ճλһw늻WҺλϵy(tng)fճǺվ·oˮϵy(tng)PIOճҺλƮӰ푙CMİȫ(wn)\ijCANDU6CMYόH\нU늏Sճϵy(tng)\зʽă(yu)
ں늏SճҪȥYˮеܽoˮṩă뉺^l(f)ṩһˮb䡣ڙCM\ЕrYˮˮSճҺλOֵij늏S_ȲƷʽ^_ݔһ(IN1)Yˮݔ(IN2)oˮݔ(IN3)ճˮҺλ^ȲָÿȲOЃɂ·(LOOP1/LOOP2),LOOP2·ҺλLOOP1鸱·Yˮ{(ji)·Ǵ(lin)õLOOP1ݔֱҺλyڷѹʷ(wn)rճˮλȡQYˮcoˮ׃ƽ@ɂеһ׃ճҺλa^׃
Coˮˮճ׃rӰճҺλҪƺϵy(tng)ĄӑB(ti)׃^̣tҪPID팍F(xin){(ji)yĿ푑ͬrҪϵy(tng)\зʽMЃ(yu)ijCANDU6CMYόH\нU늏Sճϵy(tng)\зʽă(yu)
1ճλһw늻Wϵy(tng)(yu)
ij늏SճҺλϵy(tng)·քe·(ճҺλ)·(ó)ǰ·(l(f)oˮ)·Уˮλƫ·Ȕ_ǰaⲿ_˷̓ˮλF(xin)鱣C{oo/{(ji)PIDƷʽ
1.1(yu)
CMF(xin)˲B(ti)r݆CÓճʧȥ݆CͬrʧȥճˮYˮcoˮƥճҺλ½ճҺλڂÿycƵOֵrڷe헵£ҺλyѸȫ_ճҺλп|l(f)ճҺλoˮyP]ص׆ʧճˮ
ͨ^CM˲B(ti)rķ_JճҺλӵԭǿLoop2푑ƫҪϵy(tng)푑ĕr]иͨ^5%Mʷھ_ӌ_ճҺλh(hun)Loop2ă(yu)ƅ푑ٶȵpС˲B(ti)rճҺλ
1.2ÿOֵ(yu)
˲B(ti)rճҺλӵһԭǷe͕rgcCM˲B(ti)rҺλ½ٶȲƥˮy_^ճҺλ{Q@һ}ͨ^˲B(ti)rճҺλ½ȣm͂ÿҺλOֵpС˲B(ti)rճҺλcOֵ֮gƫʹÿy_pСϵy(tng)ě_ҺλڂÿOֵrÿyuP]_ʼ˳\РB(ti)pСճҺλٶȡͨ^CԓڙCM˲B(ti)r^ÿճҺλ
1.3ҺλyŚٶȃ(yu)
ճҺλڱoOֵrճˮyѸP]ԷֹˮλMһϝqyTPһ}P^죬ڛ_yTճҺλ½ҺλҪaˮrˮyo_ճҺλͨ^ճҺλϵy(tng)Һλ{(ji)yƚӻ·ķͬF(xin)ԇճҺλyӻ·еľoŚFͶ˿M׃Q@(ji)ԽŚٶӚyP]rgͨ^ԇ\CҺλyڙCMl(f)˲B(ti)rܿP]ҲͬrճҺλoȻ܉ҪF(xin)
1.4ur㷨(yu)ӵ
OӋĻAڌ،Ե˽ԼĿĿ˵Oڱ،ďs˂JRƣOӋrõČģͳcHƫĶ¿ܲ_AڵЧʹ\T(zh)pۓpM׃aƷ׃(ji)ӰҲʹܮaͻȻ׃@N׃ֱӌa^̵ĮaƷ|½Ӱ푹I(y)ϵy(tng)\ЧбҪMбO(jin)Ա㼰rl(f)F(xin)}Q}pʧ͵С
2λһw늻W\зʽ(yu)
˿ճҺλ(wn)ˌϵy(tng)MЃ(yu)oˮõĆӕrgpСճĶpСճҺλӡͬrͬĹˮƽճaˮķʽMЃ(yu)ͬӿӿϵy(tng)ķ(wn)pճҺλIJӡ
2.1oˮõĆӕrg
ڙCMA˽oճoˮѭh(hun)\oˮ\ЮağճȵˮMoˮÆ^磬ճȵˮ_l(f)ˮضҪrѹֲܼrߣl(f)ˮͱ^Сճȉm(x)ֻͨ^քӴ_Śyճճ(wn)픲M뵽ճYˮoӟᵽ͜ضճˮ渽ڄҵğύQճF(xin)ˮʎճҺλyaӣĶճҺλ\Ќ`oˮÆӕrgMcʵĕrgͬЧpСճҺλӡ
2.2ʕrքӿճҺλ
ѹʵ15%MʕrYˮoˮ^׃ܜʴ_ĜyHyCڙCMͣ^ЌF(xin)ճҺλȫԄӿH\нڵʕrl(f)ˮ^СճҺλ½^ԌճҺλԄӿƸĞքӿƣճˮλքMСaˮֹaˮʎճҺλӡѹʴ15%MʕrԄӿƣF(xin)ճҺλԄӿ`Cr@NƷʽЧճҺλӡ
֮ճҺλ(wn)늏Sİȫɿ\PҪͨ^ϵy(tng)(yu)\зʽă(yu)_ճҺλƷ(wn)늙CM\озdzHx