|
xxϵy(tng)ҊϷfSʯF켈ʳƷt(y)ˎI(y)ԄӻˮƽIJߣF(xin)xSo(h)ˆTļg(sh)ˮƽ˸Ҫs̎xϕrgCȫa(chn)߽(jng)(j)Чİl(f)һcxF(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)x 1ȣڷF(xin)xǰҪ^ص˽P(gun)xϵy(tng)a(chn)^̡a(chn)ˇrl˽xϵy(tng)O(sh)ӋO(sh)ӋDxϵy(tng)ĽY(ji)(gu)cܼ(sh)Ҫȡ 2ڷzF(xin)xϵy(tng)֮ǰҪF(xin)˽a(chn)ؓ(f)ɼԭϵą(sh)׃r鿴σxӛM(jn)оCϷԴ_xԭ 3xӛһl(һc׃Ҳ]еľQ)ӛԭ鲨F(xin)ͻȻ׃һlֱϺܿڃxϵy(tng)Ŀǰӛ䛃x DCSӋCϵy(tng)`ȷdz(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)ϡ ֮F(xin)xԭrҪeעⱻyƌͿy׃@ЩɬF(xin)xϵy(tng)ϵԭ҂ҪĬF(xin)xϵy(tng)ˇϵy(tng)ɂCϿ]м(x)zԭڡ Ĵy(sh)xϵy(tng)ϷE 1ضȿƃxϵy(tng)ϷE ضȿƃxϵy(tng)ϕrҪעcԓϵy(tng)x늄Ӄxyָʾԓϵy(tng)xĜy^ (1)ضȃxϵy(tng)ָʾֵͻȻ׃Сһxϵy(tng)ضȃxϵy(tng)y^l(f)ͻȻ׃˕rĹԭǟża(do)ྀ׃Ŵʧ` (2)ضȿƃxϵy(tng)ָʾF(xin)ʎF(xin)ƅ(sh)PID{(dio)(dng) (3)ضȿƃxϵy(tng)ָʾF(xin)IJܿڹˇ׃箔(dng)rˇ]׃tܿǃxϵy(tng)Ĺ (4) ضȿϵy(tng)ĹϷEz{(dio)(ji)yݔ̖Ƿ׃ݔ̖׃{(dio)(ji)y{(dio)(ji)yĤ^ĤƬ©z{(dio)(ji)yλݔ̖Ƿ׃ݔ̖׃ݔ̖׃λйz鶨λݔ̖׃ٲ{(dio)(ji)ݔПo׃{(dio)(ji)ݔ벻׃ݔ׃˕r{(dio)(ji)Ĺ |