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鍙嬫儏鎻愮ず锛氭湰绔欐彁渚涘叏鍦�(gu贸)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�锛�2013骞�锛涘潎鎻愪緵鏀惰不(f猫i)涓嬭級銆� 涓嬭級娴佺▼锛� 鑰冪爺鐪熼 榛�(di菐n)鎿娾€�鑰冪爺瑭﹀嵎鈥濃€濅笅杓�; 鑰冨崥鐪熼 榛�(di菐n)鎿娾€�鑰冨崥瑭﹀嵎搴�(k霉)鈥� 涓嬭級
810 鑷嫊(d貌ng)鎺у埗鐞嗚珫
1. 鑰冭│鍏�(n猫i)瀹瑰強鑰冭│瑕佹眰
1.1 绶氭€у畾甯搁€ｇ簩(x霉)鏅�(sh铆)闁撶郴绲�(t菕ng)鍒嗘瀽鑸囪ō(sh猫)瑷�(j矛)
1.1.1 绯荤当(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷
鎺屾彙锛氱窔鎬ч€ｇ簩(x霉)鏅�(sh铆)闁撶郴绲�(t菕ng)鐨勬蹇碉紱鐙€鎱�(t脿i)绌洪枔妯″瀷銆佸井鍒嗘柟绋嬫ā鍨�銆佸偝閬炲嚱鏁�(sh霉)妯″瀷銆佹柟妗嗗湒妯�
鍨嬪拰淇¤櫉(h脿o)娴佸湒妯″瀷锛涙暩(sh霉)瀛�(xu茅)妯″瀷闁撶殑杞�(zhu菐n)鎻�锛涙柟妗嗗湒鐨勫寲绨�(ji菐n)銆�
1.1.2 绯荤当(t菕ng)鐨勬檪(sh铆)鍩熺壒鎬у垎鏋�
鎺屾彙锛氬吀鍨嬭几鍏ヤ俊铏�(h脿o)锛涚敱鍌抽仦鍑芥暩(sh霉)姹傜郴绲�(t菕ng)鐨勯熆鎳�(y墨ng)锛涚郴绲�(t菕ng)鐨勬サ榛�(di菐n)锛涗竴闅庣郴绲�(t菕ng)鐨勯熆鎳�(y墨ng)锛涗簩闅庣郴绲�(t菕ng)
鐨勯熆鎳�(y墨ng)鍙婃檪(sh铆)鍩熸€ц兘鎸囨(bi膩o)锛涚┅(w臎n)瀹氭€х殑鍩烘湰姒傚康锛涚┅(w臎n)瀹氭€у垽鎿�(j霉)锛涚┅(w臎n)鎱�(t脿i)瑾ゅ樊鍒嗘瀽銆�
浜嗚В锛氶珮闅庣郴绲�(t菕ng)鐨勯熆鎳�(y墨ng)锛涗富灏�(d菐o)妤甸粸(di菐n)鐨勬蹇�銆�
1.1.3 鏍硅粚璺℃柟娉�
鎺屾彙锛氭牴杌岃贰鐨勫熀鏈蹇�锛涚躬鍒舵牴杌岃贰鐨勫熀鏈浠跺拰瑕�(gu墨)鍓囷紱鎺у埗绯荤当(t菕ng)鐨勬牴杌岃贰鍒嗘瀽锛涘唬缇╂牴
杌岃贰銆�
鐞嗚В锛氭帶鍒剁郴绲�(t菕ng)鐨勬牴杌岃贰鏍℃鏂规硶鍙婂叾鍘熺悊銆�
1.1.4 闋荤巼闊挎噳(y墨ng)鏂规硶
鎺屾彙锛氶牷鐜囬熆鎳�(y墨ng)鐨勫熀鏈蹇�锛涘吀鍨嬬挵(hu谩n)绡€(ji茅)鐨勯牷鐜囬熆鎳�(y墨ng)锛涢枊鐠�(hu谩n)绯荤当(t菕ng)鐨勭殑闋荤巼闊挎噳(y墨ng)锛涢牷鐜囬熆鎳�(y墨ng)鐨勫湒
绀烘硶锛涙渶灏忕浉浣嶇郴绲�(t菕ng)锛涚敱闋荤巼闊挎噳(y墨ng)姹傚偝閬炲嚱鏁�(sh霉)锛涘熀浜庨枊鐠�(hu谩n)闋荤巼闊挎噳(y墨ng)鐨勭┅(w臎n)瀹氭€у垽鎿�(j霉)锛涚┅(w臎n)瀹氭€ц
閲�銆�
鐞嗚В锛氶枆鐠�(hu谩n)闋荤巼鐗规€э紱鍩轰簬闋荤巼闊挎噳(y墨ng)鐨勬帶鍒剁郴绲�(t菕ng)鐨勪覆鑱�(li谩n)鏍℃銆�
1.1.4 鐙€鎱�(t脿i)绌洪枔鏂规硶
鎺屾彙锛氱媭鎱�(t脿i)杞�(zhu菐n)绉荤煩闄ｇ殑姹傚彇鍙婂叾鎬ц唱(zh矛)锛涚媭鎱�(t脿i)鏂圭▼鐨勮В锛涘彲鎺ф€у拰鍙娓�(c猫)鎬х殑鍩烘湰姒傚康鍙婂叾鍒�
鎿�(j霉)锛涚媭鎱�(t脿i)绌洪枔琛ㄩ仈(d谩)寮忕殑瑕�(gu墨)鑼冨瀷锛涚媭鎱�(t脿i)绌洪枔鐨勫垎瑙ｏ紱鍙幃(zh猫n)瀹氭€у拰鍙娓�(c猫)鎬�锛涚媭鎱�(t脿i)鍙嶉鑸囨サ榛�(di菐n)閰�
缃�锛涚媭鎱�(t脿i)瑙€娓�(c猫)鍣ㄧ殑瑷�(sh猫)瑷�(j矛)锛涘付鐙€鎱�(t脿i)瑙€娓�(c猫)鍣ㄧ殑鐙€鎱�(t脿i)鍙嶉銆�
1.2 绶氭€у畾甯搁噰妯ｆ帶鍒剁郴绲�(t菕ng)鐨勫垎鏋愯垏瑷�(sh猫)瑷�(j矛)
鎺屾彙锛氶€ｇ簩(x霉)鏅�(sh铆)闁撲俊铏�(h脿o)鐨勯噰妯ｈ垏寰�(f霉)鐝�(xi脿n)锛涢噰妯ｅ畾鐞�锛涢浂闅庝繚鎸佸櫒锛泎 璁婃彌锛涢噰妯ｇ郴绲�(t菕ng)鐨勮剤娌栧偝閬�
鍑芥暩(sh霉)锛涢噰妯ｇ郴绲�(t菕ng)鐨勯熆鎳�(y墨ng)锛涚┅(w臎n)瀹氭€у垎鏋�锛涚┅(w臎n)鎱�(t脿i)瑾ゅ樊鍒嗘瀽锛涙渶灏戞媿閲囨ǎ鎺у埗绯荤当(t菕ng)鐨勮ō(sh猫)瑷�(j矛)銆�
浜嗚В锛氶噰妯ｇ郴绲�(t菕ng)鐨� PID 鎺у埗鍣ㄧ殑瑷�(sh猫)瑷�(j矛)銆�
1.3 闈炵窔鎬х郴绲�(t菕ng)鍒嗘瀽
鎺屾彙锛氶潪绶氭€х郴绲�(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷锛涚郴绲�(t菕ng)鐨勫钩琛℃厠(t脿i)鍙婂叾绌�(w臎n)瀹氭€�锛涙弿杩板嚱鏁�(sh霉)娉曪紱鑷縺鎸暕鐨勫弮鏁�(sh霉)鐨�
姹傚彇鍜岀┅(w臎n)瀹氭€у垎鏋�锛涚浉骞抽潰鍒嗘瀽鏂规硶銆�
浜嗚В锛氶潪绶氭€х郴绲�(t菕ng)鐨勭壒娈婄従(xi脿n)璞°€�
1.4 Lyapunov 绌�(w臎n)瀹氭€х悊璜�
鎺屾彙锛歀yapunov 绌�(w臎n)瀹氭€у熀鏈悊璜�锛涚窔鎬х郴绲�(t菕ng)鐨� Lyapunov 绌�(w臎n)瀹氭€у垎鏋愶紱Lyapunov 鏂规硶鍦ㄩ潪绶�
鎬х郴绲�(t菕ng)涓殑鎳�(y墨ng)鐢�锛涙(g貌u)閫� Lyapunov 鍑芥暩(sh霉)鐨勮畩閲忔搴︽硶鍜� Krasovskii 鏂规硶銆�
1.5 鏈€鍎�(y艒u)鎺у埗绯荤当(t菕ng)
鎺屾彙锛氭硾鍑借垏璁婂垎鐨勫熀鏈悊璜栬垏鏂规硶锛汸ontryagin 鏈€灏忓€煎師鐞嗗強鍏跺湪鏈€鍎�(y艒u)鎺у埗涓殑鎳�(y墨ng)鐢紱
Bellman 鍕�(d貌ng)鎱�(t脿i)瑕�(gu墨)鍔冩柟娉曞強鍏跺湪鏈€鍎�(y艒u)鎺у埗涓殑鎳�(y墨ng)鐢�銆�
2. 椤屽瀷鑸囧垎鍊�
浠ュ垎鏋愯▓(j矛)绠楅鐐轰富锛岄伕鎿囧～绌虹瓑椤岄噺涓嶈秴閬�(gu貌) 30 鍒�銆�
3. 鍙冭€冩浉鐩�
銆婅嚜鍕�(d貌ng)鎺у埗鍘熺悊銆�锛屽惓楹�锛屾竻鑿ぇ瀛�(xu茅)鍑虹増绀�
銆婄従(xi脿n)浠ｆ帶鍒跺伐绋嬨€嬶紝K. Ogata锛岀洤浼嫳璀�锛岄浕瀛愬伐妤�(y猫)鍑虹増绀�
銆婅嚜鍕�(d貌ng)鎺у埗鍘熺悊銆�锛岃儭澹芥澗锛岀瀛�(xu茅)鍑虹増绀�
鍏嶈铂(z茅)鑱叉槑锛氭湰鏂囩郴杞�(zhu菐n)杓夎嚜缍�(w菐ng)绲�(lu貌)锛屽鏈変镜鐘�锛岃珛(q菒ng)鑱�(li谩n)绯绘垜鍊戠珛鍗冲埅闄わ紝鍙︼細鏈枃鍍呬唬琛ㄤ綔鑰呭€�(g猫)浜鸿榛�(di菐n)锛岃垏鏈恫(w菐ng)绔欑劇(w煤)闂�(gu膩n)銆傚叾鍘熷壍(chu脿ng)鎬т互鍙婃枃涓櫝杩版枃瀛楀拰鍏�(n猫i)瀹规湭缍�(j墨ng)鏈珯璀夊(sh铆)锛屽皪(du矛)鏈枃浠ュ強鍏朵腑鍏ㄩ儴鎴栬€呴儴鍒嗗収(n猫i)瀹�銆佹枃瀛楃殑鐪熷(sh铆)鎬с€佸畬鏁存€�銆佸強鏅�(sh铆)鎬ф湰绔欎笉浣滀换浣曚繚璀夋垨鎵胯锛岃珛(q菒ng)璁€鑰呭儏浣滃弮鑰�锛屽苟璜�(q菒ng)鑷鏍稿(sh铆)鐩搁棞(gu膩n)鍏�(n猫i)瀹广€�
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鏂囩珷鎼滅储
鎮ㄧ従(xi脿n)鍦ㄧ殑浣嶇疆锛� 
