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模糊PID即自适应PID,通过本程序可实现对平衡车模糊PID的优化控制,针对二阶的传递函数
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内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/62512d816caf5961923b6430/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62512d816caf5961923b6430/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">&#31532;</div><div class="t m0 x2 h3 y2 ff2 fs0 fc0 sc0 ls0 ws0">50</div><div class="t m0 x3 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">&#21367;<span class="_ _0"> </span>&#31532;</div><div class="t m0 x4 h3 y2 ff2 fs0 fc0 sc0 ls0 ws0">9</div><div class="t m0 x5 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">&#26399;</div><div class="t m0 x6 h3 y3 ff2 fs0 fc0 sc0 ls0 ws0">2<span class="_ _1"> </span>0<span class="_ _1"> </span>1<span class="_ _1"> </span>8</div><div class="t m0 x7 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">&#24180;</div><div class="t m0 x8 h3 y3 ff2 fs0 fc0 sc0 ls0 ws0">9</div><div class="t m0 x9 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">&#26376;</div><div class="t m0 xa h4 y5 ff1 fs1 fc0 sc0 ls0 ws0">&#21704;<span class="_ _2"> </span>&#23572;<span class="_ _2"> </span>&#28392;<span class="_ _2"> </span>&#24037;<span class="_ _2"> </span>&#19994;<span class="_ _2"> </span>&#22823;<span class="_ _2"> </span>&#23398;<span class="_ _2"> </span>&#23398;<span class="_ _2"> </span>&#25253;</div><div class="t m0 xb h5 y6 ff2 fs1 fc0 sc0 ls0 ws0">JOUR<span class="_ _3"></span>NAL<span class="_ _4"> </span>OF<span class="_ _4"> </span>HARBIN<span class="_ _4"> </span>INSTITU<span class="_ _3"></span>TE<span class="_ _4"> </span>OF<span class="_ _4"> </span>TECHNOLOGY</div><div class="t m0 xc h3 y7 ff2 fs0 fc0 sc0 ls0 ws0">Vol.<span class="_ _5"> </span>50<span class="_ _6"> </span>No.<span class="_ _5"> </span>9</div><div class="t m0 xd h3 y8 ff2 fs0 fc0 sc0 ls0 ws0">Sep&#65294;<span class="_ _7"> </span>2018</div><div class="t m0 xe h6 y9 ff2 fs2 fc0 sc0 ls0 ws0">DOI<span class="ff3">&#65306;<span class="_ _8"> </span></span>10&#65294;<span class="_ _9"></span>11918<span class="_ _a"></span>/</div><div class="t m0 x5 h5 ya ff2 fs1 fc0 sc0 ls0 ws0">j<span class="_"> </span>&#65294;<span class="_ _a"></span>is<span class="_ _3"></span>sn&#65294;</div><div class="t m0 xf h7 y9 ff2 fs2 fc0 sc0 ls0 ws0">0367-<span class="_ _b"></span>62<span class="_ _3"></span>34&#65294;<span class="_ _9"></span>20170<span class="_ _3"></span>7171</div><div class="t m0 x10 h8 yb ff4 fs3 fc0 sc0 ls0 ws0">&#30005;<span class="_ _a"></span>&#21160;<span class="_ _c"></span>&#36710;<span class="_ _a"></span>&#36742;</div><div class="t m0 x11 h9 yc ff5 fs3 fc0 sc0 ls0 ws0">ABS</div><div class="t m0 x12 h8 yb ff4 fs3 fc0 sc0 ls1 ws0">&#30340;&#25913;&#36827;&#32447;&#24615;&#20108;&#27425;&#22411;&#26368;&#20248;&#25511;&#21046;</div><div class="t m0 x13 ha yd ff6 fs4 fc0 sc0 ls0 ws0">&#29579;<span class="_ _9"></span>&#39567;&#39563;</div><div class="t m0 x14 ha ye ff7 fs4 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x15 ha yd ff6 fs4 fc0 sc0 ls0 ws0">&#20309;<span class="_ _d"> </span>&#20161;</div><div class="t m0 x16 h6 yf ff3 fs2 fc0 sc0 ls0 ws0">&#65288;</div><div class="t m0 x17 h6 y10 ff1 fs2 fc0 sc0 ls2 ws0">&#27743;&#33487;&#22823;&#23398;<span class="_ _7"> </span>&#27773;&#36710;&#19982;&#20132;&#36890;&#24037;&#31243;&#23398;&#38498;</div><div class="t m0 x18 h6 yf ff3 fs2 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x19 h6 y10 ff1 fs2 fc0 sc0 ls0 ws0">&#27743;&#33487;<span class="_ _4"> </span>&#38215;&#27743;</div><div class="t m0 x1a h6 yf ff2 fs2 fc0 sc0 ls0 ws0">212013<span class="ff3">&#65289;</span></div><div class="t m0 xe h6 y11 ff4 fs2 fc0 sc0 ls0 ws0">&#25688;<span class="_ _e"> </span>&#35201;</div><div class="t m0 x1b h6 y12 ff8 fs2 fc0 sc0 ls0 ws0">&#65306;</div><div class="t m0 x1c h6 y11 ff9 fs2 fc0 sc0 ls2 ws0">&#20026;&#20805;&#20998;&#21033;&#29992;&#36718;&#27586;&#30005;&#26426;&#25511;&#21046;&#31934;&#30830;&#21644;&#21709;&#24212;&#36805;&#36895;&#30340;&#20248;&#21183;</div><div class="t m0 x1d h6 y12 ffa fs2 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x1e h6 y11 ff9 fs2 fc0 sc0 ls3 ws0">&#25552;&#39640;&#30005;&#21160;&#36710;&#36742;&#21046;&#21160;&#38450;&#25265;&#27515;&#25511;&#21046;&#30340;&#31283;&#23450;&#24615;</div><div class="t m0 x1f h6 y12 ffa fs2 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x20 h6 y11 ff9 fs2 fc0 sc0 ls4 ws0">&#25552;&#20986;&#19968;<span class="_ _3"></span>&#31181;&#29992;&#20110;&#36718;&#27586;&#30005;&#26426;</div><div class="t m0 xe h6 y13 ff9 fs2 fc0 sc0 ls2 ws0">&#30005;&#21160;&#36710;&#36742;&#21046;&#21160;&#38450;&#25265;&#27515;&#31995;&#32479;</div><div class="t m0 x21 h6 y14 ffa fs2 fc0 sc0 ls0 ws0">&#65288;<span class="_ _1"> </span><span class="ff2">ABS</span>&#65289;</div><div class="t m0 x22 h6 y13 ff9 fs2 fc0 sc0 ls2 ws0">&#21327;&#35843;&#25511;&#21046;&#30340;&#25913;&#36827;&#32447;&#24615;&#20108;&#27425;&#22411;&#26368;&#20248;&#25511;&#21046;&#26041;&#27861;</div><div class="t m0 x23 h7 y14 ff2 fs2 fc0 sc0 ls0 ws0">&#65294;</div><div class="t m0 x24 h6 y13 ff9 fs2 fc0 sc0 ls3 ws0">&#24314;&#31435;<span class="_ _3"></span>&#30005;&#21160;&#36710;&#36742;&#32437;&#21521;&#21160;&#21147;&#23398;&#27169;&#22411;</div><div class="t m0 x25 h6 y14 ffa fs2 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x26 h6 y13 ff9 fs2 fc0 sc0 ls3 ws0">&#32467;&#21512;&#22797;&#21512;&#21046;&#21160;&#31995;</div><div class="t m0 xe h6 y15 ff9 fs2 fc0 sc0 ls2 ws0">&#32479;&#30340;&#21327;&#35843;&#25511;&#21046;&#31574;&#30053;</div><div class="t m0 x27 h6 y16 ffa fs2 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x28 h6 y15 ff9 fs2 fc0 sc0 ls2 ws0">&#20998;&#26512;&#29616;&#26377;&#32447;&#24615;&#20108;&#27425;&#22411;&#26368;&#20248;&#25511;&#21046;&#31639;&#27861;&#26080;&#27861;&#29992;&#20110;&#38450;&#25265;&#27515;&#25511;<span class="ls3">&#21046;&#22120;&#35774;&#35745;&#30340;&#21407;&#22240;</span></div><div class="t m0 x29 h6 y16 ffa fs2 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x2a h6 y15 ff9 fs2 fc0 sc0 ls3 ws0">&#25552;&#20986;&#19968;&#31181;&#36890;&#36807;&#26500;&#36896;&#34394;&#25311;&#38459;&#23612;&#37327;&#20197;</div><div class="t m0 xe h6 y17 ff9 fs2 fc0 sc0 ls2 ws0">&#21450;&#26080;&#31351;&#23567;&#37327;&#26469;&#24314;&#31435;&#40654;&#21345;&#25552;&#26041;&#31243;&#30340;&#25913;&#36827;&#22411;&#32447;&#24615;&#20108;&#27425;&#22411;&#26368;&#20248;&#25511;&#21046;&#31639;<span class="_ _9"></span>&#27861;</div><div class="t m0 x2b h6 y18 ffa fs2 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x2c h6 y17 ff9 fs2 fc0 sc0 ls4 ws0">&#24182;&#25454;&#27492;&#35774;&#35745;&#20102;&#38450;&#25265;&#27515;&#25511;&#21046;&#22120;</div><div class="t m0 x2d h7 y18 ff2 fs2 fc0 sc0 ls0 ws0">&#65294;</div><div class="t m0 x2e h6 y17 ff9 fs2 fc0 sc0 ls0 ws0">&#22312;<span class="_ _9"></span>&#39640;<span class="_ _9"></span>&#38468;<span class="_ _9"></span>&#30528;<span class="_ _f"></span>&#36335;<span class="_ _9"></span>&#38754;</div><div class="t m0 x2f hb y18 ffb fs2 fc0 sc0 ls0 ws0">&#12289;</div><div class="t m0 x30 h6 y17 ff9 fs2 fc0 sc0 ls0 ws0">&#20013;<span class="_ _9"></span>&#38468;<span class="_ _9"></span>&#30528;<span class="_ _9"></span>&#36335;<span class="_ _f"></span>&#38754;</div><div class="t m0 xe h6 y19 ff9 fs2 fc0 sc0 ls0 ws0">&#21644;&#20302;<span class="_ _9"></span>&#38468;&#30528;<span class="_ _9"></span>&#36335;&#38754;</div><div class="t m0 x31 h7 y1a ff2 fs2 fc0 sc0 ls0 ws0">3</div><div class="t m0 x32 h6 y19 ff9 fs2 fc0 sc0 ls2 ws0">&#31181;&#19981;&#21516;&#34892;&#39542;&#24037;&#20917;</div><div class="t m0 x22 h6 y1a ffa fs2 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x33 h6 y19 ff9 fs2 fc0 sc0 ls2 ws0">&#23545;&#20998;&#21035;&#23433;&#35013;&#26377;&#25913;&#36827;&#32447;&#24615;&#20108;&#27425;&#22411;&#26368;&#20248;&#38450;&#25265;&#27515;&#25511;&#21046;&#22120;&#21644;&#28369;&#27169;&#38450;&#25265;&#27515;&#25511;&#21046;&#22120;&#30340;&#30005;&#21160;&#36710;&#36742;&#30340;&#32039;&#24613;&#21046;</div><div class="t m0 xe h6 y1b ff9 fs2 fc0 sc0 ls2 ws0">&#21160;&#24615;&#33021;&#36827;&#34892;&#20102;&#20223;&#30495;&#20998;&#26512;</div><div class="t m0 x34 h7 y1c ff2 fs2 fc0 sc0 ls0 ws0">&#65294;</div><div class="t m0 x35 h6 y1d ff9 fs2 fc0 sc0 ls0 ws0">&#32467;&#26524;<span class="_ _9"></span>&#34920;&#26126;</div><div class="t m0 x36 h6 y1c ffa fs2 fc0 sc0 ls0 ws0">&#65306;</div><div class="t m0 x37 h6 y1d ff9 fs2 fc0 sc0 ls2 ws0">&#22312;&#19981;&#21516;&#38468;&#30528;&#31995;&#25968;&#36335;&#38754;&#34892;&#39542;&#24037;&#20917;<span class="_ _9"></span>&#19979;</div><div class="t m0 x38 h6 y1c ffa fs2 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x39 h6 y1d ff9 fs2 fc0 sc0 ls4 ws0">&#25913;&#36827;&#32447;&#24615;&#20108;&#27425;&#22411;&#26368;&#20248;&#25511;&#21046;&#31639;&#27861;&#33021;&#22815;&#26377;&#25928;&#25552;&#39640;&#30005;&#21160;&#27773;&#36710;</div><div class="t m0 xe h6 y1e ff9 fs2 fc0 sc0 ls2 ws0">&#38450;&#25265;&#27515;&#25511;&#21046;&#31995;&#32479;&#30340;&#25511;&#21046;&#31934;&#24230;&#21644;&#21709;&#24212;&#36895;&#24230;</div><div class="t m0 x3a h7 y1f ff2 fs2 fc0 sc0 ls0 ws0">&#65294;</div><div class="t m0 xe h6 y20 ff4 fs2 fc0 sc0 ls0 ws0">&#20851;&#38190;<span class="_ _9"></span>&#35789;</div><div class="t m0 x1b h6 y21 ff8 fs2 fc0 sc0 ls0 ws0">&#65306;</div><div class="t m0 x1c h6 y20 ff9 fs2 fc0 sc0 ls0 ws0">&#36718;&#27586;<span class="_ _9"></span>&#30005;&#26426;</div><div class="t m0 x3b h6 y21 ffa fs2 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x3c h6 y20 ff9 fs2 fc0 sc0 ls0 ws0">&#22797;&#21512;<span class="_ _9"></span>&#21046;&#21160;</div><div class="t m0 x3d h6 y21 ffa fs2 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x3e h6 y20 ff9 fs2 fc0 sc0 ls2 ws0">&#21046;&#21160;&#38450;&#25265;&#27515;&#31995;&#32479;</div><div class="t m0 x3f h6 y21 ffa fs2 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x40 h6 y20 ff9 fs2 fc0 sc0 ls0 ws0">&#28369;&#31227;<span class="_ _9"></span>&#29575;</div><div class="t m0 x41 h6 y21 ffa fs2 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x42 h6 y20 ff9 fs2 fc0 sc0 ls2 ws0">&#32447;&#24615;&#20108;&#27425;&#22411;&#26368;&#20248;&#25511;&#21046;</div><div class="t m0 xe h6 y22 ff4 fs2 fc0 sc0 ls0 ws0">&#20013;&#22270;<span class="_ _9"></span>&#20998;&#31867;<span class="_ _9"></span>&#21495;</div><div class="t m0 x8 h6 y23 ff8 fs2 fc0 sc0 ls0 ws0">&#65306;<span class="_ _10"> </span><span class="ff2">U461&#65294;<span class="_ _9"></span>3</span></div><div class="t m0 x43 h6 y22 ff4 fs2 fc0 sc0 ls0 ws0">&#25991;&#29486;<span class="_ _9"></span>&#26631;&#24535;<span class="_ _9"></span>&#30721;</div><div class="t m0 x3a h6 y23 ff8 fs2 fc0 sc0 ls0 ws0">&#65306;<span class="_ _10"> </span><span class="ff2">A</span></div><div class="t m0 x44 h6 y22 ff4 fs2 fc0 sc0 ls0 ws0">&#25991;&#31456;<span class="_ _9"></span>&#32534;&#21495;</div><div class="t m0 x45 h6 y23 ff8 fs2 fc0 sc0 ls0 ws0">&#65306;<span class="_ _10"> </span><span class="ff2">03<span class="_ _3"></span>67</span></div><div class="t m0 x46 h7 y24 ff2 fs2 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x47 h6 y23 ff2 fs2 fc0 sc0 ls0 ws0">6234<span class="ff3">&#65288;<span class="_ _1"> </span></span>2018<span class="ff3">&#65289;<span class="_ _1"> </span></span>09</div><div class="t m0 x48 h7 y24 ff2 fs2 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x49 h7 y23 ff2 fs2 fc0 sc0 ls0 ws0">0108</div><div class="t m0 x4a h7 y24 ff2 fs2 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x4b h7 y23 ff2 fs2 fc0 sc0 ls0 ws0">08</div><div class="t m0 x4c hc y25 ff5 fs4 fc0 sc0 ls0 ws0">Improv<span class="_ _3"></span>ed<span class="_ _10"> </span>linear<span class="_ _10"> </span>qu<span class="_ _3"></span>adratic<span class="_ _10"> </span>op<span class="_ _3"></span>timal<span class="_ _10"> </span>control<span class="_ _10"> </span>of<span class="_ _10"> </span>ABS<span class="_ _11"> </span>for<span class="_ _10"> </span>an<span class="_ _11"> </span>e<span class="_"> </span>le<span class="_ _9"></span>ctric<span class="_ _10"> </span>vehicle</div><div class="t m0 x40 h4 y26 ff2 fs1 fc0 sc0 ls0 ws0">WANG<span class="_ _4"> </span>Juncheng<span class="ff3">&#65292;<span class="_ _12"></span><span class="ff2">HE<span class="_ _4"> </span>Ren</span></span></div><div class="t m0 x4d h6 y27 ff3 fs2 fc0 sc0 ls0 ws0">&#65288;<span class="_ _7"> </span><span class="ff2">Sch<span class="_ _3"></span>ool<span class="_ _7"> </span>of<span class="_ _7"> </span>Automobile<span class="_ _7"> </span>and<span class="_ _7"> </span>Traffic<span class="_ _7"> </span>Engin<span class="_ _3"></span>eering<span class="ff3">&#65292;<span class="_ _12"></span><span class="ff2">Jiangsu<span class="_ _7"> </span>Universi<span class="_ _3"></span>ty<span class="ff3">&#65292;<span class="_ _12"></span><span class="ff2">Zhenjiang<span class="_ _7"> </span>212<span class="_ _3"></span>013<span class="ff3">&#65292;<span class="_ _12"></span><span class="ff2">Jiangsu<span class="ff3">&#65292;<span class="_ _12"></span><span class="ff2">China<span class="ff3">&#65289;</span></span></span></span></span></span></span></span></span></span></div><div class="t m0 xe h4 y28 ff5 fs1 fc0 sc0 ls0 ws0">Abstract<span class="ff3">&#65306;<span class="_ _13"> </span><span class="ff2">To<span class="_ _4"> </span>make<span class="_ _14"> </span>the<span class="_ _4"> </span>most<span class="_ _4"> </span>of<span class="_ _14"> </span>control<span class="_ _14"> </span>accuracy<span class="_ _15"> </span>and<span class="_ _14"> </span>fast<span class="_ _14"> </span>response<span class="_ _14"> </span>of<span class="_ _15"> </span>in-<span class="_ _b"></span>wheel<span class="_ _14"> </span>motors<span class="_ _14"> </span>and<span class="_ _15"> </span>improve<span class="_ _15"> </span>the<span class="_ _14"> </span>stability<span class="_ _14"> </span>of</span></span></div><div class="t m0 xe h4 y29 ff2 fs1 fc0 sc0 ls0 ws0">anti-<span class="_ _b"></span>lock<span class="_ _4"> </span>brake<span class="_ _15"> </span>sys<span class="_ _3"></span>tem<span class="_ _15"> </span><span class="ff3">&#65288;<span class="_ _14"> </span></span>ABS<span class="_ _9"></span><span class="ff3">&#65289;<span class="_ _6"> </span></span>of<span class="_ _15"> </span>in<span class="_ _9"></span>-<span class="_ _16"></span>wheel<span class="_ _15"> </span>motor<span class="_ _11"> </span>driven<span class="_ _15"> </span>electric<span class="_ _11"> </span>vehicle<span class="ff3">&#65292;<span class="_ _17"></span><span class="ff2">a<span class="_ _11"> </span>desi<span class="_ _3"></span>gn<span class="_ _11"> </span>method<span class="_ _15"> </span>of<span class="_ _11"> </span>anti-<span class="_ _16"></span>lock<span class="_ _11"> </span>controller</span></span></div><div class="t m0 xe h5 y2a ff2 fs1 fc0 sc0 ls0 ws0">based<span class="_ _4"> </span>on<span class="_ _15"> </span>the<span class="_ _11"> </span>improved<span class="_ _15"> </span>linear<span class="_ _11"> </span>quadratic<span class="_ _11"> </span>optimal<span class="_ _11"> </span>control<span class="_ _11"> </span>algorithm<span class="_ _11"> </span>was<span class="_ _11"> </span>proposed&#65294;<span class="_ _10"> </span>A<span class="_ _11"> </span>vehicle<span class="_ _11"> </span>longitudinal<span class="_ _11"> </span>dynamics</div><div class="t m0 xe h5 y2b ff2 fs1 fc0 sc0 ls0 ws0">model<span class="_ _4"> </span>was<span class="_ _14"> </span>establis<span class="_ _3"></span>hed&#65294;<span class="_ _15"> </span>The<span class="_ _4"> </span>coordinated<span class="_ _14"> </span>control<span class="_ _14"> </span>strategy<span class="_ _14"> </span>of<span class="_ _15"> </span>composite<span class="_ _14"> </span>braking<span class="_ _14"> </span>system<span class="_ _14"> </span>was<span class="_ _15"> </span>applied<span class="_ _14"> </span>in<span class="_ _15"> </span>examining<span class="_ _14"> </span>the</div><div class="t m0 xe h5 y2c ff2 fs1 fc0 sc0 ls0 ws0">reason<span class="_ _4"> </span>for<span class="_ _4"> </span>the<span class="_ _14"> </span>failure<span class="_ _4"> </span>of<span class="_ _14"> </span>the<span class="_ _4"> </span>general<span class="_ _15"> </span>linear<span class="_ _14"> </span>quadratic<span class="_ _14"> </span>optimal<span class="_ _14"> </span>control<span class="_ _15"> </span>algorithm<span class="_ _14"> </span>in<span class="_ _14"> </span>the<span class="_ _15"> </span>design<span class="_ _14"> </span>of<span class="_ _14"> </span>anti<span class="_ _9"></span>-<span class="_ _16"></span>lock<span class="_ _14"> </span>controller<span class="_ _9"></span>&#65294;</div><div class="t m0 xe h5 y2d ff2 fs1 fc0 sc0 ls0 ws0">An<span class="_ _4"> </span>improved<span class="_ _18"> </span>linear<span class="_ _10"> </span>quadratic<span class="_ _18"> </span>optimal<span class="_ _10"> </span>control<span class="_ _10"> </span>algorithm<span class="_ _10"> </span>was<span class="_ _18"> </span>proposed<span class="_ _10"> </span>to<span class="_ _10"> </span>design<span class="_ _18"> </span>the<span class="_ _10"> </span>anti<span class="_ _9"></span>-<span class="_ _16"></span>lock<span class="_ _10"> </span>controller<span class="_ _18"> </span>through</div><div class="t m0 xe h4 y2e ff2 fs1 fc0 sc0 ls0 ws0">adding<span class="_ _4"> </span>some<span class="_ _4"> </span>virtual<span class="_ _14"> </span>damping<span class="_ _4"> </span>and<span class="_ _14"> </span>infinitely<span class="_ _4"> </span>small<span class="_ _4"> </span>terms<span class="_ _4"> </span>in<span class="_ _4"> </span>the<span class="_ _4"> </span>des<span class="_ _3"></span>ign<span class="_ _4"> </span>process<span class="_ _7"> </span>of<span class="_ _4"> </span>Riccati<span class="_ _4"> </span>function<span class="ff3">&#65292;<span class="_ _12"></span><span class="ff2">based<span class="_ _4"> </span>on<span class="_ _4"> </span>which<span class="_ _4"> </span>a</span></span></div><div class="t m0 xe h5 y2f ff2 fs1 fc0 sc0 ls0 ws0">anti-<span class="_ _16"></span>lock<span class="_ _14"> </span>brake<span class="_ _11"> </span>was<span class="_ _11"> </span>subs<span class="_ _3"></span>equently<span class="_ _11"> </span>designed&#65294;<span class="_ _18"> </span>The<span class="_ _11"> </span>control<span class="_ _11"> </span>result<span class="_ _11"> </span>of<span class="_ _11"> </span>the<span class="_ _10"> </span>proposed<span class="_ _11"> </span>controller<span class="_ _10"> </span>was<span class="_ _11"> </span>compared<span class="_ _10"> </span>with<span class="_ _10"> </span>the</div><div class="t m0 xe h4 y30 ff2 fs1 fc0 sc0 ls0 ws0">control<span class="_ _4"> </span>result<span class="_ _14"> </span>of<span class="_ _11"> </span>general<span class="_ _11"> </span>sl<span class="_ _3"></span>iding<span class="_ _11"> </span>mode<span class="_ _15"> </span>co<span class="_"> </span>ntroller<span class="_ _11"> </span>under<span class="_ _11"> </span>three<span class="_ _11"> </span>different<span class="_ _15"> </span>road<span class="_ _11"> </span>conditions<span class="_ _11"> </span>with<span class="_ _11"> </span>low<span class="_ _9"></span><span class="ff3">&#65292;<span class="_ _17"></span><span class="ff2">middle<span class="_ _11"> </span>and<span class="_ _11"> </span>high</span></span></div><div class="t m0 xe h5 y31 ff2 fs1 fc0 sc0 ls0 ws0">adhesive<span class="_ _4"> </span>coefficients&#65294;<span class="_ _18"> </span>Results<span class="_ _11"> </span>showed<span class="_ _10"> </span>that<span class="_ _10"> </span>the<span class="_ _10"> </span>proposed<span class="_ _11"> </span>improved<span class="_ _10"> </span>linear<span class="_ _10"> </span>quadratic<span class="_ _10"> </span>optimal<span class="_ _11"> </span>control<span class="_ _18"> </span>algorithm<span class="_ _11"> </span>can</div><div class="t m0 xe h5 y32 ff2 fs1 fc0 sc0 ls0 ws0">achieve<span class="_ _4"> </span>not<span class="_ _14"> </span>only<span class="_ _4"> </span>outstanding<span class="_ _4"> </span>control<span class="_ _14"> </span>accuracy<span class="_ _14"> </span>but<span class="_ _4"> </span>also<span class="_ _4"> </span>fast<span class="_ _4"> </span>response<span class="_ _9"></span>&#65294;</div><div class="t m0 xe h4 y33 ff5 fs1 fc0 sc0 ls0 ws0">Keywords<span class="ff3">&#65306;<span class="_ _6"> </span><span class="ff2">in-<span class="_ _16"></span>wheel<span class="_ _19"> </span>motor<span class="ff3">&#65307;<span class="_ _1a"> </span></span>composite<span class="_ _18"> </span>braking<span class="_ _9"></span><span class="ff3">&#65307;<span class="_ _0"> </span></span>anti<span class="_ _9"></span>-<span class="_ _16"></span>lock<span class="_ _1b"> </span>brake<span class="_ _1b"> </span>system<span class="_ _18"> </span><span class="ff3">&#65288;<span class="_ _11"> </span></span>ABS<span class="_ _a"></span><span class="ff3">&#65289;<span class="_ _4"> </span>&#65307;<span class="_ _0"> </span></span>slip<span class="_ _1b"> </span>ratio<span class="_ _9"></span><span class="ff3">&#65307;<span class="_ _0"> </span></span>linear<span class="_ _1b"> </span>quadratic</span></span></div><div class="t m0 xe h5 y34 ff2 fs1 fc0 sc0 ls0 ws0">optimal<span class="_ _4"> </span>control</div><div class="t m0 xe h2 y35 ff4 fs0 fc0 sc0 ls0 ws0">&#25910;&#31295;<span class="_ _9"></span>&#26085;&#26399;</div><div class="t m0 x4e h2 y36 ff8 fs0 fc0 sc0 ls0 ws0">&#65306;<span class="_ _15"> </span><span class="ff2">2017</span></div><div class="t m0 x4f h3 y37 ff2 fs0 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x50 h3 y36 ff2 fs0 fc0 sc0 ls0 ws0">07</div><div class="t m0 x51 h3 y37 ff2 fs0 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x27 h3 y36 ff2 fs0 fc0 sc0 ls0 ws0">28</div><div class="t m0 xe h2 y38 ff4 fs0 fc0 sc0 ls0 ws0">&#22522;&#37329;<span class="_ _9"></span>&#39033;&#30446;</div><div class="t m0 x4e h2 y39 ff8 fs0 fc0 sc0 ls0 ws0">&#65306;</div><div class="t m0 x52 h2 y38 ff1 fs0 fc0 sc0 ls0 ws0">&#22269;&#23478;<span class="_ _9"></span>&#33258;&#28982;<span class="_ _9"></span>&#31185;&#23398;<span class="_ _9"></span>&#22522;&#37329;</div><div class="t m0 x53 h2 y39 ff3 fs0 fc0 sc0 ls0 ws0">&#65288;<span class="_ _1"> </span><span class="ff2">51275212</span>&#65289;<span class="_ _1"> </span>&#65307;</div><div class="t m0 x52 h2 y3a ff1 fs0 fc0 sc0 ls5 ws0">&#27743;&#33487;&#30465;&#30740;&#31350;&#29983;&#31185;&#30740;&#19982;&#23454;&#36341;&#21019;&#26032;&#35745;&#21010;&#39033;&#30446;</div><div class="t m0 x54 h2 y3b ff3 fs0 fc0 sc0 ls0 ws0">&#65288;<span class="_ _1"> </span><span class="ff2">KYCX17_1813</span>&#65289;</div><div class="t m0 xe h2 y3c ff4 fs0 fc0 sc0 ls0 ws0">&#20316;&#32773;<span class="_ _9"></span>&#31616;&#20171;</div><div class="t m0 x4e h2 y3d ff8 fs0 fc0 sc0 ls0 ws0">&#65306;</div><div class="t m0 x52 h2 y3c ff1 fs0 fc0 sc0 ls0 ws0">&#29579;&#39567;<span class="_ _9"></span>&#39563;</div><div class="t m0 x32 h2 y3d ff3 fs0 fc0 sc0 ls0 ws0">&#65288;<span class="_ _1"> </span><span class="ff2">1990<span class="ffc">&#8212;</span></span>&#65289;<span class="_ _1"> </span>&#65292;</div><div class="t m0 x21 h2 y3c ff1 fs0 fc0 sc0 ls0 ws0">&#30007;</div><div class="t m0 x55 h2 y3d ff3 fs0 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x3d h2 y3c ff1 fs0 fc0 sc0 ls0 ws0">&#21338;&#22763;<span class="_ _9"></span>&#30740;&#31350;<span class="_ _9"></span>&#29983;</div><div class="t m0 x56 h2 y3d ff3 fs0 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x52 h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">&#20309;<span class="_ _0"> </span>&#20161;</div><div class="t m0 x32 h2 y3f ff3 fs0 fc0 sc0 ls0 ws0">&#65288;<span class="_ _1"> </span><span class="ff2">1962<span class="ffc">&#8212;</span></span>&#65289;<span class="_ _1"> </span>&#65292;</div><div class="t m0 x21 h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">&#30007;</div><div class="t m0 x55 h2 y3f ff3 fs0 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x3d h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">&#25945;&#25480;</div><div class="t m0 xb h2 y3f ff3 fs0 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x57 h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">&#21338;&#22763;<span class="_ _9"></span>&#29983;&#23548;<span class="_ _9"></span>&#24072;</div><div class="t m0 xe h2 y40 ff4 fs0 fc0 sc0 ls0 ws0">&#36890;&#20449;<span class="_ _9"></span>&#20316;&#32773;</div><div class="t m0 x4e h2 y41 ff8 fs0 fc0 sc0 ls0 ws0">&#65306;</div><div class="t m0 x52 h2 y40 ff1 fs0 fc0 sc0 ls0 ws0">&#20309;<span class="_ _0"> </span>&#20161;</div><div class="t m0 x32 h2 y41 ff3 fs0 fc0 sc0 ls0 ws0">&#65292;<span class="_ _1c"></span><span class="ff2">heren1962@<span class="_ _5"> </span>163&#65294;<span class="_ _9"></span>com</span></div><div class="t m0 x58 h4 y42 ff1 fs1 fc0 sc0 ls0 ws0">&#21046;<span class="_ _9"></span>&#21160;<span class="_ _9"></span>&#38450;<span class="_ _f"></span>&#25265;<span class="_ _a"></span>&#27515;<span class="_ _f"></span>&#31995;<span class="_ _f"></span>&#32479;</div><div class="t m0 x59 h4 y43 ff3 fs1 fc0 sc0 ls0 ws0">&#65288;<span class="_ _4"> </span><span class="ff2">antilock<span class="_ _11"> </span>brake<span class="_ _15"> </span>system</span>&#65292;<span class="_ _17"></span><span class="ff2">ABS<span class="_ _9"></span><span class="ff3">&#65289;</span></span></div><div class="t m0 xe h4 y44 ff1 fs1 fc0 sc0 ls6 ws0">&#22312;&#20943;&#23569;&#30005;&#21160;&#36710;&#36742;&#20132;&#36890;&#23433;&#20840;&#20107;&#25925;&#21457;&#29983;&#29575;&#26041;&#38754;&#36215;&#21040;&#20102;&#33267;</div><div class="t m0 xe h4 y45 ff1 fs1 fc0 sc0 ls0 ws0">&#20851;&#37325;<span class="_ _9"></span>&#35201;&#30340;&#20316;<span class="_ _f"></span>&#29992;</div><div class="t m0 x32 hd y46 ff3 fs5 fc0 sc0 ls0 ws0">&#65339;<span class="_ _1d"></span><span class="ff2">1</span></div><div class="t m0 x3b he y47 ff2 fs5 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x5a hd y46 ff2 fs5 fc0 sc0 ls0 ws0">2<span class="_ _12"></span><span class="ff3">&#65341;</span></div><div class="t m0 x5b h5 y48 ff2 fs1 fc0 sc0 ls0 ws0">&#65294;</div><div class="t m0 x5c h4 y45 ff1 fs1 fc0 sc0 ls7 ws0">&#38543;&#30528;&#20056;&#23458;&#23545;&#36710;&#36742;&#20027;&#21160;&#23433;&#20840;&#24615;&#33021;</div><div class="t m0 xe h4 y49 ff1 fs1 fc0 sc0 ls6 ws0">&#35201;&#27714;&#30340;&#26085;&#28176;&#25552;&#21319;</div><div class="t m0 x5a h4 y4a ff3 fs1 fc0 sc0 ls0 ws0">&#65292;<span class="_ _1e"></span><span class="ff2">ABS</span></div><div class="t m0 x5d h4 y49 ff1 fs1 fc0 sc0 ls8 ws0">&#25511;&#21046;&#31574;&#30053;&#30340;&#30740;&#31350;&#19968;&#30452;&#37117;&#26159;&#21069;</div><div class="t m0 xe h4 y4b ff1 fs1 fc0 sc0 ls0 ws0">&#35328;&#28909;<span class="_ _9"></span>&#28857;</div><div class="t m0 x5e hd y4c ff3 fs5 fc0 sc0 ls0 ws0">&#65339;<span class="_ _1d"></span><span class="ff2">3<span class="_ _12"></span><span class="ff3">&#65341;</span></span></div><div class="t m0 x5f h5 y4d ff2 fs1 fc0 sc0 ls0 ws0">&#65294;</div><div class="t m0 x10 h4 y4e ff1 fs1 fc0 sc0 ls0 ws0">&#30446;&#21069;</div><div class="t m0 x3b h4 y4d ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x28 h4 y4e ff1 fs1 fc0 sc0 ls9 ws0">&#24212;&#29992;&#20110;&#36710;&#36742;&#28369;&#31227;&#29575;&#25511;&#21046;&#26041;&#27861;&#20027;&#35201;</div><div class="t m0 xe h4 y4f ff1 fs1 fc0 sc0 ls0 ws0">&#26377;&#36923;<span class="_ _f"></span>&#36753;<span class="_ _f"></span>&#38376;<span class="_ _f"></span>&#38480;<span class="_ _f"></span>&#21046;<span class="_ _f"></span>&#25511;<span class="_ _f"></span>&#21046;</div><div class="t m0 x60 hd y50 ff3 fs5 fc0 sc0 ls0 ws0">&#65339;<span class="_ _1d"></span><span class="ff2">4</span></div><div class="t m0 x61 he y51 ff2 fs5 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x62 hd y50 ff2 fs5 fc0 sc0 ls0 ws0">5<span class="_ _12"></span><span class="ff3">&#65341;</span></div><div class="t m0 x53 hf y52 ffb fs1 fc0 sc0 ls0 ws0">&#12289;</div><div class="t m0 x63 h4 y53 ff1 fs1 fc0 sc0 ls0 ws0">&#27169;<span class="_ _f"></span>&#31946;<span class="_ _f"></span>&#25511;<span class="_ _f"></span>&#21046;</div><div class="t m0 x64 hd y50 ff3 fs5 fc0 sc0 ls0 ws0">&#65339;<span class="_ _1d"></span><span class="ff2">6</span></div><div class="t m0 x65 he y51 ff2 fs5 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x66 hd y50 ff2 fs5 fc0 sc0 ls0 ws0">7<span class="_ _12"></span><span class="ff3">&#65341;</span></div><div class="t m0 x67 h5 y52 ffb fs1 fc0 sc0 ls0 ws0">&#12289;<span class="_ _1f"></span><span class="ff2">P<span class="_ _9"></span>ID</span></div><div class="t m0 x68 h4 y53 ff1 fs1 fc0 sc0 ls0 ws0">&#25511;<span class="_ _f"></span>&#21046;</div><div class="t m0 x69 hd y50 ff3 fs5 fc0 sc0 ls0 ws0">&#65339;<span class="_ _1d"></span><span class="ff2">8<span class="_ _12"></span><span class="ff3">&#65341;</span></span></div><div class="t m0 xe h4 y54 ff1 fs1 fc0 sc0 ls6 ws0">&#21644;&#28369;&#27169;&#21464;&#32467;&#26500;&#25511;&#21046;</div><div class="t m0 xf hd y55 ff3 fs5 fc0 sc0 ls0 ws0">&#65339;<span class="_ _1d"></span><span class="ff2">9</span></div><div class="t m0 x34 he y56 ff2 fs5 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x6a hd y55 ff2 fs5 fc0 sc0 ls0 ws0">11<span class="_ _12"></span><span class="ff3">&#65341;</span></div><div class="t m0 x53 h4 y54 ff1 fs1 fc0 sc0 ls0 ws0">&#31561;</div><div class="t m0 x3e h5 y57 ff2 fs1 fc0 sc0 ls0 ws0">&#65294;</div><div class="t m0 x58 h4 y58 ff1 fs1 fc0 sc0 ls0 ws0">&#25991;&#29486;</div><div class="t m0 x6b h4 y59 ff3 fs1 fc0 sc0 ls0 ws0">&#65339;<span class="_ _20"></span><span class="ff2">3<span class="_ _1d"></span><span class="ff3">&#65341;</span></span></div><div class="t m0 x50 h4 y58 ff1 fs1 fc0 sc0 lsa ws0">&#20026;<span class="_ _3"></span>&#36710;<span class="_ _3"></span>&#36742;<span class="_ _3"></span>&#21046;&#21160;&#31995;&#32479;&#35774;&#35745;&#20102;&#19968;&#31181;&#29992;&#20110;&#35843;&#33410;</div><div class="t m0 xe h4 y5a ff1 fs1 fc0 sc0 ls7 ws0">&#21046;<span class="_ _17"></span>&#21160;<span class="_ _3"></span>&#21147;<span class="_ _17"></span>&#30697;<span class="_ _3"></span>&#22823;&#23567;&#30340;&#36923;&#36753;&#38376;&#38480;&#25511;&#21046;&#26041;&#27861;</div><div class="t m0 x6c h4 y5b ff3 fs1 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x6d h4 y5c ff1 fs1 fc0 sc0 ls0 ws0">&#25991;<span class="_ _f"></span>&#29486;</div><div class="t m0 x6e h4 y5b ff3 fs1 fc0 sc0 ls0 ws0">&#65339;<span class="_ _21"></span><span class="ff2">6<span class="_ _1d"></span><span class="ff3">&#65341;</span></span></div><div class="t m0 x6f h4 y5c ff1 fs1 fc0 sc0 ls0 ws0">&#37319;<span class="_ _f"></span>&#29992;</div><div class="t m0 x70 h4 y5d ff1 fs1 fc0 sc0 ls9 ws0">&#27169;<span class="_ _17"></span>&#31946;<span class="_ _17"></span>&#30452;<span class="_ _3"></span>&#25509;<span class="_ _3"></span>&#33258;&#36866;&#24212;&#25511;&#21046;&#31639;&#27861;&#35774;<span class="lsb">&#35745;&#20102;&#19968;&#31181;&#38450;&#25265;&#27515;&#25511;&#21046;</span></div><div class="t m0 x70 h4 y5e ff1 fs1 fc0 sc0 ls0 ws0">&#22120;</div><div class="t m0 x71 h4 y5f ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x72 h4 y5e ff1 fs1 fc0 sc0 ls8 ws0">&#23558;<span class="_ _3"></span>&#28369;<span class="_ _17"></span>&#31227;&#29575;<span class="_ _17"></span>&#30340;<span class="_ _3"></span>&#36319;&#36394;&#35823;&#24046;&#21644;&#31561;&#25928;&#28369;&#31227;&#29575;&#21464;&#21270;&#29575;&#20316;&#20026;</div><div class="t m0 x70 h4 y60 ff1 fs1 fc0 sc0 ls0 ws0">&#25511;&#21046;<span class="_ _9"></span>&#31995;&#32479;<span class="_ _9"></span>&#30340;<span class="_ _9"></span>&#36755;<span class="_ _f"></span>&#20837;<span class="_ _f"></span>&#37327;</div><div class="t m0 x73 h4 y61 ff3 fs1 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x74 h4 y60 ff1 fs1 fc0 sc0 ls0 ws0">&#25991;<span class="_ _f"></span>&#29486;</div><div class="t m0 x75 h4 y61 ff3 fs1 fc0 sc0 ls0 ws0">&#65339;<span class="_ _21"></span><span class="ff2">7<span class="_ _1d"></span><span class="ff3">&#65341;</span></span></div><div class="t m0 x76 h4 y60 ff1 fs1 fc0 sc0 ls0 ws0">&#23558;<span class="_ _f"></span>&#27169;<span class="_ _f"></span>&#31946;<span class="_ _f"></span>&#36923;<span class="_ _f"></span>&#36753;<span class="_ _f"></span>&#31574;<span class="_ _a"></span>&#30053;<span class="_ _f"></span>&#32467;<span class="_ _f"></span>&#21512;</div><div class="t m0 x70 h4 y62 ff1 fs1 fc0 sc0 ls6 ws0">&#20102;&#20302;&#36895;&#20877;&#29983;&#38450;&#25265;&#27515;&#31574;&#30053;</div><div class="t m0 x77 h4 y63 ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x78 h4 y62 ff1 fs1 fc0 sc0 ls6 ws0">&#25552;&#39640;&#20102;&#30005;&#26426;&#21046;&#21160;&#31934;&#24230;</div><div class="t m0 x79 h4 y63 ff3 fs1 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x7a h4 y62 ff1 fs1 fc0 sc0 ls0 ws0">&#25991;&#29486;</div><div class="t m0 x7b h4 y64 ff3 fs1 fc0 sc0 ls0 ws0">&#65339;<span class="_ _20"></span><span class="ff2">8<span class="_ _12"></span><span class="ff3">&#65341;</span></span></div><div class="t m0 x19 h4 y65 ff1 fs1 fc0 sc0 ls6 ws0">&#22522;&#20110;&#28369;&#31227;&#29575;&#23545;&#21046;<span class="lsa">&#21160;&#21147;&#30697;&#21464;&#21270;&#30340;&#28789;&#25935;&#24230;&#20248;&#21270;&#35843;&#25972;</span></div><div class="t m0 x70 h5 y66 ff2 fs1 fc0 sc0 ls0 ws0">P<span class="_ _9"></span>ID</div><div class="t m0 x7c h4 y67 ff1 fs1 fc0 sc0 ls0 ws0">&#21442;&#25968;</div><div class="t m0 x7d h4 y66 ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x7e h4 y67 ff1 fs1 fc0 sc0 ls7 ws0">&#23454;<span class="_ _17"></span>&#29616;&#20102;&#38024;&#23545;&#22797;&#21512;&#21046;&#21160;&#31995;&#32479;&#30340;&#33258;&#36866;&#24212;</div><div class="t m0 x7f h5 y66 ff2 fs1 fc0 sc0 ls0 ws0">ABS</div><div class="t m0 x70 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">&#25511;&#21046;</div><div class="t m0 x80 h4 y69 ff3 fs1 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x81 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">&#25991;&#29486;</div><div class="t m0 x7e h4 y69 ff3 fs1 fc0 sc0 ls0 ws0">&#65339;<span class="_ _20"></span><span class="ff2">9<span class="_ _1d"></span><span class="ff3">&#65341;</span></span></div><div class="t m0 x82 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">&#24320;&#21457;<span class="_ _9"></span>&#20102;&#19968;<span class="_ _9"></span>&#31181;<span class="_ _9"></span>&#28369;<span class="_ _9"></span>&#27169;</div><div class="t m0 x83 h5 y6a ff2 fs1 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x84 h5 y69 ff2 fs1 fc0 sc0 ls0 ws0">P<span class="_ _9"></span>WM</div><div class="t m0 x85 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">&#31639;<span class="_ _9"></span>&#27861;</div><div class="t m0 x86 h4 y69 ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x87 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">&#24182;<span class="_ _9"></span>&#24212;<span class="_ _9"></span>&#29992;</div><div class="t m0 x70 h4 y6b ff1 fs1 fc0 sc0 ls6 ws0">&#20110;&#20256;&#32479;&#25705;&#25830;&#21046;&#21160;&#31995;&#32479;&#21462;&#24471;&#20102;&#33391;&#22909;&#30340;&#38450;&#25265;&#27515;&#24615;&#33021;</div><div class="t m0 x7a h5 y6c ff2 fs1 fc0 sc0 ls0 ws0">&#65294;</div><div class="t m0 x80 h4 y6d ff1 fs1 fc0 sc0 ls0 ws0">&#20294;<span class="_ _9"></span>&#26159;</div><div class="t m0 x24 h4 y6e ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x88 h4 y6d ff1 fs1 fc0 sc0 lsa ws0">&#19978;&#36848;&#30340;&#25511;&#21046;&#26041;&#27861;&#29992;&#20110;&#36718;&#27586;&#30005;&#26426;&#30005;&#21160;&#36710;&#36742;</div><div class="t m0 x70 h4 y6f ff1 fs1 fc0 sc0 ls6 ws0">&#36827;&#34892;&#38450;&#25265;&#27515;&#25511;&#21046;&#26102;&#37117;&#26377;&#20854;&#23616;&#38480;&#24615;</div><div class="t m0 x89 h4 y70 ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x8a h4 y6f ff1 fs1 fc0 sc0 ls0 ws0">&#27604;&#22914;</div><div class="t m0 x8b h4 y70 ff3 fs1 fc0 sc0 ls0 ws0">&#65306;</div><div class="t m0 xc h4 y6f ff1 fs1 fc0 sc0 ls0 ws0">&#36710;&#36742;<span class="_ _9"></span>&#36923;&#36753;<span class="_ _9"></span>&#38376;</div><div class="t m0 x70 h4 y71 ff1 fs1 fc0 sc0 ls0 ws0">&#38480;&#21046;</div><div class="t m0 x80 h5 y72 ff2 fs1 fc0 sc0 ls0 ws0">&#65293;</div><div class="t m0 x8c h5 y73 ff2 fs1 fc0 sc0 ls0 ws0">ABS</div><div class="t m0 x88 h4 y74 ff1 fs1 fc0 sc0 lsa ws0">&#25511;<span class="_ _3"></span>&#21046;<span class="_ _3"></span>&#20013;&#30340;&#38376;&#38480;&#20540;&#30340;&#36873;&#21462;&#20027;&#35201;&#20381;&#36182;&#20110;&#32321;&#29712;</div><div class="t m0 x70 h4 y75 ff1 fs1 fc0 sc0 ls6 ws0">&#30340;&#21464;&#24037;&#20917;&#36335;&#38754;&#35797;&#39564;</div><div class="t m0 x8d h4 y76 ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x8e h4 y75 ff1 fs1 fc0 sc0 ls8 ws0">&#20294;&#26159;&#24456;&#38590;&#36866;&#24212;&#23454;&#38469;&#34892;&#39542;&#36807;&#31243;&#20013;</div><div class="t m0 x70 h4 y77 ff1 fs1 fc0 sc0 ls6 ws0">&#22797;&#26434;&#22810;&#21464;&#30340;&#36335;&#38754;&#29366;<span class="_ _9"></span>&#24577;</div><div class="t m0 x8f h4 y78 ff3 fs1 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 x90 h4 y77 ff1 fs1 fc0 sc0 ls0 ws0">&#23454;<span class="_ _9"></span>&#26045;<span class="_ _9"></span>&#27169;<span class="_ _9"></span>&#31946;<span class="_ _f"></span>&#36923;<span class="_ _9"></span>&#36753;<span class="_ _f"></span>&#25511;<span class="_ _f"></span>&#21046;<span class="_ _9"></span>&#21644;</div><div class="t m0 x91 h5 y78 ff2 fs1 fc0 sc0 ls0 ws0">P<span class="_ _9"></span>ID</div><div class="t m0 x92 h4 y77 ff1 fs1 fc0 sc0 ls0 ws0">&#25511;</div><div class="t m0 x70 h4 y79 ff1 fs1 fc0 sc0 ls6 ws0">&#21046;&#30340;&#25104;&#26412;&#30456;&#23545;&#36739;&#20302;</div><div class="t m0 x8d h4 y7a ff3 fs1 fc0 sc0 ls0 ws0">&#65292;</div><div class="t m0 x8e h4 y79 ff1 fs1 fc0 sc0 ls6 ws0">&#20294;&#20854;&#25511;&#21046;&#31934;&#24230;&#19981;&#20339;</div><div class="t m0 x8b h4 y7a ff3 fs1 fc0 sc0 ls0 ws0">&#65307;</div><div class="t m0 xc h4 y79 ff1 fs1 fc0 sc0 ls0 ws0">&#23558;&#28369;<span class="_ _9"></span>&#27169;&#25511;<span class="_ _9"></span>&#21046;</div></div><div class="pi" data-data='{"ctm":[1.612022,0.000000,0.000000,1.612022,0.000000,0.000000]}'></div></div> </body> </html>
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