0.08em;\n    border: 1px solid rgba(88, 216, 255, 0.42);\n    border-radius: 999px;\n    background: rgba(88, 216, 255, 0.1);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-badge-dot {\n    width: 8px;\n    height: 8px;\n    border-radius: 50%;\n    background: var(--pid-helper-green);\n    box-shadow: 0 0 18px rgba(101, 240, 180, 0.9);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-title {\n    max-width: 720px;\n    margin: 0;\n    color: var(--pid-helper-text);\n    font-size: clamp(30px, 5vw, 54px);\n    font-weight: 850;\n    line-height: 1.08;\n    letter-spacing: -0.045em;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-title-mark {\n    color: transparent;\n    background: linear-gradient(90deg, var(--pid-helper-cyan), var(--pid-helper-green));\n    -webkit-background-clip: text;\n    background-clip: text;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-lead {\n    max-width: 720px;\n    margin: 18px 0 0;\n    color: var(--pid-helper-muted);\n    font-size: 16px;\n    line-height: 1.85;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-tags {\n    display: flex;\n    flex-wrap: wrap;\n    gap: 10px;\n    margin: 22px 0 0;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-tag {\n    display: inline-flex;\n    align-items: center;\n    min-height: 32px;\n    padding: 0 12px;\n    color: #d8f5ff;\n    font-size: 13px;\n    font-weight: 700;\n    border: 1px solid rgba(112, 211, 255, 0.22);\n    border-radius: 999px;\n    background: rgba(255, 255, 255, 0.055);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-actions {\n    display: flex;\n    flex-wrap: wrap;\n    gap: 12px;\n    margin: 26px 0 0;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-action {\n    display: inline-flex;\n    align-items: center;\n    justify-content: center;\n    min-height: 46px;\n    padding: 0 18px;\n    color: #04121d;\n    font-size: 14px;\n    font-weight: 850;\n    line-height: 1;\n    text-decoration: none;\n    border: 1px solid transparent;\n    border-radius: 999px;\n    background: linear-gradient(135deg, var(--pid-helper-cyan), var(--pid-helper-green));\n    box-shadow: 0 14px 32px rgba(88, 216, 255, 0.22);\n    transition: transform 180ms ease, box-shadow 180ms ease, border-color 180ms ease;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-action:hover,\n  .pid-helper-wp-showcase .pid-helper-action:focus {\n    color: #04121d;\n    transform: translateY(-2px);\n    box-shadow: 0 18px 38px rgba(88, 216, 255, 0.3);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-side {\n    display: grid;\n    gap: 14px;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-summary-card {\n    position: relative;\n    z-index: 0;\n    overflow: hidden;\n    padding: 20px;\n    border: 1px solid rgba(112, 211, 255, 0.24);\n    border-radius: 24px;\n    background:\n      linear-gradient(180deg, rgba(18, 43, 68, 0.94), rgba(7, 19, 31, 0.82)),\n      rgba(7, 19, 31, 0.9);\n    box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.08);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-summary-card::before {\n    content: \"\";\n    position: absolute;\n    inset: -40% -30% auto auto;\n    z-index: -1;\n    width: 220px;\n    height: 220px;\n    pointer-events: none;\n    border-radius: 50%;\n    background: radial-gradient(circle, rgba(88, 216, 255, 0.16), transparent 68%);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-card-title {\n    position: relative;\n    margin: 0 0 14px;\n    color: var(--pid-helper-text);\n    font-size: 16px;\n    font-weight: 850;\n    letter-spacing: 0.04em;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-flow {\n    position: relative;\n    display: grid;\n    gap: 10px;\n    margin: 0;\n    padding: 0;\n    list-style: none;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-flow-item {\n    display: grid;\n    grid-template-columns: 34px minmax(0, 1fr);\n    gap: 10px;\n    align-items: start;\n    padding: 12px;\n    border: 1px solid rgba(112, 211, 255, 0.14);\n    border-radius: 16px;\n    background: rgba(5, 16, 28, 0.52);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-flow-num {\n    display: inline-flex;\n    align-items: center;\n    justify-content: center;\n    width: 34px;\n    height: 34px;\n    color: #04121d;\n    font-size: 13px;\n    font-weight: 900;\n    border-radius: 12px;\n    background: linear-gradient(135deg, var(--pid-helper-cyan), var(--pid-helper-green));\n  }\n\n  .pid-helper-wp-showcase .pid-helper-flow-title {\n    display: block;\n    margin: 0 0 4px;\n    color: var(--pid-helper-text);\n    font-size: 14px;\n    font-weight: 850;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-flow-desc {\n    display: block;\n    margin: 0;\n    color: var(--pid-helper-muted);\n    font-size: 13px;\n    line-height: 1.55;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-section {\n    margin: 28px 0 0;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-section-head {\n    display: flex;\n    align-items: end;\n    justify-content: space-between;\n    gap: 16px;\n    margin: 0 0 14px;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-section-title {\n    margin: 0;\n    color: var(--pid-helper-text);\n    font-size: 22px;\n    font-weight: 850;\n    line-height: 1.25;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-section-note {\n    margin: 0;\n    color: var(--pid-helper-soft);\n    font-size: 13px;\n    line-height: 1.5;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-feature-grid {\n    display: grid;\n    grid-template-columns: repeat(3, minmax(0, 1fr));\n    gap: 12px;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-feature {\n    min-height: 148px;\n    padding: 16px;\n    border: 1px solid rgba(112, 211, 255, 0.18);\n    border-radius: 20px;\n    background: rgba(8, 21, 35, 0.58);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-feature-code {\n    display: inline-flex;\n    margin: 0 0 10px;\n    padding: 5px 8px;\n    color: var(--pid-helper-cyan);\n    font-size: 12px;\n    font-weight: 850;\n    letter-spacing: 0.08em;\n    border-radius: 999px;\n    background: rgba(88, 216, 255, 0.1);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-feature-title {\n    display: block;\n    margin: 0 0 7px;\n    color: var(--pid-helper-text);\n    font-size: 16px;\n    font-weight: 850;\n    line-height: 1.35;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-feature-desc {\n    display: block;\n    margin: 0;\n    color: var(--pid-helper-muted);\n    font-size: 13px;\n    line-height: 1.65;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-info-grid {\n    display: grid;\n    grid-template-columns: repeat(3, minmax(0, 1fr));\n    gap: 12px;\n    margin: 12px 0 0;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-info-card {\n    padding: 18px;\n    border: 1px solid rgba(112, 211, 255, 0.18);\n    border-radius: 20px;\n    background: rgba(255, 255, 255, 0.055);\n  }\n\n  .pid-helper-wp-showcase .pid-helper-info-card-title {\n    display: block;\n    margin: 0 0 8px;\n    color: var(--pid-helper-text);\n    font-size: 15px;\n    font-weight: 850;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-info-card-desc {\n    margin: 0;\n    color: var(--pid-helper-muted);\n    font-size: 13px;\n    line-height: 1.65;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-fields {\n    display: flex;\n    flex-wrap: wrap;\n    gap: 8px;\n    margin: 12px 0 0;\n  }\n\n  .pid-helper-wp-showcase .pid-helper-field {\n    display: inline-flex;\n    padding: 6px 9px;\n    color: #d9f7ff;\n    font-size: 12px;\n    font-weight: 750;\n    border: 1px solid rgba(112, 211, 255, 0.2);\n    border-radius: 999px;\n    background: rgba(5, 16, 28, 0.52);\n  }\n\n  @media (max-width: 900px) {\n    .pid-helper-wp-showcase {\n      margin: 22px auto;\n      padding: 24px;\n      border-radius: 24px;\n    }\n\n    .pid-helper-wp-showcase .pid-helper-main,\n    .pid-helper-wp-showcase .pid-helper-feature-grid,\n    .pid-helper-wp-showcase .pid-helper-info-grid {\n      grid-template-columns: 1fr;\n    }\n\n    .pid-helper-wp-showcase .pid-helper-section-head {\n      display: block;\n    }\n\n    .pid-helper-wp-showcase .pid-helper-section-note {\n      margin-top: 8px;\n    }\n  }\n\n  @media (max-width: 560px) {\n    .pid-helper-wp-showcase {\n      padding: 18px;\n    }\n\n    .pid-helper-wp-showcase .pid-helper-action {\n      width: 100%;\n    }\n\n    .pid-helper-wp-showcase .pid-helper-flow-item {\n      grid-template-columns: 30px minmax(0, 1fr);\n    }\n\n    .pid-helper-wp-showcase .pid-helper-flow-num {\n      width: 30px;\n      height: 30px;\n      border-radius: 10px;\n    }\n  }\n<\/style>\n\n<section class=\"pid-helper-wp-showcase\" aria-label=\"PID Helper \u8f6f\u4ef6\u529f\u80fd\u4ecb\u7ecd\">\n  <div class=\"pid-helper-main\">\n    <div class=\"pid-helper-intro\">\n      <div class=\"pid-helper-badge\">\n        <span class=\"pid-helper-badge-dot\" aria-hidden=\"true\"><\/span>\n        PID Helper \u4e0a\u4f4d\u673a\u8c03\u8bd5\u5de5\u5177\n      <\/div>\n\n      <h2 class=\"pid-helper-title\">\n        \u9762\u5411\u7535\u673a\u63a7\u5236\u7684\n        <span class=\"pid-helper-title-mark\">PID \u4e32\u53e3\u8c03\u53c2\u52a9\u624b<\/span>\n      <\/h2>\n\n      <p class=\"pid-helper-lead\">\n        PID Helper \u7528\u4e8e\u901a\u8fc7\u4e32\u53e3\u8fde\u63a5\u4e0b\u4f4d\u673a\uff0c\u5b9e\u65f6\u89c2\u5bdf target\u3001actual\u3001input\u3001error \u548c P\/I\/D \u6570\u636e\u6d41\uff0c\n        \u5e76\u5b8c\u6210 PID \u53c2\u6570\u4e0b\u53d1\u3001\u81ea\u52a8\u8fa8\u8bc6\u3001\u9636\u8dc3\u54cd\u5e94\u6d4b\u8bd5\u548c\u95ed\u73af\u81ea\u52a8\u4f18\u5316\u3002\u5b83\u9002\u5408\u901f\u5ea6\u73af\u3001\u4f4d\u7f6e\u73af\u7b49\u5355\u56de\u8def PID\n        \u8c03\u8bd5\u573a\u666f\uff0c\u8ba9\u53c2\u6570\u8c03\u6574\u4ece\u201c\u51ed\u611f\u89c9\u8bd5\u201d\u53d8\u6210\u201c\u770b\u66f2\u7ebf\u3001\u6d4b\u54cd\u5e94\u3001\u6309\u8bc4\u5206\u4f18\u5316\u201d\u3002\n      <\/p>\n\n      <div class=\"pid-helper-tags\" aria-label=\"\u9002\u7528\u573a\u666f\">\n        <span class=\"pid-helper-tag\">\u7535\u673a\u901f\u5ea6\u73af\u8c03\u8bd5<\/span>\n        <span class=\"pid-helper-tag\">\u4f4d\u7f6e\u73af\u89d2\u5ea6\u63a7\u5236<\/span>\n        <span class=\"pid-helper-tag\">\u5d4c\u5165\u5f0f\u4e32\u53e3\u8054\u8c03<\/span>\n        <span class=\"pid-helper-tag\">PID \u53c2\u6570\u6574\u5b9a<\/span>\n      <\/div>\n\n      <div class=\"pid-helper-actions\">\n        <a class=\"pid-helper-action\" href=\"https:\/\/gitee.com\/qianmonai\/PID_Helper.git\">\u67e5\u770b\u9879\u76ee<\/a>\n        <a class=\"pid-helper-action\" href=\"https:\/\/gitee.com\/qianmonai\/PID_Helper\/releases\/download\/v0.1.0\/PID%20Helper-Setup-0.1.0.exe\">\u4e0b\u8f7d\u4f7f\u7528<\/a>\n      <\/div>\n    <\/div>\n\n    <aside class=\"pid-helper-side\" aria-label=\"\u8f6f\u4ef6\u4f7f\u7528\u6d41\u7a0b\">\n      <div class=\"pid-helper-summary-card\">\n        <p class=\"pid-helper-card-title\">\u5178\u578b\u4f7f\u7528\u6d41\u7a0b<\/p>\n        <ol class=\"pid-helper-flow\">\n          <li class=\"pid-helper-flow-item\">\n            <span class=\"pid-helper-flow-num\">01<\/span>\n            <span>\n              <strong class=\"pid-helper-flow-title\">\u8fde\u63a5\u4e0b\u4f4d\u673a<\/strong>\n              <span class=\"pid-helper-flow-desc\">\u9009\u62e9\u771f\u5b9e\u4e32\u53e3\u6216 Mock Replay\uff0c\u6253\u5f00\u4e32\u53e3\u540e\u540c\u6b65\u901f\u5ea6\u73af \/ \u4f4d\u7f6e\u73af\u6a21\u5f0f\u3002<\/span>\n            <\/span>\n          <\/li>\n          <li class=\"pid-helper-flow-item\">\n            <span class=\"pid-helper-flow-num\">02<\/span>\n            <span>\n              <strong class=\"pid-helper-flow-title\">\u67e5\u770b\u5b9e\u65f6\u53cd\u9988<\/strong>\n              <span class=\"pid-helper-flow-desc\">\u901a\u8fc7\u66f2\u7ebf\u89c2\u5bdf\u76ee\u6807\u503c\u3001\u5b9e\u9645\u503c\u3001\u8bef\u5dee\u3001\u63a7\u5236\u8f93\u5165\u548c\u5f53\u524d\u751f\u6548 PID\u3002<\/span>\n            <\/span>\n          <\/li>\n          <li class=\"pid-helper-flow-item\">\n            <span class=\"pid-helper-flow-num\">03<\/span>\n            <span>\n              <strong class=\"pid-helper-flow-title\">\u4e0b\u53d1\u5e76\u9a8c\u8bc1\u53c2\u6570<\/strong>\n              <span class=\"pid-helper-flow-desc\">\u7f16\u8f91 Kp \/ Ki \/ Kd\uff0c\u53d1\u9001\u5230\u4e0b\u4f4d\u673a\uff0c\u5e76\u901a\u8fc7 ACK \u4e0e\u91c7\u6837\u5e27\u786e\u8ba4\u751f\u6548\u3002<\/span>\n            <\/span>\n          <\/li>\n          <li class=\"pid-helper-flow-item\">\n            <span class=\"pid-helper-flow-num\">04<\/span>\n            <span>\n              <strong class=\"pid-helper-flow-title\">\u6d4b\u8bd5\u4e0e\u81ea\u52a8\u4f18\u5316<\/strong>\n              <span class=\"pid-helper-flow-desc\">\u6267\u884c\u9636\u8dc3\u54cd\u5e94\u6d4b\u8bd5\uff0c\u6216\u4f7f\u7528\u5206\u9636\u6bb5\u6574\u5b9a \/ PSO \u81ea\u52a8\u5bfb\u627e\u66f4\u4f18 PID\u3002<\/span>\n            <\/span>\n          <\/li>\n        <\/ol>\n      <\/div>\n    <\/aside>\n  <\/div>\n\n  <div class=\"pid-helper-section\">\n    <div class=\"pid-helper-section-head\">\n      <h3 class=\"pid-helper-section-title\">\u6838\u5fc3\u529f\u80fd<\/h3>\n      <p class=\"pid-helper-section-note\">\u8986\u76d6\u4e32\u53e3\u8fde\u63a5\u3001\u66f2\u7ebf\u76d1\u63a7\u3001\u53c2\u6570\u4e0b\u53d1\u3001\u8fa8\u8bc6\u3001\u6d4b\u8bd5\u548c\u4f18\u5316\u3002<\/p>\n    <\/div>\n\n    <div class=\"pid-helper-feature-grid\" aria-label=\"PID Helper \u6838\u5fc3\u529f\u80fd\">\n      <div class=\"pid-helper-feature\">\n        <span class=\"pid-helper-feature-code\">SERIAL<\/span>\n        <strong class=\"pid-helper-feature-title\">\u4e32\u53e3\u901a\u4fe1\u4e0e\u6a21\u5f0f\u540c\u6b65<\/strong>\n        <span class=\"pid-helper-feature-desc\">\u8fde\u63a5\u4e0b\u4f4d\u673a\u540e\uff0c\u5148\u540c\u6b65\u901f\u5ea6\u73af\u6216\u4f4d\u7f6e\u73af\u5e94\u7528\u80cc\u666f\uff0c\u4fdd\u8bc1\u4e0a\u4f4d\u673a\u754c\u9762\u4e0e\u4e0b\u4f4d\u673a\u63a7\u5236\u6a21\u5f0f\u4e00\u81f4\u3002<\/span>\n      <\/div>\n      <div class=\"pid-helper-feature\">\n        <span class=\"pid-helper-feature-code\">CURVE<\/span>\n        <strong class=\"pid-helper-feature-title\">\u5b9e\u65f6\u66f2\u7ebf\u76d1\u63a7<\/strong>\n        <span class=\"pid-helper-feature-desc\">\u6301\u7eed\u663e\u793a\u76ee\u6807\u503c\u3001\u5b9e\u9645\u503c\u3001\u63a7\u5236\u8f93\u5165\u548c\u8bef\u5dee\uff0c\u652f\u6301\u66f2\u7ebf\u7a97\u53e3\u67e5\u770b\u54cd\u5e94\u901f\u5ea6\u3001\u8d85\u8c03\u548c\u6296\u52a8\u3002<\/span>\n      <\/div>\n      <div class=\"pid-helper-feature\">\n        <span class=\"pid-helper-feature-code\">PID<\/span>\n        <strong class=\"pid-helper-feature-title\">PID \u53c2\u6570\u7f16\u8f91\u4e0e\u4e0b\u53d1<\/strong>\n        <span class=\"pid-helper-feature-desc\">\u76f4\u63a5\u4fee\u6539 Kp\u3001Ki\u3001Kd \u8349\u7a3f\u503c\u5e76\u4e0b\u53d1\uff0c\u4e0b\u4f4d\u673a\u8fd4\u56de ACK \u540e\u518d\u7ed3\u5408\u53cd\u9988\u5e27\u786e\u8ba4\u5f53\u524d\u751f\u6548\u503c\u3002<\/span>\n      <\/div>\n      <div class=\"pid-helper-feature\">\n        <span class=\"pid-helper-feature-code\">IDENTIFY<\/span>\n        <strong class=\"pid-helper-feature-title\">\u81ea\u52a8\u8fa8\u8bc6\u521d\u503c<\/strong>\n        <span class=\"pid-helper-feature-desc\">\u901f\u5ea6\u73af\u53ef\u901a\u8fc7\u81ea\u52a8\u8fa8\u8bc6\u83b7\u5f97 PID \u521d\u503c\uff0c\u51cf\u5c11\u4ece\u96f6\u5f00\u59cb\u8bd5\u53c2\u7684\u65f6\u95f4\u3002<\/span>\n      <\/div>\n      <div class=\"pid-helper-feature\">\n        <span class=\"pid-helper-feature-code\">STEP<\/span>\n        <strong class=\"pid-helper-feature-title\">\u9636\u8dc3\u54cd\u5e94\u6d4b\u8bd5<\/strong>\n        <span class=\"pid-helper-feature-desc\">\u5728\u5f53\u524d PID \u4e0b\u6267\u884c\u56fa\u5b9a\u65f6\u957f\u9636\u8dc3\u6d4b\u8bd5\uff0c\u7528\u4e8e\u89c2\u5bdf\u8ddf\u8e2a\u80fd\u529b\u3001\u7a33\u5b9a\u6027\u548c\u8d85\u8c03\u60c5\u51b5\u3002<\/span>\n      <\/div>\n      <div class=\"pid-helper-feature\">\n        <span class=\"pid-helper-feature-code\">OPTIMIZE<\/span>\n        <strong class=\"pid-helper-feature-title\">\u95ed\u73af\u81ea\u52a8\u4f18\u5316<\/strong>\n        <span class=\"pid-helper-feature-desc\">\u56f4\u7ed5\u5f53\u524d\u5df2\u751f\u6548 PID \u751f\u6210\u5019\u9009\u53c2\u6570\uff0c\u901a\u8fc7\u5b9e\u9645\u54cd\u5e94\u8bc4\u5206\u51b3\u5b9a\u662f\u5426\u4fdd\u7559\u66f4\u4f18\u7ed3\u679c\u3002<\/span>\n      <\/div>\n    <\/div>\n  <\/div>\n\n  <div class=\"pid-helper-section\">\n    <div class=\"pid-helper-section-head\">\n      <h3 class=\"pid-helper-section-title\">\u8f6f\u4ef6\u80fd\u529b\u6982\u89c8<\/h3>\n      <p class=\"pid-helper-section-note\">\u9002\u5408\u9700\u8981\u5feb\u901f\u8054\u8c03\u3001\u53ef\u89c6\u5316\u89c2\u5bdf\u548c\u53cd\u590d\u4f18\u5316\u7684 PID \u63a7\u5236\u9879\u76ee\u3002<\/p>\n    <\/div>\n\n    <div class=\"pid-helper-info-grid\" aria-label=\"\u8f6f\u4ef6\u80fd\u529b\u6982\u89c8\">\n      <div class=\"pid-helper-info-card\">\n        <strong class=\"pid-helper-info-card-title\">\u901f\u5ea6\u73af\u4e0e\u4f4d\u7f6e\u73af<\/strong>\n        <p class=\"pid-helper-info-card-desc\">\n          \u652f\u6301\u901f\u5ea6\u73af PID \u8c03\u8282\u6a21\u5f0f\u548c\u4f4d\u7f6e\u73af PID \u8c03\u8282\u6a21\u5f0f\u3002\u4f4d\u7f6e\u73af\u76ee\u6807\u503c\u6309\u89d2\u5ea6\u5904\u7406\uff0c\u8303\u56f4\u4e3a -180\u00b0 \u5230 180\u00b0\u3002\n        <\/p>\n      <\/div>\n      <div class=\"pid-helper-info-card\">\n        <strong class=\"pid-helper-info-card-title\">\u4e0b\u4f4d\u673a\u534f\u8bae\u914d\u5408<\/strong>\n        <p class=\"pid-helper-info-card-desc\">\n          \u63a5\u6536\u5c0f\u7aef\u4e8c\u8fdb\u5236\u53cd\u9988\u6570\u636e\uff0c\u53d1\u9001\u63a7\u5236\u547d\u4ee4\u5e76\u7b49\u5f85 ACK\uff0c\u9002\u5408\u9ad8\u9891\u3001\u591a\u5b57\u6bb5\u7684\u4e32\u53e3\u6570\u636e\u4f20\u8f93\u3002\n        <\/p>\n        <div class=\"pid-helper-fields\" aria-label=\"\u53cd\u9988\u5b57\u6bb5\">\n          <span class=\"pid-helper-field\">timestamp_ms<\/span>\n          <span class=\"pid-helper-field\">actual<\/span>\n          <span class=\"pid-helper-field\">target<\/span>\n          <span class=\"pid-helper-field\">input<\/span>\n          <span class=\"pid-helper-field\">error<\/span>\n          <span class=\"pid-helper-field\">p<\/span>\n          <span class=\"pid-helper-field\">i<\/span>\n          <span class=\"pid-helper-field\">d<\/span>\n        <\/div>\n      <\/div>\n      <div class=\"pid-helper-info-card\">\n        <strong class=\"pid-helper-info-card-title\">\u9ad8\u7ea7\u4f18\u5316\u8bbe\u7f6e<\/strong>\n        <p class=\"pid-helper-info-card-desc\">\n          \u95ed\u73af\u4f18\u5316\u652f\u6301\u5206\u9636\u6bb5\u6574\u5b9a\u548c PSO\uff0c\u7528\u6237\u53ef\u914d\u7f6e\u8bc4\u5206\u6743\u91cd\u3001P\/I\/D \u9636\u6bb5\u6d4b\u8bd5\u767e\u5206\u6bd4\u548c\u5c0f\u8303\u56f4\u5fae\u8c03\u5e45\u5ea6\u3002\n        <\/p>\n      <\/div>\n    <\/div>\n  <\/div>\n<\/section>\n","protected":false},"excerpt":{"rendered":"<p>\u60f3\u4e86\u89e3\u66f4\u591a\u9879\u76ee\u8bf7\u641c\u7d22\u201c\u9879\u76ee\u201d\u6807\u7b7e\u6216\u8005\u8bbf\u95ee\u6211\u7684github\u4ed3\u5e93\u3002\u4ed3\u5e93\u5730\u5740\uff1a\u4ed3\u5e93 &#8211; \u9621\u964c (qian [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":641,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[15,42,41,17],"class_list":["post-618","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-article","tag-github","tag-pid","tag-41","tag-17"],"_links":{"self":[{"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/618","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/comments?post=618"}],"version-history":[{"count":17,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/618\/revisions"}],"predecessor-version":[{"id":669,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/618\/revisions\/669"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/media\/641"}],"wp:attachment":[{"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/media?parent=618"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/categories?post=618"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/tags?post=618"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}