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
寤f澅宸ユキ(y猫)澶у(xu茅) 鍏ㄦ棩鍒剁爺绌剁敓鎷涚敓鑰冭│灏堟キ(y猫)瑾茶€冭│澶х侗 鎷涚敓椤炲垾锛氣枴鍗氬+鐢� 鈭氣枴纰╁+鐢� 鑰冭│绉戠洰鍚嶇ū: (810)鑷帶鍘熺悊 鍩烘湰鍏�(n猫i)瀹�: 涓€銆佽嚜鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鐨勫熀鏈蹇� 浜�銆佺窔鎬х郴绲�(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷 鎺屾彙鍏稿瀷鍏冮儴浠跺嫊(d貌ng)鎱�(t脿i)寰垎鏂圭▼鐨勫垪瀵柟娉曪紱鐔熺反鎺屾彙鍌抽仦鍑芥暩(sh霉)鐨勫畾缇�銆佹眰娉曪紱鐔熺反鎺屾彙鏂瑰鍦� 鐨勭躬鍒�銆佸嫊(d貌ng)鎱�(t脿i)绲�(ji茅)妲�(g貌u)鍦栫殑绨�(ji菐n)鍖栥€佹眰绯荤当(t菕ng)鍚勭ó鍑芥暩(sh霉)鐨勬柟娉�銆� 涓�銆佹檪(sh铆)鍩熷垎鏋愭硶 鐔熺反鎺屾彙涓€銆佷簩闅庣郴绲�(t菕ng)鐨勬€ц兘鎸囨(bi膩o)瑷�(j矛)绠�锛屼互鍙婃€ц兘鎸囨(bi膩o)鑸囩郴绲�(t菕ng)涓弮鏁�(sh霉)闁撶殑闂�(gu膩n)绯�锛涢珮闅庣郴绲�(t菕ng)闄嶉殠 鍒嗘瀽鐨勬浠讹紝涓诲皫(d菐o)妤甸粸(di菐n)鐨勫畾缇�锛涚郴绲�(t菕ng)绌�(w臎n)瀹氱殑鍏呭垎蹇呰姊濅欢锛岀啛绶存帉鎻♀€滀唬鏁�(sh霉)鍒ゆ摎(j霉)鈥濇柟娉曞強鍏舵噳(y墨ng) 鐢紱鐔熺反鎺屾彙绯荤当(t菕ng)绌�(w臎n)瀹氳宸殑瑷�(j矛)绠�锛屼互鍙婅垏绯荤当(t菕ng)涓湁闂�(gu膩n)鍙冩暩(sh霉)鐨勯棞(gu膩n)绯�銆� 鍥�銆佹牴杌岃贰鍒嗘瀽鏂规硶 浜嗚В闁夌挵(hu谩n)鏍硅粚璺$殑瀹氱京鍙婄躬鍒剁郴绲�(t菕ng)鏍硅粚璺$殑姊濅欢锛涚啛绶存帉鎻′富瑕佺殑涓€浜涗綔鍦栨硶鍓囷紝骞舵渻(hu矛)鐢ㄩ€欎簺 娉曞墖绻埗涓€鑸郴绲�(t菕ng)鐨勬牴杌岃贰锛涜兘鏍规摎(j霉)鏍硅粚璺″湒澶ц嚧鍒嗘瀽绯荤当(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)鎬ц兘銆� 浜�銆侀牷鐜囩壒鎬у垎鏋愭硶 鐔熺反鎺屾彙鍏稿瀷鐠�(hu谩n)绡€(ji茅)鐨勯牷鐜囩壒鎬у強绯荤当(t菕ng)闁嬬挵(hu谩n)灏�(du矛)鏁�(sh霉)闋荤巼鐗规€х殑绻埗鏂规硶锛涚啛绶存帉鎻$敱 Bode 鍦栨眰绯� 绲�(t菕ng)鏁�(sh霉)瀛�(xu茅)妯″瀷鐨勬柟娉�锛涙帉鎻′簩闅庨枆鐠�(hu谩n)绯荤当(t菕ng)闋荤巼鐗规€х殑瑷�(j矛)绠�锛涚啛绶存帉鎻″濂庢柉鐗瑰湒绻埗鍜屽垎鏋愭柟娉曘€� 鍏�銆侀牷鐜囨硶鏍℃ 鐔熺反鎺屾彙绯荤当(t菕ng)鏍℃鐨勬柟娉曞拰鍏稿瀷鐨勬牎姝g恫(w菐ng)绲�(lu貌)锛涚啛绶存帉鎻♀€滅浉浣嶈秴鍓嶁€�銆佲€滅浉浣嶆化鍚庘€濇牎姝c€� 涓�銆佺啛绶存帉鎻� PID 鎺у埗鍣ㄧ殑浣滅敤鍒嗘瀽鍙婂叾鍙冩暩(sh霉)鏁村畾鏂规硶銆� 鍏€侀潪绶氭€х郴绲�(t菕ng) 鎻忚堪鍑芥暩(sh霉)鐨勫畾缇╁強浣跨敤鐨勬浠�锛涚啛绶存帉鎻$敤鎻忚堪鍑芥暩(sh霉)娉曞垎鏋愮郴绲�(t菕ng)绌�(w臎n)瀹氭€х殑鏂规硶锛涙帉鎻℃敼鍠勯潪绶� 鎬х郴绲�(t菕ng)鎬ц兘鐨勬柟娉曘€� 涔�銆侀洟鏁f帶鍒剁郴绲�(t菕ng) 浜嗚В淇¤櫉(h脿o)鐨勯噰妯i亷绋嬪強淇¤櫉(h脿o)鐨勫京(f霉)鐝�(xi脿n)鏂规硶锛涚啛鎮� Z 璁婃彌鍙婂弽 Z 璁婃彌鐨勬柟娉曪紱鑴堟矕鍌抽仦鍑芥暩(sh霉)鐨勫畾 缇╁強绯荤当(t菕ng)鑴堟矕鍌抽仦鍑芥暩(sh霉)鐨勬眰娉�锛涢洟鏁g郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭€у垎鏋愭柟娉曞強绌�(w臎n)鎱�(t脿i)瑾ゅ樊鐨勮▓(j矛)绠�锛涙帉鎻¢枆鐠�(hu谩n)鐗瑰緛 鏍瑰湪 Z 骞抽潰浣嶇疆鑸囩郴绲�(t菕ng)鍕�(d貌ng)鎱�(t脿i)鎬ц兘闁撶殑闂�(gu膩n)绯�銆� 椤屽瀷瑕佹眰鍙婂垎?j菒n)?sh霉)姣斾緥锛氾紙婊垮垎 150 鍒嗭級 1銆佽│椤岄鍨嬶細鍏ㄩ兘鏄垎鏋愯▓(j矛)绠楅銆� 2銆佸垎?j菒n)?sh霉)姣斾緥锛氬熀鏈绱勫崰 90 鍒嗭紝缍滃悎椤岀磩鍗� 30 鍒�锛屾彁楂橀绱勫崰 30 鍒�. 涓荤闄㈤暦(zh菐ng)瀵╂牳銆佺敖鍚嶏細
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�锛屽彟锛氭湰鏂囧儏浠h〃浣滆€呭€�(g猫)浜鸿榛�(di菐n)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(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�銆佸畬鏁存€с€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�銆�
|