ÕªÒª
¡¡¡¡½üÄêÀ´,¹¤ÒµµÄ¸÷¸öÁìÓò,°üÀ¨Æû³µ¡¢Ôì´¬¡¢µç»ú¡¢ÒDZíºÍº½¿Õ¼¼ÊõµÄѸËÙ·¢Õ¹,ʹÎÒ¹úµÄÖÆÔì¼¼Êõ¡¢ÖÆÔ칤ÒÕºÍÖÆÔì×°±¸Ë®Æ½¶¼µÃµ½Á˺ܴóµÄ·¢Õ¹,ѹÁ¦ÖýÔì¼¼ÊõµÄË®Æ½Ò²ËæÖ®µÃµ½ÁË´ó·ù¶ÈµÄÌá¸ß¡£ÔÚÄ£¾ßÖÐ,ѹÖýÄ£¾ßÊÇÕ¼±ÈºÜ´óµÄÒ»Àà¡£ÔÚѹÁ¦ÖýÔìµÄ¹ý³ÌÖÐ,ѹÖýÄ£¾ßµÄ¹¤×÷Ìõ¼þÊDZȽϿÁ¿ÌµÄ,Ä£¾ßµÄʪ¶È¿ØÖÆÊÇÓ°ÏìÄ£¾ßµÄʹÓÃÊÙÃü¡¢ÄÚÔÚÖÊÁ¿ºÍѹÖýÁã¼þ³ÉÐ͵ÄÒ»¸öºÜÖØÒªµÄÒòËØ,ÄÜ·ñ½«Ä£¾ßµÄζȿØÖÆÔÚËùÐèµÄºÏÀí·¶Î§ÄÚ¹ØÏµµ½Õû¸öѹÁ¦ÖýÔì¹ý³ÌµÄ³É°Ü¡£ÔÚ¾¼Ã¶ø¸ßЧµØÉú²ú³ö¸ßÖÊÁ¿Ñ¹Öý¼þµÄ¹ý³ÌÖÐ,Ä£¾ßµÄζȿØÖÆÊDZز»¿ÉÉÙµÄÖØÒªÌõ¼þ¡£
¡¡¡¡Ñ¹ÖýÄ£¾ßµÄζȿØÖÆÍ¨³£°üÀ¨Ô¤ÈȺÍÀäÈ´Á½¸ö·½Ãæ,±¾ÂÛÎÄÕë¶ÔĿǰѹÖýÄ£¾ßÔÚÀäȴʱ´æÔÚµÄȱµã,ÈçËÙ¶ÈÂý¡¢ºÄÄÜ´óµÈ,Ñо¿ÁË»ùÓÚÀäȴˮѻ·µÄѹÖýÄ£¾ß¶à·Î¶ÈÖÇÄÜ¿ØÖÆ·½·¨,²ÉÓÃÄ£ºýË㷨ʵÏÖÀäÈ´¹ý³ÌÖÐÄ£¾ßÒç¶ÈµÄ¾«ÃÜ¿ØÖÆ¡£
¡¡¡¡ÂÛÎÄÊ×ÏȽéÉÜÁËѹÁ¦ÖýÔì¶ÔÄ£¾ßζȿØÖƵÄÒªÇó,½Óןù¾Ý¿ØÖÆÒªÇóÉè¼ÆÁËѹÖýÄ£¾ßζȿØÖƵÄÕûÌå·½°¸,×îºóÂÛÎĶԸ÷½°¸½øÐзÂÕæ²¢·ÖÎöÊä³ö½á¹û¡£ÂÛÎÄÕë¶Ô¼òµ¥µÄ¶þάģºý¿ØÖƺʹ«Í³PID¿ØÖÆ·½·¨ÔÚÄ£¾ßζȿØÖÆÖдæÔÚµÄȱÏÝ,¶ÔÄ£ºý¿ØÖÆÆ÷½øÐиĽøÉè¼Æ¡£ÎªÁËʹģ¾ßʪ¶È¿ØÖÆÏµÍ³ÐÔÄܲ»¶ÏµØµÃµ½¸ÄÉÆ,»ñµÃ¸üºÃµÄ¸ü¾«È·µÄ¿ØÖÆÐ§¹û²¢ÊÊÓ¦²»¶Ï±ä»¯µÄÇé¿ö,±£Ö¤¿ØÖÆ´ïµ½Ô¤ÆÚÒªÇó,¼ÓÈëÄ£ºý²ÎÊýµ÷ÕûÆ÷,ʹÿ¸öʱ¶ÎµÄζȶ¼Äܹ»±£³ÖÔÚºÏÀí·¶Î§ÄÚ,´Ó¶øÊµÏÖÄ£¾ßζȵľ«È·¿ØÖÆ¡£¾¹ýʵ¼ÊÊý¾Ý·ÂÕæÊµÑé,±íÃ÷»ùÓÚÄ£ºýËã·¨µÄѹÖýÄ£¾ßʪ¶È¿ØÖÆ·½·¨ÍêÈ«¿ÉÐÐ,¶øÇÒ¾ßÓнϸߵĿØÖƾ«¶È¡£
¡¡¡¡¹Ø¼ü´Ê:Ä£ºýËã·¨;ѹÖýÄ£¾ß;ζȿØÖÆ;Ä£ºý²ÎÊýµ÷ÕûÆ÷
Abstract
¡¡¡¡In recent years, the areas of industry including automobile, shipbuilding, electrical machine, instrumentation and aviation technology are developing rapidly£¬which makes our country's manufacturing technology, manufacturing process and manufacturing equipment level get great developments. At the same time, the level of pressure casting technology also has been greatly improved. Die-casting mould is accounted for a big category of mould. The working condition of die-casting mould is relatively harsh. Temperature control technology of die casting mould is affecting the mold service life, inner quality and parts of molding as an important factor. Whether the temperature can be successfully controlled within the required range relates to the success or failure of the whole production process. The temperature control of the mold is essential for efficient and economical production of high quality die casting.
¡¡¡¡Usually die casting mold temperature control includes two aspects of heating and cooling. The die-casting mould multichannel intelligent temperature control method is studied by cooling water circulation, which uses fuzzy control to realize, aiming at solving the shortcomings of slow speed and big energy consumption during the cooling process of current die-casting mould.
¡¡¡¡Die temperature control requirements for pressure casting are introduced in the first. Then the overall plan for die temperature control is designed according to the control demand of pressure casting. At last, simulate and analyze the output. The fuzzy controller design is improved for defects exiting in the mould temperature control by a simple two-dimensional fuzzy control and traditional PID control method. For more accurate and better control effect, a fuzzy parameter adjuster is added, which can adapt to changing circumstances and enable temperature to keep within a reasonable range in each period of time, realizing the precise control of mold temperature. Simulation results show that die-casting mold temperature control based on fuzzy control method is completely feasible which has higher control precision.
¡¡¡¡Key words: Fuzzy algorithm;Die-casting mould ; Temperature control ; Fuzzy parameter adjuster
¡¡¡¡Ä¿Ç°,»ù±¾ÉÏ»¹Ê¹Óô«Í³µÄPID¿ØÖÆ·½Ê½À´¶ÔζȽøÐпØÖÆ¡£ÓÉÓÚPIDËã·¨¼òµ¥¡¢¿É¿¿ÐԸ߶ø±»¹ã·ºÓ¦Óᣵ«Êǵ±±»¿Ø¶ÔÏóµÄÌØÐÔ·¢Éú¸Ä±äµÄʱºò,±ÈÀý¡¢»ý·ÖºÍ΢·ÖϵÊýÒ²±ØÐëËæÖ®±ä»¯,·ñÔò¾ÍÄÑÒÔ±£Ö¤Æä¿ØÖƾ«¶È,¶ø¸Ä½øµÄPIDµ÷½ÚÆ÷ζȿØÖƲ»¹»Îȶ¨,³¬µ÷Á¿Ò²½Ï´ó¡£Ä£ºý¿ØÖÆÊǽ¨Á¢ÔÚÈ˹¤¾Ñé»ù´¡Ö®ÉϵÄ,Ëüͨ¹ý²ÉÓÃÄ£ºýÊýѧ¶ÔÄ£ºýÏÖÏó½øÐзÖÎöºÍÅоö´Ó¶øµÃµ½¾«È·µÄ¿ØÖÆÁ¿,ʵÏÖ¶Ô±»¿Ø¶ÔÏóµÄ¿ØÖÆ¡£Ä£ºý¿ØÖƲ¢²»ÒªÇóÕÆÎÕ¿ØÖƶÔÏó¾«È·µÄÊýѧģÐÍ,ÇÒ¾ßÓи߶ȵķÇÏßÐÔ,Ïà±ÈÓÚ´«Í³µÄPID¿ØÖÆ,Æä¿ØÖÆÐ§¹ûÒªºÃºÜ¶à¡£ÁíÍâÄ£ºý¿ØÖƾßÓÐÉè¼Æ¼òµ¥¡¢ÏìÓ¦Ëٶȿ졢¿¹Íâ½ç¸ÉÈÅÄÜÁ¦Ç¿¡¢Â³´»ÐԺõÈÌØµã,Ôںܴó³Ì¶ÈÉÏÃÖ²¹ÁË´«Í³PID¿ØÖƵľÖÏÞÐÔ¡£±¾Éè¼Æ²ÉÓõÄÄ£ºý¿ØÖÆÆ÷,¸ù¾Ý²»Í¬µÄ·½ºÍ¼¼ÇÉʵÏÖ²ÎÊý×ÔÕû¶¨,Êä³ö¿ØÖÆÁ¿µ÷½ÚÀäÈ´Ë®·§¿ÚµÄ¿ªÆôʱ¼ä³¤¶Ì,´Ó¶øÊµÏÖ¸ü¾«È·µÄѹÖýÄ£¾ßζȿØÖÆ¡£
¡¡¡¡ÎÒ¹úѹÖýÄ£¾ßÐÐÒµ·¢Õ¹ºÜѸËÙ,×ܲúÁ¿ÕÇËÙÃ÷ÏÔ,ÒѾ³ÉΪÃû¸±ÆäʵµÄѹÖý´ó¹ú¡£ÏÖÔÚ¹ú²úѹÖýÄ£¾ßµÄ×ܲúÁ¿½ö½öÉÙÓÚÃÀ¹ú,ÔÚÊÀ½çÉÏÅÅÃûÒѾ´ïµ½µÚ¶þλ¡£
¡¡¡¡ÎÒ¹úµÄѹÖýÄ£¾ßÐÐÒµ³É³¤ºÜ¿ì,ѹÖýÄ£¾ßµÄÉú²úÁ¿ºÍÊýÁ¿½ö½öÉÙÓÚ³åÄ£ºÍËÜÁÏÄ£,ÔÚÎÒ¹ú¸÷ÖÖÀàÄ£¾ßµÄ×ÜÉú²úÁ¿ÖÐÒѾռ¾ÝÁ˰ٷÖÖ®°Ë×óÓÒ¡£ÎÒ¹úѹÖýÄ£¾ßÐÐÒµÄܹ»È¡µÃÈç´Ë׿ԽµÄ³É¾ÍÖ÷Òª¹éÒòÓÚÎÒ¹ú¹ãÀ«µÄÊг¡¼°Ïà¶ÔµÍÁ®µÄÀͶ¯Á¦Óë×ÊÔ´ÓÅÊÆ¡£ÎÒ¹úµÄѹÖý²úҵƾ½è×ŵÃÌì¶ÀºñµÄ×ÔÈ»Ìõ¼þºÍÃ÷ÏÔµÄÐÔ¼Û±ÈÓÅÊÆÔÚ¹ú¼ÊѹÖý¼þóÒ×Õ¼¾Ý׏ãÀ«µÄÊг¡¡£¸ù¾ÝĿǰµÄÐÎÊÆÀ´¿´,ÎÒ¹úѹÖý²úҵδÀ´µÄ·¢Õ¹Ç°¾°ÊÇÊ®·Ö¿É¹ÛµÄ¡£
¡¡¡¡ËäȻĿǰÎÒ¹úµÄѹÖýÄ£¾ß×ܲúÁ¿±È½Ï¸ß,µ«ÊÇÆä¹ú¼ÊÖªÃû¶ÈÅÅλÈÔÈ»ÊDZȽϿ¿ºóµÄ;ËäȻѹÖýÄ£¾ßµÄÉú²úÁ¿ÈÕÒæ‰ˆ¶à,µ«ÊÇ´ó¶àÊýÖ»ÊÇÓÃÓÚ¹©¸ø¹úÄÚµÄÐèÇó¡£
¡¡¡¡ÓÉÓÚѹÖý¼¼ÊõµÄÏÞÖÆÖÆÔ¼×ÅѹÖýÄ£¾ßµÄÖÊÁ¿Ê¹ÆäÄÑÒԵõ½Í»ÆÆ,Óë´Ëͬʱ¹úÄÚµÄһЩÐèÇóÁ¿½Ï´óµÄÆóÒµÒ²ÔÚÖ𲽵ؽ«ÒµÎñÀ©Õ¹µ½¹úÍâµÄѹÁ´Ä£¾ßÆóÒµ,ÕâÖÖÏÖÏóµ¼ÖÂÁËÑÏÖØµÄóÒ×Äæ²î,ʹµÃ¹úÄÚѹÖýÆóÒµ¾Ù²½Î¬¼è¡£
¡¡¡¡¹ú¼ÊÉÏ,ѹÖýÄ£¾ßÊг¡µÄ¾ºÕùÈÕÒæ¼¤ÁÒ,ÔÚÕâÖÖ´ó»·¾³ÏÂ,ÎÞÂÛÊDzúÖµ»¹ÊǹúÄÚÐèÇó¶¼´æÔÚË¥Í˼£Ïó,ÆäÖÐÒÔÈÕ±¾µÄË¥Í˳̶È×îΪÃ÷ÏÔ¡£ÈÕ±¾µÄѹÖýÄ£¾ßÐÐҵĿǰÁ¦ÇóÊÔͼ²»¶ÏµØ½µµÍÉú²ú³É±¾:½«¼¼Êõº¬Á¿²»ÊǺܸߵÄѹÖýÄ£¾ßÉú²ú¹¤×÷Öð½¥µØ×ªÏòÈ˹¤³É±¾½ÏµÍµÄ¹ú¼Ò½øÐÐ,Ö»ÔÚ¹úÄÚÉú²ú¼¼Êõº¬Á¿±È½Ï¸ßµÄ²úÆ·¡£ÈÕ±¾ÕâÖÖ¼Ó¿ìÏò¹úÍâ×ªÒÆÉú²úµÄ¶Ô²ßËäÈ»¿ÉÒÔ½µµÍÉú²ú³É±¾,µ«Óë´ËͬʱҲµ¼ÖÂÁËÈÕ±¾¹úÄÚѹÖýÄ£¾ßµÄʹÓÃÁ¿´ó·ù¶È¼õÉÙ¡£Ïà½ÏÓÚÈÕ±¾×ªÒÆÉú²úµÄ²ßÂÔ,µÂ¹úÄ£¾ßÆóÒµÔòÊÔͼͨ¹ýÌá¸ß»úе¼Ó¹¤Óë·Åµç¼Ó¹¤µÄЧÂÊÓ뾫¶È´Ó¶øÊµÏÖËõ¶ÌÊÖ¹¤¼Ó¹¤µÄʱ¼ä,ÒÔ´Ë´ïµ½Ìá¸ßЧÂʽµµÍ³É±¾µÄÄ¿µÄ¡£
¡¡¡¡¹ú¼ÊÊг¡Óë¹úÄÚÊг¡µÄÐèÇóÍùÍù´æÔÚןܴóµÄ²»Í¬,Ò²¾ÍÊÇ˵ÔÚ¹úÄÚÏúÊÛÇé¿öÁ¼ºÃµÄѹÖý²úÆ·²¢²»´ú±íÆäÔÚ¹úÍâµÄÏúÊÛÇé¿öÒ²ºÜºÃ¡£¸ù¾ÝÏà¹ØÐÐÒµµÄר¼Ò·ÖÎöËùÊö,´æÔÚÈý¸öÒòËØ×è°×ŹúÄÚµÄѹÖýÄ£¾ßÏúÍù¹úÍâ:µÚÒ»¸öÒòËØÊÇÔ²ÄÁϵIJ»×ã;µÚ¶þ¸öÒòËØÊǼ¼Êõ²»¹»ÏȽø;µÚÈý¸öÒòËØÊÇÄ£¾ßÐÐÒµµÄÏà¹ØÅäÌ×Ìåϵ²»¹»Í걸¡£ÒÔÉÏÈýµãÊÇ×è°¹úÄÚѹÖýÄ£¾ßÐÐÒµ·¢Õ¹µÄ¹Ø¼üÎÊÌâ,Ö»Óнâ¾öÁËÕâЩÎÊÌâ,ÎÒ¹úµÄѹÖýÄ£¾ßÐÐÒµ²ÅÄÜÍ»ÆÆÆ¿¾±´Ó¶ø´ó·ù¶ÈÌá¸ßÆäÔÚ¹ú¼ÊÊг¡ÉϵÄÕ¼ÓÐÂÊ¡£
¡¡¡¡Ñ¹ÖýÓëÄ£¾ßÊÇÃܲ»¿É·ÖµÄ,ËüÃǼȴæÔÚÁªÏµÒ²ÓÐÇø±ð¡£Ñ¹ÖýÓëÄ£¾ßµÄÍêÃÀ½áºÏµ®ÉúÁËÆ¤ÖýÄ£¾ßÕâ¸öÐÐÒµ,Ò²¾ÍÊÇ˵,ѹÖý¡¢Ä£¾ßºÍѹÖýÄ£¾ßÊÇÀ¼¸ö²»Í¬µÄÐÐÒµ¡£Ñ¹ÖýÓëÄ£¾ßÐÐÒµµÄ¹ØÏµÖ÷ÒªÖÖÐÎʽ´æÔÚ;µÚÒ»ÖÖÐÎʽÊÇѹ´«ÓëÄ£¾ß¿ÉÒÔͬʱ½øÐÐÉú²ú,¼´Ä£¾ß¶¼ÊÇÓÉ×Ô¼ºÉú²úµÄ,Ò»°ã²»»áÈñðµÄÆóÒµÀ´ÖÆÔìÄ£¾ß:µÚ¶þÖÖÐÎʽÊÇר¿ÚµÄÄ£¾ßÉú²ú,²»ÖÆÔìÆ¤Öý¼þ;µÚÈýÖÖÐÎʽÊÇ×öѹÖý,²»»áÈ¥Éú²úÄ£¾ß¡£°éËæÐÐÒµ½çÏÞµÄÈÕ񾀣ºýÒÔ¼°ÐÐÒµÖð²½½»²æ·¢Õ¹,ѹÖý¡¢Ä£¾ßºÍѹÖýÄ£¾ßÕâÈý¸öÐÐÒµÖ®¼äµÄÁªÏµÒ²Ô½À´Ô½½ôÃÜ,ËüÃÇÖ®¼äµÄ½»Á÷ѧϰÖÂʹÈý¸öÐÐÒµÖð²½ÈÚºÏÔÚÒ»Æð,¹úÄڵľÜÖýÄ£¾ß²úÒµÒ²½«ÔÚÒ»Ì廯µÄ¹ý³ÌÖÐÓÀ´¸ü¶à¡¢¸ü´óµÄ·¢Õ¹»úÓöºÍ¿Õ¼ä¡£
ѹÖýÄ£¾ßζȿØÖƵÄÕûÌåÉè¼Æ£º
Ä£ºýÍÆÀíϵͳ±à¼Í¼
Á¥Êôº¯Êý±à¼Í¼
Ä£ºý¹æÔò±à¼Í¼
Ä£ºý¹æÔò±à¼´°
Êä³öÁ¿ÇúÃæ¹Û²âͼ
S-functionÊäÈë¿ò
PID ·ÂÕæ½á¹û
Ä£ºý¿ØÖÆ·ÂÕæÐ§¹û
Ŀ¼
¡¡¡¡µÚ1Õ Ð÷ÂÛ
¡¡¡¡¡¡¡¡1.1 ÒýÑÔ
¡¡¡¡¡¡¡¡1.2 ѹÖýÄ£¾ß²úÒµÏÖ×´
¡¡¡¡¡¡¡¡¡¡¡¡1.2.1 ¹úÄÚѹÖýÄ£¾ßÐÐÒµÏÖ×´
¡¡¡¡¡¡¡¡¡¡¡¡1.2.2 ¹ú¼ÊѹÖýÄ£¾ßÐÐÒµÏÖ×´
¡¡¡¡¡¡¡¡¡¡¡¡1.2.3 ÖÆÔ¼ÎÒ¹úѹÖýÄ£¾ßÐÐÒµ·¢Õ¹µÄÒòËØ
¡¡¡¡¡¡¡¡1.3 Ä£¾ßζȶÔÖýÔì¹ý³ÌÓ°ÏìµÄÑо¿ÏÖ×´
¡¡¡¡¡¡¡¡¡¡¡¡1.3.1 ¹úÄÚѹÖýÄ£¾ßζÈÑо¿×´¿ö
¡¡¡¡¡¡¡¡¡¡¡¡1.3.2 ¹úÍâѹÖýÄ£¾ßζÈÑо¿×´¿ö
¡¡¡¡¡¡¡¡1.4 ѹÖýÄ£¾ßζȿØÖÆÑо¿µÄÄ¿µÄºÍÒâÒå
¡¡¡¡¡¡¡¡1.5 ÂÛÎĵÄÖ÷Òª¹¤×÷
¡¡¡¡µÚ2Õ ѹÁ¦ÖýÔìÓëÄ£¾ßζȿØÖƸÅÊö
¡¡¡¡¡¡¡¡2.1 ѹÖýÄ£¾ß¸ÅÊö
¡¡¡¡¡¡¡¡¡¡¡¡2.1.1 ѹÁ¦ÖýÔì
¡¡¡¡¡¡¡¡¡¡¡¡2.1.2 ѹÖýÄ£¾ßµÄ½á¹¹
¡¡¡¡¡¡¡¡2.2 ѹÁ¦ÖýÔì¶ÔÄ£¾ßζȿØÖÆÒªÇó
¡¡¡¡¡¡¡¡2.3 Ä£¾ßζȿØÖƵÄ×÷ÓÃ
¡¡¡¡¡¡¡¡2.4 ѹÖýÄ£¾ßζȿØÖÆ·½·¨
¡¡¡¡¡¡¡¡2.5 ±¾ÕÂС½á
¡¡¡¡µÚ3Õ ģºý¿ØÖÆ·½·¨ÓëPID¿ØÖÆ·½·¨±È½Ï
¡¡¡¡¡¡¡¡3.1 Ä£ºýÂß¼
¡¡¡¡¡¡¡¡3.2 Ä£ºý¿ØÖÆ
¡¡¡¡¡¡¡¡3.3 Ä£ºýÓïÑÔ
¡¡¡¡¡¡¡¡3.4 Ä£ºý¼¯ºÏÓëÁ¥Êôº¯Êý
¡¡¡¡¡¡¡¡3.5 ÂÛÓò
¡¡¡¡¡¡¡¡3.6 Á¿»¯Òò×Ó¼°±ÈÀýÒò×Ó
¡¡¡¡¡¡¡¡3.7 PID¿ØÖÆÆ÷
¡¡¡¡¡¡¡¡3.8 ±¾ÕÂС½á
¡¡¡¡µÚ4Õ ģ¾ßζȿØÖÆÏµÍ³µÄÉè¼Æ
¡¡¡¡¡¡¡¡4.1 ×ÜÌåÉè¼Æ·½°¸
¡¡¡¡¡¡¡¡4.2 ѹÖýÄ£¾ßζȿØÖÆÏµÍ³µÄ×é³ÉºÍÌØµã
¡¡¡¡¡¡¡¡¡¡¡¡4.2.1 ÀäȴͨµÀµÄÉèÖÃ
¡¡¡¡¡¡¡¡¡¡¡¡4.2.2 ÈȵçżµÄÑ¡Ôñ
¡¡¡¡¡¡¡¡4.3 Ä£ºý¿ØÖÆÆ÷µÄÉè¼Æ
¡¡¡¡¡¡¡¡¡¡¡¡4.3.1 Ä£ºý¿ØÖÆÆ÷µÄ»ù±¾×é³É
¡¡¡¡¡¡¡¡¡¡¡¡4.3.2 ÊäÈëÁ¿Êä³öÁ¿ÂÛÓòµÄÉè¼Æ
¡¡¡¡¡¡¡¡¡¡¡¡4.3.3 ϵͳÎó²îºÍÎó²î±ä»¯ÂʵÄÁ¿»¯
¡¡¡¡¡¡¡¡¡¡¡¡4.3.4 È·¶¨ÓïÑÔ±äÁ¿µÄÓïÑÔÖµ
¡¡¡¡¡¡¡¡¡¡¡¡4.3.5 Á¥Êôº¯ÊýµÄÈ·¶¨
¡¡¡¡¡¡¡¡¡¡¡¡4.3.6 Ä£ºý¿ØÖƹæÔòµÄ½¨Á¢
¡¡¡¡¡¡¡¡¡¡¡¡4.3.7 Ä£ºýÍÆÀí·½·¨µÄÑ¡Ôñ
¡¡¡¡¡¡¡¡¡¡¡¡4.3.8 ·´Ä£ºý»¯·½·¨µÄÈ·¶¨
¡¡¡¡¡¡¡¡4.4 Ä£ºý¿ØÖÆÆ÷µÄ¸Ä½øÉè¼Æ
¡¡¡¡¡¡¡¡¡¡¡¡4.4.1 ²ÎÊý¶Ô¿ØÖÆÐÔÄܵÄÓ°Ïì¼°µ÷Õû¹æÔò
¡¡¡¡¡¡¡¡¡¡¡¡4.4.2 ¼ÓÈëÄ£ºý²ÎÊýµ÷ÕûÆ÷µÄÄ£ºý¿ØÖÆÆ÷
¡¡¡¡¡¡¡¡¡¡¡¡4.4.3 Ä£ºý²ÎÊýµ÷ÕûÆ÷µÄÊäÈë±äÁ¿ºÍÊä³ö±äÁ¿µÄÈ·¶¨
¡¡¡¡¡¡¡¡¡¡¡¡4.4.4 ÊäÈë¡¢Êä³öÁ¿µÄÂÛÓò¡¢ÓïÑÔÖµ¼°ÆäÁ¥Êôº¯ÊýµÄÈ·¶¨
¡¡¡¡¡¡¡¡¡¡¡¡4.4.5 ¿ØÖƹæÔò¼°ÆäÔ̺¬µÄÄ£ºý¹ØÏµ
¡¡¡¡¡¡¡¡¡¡¡¡4.4.6 ²ÎÊýµ÷Õû²½Öè×ܽá
¡¡¡¡¡¡¡¡4.5 ±¾ÕÂС½á
¡¡¡¡µÚ5Õ ·ÂÕæÊµÑé¼°½á¹û·ÖÎö
¡¡¡¡¡¡¡¡5.1 ¸÷ÖÖ¿ØÖÆËã·¨µÄ·ÂÕæ¶Ô±È
¡¡¡¡¡¡¡¡¡¡¡¡5.1.1 ´«Í³PIDËã·¨·ÂÕæÍ¼ÐεĽ¨Á¢
¡¡¡¡¡¡¡¡¡¡¡¡5.1.2 ¼ÓÈëÄ£ºý²ÎÊýµ÷ÕûÆ÷µÄÄ£ºý¿ØÖÆÆ÷
¡¡¡¡¡¡¡¡¡¡¡¡5.1.3 ¼ÓÈëÄ£ºý²ÎÊýµ÷ÕûÆ÷µÄ·ÂÕæÍ¼ÐεĽ¨Á¢
¡¡¡¡¡¡¡¡¡¡¡¡5.1.4 ·ÂÕæ½á¹û¶Ô±È
¡¡¡¡¡¡¡¡5.2 ʵÑéÑéÖ¤
¡¡¡¡¡¡¡¡¡¡¡¡5.2.1 ѹÖýÄ£¾ßζȿØÖƹñ
¡¡¡¡¡¡¡¡¡¡¡¡5.2.2 ´¥ÃþÆÁÊÖ¶¯¿ØÖÆ»Ãæ
¡¡¡¡¡¡¡¡¡¡¡¡5.2.3 ѹÖýģοØÖƵĴ¥ÃþÆÁ¼àÊÓ»Ãæ
¡¡¡¡¡¡¡¡¡¡¡¡5.2.4 ÀúʷζÈÊý¾Ý»Ãæ
¡¡¡¡½áÂÛ
¡¡¡¡²Î¿¼ÎÄÏ×
¡¡¡¡¹¥¶Á˶ʿѧλÆÚ¼ä·¢±íµÄÂÛÎĺͻñµÃµÄ¿ÆÑгɹû
¡¡¡¡ÖÂл
£¨ÈçÄúÐèÒª²é¿´±¾Æª±ÏÒµÉè¼ÆÈ«ÎÄ£¬ÇëÄúÁªÏµ¿Í·þË÷È¡£©