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@@ -174,7 +174,7 @@ public class PidLambdaContainer {
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if((pctr*pcvr)==0d||ctr*cvr==0d){
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if((pctr*pcvr)==0d||ctr*cvr==0d){
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lambdaNew=1d;
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lambdaNew=1d;
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}else {
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}else {
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- lambdaNew=cvr*ctr/(pctr*pctr);
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+ lambdaNew=cvr*ctr/(pctr*pcvr);
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}
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}
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//避免异常数据
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//避免异常数据
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if(lambdaNew>5){
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if(lambdaNew>5){
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@@ -196,7 +196,7 @@ public class PidLambdaContainer {
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if((pctr*pcvr)==0d||ctr*cvr==0d){
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if((pctr*pcvr)==0d||ctr*cvr==0d){
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lambdaNew=1d;
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lambdaNew=1d;
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}else {
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}else {
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- lambdaNew=cvr*ctr/(pctr*pctr);
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+ lambdaNew=cvr*ctr/(pctr*pcvr);
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}
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}
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if(lambdaNew>3){
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if(lambdaNew>3){
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lambdaNew=1d;
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lambdaNew=1d;
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@@ -217,7 +217,7 @@ public class PidLambdaContainer {
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if((pctr*pcvr)==0d||ctr*cvr==0d){
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if((pctr*pcvr)==0d||ctr*cvr==0d){
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lambdaNew=1d;
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lambdaNew=1d;
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}else {
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}else {
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- lambdaNew=cvr*ctr/(pctr*pctr);
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+ lambdaNew=cvr*ctr/(pctr*pcvr);
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}
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}
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if(lambdaNew>3){
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if(lambdaNew>3){
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lambdaNew=1d;
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lambdaNew=1d;
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