鍠綅锛氳タ瀹変氦閫氬ぇ瀛�(xu茅)浜哄伐鏅鸿兘鑸囨(j墨)鍣ㄤ汉鐮旂┒鎵€ 瑗垮畨 710049 锛圗-mail: nnzheng@mail.xjtu.edu.cn锛�
鎽� 瑕� 绨¤浠嬬垂浜嗘帶鍒剁瀛�(xu茅)鐨勭櫦(f膩)灞�?f脿n)椤﹔锛涜◣璜栦簡鍌崇当(t菕ng)鎺у埗鐞嗚珫鍦ㄨВ姹哄(sh铆)闅涘晱椤屼腑鐨勪竴浜涘眬闄愭€т互鍙婃帶鍒剁瀛�(xu茅)鐣�(d膩ng)鍓嶉潰鑷ㄧ殑鎸戞埌(zh脿n)锛涢棥杩颁簡鎺у埗绉戝(xu茅)鑸囦汉宸ユ櫤鑳藉拰瑾�(r猫n)鐭ョ瀛�(xu茅)绛夋柊鑸堝(xu茅)绉戠殑绲�(ji茅)鍚堝皣灏�(du矛)铏曠悊寰�(f霉)闆滅郴绲�(t菕ng)鍜岀ぞ鏈�(hu矛)缍�(j墨ng)婵�(j矛)涓殑涓€浜涢噸澶ц椤屾彁渚涙湁鍍�(ji脿)鍊肩殑绉戝(xu茅)鐞嗚珫鍜屾柟娉�锛涘挤(qi谩ng)瑾�(di脿o)浜嗘帶鍒剁瀛�(xu茅)鐨勯€�(j矛n)涓€姝ョ櫦(f膩)灞曚粛鐒惰渚濊炒浜庨噸澶ч渶姹傚皫(d菐o)鍚�锛屼娇鍏跺湪鎴戝湅淇℃伅鍖栧付鍕�(d貌ng)宸ユキ(y猫)鍖栧拰鐝�(xi脿n)浠e寲鐨勯€�(j矛n)绋嬩腑鐧�(f膩)鎻噸瑕佺殑浣滅敤銆�
闂�(gu膩n)閸佃 缍�(j墨ng)鍏告帶鍒�锛屾櫤鑳芥帶鍒�锛屼汉宸ユ櫤鑳�锛屾櫤鑳戒俊鎭檿鐞�
A Survey Of Control Science And Technology
ZHENG Nan-Ning JIA Xin-Chun YUAN Ze-Jian
锛圛nstitute of the artificial Intelligence and Robotics, Xi鈥檃n Jiaotong University, Xi鈥檃n 710049锛�
锛圗-mail: nnzheng@mail.xjtu.edu.cn锛�
Abstract
In this paper, the development of control science is briefly introduced, and the limitations of traditional control theory and the challenge that control science faces are discussed. It is shown that integrating control science with artificial intelligence and cognitive science will provide valuable theories and methods for solving some important and knotty problems in complex systems and social economy. To insist on the demand-driven policy for further developing control science and technology will play an increasingly important role in the process of promoting and accelerating Chinese information industrialization and driving industrialization and modernization by information.
Key words Classical control, intelligence control, artificial intelligence, intelligence information processing
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2.1 鍌崇当(t菕ng)鎺у埗鐞嗚珫闈㈣嚚鐨勫晱椤�
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20涓栫磤(j矛)70骞翠唬锛屽倕浜鏁欐巿鎻愬嚭鎶婁汉宸ユ櫤鑳界殑鐩磋鎺ㄧ悊鏂规硶鐢ㄤ簬姗�(j墨)鍣ㄤ汉鎺у埗鍜屽(xu茅)缈�(x铆)鎺у埗绯荤当(t菕ng)锛屽苟灏囨櫤鑳芥帶鍒舵鎷偤鑷嫊(d貌ng)鎺у埗鍜屼汉宸ユ櫤鑳界殑绲�(ji茅)鍚�銆傚倕浜銆丟lorioso鍜孲ardi绛変汉寰炴帶鍒剁悊璜栫殑瑙掑害绺界祼(ji茅)浜嗕汉宸ユ櫤鑳芥妧琛�(sh霉)鑸囪嚜閬╂噳(y墨ng)銆佽嚜瀛�(xu茅)缈�(x铆)鍜岃嚜绲勭箶鎺у埗鐨勯棞(gu膩n)绯�锛屾寮忔彁鍑轰簡寤虹珛鏅鸿兘鎺у埗鐞嗚珫鐨勬(g貌u)鎯�銆�1967骞�锛孡eondes鍜孧endel棣栨姝e紡浣跨敤鈥滄櫤鑳芥帶鍒垛€濅竴瑭炪€�1985骞�8鏈堝湪缇庡湅绱愮磩IEEE鍙枊鐨勬櫤鑳芥帶鍒跺皥椤岃◣璜栨渻(hu矛)锛屾(bi膩o)蹇楄憲鏅鸿兘鎺у埗浣滅偤涓€鍊�(g猫)鏂扮殑瀛�(xu茅)绉戝垎鏀寮忚鎺у埗鐣屽叕瑾�(r猫n)銆傛櫤鑳芥帶鍒朵笉鍚屼簬缍�(j墨ng)鍏告帶鍒剁悊璜栧拰鐝�(xi脿n)浠f帶鍒剁悊璜栫殑铏曠悊鏂规硶锛屽畠鐮旂┒鐨勪富瑕佺洰妯�(bi膩o)涓嶅儏鍍呮槸琚帶灏�(du矛)璞�锛屽悓鏅�(sh铆)涔熷寘鍚帶鍒跺櫒鏈韩?锛熷垈鐮撮瀾杈夊亪鑿冩垜鍧忚噭?sh霉)瀛�(xu茅)妯″瀷锛岃€屾槸鏁�(sh霉)瀛�(xu茅)瑙f瀽鍜岀煡璀�(sh铆)绯荤当(t菕ng)鐩哥祼(ji茅)鍚堢殑寤g京妯″瀷锛屾槸澶氱ó鐭ヨ瓨(sh铆)娣峰悎鐨勬帶鍒剁郴绲�(t菕ng)銆�
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闀锋湡浠ヤ締锛屼汉鍊�?c猫)璋涚晹鈶诲箽纰囨鎭糐(r猫n)鐭ユā鍨嬪拰鍩轰簬鎰熺煡鐨勬櫤鑳藉寲淇℃伅铏曠悊鐮旂┒闋�(l菒ng)鍩熶綔浜嗕笉灏戝伐浣�锛屽彇寰椾簡寰堝ぇ閫�(j矛n)灞�锛屼絾鍏舵按骞宠窛浜哄€戞墍鏈熸湜鐨勯倓鐩稿樊鐢氶仩(yu菐n)銆傞€欎富瑕佹槸鐢变簬鎵€浣跨敤鐨勬柟娉曡垏浜鸿叇鐨勮獚(r猫n)鐭ヤ俊鎭檿鐞嗛亷绋嬫湁閫欑ó澶у樊鍒�锛屽闋昏瓬鍒嗘瀽鏂规硶銆佸彞娉曞垎鏋愬拰鍌崇当(t菕ng)鐨勪汉宸ユ櫤鑳芥柟娉曠瓑涓嶅叿鏈夐枊鏀炬€�銆佸嫊(d貌ng)鎱�(t脿i)鎬у拰闈堟椿鎬х瓑鏅鸿兘淇℃伅铏曠悊鏂规硶鎵€鎳�(y墨ng)鏈夌殑鐗瑰緛锛屽洜鑰屽畠鍊戝彧鍦ㄧ壒娈婄殑鎳�(y墨ng)鐢ㄩ牁(l菒ng)鍩熷収(n猫i)鍙栧緱鏈夐檺鐨勬垚鍔�銆�
浜嬪(sh铆)涓�锛屼汉椤炵殑瑷卞绉戝(xu茅)鎴愬氨閮戒締鑷皪(du矛)鑷劧鐣屼腑鐩告噳(y墨ng)浜嬬墿鐨勮瀵熷拰娣卞叆鐮旂┒锛屼緥濡備汉椤炵敱槌ラ鐨勯琛屽緱鍒板暉鐧�(f膩)寰炶€岀櫦(f膩)鏄庝簡椋涙(j墨)銆傚悓妯�锛屽皪(du矛)淇℃伅鐨勫姞宸ヨ檿鐞嗗拰鏅鸿兘鎺у埗绯荤当(t菕ng)鐨勮ō(sh猫)瑷�(j矛)锛岃嚜鐒剁晫涔熺郸鎴戝€戞彁渚涗簡涓€鍊�(g猫)闈炲父瀹岀編鐨勮寖渚嬧€斺€斾汉鑵︺€傚洜鑰屾櫤鑳戒俊鎭檿鐞嗙郴绲�(t菕ng)鐨勭爺绌惰垏鐧�(f膩)灞曢渶瑕佸€熷姪浜庡皪(du矛)澶ц叇瑾�(r猫n)鐭ュ姛鑳芥繁鍏ュ叏闈㈢殑鐮旂┒銆備汉灏�(du矛)澶栭儴涓栫晫鐨勮獚(r猫n)鐭ラ亷绋�锛屾湰璩�(zh矛)涓婃槸涓€鍊�(g猫)澶氬偝鎰熶俊鎭殑铻嶅悎閬庣▼銆備汉鑵﹂€氶亷灏�(du矛)澶氶€氶亾淇℃伅鐨勭浉浜掔洠(ji膩n)鐫o紙self-supervision锛夊畬鎴愬(xu茅)缈�(x铆)锛屽緸鑰岀嵅寰楀皪(du矛)澶栭儴浜嬬墿鐨勭煡璀�(sh铆)锛涢€氶亷灏�(du矛)澶氬偝鎰熶俊鎭殑铻嶅悎锛屽(sh铆)鐝�(xi脿n)灏�(du矛)鐩(bi膩o)鐨勮瓨(sh铆)鍒ヨ垏瑙i噵锛涘苟鍙互鏍规摎(j霉)宸叉湁鐭ヨ瓨(sh铆)灏�(du矛)鍚勫偝鎰熷櫒瀵�(sh铆)琛屾帶鍒�銆傞€欑ó鍓嶉鍜屽弽楗嬮亷绋嬬殑瀹岀編绲�(ji茅)鍚�锛屼娇浜鸿叇鍏锋湁妤甸珮鐨勬櫤鑳芥按骞筹紝鍗充娇鍦ㄥ櫔鑱茬挵(hu谩n)澧冧笅鎴栧偝鎰熶俊鎭笉鍙潬鏅�(sh铆)锛屼汉鑵︿篃鑳芥湁鏁堝湴瀹屾垚鍏舵櫤鑳芥椿鍕�(d貌ng)銆傞€欑偤妲�(g貌u)閫犳櫤鑳界郴绲�(t菕ng)鎻愪緵浜嗗畬缇庣殑鍏歌寖銆傝嚜寰炰汉宸ユ櫤鑳藉舰鎴愪竴鍊�(g猫)瀛�(xu茅)绉戜互渚嗭紝绉戝(xu茅)瀹跺€戦伒寰憲涓€姊濇槑纰虹殑鎸囧皫(d菐o)鎬濇兂锛岋紝鍗崇爺绌跺拰绺界祼(ji茅)浜洪鎬濈董鐨勬櫘閬嶈(gu墨)寰�锛屽苟鐢ㄨ▓(j矛)绠楁(j墨)妯℃摤瀹冪殑鍔熻兘瀵�(sh铆)鐝�(xi脿n)銆傛濡傞姗�(j墨)骞朵笉鏄啊鍠ā鎿偿鑰岀櫦(f膩)鏄庣殑锛屽洜姝ゆ櫤鑳戒俊鎭檿鐞嗙郴绲�(t菕ng)鐨勭爺绌朵篃涓嶆噳(y墨ng)瑭叉(j墨)姊扮収鎼汉鑵﹁獚(r猫n)鐭ユā寮忋€�
3.1 鏅鸿兘鎺у埗绯荤当(t菕ng)鐨勫熀鏈姛鑳界壒榛�(di菐n)
1锛� 瀹归尟(cu貌)鎬�銆傚皪(du矛)寰�(f霉)闆滅郴绲�(t菕ng)锛堝闈炵窔鎬�銆佸揩鏅�(sh铆)璁�銆佸京(f霉)闆滃璁婇噺鍜岀挵(hu谩n)澧冩摼鍕�(d貌ng)绛夛級鑳介€�(j矛n)琛屾湁鏁堢殑鍏ㄥ眬鎺у埗锛屽苟鍏锋湁杓冨挤(qi谩ng)鐨勫閷�(cu貌)鑳藉姏銆�
2锛� 澶氭ā鎱�(t脿i)鎬с€傚畾鎬ф焙绛栧拰瀹氶噺鎺у埗鐩哥祼(ji茅)鍚堢殑澶氭ā鎱�(t脿i)绲勫悎鎺у埗銆�
3锛� 鍏ㄥ眬鎬�銆傚緸绯荤当(t菕ng)鐨勫姛鑳藉拰鏁撮珨鍎�(y艒u)鍖栫殑瑙掑害渚嗗垎鏋愬拰缍滃悎绯荤当(t菕ng)銆�
4锛� 娣峰悎妯″瀷鍜屾贩鍚堣▓(j矛)绠椼€傚皪(du矛)璞℃槸浠ョ煡璀�(sh铆)琛ㄧず鐨勯潪鏁�(sh霉)瀛�(xu茅)寤g京妯″瀷鍜屼互鏁�(sh霉)瀛�(xu茅)妯″瀷琛ㄧず鐨勬贩鍚堟帶鍒堕亷绋�锛屼汉鐨勬櫤鑳藉湪鎺у埗涓捣钁楀崝(xi茅)瑾�(di脿o)浣滅敤锛岀郴绲�(t菕ng)鍦ㄤ俊鎭檿鐞嗕笂鏃㈡湁鏁�(sh霉)瀛�(xu茅)閬�(y霉n)绠�锛屽張鏈夐倧杓拰鐭ヨ瓨(sh铆)鎺ㄧ悊銆�
5锛� 瀛�(xu茅)缈�(x铆)鍜岃伅(li谩n)鎯宠鎲惰兘鍔�銆傚皪(du矛)涓€鍊�(g猫)閬庣▼鎴栨湭鐭ョ挵(hu谩n)澧冩墍鎻愪緵鐨勪俊鎭�锛岀郴绲�(t菕ng)鍏锋湁閫�(j矛n)琛岃瓨(sh铆)鍒ヨ鎲�銆佸(xu茅)缈�(x铆)锛屽苟鍒╃敤绌嶇疮鐨勭稉(j墨ng)椹�(y脿n)閫�(j矛n)涓€姝ユ敼鍠勭郴绲�(t菕ng)鐨勬€ц兘鍜岃兘鍔�銆�
6锛� 鍕�(d貌ng)鎱�(t脿i)鑷仼鎳�(y墨ng)鎬с€傚皪(du矛)澶栫晫鐠�(hu谩n)澧冭畩鍖栧強涓嶇⒑瀹氭€х殑鍑虹従(xi脿n)锛岀郴绲�(t菕ng)鍏锋湁淇鎴栭噸妲�(g貌u)鑷韩绲�(ji茅)妲�(g貌u)鍜屽弮鏁�(sh霉)鐨勮兘鍔�銆�
7锛� 绲勭箶鍗�(xi茅)瑾�(di脿o)鑳藉姏銆傚皪(du矛)浜庡京(f霉)闆滀换鍕�(w霉)鍜屽垎鏁g殑鍌虫劅淇℃伅锛岀郴绲�(t菕ng)鍏锋湁鑷祫绻斿拰鍗�(xi茅)瑾�(di脿o)鑳藉姏锛岄珨鐝�(xi脿n)鍑虹郴绲�(t菕ng)鐨勪富鍕�(d貌ng)鎬у拰闈堟椿鎬с€�
3.2 鏅鸿兘鎺у埗鐨勪富瑕佺爺绌跺垎鏀�
1锛� 妯$硦閭忚集鎺у埗
鍌崇当(t菕ng)鐨勬帶鍒跺晱椤屼竴鑸槸鍩轰簬绯荤当(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷渚嗚ō(sh猫)瑷�(j矛)鎺у埗鍣�锛岃€屽ぇ澶氭暩(sh霉)宸ユキ(y猫)琚帶灏�(du矛)璞℃槸鍏锋湁鏅�(sh铆)璁娿€侀潪绶氭€х瓑鐗规€х殑寰�(f霉)闆滅郴绲�(t菕ng)锛屽皪(du矛)閫欐ǎ鐨勭郴绲�(t菕ng)閫�(j矛n)琛屾帶鍒讹紝涓嶈兘鍍呭儏寤虹珛鍦ㄥ钩琛¢粸(di菐n)闄勮繎鐨勫眬閮ㄧ窔鎬фā鍨�锛岄渶瑕佸姞鍏ヤ竴浜涜垏宸ユキ(y猫)鐙€娉佹湁闂�(gu膩n)鐨勪汉鐨勬帶鍒剁稉(j墨ng)椹�(y脿n)銆傞€欑ó缍�(j墨ng)椹�(y脿n)閫氬父鏄畾鎬х殑鎴栧畾閲忕殑锛屾ā绯婃帹鐞嗘帶鍒舵鏄€欑ó鎺у埗缍�(j墨ng)椹�(y脿n)鐨勮〃绀烘柟娉�锛岄€欑ó鏂规硶鐨勫劒(y艒u)榛�(di菐n)鏄笉闇€瑕佽鎺ч亷绋嬬殑鏁�(sh霉)瀛�(xu茅)妯″瀷锛屽洜鑰屽彲鐪佸幓鍌崇当(t菕ng)鎺у埗鏂规硶鐨勫缓妯¢亷绋�锛屼絾鍗婚亷澶氬湴渚濊炒鎺у埗缍�(j墨ng)椹�(y脿n)銆傛澶�锛岀敱浜庢矑鏈夎鎺у皪(du矛)璞$殑妯″瀷锛屽湪鎶曞叆閬�(y霉n)琛屼箣鍓嶅氨寰堥洠閫�(j矛n)琛岀┅(w臎n)瀹氭€�銆侀妫掓€х瓑绯荤当(t菕ng)鍒嗘瀽銆傝繎骞翠締锛屼竴浜涚爺绌惰€呭€�?c猫)璋€锛氼惃鍒傞锛骞割惐鑲斤細類及鍋锋瘝鎷�?锛屽嚭鐝�(xi脿n)浜嗘ā绯婃ā鍨�銆傛ā绯婃ā鍨嬫槗浜庤〃閬�(d谩)绲�(ji茅)妲�(g貌u)鎬х煡璀�(sh铆)锛屾垚鐐烘ā绯婃帶鍒剁郴绲�(t菕ng)鐮旂┒鐨勯棞(gu膩n)閸靛晱椤孾42-44]銆傛渶杩戯紝妯$硦鎺у埗鐞嗚珫鎴愬姛鍦版噳(y墨ng)鐢ㄤ簬椋涜鍣ㄧ殑鍎�(y艒u)鍖栬窡韫よō(sh猫)瑷�(j矛)鍜岀敘(ch菐n)鍝佸姞宸ラ亷绋媅28锛�45]銆�
2锛� 妯$硦闋�(y霉)娓帶鍒�
闋�(y霉)娓帶鍒舵槸鐐洪仼鎳�(y墨ng)寰�(f霉)闆滃伐妤�(y猫)閬庣▼鎺у埗鑰屾彁鍑虹殑绠楁硶锛屽畠绐佺牬浜嗗偝绲�(t菕ng)鎺у埗灏�(du矛)妯″瀷鐨勬潫绺�锛屽叿鏈夋槗浜庡缓妯�銆侀妫掓€уソ鐨勭壒榛�(di菐n)锛屽皪(du矛)浜庤В姹哄ぇ婊悗灏�(du矛)璞℃帶鍒跺晱椤屾槸涓€姊濇湁鏁堢殑閫斿緫銆傛ā绯婂缓妯℃槸闈炵窔鎬х郴绲�(t菕ng)寤烘ā鐨勪竴鍊�(g猫)閲嶈宸ュ叿锛屼篃鏄京(f霉)闆滃伐妤�(y猫)閬庣▼鎺у埗涓唬娉涗娇鐢ㄧ殑鏂规硶銆傛妸闋�(y霉)娓帶鍒跺拰妯$硦鎺ㄧ悊鐩哥祼(ji茅)鍚圼46]鏄緢鏈夊惛寮曞姏鐨勭爺绌舵柟鍚戜箣涓€銆�
3锛� 绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鎺у埗
绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鎺у埗鏄爺绌跺拰鍒╃敤浜鸿叇鐨勬煇浜涚祼(ji茅)妲�(g貌u)姗�(j墨)鐞嗕互鍙婁汉鐨勭煡璀�(sh铆)鍜岀稉(j墨ng)椹�(y脿n)灏�(du矛)绯荤当(t菕ng)鐨勬帶鍒躲€備竴鑸湴锛岀缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鎺у埗绯荤当(t菕ng)鐨勬櫤鑳芥€�銆侀妫掓€у潎杓冨ソ锛屽畠鑳借檿鐞嗛珮缍�銆侀潪绶氭€�銆佸挤(qi谩ng)鑰﹀悎鍜屼笉瀹氭€х殑寰�(f霉)闆滃伐妤�(y猫)鐢熺敘(ch菐n)閬庣▼鐨勬帶鍒跺晱椤�銆傞’绀轰簡绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鍦ㄨВ姹洪珮搴﹂潪绶氭€у拰鍤�(y谩n)閲嶄笉纰哄畾鎬х郴绲�(t菕ng)鐨勬帶鍒舵柟闈㈠叿鏈夊緢澶ф經鍔�銆傞洊鐒剁缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鍦ㄥ埄鐢ㄧ郴绲�(t菕ng)瀹氶噺鏁�(sh霉)鎿�(j霉)鏂归潰鏈夎純寮�(qi谩ng)鐨勫(xu茅)缈�(x铆)鑳藉姏銆備絾瀹冨皣绯荤当(t菕ng)鎺у埗鍟忛鐪嬫垚鈥滈粦绠扁€濈殑鏄犲皠鍟忛锛岀己涔忔槑纰虹殑鐗╃悊鎰忕京锛屼笉鏄撴妸鎺у埗缍�(j墨ng)椹�(y脿n)鐨勫畾鎬х煡璀�(sh铆)铻嶅叆鎺у埗閬庣▼涓�銆傝繎渚嗭紝鍦ㄧ缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鑷仼鎳�(y墨ng)鎺у埗[47]銆佷汉宸ョ缍�(j墨ng)缍�(w菐ng)绲�(lu貌)闁ュ嚱鏁�(sh霉)鐨勬暩(sh霉)瀛楄ō(sh猫)瑷�(j矛)[48]銆佹柊鐨勬贩鍚堢缍�(j墨ng)缍�(w菐ng)绲�(lu貌)妯″瀷[49]绛夋柟闈㈤兘鏈変竴浜涢噸瑕侀€�(j矛n)灞�锛屽鎳�(y墨ng)鐢ㄤ簬姗�(j墨)鍣ㄤ汉鎿嶄綔閬庣▼绁炵稉(j墨ng)鎺у埗[28]銆佹牳鍙嶆噳(y墨ng)鍫嗙殑杓夐噸鎿嶄綔閬庣▼鐨勭缍�(j墨ng)鎺у埗[50]銆傝繎骞翠締锛岀缍�(j墨ng)缍�(w菐ng)绲�(lu貌)銆佹ā绯婃帹鐞�銆佸悇绋壒娈婁俊铏�(h脿o)鐨勬湁姗�(j墨)绲�(ji茅)鍚堬紝閭勫皫(d菐o)鑷翠簡涓€浜涙柊鐨勭稖鍚堢缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鐨勫嚭鐝�(xi脿n)銆備緥濡傦紝灏忔尝绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)[51]銆佹ā绯婄缍�(j墨ng)缍�(w菐ng)绲�(lu貌)[46锛�52]鍜屾贩娌岀缍�(j墨ng)缍�(w菐ng)绲�(lu貌)[38]鐨勫嚭鐝�(xi脿n)锛岀偤鏅鸿兘鎺у埗闋�(l菒ng)鍩熼枊杈熶簡鏂扮殑鐮旂┒鏂瑰悜銆�
4锛� 鍩轰簬鐭ヨ瓨(sh铆)鐨勫垎灞ゆ帶鍒惰ō(sh猫)瑷�(j矛)
灏�(du矛)浜庡京(f霉)闆滄帶鍒跺皪(du矛)璞�锛屽柈涓€鍦伴噰鐢ㄥ偝绲�(t菕ng)鎺у埗涓嶈兘鐛插緱鐞嗘兂鐨勭郴绲�(t菕ng)鎬ц兘锛岄€欐檪(sh铆)闇€瑕佹櫤鑳界殑鎺у埗绛栫暐銆傚垎灞ゆ帶鍒舵伆濂介珨鐝�(xi脿n)浜嗛€欎竴鎬濇兂锛屽簳灞ら噰鐢ㄥ偝绲�(t菕ng)鐨勬帶鍒舵柟娉�锛岄珮灞ら噰鐢ㄦ櫤鑳界瓥鐣ュ崝(xi茅)瑾�(di脿o)搴曞堡宸ヤ綔锛岄€欏氨鏄熀浜庣煡璀�(sh铆)鐨勫垎灞ゆ帶鍒惰ō(sh猫)瑷�(j矛)銆傞€欑ó鎺у埗瑷�(sh猫)瑷�(j矛)鐞嗚珫宸茬稉(j墨ng)鎳�(y墨ng)鐢ㄥ埌姗�(j墨)鍣ㄤ汉銆佽埅澶╅琛屽櫒绛夐牁(l菒ng)鍩焄53-55]銆�
3.3 妯$硦鎺ㄧ悊鍜岀缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鍦ㄦ帶鍒朵腑鎳�(y墨ng)鐢ㄧ殑鍗€(q奴)鍒�
1锛� 妯$硦鎺у埗鏄熀浜庤(gu墨)鍓囩殑鎺ㄧ悊锛岀缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鍓囬渶瑕佸ぇ閲忕殑鏁�(sh霉)鎿�(j霉)瀛�(xu茅)缈�(x铆)妯f湰銆傚湪鏈夎冻澶犵殑绯荤当(t菕ng)鎺у埗鐭ヨ瓨(sh铆)鎯呮硜涓嬶紝鍩轰簬妯$硦瑕�(gu墨)鍓囨帶鍒惰純濂�锛涘鏋滅郴绲�(t菕ng)鏈夎冻澶犵殑鍚勬厠(t脿i)閬嶆鐨勫(xu茅)缈�(x铆)妯f湰锛屾噳(y墨ng)鐢ㄧ缍�(j墨ng)缍�(w菐ng)绲�(lu貌)閫氶亷瀛�(xu茅)缈�(x铆)鍙緱鍒版豢鎰忕殑鎺у埗鍣�銆�
2锛� 妯$硦鏄犲皠鍦ㄧ郴绲�(t菕ng)涓槸闆嗗悎鍒伴泦鍚堢殑瑕�(gu墨)鍓囨槧灏勶紝绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鍓囨槸榛�(di菐n)鍒伴粸(di菐n)鐨勬槧灏�銆傛ā绯婇倧杓鏄撹〃閬�(d谩)浜哄€戠殑鎺у埗缍�(j墨ng)椹�(y脿n)绛夊畾鎬х煡璀�(sh铆)锛岃€岀缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鍦ㄥ埄鐢ㄧ郴绲�(t菕ng)瀹氶噺鏁�(sh霉)鎿�(j霉)鏂归潰鏈夎純寮�(qi谩ng)鐨勫(xu茅)缈�(x铆)鑳藉姏銆�
3锛� 绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鎺у埗灏囩郴绲�(t菕ng)鎺у埗鍟忛鐪嬫垚鈥滈粦绠扁€濈殑鏄犲皠鍟忛锛岀己涔忔槑纰虹殑鐗╃悊鎰忕京锛屽洜鑰屾帶鍒剁稉(j墨ng)椹�(y脿n)鐨勫畾鎬х煡璀�(sh铆)涓嶆槗铻嶅叆鎺у埗涓�銆傛ā绯婃帶鍒朵竴鑸妸灏�(du矛)琚帶灏�(du矛)璞$湅浣滄槸鈥滅伆绠扁€�銆�
4 鎺у埗鐞嗚珫鐨勫畬鍠勮垏鎺у埗鎶€琛�(sh霉)鐨勭櫦(f膩)灞�
鑷緸缇庡湅绉戝(xu茅)瀹剁董绱嶄簬20涓栫磤(j矛)40骞翠唬鍓�(chu脿ng)绔嬫帶鍒惰珫浠ヤ締锛屾帶鍒剁瀛�(xu茅)宸茬稉(j墨ng)缍�(j墨ng)姝蜂簡缍�(j墨ng)鍏告帶鍒剁悊璜栧拰鐝�(xi脿n)浠f帶鍒剁悊璜栧叐鍊�(g猫)闅庢锛屽苟閫�(j矛n)鍏ユ櫤鑳芥帶鍒剁悊璜栭€欎竴閲嶈鐧�(f膩)灞曢殠娈碉紝鐩$閭勪笉澶犳垚鐔�銆傚湪铏曠悊寰�(f霉)闆滅郴绲�(t菕ng)鎺у埗鍟忛鏅�(sh铆)锛屽偝绲�(t菕ng)鎺у埗鏂规硶灏�(du矛)浜庡京(f霉)闆滄€�銆佷笉纰哄畾鎬с€佺獊璁婃€ф墍甯朵締鐨勫晱椤岀附鏈変簺鍔涗笉寰炲績銆傜偤浜嗛仼鎳�(y墨ng)涓嶅悓鎶€琛�(sh霉)闋�(l菒ng)鍩熷拰绀炬渻(hu矛)鐧�(f膩)灞曞皪(du矛)鎺у埗绉戝(xu茅)鎻愬嚭鐨勬柊瑕佹眰锛屾垜鍊戝繀闋堢櫦(f膩)灞曟柊鐨勬帶鍒舵ā寮�銆傚湅鍏�(n猫i)澶栨帶鍒剁瀛�(xu茅)鐣岄兘鍦ㄦ帰绱㈡柊鐨勬帶鍒剁悊璜�锛屼互瑙f焙鍚勯寰�(f霉)闆滅郴绲�(t菕ng)鐨勬帶鍒跺晱椤�銆傝繎骞翠締锛岃秺渚嗚秺澶氱殑瀛�(xu茅)鑰呭凡鎰忚瓨(sh铆)鍒板湪鍌崇当(t菕ng)鎺у埗涓姞鍏ラ倧杓�銆佹帹鐞嗗拰鍟熺櫦(f膩)寮忕煡璀�(sh铆)鐨勯噸瑕佹€�锛屾妸鍌崇当(t菕ng)鎺у埗鐞嗚珫鑸囨ā绯婇倧杓�銆佺缍�(j墨ng)缍�(w菐ng)绲�(lu貌)銆侀伜鍌崇畻娉曠瓑浜哄伐鏅鸿兘鎶€琛�(sh霉)鐩哥祼(ji茅)鍚�锛屽厖鍒嗗埄鐢ㄤ汉鐨勬帶鍒剁煡璀�(sh铆)灏�(du矛)寰�(f霉)闆滅郴绲�(t菕ng)閫�(j矛n)琛屾櫤鑳藉寲鎺у埗锛岄€愭几褰㈡垚浜嗘櫤鑳芥帶鍒剁悊璜栫殑杓冨畬鏁寸殑楂旂郴[56锛�57]銆�
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鍙冭€冩枃鐛�(xi脿n)
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