P|函数的时间间隔PID的执行速率最快为10毫秒执行–次。如果设定为每个扫描周期执行–次，并且扫描周期小于10毫秒，则不管扫描周期是多少,PID都会在逝去时间累计达到10亳秒时才会执行。例如:如果扫描周期是9毫秒，则PID函数个一个周期执行–次
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