1寮曡█

鎴戝湅鑷�2006骞磋捣鑸夎睛鐨勫叏鍦嬪ぇ瀛�(xu茅)鐢熲€滈鎬濆崱鐖炬澂鈥濇櫤鑳芥苯杌婄璩借瀺绉戝(xu茅)鎬с€佽叮鍛虫€у拰瑙€璩炴€х偤涓€楂旓紝鏄竴闋�(xi脿ng)浠ヨ繀鐚涚櫦(f膩)灞曘€佸墠鏅唬闂婄殑姹借粖闆诲瓙鐐鸿儗鏅�锛屾兜钃嬩簡鑷嫊(d貌ng)鎺у埗銆佹ā寮忚瓨(sh铆)鍒ャ€�鍌虫劅鎶€琛�(sh霉)銆�闆诲瓙銆侀浕姘�銆佽▓(j矛)绠楁(j墨)銆佹(j墨)姊拌垏姹借粖绛夊鍊�(g猫)瀛�(xu茅)绉戝皥妤�(y猫)鐨勭鎶€鍓�(chu脿ng)鏂版瘮璩姐€傚弮璩介殜(du矛)浼嶅湪杌婃ā骞宠嚭(t谩i)鍩虹(ch菙)涓�锛屽埗浣滀竴鍊�(g猫)鑳藉鑷富璀�(sh铆)鍒ヨ矾绶氱殑鏅鸿兘杌�锛屽湪灏堥杸瑷�(sh猫)瑷�(j矛)鐨勮辰閬撲笂鑷嫊(d貌ng)璀�(sh铆)鍒ラ亾璺椐�銆�

鏈枃鎵€杩扮殑鏅鸿兘杌婂氨鏄牴鎿�(j霉)姣旇辰瑕�(gu墨)鍓囪姹傝ō(sh猫)瑷�(j矛)骞跺埗浣滆€屾垚鐨�锛岃┎鏅鸿兘杌婃帶鍒剁郴绲�(t菕ng)閲囩敤椋涙€濆崱鐖惧崐灏�(d菐o)楂斿叕鍙哥敓鐢�(ch菐n)鐨�16浣峂C9S12DG128鍠墖姗�(j墨)浣滅偤鏁�(sh霉)瀛楁帶鍒跺櫒,鐢卞畨瑁濆湪杌婂墠閮ㄧ殑榛戠櫧CMOS鏀濆儚闋矤(f霉)璨�(z茅)閲囬泦璩介亾淇℃伅,骞跺皣閲囬泦鍒扮殑淇¤櫉缍�(j墨ng)浜屽€煎寲铏曠悊鍚庡偝鍏ュ柈鐗囨(j墨),鍠墖姗�(j墨)灏嶄俊铏熼€�(j矛n)琛屽垽鏂疯檿鐞嗗悗,鐢盤WM鐧�(f膩)鐢熸ā濉婄櫦(f膩)鍑篜WM娉㈠皪杞�(zhu菐n)鍚戣埖姗�(j墨)閫�(j矛n)琛屾帶鍒�,瀹屾垚鏅鸿兘杌婄殑杞�(zhu菐n)鍚�銆傚彟澶栵紝鏅鸿兘杌婂悗杓笂瑁濇棆杞�(zhu菐n)绶ㄧ⒓鍣�,鐢ㄤ締閲囬泦杌婅吉閫熷害鐨勮剤娌栦俊铏�,鍠墖姗�(j墨)浣跨敤PID鎺у埗绠楁硶铏曠悊鍚庣殑鎺у埗閲忓幓鏀硅畩闆绘(j墨)椹�(q奴)鍕�(d貌ng)妯″鐨凱WM娉㈠崰绌烘瘮,寰炶€屾帶鍒舵櫤鑳借粖鐨勮椐涢€熷害銆�

2鎺у埗鏂规瑷�(sh猫)瑷�(j矛)鍜岀‖浠堕浕璺祫鎴�

瑷�(sh猫)瑷�(j矛)鏈夋晥鐨勬櫤鑳借粖鎺у埗绯荤当(t菕ng)蹇呴爤棣栧厛鎺屾彙鎺у埗灏嶈薄鐨勭壒鎬�銆傛牴鎿�(j霉)灏嶆櫤鑳借粖鐗归粸(di菐n)鐨勫垎鏋愶紝鍙互瑾�(r猫n)鐐烘櫤鑳借粖杞�(zhu菐n)鍚戞帶鍒剁郴绲�(t菕ng)鐨勫偝閬炲嚱鏁�(sh霉)杩戜技鐐轰竴闅庣⿳鍒嗗姞绱旀化鍚�锛岄€熷害鎺у埗灏嶈薄鐨勫偝閬炲嚱鏁�(sh霉)杩戜技鐐轰竴闅庢叄鎬у姞绱旀化鍚庣殑绲�(ji茅)璜�銆傝綁(zhu菐n)鍚戞帶鍒剁郴绲�(t菕ng)涓昏鏄姹傞熆鎳�(y墨ng)閫熷害蹇�锛屽皪绌�(w臎n)鎱�(t脿i)鎺у埗绮惧害瑕佹眰涓嶉珮銆傝€屼笖鎺у埗灏嶈薄鍙湁绌嶅垎鍜屾化鍚庣挵(hu谩n)绡€(ji茅)锛屾矑鏈夊父瑕嬬殑鎱ｆ€х挵(hu谩n)绡€(ji茅)銆傛牴鎿�(j霉)浠ヤ笂鐗归粸(di菐n)锛岃綁(zhu菐n)鍚戞帶鍒堕噰鐢≒D鎺у埗鍣�銆�

灏嶉€熷害閫�(j矛n)琛屾娓拰鎺у埗鐨勬剰缇╁湪浜庣洝鍙兘浣挎櫤鑳借粖鎸夌収閬撹矾姊濅欢鍏佽ū鐨勬渶楂橀€熷害琛岄銆傚湪褰庨亾鎳�(y墨ng)灏囪粖閫熼檺鍒剁偤涓嶈劔杌岀殑鏈€楂橀€熷害锛屽湪鐩撮亾鎳�(y墨ng)鐣�(d膩ng)閬╃暥(d膩ng)閫�(j矛n)琛屾€ュ姞閫熶互绺煭鍠湀閬�(y霉n)琛屾檪(sh铆)闁�锛屾彁楂樻瘮璩芥垚绺俱€傚悓鏅�(sh铆)锛屽皪閫熷害淇¤櫉閫�(j矛n)琛岀⿳鍒嗘眰鍜屽彲浠ュ緱鍒拌辰閬撻暦搴︿俊鎭�锛岀偤閬撹矾璀�(sh铆)鍒ヨ垏瑷樻喍妯″鎻愪緵鏁�(sh霉)鎿�(j霉)銆傛櫤鑳借粖閫熷害鎺у埗绯荤当(t菕ng)鐨勭簿搴︿笉闇€瑕佸お楂�锛岄棞(gu膩n)閸垫槸濡備綍蹇€熼熆鎳�(y墨ng)璩介亾鐨勮矾娉佽畩鍖栥€傚洜姝ら€熷害鎺у埗閲囩敤PID鎺у埗鍣ㄣ€傞嚌灏嶄笉鍚岀殑閬撹矾鐙€娉佽繀閫熸簴(zh菙n)纰哄湴鏀硅畩杌婇€�锛屽(sh铆)鐝�(xi脿n)绌�(w臎n)瀹氶亷褰�銆傛櫤鑳借粖鐨勭‖浠堕浕璺富瑕佺敱瑕栭牷铏曠悊妯″銆佹柟鍚戞帶鍒舵ā濉婂拰杌婇€熸帶鍒舵ā濉婄祫鎴愩€�

3妯″鍔熻兘

锛�1锛夎闋昏檿鐞嗘ā濉�銆傝闋昏檿鐞嗘ā濉婄敱CMOS鏀濆儚闋�銆佷簩鍊煎寲闆昏矾鍜屽悓姝ュ垎闆㈤浕璺(g貌u)鎴愩€�

锛�2锛夎綁(zhu菐n)鍚戞帶鍒舵ā濉�銆傝綁(zhu菐n)鍚戞帶鍒舵ā濉婁富瑕佺敱鑸垫(j墨)瀹屾垚銆傝埖姗�(j墨)鐨勮綁(zhu菐n)鍕�(d貌ng)鏈�(hu矛)杞�(zhu菐n)鍖栫偤杌婃ā杞�(zhu菐n)鍚戞媺妗跨殑姗悜绉诲嫊(d貌ng),寰炶€屽付鍕�(d貌ng)杌婃ā鍓嶈吉鐨勮綁(zhu菐n)鍕�(d貌ng),鎺у埗鏅鸿兘杌婄殑琛岄鏂瑰悜銆傝埖姗�(j墨)鐨勮綁(zhu菐n)鍚戞帶鍒堕噰鐢≒D鎺у埗锛屾牴鎿�(j霉)璩介亾涓ぎ榛戠窔鐨勪綅缃�,鍠墖姗�(j墨)鍚戣埖姗�(j墨)杓稿嚭鐩告噳(y墨ng)鍗犵┖姣旂殑PWM淇¤櫉銆�

锛�3锛夎粖閫熸帶鍒舵ā濉�銆傝粖閫熸帶鍒舵ā濉婁富瑕佺敱鐩存祦闆绘(j墨)銆侀﹨(q奴)鍕�(d貌ng)闆昏矾鍜屾棆杞�(zhu菐n)绶ㄧ⒓鍣ㄦ(g貌u)鎴�銆傛牴鎿�(j霉)CMOS鏀濆儚闋墍妾㈡脯鐨勮矾寰戜俊鎭垽鏂锋櫤鑳借粖鐣�(d膩ng)鍓嶆墍铏曠殑璩介亾鐙€娉�,骞舵牴鎿�(j霉)鏃嬭綁(zhu菐n)绶ㄧ⒓鍣ㄦ墍妾㈡脯鐨勫(sh铆)闅涜粖閫熷舰鎴愬皪鏅鸿兘杌婅椐涢€熷害鐨勯枆鐠�(hu谩n)鎺у埗锛屽悎鐞嗗湴瑾�(di脿o)鏁存暩(sh霉)瀛桺ID鎺у埗绠楁硶鐨凨p銆並i銆並d涓夊€�(g猫)鍙冩暩(sh霉),閬�(d谩)鍒拌粖閫熼熆鎳�(y墨ng)杩呴€熷苟娑堥櫎闈滄厠(t脿i)瑾ゅ樊鐨勭洰鐨�銆�

4闆昏矾瑷�(sh猫)瑷�(j矛)

锛�1锛夐浕婧愭ā濉婅ō(sh猫)瑷�(j矛)銆傞浕婧愭ā濉婅鐐哄柈鐗囨(j墨)銆佸偝鎰熷櫒銆佽埖姗�(j墨)鍜岄﹨(q奴)鍕�(d貌ng)闆绘(j墨)渚涢浕銆傚洜姝ら渶瑕佹彁渚涘绋浕婧愭豢瓒冲悇鍊�(g猫)妯″鐨勮姹傘€傞浕姹犲湪瀹屽叏鍏呮豢涔嬪悗绌鸿級闆诲鍙湁8v宸﹀彸锛屽苟闅ㄨ憲闆绘睜鐨勬秷鑰�锛岄浕澹撻€愭几闄嶄綆銆傞浕姗�(j墨)鍟熷嫊(d貌ng)鍙婂弽鎺ュ埗鍕�(d貌ng)鏅�(sh铆)闆绘祦寰堝ぇ锛屼篃鏈夊彲鑳藉皣闆绘睜闆诲鎷夊緱姣旇純浣庛€傜偤浜嗛伩鍏嶉浕婧愰浕澹撲笉绌�(w臎n)瀹�锛屽奖闊挎敐鍍忛牠瑕栭牷铏曠悊闆昏矾鍜屽柈鐗囨(j墨)宸ヤ綔涓嶆甯革紝鍦ㄦ湰瑷�(sh猫)瑷�(j矛)鏂规涓娇鐢ㄤ簡DC-DC璁婃彌鑺墖MC34063浠ュ強浣庡樊澹撶┅(w臎n)澹撳櫒LM2940銆侻C34063杓稿嚭绌�(w臎n)瀹氱殑8浼忛浕澹撴彁渚涚郸CMOS鏀濆儚闋�锛孡M2940鐐�16浣峂C9S12DG128鍠墖姗�(j墨)銆佽闋绘斁澶у強浜屽€煎寲闆昏矾鎻愪緵绌�(w臎n)瀹氱殑5浼忛浕婧�锛屼繚璀変簡绯荤当(t菕ng)鍦ㄥ悇绋儏娉佷笅鐨勭┅(w臎n)瀹氶亱(y霉n)琛�銆�

锛�2锛夌洿娴侀浕姗�(j墨)椹�(q奴)鍕�(d貌ng)妯″瑷�(sh猫)瑷�(j矛)銆傜洿娴侀浕姗�(j墨)椹�(q奴)鍕�(d貌ng)閲囩敤椋涙€濆崱鐖惧叕鍙哥殑5A闆嗘垚H姗嬭姱鐗嘙C33886銆侻C33886鑺墖鍏�(n猫i)缃簡鎺у埗閭忚集銆侀浕鑽锋车銆侀杸椹�(q奴)鍕�(d貌ng)闆昏矾浠ュ強浣庡皫(d菐o)閫氶浕闃荤殑MOSFET杓稿嚭闆昏矾锛岄仼鍚堢敤渚嗘帶鍒舵劅鎬х洿娴佽矤(f霉)杓夛紙渚嬪鐩存祦闆绘(j墨)锛�?锛熸ⅱ钑村硜鈹籅绾�(x霉)鐨�5A闆绘祦锛屽苟涓旈泦鎴愪簡閬庢祦淇濊(h霉)銆侀亷鐔变繚璀�(h霉)銆佹瑺澹撲繚璀�(h霉)銆傞€氶亷鎺у埗MC33886鐨勫洓鏍硅几鍏ョ窔鍙互鏂逛究鍦板(sh铆)鐝�(xi脿n)闆绘(j墨)姝ｈ綁(zhu菐n)銆佽兘鑰楀埗鍕�(d貌ng)鍙婂弽鎺ュ埗鍕�(d貌ng)銆�

缍�(j墨ng)閬庣啊鍖栫殑H姗嬮浕璺�锛岀暥(d膩ng)S1銆丼4灏�(d菐o)閫氫笖S2銆丼3鎴鏅�(sh铆)锛岄浕娴佹鍚戞祦閬庣洿娴侀浕姗�(j墨)锛屾櫤鑳借粖鍓嶉€�(j矛n)锛涚暥(d膩ng)S2銆丼3灏�(d菐o)閫氫笖S1銆丼4鎴鏅�(sh铆)锛岄浕娴佸弽鍚戞祦閬庣洿娴侀浕姗�(j墨)锛岄仼鐣�(d膩ng)鍒╃敤閫欏€�(g猫)閬庣▼鍙互浣胯粖妯¤檿浜庡弽鎺ュ埗鍕�(d貌ng)鐨勭媭鎱�(t脿i)锛岃繀閫熼檷浣庤粖閫�锛涚暥(d膩ng)S3銆丼4灏�(d菐o)閫氫笖S1銆丼2鎴鏅�(sh铆)锛屾矑鏈夐浕婧愬姞鍦ㄧ洿娴侀浕姗�(j墨)涓�锛岀洿娴侀浕姗�(j墨)闆绘鍏╃鐩哥暥(d膩ng)浜庣煭鎺ュ湪涓€璧�銆傜敱浜庨浕姗�(j墨)杌稿湪澶栧姏浣滅敤涓嬫棆杞�(zhu菐n)鏅�(sh铆)锛岄浕姗�(j墨)鍙互鐢�(ch菐n)鐢熼浕鑳�锛屾鏅�(sh铆)鍙互鎶婄洿娴侀浕鍕�(d貌ng)姗�(j墨)鐪嬩綔涓€鍊�(g猫)甯朵簡寰堥噸璨�(f霉)杓夌殑鐧�(f膩)闆绘(j墨)锛岄浕姗�(j墨)涓婃渻(hu矛)鐢�(ch菐n)鐢熶竴鍊�(g猫)闃荤杓稿嚭杌搁亱(y霉n)鍕�(d貌ng)鐨勫姏锛岄€欏€�(g猫)鍔涚殑澶у皬鑸囪矤(f霉)鑽风殑澶у皬鎴愭姣旓紝姝ゆ檪(sh铆)闆绘(j墨)铏曚簬鑳借€楀埗鍕�(d貌ng)鐙€鎱�(t脿i)銆�

鏈ō(sh猫)瑷�(j矛)鏂规涓噰鐢ㄥ叐鐗嘙C33886骞惰伅(li谩n)锛屼竴鏂归潰娓涘皬灏�(d菐o)閫氶浕闃诲皪鐩存祦闆绘(j墨)鐗规€х殑褰遍熆锛屽彟涓€鏂归潰娓涘皬MC33886鍏�(n猫i)閮ㄧ殑閬庢祦淇濊(h霉)闆昏矾灏嶉浕姗�(j墨)鍟熷嫊(d貌ng)鍙婂埗鍕�(d貌ng)鏅�(sh铆)鐨勫奖闊�銆�

锛�3锛夊偝鎰熷櫒闆昏矾瑷�(sh猫)瑷�(j矛)銆傛櫤鑳借粖閲囩敤CMOS鏀濆儚闋綔鐐哄湒鍍忓偝鎰熷櫒,淇濊瓑璩介亾淇℃伅閲囬泦婧�(zh菙n)纰烘湁鏁�銆侰MOS鏀濆儚闋殑杓稿嚭淇¤櫉鏄疨AL鍒跺紡鐨勫京(f霉)鍚堝叏闆昏淇¤櫉锛屾瘡绉掕几鍑�50骞€锛堝垎鐐哄伓鍫村拰濂囧牬锛�銆傜暥(d膩ng)CMOS鏀濆儚闋噰闆嗗湒鍍忔檪(sh铆)锛屽伓鍫村拰濂囧牬涓嶆槸鍚屾檪(sh铆)閲囬泦鐨�锛屽洜姝わ紝鍙互鍦ㄦ瘡鍫翠俊铏熼兘灏嶈矾寰戦€�(j矛n)琛岃瓨(sh铆)鍒�銆�

锛�4锛夌劇绶氭暩(sh霉)鎿�(j霉)鍌宠几妯″瑷�(sh猫)瑷�(j矛)銆傛櫤鑳借粖鍔犺浜嗗熀浜庡皠闋绘敹鐧�(f膩)鑺墖nRF403鐨勭劇绶氭暩(sh霉)鎿�(j霉)鍌宠几妯″锛屽苟鍦ㄦ鍩虹(ch菙)涓婂(sh铆)鐝�(xi脿n)浜哅ODBUS閫氫俊鍗�(xi茅)璀�锛屽湪娓│鏅鸿兘杌婂弮鏁�(sh霉)鍙婄▼搴忚(di脿o)瑭︾殑閬庣▼涓緢鏈夊公鍔�銆傚湪閬�(y霉n)琛岀殑閬庣▼涓彲浠ュ皣鏅鸿兘杌婄殑鍚勯爡(xi脿ng)鍙冩暩(sh霉)瀵�(sh铆)鏅�(sh铆)鍦扮櫦(f膩)閫佷笂渚嗭紝鍒嗘瀽鏅鸿兘杌婄殑閬�(y霉n)琛岀媭鎱�(t脿i)鍙互鏇存湁閲濆皪鎬у湴灏嶆帶鍒剁▼搴忛€�(j矛n)琛屾敼閫�(j矛n)銆傚湪瑾�(di脿o)瑭﹂亱(y霉n)鍕�(d貌ng)鍙冩暩(sh霉)鐨勯亷绋嬩腑锛屽彲浠ラ€氶亷涓婁綅姗�(j墨)杌熶欢鏀硅畩?n猫i)閺歱銆並i銆並d绛夊弮鏁�(sh霉)锛岃€屼笉鐢ㄩ噸鏂扮噿瀵▼搴�锛岃繀閫熻€屾柟渚裤€�

5杌熶欢瑷�(sh猫)瑷�(j矛)

鏅鸿兘杌婃帶鍒剁郴绲�(t菕ng)绋嬪簭绲�(ji茅)妲�(g貌u)濡傚湒5鎵€绀�锛岄€欐槸涓€鍊�(g猫)鍏╁堡鐨勫垎绱氭帶鍒剁郴绲�(t菕ng)銆傚簳灞ゆ帶鍒剁郴绲�(t菕ng)鍖呮嫭鈥滆綁(zhu菐n)鍚戞帶鍒剁郴绲�(t菕ng)鈥濆拰鈥滆粖閫熸帶鍒剁郴绲�(t菕ng)鈥濓紝涓婂堡涓绘帶绋嬪簭閫氶亷鏀硅畩搴曞堡鎺у埗绯荤当(t菕ng)鐨勮ō(sh猫)瀹氬€�銆佹帶鍒跺弮鏁�(sh霉)鍜岀磩鏉熸浠剁殑鏂规硶锛屽皪鏁村€�(g猫)鎺у埗绯荤当(t菕ng)閫�(j矛n)琛岃(di脿o)搴�銆傝ō(sh猫)瑷�(j矛)閫欑ó鍒嗗堡绲�(ji茅)妲�(g貌u)鐨勬帶鍒剁郴绲�(t菕ng)鏄弮鐓т簡闆嗘暎鎺у埗绯荤当(t菕ng)DCS鐨勭祼(ji茅)妲�(g貌u)鐗归粸(di菐n)锛岀▼搴忓悇閮ㄥ垎鍔熻兘鏄庣⒑銆佺祼(ji茅)妲�(g貌u)娓呮櫚锛屼究浜庤(di脿o)瑭﹀拰缍(h霉)銆傜偤浜嗚(di脿o)瑭︽柟渚匡紝涓绘帶绋嬪簭涓坊鍔犱簡鍩轰簬鐒＄窔淇￠亾鐨凪ODBUS閫氳▕鍗�(xi茅)璀�锛屽皪鏅鸿兘杌婅椐涘弮鏁�(sh霉)鐨勭洠(ji膩n)瑕栧拰瑾�(di脿o)鏁存彁渚涗簡寰堝ぇ鐨勪究鍒�銆�

杌熶欢鎵€瀵�(sh铆)鐝�(xi脿n)鐨勫姛鑳芥湁锛�

鈶犲垵濮嬪寲銆�

鈶℃暩(sh霉)鎿�(j霉)閲囬泦鍙婃烤娉㈣檿鐞嗐€傜偤浜嗙洝閲忔笡灏戝紩鍏ョ殑绱旀化鍚庢檪(sh铆)闁�锛屾湰鏂囨彁鍑轰簡涓€绋崹(d煤)鐗圭殑鍏锋湁鍓�(chu脿ng)鏂版€х殑瑕栭牷淇¤櫉閲囬泦鏂规硶锛屽嵆鐢∕C9S12DG128鍠墖姗�(j墨)鎻愪緵鐨凷PI鍙ｇ洿鎺ヨ畝鍙栫稉(j墨ng)閬庝簩鍊煎寲铏曠悊鐨勮闋讳俊铏熴€傚ぇ璩借(gu墨)鍓囦腑鎸囧畾浜嗚辰閬撲笂榛戣壊寮曞皫(d菐o)绶氱殑瀵害鐐�2.5鍘樼背锛屾晠鏀濆儚闋腑閲囬泦鍒扮殑寮曞皫(d菐o)绶氬搴﹀湪姝ｅ父鎯呮硜涓嬩篃鎳�(y墨ng)鐣�(d膩ng)钀藉湪涓€瀹氳寖鍦嶅収(n猫i)?锛熸ⅱ鏉傝劋?sh铆)椹�(y脿n)鐨勬柟娉曟脯寰楀紩灏�(d菐o)绶氬皪鎳�(y墨ng)鐨勫儚绱犲搴�锛岀劧鍚庡湪婵炬尝绋嬪簭涓皪閲囬泦鍒扮殑寮曞皫(d菐o)绶氱窔瀵€�(j矛n)琛屾帶鍒�锛屽鏋滆秴鍑烘甯歌寖鍦嶅嵆瑾�(r猫n)鐐烘槸鐒℃晥鏁�(sh霉)鎿�(j霉)銆傚(sh铆)椹�(y脿n)璀夋槑锛岄€欑ó鏂规硶鍙互鏈夋晥鍦板皣骞叉摼婵鹃櫎銆�

鈶㈤亾璺瓨(sh铆)鍒�銆傛櫤鑳借粖鍒嗗堡鎺у埗绯荤当(t菕ng)鐨勬牳蹇冩槸璩介亾鐨勮瓨(sh铆)鍒�銆傚(sh铆)闅涙脯瑭︾櫦(f膩)鐝�(xi脿n)鐢变簬CMOS鏀濆儚闋殑鍙鑼冨湇姣旇純灏忚€屼笖瑕栭噹鑼冨湇鍛堟褰�锛屽湪蹇€熼亱(y霉n)鍕�(d貌ng)涓稉(j墨ng)甯哥櫦(f膩)鐢熻辰閬撻儴鍒嗙敋鑷冲叏閮ㄨ劔闆㈣閲庤寖鍦嶇殑鎯呮硜锛岀郸璩介亾璀�(sh铆)鍒ュ付渚嗗緢澶х殑鍥伴洠锛屽洜姝ゅ畬鏁磋瓨(sh铆)鍒ヨ辰閬撴ā寮忓咕涔庢槸涓嶅彲鑳界殑銆傜偤浜嗙啊鍖栧晱椤�锛屾湰鏂规鍙瓨(sh铆)鍒ヨ辰閬撲腑鐨勭洿绶氭锛屾牴鎿�(j霉)鐩寸窔娈电殑鏁�(sh霉)閲忓拰闀峰害灏囪辰閬撳垎鍓叉垚涓嶅悓鐨勫崁(q奴)鍩�锛屽湪涓€鍊�(g猫)鍗€(q奴)鍩熶腑灏嶆帶鍒跺弮鏁�(sh霉)閫�(j矛n)琛屽劒(y艒u)鍖�銆�

鈶ｉ浕姗�(j墨)鎺у埗銆傚柈鐗囨(j墨)閫氶亷鎺ユ敹鏃嬭綁(zhu菐n)绶ㄧ⒓鍣ㄦ娓櫤鑳借粖鍚庤吉杞�(zhu菐n)鍕�(d貌ng)鎵€鐢�(ch菐n)鐢熺殑鑴堟矕鏁�(sh霉),閲囩敤浣嶇疆寮廝ID鎺у埗绠楁硶鐨勯仦鎺ㄥ舰寮忓皪鐩存祦闆绘(j墨)鐨勮綁(zhu菐n)閫熼€�(j矛n)琛屽揩閫熸簴(zh菙n)纰哄湴鎺у埗銆�

浣嶇疆寮廝ID鎺у埗绠楁硶鐨勯仦鎺ㄥ舰寮忥細螖u锛坘锛�=Kp[e锛坘锛�-e锛坘-1锛塢+Ki脳e锛坘锛�+Kd[e锛坘锛�-2e锛坘-1锛�+e锛坘-2锛塢锛寀锛坘锛�=u锛坘-1锛�+螖u锛坘锛夊紡涓細u锛坘锛夌偤k鏅�(sh铆)鍒绘帶鍒跺櫒鐨勮几鍑�;e锛坘锛夌偤k鏅�(sh铆)鍒荤殑鍋忓樊;Kp銆並i銆並d鍒嗗垾鐐轰綅缃紡PID鎺у埗绠楁硶鐨勬瘮渚嬬郴鏁�(sh霉)銆佺⿳鍒嗗父鏁�(sh霉)鍜屽井鍒嗗父鏁�(sh霉)[7]銆�

鈶よ埖姗�(j墨)鎺у埗銆傚柈鐗囨(j墨)閫氶亷CMOS鏀濆儚闋娓埌鐨勮矾寰戜俊鎭�,閲囩敤涓嶅畬鍏ㄥ井鍒哖D鎺у埗绠楁硶鎺у埗鑸垫(j墨)鐨勮綁(zhu菐n)瑙�,瀵�(sh铆)鐝�(xi脿n)璺緫璺熻工銆�

6绲�(ji茅)瑾�

鏈枃浠嬬垂浜嗕竴绋櫤鑳借粖鎺у埗绯荤当(t菕ng)鐨勮ō(sh猫)瑷�(j矛)鑸囧(sh铆)鐝�(xi脿n)銆傞€氶亷澶ч噺瀵�(sh铆)椹�(y脿n)娓│璀夋槑瑭叉櫤鑳借粖鑳藉揩閫熷钩绌�(w臎n)鍦板湪鍒朵綔鐨勮辰閬撲笂璺熻工榛戣壊寮曞皫(d菐o)绶氳椐�,灏嬭贰鏁堟灉鑹ソ,閫熷害鎺у埗闊挎噳(y墨ng)蹇�,鍕�(d貌ng)鎱�(t脿i)鎬ц兘鑹ソ,绌�(w臎n)鎱�(t脿i)瑾ゅ樊杓冨皬,绯荤当(t菕ng)鐨勭┅(w臎n)瀹氭€у拰鎶楀共鎿捐兘鍔涘挤(qi谩ng)銆傚湪2008鑸夎睛鐨勫叏鍦嬪ぇ瀛�(xu茅)鐢熲€滈鎬濆崱鐖炬澂鈥濇櫤鑳芥苯杌婄璩戒腑鍙栧緱浜嗚彲鍖楄辰鍗€(q奴)浜岀瓑鐛�(ji菐ng)鐨勫ソ鎴愮妇锛屽厖鍒嗚瓑鏄庝簡瑷�(sh猫)瑷�(j矛)鏂规鐨勬湁鏁堟€у拰绌�(w臎n)瀹氭€с€�