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1鍖楁枟閫氫俊澹撶府绗竴姝ワ細鏈夋悕澹撶府

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瑭茬畻娉曞寘鎷叐鏂归潰鍏�(n猫i)瀹癸細鏀归€睟P绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)PID鎺у埗鍣紙鍚庢枃绨＄ū鐐猴細NBP-PID锛夊拰妯欐簴SDT澹撶府鍙婅В澹撶畻娉�銆傛暩(sh霉)鎿�(j霉)閫氶亷SDT澹撶府鍙婅В澹撻亷绋嬭鐐鸿鎺у皪璞★紝鏈熸湜鐨勮В澹撳钩鍧囪宸磗浣滅偤绲﹀畾杓稿叆锛屽闅涜В澹撳钩鍧囪宸翠綔鐐虹郴绲�(t菕ng)鐨勮几鍑恒€侼BP-PID鎺у埗鍣ㄤ笉鏂疯(di脿o)鏁次擡鐨勮几鍑猴紝閫茶€屾帶鍒段磋几鍑�锛岀洿鍒板亸宸€煎皬浜庣畻娉曞仠姝㈤亱琛岀殑闁€闄愬€糡h鐐烘锛岄€欐ǎ渚垮畬鎴愪簡绗竴绲勬暩(sh霉)鎿�(j霉)鐨勫绺�銆傞杸闄愬€艰▓绠楀叕寮忕偤锛�

鐣�(d膩ng)棣栫祫鏁�(sh霉)鎿�(j霉)澹撶府瀹屾垚鍚庯紝淇濈暀姝ゆ檪鎺у埗鍣ㄥ悇鍊嬪弮鏁�(sh霉)锛岀敤鍋氫笅涓€绲勬暩(sh霉)鎿�(j霉)澹撶府鏅傛帶鍒跺櫒鍙冩暩(sh霉)鐨勫垵濮嬪€�锛屽畬鎴愮浜岀祫鏁�(sh霉)鎿�(j霉)鐨勫绺�锛屼互姝ら鎺ㄣ€傚悓鏅傚皣澹撶府濂界殑棣栫祫鏁�(sh霉)鎿�(j霉)鐢ㄥ寳鏂楃劇鎼嶅绺畻娉曠辜绾�(x霉)澹撶府銆傚湒2鐐洪绲勬暩(sh霉)鎿�(j霉)澹撶府绠楁硶鐨勫弽楗嬫帶鍒剁郴绲�(t菕ng)妯″瀷銆�

1.2.1NBP-PID鎺у埗鍣ㄨō(sh猫)瑷�

鍦ㄥ伐妤�(y猫)鎺у埗涓�锛屽皪PID鎺у埗鍣ㄦ瘮渚�銆佺⿳鍒�銆佸井鍒�3鍊嬬郴鏁�(sh霉)鐨勮(di脿o)鏁翠竴鑸緢闆�銆傛牴鎿�(j霉)绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鐞嗚珫锛屼笁灞P绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鍙€艰繎浠绘剰绶氭€у拰闈炵窔鎬у嚱鏁�(sh霉)锛岄€氶亷绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)鐨勮嚜韬(xu茅)缈�(x铆)锛屽姞娆�(qu谩n)绯绘暩(sh霉)瑾�(di脿o)鏁村彲浠ヤ娇鍏剁┅(w臎n)瀹氱媭鎱�(t脿i)灏嶆噳(y墨ng)鏌愮ó鏈€鏈夎(gu墨)寰嬩笅鐨凱ID鎺у埗鍣ㄥ弮鏁�(sh霉)锛�8锛姐€備簬鏄湰鏂囬噰鐢ㄤ笁灞P绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)锛�4-5-3绲�(ji茅)妲�(g貌u)锛変締瑾�(di脿o)鏁碢ID鐨勫弮鏁�(sh霉)銆�

杓稿叆灞ょ缍�(j墨ng)鍏冪偤4鍊嬶紝鍒嗗垾鏄几鍏in銆佽几鍑簓out銆佽宸甧rror鍜屽父鏁�(sh霉)1锛涢毐鍚堡閬告搰5鍊嬪嵆鍙豢瓒宠姹�锛�3鍊嬭几鍑虹缍�(j墨ng)鍏冨皪鍙冩暩(sh霉)Kp銆並i銆並d閫茶鍦ㄧ窔瑾�(di脿o)鏁淬€傝几鍏ュ堡鐨勮几鍏ョ偤锛�

1.2.2鑷帶绮惧害鏈夋悕澹撶府绠楁硶瀵︾従(xi脿n)姝ラ

锛�1锛夌涓€娆￠€茶澹撶府鏅�锛屽皪鐩告噳(y墨ng)鐨勫弮鏁�(sh霉)鍒濆鍖�銆備护u銆乽_1銆乽_2銆乽_3銆乽_4銆乽_5锛屽嵆鎺у埗鍣ㄧ殑杓稿嚭闆舵檪鍒诲拰鍚勬鍙叉檪鍒诲垵濮嬪€奸兘鐐�0锛屽悓鏅傝宸甧rror銆佽几鍑哄€紋out闆舵檪鍒诲拰鍚勬鍙叉檪鍒讳篃閮藉垵濮嬪寲鐐�0銆傞毐鍚堡鐨勫姞娆�(qu谩n)绯绘暩(sh霉)鍒濆鍊煎拰鍜岃几鍑哄堡鍔犳瑠(qu谩n)绯绘暩(sh霉)鐨勫垵濮嬪€肩偤-0.5~0.5涔嬮枔鐨勯毃姗熸暩(sh霉)銆傞伕瀹氬(xu茅)缈�(x铆)閫熺巼畏銆佹叄鎬х郴鏁�(sh霉)伪鍜屛�锛屼互鍙婇杸闄愬€糡h锛�

锛�2锛夐噰妯ｅ緱鍒皉in锛坘锛�锛涘皣鍓嶄竴鏅傚埢鎺у埗鍣ㄧ殑杓稿嚭u锛坘-1锛�锛屽嵆螖E鍌冲叆浠ｈ〃琚帶灏嶈薄妯″瀷鐨勫绺В澹撳嚱鏁�(sh霉)涓▓绠�锛屽緱鍒版鏅傜殑杓稿嚭yout鍊�锛屽啀瑷堢畻瑭叉檪鍒荤殑绯荤当(t菕ng)瑾ゅ樊error锛坘锛�=rin锛坘锛�-yout锛坘锛�锛�

锛�3锛夎▓绠楃缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鍚勫堡绁炵稉(j墨ng)鍏冪殑杓稿叆銆佽几鍑猴紝杓稿嚭灞ょ殑杓稿嚭鍗冲皪鎳�(y墨ng)PID鎺у埗鍣ㄧ殑3鍊嬪彲瑾�(di脿o)鍙冩暩(sh霉)Kp銆並i銆並d锛屾摎(j霉)姝よ▓绠楁帶鍒跺櫒鐣�(d膩ng)鍓嶆檪鍒荤殑杓稿嚭u锛坘锛�锛�

锛�4锛夐€茶绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)瀛�(xu茅)缈�(x铆)锛屽湪绶氳(di脿o)鏁磋几鍑哄堡鍜岄毐鍚堡鍔犳瑠(qu谩n)绯绘暩(sh霉)鍊�锛岀劧鍚庡皣鍚勭媭鎱�(t脿i)鍙冩暩(sh霉)鏇存柊锛�

锛�5锛夋牴鎿�(j霉)寮忥紙3锛�锛岃▓绠楃郴绲�(t菕ng)姝ゆ檪鐨凾h鍊硷紝濡傛灉灏忎簬闋�(y霉)鍏堣ō(sh猫)缃殑闁€闄愬€�锛屽墖琛ㄦ槑姝ょ祫鏁�(sh霉)鎿�(j霉)宸查仈鍒扮郸瀹氳宸绺姹傦紝閫插叆姝ラ锛�6锛�锛屽惁鍓囬€插叆姝ラ锛�2锛�锛屽啀娆″惊鐠�(hu谩n)锛�

锛�6锛夊皣姝ゆ檪鍒讳互鍙婂墠3鍊嬫檪鍒荤殑杓稿嚭灞ゅ強闅卞惈灞ゅ姞娆�(qu谩n)绯绘暩(sh霉)鍊间繚瀛�锛屼綔鐐轰笅绲勬暩(sh霉)鎿�(j霉)澹撶府鏅傞浂鏅傚埢鍙婃鍙叉檪鍒荤殑鍒濆鍊�锛屼繚瀛榰鍙婂墠5鍊嬫檪鍒荤殑鍊�锛屼綔鐐轰笅绲勬暩(sh霉)鎿�(j霉)澹撶府鍚勬檪鍒籾鐨勫垵濮嬪€�銆傚悓鏅傦紝姝ょ祫澹撶府鍚庣殑鏁�(sh霉)鎿�(j霉)閫插叆鍚庣簩(x霉)鍖楁枟鐒℃悕澹撶府绠楁硶涓辜绾�(x霉)澹撶府锛�

锛�7锛夊埄鐢ㄥ墠涓€绲勪繚瀛樼殑鎺у埗鍣ㄥ悇鍙冩暩(sh霉)闁嬪涓嬩竴绲勬暩(sh霉)鎿�(j霉)鐨勫绺�锛屽嵆鍙堜竴娆￠€插叆姝ラ锛�2锛夛紝鐩村埌鎵€鏈夌祫鍒ョ殑鏁�(sh霉)鎿�(j霉)閮藉绺畬鐣�锛岀畻娉曠祼(ji茅)鏉熴€�

2鍖楁枟閫氫俊澹撶府绗簩姝モ€斺€旂劇鎼嶅绺�

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3瑭﹂绲�(ji茅)鏋滆垏灏嶆瘮鍒嗘瀽

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3.1NBP-PID鑸囨婧朆P绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)PID鎺у埗鍣ㄦ€ц兘灏嶆瘮

鍦�4鐐哄湪绗竴闅庢涓�锛孨BP-PID绠楁硶杓冩婧朆P绁炵稉(j墨ng)缍�(w菐ng)绲�(lu貌)PID绠楁硶锛堢啊绋辩偤BP-PID锛�锛�6绲勬暩(sh霉)鎿�(j霉)鍠崹澹撶府鏅傚悇鑷仈鍒伴杸闄愬€兼墍闇€澹撶府瑷�(x霉n)绶存鏁�(sh霉)灏嶆瘮銆�

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3.2閲囩敤NBP-PID绠楁硶澹撶府澶氱祫鏁�(sh霉)鎿�(j霉)

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