将模糊控制与常规pid控制相结合，根据不同的误差、误差变化率对PID的参数进行在线自动调整，这就是PID参数自整定模糊控制器。

Combine blur control with general PID control, on line self-adjusting PID parameters according to different error and error variety-rate, which is called PID parameters self-tuning blur controller.

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我允许在安装过程中有较大的误差，因为显然在我们开始施工前许多常规建筑方式必须被调整和确认。

I allowed for large tolerances as it was clear before we began that many of the methods that we normally use in construction would have to be verified and confirmed during installation.

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当其方向发生偏移时，采用常规的方向控制，即使修正方向后，也会产生平移误差。

When the conventional direction control method is used and the traveling direction is changed, even if the direction can be rectified, the error in lateral movement would be produced also.

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