diff --git a/User_Code/module/algorithm/controller/controller.c b/User_Code/module/algorithm/controller/pid/pid.c
similarity index 98%
rename from User_Code/module/algorithm/controller/controller.c
rename to User_Code/module/algorithm/controller/pid/pid.c
index daa240d..4814fed 100644
--- a/User_Code/module/algorithm/controller/controller.c
+++ b/User_Code/module/algorithm/controller/pid/pid.c
@@ -1,14 +1,14 @@
 /**
  * @file controller.c
  * @author wanghongxi
- * @author modified by neozng
+ * @author modified by TuxMonkey
  * @brief  PID控制器定义
  * @version beta
  * @date 2022-11-01
  *
- * @copyrightCopyright (c) 2022 HNU YueLu EC all rights reserved
+ * @copyright Copyright (c) 2025 DLMU.CONE EC all rights reserved
  */
-#include "controller.h"
+#include "pid.h"
 #include "memory.h"
 
 /* ----------------------------下面是pid优化环节的实现---------------------------- */
diff --git a/User_Code/module/algorithm/controller/controller.h b/User_Code/module/algorithm/controller/pid/pid.h
similarity index 82%
rename from User_Code/module/algorithm/controller/controller.h
rename to User_Code/module/algorithm/controller/pid/pid.h
index 00224a1..d0f7d52 100644
--- a/User_Code/module/algorithm/controller/controller.h
+++ b/User_Code/module/algorithm/controller/pid/pid.h
@@ -25,18 +25,18 @@
 #define abs(x) ((x > 0) ? x : -x)
 #endif
 
-// PID 优化环节使能标志位,通过位与可以判断启用的优化环节;也可以改成位域的形式
+// PID 优化环节使能标志位
 typedef enum
 {
-    PID_IMPROVE_NONE = 0b00000000, // 0000 0000
-    PID_Integral_Limit = 0b00000001, // 0000 0001
-    PID_Derivative_On_Measurement = 0b00000010, // 0000 0010
-    PID_Trapezoid_Intergral = 0b00000100, // 0000 0100
-    PID_Proportional_On_Measurement = 0b00001000, // 0000 1000
-    PID_OutputFilter = 0b00010000, // 0001 0000
-    PID_ChangingIntegrationRate = 0b00100000, // 0010 0000
-    PID_DerivativeFilter = 0b01000000, // 0100 0000
-    PID_ErrorHandle = 0b10000000, // 1000 0000
+    PID_IMPROVE_NONE = 0b00000000, // 无优化
+    PID_Integral_Limit = 0b00000001, // 积分限幅
+    PID_Derivative_On_Measurement = 0b00000010, // 微分先行
+    PID_Trapezoid_Intergral = 0b00000100, // 梯形积分
+    PID_Proportional_On_Measurement = 0b00001000, // 比例先行
+    PID_OutputFilter = 0b00010000, // 输出滤波
+    PID_ChangingIntegrationRate = 0b00100000, // 变积分
+    PID_DerivativeFilter = 0b01000000, // 微分滤波
+    PID_ErrorHandle = 0b10000000, // 误差处理
 } PID_Improvement_e;
 
 /* PID 报错类型枚举*/
diff --git a/User_Code/module/periph/imu/ins_task.c b/User_Code/module/periph/imu/ins_task.c
index 476527d..486f1b5 100644
--- a/User_Code/module/periph/imu/ins_task.c
+++ b/User_Code/module/periph/imu/ins_task.c
@@ -12,7 +12,7 @@
  ******************************************************************************
  */
 #include "ins_task.h"
-#include "controller.h"
+#include "../../algorithm/controller/pid/pid.h"
 #include "QuaternionEKF.h"
 #include "spi.h"
 #include "tim.h"