sûиM֓]l(f)ȵIJͨ^βͲʹõȷx^̡ض龫s^еҪ(sh)ֱӰ푸MֵҺƽͷxЧˣ(zhn)_
sĜضȌڱCa(chn)Ʒ|(zh)a(chn)ЧʾҪxnj
sضȿƵԔ(x)(ni)ݣ
ضȿƷ
s픜ضȿƣ
ֶΣͨû䄩{(dio)(ji)픜ض
ԭĴСֱӰ픮a(chn)Ʒļӻ픜ضȽpMּ֮pٻ픜ضߣpMּȽ
ע헣{(dio)(ji)rP(gun)ע(ni)Һλȅ(sh)׃⌦s^ɲӰ
sלضȿƣ
ֶΣҪͨ^{(dio)(ji)ٷļӟלض
ԭٷṩğҺwҪԴӼӟלضؽMּpټӟלضȽؽMּȽ
ע헣{(dio)(ji)ӟr迼](ni)ϵğƽ^ȼӟጧ(do)ϽY(ji)ܺӡ
s`ضȿƣ
`ָsМض׃^@ضȌϽMɵ׃dzС
ֶΣͨ^{(dio)(ji)ӟ|(zh)`ض
(yu)ݣ`ضȿ܉ֱӵطӳ(ni)ϽMɵ׃Ķ(zhn)_ؿƾs^
ضȿϵy(tng)ĽMc
ضȂڌry(ni)P(gun)Ic(din)Ĝضȣض̖D(zhun)Q̖(sh)̖
՜ضȂ̖cO(sh)ֵM(jn)б^(j)ƫ̖ݔ̖
(zh)տĿ̖{(dio)(ji)ӟ|(zh)䄩ĶF(xin)(ni)ضȵĜ(zhn)_
ضȿеע
ضȲ^ضȲ^Ӱ(ni)ϵҺƽͷxЧ(do)(ni)ϽMʧ{(dio)(ji)ضȕrȡ{(dio)ķʽضȼ׃
P(gun)ע|(zh)׃ϵ|(zh)c(din)ճȵȣSضȵ׃׃ĶӰ푾sЧھsضȿ^УP(gun)ע|(zh)׃mr{(dio)Ʋԡ
_ϵy(tng)ķ(wn)ԣsضȿϵy(tng)(yng)õķ(wn)ԺͿɿԣ܉(zhn)_r푑(yng)(ni)ضȵ׃ݔ_Ŀ̖
H(yng)еă(yu)
M(jn)Ŀ㷨PID㷨ģ㷨߾sضȿϵy(tng)푑(yng)ٶȺͷ(wn)
ʩ׃f(xi)ͬƣضȿcҺλƵȅ(sh)M(jn)Ѕf(xi)ͬ{(dio)(ji)F(xin)sw(yu)
ӏ(qing)O(sh)So(h)cڌsضȂ(zh)O(sh)M(jn)Йz;So(h)_\(yn)к͜(zhn)_y
P(gun)(bio)