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1锛夌┖杓夋檪(sh铆)娑插缂稿強鍒€鏋剁瓑璨�(f霉)杓夌殑閲嶉噺鐐�2 t锛屽嵆M[sub]1[/sub]=2000kg锛�
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2锛夐枼椤嶅畾闆绘祦60 mA锛庢晠PID鎺у埗鍣ㄨ几鍑洪檺骞呭彇卤60mA
2 闆绘恫浼烘湇绯荤当(t菕ng)鐨勫偝閬炲嚱鏁�(sh霉)

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3 杓稿叆鎸囦护妯℃摤
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4 PID鎺у埗鐨勪豢鐪�
1锛夐浕娑蹭己鏈嶇郴绲�(t菕ng)鐨勯殠韬嶉熆鎳�(y墨ng)
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2锛夊姞宸ヤ笉鍚岀鏉愭檪(sh铆)鐨勬儏娉�
鏍规摎(j霉)鍒囧墛鍙冩暩(sh霉)琛�锛屽垎鍒ュ彇2绋笉鍚屾潗鏂欑殑绠℃潗鍜屽咕绋吀鍨嬬殑绠″緫D锛屽湪绯荤当(t菕ng)璨�(f霉)杓�20 kN涓嬩豢鐪熻▓(j矛)绠楋紝寰楀埌闊挎噳(y墨ng)鏇茬窔锛堣(ji脿n)鍦�5锛�銆�
5 闆绘恫浼烘湇绯荤当(t菕ng)鐨勬ā绯婃帶鍒讹紙Fc锛�
閼掍簬鍔犲伐閬�(gu貌)绋嬩腑鍒囧墛鍔涗綔闈炵窔鎬ц畩鍖�锛岀暥(d膩ng)鍔犲伐涓嶅悓閶肩鏅�(sh铆)锛岃矤(f霉)杓夊強鍒囧墛閫�(j矛n)绲︿害閮借璁婂寲锛屾墍浠ID鎺у埗鐨勭郴鏁�(sh霉)涓嶅彲鑳界附鏄檿浜庢渶鍎�(y艒u)鐙€鎱�(t脿i)銆侳c榄鎬у挤(qi谩ng)锛屼笉闇€鏁�(sh霉)瀛�(xu茅)妯″瀷锛屽苟涓旀帶鍒剁啊(ji菐n)鍠渷鏅�(sh铆)銆備笅闈㈤噰鐢ㄤ簡Fc绠楁硶閫�(j矛n)琛屼豢鐪熺爺绌�銆�
鍦�6鐐篎C-PID鑱�(li谩n)鍚堟帶鍒剁殑鏂规鍦栥€傞€氶亷(gu貌)闁�(k膩i)闂�(gu膩n)鍒囨彌锛孎(xi脿n)c鍙柈鐛�(d煤)宸ヤ綔锛屼害鍙暥(d膩ng)瑾ゅ樊e閬�(d谩)鍒版煇涓€灏忓€煎悗鑷嫊(d貌ng)鍒囨彌鎴怭ID鎺у埗銆傜稉(j墨ng)鐢ㄥ墠杩版柟娉曞ぇ閲廝D浠跨湡寰楀埌FC鍎�(y艒u)鍖栫殑鎺у埗濡傝〃1銆傝〃涓璑L銆丯M銆乮NS浠h〃璨�(f霉)澶с€佽矤(f霉)涓�銆佽矤(f霉)灏忥紝ZO浠h〃闆�锛孭S銆丳M銆丳L浠h〃姝e皬銆佹涓€佹澶�銆�
鍦�7琛ㄧず妯$硦鎺у埗鐨勫悇闅稿爆搴﹀嚱鏁�(sh霉)锛� 鍦�7a銆乥銆乧鍒嗗垾鐐鸿宸甧锛岃宸畩鍖栫巼c鍜屾帶鍒朵俊铏�(h脿o)n鐨勯毟灞害鍑芥暩(sh霉)銆傝宸甧鍙婅几鍑烘帶鍒朵俊铏�(h脿o)鈥滅殑妯$硦闆嗛毟灞嚱鏁�(sh霉)鍧囧嫽鍦板垎甯冨湪璜栧煙涓婏紝鑰宒e锝瀌r锛歝鍓囦綔涓嶅潎鍕诲垎甯�銆傜偤鎻愰珮鎺у埗绮惧害锛岃宸皬鏅�(sh铆)锛岄噰鐢ㄩ珮鍒嗚警鐜�銆傚湒8鏄噰鐢ㄤ笂杩版ā绯婃帶鍒跺緱鍒扮殑闆绘恫浼烘湇绯荤当(t菕ng)闅庤簫杓稿叆浠跨湡鏇茬窔锛岀偤閫�(j矛n)琛屾瘮杓�锛屽湒8b绲﹀嚭浜哖ID鎺у埗浠跨湡绲�(ji茅)鏋�銆�
寰炲湒8鍙湅鍑猴紝妯$硦鎺у埗鏈夊皬鐨勮秴瑾�(di脿o)锛岃几鍑烘€ц兘鐣ュ樊浜嶱ID鎺у埗绲�(ji茅)鏋�锛岄€欐槸鍥�?y脿n)闀昪鍒嗘獢杓冪矖锛屽伐浣滀笉閫g簩(x霉)锛屾帶鍒剁簿搴︿綆锛岃€孭ID鎺у埗鏄€g簩(x霉)鎺у埗锛屼笖铏曚簬鍎�(y艒u)鍖栫郴绲�(t菕ng)涓嬪伐浣�銆�
6 妯$硦鎺у埗鍔燩ID鎺у埗
姝e鍓嶈堪锛孎(xi脿n)C鏈夊叾缂洪粸(di菐n)锛岀壒鍒ユ槸鐣�(d膩ng)鍦ㄨ宸甧宸茶純灏忔檪(sh铆)锛屼笉閫g簩(x霉)鎺у埗涓嶈兘浣縠闄嶄綆鍒伴浂銆傜偤姝ゅ湪Fc浣縠蹇€熼檷鍒颁竴寰堝皬鍊硷紙鍙(di脿o)鏁达級鍚庯紝鍦�6涓婄殑绯荤当(t菕ng)鑷嫊(d貌ng)鍒囨彌鍒癙ID锛屼娇e琚€g簩(x霉)鎺у埗鍒伴浂锛屼互鎻愰珮鍕�(d貌ng)鎱�(t脿i)鍝佽唱(zh矛)锛屾彁楂樼郴绲�(t菕ng)宸ヤ綔绮惧害銆傜暥(d膩ng)鍒囨彌鍊硷紙闁€妾诲€硷級瑷�(sh猫)鐐�0锛�5鏅�(sh铆)锛屽叾鎺у埗绲�(ji茅)鏋滃鍦�8c鎵€绀�銆傝垏鍦�8b鐩告瘮杓冨彲鐪嬪嚭锛孎(xi脿n)c+PID鎺у埗澶ц嚧鑸嘝ID鍠崹(d煤)鎺у埗鐨勭壒鎬х浉鍚�銆備絾鏄洊鐒跺姝わ紝鐣�(d膩ng)绯荤当(t菕ng)鐨勫弮鏁�(sh霉)鍙婂璨�(f霉)杓夋湁杓冨ぇ鐨勮畩鍖栨檪(sh铆)锛孭ID鎺у埗灏变笉鑳藉湪鍘熷畾鐨勫劒(y艒u)鍖栫媭鎱�(t脿i)涓嬪伐浣�锛岃€孎C+PID鎺у埗鐢变簬FC榄鎬у緢寮�(qi谩ng)锛屾墍浠ヤ粛鐒惰兘寰楀埌濂界殑鎺у埗绲�(ji茅)鏋�銆�
7 绲�(ji茅)璜�
1锛夌稉(j墨ng)浠跨湡鍒嗘瀽锛岀郴绲�(t菕ng)鏄┅(w臎n)瀹氬彲闈犵殑锛岀┅(w臎n)瀹氬劜(ch菙)鍌欓噺绗﹀悎瑕�(gu墨)瀹�锛�
2锛塒ID鍎�(y艒u)鍖栧弮鏁�(sh霉)鐐猴細姣斾緥K[sub]p[/sub] =0锛�46銆佺⿳鍒咾[sub]i[/sub]=0锛�006銆佸井鍒咾[sub]d[/sub]=0锛�0085銆�
鐣�(d膩ng)PID鎺у埗鍣ㄩ伕鎿囦互涓婂弮鏁�(sh霉)鏅�(sh铆)锛岀┖杓夋檪(sh铆)閬�(d谩)鍒拌嚚鐣岀劇(w煤)瓒呰(di脿o)锛岃€屽父杓夋檪(sh铆)鐒�(w煤)瓒呰(di脿o)锛岄亷(gu貌)娓¢亷(gu貌)绋嬫檪(sh铆)闁撴瘮绌鸿級鏅�(sh铆)鐣ュぇ锛屾墍浠ヨ兘纰轰繚绯荤当(t菕ng)鍦ㄤ换浣曟儏娉佷笅鍧囩劇(w煤)瓒呰(di脿o)锛岄伩鍏嶄簡蹇€�(j矛n)杞�(zhu菐n)甯歌級鏅�(sh铆)灏�(du矛)鍒€鍏峰舰鎴愭矕鎿�1
3锛夌暥(d膩ng)?sh霉)姣掑拕铦楃:鑵ユ柉銇滎懡顗忚櫈d鏅�(sh铆)锛� 鐢卞湒4c鍙煡绯荤当(t菕ng)鐒�(w煤)鍚庨€€鐝�(xi脿n)璞★紝涔熺劇(w煤)閫�(j矛n)绲﹂€熷害娉㈠嫊(d貌ng)锛岃(shu艒)鏄庣郴绲�(t菕ng)鏈夎冻澶犵殑鍓涘害锛�
4锛夌敱浠跨湡鏇茬窔鍙煡锛岀郴绲�(t菕ng)鐨勫揩閫�(j矛n)閫熷害绱勭偤140mm/s銆傚洜姝ゆ湰姗�(j墨)搴婂垁鍏峰垏鍓婂弮鏁�(sh霉)琛紙鐣ワ級涓紝灏忕寰戠鏉愬姞宸ユ檪(sh铆)鐨勭敓鐢�(ch菐n)鐜囧彲浠ユ彁楂�锛岃€屽垏鍓婂弮鏁�(sh霉)琛ㄤ腑澶х寰戠鏉愬姞宸ユ檪(sh铆)鐨勭敓鐢�(ch菐n)鐜囧熀鏈悎閬�锛�
5锛夊湪閫氬父鎯呮硜涓�锛岄€欓闆绘恫浼烘湇绯荤当(t菕ng)閲囩敤PID鎺у埗鍗宠兘寰楀埌濂界殑鍕�(d貌ng)闈滄厠(t脿i)鐗规€�锛屼絾鑻ュ湪绯荤当(t菕ng)鍙冩暩(sh霉)鍙婂璨�(f霉)杓夋湁杓冨ぇ璁婂寲鐨勪娇鐢ㄥ牬(ch菐ng)鍚�锛岄噰鐢‵C鍔燩ID鎺у埗鑳藉緱鍒版洿濂界殑鏁堟灉锛�
6锛夎┎鍊掓1姗�(j墨)搴婂烦鍦ㄦ煇閶煎粻瑾�(di脿o)瑭︽垚鍔熷悗浣跨敤杩�2骞�锛屽(sh铆)闅涗娇鐢ㄨ(shu艒)鏄庡伐浣滀腑鐒�(w煤)閫g簩(x霉)鎸嫊(d貌ng)锛堢┅(w臎n)瀹氾級锛屽姞杓夋檪(sh铆)鐒�(w煤)閫€璁擄紙鍓涙€уソ锛�锛屽嵏杓夋檪(sh铆)鐒�(w煤)鍓嶆矕锛堜笉鎵撳垁锛�锛屾晠閬�(d谩)鍒颁簡瑷�(sh猫)瑷�(j矛)瑕佹眰銆�
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