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鐒婃帴姗�(j墨)姊版墜鐨勮粚璺¤窡韫ゆ槸鐒婃帴姗�(j墨)鍣ㄤ汉鎺у埗鐨勯洠榛�(di菐n)銆傛(j墨)姊版墜鏄竴鍊�(g猫)鍏稿瀷鐨勯潪绶氭€у嫊(d貌ng)鍔涚郴绲�(t菕ng)锛屽叿鏈夊ぇ鎱ｆ€у拰澶у欢閬�銆傜洰鍓嶅皪(du矛)姗�(j墨)姊版墜鐨勬帶鍒�锛屼富瑕侀噰鐢ㄥ偝绲�(t菕ng)PID鎺у埗銆傜敱浜庣郴绲�(t菕ng)寰�(f霉)闆滄€ц純楂�锛岃ō(sh猫)瑷�(j矛)浜哄摗鐐哄缓绔嬬郴绲�(t菕ng)妯″瀷鍋氬嚭鍚勭ó鍋囪ō(sh猫)鍜岀啊(ji菐n)鍖�锛屽洜姝ゆ暩(sh霉)瀛�(xu茅)妯″瀷鐨勬帶鍒剁簿搴︽渻(hu矛)鍙楀埌寰堝ぇ鐨勫奖闊�銆傛湰鏂囧皣绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)杈ㄨ瓨(sh铆)鑸囪凯浠ｆ帶鍒剁浉绲�(ji茅)鍚�锛屾彁鍑哄熀浜庣缍�(j墨ng)缍�(w菐ng)绲�(lu貌)杈ㄨ瓨(sh铆)鐨勮凯浠ｅ(xu茅)缈�(x铆)鎺у埗绛栫暐銆傝┎绛栫暐鑳藉鎻愰珮绯荤当(t菕ng)鎺у埗绮惧害锛屽苟浣跨郴绲�(t菕ng)鍦ㄨ純鐐哄唬娉涚殑閬�(y霉n)琛屾浠惰寖鍦嶅収(n猫i)瀵�(sh铆)鐝�(xi脿n)鎺у埗绯荤当(t菕ng)鐨勬帶鍒跺姛鑳藉拰鏈熸湜鎬ц兘锛屾敼鍠勭郴绲�(t菕ng)鎺у埗鎬ц兘銆�

1 绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)妯″瀷杈ㄨ瓨(sh铆)

绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鍏峰倷鐨勬硾鍖栬兘鍔涘拰蹇€熷(xu茅)缈�(x铆)鑳藉姏鐐洪潪绶氭€х郴绲�(t菕ng)杈ㄨ瓨(sh铆)鎻愪緵浜嗘湁鏁堢殑閫斿緫锛岀缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鍦ㄦ(j墨)鍣ㄤ汉绯荤当(t菕ng)鐨勭爺绌朵笂锛屽厖鍒嗙櫦(f膩)鎻簡绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鐨勬槧灏勮兘鍔�锛岀缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鍙В姹烘(j墨)鍣ㄤ汉鎺у埗绯荤当(t菕ng)涓瓨鍦ㄧ殑姝诲崁(q奴)銆佹懇鎿︾瓑闈炵窔鎬у晱(w猫n)椤屻€傜缍�(j墨ng)缍�(w菐ng)绲�(lu貌)妯″瀷杈ㄨ瓨(sh铆)鍦ㄦ(j墨)鍣ㄤ汉鎺у埗涓殑鎳�(y墨ng)鐢�锛屽鍦�1鎵€绀�銆�

鍦�1 鍩轰簬绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鎺у埗鐨勫墰鎬ф(j墨)姊版墜绲�(ji茅)妲�(g貌u)鍦�

绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)绯荤当(t菕ng)杈ㄨ瓨(sh铆)鐨勭壒榛�(di菐n)鏄笉闇€瑕佸缓绔嬬郴绲�(t菕ng)杈ㄨ瓨(sh铆)妯″瀷锛屽皪(du矛)绯荤当(t菕ng)杈ㄨ瓨(sh铆)鐨勯亷(gu貌)绋嬪氨鏄€氶亷(gu貌)瀛�(xu茅)缈�(x铆)绯荤当(t菕ng)杓稿叆銆佽几鍑烘暩(sh霉)鎿�(j霉)鐨勯亷(gu貌)绋嬨€傚(xu茅)缈�(x铆)鐨勭洰鐨勬槸浣胯宸嚱鏁�(sh霉)鍊奸仈(d谩)鍒版渶灏�锛屽弽鏄犲嚭杓稿叆銆佽几鍑烘暩(sh霉)鎿�(j霉)闁撶殑鏄犲皠闂�(gu膩n)绯�銆傝嫢绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鐨勮几鍑鸿兘澶犻€艰繎绯荤当(t菕ng)鍦ㄧ浉鍚岃几鍏ヤ俊铏�(h脿o)婵€鍕�(l矛)涓嬬殑杓稿嚭锛屽墖鍙獚(r猫n)鐐虹缍�(j墨ng)缍�(w菐ng)绲�(lu貌)瀵�(sh铆)鐝�(xi脿n)浜嗗皪(du矛)鍘熺郴绲�(t菕ng)鐨勮鲸璀�(sh铆)锛屼互绁炵稉(j墨ng)鍏冪恫(w菐ng)绲�(lu貌)鐨勮几鍑轰綔鐐哄(sh铆)闅涚郴绲�(t菕ng)鐨勮几鍑轰及瑷�(j矛)銆�

2 杩唬瀛�(xu茅)缈�(x铆)鎺у埗鍣ㄧ殑瑷�(sh猫)瑷�(j矛)

2.1 杩唬瀛�(xu茅)缈�(x铆)鎺у埗

杩唬瀛�(xu茅)缈�(x铆)鎺у埗閬╁悎浜庨噸寰�(f霉)閬�(y霉n)鍕�(d貌ng)鎬ц唱(zh矛)鐨勮鎺у皪(du矛)璞�锛岀劇(w煤)闇€杈ㄨ瓨(sh铆)绯荤当(t菕ng)鐨勫弮鏁�(sh霉)锛岄€氶亷(gu貌)杩唬淇鏀瑰杽绯荤当(t菕ng)鎺у埗鐩(bi膩o)锛岃凯浠ｆ帶鍒舵柟娉曚笉渚濊炒浜庣郴绲�(t菕ng)绮剧⒑鐨勬暩(sh霉)瀛�(xu茅)妯″瀷锛屽彲鍦ㄧ郸瀹氱殑鏅�(sh铆)闁撳崁(q奴)娈典笂锛屼互妤电偤绨�(ji菐n)鍠殑绠楁硶瑙ｆ焙寰�(f霉)闆滅殑鎺у埗鍟�(w猫n)椤孾5]銆�

灏�(du矛)浜巒闅庣窔鎬ф檪(sh铆)璁婄殑闆㈡暎绯荤当(t菕ng)锛岃凯浠ｆ帶鍒舵ā鍨嬪彲鎻忚堪鐐猴細

鍦�2 杩唬瀛�(xu茅)缈�(x铆)鎺у埗鍣�

2.2 姗�(j墨)鍣ㄤ汉杩唬瀛�(xu茅)缈�(x铆)鎺у埗鍣ㄨō(sh猫)瑷�(j矛)

绯荤当(t菕ng)鎺у埗妗嗗湒锛屽鍦�3鎵€绀�銆�

鍦�3 绯荤当(t菕ng)鎺у埗妗嗗湒

3 鐒婃帴姗�(j墨)鍣ㄤ汉鎺у埗浠跨湡

閲囩敤鏌旀€ч€ｆ帴鐨勬(j墨)姊版墜浣滅偤浠跨湡灏�(du矛)璞★紝濡傚湒4鎵€绀�銆�

鍦�4 姗�(j墨)姊版墜绀烘剰鍦�

鍒╃敤鎷夋牸鏈楁棩鏂规硶鍙互灏�(d菐o)鍑哄涓嬪嫊(d貌ng)鍔涘(xu茅)鏂圭▼锛�

鍦�5 绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)閫嗗悜杈ㄨ瓨(sh铆)绲�(ji茅)绲�(ji茅)妲�(g貌u)鍦�

绲﹀畾姝ｅ鸡婵€鍕�(l矛)淇¤櫉(h脿o)锛岄亱(y霉n)鐢∕atlab绋嬪簭浠ｇ⒓鏂囦欢灏�(du矛)瑭叉帶鍒剁郴绲�(t菕ng)浠跨湡銆傝凯浠ｅ(xu茅)缈�(x铆)鎺у埗鏇茬窔鍜屽偝绲�(t菕ng)PID鎺у埗闊挎噳(y墨ng)鏇茬窔濡傚湒6鎵€绀�銆�

鍦�6 鍩轰簬绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)妯″瀷璀�(sh铆)鍒ョ殑杩唬瀛�(xu茅)缈�(x铆)鎺у埗闊挎噳(y墨ng)鏇茬窔鑸囧父瑕�(gu墨)PID鎺у埗闊挎噳(y墨ng)鏇茬窔

4 绲�(ji茅)璜�

寰炰豢鐪熺祼(ji茅)鏋滃彲浠ョ湅鍑猴紝鏈枃鎻愬嚭鐨勫熀浜庣缍�(j墨ng)缍�(w菐ng)绲�(lu貌)杈ㄨ瓨(sh铆)妯″瀷杩唬鎺у埗鏂规鎺у埗鏁堟灉鏄庨’鍎�(y艒u)浜庡偝绲�(t菕ng)鐨凱ID鎺у埗锛岃┎鎺у埗绛栫暐璺熻工绮惧害楂�锛岃秴瑾�(di脿o)閲忓皬锛岃兘澶犳湁鏁堝湴鎻愰珮绯荤当(t菕ng)鐨勬帶鍒剁簿搴�銆傚悓鏅�(sh铆)锛屽劒(y艒u)鍖栬┎鎺у埗绛栫暐鍙噳(y墨ng)鐢ㄤ簬鍏朵粬姗�(j墨)鍣ㄤ汉璺熻工鎺у埗绯荤当(t菕ng)锛屼娇绯荤当(t菕ng)鎶曞叆鍒版洿寤ｉ棅鐨勬(j墨)鍣ㄤ汉鎺у埗闋�(l菒ng)鍩�銆�