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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�锛岄儴鍒嗗鏍℃洿鏂拌嚦2012骞�锛�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
810 鑷嫊鎺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)鏅傞枔绯荤当(t菕ng)鍒嗘瀽鑸囪ō(sh猫)瑷�
1.1.1 绯荤当(t菕ng)鐨勬暩(sh霉)瀛告ā鍨�
鎺屾彙锛氱窔鎬ч€ｇ簩(x霉)鏅傞枔绯荤当(t菕ng)鐨勬蹇�锛涚媭鎱�(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¤櫉娴佸湒妯″瀷锛涙暩(sh霉)瀛告ā鍨嬮枔鐨勮綁(zhu菐n)鎻�锛涙柟妗嗗湒鐨勫寲绨�銆�
1.1.2 绯荤当(t菕ng)鐨勬檪鍩熺壒鎬у垎鏋�
鎺屾彙锛氬吀鍨嬭几鍏ヤ俊铏燂紱鐢卞偝閬炲嚱鏁�(sh霉)姹傜郴绲�(t菕ng)鐨勯熆鎳�锛涚郴绲�(t菕ng)鐨勬サ榛�锛涗竴闅庣郴绲�(t菕ng)鐨勯熆鎳夛紱浜岄殠绯荤当(t菕ng)
鐨勯熆鎳夊強鏅傚煙鎬ц兘鎸囨锛涚┅(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�锛涗富灏庢サ榛炵殑姒傚康銆�
1.1.3 鏍硅粚璺℃柟娉�
鎺屾彙锛氭牴杌岃贰鐨勫熀鏈蹇碉紱绻埗鏍硅粚璺＄殑鍩烘湰姊濅欢鍜岃(gu墨)鍓�锛涙帶鍒剁郴绲�(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 闋荤巼闊挎噳鏂规硶
鎺屾彙锛氶牷鐜囬熆鎳夌殑鍩烘湰姒傚康锛涘吀鍨嬬挵(hu谩n)绡€(ji茅)鐨勯牷鐜囬熆鎳�锛涢枊鐠�(hu谩n)绯荤当(t菕ng)鐨勭殑闋荤巼闊挎噳锛涢牷鐜囬熆鎳夌殑鍦�
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€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€�锛涚媭鎱�(t脿i)鍙嶉鑸囨サ榛為厤
缃紱鐙€鎱�(t脿i)瑙€娓櫒鐨勮ō(sh猫)瑷�锛涘付鐙€鎱�(t脿i)瑙€娓櫒鐨勭媭鎱�(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�
鎺屾彙锛氶€ｇ簩(x霉)鏅傞枔淇¤櫉鐨勯噰妯ｈ垏寰╃従(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)鐨勯熆鎳夛紱绌�(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�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�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)瀛告ā鍨�锛涚郴绲�(t菕ng)鐨勫钩琛℃厠(t脿i)鍙婂叾绌�(w臎n)瀹氭€э紱鎻忚堪鍑芥暩(sh霉)娉�锛涜嚜婵€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�銆�
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�锛汱yapunov 鏂规硶鍦ㄩ潪绶�
鎬х郴绲�(t菕ng)涓殑鎳夌敤锛涙(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埗涓殑鎳夌敤锛�
Bellman 鍕曟厠(t脿i)瑕�(gu墨)鍔冩柟娉曞強鍏跺湪鏈€鍎�(y艒u)鎺у埗涓殑鎳夌敤銆�
2. 椤屽瀷鑸囧垎鍊�
浠ュ垎鏋愯▓绠楅鐐轰富锛岄伕鎿囧～绌虹瓑椤岄噺涓嶈秴閬� 30 鍒嗐€�
3. 鍙冭€冩浉鐩�
銆婅嚜鍕曟帶鍒跺師鐞嗐€�锛屽惓楹掞紝娓呰彲澶у鍑虹増绀�
銆婄従(xi脿n)浠ｆ帶鍒跺伐绋嬨€�锛孠. Ogata锛岀洤浼嫳璀�锛岄浕瀛愬伐妤�(y猫)鍑虹増绀�
銆婅嚜鍕曟帶鍒跺師鐞嗐€嬶紝鑳″＝鏉�锛岀瀛稿嚭鐗堢ぞ
鍏嶈铂鑱叉槑锛氭湰鏂囩郴杞�(zhu菐n)杓夎嚜缍�(w菐ng)绲★紝濡傛湁渚电姱锛岃珛鑱�(li谩n)绯绘垜鍊戠珛鍗冲埅闄�锛屽彟锛氭湰鏂囧儏浠ｈ〃浣滆€呭€嬩汉瑙€榛�锛岃垏鏈恫(w菐ng)绔欑劇闂�(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)鏈珯璀夊锛屽皪鏈枃浠ュ強鍏朵腑鍏ㄩ儴鎴栬€呴儴鍒嗗収(n猫i)瀹�銆佹枃瀛楃殑鐪熷鎬�銆佸畬鏁存€с€佸強鏅傛€ф湰绔欎笉浣滀换浣曚繚璀夋垨鎵胯锛岃珛璁€鑰呭儏浣滃弮鑰�锛屽苟璜嬭嚜琛屾牳瀵︾浉闂�(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� 
