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鍙嬫儏鎻愮ず锛氭湰绔欐彁渚涘叏鍦�400澶氭墍楂樼瓑闄㈡牎鎷涙敹纰╁＋銆佸崥澹爺绌剁敓鍏ュ(xu茅)鑰冭│姝峰勾鑰冪爺鐪熼銆佽€冨崥鐪熼銆佺瓟妗�锛岄儴鍒嗗(xu茅)鏍℃洿鏂拌嚦2012骞达紝2013骞�锛涘潎鎻愪緵鏀惰不涓嬭級銆� 涓嬭級娴佺▼锛� 鑰冪爺鐪熼 榛炴搳鈥�鑰冪爺瑭﹀嵎鈥濃€濅笅杓�; 鑰冨崥鐪熼 榛炴搳鈥�鑰冨崥瑭﹀嵎搴�鈥� 涓嬭級
涓婃捣鐞嗗伐澶у(xu茅)纰╁＋鐮旂┒鐢熷叆瀛�(xu茅)
銆婅嚜鍕曟帶鍒跺師鐞嗙稖鍚堛€嬭€冭│澶х侗
鍙冭€冩浉鐩細鑳″＝鏉�锛屻€婅嚜鍕曟帶鍒跺師鐞嗐€嬶紙绗簲鐗堬級锛岀瀛�(xu茅)鍑虹増绀�锛�2007骞�
涓€銆� 鑰冭│澶х侗
1. 鑷嫊鎺у埗鐨勪竴鑸蹇�
涓昏鍏�(n猫i)瀹癸細鑷嫊鎺у埗鐨勫熀鏈師鐞嗭紙鍙嶉锛�锛涜嚜鍕曟帶鍒剁郴绲�(t菕ng)鐨勫熀鏈祫鎴愩€佸熀鏈帶鍒舵柟寮忥紙闁嬬挵(hu谩n)銆侀枆鐠�(hu谩n)锛夛紱鑷嫊鎺у埗绯荤当(t菕ng)鐨勫熀鏈姹傦細绌�(w臎n)銆佸揩銆佹簴(zh菙n)銆�
鍩烘湰瑕佹眰锛氬弽楗嬫帶鍒剁殑姒傚康锛涚敱绲﹀畾鐗╃悊绯荤当(t菕ng)鍘熺悊鍦栧缓绔嬫帶鍒剁郴绲�(t菕ng)鏂瑰鍦�銆�
2. 鎺у埗绯荤当(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷
涓昏鍏�(n猫i)瀹癸細寰垎鏂圭▼锛涘偝閬炲嚱鏁�(sh霉)锛涙帶鍒剁郴绲�(t菕ng)绲�(ji茅)妲�(g貌u)鍦栬垏淇¤櫉娴佸湒銆�
鍩烘湰瑕佹眰锛氬偝閬炲嚱鏁�(sh霉)鐨勫畾缇�锛涘吀鍨嬬挵(hu谩n)绡€(ji茅)鐨勫偝閬炲嚱鏁�(sh霉)锛涚祼(ji茅)妲�(g貌u)鍦栫瓑鏁堣畩鎻涙硶鍓�锛涗俊铏熸祦鍦栫殑绻埗锛涚敤姊呴仠鍏紡姹傞枆鐠�(hu谩n)绯荤当(t菕ng)鐨勫偝閬炲嚱鏁�(sh霉)銆�
3. 鏅傚煙鍒嗘瀽娉�
涓昏鍏�(n猫i)瀹癸細鎺у埗绯荤当(t菕ng)鏅傞枔闊挎噳(y墨ng)鐨勫嫊鎱�(t脿i)銆侀潨鎱�(t脿i)鎬ц兘鎸囨(bi膩o)锛涗竴闅�銆佷簩闅庣郴绲�(t菕ng)鐨勬檪鍩熷垎鏋�锛涚窔鎬х郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭€у垎鏋�锛涚┅(w臎n)鎱�(t脿i)瑾ゅ樊銆�
鍩烘湰瑕佹眰锛氫竴闅�銆佷簩闅庣郴绲�(t菕ng)鐨勫吀鍨嬮熆鎳�(y墨ng)锛堜互闅庤簫闊挎噳(y墨ng)鐐轰富锛�锛涙€ц兘鎸囨(bi膩o)鐨勫垎鏋愯垏瑷堢畻锛涚┅(w臎n)瀹氭€х殑姒傚康锛涚窔鎬х郴绲�(t菕ng)绌�(w臎n)瀹氱殑鍏呰姊濅欢锛涙噳(y墨ng)鐢ㄥ嫗鏂�-璧埦缍尐鍒ゆ摎(j霉)鍒ゆ柗绯荤当(t菕ng)绌�(w臎n)瀹氭€�锛涚郴绲�(t菕ng)绌�(w臎n)鎱�(t脿i)瑾ゅ樊鐨勫畾缇�銆佽▓绠楀強涓€鑸(gu墨)寰嬨€�
4. 鏍硅粚璺℃硶
涓昏鍏�(n猫i)瀹癸細鏍硅粚璺℃硶鐨勫熀鏈蹇�銆佸熀鏈换鍕�(w霉)锛涙牴杌岃贰绻埗鐨勫熀鏈硶鍓�锛涘唬缇╂牴杌岃贰锛涚郴绲�(t菕ng)鎬ц兘鐨勫垎鏋愩€�
鍩烘湰瑕佹眰锛氭牴杌岃贰鏂圭▼锛涙牴杌岃贰鐨勭躬鍒�锛涘唬缇╂牴杌岃贰鐨勭躬鍒�锛涗富灏�(d菐o)妤甸粸锛涘埄鐢ㄦ牴杌岃贰鍒嗘瀽绯荤当(t菕ng)鐨勬€ц兘銆�
5. 绶氭€х郴绲�(t菕ng)闋诲煙鍒嗘瀽娉�
涓昏鍏�(n猫i)瀹癸細闋荤巼鐗规€�锛涢牷鐜囧煙绌�(w臎n)瀹氬垽鎿�(j霉)锛涚┅(w臎n)瀹氳搴︼紱闁夌挵(hu谩n)绯荤当(t菕ng)鐨勯牷鍩熸寚妯�(bi膩o)銆�
鍩烘湰瑕佹眰锛氶牷鐜囩壒鎬х殑姒傚康锛涘吀鍨嬬挵(hu谩n)绡€(ji茅)鍜岄枊鐠�(hu谩n)绯荤当(t菕ng)鐨勯牷鐜囬熆鎳�(y墨ng)鏇茬窔(Nyquist鏇茬窔鍜屽皪鏁�(sh霉)骞呴牷婕歌繎鐗规€ф洸绶�)鐨勭躬鍒讹紱Nyquist绌�(w臎n)瀹氬垽鎿�(j霉)鍜屽皪鏁�(sh霉)闋荤巼绌�(w臎n)瀹氬垽鎿�(j霉)鐨勬噳(y墨ng)鐢�锛涘箙鍊艰搴﹀拰鐩歌瑁曞害鐨勮▓绠�锛涙渶灏忕浉浣嶇郴绲�(t菕ng)銆佹埅姝㈤牷鐜�銆佺┛瓒婇牷鐜�銆佸付瀵瓑姒傚康銆�
6. 绶氭€х郴绲�(t菕ng)鐨勬牎姝ｆ柟娉�
涓昏鍏�(n猫i)瀹癸細绯荤当(t菕ng)鐨勮ō(sh猫)瑷堣垏鏍℃锛涘父鐢ㄦ牎姝ｈ缃強鍏剁壒鎬э紱涓茶伅(li谩n)鏍℃锛涘弽楗嬫牎姝�锛涘京(f霉)鍚堟牎姝�锛涙帶鍒剁郴绲�(t菕ng)鏍℃瑷�(sh猫)瑷�
鍩烘湰瑕佹眰锛氱郴绲�(t菕ng)甯跺鐨勭⒑瀹氬強鍩烘湰鎺у埗瑕�(gu墨)寰�锛涚劇婧愭牎姝ｇ恫(w菐ng)绲�(lu貌)锛屾湁婧愭牎姝ｈ缃�锛屽強PID鎺у埗鍣�锛涗覆鑱�(li谩n)鏍℃锛涘弽楗嬫牎姝�锛涘京(f霉)鍚堟牎姝ｏ紱鎺у埗绯荤当(t菕ng)鏍℃瑷�(sh猫)瑷�
7. 绶氭€ч洟鏁ｇ郴绲�(t菕ng)鍒嗘瀽娉�
涓昏鍏�(n猫i)瀹癸細Z璁婃彌鐞嗚珫锛涢洟鏁ｇ郴绲�(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷锛涢洟鏁ｇ郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭€ц垏绌�(w臎n)鎱�(t脿i)瑾ゅ樊锛涢洟鏁ｇ郴绲�(t菕ng)鐨勫嫊鎱�(t脿i)鎬ц兘鍒嗘瀽
鍩烘湰瑕佹眰锛歓璁婃彌鍙奪鍙嶈畩鎻涚殑鏂规硶銆佹€ц唱(zh矛)锛涢枊鐠�(hu谩n)銆侀枆鐠�(hu谩n)鑴堟矕鍌抽仦鍑芥暩(sh霉)鐨勫畾缇╁強姹傛硶锛涢洟鏁ｇ郴绲�(t菕ng)绌�(w臎n)瀹氭€у垽鎿�(j霉)锛坵璁婃彌鑸囧嫗鏂┅(w臎n)瀹氬垽鎿�(j霉)锛�锛涢洟鏁ｇ郴绲�(t菕ng)绌�(w臎n)鎱�(t脿i)瑾ゅ樊鐨勮▓绠楋紱闆㈡暎绯荤当(t菕ng)鐨勬檪闁撻熆鎳�(y墨ng)銆�
8. 闈炵窔鎬ф帶鍒剁郴绲�(t菕ng)鍒嗘瀽
涓昏鍏�(n猫i)瀹癸細甯歌闈炵窔鎬х壒鎬�锛涚浉骞抽潰娉�锛涙弿杩板嚱鏁�(sh霉)娉�銆�
鍩烘湰瑕佹眰锛氱浉杌岃贰鐨勪竴鑸壒榛炲強绻埗鏂规硶锛涚窔鎬х郴绲�(t菕ng)鐨勭浉杌岃贰锛涢潪绶氭€х郴绲�(t菕ng)鐨勭浉骞抽潰鍒嗘瀽锛涘吀鍨嬮潪绶氭€х挵(hu谩n)绡€(ji茅)鐨勬弿杩板嚱鏁�(sh霉)锛涚敤鎻忚堪鍑芥暩(sh霉)娉曠爺绌剁郴绲�(t菕ng)绌�(w臎n)瀹氭€у拰鑷縺鎸暕锛屾眰鑷縺鎸暕鐨勬尟骞呭拰闋荤巼銆�
9. 绶氭€ф帶鍒剁郴绲�(t菕ng)鐨勭媭鎱�(t脿i)绌洪枔鍒嗘瀽鑸囩稖鍚�
涓昏鍏�(n猫i)瀹癸細鐙€鎱�(t脿i)绌洪枔鎻忚堪锛涘彲鎺ф€ц垏鍙娓€э紱绶氭€у畾甯哥郴绲�(t菕ng)鐨勫弽楗嬬祼(ji茅)妲�(g貌u)鍙婄媭鎱�(t脿i)瑙€娓櫒锛涙潕闆呮櫘璜惧か绌�(w臎n)瀹氭€у垎鏋�
鍩烘湰瑕佹眰锛氱媭鎱�(t脿i)绌洪枔琛ㄩ仈寮忕殑寤虹珛锛涘偝閬炲嚱鏁�(sh霉)鐨勫彲鎺ф(bi膩o)婧�(zh菙n)鍨嬪缓绔嬶紱鐙€鎱�(t脿i)鏂圭▼鐨勮В锛堢媭鎱�(t脿i)杞�(zhu菐n)绉荤煩闄ｏ級锛涚窔鎬у畾甯哥郴绲�(t菕ng)鐨勭窔鎬ц畩鎻�锛涘偝閬炲嚱鏁�(sh霉)鐭╅櫍锛涘彲鎺ф€�銆佸彲瑙€鎬у強鍏跺垽鎿�(j霉)锛涘皪鍋跺師鐞�锛涚媭鎱�(t脿i)鍙嶉鍙婃サ榛為厤缃紱鐙€鎱�(t脿i)瑙€娓櫒鍙婂叾瑷�(sh猫)瑷�锛汱yapunov婕歌繎绌�(w臎n)瀹氭€у垽鏂�銆�
10. 鍕曟厠(t脿i)绯荤当(t菕ng)鐨勬渶鍎�(y艒u)鎺у埗鏂规硶
涓昏鍏�(n猫i)瀹癸細鏈€鍎�(y艒u)鎺у埗鐨勪竴鑸蹇碉紱鏈€鍎�(y艒u)鎺у埗涓殑璁婂垎娉�锛涙サ灏忓€煎師鐞嗗強鍏舵噳(y墨ng)鐢�锛涚窔鎬т簩娆″瀷鍟忛鐨勬渶鍎�(y艒u)鎺у埗锛涘嫊鎱�(t脿i)瑕�(gu墨)鍔冿紱鎺у埗绯荤当(t菕ng)鍎�(y艒u)鍖栬ō(sh猫)瑷�
鍩烘湰瑕佹眰锛氭渶鍎�(y艒u)鎺у埗鍟忛锛屾渶鍎�(y艒u)鎺у埗鎳�(y墨ng)鐢ㄩ鍨嬪強鏈€鍎�(y艒u)鎺у埗鐨勭爺绌舵柟娉曪紱璁婂垎娉曡В鏈€鍎�(y艒u)鎺у埗鍟忛锛涢€ｇ簩(x霉)绯荤当(t菕ng)鍜岄洟鏁ｇ郴绲�(t菕ng)鐨勬サ灏忓€煎師鐞嗭紱鏈€灏忔檪闁撴帶鍒跺拰鏈€灏忚兘閲忔帶鍒�锛涚窔鎬т簩娆″瀷鍟忛锛涙湁闄愭檪闁撹垏鐒￠檺鏅傞枔鎯呮硜涓嬬殑鍚勭ó鐙€鎱�(t脿i)瑾�(di脿o)绡€(ji茅)鍣�锛涢洟鏁ｅ嫊鎱�(t脿i)瑕�(gu墨)鍔冭垏閫ｇ簩(x霉)鍕曟厠(t脿i)瑕�(gu墨)鍔冿紱鎺у埗绯荤当(t菕ng)鍎�(y艒u)鍖栬ō(sh猫)瑷�
浜�銆� 瑭﹀嵎绲勬垚
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鍛介钁楅噸鑰冨療鑰冪敓灏嶅熀鏈蹇靛拰鍩烘湰鐞嗚珫鐨勬帉鎻℃儏娉�锛屼互鍙婂皪鍩烘湰鏂规硶鐨勯亱鐢ㄨ兘鍔�銆�
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鏂囩珷鎼滅储
鎮ㄧ従(xi脿n)鍦ㄧ殑浣嶇疆锛� 
