error2.txt

第一步：采用PID控制

0.532000	-0.099855	-0.090661	-0.009194	10.242961	
0.533000	-0.102931	-0.093710	-0.009221	10.241022	
0.534000	-0.106004	-0.096756	-0.009247	10.238484	
0.535000	-0.109072	-0.099799	-0.009273	10.235346	
0.536000	-0.112135	-0.102837	-0.009298	10.231609	
0.537000	-0.115195	-0.105872	-0.009323	10.227272	
0.538000	-0.118249	-0.108902	-0.009347	10.222336	
0.539000	-0.121300	-0.111928	-0.009371	10.216801	
0.540000	-0.124345	-0.114950	-0.009395	10.210667	
0.541000	-0.127385	-0.117968	-0.009417	10.203934	
0.542000	-0.130421	-0.120981	-0.009440	10.196604	
0.543000	-0.133451	-0.123989	-0.009462	10.188675	
0.544000	-0.136476	-0.126993	-0.009483	10.180148	
0.545000	-0.139496	-0.129992	-0.009504	10.171024	
0.546000	-0.142510	-0.132986	-0.009524	10.161303	
0.547000	-0.145518	-0.135974	-0.009544	10.150986	
0.548000	-0.148521	-0.138958	-0.009563	10.140072	
0.549000	-0.151518	-0.141936	-0.009582	10.128562	
0.550000	-0.154508	-0.144908	-0.009600	10.116457	
0.551000	-0.157493	-0.147875	-0.009618	10.103757	
0.552000	-0.160472	-0.150836	-0.009636	10.090462	
0.553000	-0.163444	-0.153792	-0.009652	10.076574	
0.554000	-0.166410	-0.156741	-0.009669	10.062092	
0.555000	-0.169369	-0.159685	-0.009684	10.047017	
0.556000	-0.172321	-0.162622	-0.009700	10.031350	
0.557000	-0.175267	-0.165553	-0.009715	10.015092	
0.558000	-0.178206	-0.168477	-0.009729	9.998243	
0.559000	-0.181138	-0.171395	-0.009743	9.980803	
0.560000	-0.184062	-0.174306	-0.009756	9.962774	
0.561000	-0.186980	-0.177211	-0.009769	9.944155	
0.562000	-0.189890	-0.180109	-0.009781	9.924949	
0.563000	-0.192792	-0.183000	-0.009792	9.905155	
0.564000	-0.195687	-0.185883	-0.009804	9.884775	
0.565000	-0.198574	-0.188760	-0.009814	9.863808	
0.566000	-0.201453	-0.191629	-0.009825	9.842257	
0.567000	-0.204325	-0.194490	-0.009834	9.820121	
0.568000	-0.207188	-0.197345	-0.009843	9.797403	
0.569000	-0.210043	-0.200191	-0.009852	9.774101	
0.570000	-0.212890	-0.203030	-0.009860	9.750219	
0.571000	-0.215728	-0.205860	-0.009868	9.725755	
0.572000	-0.218558	-0.208683	-0.009875	9.700712	
0.573000	-0.221379	-0.211498	-0.009881	9.675091	
0.574000	-0.224192	-0.214304	-0.009887	9.648891	
0.575000	-0.226995	-0.217103	-0.009893	9.622116	
0.576000	-0.229790	-0.219892	-0.009898	9.594764	
0.577000	-0.232576	-0.222673	-0.009902	9.566838	
0.578000	-0.235352	-0.225446	-0.009906	9.538339	
0.579000	-0.238119	-0.228210	-0.009909	9.509268	
0.580000	-0.240877	-0.230965	-0.009912	9.479625	
0.581000	-0.243625	-0.233710	-0.009915	9.449413	
0.582000	-0.246364	-0.236447	-0.009916	9.418631	
0.583000	-0.249093	-0.239175	-0.009918	9.387283	
0.584000	-0.251812	-0.241893	-0.009919	9.355367	
0.585000	-0.254521	-0.244602	-0.009919	9.322887	
0.586000	-0.257220	-0.247301	-0.009919	9.289843	
0.587000	-0.259909	-0.249991	-0.009918	9.256237	
0.588000	-0.262587	-0.252671	-0.009916	9.222069	
0.589000	-0.265256	-0.255341	-0.009915	9.187342	
0.590000	-0.267913	-0.258001	-0.009912	9.152056	
0.591000	-0.270561	-0.260651	-0.009909	9.116213	
0.592000	-0.273197	-0.263291	-0.009906	9.079815	
0.593000	-0.275823	-0.265921	-0.009902	9.042862	
0.594000	-0.278438	-0.268540	-0.009897	9.005356	
0.595000	-0.281042	-0.271149	-0.009892	8.967300	
0.596000	-0.283634	-0.273748	-0.009887	8.928693	
0.597000	-0.286216	-0.276335	-0.009881	8.889538	
0.598000	-0.288786	-0.278912	-0.009874	8.849836	
0.599000	-0.291345	-0.281478	-0.009867	8.809590	
0.600000	-0.293893	-0.284033	-0.009860	8.768799	
0.601000	-0.296428	-0.286577	-0.009851	8.727467	
0.602000	-0.298952	-0.289110	-0.009843	8.685594	
0.603000	-0.301465	-0.291631	-0.009834	8.643183	
0.604000	-0.303965	-0.294141	-0.009824	8.600235	
0.605000	-0.306454	-0.296640	-0.009814	8.556751	
0.606000	-0.308930	-0.299127	-0.009803	8.512734	
0.607000	-0.311394	-0.301602	-0.009792	8.468185	
0.608000	-0.313846	-0.304066	-0.009780	8.423105	
0.609000	-0.316285	-0.306518	-0.009767	8.377498	
0.610000	-0.318712	-0.308957	-0.009755	8.331363	
0.611000	-0.321126	-0.311385	-0.009741	8.284704	
0.612000	-0.323528	-0.313801	-0.009727	8.237522	
0.613000	-0.325917	-0.316204	-0.009713	8.189819	
0.614000	-0.328293	-0.318595	-0.009698	8.141597	
0.615000	-0.330656	-0.320974	-0.009682	8.092858	
0.616000	-0.333006	-0.323340	-0.009666	8.043603	
0.617000	-0.335343	-0.325693	-0.009650	7.993835	
0.618000	-0.337666	-0.328034	-0.009633	7.943555	
0.619000	-0.339977	-0.330361	-0.009615	7.892766	
0.620000	-0.342274	-0.332676	-0.009597	7.841470	
0.621000	-0.344557	-0.334978	-0.009579	7.789668	
0.622000	-0.346827	-0.337267	-0.009560	7.737362	
0.623000	-0.349083	-0.339543	-0.009540	7.684556	
0.624000	-0.351325	-0.341805	-0.009520	7.631250	
0.625000	-0.353553	-0.344054	-0.009499	7.577446	
0.626000	-0.355768	-0.346290	-0.009478	7.523148	
0.627000	-0.357968	-0.348512	-0.009456	7.468357	
0.628000	-0.360155	-0.350721	-0.009434	7.413075	
0.629000	-0.362327	-0.352915	-0.009411	7.357305	
0.630000	-0.364484	-0.355096	-0.009388	7.301048	
0.631000	-0.366628	-0.357263	-0.009364	7.244307	
0.632000	-0.368757	-0.359417	-0.009340	7.187084	
0.633000	-0.370871	-0.361556	-0.009315	7.129382	
0.634000	-0.372971	-0.363681	-0.009290	7.071202	
0.635000	-0.375056	-0.365791	-0.009264	7.012547	
0.636000	-0.377126	-0.367888	-0.009238	6.953419	
0.637000	-0.379181	-0.369970	-0.009211	6.893821	
0.638000	-0.381221	-0.372037	-0.009184	6.833755	
0.639000	-0.383247	-0.374091	-0.009156	6.773223	
0.640000	-0.385257	-0.376129	-0.009128	6.712228	
0.641000	-0.387252	-0.378153	-0.009099	6.650771	
0.642000	-0.389231	-0.380162	-0.009070	6.588857	
0.643000	-0.391195	-0.382156	-0.009040	6.526486	
0.644000	-0.393144	-0.384135	-0.009009	6.463661	
0.645000	-0.395078	-0.386099	-0.008979	6.400386	
0.646000	-0.396995	-0.388048	-0.008947	6.336661	
0.647000	-0.398897	-0.389982	-0.008915	6.272491	
0.648000	-0.400783	-0.391900	-0.008883	6.207877	
0.649000	-0.402654	-0.393804	-0.008850	6.142822	
0.650000	-0.404508	-0.395691	-0.008817	6.077328	
0.651000	-0.406347	-0.397564	-0.008783	6.011399	
0.652000	-0.408170	-0.399421	-0.008749	5.945036	
0.653000	-0.409976	-0.401262	-0.008714	5.878243	
0.654000	-0.411766	-0.403087	-0.008679	5.811021	
0.655000	-0.413540	-0.404897	-0.008643	5.743374	
0.656000	-0.415298	-0.406691	-0.008607	5.675305	
0.657000	-0.417039	-0.408469	-0.008570	5.606815	
0.658000	-0.418764	-0.410231	-0.008533	5.537908	
0.659000	-0.420472	-0.411977	-0.008495	5.468586	
0.660000	-0.422164	-0.413707	-0.008457	5.398853	
0.661000	-0.423839	-0.415420	-0.008418	5.328710	
0.662000	-0.425497	-0.417118	-0.008379	5.258161	
0.663000	-0.427139	-0.418799	-0.008340	5.187208	
0.664000	-0.428763	-0.420464	-0.008300	5.115854	
0.665000	-0.430371	-0.422112	-0.008259	5.044103	
0.666000	-0.431962	-0.423744	-0.008218	4.971956	
0.667000	-0.433535	-0.425359	-0.008177	4.899417	
0.668000	-0.435092	-0.426957	-0.008135	4.826489	
0.669000	-0.436631	-0.428539	-0.008092	4.753174	
0.670000	-0.438153	-0.430104	-0.008049	4.679475	
0.671000	-0.439658	-0.431652	-0.008006	4.605395	
0.672000	-0.441146	-0.433183	-0.007962	4.530938	
0.673000	-0.442616	-0.434698	-0.007918	4.456106	
0.674000	-0.444068	-0.436195	-0.007873	4.380901	
0.675000	-0.445503	-0.437675	-0.007828	4.305328	
0.676000	-0.446921	-0.439138	-0.007782	4.229389	
0.677000	-0.448321	-0.440584	-0.007736	4.153086	
0.678000	-0.449703	-0.442013	-0.007690	4.076424	
0.679000	-0.451067	-0.443424	-0.007643	3.999405	
0.680000	-0.452414	-0.444818	-0.007595	3.922031	
0.681000	-0.453742	-0.446195	-0.007547	3.844307	
0.682000	-0.455053	-0.447554	-0.007499	3.766235	
0.683000	-0.456346	-0.448896	-0.007450	3.687818	
0.684000	-0.457621	-0.450220	-0.007401	3.609059	
0.685000	-0.458877	-0.451526	-0.007351	3.529962	
0.686000	-0.460116	-0.452815	-0.007301	3.450530	
0.687000	-0.461336	-0.454086	-0.007250	3.370765	
0.688000	-0.462539	-0.455339	-0.007199	3.290671	
0.689000	-0.463723	-0.456575	-0.007148	3.210251	
0.690000	-0.464888	-0.457792	-0.007096	3.129508	
0.691000	-0.466036	-0.458992	-0.007044	3.048446	
0.692000	-0.467164	-0.460173	-0.006991	2.967067	
0.693000	-0.468275	-0.461337	-0.006938	2.885374	
0.694000	-0.469367	-0.462483	-0.006884	2.803372	
0.695000	-0.470440	-0.463610	-0.006830	2.721063	
0.696000	-0.471495	-0.464719	-0.006776	2.638451	
0.697000	-0.472532	-0.465810	-0.006721	2.555538	
0.698000	-0.473549	-0.466883	-0.006666	2.472328	
0.699000	-0.474548	-0.467938	-0.006610	2.388824	
0.700000	-0.475528	-0.468974	-0.006554	2.305030	
0.701000	-0.476490	-0.469992	-0.006498	2.220949	
0.702000	-0.477432	-0.470992	-0.006441	2.136584	
0.703000	-0.478356	-0.471973	-0.006383	2.051939	
0.704000	-0.479261	-0.472935	-0.006326	1.967017	
0.705000	-0.480147	-0.473879	-0.006268	1.881820	
0.706000	-0.481014	-0.474805	-0.006209	1.796353	
0.707000	-0.481862	-0.475712	-0.006150	1.710620	
0.708000	-0.482691	-0.476600	-0.006091	1.624622	
0.709000	-0.483501	-0.477469	-0.006031	1.538364	
0.710000	-0.484292	-0.478320	-0.005971	1.451850	
0.711000	-0.485063	-0.479153	-0.005911	1.365082	
0.712000	-0.485816	-0.479966	-0.005850	1.278064	
0.713000	-0.486549	-0.480761	-0.005789	1.190799	
0.714000	-0.487263	-0.481536	-0.005727	1.103291	
0.715000	-0.487958	-0.482293	-0.005665	1.015543	
0.716000	-0.488634	-0.483031	-0.005603	0.927559	
0.717000	-0.489290	-0.483750	-0.005540	0.839343	
0.718000	-0.489928	-0.484451	-0.005477	0.750897	
0.719000	-0.490545	-0.485132	-0.005413	0.662225	
0.720000	-0.491144	-0.485794	-0.005350	0.573331	
0.721000	-0.491723	-0.486437	-0.005285	0.484218	
0.722000	-0.492282	-0.487061	-0.005221	0.394890	
0.723000	-0.492822	-0.487666	-0.005156	0.305350	
0.724000	-0.493343	-0.488252	-0.005091	0.215601	
0.725000	-0.493844	-0.488819	-0.005025	0.125649	
0.726000	-0.494326	-0.489367	-0.004959	0.035495	
0.727000	-0.494788	-0.489895	-0.004893	-0.054857	
0.728000	-0.495231	-0.490405	-0.004826	-0.145403	
0.729000	-0.495654	-0.490895	-0.004759	-0.236139	
0.730000	-0.496057	-0.491366	-0.004692	-0.327062	
0.731000	-0.496441	-0.491817	-0.004624	-0.418168	
0.732000	-0.496806	-0.492250	-0.004556	-0.509454	
0.733000	-0.497150	-0.492663	-0.004488	-0.600916	
0.734000	-0.497476	-0.493057	-0.004419	-0.692550	
0.735000	-0.497781	-0.493431	-0.004350	-0.784354	
0.736000	-0.498067	-0.493786	-0.004280	-0.876322	
0.737000	-0.498333	-0.494122	-0.004211	-0.968453	
0.738000	-0.498579	-0.494439	-0.004141	-1.060741	
0.739000	-0.498806	-0.494736	-0.004071	-1.153183	
0.740000	-0.499013	-0.495013	-0.004000	-1.245776	
0.741000	-0.499201	-0.495272	-0.003929	-1.338517	
0.742000	-0.499368	-0.495511	-0.003858	-1.431400	
0.743000	-0.499516	-0.495730	-0.003786	-1.524424	
0.744000	-0.499645	-0.495930	-0.003714	-1.617583	
0.745000	-0.499753	-0.496111	-0.003642	-1.710875	
0.746000	-0.499842	-0.496272	-0.003570	-1.804295	
0.747000	-0.499911	-0.496414	-0.003497	-1.897840	
0.748000	-0.499961	-0.496537	-0.003424	-1.991507	
0.749000	-0.499990	-0.496640	-0.003351	-2.085291	
0.750000	-0.500000	-0.496723	-0.003277	-2.179190	
0.751000	-0.499990	-0.496787	-0.003203	-2.273198	
0.752000	-0.499961	-0.496832	-0.003129	-2.367313	
0.753000	-0.499911	-0.496857	-0.003054	-2.461530	
0.754000	-0.499842	-0.496862	-0.002980	-2.555847	
0.755000	-0.499753	-0.496849	-0.002905	-2.650259	
0.756000	-0.499645	-0.496815	-0.002829	-2.744763	
0.757000	-0.499516	-0.496763	-0.002754	-2.839355	
0.758000	-0.499368	-0.496691	-0.002678	-2.934030	
0.759000	-0.499201	-0.496599	-0.002602	-3.028786	
0.760000	-0.499013	-0.496488	-0.002526	-3.123619	
0.761000	-0.498806	-0.496357	-0.002449	-3.218525	
0.762000	-0.498579	-0.496207	-0.002372	-3.313500	
0.763000	-0.498333	-0.496038	-0.002295	-3.408540	
0.764000	-0.498067	-0.495849	-0.002218	-3.503642	
0.765000	-0.497781	-0.495641	-0.002140	-3.598802	
0.766000	-0.497476	-0.495413	-0.002062	-3.694016	
0.767000	-0.497150	-0.495166	-0.001984	-3.789281	
0.768000	-0.496806	-0.494900	-0.001906	-3.884592	
0.769000	-0.496441	-0.494614	-0.001827	-3.979947	
0.770000	-0.496057	-0.494309	-0.001749	-4.075340	
0.771000	-0.495654	-0.493984	-0.001670	-4.170769	
0.772000	-0.495231	-0.493640	-0.001590	-4.266229	
0.773000	-0.494788	-0.493277	-0.001511	-4.361717	
0.774000	-0.494326	-0.492895	-0.001431	-4.457229	
0.775000	-0.493844	-0.492493	-0.001351	-4.552762	
0.776000	-0.493343	-0.492072	-0.001271	-4.648311	
0.777000	-0.492822	-0.491631	-0.001191	-4.743873	
0.778000	-0.492282	-0.491172	-0.001111	-4.839444	
0.779000	-0.491723	-0.490693	-0.001030	-4.935020	
0.780000	-0.491144	-0.490195	-0.000949	-5.030597	
0.781000	-0.490545	-0.489677	-0.000868	-5.126173	
0.782000	-0.489928	-0.489141	-0.000787	-5.221742	
0.783000	-0.489290	-0.488585	-0.000705	-5.317301	
0.784000	-0.488634	-0.488010	-0.000624	-5.412847	
0.785000	-0.487958	-0.487417	-0.000542	-5.508375	
0.786000	-0.487263	-0.486804	-0.000460	-5.603882	
0.787000	-0.486549	-0.486172	-0.000378	-5.699364	
0.788000	-0.485816	-0.485521	-0.000295	-5.794818	
0.789000	-0.485063	-0.484850	-0.000213	-5.890238	
0.790000	-0.484292	-0.484161	-0.000130	-5.985623	
0.791000	-0.483501	-0.483453	-0.000047	-6.080968	
0.792000	-0.482691	-0.482727	0.000036	-6.176269	
0.793000	-0.481862	-0.481981	0.000119	-6.271522	
0.794000	-0.481014	-0.481216	0.000202	-6.366724	
0.795000	-0.480147	-0.480432	0.000286	-6.461871	
0.796000	-0.479261	-0.479630	0.000369	-6.556960	
0.797000	-0.478356	-0.478809	0.000453	-6.651985