{"id":97645,"date":"2024-09-12T14:39:38","date_gmt":"2024-09-12T06:39:38","guid":{"rendered":"\/\/www.viralrail.com\/?p=97645"},"modified":"2024-09-12T14:39:42","modified_gmt":"2024-09-12T06:39:42","slug":"fksfynx","status":"publish","type":"post","link":"\/\/www.viralrail.com\/blog\/97645.html","title":{"rendered":"\u98de\u63a7\u7b97\u6cd5\u6709\u54ea\u4e9b"},"content":{"rendered":"\n<p>\u3000\u3000<strong>\u65e0\u4eba\u673a\u98de\u63a7\u7b97\u6cd5<\/strong>\u4e3b\u8981\u5305\u62ec\u4ee5\u4e0b\u51e0\u79cd\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u6377\u8054\u5f0f\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf<\/strong>\uff1a\u8fd9\u662f\u4e00\u79cd\u5229\u7528\u60ef\u6027\u6d4b\u91cf\u5355\u5143(IMU)\u6765\u786e\u5b9a\u98de\u884c\u5668\u59ff\u6001\u548c\u4f4d\u7f6e\u7684\u5bfc\u822a\u65b9\u6cd5\u3002\u5f53GPS\u4fe1\u53f7\u88ab\u906e\u6321\u65f6\uff0c\u5982\u5728\u5ba4\u5185\u6216\u96a7\u9053\u5185\uff0c\u8be5\u7cfb\u7edf\u53ef\u4ee5\u7ee7\u7eed\u63d0\u4f9b\u5b9a\u4f4d\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5<\/strong>\uff1a\u8fd9\u79cd\u7b97\u6cd5\u7528\u4e8e\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\u4e2d\u7684\u566a\u58f0\uff0c\u5e76\u901a\u8fc7\u878d\u5408\u4e0d\u540c\u4f20\u611f\u5668\u7684\u4fe1\u606f\u6765\u63d0\u9ad8\u4f30\u8ba1\u7684\u51c6\u786e\u6027\u3002\u5b83\u5e7f\u6cdb\u5e94\u7528\u4e8e\u59ff\u6001\u89e3\u7b97\u548c\u5bfc\u822a\u4e2d\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u98de\u884c\u63a7\u5236PID\u7b97\u6cd5<\/strong>\uff1aPID\u63a7\u5236\u5668\u662f\u6700\u5e38\u89c1\u7684\u63a7\u5236\u7b97\u6cd5\u4e4b\u4e00\uff0c\u901a\u8fc7\u6bd4\u4f8b\u3001\u79ef\u5206\u548c\u5fae\u5206\u4e09\u4e2a\u73af\u8282\u5bf9\u63a7\u5236\u5bf9\u8c61\u8fdb\u884c\u8c03\u8282\uff0c\u4ee5\u5b9e\u73b0\u5bf9\u65e0\u4eba\u673a\u98de\u884c\u59ff\u6001\u548c\u901f\u5ea6\u7684\u7cbe\u786e\u63a7\u5236\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000\u6b64\u5916\uff0c\u8fd8\u6709\u4e00\u4e9b\u5176\u4ed6\u91cd\u8981\u7684\u98de\u63a7\u7b97\u6cd5\u548c\u6280\u672f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u81ea\u9002\u5e94\u63a7\u5236\u7b97\u6cd5<\/strong>\uff1a\u57fa\u4e8e\u81ea\u9002\u5e94\u63a7\u5236\u7406\u8bba\u7684\u7b97\u6cd5\u80fd\u591f\u6839\u636e\u73af\u5883\u53d8\u5316\u81ea\u52a8\u8c03\u6574\u53c2\u6570\uff0c\u4ece\u800c\u4fdd\u6301\u65e0\u4eba\u673a\u7684\u7a33\u5b9a\u6027\u548c\u9ad8\u673a\u52a8\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u59ff\u6001\u63a7\u5236\u7b97\u6cd5<\/strong>\uff1a\u5305\u62ec\u57fa\u4e8eMahony\u7b97\u6cd5\u7684\u59ff\u6001\u89e3\u7b97\uff0c\u8be5\u7b97\u6cd5\u7ed3\u5408\u52a0\u901f\u5ea6\u8ba1\u548c\u5730\u78c1\u8ba1\u7684\u6570\u636e\uff0c\u901a\u8fc7\u8bef\u5dee\u6821\u6b63\u66f4\u65b0\u56db\u5143\u6570\uff0c\u5b9e\u73b0\u5bf9\u65e0\u4eba\u673a\u59ff\u6001\u7684\u7cbe\u786e\u63a7\u5236\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5bb9\u9519\u63a7\u5236\u7b97\u6cd5<\/strong>\uff1a\u901a\u8fc7\u878d\u5408\u4e0d\u540c\u7684\u63a7\u5236\u65b9\u6cd5\uff0c\u5145\u5206\u5229\u7528\u5404\u79cd\u7b97\u6cd5\u7684\u4f18\u70b9\uff0c\u6d88\u9664\u5176\u4e0d\u5229\u56e0\u7d20\uff0c\u6700\u7ec8\u5f97\u5230\u6ee1\u610f\u7684\u63a7\u5236\u6548\u679c\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000\u8fd9\u4e9b\u98de\u63a7\u7b97\u6cd5\u5171\u540c\u6784\u6210\u4e86\u73b0\u4ee3\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf\u7684\u6838\u5fc3\u6280\u672f\uff0c\u786e\u4fdd\u4e86\u65e0\u4eba\u673a\u5728\u5404\u79cd\u590d\u6742\u73af\u5883\u4e0b\u7684\u7a33\u5b9a\u98de\u884c\u548c\u9ad8\u6548\u4efb\u52a1\u6267\u884c\u80fd\u529b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e00\u3001 \u6377\u8054\u5f0f\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u5728\u65e0\u4eba\u673a\u98de\u63a7\u4e2d\u7684\u5e94\u7528\u548c\u4f18\u52bf\u662f\u4ec0\u4e48?<\/h2>\n\n\n\n<p>\u3000\u3000\u6377\u8054\u5f0f\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf(SINS)\u5728\u65e0\u4eba\u673a\u98de\u63a7\u4e2d\u7684\u5e94\u7528\u548c\u4f18\u52bf\u4e3b\u8981\u4f53\u73b0\u5728\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u81ea\u4e3b\u6027\u548c\u9690\u853d\u6027<\/strong>\uff1a\u6377\u8054\u5f0f\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u5b8c\u5168\u4f9d\u8d56\u5185\u90e8\u4f20\u611f\u5668\uff0c\u4e0d\u9700\u8981\u5916\u90e8\u4fe1\u53f7\uff0c\u56e0\u6b64\u53ef\u4ee5\u5b9e\u73b0\u5168\u5929\u5019\u3001\u5168\u5730\u57df\u7684\u5bfc\u822a\u3002\u7531\u4e8e\u4e0d\u53d1\u5c04\u7535\u78c1\u6ce2\uff0c\u5b83\u4e0d\u5bb9\u6613\u88ab\u63a2\u6d4b\u6216\u5e72\u6270\uff0c\u8fd9\u4f7f\u5f97\u5176\u5728\u519b\u4e8b\u548c\u6c11\u7528\u9886\u57df\u90fd\u5177\u6709\u8f83\u9ad8\u7684\u9690\u853d\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5b9e\u65f6\u6027\u548c\u7cbe\u5ea6<\/strong>\uff1a\u8be5\u7cfb\u7edf\u80fd\u591f\u63d0\u4f9b\u8fde\u7eed\u3001\u5b9e\u65f6\u7684\u5bfc\u822a\u4fe1\u606f\u66f4\u65b0\uff0c\u5e76\u4e14\u968f\u7740\u73b0\u4ee3\u5fae\u7535\u5b50\u6280\u672f\u7684\u53d1\u5c55\uff0c\u5176\u7cbe\u5ea6\u4e0d\u65ad\u63d0\u9ad8\u3002\u8fd9\u5bf9\u4e8e\u9700\u8981\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u548c\u59ff\u6001\u63a7\u5236\u7684\u65e0\u4eba\u673a\u6765\u8bf4\u975e\u5e38\u91cd\u8981\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u53ef\u9760\u6027<\/strong>\uff1a\u7531\u4e8e\u6ca1\u6709\u590d\u6742\u7684\u673a\u68b0\u5e73\u53f0\uff0c\u51cf\u5c11\u4e86\u673a\u68b0\u6545\u969c\u7684\u53ef\u80fd\u6027\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u3002\u6b64\u5916\uff0c\u53bb\u6389\u4e86\u673a\u7535\u5bfc\u822a\u5e73\u53f0\u540e\uff0c\u4f53\u79ef\u3001\u91cd\u91cf\u548c\u6210\u672c\u4e5f\u6709\u6240\u964d\u4f4e\uff0c\u540c\u65f6\u7ef4\u62a4\u4f7f\u7528\u4e0a\u66f4\u52a0\u65b9\u4fbf\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7075\u6d3b\u6027<\/strong>\uff1a\u6377\u8054\u5f0f\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u4f53\u79ef\u5c0f\u3001\u91cd\u91cf\u8f7b\uff0c\u9002\u7528\u4e8e\u5404\u79cd\u5c3a\u5bf8\u7684\u8f7d\u4f53\uff0c\u5305\u62ec\u5c0f\u578b\u65e0\u4eba\u673a\u3002\u8fd9\u79cd\u7075\u6d3b\u6027\u4f7f\u5176\u53ef\u4ee5\u5728\u591a\u79cd\u73af\u5883\u4e0b\u8fdb\u884c\u90e8\u7f72\u548c\u64cd\u4f5c\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u96c6\u6210\u5316\u8bbe\u8ba1<\/strong>\uff1a\u6377\u8054\u7cfb\u7edf\u4fbf\u4e8e\u4e0e\u5176\u4ed6\u5bfc\u822a\u7cfb\u7edf\u6216\u8bbe\u5907\u8fdb\u884c\u96c6\u6210\u5316\u3001\u4e00\u4f53\u5316\u8bbe\u8ba1\uff0c\u5df2\u6210\u4e3a\u73b0\u4ee3\u60ef\u6027\u7cfb\u7edf\u6280\u672f\u53d1\u5c55\u7684\u4e3b\u6d41\u65b9\u6848\u3002\u8fd9\u6709\u52a9\u4e8e\u63d0\u9ad8\u6574\u4f53\u7cfb\u7edf\u7684\u6027\u80fd\u548c\u6548\u7387\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7b97\u6cd5\u652f\u6301<\/strong>\uff1a\u6377\u8054\u5f0f\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u901a\u5e38\u7ed3\u5408\u5148\u8fdb\u7684\u6ee4\u6ce2\u7b97\u6cd5(\u5982\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5)\u6765\u8fdb\u4e00\u6b65\u63d0\u9ad8\u5bfc\u822a\u7cbe\u5ea6\u548c\u7a33\u5b9a\u6027\u3002\u8fd9\u4e9b\u7b97\u6cd5\u80fd\u591f\u5728\u9ad8\u52a8\u6001\u73af\u5883\u4e0b\u4fdd\u8bc1\u4e00\u5b9a\u7684\u7cbe\u5ea6\uff0c\u5c24\u5176\u9002\u5408\u4e8e\u65e0\u4eba\u673a\u8fd9\u7c7b\u5bf9\u7cbe\u5ea6\u8981\u6c42\u8f83\u9ad8\u7684\u5e94\u7528\u573a\u666f\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e8c\u3001 \u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5\u5982\u4f55\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\u4e2d\u7684\u566a\u58f0?<\/h2>\n\n\n\n<p>\u3000\u3000\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5\u901a\u8fc7\u4ee5\u4e0b\u51e0\u79cd\u65b9\u5f0f\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\u4e2d\u7684\u566a\u58f0\uff0c\u4ece\u800c\u63d0\u9ad8\u65e0\u4eba\u673a\u59ff\u6001\u89e3\u7b97\u7684\u51c6\u786e\u6027\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u9012\u5f52\u6ee4\u6ce2\u5668<\/strong>\uff1a\u5361\u5c14\u66fc\u6ee4\u6ce2\u662f\u4e00\u79cd\u9ad8\u6548\u7387\u7684\u9012\u5f52\u6ee4\u6ce2\u5668\uff0c\u5b83\u80fd\u591f\u4ece\u4e00\u7cfb\u5217\u4e0d\u5b8c\u5168\u53ca\u5305\u542b\u566a\u58f0\u7684\u6d4b\u91cf\u4e2d\u4f30\u8ba1\u52a8\u6001\u7cfb\u7edf\u7684\u72b6\u6001\u3002\u8be5\u7b97\u6cd5\u4f1a\u6839\u636e\u5404\u6d4b\u91cf\u91cf\u5728\u4e0d\u540c\u65f6\u95f4\u4e0b\u7684\u503c\uff0c\u8003\u8651\u5404\u65f6\u95f4\u4e0b\u7684\u8054\u5408\u5206\u5e03\uff0c\u518d\u4ea7\u751f\u5bf9\u672a\u77e5\u53d8\u6570\u7684\u4f30\u8ba1\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u52a0\u6743\u5e73\u5747<\/strong>\uff1a\u5728\u4f30\u8ba1\u6b65\u9aa4\u4e2d\uff0c\u5361\u5c14\u66fc\u6ee4\u6ce2\u4f1a\u4ea7\u751f\u6709\u5173\u76ee\u524d\u72b6\u6001\u7684\u4f30\u8ba1\uff0c\u5e76\u5305\u62ec\u4e0d\u786e\u5b9a\u6027\u3002\u5f53\u89c2\u5bdf\u5230\u4e0b\u4e00\u4e2a\u91cf\u6d4b\u65f6(\u5176\u4e2d\u4e00\u5b9a\u542b\u6709\u67d0\u79cd\u7a0b\u5ea6\u7684\u8bef\u5dee\uff0c\u5305\u62ec\u968f\u673a\u566a\u58f0)\uff0c\u4f1a\u901a\u8fc7\u52a0\u6743\u5e73\u5747\u6765\u66f4\u65b0\u4f30\u8ba1\u503c\uff0c\u800c\u786e\u5b9a\u6027\u8d8a\u9ad8\u7684\u91cf\u6d4b\u52a0\u6743\u6bd4\u91cd\u4e5f\u8d8a\u9ad8\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6700\u5c0f\u5747\u65b9\u8bef\u5dee\u4f30\u8ba1<\/strong>\uff1a\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u662f\u6700\u5c0f\u5747\u65b9\u8bef\u5dee\u4f30\u8ba1\u5668\uff0c\u901a\u8fc7\u4f18\u5316\u540e\u9a8c\u72b6\u6001\u8bef\u5dee\u4f30\u8ba1\u77e9\u9635&nbsp;\ufffd\ufffd\u2223\ufffdPk\u2223k\u200b\uff0c\u53ef\u4ee5\u6c42\u51fa\u6700\u4f18\u5361\u5c14\u66fc\u589e\u76ca\uff0c\u4ece\u800c\u51cf\u5c11\u8bef\u5dee\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u878d\u5408\u7b97\u6cd5<\/strong>\uff1a\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u5361\u5c14\u66fc\u6ee4\u6ce2\u5e38\u4e0e\u5176\u4ed6\u6ee4\u6ce2\u7b97\u6cd5\u7ed3\u5408\u4f7f\u7528\uff0c\u5982Mahony\u4e92\u8865\u6ee4\u6ce2\u7b97\u6cd5\u548c\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5(EKF)\u3002\u8fd9\u4e9b\u878d\u5408\u7b97\u6cd5\u80fd\u6709\u6548\u6291\u5236\u9640\u87ba\u4eea\u6f02\u79fb\u8bef\u5dee\uff0c\u6ee4\u9664\u52a0\u901f\u5ea6\u8ba1\u6d4b\u91cf\u503c\u6df7\u6709\u7684\u9ad8\u9891\u566a\u58f0\uff0c\u5e76\u6291\u5236\u975e\u91cd\u529b\u52a0\u901f\u5ea6\u7684\u5f71\u54cd\uff0c\u4ece\u800c\u63d0\u9ad8\u59ff\u6001\u89e3\u7b97\u7684\u7cbe\u5ea6\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5b9e\u65f6\u6027\u548c\u7cbe\u786e\u6027<\/strong>\uff1a\u5361\u5c14\u66fc\u6ee4\u6ce2\u5177\u6709\u5b9e\u65f6\u6027\u3001\u7cbe\u786e\u6027\u548c\u7a33\u5b9a\u6027\u7b49\u4f18\u70b9\uff0c\u80fd\u591f\u5728\u566a\u58f0\u5e72\u6270\u4e0b\u51c6\u786e\u5730\u6062\u590d\u51fa\u771f\u5b9e\u6570\u636e\uff0c\u4e3a\u52a8\u6001\u7cfb\u7edf\u7684\u72b6\u6001\u4f30\u8ba1\u63d0\u4f9b\u4e86\u5f3a\u6709\u529b\u7684\u5de5\u5177\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u9002\u5e94\u6027<\/strong>\uff1a\u5361\u5c14\u66fc\u6ee4\u6ce2\u53ef\u4ee5\u6839\u636e\u4e0d\u540c\u7684\u5e94\u7528\u573a\u666f\u8fdb\u884c\u8c03\u6574\uff0c\u901a\u8fc7\u5bf9\u566a\u58f0\u8fdb\u884c\u89c2\u6d4b\u4f7f\u5f97\u89c2\u6d4b\u5668\u5bf9\u4e0d\u540c\u7684\u5e94\u7528\u573a\u666f\u6709\u66f4\u597d\u7684\u9002\u5e94\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e09\u3001 PID\u63a7\u5236\u5668\u5728\u65e0\u4eba\u673a\u98de\u884c\u63a7\u5236\u4e2d\u7684\u5177\u4f53\u5b9e\u73b0\u65b9\u5f0f\u3002<\/h2>\n\n\n\n<p>\u3000\u3000PID\u63a7\u5236\u5668\u5728\u65e0\u4eba\u673a\u98de\u884c\u63a7\u5236\u4e2d\u7684\u5177\u4f53\u5b9e\u73b0\u65b9\u5f0f\u548c\u6548\u679c\u8bc4\u4f30\u5982\u4e0b\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30001. \u5177\u4f53\u5b9e\u73b0\u65b9\u5f0f<\/h3>\n\n\n\n<p>\u3000\u3000PID\u63a7\u5236\u5668\u662f\u4e00\u79cd\u7ebf\u6027\u63a7\u5236\u5668\uff0c\u901a\u8fc7\u6bd4\u4f8b(P)\u3001\u79ef\u5206(I)\u548c\u5fae\u5206(D)\u4e09\u4e2a\u73af\u8282\u7684\u7ec4\u5408\u6765\u8c03\u8282\u7cfb\u7edf\u8f93\u51fa\u3002\u5176\u4e3b\u8981\u529f\u80fd\u662f\u6839\u636e\u7ed9\u5b9a\u503c\u4e0e\u5b9e\u9645\u8f93\u51fa\u503c\u4e4b\u95f4\u7684\u504f\u5dee\u8fdb\u884c\u52a8\u6001\u8c03\u6574\uff0c\u4ece\u800c\u8fbe\u5230\u671f\u671b\u7684\u63a7\u5236\u6548\u679c\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5bf9\u4e8e\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\uff0c\u901a\u5e38\u4f1a\u8fd0\u7528\u725b\u987f\u6b27\u62c9\u5b9a\u5f8b\u5bf9\u5176\u52a8\u529b\u5b66\u53d7\u529b\u8fdb\u884c\u5206\u6790\uff0c\u5e76\u5efa\u7acb\u5c0f\u89d2\u5ea6\u98de\u884c\u4e0b\u7684\u6570\u5b66\u6a21\u578b\u3002\u7136\u540e\u5728\u6b64\u57fa\u7840\u4e0a\u8bbe\u8ba1PID\u63a7\u5236\u5668\uff0c\u4ee5\u5b9e\u73b0\u59ff\u6001\u63a7\u5236\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u81ea\u8026PID(Self-coupling PID, SC-PID)\u63a7\u5236\u65b9\u6cd5\u88ab\u63d0\u51fa\u7528\u4e8e\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u7684\u59ff\u6001\u56de\u8def\u63a7\u5236\u3002\u8fd9\u79cd\u65b9\u6cd5\u901a\u8fc7\u5efa\u7acb\u975e\u7ebf\u6027\u6570\u5b66\u6a21\u578b\u5e76\u63a8\u5bfc\u51fa\u5404\u901a\u9053\u7684\u4f20\u9012\u51fd\u6570\uff0c\u8fdb\u4e00\u6b65\u4f18\u5316\u4e86\u63a7\u5236\u6548\u679c\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u7ed3\u5408\u6a21\u7cca\u903b\u8f91\u7406\u8bba\u548c\u4f20\u7edfPID\u63a7\u5236\uff0c\u53ef\u4ee5\u6539\u5584\u5185\u56de\u8def\u7684\u52a8\u6001\u7279\u6027\u4e0e\u7a33\u5b9a\u6027\u3002\u6a21\u7ccaPID\u63a7\u5236\u7cfb\u7edf\u80fd\u591f\u66f4\u597d\u5730\u9002\u5e94\u590d\u6742\u591a\u53d8\u7684\u98de\u884c\u73af\u5883\uff0c\u63d0\u9ad8\u63a7\u5236\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u4f7f\u7528BP\u795e\u7ecf\u7f51\u7edc\u5bf9PID\u63a7\u5236\u5668\u53c2\u6570\u8fdb\u884c\u4f18\u5316\uff0c\u76f8\u8f83\u4e8e\u4f20\u7edfPID\u63a7\u5236\uff0cBP\u795e\u7ecf\u7f51\u7edc\u5f97\u5230\u7684\u7ed3\u679c\u5177\u6709\u66f4\u4f73\u7684\u63a7\u5236\u6548\u679c\u3002\u8fd9\u4e3a\u5c0f\u578b\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u63d0\u4f9b\u4e86\u65b0\u7684\u63a7\u5236\u65b9\u6cd5\u548c\u601d\u8def\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30002. \u6548\u679c\u8bc4\u4f30<\/h3>\n\n\n\n<p>\u3000\u3000PID\u63a7\u5236\u5668\u80fd\u591f\u6709\u6548\u89e3\u51b3\u76f4\u63a5\u7528\u4fe1\u53f7\u9a71\u52a8\u7535\u673a\u65f6\u51fa\u73b0\u7684\u52a8\u6001\u54cd\u5e94\u8fc7\u5feb\u6216\u8fc7\u6162\u3001\u63a7\u5236\u8fc7\u51b2\u6216\u4e0d\u8db3\u7684\u95ee\u9898\uff0c\u4f7f\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u80fd\u591f\u987a\u5229\u5b8c\u6210\u8d77\u98de\u548c\u60ac\u505c\u52a8\u4f5c\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u91c7\u7528\u6a21\u7ccaPID\u63a7\u5236\u548c\u795e\u7ecf\u7f51\u7edc\u4f18\u5316\u540e\u7684PID\u63a7\u5236\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u65e0\u4eba\u673a\u7684\u59ff\u6001\u63a7\u5236\u7cbe\u5ea6\u548c\u7a33\u5b9a\u6027\u3002\u4f8b\u5982\uff0c\u6a21\u7ccaPID\u63a7\u5236\u7ed3\u5408\u4e86\u6a21\u7cca\u903b\u8f91\u7406\u8bba\uff0c\u589e\u5f3a\u4e86\u7cfb\u7edf\u7684\u9002\u5e94\u6027\u548c\u9c81\u68d2\u6027;\u800c\u795e\u7ecf\u7f51\u7edc\u4f18\u5316\u5219\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u53c2\u6570\u8c03\u6574\u7684\u7075\u6d3b\u6027\u548c\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u5728\u5b9e\u9645\u5de5\u7a0b\u4e2d\uff0cPID\u63a7\u5236\u5668\u56e0\u5176\u5b9e\u73b0\u65b9\u4fbf\u3001\u6210\u672c\u4f4e\u3001\u9002\u7528\u8303\u56f4\u5e7f\u7b49\u4f18\u70b9\u5f97\u5230\u4e86\u5e7f\u6cdb\u5e94\u7528\u3002\u7279\u522b\u662f\u5728\u65e0\u4eba\u673a\u98de\u884c\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0cPID\u63a7\u5236\u5668\u4e0d\u4ec5\u80fd\u591f\u4fdd\u6301\u7a33\u5b9a\u60ac\u505c\u72b6\u6001\uff0c\u8fd8\u80fd\u5728\u6709\u52a8\u4f5c\u6307\u4ee4\u65f6\u5feb\u901f\u54cd\u5e94\u5e76\u8c03\u6574\u59ff\u6001\u3002<\/p>\n\n\n\n<p>\u3000\u3000PID\u63a7\u5236\u5668\u5728\u65e0\u4eba\u673a\u98de\u884c\u63a7\u5236\u4e2d\u7684\u5177\u4f53\u5b9e\u73b0\u65b9\u5f0f\u5305\u62ec\u57fa\u4e8e\u6570\u5b66\u6a21\u578b\u7684\u8bbe\u8ba1\u3001\u81ea\u8026PID\u63a7\u5236\u3001\u6a21\u7ccaPID\u63a7\u5236\u4ee5\u53ca\u795e\u7ecf\u7f51\u7edc\u4f18\u5316\u7b49\u591a\u79cd\u65b9\u6cd5\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u56db\u3001 \u81ea\u9002\u5e94\u63a7\u5236\u7b97\u6cd5\u5728\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u6848\u4f8b\u548c\u6027\u80fd\u8868\u73b0\u3002<\/h2>\n\n\n\n<p>\u3000\u3000\u81ea\u9002\u5e94\u63a7\u5236\u7b97\u6cd5\u5728\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u6848\u4f8b\u548c\u6027\u80fd\u8868\u73b0\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u9884\u8bbe\u6027\u80fd\u81ea\u9002\u5e94PID\u63a7\u5236<\/strong>\uff1a\u8be5\u65b9\u6cd5\u8bbe\u8ba1\u4e86\u4e00\u79cd\u53cc\u95ed\u73af\u63a7\u5236\u7cfb\u7edf\uff0c\u5185\u73af\u59ff\u6001\u73af\u91c7\u7528\u81ea\u9002\u5e94PID\u7b97\u6cd5\uff0c\u5e76\u7ed3\u5408\u6ed1\u6a21\u7b97\u6cd5\u548c\u68af\u5ea6\u4e0b\u964d\u6cd5\u514b\u670d\u4f20\u7edfPID\u9700\u8981\u624b\u52a8\u8c03\u8282\u53c2\u6570\u7684\u95ee\u9898\u3002\u5916\u73af\u4f4d\u7f6e\u73af\u91c7\u7528\u9884\u8bbe\u6027\u80fd\u81ea\u9002\u5e94PID\u7b97\u6cd5\uff0c\u901a\u8fc7\u9884\u8bbe\u6027\u80fd\u51fd\u6570\u5c06\u8bef\u5dee\u8f6c\u6362\u4e3a\u7a33\u5b9a\u503c\uff0c\u5b9e\u73b0\u5feb\u901f\u8ddf\u8e2a\u3002\u4eff\u771f\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u63a7\u5236\u7b97\u6cd5\u5177\u6709\u4f18\u8d8a\u7684\u6297\u5e72\u6270\u6027\u548c\u7a33\u5b9a\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u57fa\u4e8eL1\u81ea\u9002\u5e94\u63a7\u5236\u7684\u6a2a\u4fa7\u5411\u6eda\u8f6c\u89d2\u63a7\u5236<\/strong>\uff1a\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684L1\u81ea\u9002\u5e94\u63a7\u5236\u65b9\u6cd5\uff0c\u7528\u4e8e\u5c0f\u578b\u65e0\u4eba\u673a\u7684\u6a2a\u4fa7\u5411\u6eda\u8f6c\u89d2\u63a7\u5236\u3002\u8be5\u65b9\u6cd5\u5c06\u98de\u673a\u53c2\u6570\u53d8\u5316\u548c\u8026\u5408\u89c6\u4e3a\u65f6\u53d8\u53c2\u6570\u548c\u5e72\u6270\uff0c\u6784\u5efa\u7684L1\u6a2a\u4fa7\u5411\u63a7\u5236\u5f8b\u80fd\u591f\u6709\u6548\u5904\u7406\u9ad8\u9891\u632f\u8361\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u589e\u76ca\u81ea\u9002\u5e94\u8d85\u87ba\u65cb\u6ed1\u6a21\u7406\u8bba\u7684\u59ff\u6001\u63a7\u5236<\/strong>\uff1a\u9488\u5bf9\u5f3a\u8026\u5408\u6027\u548c\u5f3a\u975e\u7ebf\u6027\u7279\u5f81\u7684\u65e0\u4eba\u673a\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u578b\u7684\u589e\u76ca\u81ea\u9002\u5e94\u8d85\u87ba\u65cb\u6ed1\u6a21(ASTSM)\u59ff\u6001\u63a7\u5236\u7b97\u6cd5\u3002\u901a\u8fc7\u5f15\u5165\u81ea\u9002\u5e94\u9879\uff0c\u4f7f\u63a7\u5236\u5668\u589e\u76ca\u52a8\u6001\u8c03\u6574\uff0c\u4ee5\u5e94\u5bf9\u6c14\u52a8\u53c2\u6570\u6444\u52a8\u5927\u3001\u4e0d\u786e\u5b9a\u6027\u5f3a\u7b49\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u51e0\u4f55\u81ea\u9002\u5e94\u63a7\u5236\u7b97\u6cd5\u89e3\u8026\u59ff\u6001\u52a8\u529b\u5b66<\/strong>\uff1a\u8be5\u65b9\u6cd5\u901a\u8fc7\u5efa\u6a21\u3001\u52a8\u529b\u5b66\u5206\u6790\u548c\u63a7\u5236\u5668\u8bbe\u8ba1\uff0c\u89e3\u8026\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u7684\u59ff\u6001\u52a8\u529b\u5b66\uff0c\u63d0\u9ad8\u98de\u884c\u63a7\u5236\u7cbe\u5ea6\u3002\u5177\u4f53\u6b65\u9aa4\u5305\u62ec\u59ff\u6001\u63a7\u5236\u5668\u8bbe\u8ba1\u3001\u52a8\u6001\u8d1f\u8f7d\u89e3\u8026\u5668\u5f00\u53d1\u4ee5\u53ca\u81ea\u9002\u5e94\u7387\u8c03\u6574\uff0c\u4ee5\u6d88\u9664\u8026\u5408\u6548\u5e94\u5e76\u63d0\u5347\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u591a\u5c42\u903c\u8fd1\u81ea\u9002\u5e94\u795e\u7ecf\u7f51\u7edc\u52a8\u6001\u9762\u63a7\u5236\u7b97\u6cd5<\/strong>\uff1a\u9488\u5bf9\u591a\u6e90\u4e0d\u786e\u5b9a\u5f3a\u8026\u5408\u4e0b\u7684\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u59ff\u6001\u63a7\u5236\u95ee\u9898\uff0c\u8bbe\u8ba1\u4e86\u4e00\u79cd\u591a\u5c42\u903c\u8fd1\u81ea\u9002\u5e94\u795e\u7ecf\u7f51\u7edc\u52a8\u6001\u9762\u63a7\u5236\u7b97\u6cd5\u3002\u8be5\u7b97\u6cd5\u8003\u8651\u4e86\u4e58\u6027\u8026\u5408\u591a\u6e90\u4e0d\u786e\u5b9a\u4f30\u8ba1\u4e0e\u8865\u507f\u95ee\u9898\uff0c\u63d0\u9ad8\u4e86\u59ff\u6001\u63a7\u5236\u7684\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7a7a\u95f4\u66f2\u7ebf\u8f68\u8ff9\u8ddf\u8e2a\u7684\u81ea\u9002\u5e94\u5bfc\u822a\u63a7\u5236<\/strong>\uff1a\u4e3a\u4e86\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u7684\u7a7a\u95f4\u66f2\u7ebf\u5bfc\u822a\u63a7\u5236\uff0c\u57fa\u4e8eL1-Navigation\u975e\u7ebf\u6027\u5bfc\u822a\u63a7\u5236\u7b97\u6cd5\uff0c\u8bbe\u8ba1\u4e86\u81ea\u9002\u5e94\u6a21\u7cca\u63a7\u5236\u5668\u4f18\u5316\u56fa\u5b9a\u7ffc\u65e0\u4eba\u673a\u7684\u8f68\u8ff9\u8ddf\u8e2a\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u53cd\u6b65\u6cd5\u7684\u81ea\u9002\u5e94\u63a7\u5236\u7814\u7a76<\/strong>\uff1a\u9488\u5bf9\u5916\u754c\u5e72\u6270\u60c5\u51b5\u4e0b\u7684\u59ff\u6001\u548c\u4f4d\u7f6e\u63a7\u5236\u7a33\u5b9a\u6027\u95ee\u9898\uff0c\u8bbe\u8ba1\u4e86\u57fa\u4e8e\u53cd\u6b65\u6cd5\u7684\u81ea\u9002\u5e94\u63a7\u5236\u5668\u3002\u901a\u8fc7\u52a8\u529b\u5b66\u5efa\u6a21\u548cLyapunov\u51fd\u6570\u9012\u63a8\uff0c\u786e\u4fdd\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\u548c\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6a21\u578b\u53c2\u8003\u81ea\u9002\u5e94\u63a7\u5236<\/strong>\uff1a\u901a\u8fc7\u5bf9\u52a8\u529b\u5b66\u5efa\u6a21\u8fdb\u884c\u7b80\u5316\uff0c\u8bbe\u8ba1\u4e86\u81ea\u9002\u5e94\u63a7\u5236\u5f8b\uff0c\u9a8c\u8bc1\u5176\u5728\u5c4f\u853d\u5916\u754c\u5e72\u6270\u65b9\u9762\u7684\u6709\u6548\u6027\u3002\u6570\u503c\u4eff\u771f\u5b9e\u9a8c\u7ed3\u679c\u8868\u66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