倒立摆控制

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倒立摆系统的模糊控制和LQR控制,对两种方法进行对比
LQR与FUZZY控制在单极倒立摆中的应用.rar
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<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/626ddc7240256a40ce6fce09/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/626ddc7240256a40ce6fce09/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> ht<span class="_ _0"></span>tp://<span class="_ _0"></span>www.p<span class="_ _0"></span>aper.ed<span class="_ _0"></span>u.cn </div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls1 ws1">- 1 - </div><div class="t m0 x3 h3 y3 ff2 fs1 fc1 sc1 ls2 ws2">&#20013;&#22269;<span class="fc0 sc2 ls3">&#31185;&#25216;&#35770;&#25991;<span class="_ _0"></span>&#22312;&#32447;</span></div><div class="t m0 x4 h4 y4 ff3 fs2 fc2 sc0 ls4 ws2"> <span class="ff1 fc0 ls3"> </span></div><div class="t m0 x5 h5 y5 ff1 fs3 fc0 sc0 ls5 ws2">LQR<span class="_ _1"> </span><span class="ff3 ls3">&#19982;<span class="_ _1"> </span></span><span class="ls6">FUZZY<span class="_ _1"> </span><span class="ff3 ls3">&#25511;&#21046;&#22312;&#21333;&#26497;&#20498;&#31435;&#25670;<span class="_ _2"></span>&#20013;&#30340;&#24212;&#29992;<span class="ff1"> </span></span></span></div><div class="t m0 x6 h6 y6 ff4 fs4 fc0 sc0 ls3 ws2">&#38472;&#21147;&#65292;&#29579;&#20975;</div><div class="t m0 x7 h7 y7 ff1 fs5 fc3 sc0 ls3 ws2">*</div><div class="t m0 x5 h8 y8 ff1 fs6 fc0 sc0 ls3 ws2"> <span class="_ _3"></span> </div><div class="t m0 x5 h2 y9 ff3 fs0 fc0 sc0 ls3 ws2">&#20316;&#32773;&#31616;&#20171;<span class="_ _2"></span>&#65306;<span class="ff4 ls7">&#38472;&#21147;</span><span class="ff1">(1986-)<span class="_ _2"></span><span class="ff4">&#65292;&#30007;<span class="_ _2"></span>&#65292;&#30805;&#22763;&#30740;<span class="_ _2"></span>&#31350;&#29983;<span class="_ _2"></span>&#65292;&#25511;&#21046;&#29702;<span class="_ _2"></span>&#35770;&#19982;<span class="_ _2"></span>&#25511;&#21046;&#24037;<span class="_ _2"></span>&#31243;<span class="ff1 ls8 ws3">. E<span class="_ _2"></span>-m<span class="_ _2"></span>ail:<span class="_ _2"></span> chenli1061<span class="_ _2"></span>@12<span class="_ _2"></span>6.co<span class="_ _2"></span>m </span></span></span></div><div class="t m0 x8 h8 ya ff5 fs6 fc0 sc0 ls3 ws2">&#65288;&#20013;&#22269;&#30719;&#19994;&#22823;&#23398;&#20449;&#24687;<span class="_ _2"></span>&#19982;&#30005;&#27668;&#24037;<span class="_ _2"></span>&#31243;&#23398;&#38498;&#65292;<span class="_ _2"></span>&#27743;&#33487;&#24464;&#24030;<span class="ff1 ws4"> 221<span class="_ _2"></span>008<span class="ff5 ws2">&#65289;<span class="ff1"> </span></span></span></div><div class="t m0 x5 h8 yb ff3 fs6 fc0 sc0 ls3 ws2">&#25688;&#35201;&#65306;<span class="ff6">&#26412;&#25991;&#23545;&#21333;&#32423;&#20498;&#31435;&#25670;&#31995;&#32479;&#30340;&#24179;&#34913;&#25511;&#21046;&#38382;&#39064;&#36827;&#34892;&#20102;&#30740;&#31350;&#12290;&#39318;&#20808;&#21033;&#29992;&#29275;&#39039;<span class="ff1">-</span>&#27431;&#25289;&#26041;&#27861;&#24314;&#31435;&#20102;</span></div><div class="t m0 x5 h8 yc ff6 fs6 fc0 sc0 ls3 ws2">&#20498;&#31435;&#25670;&#30340;&#25968;&#23398;&#27169;&#22411;<span class="_ _2"></span>&#65292;<span class="_ _4"></span>&#28982;&#21518;&#36827;&#34892;&#20102;<span class="_ _5"> </span><span class="ff1 ls9">LQ<span class="_ _0"></span>R<span class="_ _6"> </span></span>&#25511;&#21046;&#22120;&#21644;&#27169;&#31946;&#25511;<span class="_ _2"></span>&#21046;&#22120;&#30340;&#35774;&#35745;<span class="_ _2"></span>&#12290;<span class="_ _4"></span>&#36890;&#36807;<span class="ff1 lsa ws5"> Simulin<span class="_ _0"></span>k<span class="_ _5"> </span></span>&#23545;&#20498;&#31435;&#25670;</div><div class="t m0 x5 h9 yd ff6 fs6 fc0 sc0 ls3 ws2">&#31995;&#32479;&#36827;&#34892;&#20102;&#24314;&#27169;&#20223;&#30495;<span class="_ _2"></span>&#65292;<span class="_ _4"></span>&#21516;&#26102;&#20998;&#26512;&#20102;&#31995;&#32479;&#25511;&#21046;&#25928;<span class="_ _2"></span>&#26524;&#12290;<span class="_ _4"></span>&#32467;&#26524;&#34920;&#26126;&#65306;<span class="_ _3"></span>&#36825;<span class="_ _2"></span>&#20004;&#31181;&#27169;&#22411;<span class="_ _2"></span>&#22343;&#33021;&#35299;&#20915;<span class="_ _2"></span>&#38750;&#32447;&#24615;&#31995;</div><div class="t m0 x5 h9 ye ff6 fs6 fc0 sc0 ls3 ws2">&#32479;&#38382;&#39064;&#65292;<span class="_ _3"></span>&#23454;&#29616;&#20102;&#23545;&#21333;&#32423;&#20498;<span class="_ _2"></span>&#31435;&#25670;&#30340;&#31283;<span class="_ _2"></span>&#23450;&#25511;&#21046;&#65292;<span class="_ _3"></span>&#24182;<span class="_ _2"></span>&#19988;&#32467;&#26500;&#31616;&#21333;&#65292;<span class="_ _3"></span>&#24555;&#36895;&#24615;&#22909;&#12290;<span class="_ _3"></span>&#20026;<span class="_ _2"></span>&#20854;&#23427;&#38750;<span class="_ _2"></span>&#32447;&#24615;&#19981;&#31283;&#23450;</div><div class="t m0 x5 h8 yf ff6 fs6 fc0 sc0 ls3 ws2">&#30340;&#25511;&#21046;&#31995;&#32479;&#25552;&#20379;&#20102;&#19968;<span class="_ _2"></span>&#31181;&#26377;&#25928;&#30340;<span class="_ _2"></span>&#36884;&#24452;&#12290;<span class="ff1"> </span></div><div class="t m0 x5 h8 y10 ff3 fs6 fc0 sc0 ls3 ws2">&#20851;&#38190;&#35789;&#65306;<span class="ff5">&#33258;&#21160;&#25511;&#21046;&#25216;<span class="_ _2"></span>&#26415;&#65307;&#20498;&#31435;<span class="_ _2"></span>&#25670;&#65307;<span class="ff1 ls9">LQR<span class="_ _0"></span></span>&#65307;&#27169;&#31946;&#25511;&#21046;<span class="ff1"> </span></span></div><div class="t m0 x5 h8 y11 ff3 fs6 fc0 sc0 ls3 ws2">&#20013;&#22270;&#20998;&#31867;&#21495;&#65306;<span class="ff1">T<span class="_ _2"></span>P27 </span></div><div class="t m0 x5 h8 y12 ff1 fs6 fc0 sc0 ls3 ws2"> </div><div class="t m0 x9 ha y13 ff7 fs1 fc0 sc0 lsb ws6">The <span class="_ _2"></span>app<span class="_ _2"></span>l<span class="_ _2"></span>icat<span class="_ _2"></span>ion<span class="_ _2"></span> <span class="_ _2"></span>of L<span class="_ _2"></span>QR<span class="_ _2"></span> and<span class="_ _2"></span> F<span class="_ _2"></span>uz<span class="_ _2"></span>zy <span class="_ _2"></span>C<span class="_ _2"></span>ont<span class="_ _2"></span>rol t<span class="_ _2"></span>he<span class="_ _2"></span>or<span class="_ _2"></span>y t<span class="_ _2"></span>o a </div><div class="t m0 xa ha y14 ff7 fs1 fc0 sc0 lsc ws7">singl<span class="_ _0"></span>e i<span class="_ _0"></span>nverte<span class="_ _0"></span>d<span class="_ _2"></span> <span class="_ _0"></span>pendul<span class="_ _0"></span>um<span class="_ _2"></span> </div><div class="t m0 xb hb y15 ff1 fs4 fc0 sc0 lsd ws8">CH<span class="_ _2"></span>EN Li<span class="_ _7"></span>, WA<span class="_ _7"></span>NG K<span class="_ _2"></span>ai </div><div class="t m0 xc h8 y16 ff1 fs6 fc0 sc0 lse ws9">(<span class="_ _0"></span>In<span class="_ _0"></span>for<span class="_ _8"></span>m<span class="_ _2"></span>a<span class="_ _8"></span>ti<span class="_ _8"></span>o<span class="_ _0"></span>n a<span class="_ _0"></span>nd e<span class="_ _0"></span>l<span class="_ _0"></span>ec<span class="_ _0"></span>tr<span class="_ _0"></span>i<span class="_ _0"></span>ca<span class="_ _0"></span>l<span class="_ _0"></span> e<span class="_ _0"></span>ngi<span class="_ _8"></span>ne<span class="_ _0"></span>er<span class="_ _0"></span>i<span class="_ _0"></span>ng <span class="_ _0"></span>Sc<span class="_ _0"></span>h<span class="_ _0"></span>o<span class="_ _0"></span>ol,<span class="_ _0"></span>C<span class="_ _0"></span>hi<span class="_ _8"></span>na<span class="_ _0"></span> U<span class="_ _0"></span>ni<span class="_ _0"></span>ver<span class="_ _0"></span>s<span class="_ _0"></span>it<span class="_ _8"></span>y <span class="_ _0"></span>of Mi<span class="_ _8"></span>ni<span class="_ _0"></span>n<span class="_ _0"></span>g a<span class="_ _0"></span>n<span class="_ _0"></span>d Te<span class="_ _0"></span>c<span class="_ _0"></span>h<span class="_ _0"></span>no<span class="_ _0"></span>lo<span class="_ _0"></span>g<span class="_ _0"></span>y, </div><div class="t m0 xd h8 y17 ff1 fs6 fc0 sc0 ls3 ws4">Jia<span class="_ _0"></span>n<span class="_ _2"></span>gSu<span class="_ _2"></span>, <span class="_ _9"></span>XuZhou<span class="_ _2"></span> 221008) </div><div class="t m0 x5 hc y18 ff7 fs7 fc0 sc0 lsf ws2">Ab<span class="_ _2"></span>stra<span class="_ _2"></span>ct:<span class="_ _2"></span><span class="ff1 ls10 wsa"> <span class="_ _2"></span>Th<span class="_ _0"></span>e bal<span class="_ _0"></span>an<span class="_ _0"></span>ce contr<span class="_ _0"></span>ol<span class="_ _0"></span> of a singl<span class="_ _0"></span>e inver<span class="_ _0"></span>ted<span class="_ _0"></span> pen<span class="_ _0"></span>dul<span class="_ _0"></span>um sy<span class="_ _2"></span>st<span class="_ _0"></span>em wa<span class="_ _0"></span>s focus<span class="_ _0"></span>ed in<span class="_ _0"></span> thi<span class="_ _0"></span>s pap<span class="_ _0"></span>er.<span class="_ _0"></span>Fir<span class="_ _0"></span>stl<span class="_ _0"></span>y<span class="_ _2"></span>,<span class="_ _0"></span>a<span class="_ _0"></span> </span></div><div class="t m0 x5 hd y19 ff1 fs7 fc0 sc0 ls11 wsb">mat<span class="_ _7"></span>h<span class="_ _0"></span>ema<span class="_ _2"></span>tic<span class="_ _2"></span>al<span class="_ _7"></span> mode<span class="_ _2"></span>l f<span class="_ _2"></span>o<span class="_ _2"></span>r t<span class="_ _2"></span>he<span class="_ _2"></span> pe<span class="_ _7"></span>n<span class="_ _0"></span>du<span class="_ _2"></span>lum<span class="_ _2"></span> w<span class="_ _7"></span>as s<span class="_ _2"></span>et u<span class="_ _7"></span>p b<span class="_ _2"></span>y<span class="_ _7"></span> usi<span class="_ _2"></span>ng t<span class="_ _2"></span>he<span class="_ _2"></span> Ne<span class="_ _2"></span>w<span class="_ _2"></span> to<span class="_ _2"></span>n-Eu<span class="_ _2"></span>le<span class="_ _2"></span>r <span class="_ _2"></span>me<span class="_ _2"></span>tho<span class="_ _2"></span>d,t<span class="_ _2"></span>he<span class="_ _2"></span>n de<span class="_ _2"></span>sig<span class="_ _7"></span>n<span class="_ _0"></span>e<span class="_ _2"></span>d </div><div class="t m0 x5 hd y1a ff1 fs7 fc0 sc0 ls12 wsc">LQR an<span class="_ _8"></span>d fuzz<span class="_ _0"></span>y co<span class="_ _2"></span>n<span class="_ _0"></span>t<span class="_ _0"></span>r<span class="_ _0"></span>oll<span class="_ _0"></span>er<span class="_ _0"></span>.Si<span class="_ _0"></span>mul<span class="_ _0"></span>at<span class="_ _0"></span>ion an<span class="_ _0"></span>d ana<span class="_ _0"></span>l<span class="_ _0"></span>y<span class="_ _2"></span>si<span class="_ _0"></span>s wer<span class="_ _0"></span>e car<span class="_ _0"></span>r<span class="_ _0"></span>ied out<span class="_ _0"></span> t<span class="_ _0"></span>o ana<span class="_ _0"></span>lyze th<span class="_ _0"></span>e con<span class="_ _0"></span>tr<span class="_ _8"></span>ol effect<span class="_ _0"></span>s o<span class="_ _0"></span>f th<span class="_ _0"></span>e </div><div class="t m0 x5 hd y1b ff1 fs7 fc0 sc0 ls12 wsd">s<span class="_ _0"></span>y<span class="_ _2"></span>st<span class="_ _0"></span>em b<span class="_ _0"></span>y<span class="_ _2"></span> Si<span class="_ _0"></span>m<span class="_ _0"></span>ul<span class="_ _0"></span>in<span class="_ _0"></span>k.Th<span class="_ _8"></span>e resu<span class="_ _0"></span>lt<span class="_ _0"></span>s sh<span class="_ _0"></span>ow<span class="_ _2"></span>ed t<span class="_ _0"></span>h<span class="_ _0"></span>at<span class="_ _0"></span> the t<span class="_ _0"></span>wo model<span class="_ _0"></span>s r<span class="_ _0"></span>eali<span class="_ _0"></span>z<span class="_ _0"></span>ed th<span class="_ _0"></span>e st<span class="_ _0"></span>ead<span class="_ _0"></span>y<span class="_ _2"></span> con<span class="_ _0"></span>t<span class="_ _0"></span>r<span class="_ _0"></span>ol an<span class="_ _0"></span>d solved t<span class="_ _0"></span>h<span class="_ _0"></span>e </div><div class="t m0 x5 hd y1c ff1 fs7 fc0 sc0 ls12 wse">n<span class="_ _0"></span>o<span class="_ _2"></span>n<span class="_ _0"></span>l<span class="_ _0"></span>in<span class="_ _0"></span>ear pr<span class="_ _0"></span>oblem<span class="_ _0"></span> success<span class="_ _0"></span>fu<span class="_ _0"></span>ll<span class="_ _8"></span>y<span class="_ _2"></span> wit<span class="_ _0"></span>h s<span class="_ _0"></span>imp<span class="_ _0"></span>le con<span class="_ _0"></span>s<span class="_ _0"></span>truct<span class="_ _0"></span>i<span class="_ _0"></span>onan<span class="_ _0"></span>d and fa<span class="_ _0"></span>st<span class="_ _0"></span>-sp<span class="_ _0"></span>eed beh<span class="_ _0"></span>a<span class="_ _0"></span>vior<span class="_ _0"></span>s.<span class="_ _0"></span>Fur<span class="_ _0"></span>th<span class="_ _0"></span>er mor<span class="_ _0"></span>e,th<span class="_ _0"></span>e </div><div class="t m0 x5 hd y1d ff1 fs7 fc0 sc0 ls13 wsf">ef<span class="_ _0"></span>fe<span class="_ _0"></span>ct<span class="_ _0"></span>i<span class="_ _0"></span>v<span class="_ _0"></span>e wa<span class="_ _0"></span>ys<span class="_ _0"></span> i<span class="_ _0"></span>s pr<span class="_ _8"></span>opos<span class="_ _0"></span>ed<span class="_ _0"></span> t<span class="_ _0"></span>o c<span class="_ _0"></span>on<span class="_ _0"></span>t<span class="_ _0"></span>r<span class="_ _0"></span>ol<span class="_ _0"></span> oth<span class="_ _8"></span>er<span class="_ _0"></span> non<span class="_ _0"></span>li<span class="_ _0"></span>n<span class="_ _0"></span>ea<span class="_ _0"></span>r<span class="_ _0"></span> an<span class="_ _0"></span>d un<span class="_ _0"></span>st<span class="_ _0"></span>a<span class="_ _0"></span>bl<span class="_ _0"></span>e s<span class="_ _0"></span>yst<span class="_ _0"></span>em<span class="_ _0"></span>s<span class="_ _0"></span>.<span class="_ _0"></span> </div><div class="t m0 x5 hc y1e ff7 fs7 fc0 sc0 ls14 ws10">Key<span class="_ _2"></span> wo<span class="_ _7"></span>rds: <span class="ff1">C<span class="_ _2"></span>o<span class="_ _2"></span>ntro<span class="_ _2"></span>l te<span class="_ _2"></span>c<span class="_ _2"></span>hno<span class="_ _2"></span>lo<span class="_ _2"></span>gy<span class="_ _2"></span>;Inv<span class="_ _2"></span>erte<span class="_ _2"></span>d pe<span class="_ _7"></span>n<span class="_ _0"></span>du<span class="_ _7"></span>lum; L<span class="_ _2"></span>QR<span class="_ _7"></span>; Fu<span class="_ _2"></span>zzy<span class="_ _7"></span> co<span class="_ _2"></span>ntr<span class="_ _0"></span>o<span class="_ _2"></span>l </span></div><div class="t m0 x9 h8 y1f ff1 fs6 fc0 sc0 ls3 ws2"> </div><div class="t m0 x5 he y20 ff7 fs8 fc0 sc0 ls3 ws2">0<span class="ff8"> <span class="_ _a"> </span><span class="ff4 sc2 ls15">&#24341;&#35328;</span></span> </div><div class="t m0 x9 hf y21 ff4 fs6 fc0 sc0 ls3 ws2">&#20498;&#31435;&#25670;&#31995;&#32479;&#26159;&#30740;&#31350;&#25511;<span class="_ _7"></span>&#21046;&#29702;&#35770;&#30340;&#23454;&#39564;&#24179;&#21488;<span class="_ _2"></span>&#65292;<span class="_ _b"></span>&#30001;&#20110;&#23427;&#30340;&#34892;<span class="_ _7"></span>&#20026;&#19982;&#28779;&#31661;&#39134;&#34892;&#20197;&#21450;&#20004;<span class="_ _2"></span>&#36275;&#26426;&#22120;&#20154;&#34892;&#36208;</div><div class="t m0 x5 hf y22 ff4 fs6 fc0 sc0 ls3 ws2">&#26377;&#24456;&#22823;&#30456;&#20284;&#24615;&#65292;<span class="_ _3"></span>&#22240;&#32780;&#23545;&#20854;&#30740;<span class="_ _7"></span>&#31350;&#20855;&#26377;&#37325;&#22823;&#30340;&#29702;&#35770;<span class="_ _2"></span>&#21644;&#23454;&#36341;&#24847;&#20041;</div><div class="t m0 xe h10 y23 ff1 fs9 fc4 sc0 ls16 ws2">[1]</div><div class="t m0 xf hf y24 ff4 fs6 fc0 sc0 ls3 ws2">&#12290;<span class="_ _3"></span>&#20498;&#31435;&#25670;&#31995;&#32479;&#20316;&#20026;&#30740;&#31350;&#25511;&#21046;&#29702;&#35770;</div><div class="t m0 x5 hf y25 ff4 fs6 fc0 sc0 ls3 ws2">&#30340;&#19968;&#31181;&#20856;&#22411;&#30340;&#23454;&#39564;&#35013;<span class="_ _7"></span>&#32622;&#65292;<span class="_ _3"></span>&#20855;&#26377;&#25104;&#26412;&#20302;&#24265;&#12289;<span class="_ _3"></span>&#32467;&#26500;<span class="_ _2"></span>&#31616;&#21333;&#12289;<span class="_ _3"></span>&#29289;&#29702;&#21442;&#25968;&#21644;<span class="_ _2"></span>&#32467;&#26500;&#26131;&#20110;<span class="_ _2"></span>&#35843;&#25972;&#30340;&#20248;&#28857;&#12290;<span class="_ _3"></span>&#28982;&#32780;</div><div class="t m0 x5 hf y26 ff4 fs6 fc0 sc0 ls3 ws2">&#20498;&#31435;&#25670;&#31995;&#32479;&#26412;&#36523;&#25152;&#20855;<span class="_ _7"></span>&#26377;&#30340;&#39640;&#38454;&#27425;&#12289;<span class="_ _3"></span>&#19981;&#31283;&#23450;&#12289;<span class="_ _3"></span>&#22810;<span class="_ _2"></span>&#21464;&#37327;&#12289;<span class="_ _3"></span>&#38750;&#32447;&#24615;&#21644;&#24378;<span class="_ _2"></span>&#32806;&#21512;&#29305;&#24615;&#65292;<span class="_ _3"></span>&#26159;<span class="_ _2"></span>&#19968;&#20010;&#32477;&#23545;&#19981;&#31283;</div><div class="t m0 x5 hf y27 ff4 fs6 fc0 sc0 ls3 ws2">&#23450;&#31995;&#32479;&#12290;<span class="_ _c"></span>&#25105;&#20204;&#24517;&#39035;&#37319;&#29992;&#21313;&#20998;<span class="_ _7"></span>&#26377;&#25928;&#30340;&#25511;&#21046;&#31574;&#30053;&#25165;<span class="_ _2"></span>&#33021;&#20351;&#20043;&#31283;&#23450;</div><div class="t m0 x10 h10 y28 ff1 fs9 fc4 sc0 ls16 ws2">[2]</div><div class="t m0 x11 hf y29 ff4 fs6 fc0 sc0 ls3 ws2">&#12290;<span class="_ _c"></span>&#26412;&#25991;&#20197;&#21333;&#32423;&#20498;&#31435;&#25670;&#20026;&#30740;&#31350;&#23545;&#35937;&#65292;</div><div class="t m0 x5 h8 y2a ff4 fs6 fc0 sc0 ls3 ws2">&#36816;&#29992;&#29275;&#39039;<span class="ff1">-</span>&#27431;&#25289;&#26041;&#27861;&#20026;&#20854;&#24314;&#31435;&#25968;&#23398;&#27169;&#22411;&#65292;&#24182;&#23545;&#20854;&#36827;&#34892;&#20102;&#22522;&#20110;&#26368;&#20248;&#25511;&#21046;&#29702;&#35770;&#30340;<span class="ff1 ls9 ws11"> LQ<span class="_ _0"></span>R<span class="_"> </span></span>&#25511;&#21046;&#20197;&#21450;</div><div class="t m0 x5 h8 y2b ff4 fs6 fc0 sc0 ls3 ws2">&#22522;&#20110;&#27169;&#31946;&#25511;&#21046;&#29702;&#35770;&#30340;<span class="_ _7"></span>&#27169;&#31946;&#25511;&#21046;&#12290;&#29992;&#20223;&#30495;<span class="_ _2"></span>&#26041;&#27861;&#23545;&#25511;&#21046;&#31995;<span class="_ _2"></span>&#32479;&#36827;&#34892;&#20102;&#31995;<span class="_ _2"></span>&#32479;&#24615;&#33021;&#30740;&#31350;&#21644;&#27604;&#36739;<span class="_ _2"></span>&#12290;<span class="ff1"> </span></div><div class="t m0 x5 he y2c ff7 fs8 fc0 sc0 ls3 ws2">1<span class="ff8"> <span class="_ _a"> </span><span class="ff4 sc2">&#21333;&#26497;&#20498;<span class="_ _0"></span>&#31435;&#25670;&#25968;<span class="_ _0"></span>&#23398;&#24314;&#27169;<span class="_ _0"></span></span></span> </div><div class="t m0 x9 hf y2d ff4 fs6 fc0 sc0 ls3 ws2">&#22312;&#24573;&#30053;&#20102;&#31354;&#27668;&#38459;&#21147;&#21644;<span class="_ _7"></span>&#21508;&#31181;&#25705;&#25830;&#20043;&#21518;&#65292;<span class="_ _d"></span>&#21487;&#23558;&#30452;&#32447;&#21333;&#32423;&#20498;<span class="_ _7"></span>&#31435;&#25670;&#31995;&#32479;&#25277;&#35937;&#25104;&#23567;&#36710;<span class="_ _2"></span>&#21644;&#21248;&#36136;&#26438;&#32452;&#25104;</div><div class="t m0 x5 h8 y2e ff4 fs6 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