error2.txt

第一步：采用PID控制

1.064000	0.195687	0.177918	0.017769	-19.828636	
1.065000	0.198574	0.180791	0.017783	-19.807748	
1.066000	0.201453	0.183656	0.017797	-19.786273	
1.067000	0.204325	0.186515	0.017810	-19.764214	
1.068000	0.207188	0.189366	0.017822	-19.741571	
1.069000	0.210043	0.192209	0.017834	-19.718346	
1.070000	0.212890	0.195044	0.017845	-19.694538	
1.071000	0.215728	0.197872	0.017856	-19.670150	
1.072000	0.218558	0.200691	0.017867	-19.645181	
1.073000	0.221379	0.203503	0.017876	-19.619633	
1.074000	0.224192	0.206306	0.017886	-19.593508	
1.075000	0.226995	0.209101	0.017894	-19.566805	
1.076000	0.229790	0.211888	0.017902	-19.539526	
1.077000	0.232576	0.214666	0.017910	-19.511672	
1.078000	0.235352	0.217435	0.017917	-19.483245	
1.079000	0.238119	0.220196	0.017923	-19.454245	
1.080000	0.240877	0.222947	0.017929	-19.424673	
1.081000	0.243625	0.225690	0.017935	-19.394532	
1.082000	0.246364	0.228424	0.017940	-19.363820	
1.083000	0.249093	0.231149	0.017944	-19.332541	
1.084000	0.251812	0.233864	0.017948	-19.300696	
1.085000	0.254521	0.236570	0.017951	-19.268284	
1.086000	0.257220	0.239266	0.017954	-19.235309	
1.087000	0.259909	0.241953	0.017956	-19.201771	
1.088000	0.262587	0.244630	0.017958	-19.167671	
1.089000	0.265256	0.247297	0.017959	-19.133011	
1.090000	0.267913	0.249954	0.017959	-19.097792	
1.091000	0.270561	0.252601	0.017959	-19.062016	
1.092000	0.273197	0.255239	0.017959	-19.025683	
1.093000	0.275823	0.257865	0.017958	-18.988797	
1.094000	0.278438	0.260482	0.017956	-18.951356	
1.095000	0.281042	0.263088	0.017954	-18.913365	
1.096000	0.283634	0.265683	0.017951	-18.874823	
1.097000	0.286216	0.268268	0.017948	-18.835732	
1.098000	0.288786	0.270842	0.017944	-18.796095	
1.099000	0.291345	0.273406	0.017940	-18.755912	
1.100000	0.293893	0.275958	0.017935	-18.715184	
1.101000	0.296428	0.278499	0.017929	-18.673915	
1.102000	0.298952	0.281029	0.017923	-18.632105	
1.103000	0.301465	0.283548	0.017917	-18.589756	
1.104000	0.303965	0.286055	0.017910	-18.546869	
1.105000	0.306454	0.288551	0.017902	-18.503447	
1.106000	0.308930	0.291036	0.017894	-18.459490	
1.107000	0.311394	0.293508	0.017885	-18.415002	
1.108000	0.313846	0.295969	0.017876	-18.369983	
1.109000	0.316285	0.298419	0.017867	-18.324435	
1.110000	0.318712	0.300856	0.017856	-18.278361	
1.111000	0.321126	0.303281	0.017845	-18.231761	
1.112000	0.323528	0.305694	0.017834	-18.184638	
1.113000	0.325917	0.308095	0.017822	-18.136994	
1.114000	0.328293	0.310483	0.017810	-18.088830	
1.115000	0.330656	0.312859	0.017797	-18.040148	
1.116000	0.333006	0.315223	0.017783	-17.990951	
1.117000	0.335343	0.317574	0.017769	-17.941240	
1.118000	0.337666	0.319912	0.017755	-17.891018	
1.119000	0.339977	0.322237	0.017740	-17.840285	
1.120000	0.342274	0.324550	0.017724	-17.789045	
1.121000	0.344557	0.326849	0.017708	-17.737299	
1.122000	0.346827	0.329136	0.017691	-17.685049	
1.123000	0.349083	0.331409	0.017674	-17.632298	
1.124000	0.351325	0.333669	0.017656	-17.579047	
1.125000	0.353553	0.335916	0.017638	-17.525299	
1.126000	0.355768	0.338149	0.017619	-17.471055	
1.127000	0.357968	0.340369	0.017600	-17.416318	
1.128000	0.360155	0.342575	0.017580	-17.361090	
1.129000	0.362327	0.344767	0.017559	-17.305373	
1.130000	0.364484	0.346946	0.017538	-17.249169	
1.131000	0.366628	0.349111	0.017517	-17.192481	
1.132000	0.368757	0.351262	0.017495	-17.135311	
1.133000	0.370871	0.353398	0.017473	-17.077660	
1.134000	0.372971	0.355521	0.017449	-17.019532	
1.135000	0.375056	0.357630	0.017426	-16.960929	
1.136000	0.377126	0.359724	0.017402	-16.901853	
1.137000	0.379181	0.361804	0.017377	-16.842305	
1.138000	0.381221	0.363869	0.017352	-16.782290	
1.139000	0.383247	0.365920	0.017327	-16.721808	
1.140000	0.385257	0.367956	0.017300	-16.660863	
1.141000	0.387252	0.369978	0.017274	-16.599457	
1.142000	0.389231	0.371985	0.017247	-16.537591	
1.143000	0.391195	0.373977	0.017219	-16.475270	
1.144000	0.393144	0.375954	0.017191	-16.412494	
1.145000	0.395078	0.377916	0.017162	-16.349267	
1.146000	0.396995	0.379862	0.017133	-16.285592	
1.147000	0.398897	0.381794	0.017103	-16.221469	
1.148000	0.400783	0.383711	0.017073	-16.156903	
1.149000	0.402654	0.385612	0.017042	-16.091896	
1.150000	0.404508	0.387498	0.017011	-16.026450	
1.151000	0.406347	0.389368	0.016979	-15.960567	
1.152000	0.408170	0.391223	0.016947	-15.894251	
1.153000	0.409976	0.393062	0.016914	-15.827504	
1.154000	0.411766	0.394885	0.016881	-15.760329	
1.155000	0.413540	0.396693	0.016847	-15.692728	
1.156000	0.415298	0.398485	0.016813	-15.624704	
1.157000	0.417039	0.400261	0.016778	-15.556260	
1.158000	0.418764	0.402021	0.016743	-15.487398	
1.159000	0.420472	0.403765	0.016707	-15.418121	
1.160000	0.422164	0.405493	0.016671	-15.348432	
1.161000	0.423839	0.407205	0.016634	-15.278334	
1.162000	0.425497	0.408900	0.016597	-15.207829	
1.163000	0.427139	0.410580	0.016559	-15.136920	
1.164000	0.428763	0.412242	0.016521	-15.065610	
1.165000	0.430371	0.413889	0.016482	-14.993902	
1.166000	0.431962	0.415518	0.016443	-14.921798	
1.167000	0.433535	0.417132	0.016404	-14.849302	
1.168000	0.435092	0.418728	0.016363	-14.776416	
1.169000	0.436631	0.420308	0.016323	-14.703144	
1.170000	0.438153	0.421872	0.016282	-14.629487	
1.171000	0.439658	0.423418	0.016240	-14.555449	
1.172000	0.441146	0.424947	0.016198	-14.481034	
1.173000	0.442616	0.426460	0.016156	-14.406243	
1.174000	0.444068	0.427955	0.016113	-14.331080	
1.175000	0.445503	0.429434	0.016069	-14.255547	
1.176000	0.446921	0.430895	0.016025	-14.179649	
1.177000	0.448321	0.432339	0.015981	-14.103387	
1.178000	0.449703	0.433766	0.015936	-14.026765	
1.179000	0.451067	0.435176	0.015891	-13.949785	
1.180000	0.452414	0.436568	0.015845	-13.872452	
1.181000	0.453742	0.437943	0.015799	-13.794767	
1.182000	0.455053	0.439301	0.015752	-13.716734	
1.183000	0.456346	0.440641	0.015705	-13.638356	
1.184000	0.457621	0.441963	0.015658	-13.559637	
1.185000	0.458877	0.443268	0.015610	-13.480578	
1.186000	0.460116	0.444555	0.015561	-13.401184	
1.187000	0.461336	0.445824	0.015512	-13.321457	
1.188000	0.462539	0.447076	0.015463	-13.241401	
1.189000	0.463723	0.448309	0.015413	-13.161019	
1.190000	0.464888	0.449525	0.015363	-13.080314	
1.191000	0.466036	0.450723	0.015312	-12.999289	
1.192000	0.467164	0.451903	0.015261	-12.917947	
1.193000	0.468275	0.453065	0.015210	-12.836291	
1.194000	0.469367	0.454209	0.015158	-12.754326	
1.195000	0.470440	0.455335	0.015105	-12.672053	
1.196000	0.471495	0.456443	0.015052	-12.589477	
1.197000	0.472532	0.457532	0.014999	-12.506600	
1.198000	0.473549	0.458604	0.014945	-12.423426	
1.199000	0.474548	0.459657	0.014891	-12.339958	
1.200000	0.475528	0.460692	0.014837	-12.256200	
1.201000	0.476490	0.461708	0.014782	-12.172154	
1.202000	0.477432	0.462706	0.014726	-12.087824	
1.203000	0.478356	0.463685	0.014671	-12.003213	
1.204000	0.479261	0.464646	0.014614	-11.918325	
1.205000	0.480147	0.465589	0.014558	-11.833164	
1.206000	0.481014	0.466513	0.014501	-11.747731	
1.207000	0.481862	0.467418	0.014443	-11.662031	
1.208000	0.482691	0.468305	0.014386	-11.576068	
1.209000	0.483501	0.469173	0.014327	-11.489843	
1.210000	0.484292	0.470023	0.014269	-11.403362	
1.211000	0.485063	0.470854	0.014210	-11.316627	
1.212000	0.485816	0.471666	0.014150	-11.229642	
1.213000	0.486549	0.472459	0.014091	-11.142410	
1.214000	0.487263	0.473233	0.014030	-11.054935	
1.215000	0.487958	0.473989	0.013970	-10.967220	
1.216000	0.488634	0.474725	0.013909	-10.879268	
1.217000	0.489290	0.475443	0.013847	-10.791084	
1.218000	0.489928	0.476142	0.013786	-10.702670	
1.219000	0.490545	0.476822	0.013724	-10.614030	
1.220000	0.491144	0.477482	0.013661	-10.525167	
1.221000	0.491723	0.478124	0.013598	-10.436085	
1.222000	0.492282	0.478747	0.013535	-10.346788	
1.223000	0.492822	0.479351	0.013472	-10.257279	
1.224000	0.493343	0.479935	0.013408	-10.167562	
1.225000	0.493844	0.480501	0.013343	-10.077640	
1.226000	0.494326	0.481047	0.013279	-9.987516	
1.227000	0.494788	0.481574	0.013214	-9.897195	
1.228000	0.495231	0.482082	0.013148	-9.806679	
1.229000	0.495654	0.482571	0.013083	-9.715973	
1.230000	0.496057	0.483041	0.013017	-9.625080	
1.231000	0.496441	0.483491	0.012950	-9.534003	
1.232000	0.496806	0.483922	0.012883	-9.442747	
1.233000	0.497150	0.484334	0.012816	-9.351314	
1.234000	0.497476	0.484727	0.012749	-9.259709	
1.235000	0.497781	0.485100	0.012681	-9.167934	
1.236000	0.498067	0.485454	0.012613	-9.075994	
1.237000	0.498333	0.485788	0.012545	-8.983893	
1.238000	0.498579	0.486104	0.012476	-8.891633	
1.239000	0.498806	0.486400	0.012407	-8.799219	
1.240000	0.499013	0.486676	0.012337	-8.706654	
1.241000	0.499201	0.486933	0.012268	-8.613941	
1.242000	0.499368	0.487171	0.012197	-8.521086	
1.243000	0.499516	0.487389	0.012127	-8.428090	
1.244000	0.499645	0.487588	0.012056	-8.334958	
1.245000	0.499753	0.487768	0.011985	-8.241694	
1.246000	0.499842	0.487928	0.011914	-8.148300	
1.247000	0.499911	0.488069	0.011843	-8.054782	
1.248000	0.499961	0.488190	0.011771	-7.961142	
1.249000	0.499990	0.488292	0.011699	-7.867384	
1.250000	0.500000	0.488374	0.011626	-7.773513	
1.251000	0.499990	0.488437	0.011553	-7.679531	
1.252000	0.499961	0.488480	0.011480	-7.585442	
1.253000	0.499911	0.488504	0.011407	-7.491250	
1.254000	0.499842	0.488509	0.011333	-7.396960	
1.255000	0.499753	0.488494	0.011259	-7.302573	
1.256000	0.499645	0.488460	0.011185	-7.208095	
1.257000	0.499516	0.488406	0.011111	-7.113529	
1.258000	0.499368	0.488332	0.011036	-7.018879	
1.259000	0.499201	0.488240	0.010961	-6.924148	
1.260000	0.499013	0.488128	0.010886	-6.829340	
1.261000	0.498806	0.487996	0.010810	-6.734459	
1.262000	0.498579	0.487845	0.010735	-6.639509	
1.263000	0.498333	0.487674	0.010659	-6.544493	
1.264000	0.498067	0.487485	0.010582	-6.449415	
1.265000	0.497781	0.487275	0.010506	-6.354280	
1.266000	0.497476	0.487047	0.010429	-6.259090	
1.267000	0.497150	0.486799	0.010352	-6.163849	
1.268000	0.496806	0.486531	0.010275	-6.068562	
1.269000	0.496441	0.486244	0.010197	-5.973231	
1.270000	0.496057	0.485938	0.010119	-5.877862	
1.271000	0.495654	0.485612	0.010041	-5.782456	
1.272000	0.495231	0.485267	0.009963	-5.687019	
1.273000	0.494788	0.484903	0.009885	-5.591554	
1.274000	0.494326	0.484520	0.009806	-5.496065	
1.275000	0.493844	0.484117	0.009727	-5.400556	
1.276000	0.493343	0.483695	0.009648	-5.305029	
1.277000	0.492822	0.483253	0.009569	-5.209490	
1.278000	0.492282	0.482793	0.009489	-5.113942	
1.279000	0.491723	0.482313	0.009410	-5.018388	
1.280000	0.491144	0.481814	0.009330	-4.922833	
1.281000	0.490545	0.481296	0.009250	-4.827280	
1.282000	0.489928	0.480758	0.009169	-4.731733	
1.283000	0.489290	0.480202	0.009089	-4.636195	
1.284000	0.488634	0.479626	0.009008	-4.540671	
1.285000	0.487958	0.479031	0.008927	-4.445165	
1.286000	0.487263	0.478417	0.008846	-4.349679	
1.287000	0.486549	0.477784	0.008765	-4.254218	
1.288000	0.485816	0.477132	0.008684	-4.158786	
1.289000	0.485063	0.476461	0.008602	-4.063387	
1.290000	0.484292	0.475771	0.008520	-3.968023	
1.291000	0.483501	0.475062	0.008438	-3.872699	
1.292000	0.482691	0.474335	0.008356	-3.777419	
1.293000	0.481862	0.473588	0.008274	-3.682186	
1.294000	0.481014	0.472822	0.008192	-3.587005	
1.295000	0.480147	0.472038	0.008109	-3.491878	
1.296000	0.479261	0.471235	0.008026	-3.396810	
1.297000	0.478356	0.470413	0.007943	-3.301804	
1.298000	0.477432	0.469572	0.007860	-3.206865	
1.299000	0.476490	0.468713	0.007777	-3.111996	
1.300000	0.475528	0.467834	0.007694	-3.017200	
1.301000	0.474548	0.466938	0.007610	-2.922482	
1.302000	0.473549	0.466022	0.007527	-2.827844	
1.303000	0.472532	0.465088	0.007443	-2.733292	
1.304000	0.471495	0.464136	0.007359	-2.638828	
1.305000	0.470440	0.463165	0.007275	-2.544457	
1.306000	0.469367	0.462176	0.007191	-2.450182	
1.307000	0.468275	0.461168	0.007107	-2.356007	
1.308000	0.467164	0.460142	0.007023	-2.261935	
1.309000	0.466036	0.459097	0.006938	-2.167970	
1.310000	0.464888	0.458034	0.006854	-2.074116	
1.311000	0.463723	0.456953	0.006769	-1.980377	
1.312000	0.462539	0.455854	0.006685	-1.886757	
1.313000	0.461336	0.454737	0.006600	-1.793258	
1.314000	0.460116	0.453601	0.006515	-1.699885	
1.315000	0.458877	0.452447	0.006430	-1.606642	
1.316000	0.457621	0.451276	0.006345	-1.513531	
1.317000	0.456346	0.450086	0.006260	-1.420558	
1.318000	0.455053	0.448879	0.006174	-1.327725	
1.319000	0.453742	0.447653	0.006089	-1.235036	
1.320000	0.452414	0.446410	0.006004	-1.142495	
1.321000	0.451067	0.445149	0.005918	-1.050105	
1.322000	0.449703	0.443870	0.005833	-0.957870	
1.323000	0.448321	0.442573	0.005747	-0.865794	
1.324000	0.446921	0.441259	0.005661	-0.773881	
1.325000	0.445503	0.439927	0.005576	-0.682133	
1.326000	0.444068	0.438578	0.005490	-0.590555	
1.327000	0.442616	0.437211	0.005404	-0.499150	
1.328000	0.441146	0.435827	0.005318	-0.407922	
1.329000	0.439658	0.434426	0.005233	-0