銆�銆�鍓嶉�嬫帶鍒讹紙Feedforward Control锛夋槸涓�绋�鍩轰簬闋�(y霉)娓�(c猫)绯荤当(t菕ng)杓稿叆鍜屽共鎿剧殑鎺у埗绛栫暐锛屾棬鍦ㄩ�氶亷(gu貌)鎻愬墠灏�(du矛)绯荤当(t菕ng)閫�(j矛n)琛岃��(b菙)鍎熶締(l谩i)娑堥櫎鎴栨笡灏忎笉鍙�鎺у洜绱犲��(du矛)杓稿嚭鐨勫奖闊�銆傝垏鍙嶉�嬫帶鍒剁浉姣旓紝鍓嶉�嬫帶鍒舵洿娉ㄩ噸灏�(du矛)绯荤当(t菕ng)杓稿叆淇¤櫉(h脿o)鐨勯爯(y霉)娓�(c猫)鍜岃��(b菙)鍎�锛屼互鎻愰珮绯荤当(t菕ng)鐨勭┅(w臎n)瀹氭�у拰闊挎噳(y墨ng)閫熷害銆�

銆�銆�鍓嶉�嬫帶鍒剁殑鍘熺悊鍩轰簬灏�(du矛)绯荤当(t菕ng)杓稿叆鍜屽共鎿剧殑闋�(y霉)娓�(c猫)銆傞�氬父锛岄�氶亷(gu貌)寤虹珛妯″瀷鎴栦及瑷�(j矛)绯荤当(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)闂�(gu膩n)绯�锛岄爯(y霉)娓�(c猫)鏈�渚�(l谩i)杓稿叆淇¤櫉(h脿o)锛屽苟鏍规摎(j霉)闋�(y霉)娓�(c猫)绲�(ji茅)鏋滄彁鍓嶅皪(du矛)杓稿嚭閫�(j矛n)琛岃��(di脿o)绡�(ji茅)銆傞�欐ǎ鍙�浠ユ湁鏁堝湴鎶垫秷骞叉摼灏�(du矛)绯荤当(t菕ng)杓稿嚭鐨勫奖闊�锛屾彁楂樻帶鍒剁郴绲�(t菕ng)鐨勬�ц兘銆�

銆�銆�鍓嶉�嬫帶鍒跺彲浠ュ垎鐐轰互涓嬪咕绋�甯歌��(ji脿n)椤�(l猫i)鍨嬶細
銆�銆�1 鍩轰簬妯″瀷鐨勫墠楗嬫帶鍒讹細鍩轰簬妯″瀷鐨勫墠楗嬫帶鍒跺埄鐢ㄧ郴绲�(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷锛岄�氶亷(gu貌)闋�(y霉)娓�(c猫)鏈�渚�(l谩i)杓稿叆淇¤櫉(h脿o)锛屽苟灏囧叾浣滅偤鎺у埗鎸囦护鎻愬墠鎳�(y墨ng)鐢ㄤ簬绯荤当(t菕ng)涓�銆傞�欑ó鏂规硶闇�瑕佹簴(zh菙n)纰哄缓绔嬬郴绲�(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)妯″瀷锛屽苟鑰冩叜鍒板彲鑳界殑骞叉摼渚�(l谩i)婧�銆�
銆�銆�2 鑷�閬╂��(y墨ng)鍓嶉�嬫帶鍒讹細鑷�閬╂噳(y墨ng)鍓嶉�嬫帶鍒舵牴鎿�(j霉)绯荤当(t菕ng)鐨勫��(sh铆)鏅�(sh铆)闊挎噳(y墨ng)鍜屽弽楗嬩俊鎭�锛屽��(d貌ng)鎱�(t脿i)鍦拌��(di脿o)鏁磋��(b菙)鍎熶俊铏�(h脿o)銆傚畠鍙�浠ユ牴鎿�(j霉)绯荤当(t菕ng)鐙�鎱�(t脿i)鐨勮畩鍖栭��(j矛n)琛屽弮鏁�(sh霉)瑾�(di脿o)鏁�锛屼互閬╂噳(y墨ng)涓嶅悓鐨勫伐浣滄�濅欢鍜屽共鎿炬��銆�
銆�銆�3 闋�(y霉)娓�(c猫)鎺у埗锛氶爯(y霉)娓�(c猫)鎺у埗鏄�涓�绋�鍩轰簬妯″瀷鍜屾�峰彶鏁�(sh霉)鎿�(j霉)鐨勫墠楗嬫帶鍒舵柟娉�銆傞�氶亷(gu貌)闋�(y霉)娓�(c猫)绯荤当(t菕ng)鏈�渚�(l谩i)鐨勮几鍑�锛屽苟瑷�(j矛)绠楀嚭鐩告噳(y墨ng)鐨勬帶鍒舵寚浠わ紝浠ユ彁鍓嶅皪(du矛)杓稿嚭閫�(j矛n)琛岃��(di脿o)绡�(ji茅)銆傞爯(y霉)娓�(c猫)鎺у埗鍙�浠ュ湪闀�(zh菐ng)鏅�(sh铆)闁撳欢閬插拰涓嶇⒑瀹氭�х挵(hu谩n)澧冧笅瀵�(sh铆)鐝�(xi脿n)杓冨ソ鐨勬帶鍒舵晥鏋溿��

銆�銆�鍓嶉�嬫帶鍒剁浉姣斾簬鍌崇��(t菕ng)鐨勫弽楗嬫帶鍒跺叿鏈変互涓嬪劒(y艒u)鍕�(sh矛)锛�
銆�銆�1 鎶垫秷骞叉摼锛氬墠楗嬫帶鍒跺彲浠ユ彁鍓嶅皪(du矛)骞叉摼閫�(j矛n)琛岃��(b菙)鍎�锛屽緸鑰屾笡灏忔垨娑堥櫎骞叉摼灏�(du矛)绯荤当(t菕ng)杓稿嚭鐨勫奖闊裤�傞�欎娇寰楁帶鍒剁郴绲�(t菕ng)鏇村姞绌�(w臎n)瀹�銆佸彲闈�锛屽苟鎻愰珮浜嗙郴绲�(t菕ng)鐨勬姉骞叉摼鑳藉姏銆�
銆�銆�2 蹇�閫熼熆鎳�(y墨ng)锛氱敱浜庡墠楗嬫帶鍒堕爯(y霉)娓�(c猫)鍜屾彁鍓嶈��(di脿o)绡�(ji茅)杓稿嚭锛屽彲浠ユ笡灏忕郴绲�(t菕ng)鐨勯熆鎳�(y墨ng)鏅�(sh铆)闁�銆傞�欐剰鍛宠憲绯荤当(t菕ng)鑳藉�犳洿蹇�鍦伴仈(d谩)鍒版湡鏈涚殑鐙�鎱�(t脿i)鎴栫洰妯�(bi膩o)锛屽皪(du矛)浜庨渶瑕佸揩閫熷嫊(d貌ng)鎱�(t脿i)闊挎噳(y墨ng)鐨勬噳(y墨ng)鐢ㄥ挨鐐洪噸瑕�銆�
銆�銆�3 婧�(zh菙n)纰烘�у拰绮惧害锛氶�氶亷(gu貌)鎻愬墠灏�(du矛)绯荤当(t菕ng)閫�(j矛n)琛岄爯(y霉)娓�(c猫)鍜岃��(b菙)鍎�锛屽墠楗嬫帶鍒跺彲浠ラ’钁楁彁楂樻帶鍒剁郴绲�(t菕ng)鐨勬簴(zh菙n)纰烘�у拰绮惧害銆傞�欏湪闇�瑕侀珮绮惧害鎺у埗鐨勬噳(y墨ng)鐢ㄩ牁(l菒ng)鍩燂紝濡傛��(j墨)鍣ㄤ汉鎿嶄綔鍜岀簿瀵嗗剙鍣ㄧ瓑鏂归潰鍏锋湁閲嶈�佹剰缇�銆�
銆�銆�4 鎶戝埗涓嶅彲鎺у洜绱狅細鍓嶉�嬫帶鍒跺彲浠ラ�氶亷(gu貌)闋�(y霉)娓�(c猫)鍜岃��(b菙)鍎熺郴绲�(t菕ng)杓稿叆淇¤櫉(h脿o)涓�鐨勪笉鍙�鎺у洜绱�锛屽緸鑰屾姂鍒跺叾灏�(du矛)绯荤当(t菕ng)杓稿嚭鐨勫奖闊�銆傞�欎娇寰楃郴绲�(t菕ng)鑳藉�犳洿濂藉湴鎳�(y墨ng)灏�(du矛)澶栭儴鎿惧嫊(d貌ng)鍜岃畩鍖�锛屾彁楂樹簡绯荤当(t菕ng)鐨勭┅(w臎n)瀹氭�у拰榄�妫掓��銆�
銆�銆�5 娓涘皬璨�(f霉)杓夊皪(du矛)绯荤当(t菕ng)鐨勫奖闊匡細鍦ㄤ竴浜涜矤(f霉)杓夎純澶ф垨璁婂寲杓冨揩鐨勭郴绲�(t菕ng)涓�锛屽墠楗嬫帶鍒跺彲浠ユ笡灏忚矤(f霉)杓夊皪(du矛)绯荤当(t菕ng)杓稿嚭鐨勫奖闊�銆傞�氶亷(gu貌)闋�(y霉)娓�(c猫)璨�(f霉)杓夎畩鍖栧苟鍙婃檪(sh铆)閫�(j矛n)琛岃��(b菙)鍎�锛岀郴绲�(t菕ng)鍙�浠ユ洿濂藉湴閬╂��(y墨ng)璨�(f霉)杓夎畩鍖�锛屾彁楂樹簡绯荤当(t菕ng)鐨勬帶鍒舵�ц兘鍜岀┅(w臎n)瀹氭�с��

銆�銆�鍓嶉�嬫帶鍒跺湪鍚勫��(g猫)闋�(l菒ng)鍩熼兘鏈夊唬娉涚殑鎳�(y墨ng)鐢�銆備互涓嬫槸涓�浜涘吀鍨嬬殑鎳�(y墨ng)鐢ㄦ�堜緥锛�
銆�銆�1 宸ユキ(y猫)鑷�鍕�(d貌ng)鍖栵細鍦ㄥ伐妤�(y猫)鐢熺敘(ch菐n)閬�(gu貌)绋嬩腑锛屽墠楗嬫帶鍒跺彲鐢ㄤ簬闋�(y霉)娓�(c猫)鍜岃��(b菙)鍎熸潗鏂欐祦銆佹韩搴﹁畩鍖�銆佸�撳姏璁婂寲绛夊洜绱犵殑褰遍熆锛屼互鎻愰珮鐢熺��(ch菐n)绶氱殑绌�(w臎n)瀹氭�у拰鏁堢巼銆�
銆�銆�2 姗�(j墨)鍣ㄤ汉鎶�琛�(sh霉)锛氬湪姗�(j墨)鍣ㄤ汉鎺у埗涓�锛屽墠楗嬫帶鍒跺彲鐢ㄤ簬闋�(y霉)娓�(c猫)鍜岃��(b菙)鍎熷悇绋�鍥犵礌灏�(du矛)姗�(j墨)鍣ㄤ汉鍕�(d貌ng)浣滅殑褰遍熆锛屼互鎻愰珮姗�(j墨)鍣ㄤ汉鐨勭簿搴﹀拰閫熷害銆備緥濡�锛屽湪鐗╂枡鎼�閬�(y霉n)涓�锛岄�氶亷(gu貌)闋�(y霉)娓�(c猫)鐗╅珨鐨勯噸蹇冨拰閬�(y霉n)鍕�(d貌ng)杌岃贰锛屾��(j墨)鍣ㄤ汉鍙�浠ユ洿婧�(zh菙n)纰哄湴鎶撳彇鍜屾斁缃�鐗╅��銆�
銆�銆�3 鑸�绌鸿埅澶╋細鍦ㄨ埅绌鸿埅澶╅��(l菒ng)鍩�锛屽墠楗嬫帶鍒跺彲鐢ㄤ簬闋�(y霉)娓�(c猫)鍜岃��(b菙)鍎熼�涜�屽櫒鍙楀埌鐨勬埃娴�銆侀噸鍔涚瓑鍥犵礌鐨勫奖闊�锛屼互淇濇寔椋涜�屽櫒鐨勭��(w臎n)瀹氭�у拰瀹夊叏鎬с�傞�欏皪(du矛)浜庨�涜�屽櫒鐨勮嚜鍕�(d貌ng)椐曢�涘拰灏�(d菐o)鑸�闈炲父閲嶈��銆�
銆�銆�4 鏅鸿兘浜ら�氱郴绲�(t菕ng)锛氬湪鏅鸿兘浜ら�氱郴绲�(t菕ng)涓�锛屽墠楗嬫帶鍒跺彲鐢ㄤ簬闋�(y霉)娓�(c猫)鍜岃��(b菙)鍎熻粖(ch膿)杓涙祦閲�銆佷氦閫氫俊铏�(h脿o)绛夊洜绱犵殑褰遍熆锛屼互?x煤n)?y艒u)鍖栦氦閫氭祦鏆㈠害鍜屾笡灏戞搧鍫点�傞�氶亷(gu貌)鎻愬墠瑾�(di脿o)鏁翠俊铏�(h脿o)鐕堟檪(sh铆)闁撳拰璺�绶氳��(gu墨)鍔�锛屽彲浠ュ��(sh铆)鐝�(xi脿n)鏇撮珮鏁堢殑浜ら�氱�＄��銆�