error2.txt

第一步：采用PID控制

0.266000	0.497476	0.490134	0.007341	-6.187909	
0.267000	0.497150	0.489868	0.007282	-6.093079	
0.268000	0.496806	0.489583	0.007222	-5.998201	
0.269000	0.496441	0.489279	0.007163	-5.903277	
0.270000	0.496057	0.488955	0.007102	-5.808311	
0.271000	0.495654	0.488612	0.007042	-5.713308	
0.272000	0.495231	0.488250	0.006981	-5.618270	
0.273000	0.494788	0.487868	0.006920	-5.523203	
0.274000	0.494326	0.487468	0.006858	-5.428108	
0.275000	0.493844	0.487048	0.006796	-5.332991	
0.276000	0.493343	0.486609	0.006734	-5.237855	
0.277000	0.492822	0.486151	0.006672	-5.142704	
0.278000	0.492282	0.485673	0.006609	-5.047542	
0.279000	0.491723	0.485177	0.006546	-4.952372	
0.280000	0.491144	0.484661	0.006483	-4.857198	
0.281000	0.490545	0.484126	0.006419	-4.762024	
0.282000	0.489928	0.483573	0.006355	-4.666854	
0.283000	0.489290	0.483000	0.006291	-4.571691	
0.284000	0.488634	0.482408	0.006226	-4.476540	
0.285000	0.487958	0.481797	0.006161	-4.381404	
0.286000	0.487263	0.481167	0.006096	-4.286286	
0.287000	0.486549	0.480518	0.006031	-4.191192	
0.288000	0.485816	0.479851	0.005965	-4.096124	
0.289000	0.485063	0.479164	0.005899	-4.001086	
0.290000	0.484292	0.478458	0.005833	-3.906082	
0.291000	0.483501	0.477734	0.005767	-3.811116	
0.292000	0.482691	0.476991	0.005700	-3.716192	
0.293000	0.481862	0.476229	0.005633	-3.621313	
0.294000	0.481014	0.475448	0.005566	-3.526483	
0.295000	0.480147	0.474648	0.005499	-3.431706	
0.296000	0.479261	0.473830	0.005431	-3.336986	
0.297000	0.478356	0.472993	0.005363	-3.242326	
0.298000	0.477432	0.472137	0.005295	-3.147730	
0.299000	0.476490	0.471263	0.005227	-3.053202	
0.300000	0.475528	0.470370	0.005158	-2.958746	
0.301000	0.474548	0.469459	0.005089	-2.864365	
0.302000	0.473549	0.468529	0.005020	-2.770064	
0.303000	0.472532	0.467580	0.004951	-2.675846	
0.304000	0.471495	0.466614	0.004882	-2.581714	
0.305000	0.470440	0.465628	0.004812	-2.487672	
0.306000	0.469367	0.464625	0.004742	-2.393725	
0.307000	0.468275	0.463603	0.004672	-2.299876	
0.308000	0.467164	0.462563	0.004602	-2.206128	
0.309000	0.466036	0.461504	0.004532	-2.112486	
0.310000	0.464888	0.460427	0.004461	-2.018953	
0.311000	0.463723	0.459332	0.004390	-1.925533	
0.312000	0.462539	0.458219	0.004319	-1.832229	
0.313000	0.461336	0.457088	0.004248	-1.739045	
0.314000	0.460116	0.455939	0.004177	-1.645986	
0.315000	0.458877	0.454772	0.004105	-1.553054	
0.316000	0.457621	0.453587	0.004034	-1.460253	
0.317000	0.456346	0.452384	0.003962	-1.367587	
0.318000	0.455053	0.451163	0.003890	-1.275060	
0.319000	0.453742	0.449925	0.003818	-1.182675	
0.320000	0.452414	0.448668	0.003745	-1.090436	
0.321000	0.451067	0.447394	0.003673	-0.998347	
0.322000	0.449703	0.446102	0.003600	-0.906412	
0.323000	0.448321	0.444793	0.003528	-0.814633	
0.324000	0.446921	0.443466	0.003455	-0.723015	
0.325000	0.445503	0.442121	0.003382	-0.631561	
0.326000	0.444068	0.440759	0.003309	-0.540275	
0.327000	0.442616	0.439380	0.003236	-0.449161	
0.328000	0.441146	0.437983	0.003162	-0.358222	
0.329000	0.439658	0.436569	0.003089	-0.267461	
0.330000	0.438153	0.435138	0.003015	-0.176883	
0.331000	0.436631	0.433689	0.002942	-0.086491	
0.332000	0.435092	0.432224	0.002868	0.003711	
0.333000	0.433535	0.430741	0.002794	0.093721	
0.334000	0.431962	0.429241	0.002720	0.183533	
0.335000	0.430371	0.427725	0.002646	0.273146	
0.336000	0.428763	0.426191	0.002572	0.362554	
0.337000	0.427139	0.424641	0.002498	0.451756	
0.338000	0.425497	0.423074	0.002424	0.540746	
0.339000	0.423839	0.421490	0.002349	0.629522	
0.340000	0.422164	0.419889	0.002275	0.718079	
0.341000	0.420472	0.418272	0.002200	0.806416	
0.342000	0.418764	0.416638	0.002126	0.894527	
0.343000	0.417039	0.414988	0.002051	0.982410	
0.344000	0.415298	0.413321	0.001976	1.070061	
0.345000	0.413540	0.411639	0.001902	1.157476	
0.346000	0.411766	0.409939	0.001827	1.244652	
0.347000	0.409976	0.408224	0.001752	1.331586	
0.348000	0.408170	0.406492	0.001677	1.418275	
0.349000	0.406347	0.404745	0.001602	1.504713	
0.350000	0.404508	0.402981	0.001527	1.590900	
0.351000	0.402654	0.401202	0.001452	1.676829	
0.352000	0.400783	0.399406	0.001377	1.762500	
0.353000	0.398897	0.397595	0.001302	1.847907	
0.354000	0.396995	0.395768	0.001227	1.933048	
0.355000	0.395078	0.393925	0.001152	2.017920	
0.356000	0.393144	0.392067	0.001077	2.102518	
0.357000	0.391195	0.390193	0.001002	2.186840	
0.358000	0.389231	0.388304	0.000927	2.270882	
0.359000	0.387252	0.386400	0.000852	2.354641	
0.360000	0.385257	0.384480	0.000777	2.438113	
0.361000	0.383247	0.382545	0.000702	2.521296	
0.362000	0.381221	0.380595	0.000627	2.604185	
0.363000	0.379181	0.378629	0.000552	2.686779	
0.364000	0.377126	0.376649	0.000477	2.769072	
0.365000	0.375056	0.374654	0.000402	2.851063	
0.366000	0.372971	0.372644	0.000327	2.932747	
0.367000	0.370871	0.370619	0.000252	3.014122	
0.368000	0.368757	0.368580	0.000177	3.095185	
0.369000	0.366628	0.366526	0.000102	3.175931	
0.370000	0.364484	0.364457	0.000027	3.256359	
0.371000	0.362327	0.362374	-0.000048	3.336464	
0.372000	0.360155	0.360277	-0.000123	3.416244	
0.373000	0.357968	0.358165	-0.000197	3.495695	
0.374000	0.355768	0.356040	-0.000272	3.574815	
0.375000	0.353553	0.353900	-0.000346	3.653599	
0.376000	0.351325	0.351746	-0.000421	3.732046	
0.377000	0.349083	0.349578	-0.000495	3.810152	
0.378000	0.346827	0.347397	-0.000570	3.887913	
0.379000	0.344557	0.345201	-0.000644	3.965327	
0.380000	0.342274	0.342992	-0.000718	4.042390	
0.381000	0.339977	0.340769	-0.000793	4.119100	
0.382000	0.337666	0.338533	-0.000867	4.195454	
0.383000	0.335343	0.336283	-0.000941	4.271448	
0.384000	0.333006	0.334020	-0.001015	4.347080	
0.385000	0.330656	0.331744	-0.001088	4.422346	
0.386000	0.328293	0.329455	-0.001162	4.497244	
0.387000	0.325917	0.327153	-0.001236	4.571770	
0.388000	0.323528	0.324837	-0.001309	4.645921	
0.389000	0.321126	0.322509	-0.001383	4.719695	
0.390000	0.318712	0.320168	-0.001456	4.793089	
0.391000	0.316285	0.317814	-0.001529	4.866100	
0.392000	0.313846	0.315448	-0.001602	4.938725	
0.393000	0.311394	0.313069	-0.001675	5.010960	
0.394000	0.308930	0.310678	-0.001748	5.082804	
0.395000	0.306454	0.308274	-0.001820	5.154253	
0.396000	0.303965	0.305858	-0.001893	5.225304	
0.397000	0.301465	0.303430	-0.001965	5.295955	
0.398000	0.298952	0.300990	-0.002038	5.366203	
0.399000	0.296428	0.298538	-0.002110	5.436045	
0.400000	0.293893	0.296074	-0.002182	5.505478	
0.401000	0.291345	0.293599	-0.002254	5.574500	
0.402000	0.288786	0.291112	-0.002325	5.643107	
0.403000	0.286216	0.288613	-0.002397	5.711298	
0.404000	0.283634	0.286103	-0.002468	5.779068	
0.405000	0.281042	0.283581	-0.002539	5.846417	
0.406000	0.278438	0.281048	-0.002610	5.913340	
0.407000	0.275823	0.278504	-0.002681	5.979836	
0.408000	0.273197	0.275949	-0.002752	6.045901	
0.409000	0.270561	0.273383	-0.002822	6.111534	
0.410000	0.267913	0.270806	-0.002893	6.176731	
0.411000	0.265256	0.268218	-0.002963	6.241490	
0.412000	0.262587	0.265620	-0.003033	6.305808	
0.413000	0.259909	0.263011	-0.003102	6.369683	
0.414000	0.257220	0.260392	-0.003172	6.433112	
0.415000	0.254521	0.257762	-0.003241	6.496092	
0.416000	0.251812	0.255122	-0.003310	6.558622	
0.417000	0.249093	0.252472	-0.003379	6.620699	
0.418000	0.246364	0.249812	-0.003448	6.682320	
0.419000	0.243625	0.247142	-0.003517	6.743483	
0.420000	0.240877	0.244462	-0.003585	6.804185	
0.421000	0.238119	0.241772	-0.003653	6.864424	
0.422000	0.235352	0.239073	-0.003721	6.924197	
0.423000	0.232576	0.236364	-0.003788	6.983503	
0.424000	0.229790	0.233646	-0.003856	7.042339	
0.425000	0.226995	0.230918	-0.003923	7.100702	
0.426000	0.224192	0.228182	-0.003990	7.158591	
0.427000	0.221379	0.225436	-0.004057	7.216002	
0.428000	0.218558	0.222681	-0.004123	7.272934	
0.429000	0.215728	0.219918	-0.004189	7.329384	
0.430000	0.212890	0.217145	-0.004255	7.385351	
0.431000	0.210043	0.214364	-0.004321	7.440831	
0.432000	0.207188	0.211575	-0.004387	7.495823	
0.433000	0.204325	0.208776	-0.004452	7.550325	
0.434000	0.201453	0.205970	-0.004517	7.604334	
0.435000	0.198574	0.203156	-0.004582	7.657848	
0.436000	0.195687	0.200333	-0.004646	7.710866	
0.437000	0.192792	0.197502	-0.004710	7.763384	
0.438000	0.189890	0.194664	-0.004774	7.815401	
0.439000	0.186980	0.191817	-0.004838	7.866915	
0.440000	0.184062	0.188963	-0.004901	7.917924	
0.441000	0.181138	0.186102	-0.004964	7.968425	
0.442000	0.178206	0.183233	-0.005027	8.018418	
0.443000	0.175267	0.180357	-0.005090	8.067899	
0.444000	0.172321	0.177473	-0.005152	8.116867	
0.445000	0.169369	0.174583	-0.005214	8.165320	
0.446000	0.166410	0.171685	-0.005275	8.213256	
0.447000	0.163444	0.168781	-0.005337	8.260672	
0.448000	0.160472	0.165870	-0.005398	8.307568	
0.449000	0.157493	0.162952	-0.005458	8.353942	
0.450000	0.154508	0.160027	-0.005519	8.399790	
0.451000	0.151518	0.157097	-0.005579	8.445113	
0.452000	0.148521	0.154160	-0.005639	8.489907	
0.453000	0.145518	0.151216	-0.005698	8.534171	
0.454000	0.142510	0.148267	-0.005758	8.577904	
0.455000	0.139496	0.145312	-0.005816	8.621103	
0.456000	0.136476	0.142351	-0.005875	8.663767	
0.457000	0.133451	0.139384	-0.005933	8.705894	
0.458000	0.130421	0.136412	-0.005991	8.747483	
0.459000	0.127385	0.133434	-0.006049	8.788531	
0.460000	0.124345	0.130451	-0.006106	8.829038	
0.461000	0.121300	0.127462	-0.006163	8.869001	
0.462000	0.118249	0.124469	-0.006219	8.908419	
0.463000	0.115195	0.121470	-0.006275	8.947291	
0.464000	0.112135	0.118467	-0.006331	8.985615	
0.465000	0.109072	0.115458	-0.006387	9.023389	
0.466000	0.106004	0.112446	-0.006442	9.060611	
0.467000	0.102931	0.109428	-0.006497	9.097282	
0.468000	0.099855	0.106406	-0.006551	9.133398	
0.469000	0.096775	0.103380	-0.006605	9.168958	
0.470000	0.093691	0.100350	-0.006659	9.203962	
0.471000	0.090603	0.097315	-0.006712	9.238408	
0.472000	0.087512	0.094277	-0.006765	9.272293	
0.473000	0.084417	0.091235	-0.006818	9.305618	
0.474000	0.081319	0.088189	-0.006870	9.338381	
0.475000	0.078217	0.085139	-0.006922	9.370579	
0.476000	0.075113	0.082087	-0.006974	9.402213	
0.477000	0.072005	0.079030	-0.007025	9.433281	
0.478000	0.068895	0.075971	-0.007076	9.463781	
0.479000	0.065782	0.072908	-0.007126	9.493713	
0.480000	0.062667	0.069843	-0.007176	9.523074	
0.481000	0.059549	0.066774	-0.007226	9.551865	
0.482000	0.056428	0.063703	-0.007275	9.580084	
0.483000	0.053306	0.060629	-0.007324	9.607729	
0.484000	0.050181	0.057553	-0.007372	9.634800	
0.485000	0.047054	0.054474	-0.007420	9.661296	
0.486000	0.043926	0.051394	-0.007468	9.687215	
0.487000	0.040795	0.048311	-0.007515	9.712556	
0.488000	0.037663	0.045225	-0.007562	9.737319	
0.489000	0.034530	0.042139	-0.007608	9.761503	
0.490000	0.031395	0.039050	-0.007655	9.785106	
0.491000	0.028259	0.035959	-0.007700	9.808127	
0.492000	0.025122	0.032868	-0.007745	9.830567	
0.493000	0.021984	0.029774	-0.007790	9.852423	
0.494000	0.018845	0.026680	-0.007835	9.873694	
0.495000	0.015705	0.023584	-0.007879	9.894381	
0.496000	0.012565	0.020487	-0.007922	9.914483	
0.497000	0.009424	0.017389	-0.007965	9.933997	
0.498000	0.006283	0.014291	-0.008008	9.952924	
0.499000	0.003142	0.011192	-0.008050	9.971264	
0.500000	-0.000000	0.008092	-0.008092	9.989014	
0.501000	-0.003142	0.004992	-0.008133	10.006175	
0.502000	-0.006283	0.001891	-0.008174	10.022745	
0.503000	-0.009424	-0.001209	-0.008215	10.038725	
0.504000	-0.012565	-0.004310	-0.008255	10.054113	
0.505000	-0.015705	-0.007411	-0.008295	10.068909	
0.506000	-0.018845	-0.010511	-0.008334	10.083112	
0.507000	-0.021984	-0.013611	-0.008373	10.096722	
0.508000	-0.025122	-0.016711	-0.008411	10.109738	
0.509000	-0.028259	-0.019810	-0.008449	10.122159	
0.510000	-0.031395	-0.022909	-0.008487	10.133986	
0.511000	-0.034530	-0.026006	-0.008524	10.145217	
0.512000	-0.037663	-0.029103	-0.008560	10.155853	
0.513000	-0.040795	-0.032199	-0.008596	10.165892	
0.514000	-0.043926	-0.035294	-0.008632	10.175335	
0.515000	-0.047054	-0.038387	-0.008667	10.184181	
0.516000	-0.050181	-0.041479	-0.008702	10.192429	
0.517000	-0.053306	-0.044569	-0.008736	10.200080	
0.518000	-0.056428	-0.047658	-0.008770	10.207132	
0.519000	-0.059549	-0.050745	-0.008803	10.213587	
0.520000	-0.062667	-0.053830	-0.008836	10.219442	
0.521000	-0.065782	-0.056913	-0.008869	10.224699	
0.522000	-0.068895	-0.059994	-0.008901	10.229357	
0.523000	-0.072005	-0.063073	-0.008932	10.233416	
0.524000	-0.075113	-0.066150	-0.008963	10.236875	
0.525000	-0.078217	-0.069223	-0.008994	10.239735	
0.526000	-0.081319	-0.072295	-0.009024	10.241996	
0.527000	-0.084417	-0.075363	-0.009054	10.243656	
0.528000	-0.087512	-0.078429	-0.009083	10.244717	
0.529000	-0.090603	-0.081492	-0.009111	10.245178	
0.530000	-0.093691	-0.084551	-0.009139	10.245039	
0.531000	-0.096775	-0.087608	-0.009167	10.244300