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xxϵy(tng)ҊϷfSʯF켈ʳƷt(y)ˎI(y)Ԅ(dng)ˮƽIJ(du)F(xin)xSo(h)ˆTļg(sh)ˮƽ˸Ҫs̎xϕr(sh)gCȫa(chn)߽(jng)(j)Чİl(f)һc(din)xF(xin)So(h)(jng)(yn)xSo(h)ˆT һF(xin)xϵy(tng)ϵĻE F(xin)xy(sh)һ֞ضȡҺλĴ(sh) F(xin)(j)y(sh)IJͬͬĬF(xin)x 1ȣڷF(xin)xǰҪ^ص˽P(gun)xϵy(tng)a(chn)^a(chn)ˇrl˽xϵy(tng)O(sh)Ӌ(j)O(sh)Ӌ(j)Dxϵy(tng)ĽY(ji)(gu)c(din)ܼ(sh)Ҫȡ 2ڷzF(xin)xϵy(tng)֮ǰҪF(xin)˽a(chn)ؓ(f)ɼԭϵą(sh)׃r鿴σxӛM(jn)оCϷԴ_xԭ 3xӛһl(һc(din)׃Ҳ]еľQ)ӛԭ鲨(dng)F(xin)ͻȻ׃һlֱϺܿڃxϵy(tng)?yn)Ŀǰӛ䛃x DCSӋ(j)C(j)ϵy(tng)`ȷdz(sh)׃ܷdz`ķ(yng)˕r(sh)˞ظ׃һ¹ˇ(sh)׃r粻׃ඨǃxϵy(tng)ˆ}׃ඨxϵy(tng)]дĆ} 4׃ˇ(sh)r(sh)l(f)F(xin)ӛl(f)ͻ׃С˕r(sh)ĹҲڃxϵy(tng) 5ϳF(xin)ǰxӛһֱF(xin)F(xin)(dng)ӛ׃úoҎ(gu)ɻʹϵy(tng)yԿBք(dng)Ҳܿƣ˕r(sh)Ͽǹˇϵy(tng)ɵ 6(dng)l(f)F(xin)DCS@ʾxr(sh)ԵF(xin)zͬһֱ^xָʾֵeܴtܿǃxϵy(tng)F(xin) ֮F(xin)xԭr(sh)Ҫeעⱻyƌ(du)Ϳy׃@ЩɬF(xin)xϵy(tng)ϵԭ҂ҪĬF(xin)xϵy(tng)ˇϵy(tng)ɂ(g)CϿ]м(x)zԭ Ĵy(sh)xϵy(tng)ϷE 1ضȿƃxϵy(tng)ϷE ضȿƃxϵy(tng)ϕr(sh)Ҫעc(din)ԓϵy(tng)x늄(dng)xyָʾԓϵy(tng)xĜy^ (1)ضȃxϵy(tng)ָʾֵͻȻ׃Сһxϵy(tng)ϡ?yn)ضȃxϵy(tng)y^(hu)l(f)ͻȻ׃˕r(sh)Ĺԭǟża(b)(do)ྀ׃Ŵʧ` (2)ضȿƃxϵy(tng)ָʾF(xin)ʎF(xin)ƅ(sh)PID{(dio)(dng) (3)ضȿƃxϵy(tng)ָʾF(xin)IJ(dng)ܿڹˇ׃箔(dng)r(sh)ˇ]׃tܿǃxϵy(tng)Ĺ (4) ضȿϵy(tng)ĹϷEz{(dio)(ji)yݔ̖(ho)Ƿ׃ݔ̖(ho)׃{(dio)(ji)y(dng){(dio)(ji)yĤ^ĤƬ©ˣz{(dio)(ji)yλݔ̖(ho)Ƿ׃ݔ̖(ho)׃ݔ̖(ho)׃λйϣz鶨λݔ̖(ho)׃ٲ{(dio)(ji)ݔПo׃{(dio)(ji)ݔ벻׃ݔ׃˕r(sh){(dio)(ji)Ĺ |