error1.txt

第一步：采用PID控制

0.000000	0.000000	0.002275	-0.002275	-11.496760	
0.001000	0.003142	0.007190	-0.004048	-24.433384	
0.002000	0.006283	0.014671	-0.008388	-37.034095	
0.003000	0.009424	0.024638	-0.015214	-49.266479	
0.004000	0.012565	0.037003	-0.024438	-61.100181	
0.005000	0.015705	0.051675	-0.035969	-72.506958	
0.006000	0.018845	0.068555	-0.049710	-83.460704	
0.007000	0.021984	0.087541	-0.065557	-93.937484	
0.008000	0.025122	0.108528	-0.083406	-103.915556	
0.009000	0.028259	0.131404	-0.103145	-113.375377	
0.010000	0.031395	0.156057	-0.124662	-122.299613	
0.011000	0.034530	0.182370	-0.147840	-130.673133	
0.012000	0.037663	0.210224	-0.172561	-138.483002	
0.013000	0.040795	0.239500	-0.198704	-145.718466	
0.014000	0.043926	0.270073	-0.226148	-152.370924	
0.015000	0.047054	0.301823	-0.254769	-158.433902	
0.016000	0.050181	0.334624	-0.284443	-163.903017	
0.017000	0.053306	0.368352	-0.315047	-168.775933	
0.018000	0.056428	0.402885	-0.346456	-173.052319	
0.019000	0.059549	0.438098	-0.378549	-176.733791	
0.020000	0.062667	0.473869	-0.411202	-179.823858	
0.021000	0.065782	0.510077	-0.444295	-182.327861	
0.022000	0.068895	0.546604	-0.477709	-184.252903	
0.023000	0.072005	0.583333	-0.511327	-185.607781	
0.024000	0.075113	0.620147	-0.545034	-186.402914	
0.025000	0.078217	0.656936	-0.578719	-186.650262	
0.026000	0.081319	0.693590	-0.612271	-186.363248	
0.027000	0.084417	0.730003	-0.645587	-185.556674	
0.028000	0.087512	0.766074	-0.678563	-184.246641	
0.029000	0.090603	0.801703	-0.711101	-182.450453	
0.030000	0.093691	0.836797	-0.743106	-180.186536	
0.031000	0.096775	0.871264	-0.774489	-177.474345	
0.032000	0.099855	0.905019	-0.805164	-174.334273	
0.033000	0.102931	0.937979	-0.835048	-170.787562	
0.034000	0.106004	0.970069	-0.864066	-166.856206	
0.035000	0.109072	1.001217	-0.892145	-162.562866	
0.036000	0.112135	1.031354	-0.919219	-157.930773	
0.037000	0.115195	1.060420	-0.945225	-152.983640	
0.038000	0.118249	1.088356	-0.970106	-147.745570	
0.039000	0.121300	1.115111	-0.993811	-142.240970	
0.040000	0.124345	1.140638	-1.016293	-136.494459	
0.041000	0.127385	1.164895	-1.037509	-130.530787	
0.042000	0.130421	1.187846	-1.057425	-124.374747	
0.043000	0.133451	1.209459	-1.076008	-118.051095	
0.044000	0.136476	1.229708	-1.093232	-111.584471	
0.045000	0.139496	1.248571	-1.109076	-104.999320	
0.046000	0.142510	1.266033	-1.123524	-98.319818	
0.047000	0.145518	1.282082	-1.136564	-91.569802	
0.048000	0.148521	1.296712	-1.148191	-84.772701	
0.049000	0.151518	1.309920	-1.158402	-77.951466	
0.050000	0.154508	1.321709	-1.167200	-71.128517	
0.051000	0.157493	1.332086	-1.174593	-64.325677	
0.052000	0.160472	1.341063	-1.180591	-57.564117	
0.053000	0.163444	1.348655	-1.185211	-50.864309	
0.054000	0.166410	1.354883	-1.188473	-44.245975	
0.055000	0.169369	1.359769	-1.190400	-37.728043	
0.056000	0.172321	1.363340	-1.191019	-31.328606	
0.057000	0.175267	1.365627	-1.190360	-25.064886	
0.058000	0.178206	1.366664	-1.188458	-18.953204	
0.059000	0.181138	1.366488	-1.185350	-13.008944	
0.060000	0.184062	1.365138	-1.181076	-7.246536	
0.061000	0.186980	1.362657	-1.175677	-1.679428	
0.062000	0.189890	1.359089	-1.169199	3.679928	
0.063000	0.192792	1.354482	-1.161690	8.820091	
0.064000	0.195687	1.348884	-1.153197	13.730641	
0.065000	0.198574	1.342347	-1.143773	18.402186	
0.066000	0.201453	1.334923	-1.133470	22.826366	
0.067000	0.204325	1.326666	-1.122342	26.995850	
0.068000	0.207188	1.317631	-1.110444	30.904335	
0.069000	0.210043	1.307875	-1.097832	34.546538	
0.070000	0.212890	1.297453	-1.084563	37.918186	
0.071000	0.215728	1.286423	-1.070695	41.016003	
0.072000	0.218558	1.274842	-1.056284	43.837694	
0.073000	0.221379	1.262770	-1.041391	46.381927	
0.074000	0.224192	1.250262	-1.026071	48.648310	
0.075000	0.226995	1.237378	-1.010382	50.637370	
0.076000	0.229790	1.224173	-0.994383	52.350521	
0.077000	0.232576	1.210705	-0.978129	53.790044	
0.078000	0.235352	1.197029	-0.961677	54.959050	
0.079000	0.238119	1.183200	-0.945081	55.861448	
0.080000	0.240877	1.169272	-0.928395	56.501915	
0.081000	0.243625	1.155297	-0.911672	56.885857	
0.082000	0.246364	1.141327	-0.894963	57.019373	
0.083000	0.249093	1.127411	-0.878319	56.909216	
0.084000	0.251812	1.113598	-0.861786	56.562754	
0.085000	0.254521	1.099933	-0.845412	55.987929	
0.086000	0.257220	1.086461	-0.829241	55.193217	
0.087000	0.259909	1.073225	-0.813317	54.187585	
0.088000	0.262587	1.060266	-0.797679	52.980449	
0.089000	0.265256	1.047621	-0.782366	51.581632	
0.090000	0.267913	1.035328	-0.767415	50.001318	
0.091000	0.270561	1.023420	-0.752860	48.250015	
0.092000	0.273197	1.011930	-0.738733	46.338507	
0.093000	0.275823	1.000886	-0.725063	44.277812	
0.094000	0.278438	0.990316	-0.711878	42.079143	
0.095000	0.281042	0.980245	-0.699203	39.753864	
0.096000	0.283634	0.970694	-0.687060	37.313448	
0.097000	0.286216	0.961685	-0.675469	34.769440	
0.098000	0.288786	0.953234	-0.664448	32.133413	
0.099000	0.291345	0.945357	-0.654012	29.416933	
0.100000	0.293893	0.938067	-0.644174	26.631520	
0.101000	0.296428	0.931374	-0.634945	23.788613	
0.102000	0.298952	0.925285	-0.626333	20.899534	
0.103000	0.301465	0.919808	-0.618343	17.975452	
0.104000	0.303965	0.914945	-0.610980	15.027356	
0.105000	0.306454	0.910698	-0.604244	12.066017	
0.106000	0.308930	0.907066	-0.598136	9.101967	
0.107000	0.311394	0.904045	-0.592652	6.145462	
0.108000	0.313846	0.901632	-0.587787	3.206465	
0.109000	0.316285	0.899819	-0.583534	0.294613	
0.110000	0.318712	0.898598	-0.579886	-2.580799	
0.111000	0.321126	0.897957	-0.576831	-5.410844	
0.112000	0.323528	0.897885	-0.574357	-8.186979	
0.113000	0.325917	0.898368	-0.572451	-10.901064	
0.114000	0.328293	0.899389	-0.571096	-13.545379	
0.115000	0.330656	0.900933	-0.570277	-16.112635	
0.116000	0.333006	0.902981	-0.569975	-18.595989	
0.117000	0.335343	0.905513	-0.570170	-20.989052	
0.118000	0.337666	0.908508	-0.570842	-23.285900	
0.119000	0.339977	0.911946	-0.571969	-25.481080	
0.120000	0.342274	0.915802	-0.573529	-27.569615	
0.121000	0.344557	0.920054	-0.575497	-29.547008	
0.122000	0.346827	0.924676	-0.577850	-31.409241	
0.123000	0.349083	0.929645	-0.580562	-33.152782	
0.124000	0.351325	0.934934	-0.583609	-34.774576	
0.125000	0.353553	0.940517	-0.586964	-36.272047	
0.126000	0.355768	0.946368	-0.590600	-37.643093	
0.127000	0.357968	0.952459	-0.594491	-38.886077	
0.128000	0.360155	0.958765	-0.598610	-39.999825	
0.129000	0.362327	0.965257	-0.602930	-40.983614	
0.130000	0.364484	0.971909	-0.607425	-41.837162	
0.131000	0.366628	0.978694	-0.612067	-42.560620	
0.132000	0.368757	0.985586	-0.616829	-43.154559	
0.133000	0.370871	0.992557	-0.621686	-43.619953	
0.134000	0.372971	0.999581	-0.626611	-43.958173	
0.135000	0.375056	1.006633	-0.631578	-44.170963	
0.136000	0.377126	1.013688	-0.636562	-44.260431	
0.137000	0.379181	1.020720	-0.641539	-44.229031	
0.138000	0.381221	1.027706	-0.646485	-44.079543	
0.139000	0.383247	1.034622	-0.651376	-43.815058	
0.140000	0.385257	1.041446	-0.656189	-43.438959	
0.141000	0.387252	1.048155	-0.660904	-42.954902	
0.142000	0.389231	1.054729	-0.665498	-42.366798	
0.143000	0.391195	1.061148	-0.669952	-41.678791	
0.144000	0.393144	1.067391	-0.674247	-40.895239	
0.145000	0.395078	1.073442	-0.678365	-40.020697	
0.146000	0.396995	1.079283	-0.682287	-39.059894	
0.147000	0.398897	1.084897	-0.686000	-38.017712	
0.148000	0.400783	1.090269	-0.689486	-36.899171	
0.149000	0.402654	1.095386	-0.692732	-35.709402	
0.150000	0.404508	1.100235	-0.695726	-34.453634	
0.151000	0.406347	1.104803	-0.698456	-33.137170	
0.152000	0.408170	1.109080	-0.700910	-31.765370	
0.153000	0.409976	1.113056	-0.703080	-30.343631	
0.154000	0.411766	1.116723	-0.704956	-28.877367	
0.155000	0.413540	1.120073	-0.706533	-27.371997	
0.156000	0.415298	1.123101	-0.707803	-25.832917	
0.157000	0.417039	1.125800	-0.708761	-24.265495	
0.158000	0.418764	1.128168	-0.709404	-22.675043	
0.159000	0.420472	1.130201	-0.709729	-21.066809	
0.160000	0.422164	1.131897	-0.709733	-19.445960	
0.161000	0.423839	1.133255	-0.709416	-17.817564	
0.162000	0.425497	1.134276	-0.708779	-16.186580	
0.163000	0.427139	1.134961	-0.707822	-14.557843	
0.164000	0.428763	1.135311	-0.706548	-12.936053	
0.165000	0.430371	1.135330	-0.704959	-11.325760	
0.166000	0.431962	1.135022	-0.703060	-9.731357	
0.167000	0.433535	1.134391	-0.700856	-8.157068	
0.168000	0.435092	1.133444	-0.698352	-6.606940	
0.169000	0.436631	1.132186	-0.695555	-5.084832	
0.170000	0.438153	1.130625	-0.692471	-3.594411	
0.171000	0.439658	1.128768	-0.689109	-2.139141	
0.172000	0.441146	1.126623	-0.685478	-0.722283	
0.173000	0.442616	1.124201	-0.681585	0.653118	
0.174000	0.444068	1.121510	-0.677442	1.984230	
0.175000	0.445503	1.118561	-0.673058	3.268439	
0.176000	0.446921	1.115364	-0.668443	4.503357	
0.177000	0.448321	1.111930	-0.663609	5.686817	
0.178000	0.449703	1.108271	-0.658568	6.816877	
0.179000	0.451067	1.104398	-0.653331	7.891821	
0.180000	0.452414	1.100323	-0.647909	8.910157	
0.181000	0.453742	1.096059	-0.642316	9.870617	
0.182000	0.455053	1.091617	-0.636564	10.772153	
0.183000	0.456346	1.087011	-0.630665	11.613940	
0.184000	0.457621	1.082253	-0.624633	12.395366	
0.185000	0.458877	1.077356	-0.618479	13.116030	
0.186000	0.460116	1.072332	-0.612216	13.775743	
0.187000	0.461336	1.067195	-0.605858	14.374514	
0.188000	0.462539	1.061956	-0.599417	14.912554	
0.189000	0.463723	1.056628	-0.592906	15.390263	
0.190000	0.464888	1.051224	-0.586336	15.808224	
0.191000	0.466036	1.045756	-0.579721	16.167203	
0.192000	0.467164	1.040236	-0.573071	16.468132	
0.193000	0.468275	1.034675	-0.566400	16.712110	
0.194000	0.469367	1.029085	-0.559718	16.900389	
0.195000	0.470440	1.023477	-0.553036	17.034368	
0.196000	0.471495	1.017861	-0.546366	17.115587	
0.197000	0.472532	1.012249	-0.539718	17.145712	
0.198000	0.473549	1.006650	-0.533101	17.126532	
0.199000	0.474548	1.001074	-0.526526	17.059949	
0.200000	0.475528	0.995530	-0.520001	16.947966	
0.201000	0.476490	0.990026	-0.513537	16.792678	
0.202000	0.477432	0.984572	-0.507139	16.596267	
0.203000	0.478356	0.979174	-0.500818	16.360988	
0.204000	0.479261	0.973840	-0.494580	16.089161	
0.205000	0.480147	0.968578	-0.488431	15.783163	
0.206000	0.481014	0.963392	-0.482378	15.445415	
0.207000	0.481862	0.958290	-0.476428	15.078380	
0.208000	0.482691	0.953276	-0.470585	14.684546	
0.209000	0.483501	0.948354	-0.464853	14.266421	
0.210000	0.484292	0.943530	-0.459238	13.826525	
0.211000	0.485063	0.938807	-0.453744	13.367379	
0.212000	0.485816	0.934188	-0.448372	12.891501	
0.213000	0.486549	0.929675	-0.443126	12.401390	
0.214000	0.487263	0.925271	-0.438008	11.899529	
0.215000	0.487958	0.920978	-0.433020	11.388367	
0.216000	0.488634	0.916796	-0.428162	10.870318	
0.217000	0.489290	0.912727	-0.423436	10.347754	
0.218000	0.489928	0.908770	-0.418842	9.822994	
0.219000	0.490545	0.904925	-0.414379	9.298305	
0.220000	0.491144	0.901191	-0.410047	8.775887	
0.221000	0.491723	0.897567	-0.405845	8.257876	
0.222000	0.492282	0.894053	-0.401770	7.746334	
0.223000	0.492822	0.890644	-0.397822	7.243244	
0.224000	0.493343	0.887340	-0.393997	6.750509	
0.225000	0.493844	0.884138	-0.390294	6.269944	
0.226000	0.494326	0.881034	-0.386708	5.803277	
0.227000	0.494788	0.878025	-0.383237	5.352139	
0.228000	0.495231	0.875107	-0.379876	4.918070	
0.229000	0.495654	0.872276	-0.376622	4.502507	
0.230000	0.496057	0.869529	-0.373471	4.106789	
0.231000	0.496441	0.866859	-0.370418	3.732154	
0.232000	0.496806	0.864264	-0.367458	3.379735	
0.233000	0.497150	0.861737	-0.364587	3.050560	
0.234000	0.497476	0.859275	-0.361799	2.745554	
0.235000	0.497781	0.856870	-0.359089	2.465535	
0.236000	0.498067	0.854519	-0.356452	2.211217	
0.237000	0.498333	0.852215	-0.353882	1.983210	
0.238000	0.498579	0.849953	-0.351373	1.782018	
0.239000	0.498806	0.847727	-0.348921	1.608045	
0.240000	0.499013	0.845531	-0.346518	1.461592	
0.241000	0.499201	0.843361	-0.344160	1.342861	
0.242000	0.499368	0.841209	-0.341841	1.251955	
0.243000	0.499516	0.839071	-0.339554	1.188885	
0.244000	0.499645	0.836940	-0.337295	1.153566	
0.245000	0.499753	0.834811	-0.335058	1.145824	
0.246000	0.499842	0.832678	-0.332836	1.165398	
0.247000	0.499911	0.830536	-0.330625	1.211942	
0.248000	0.499961	0.828379	-0.328418	1.285032	
0.249000	0.499990	0.826202	-0.326212	1.384163	
0.250000	0.500000	0.824000	-0.324000	1.508759	
0.251000	0.499990	0.821767	-0.321777	1.658175	
0.252000	0.499961	0.819500	-0.319539	1.831699	
0.253000	0.499911	0.817192	-0.317281	2.028557	
0.254000	0.499842	0.814841	-0.314998	2.247919	
0.255000	0.499753	0.812440	-0.312687	2.488900	
0.256000	0.499645	0.809986	-0.310342	2.750567	
0.257000	0.499516	0.807476	-0.307960	3.031943	
0.258000	0.499368	0.804905	-0.305537	3.332009	
0.259000	0.499201	0.802270	-0.303070	3.649713	
0.260000	0.499013	0.799568	-0.300555	3.983968	
0.261000	0.498806	0.796796	-0.297989	4.333661	
0.262000	0.498579	0.793950	-0.295371	4.697658	
0.263000	0.498333	0.791029	-0.292696	5.074804