PreScan simulink模块采样时间不匹配

报错如下：

Sample time [0, 0] of 'Experiment_cs/Roewe_550_S_Sedan_1/ENABLED/PathFollower_1/THROTTLE CTRL/If Desired Velocity ~= 0/PID Controller/Ideal Derivative' does not match the sample time 0.05 of the If block 'Experiment_cs/Roewe_550_S_Sedan_1/ENABLED/PathFollower_1/THROTTLE CTRL/if' controlling its execution.

解决：

加 rate transition模块进行转换