|
xxϵy(tng)ҊϷfSʯF켈ʳƷt(y)ˎI(y)ԄӻˮƽIJF(xin)xSo(h)ˆTļg(sh)ˮƽ˸Ҫs̎xϕrgCȫa(chn)߽(jng)(j)Ч棬İl(f)һc(din)xF(xin)So(h)(jng)xSo(h)ˆT һF(xin)xϵy(tng)ϵĻE F(xin)xy(sh)һ֞ضҺλĴ(sh) F(xin)(j)y(sh)IJͬͬĬF(xin)xڡ 1ڷF(xin)xǰҪ^ص˽P(gun)xϵy(tng)a(chn)^a(chn)ˇrl˽xϵy(tng)O(sh)ӋO(sh)ӋDxϵy(tng)ĽY(ji)(gu)c(din)ܼ(sh)Ҫ 2ڷzF(xin)xϵy(tng)֮ǰҪF(xin)˽a(chn)ؓ(f)ɼԭϵą(sh)׃r鿴σxӛM(jn)оCϷԴ_xԭ 3xӛһl(һc(din)׃Ҳ]еľQ)ӛԭ鲨F(xin)ͻȻ׃һlֱϺܿڃxϵy(tng)Ŀǰӛ䛃x DCSӋC(j)ϵy(tng)`ȷdzߣ(sh)׃ܷdz`ķ(yng)˕r˞ظ׃һ¹ˇ(sh)׃r粻׃ඨǃxϵy(tng)ˆ}׃ඨxϵy(tng)]дĆ} 4׃ˇ(sh)rl(f)F(xin)ӛl(f)ͻ׃С˕rĹҲڃxϵy(tng) 5ϳF(xin)ǰxӛһֱF(xin)F(xin)Ӻӛ׃úoҎ(gu)ɻʹϵy(tng)yԿBքӲҲܿƣ˕rϿǹˇϵy(tng)ɵ 6(dng)l(f)F(xin)DCS@ʾxrԵF(xin)zͬһֱ^xָʾֵeܴtܿǃxϵy(tng)F(xin) ֮F(xin)xԭrҪeעⱻyƌͿy׃@ЩɬF(xin)xϵy(tng)ϵԭ҂ҪĬF(xin)xϵy(tng)ˇϵy(tng)ɂCϿ]м(x)zԭ Ĵy(sh)xϵy(tng)ϷE 1ضȿƃxϵy(tng)ϷE ضȿƃxϵy(tng)ϕrҪעc(din)ԓϵy(tng)x늄Ӄxyָʾԓϵy(tng)xĜy^ (1)ضȃxϵy(tng)ָʾֵͻȻ׃Сһxϵy(tng)ضȃxϵy(tng)y^l(f)ͻȻ׃˕rĹԭǟża(b)(do)ྀ׃Ŵʧ` (2)ضȿƃxϵy(tng)ָʾF(xin)ʎF(xin)ƅ(sh)PID{(dio)(dng) (3)ضȿƃxϵy(tng)ָʾF(xin)IJܿڹˇ׃ģ箔(dng)rˇ]׃tܿǃxϵy(tng)Ĺ (4) ضȿϵy(tng)ĹϷEz{(dio)(ji)yݔ̖Ƿ׃ݔ̖׃{(dio)(ji)y{(dio)(ji)yĤ^ĤƬ©ˣz{(dio)(ji)yλݔ̖Ƿ׃ݔ̖׃ݔ̖׃λйz鶨λݔ̖׃ٲ{(dio)(ji)ݔПo׃{(dio)(ji)ݔ벻׃ݔ׃˕r{(dio)(ji)Ĺ |