修改了a0~a3系数计算公式

controllers.py

@@ -71,10 +71,10 @@ class IncrementalPID:
         self.du_max = None
 
     def _calculate_coefficients(self):
-        """Calculate the discrete incremental-PID coefficients."""
-        self.a0 = self.kp + (self.ki * self.dt / 2.0) + (2.0 * self.kd / self.dt)
-        self.a1 = -self.kp + (self.ki * self.dt / 2.0) - (4.0 * self.kd / self.dt)
-        self.a2 = (2.0 * self.kd) / self.dt
+        """矩形积分与后向差分微分形式的增量式 PID 系数。"""
+        self.a0 = self.kp + self.ki * self.dt + self.kd / self.dt
+        self.a1 = -self.kp - 2.0 * self.kd / self.dt
+        self.a2 = self.kd / self.dt
 
     def set_values(self, measurement, setpoint):
         """Set the current measurement and desired setpoint."""