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<div> <div> <div id="article-table-of-contents" data-ismobile="false"> <div class="TableOfContents_tableOfContents__0jAuv"> <div class="TableOfContents_tableOfContents__title__CH9Lz"> 在这一页上</gydF4y2Badiv> <a class="TableOfContents_tableOfContents__item__JJil1" href="#abstract">文摘</一个><一个cl作为年代="TableOfContents_tableOfContents__item__JJil1" href="#introduction">介绍</一个><一个cl作为年代="TableOfContents_tableOfContents__item__JJil1" href="#experimental-results">实验结果</一个><一个cl作为年代="TableOfContents_tableOfContents__item__JJil1" href="#conclusions">结论</一个><一个cl作为年代="TableOfContents_tableOfContents__item__JJil1" href="#references">引用</一个><一个cl作为年代="TableOfContents_tableOfContents__item__JJil1" href="#copyright">版权</一个><一个cl作为年代="TableOfContents_tableOfContents__item__JJil1" href="#related-articles">相关文章</一个></div> </div> </div> </div> </div> <div class="ant-col ThreeColumnLayout_middleColumn__sbd41"> <div class="ArticleMiddleSection_articleMiddleSection__gAv9z"> <div class="articleHeader"> <strong>研究文章|<gydF4y2Ba!-- -->开放获取</年代trong> <div class="articleHeader__meta"> <span>体积<gydF4y2Ba!-- -->2012年<gydF4y2Ba!-- -->|</年代p一个n><年代p一个n>文章的ID<gydF4y2Ba!-- -->319828年<gydF4y2Ba!-- -->|</年代p一个n><年代p一个ncl作为年代="articleHeader__meta_doiLink"><a href="https://doi.org/10.1155/2012/319828" aria-label="Doi-link" target="_blank" rel="noreferrer">https://doi.org/10.1155/2012/319828</一个></年代p一个n></div> <div class="simpleShowMore"> <button class="simpleShowMore__button">显示引用</gydF4y2Babutton> </div> <h1 class="articleHeader__title">永磁同步电动机驱动的混合RFNN控制电动自行车使用转子磁通估计量</gydF4y2Bah1> <div class="articleHeader__authors"> <span class="articleHeader__authors_author"><strong>Chih-Hong林</年代trong><a href="//www.newsama.com/cdn-cgi/l/email-protection" aria-label="Mail Option"><span role="img" class="anticon"> <svg version="1.0" xmlns="http://www.w3.org/2000/svg" width="1em" height="1em" viewbox="0 0 1401 1101"> <path fill="#6ba439" d="M132.5 2.1C101.4 6 71.1 20.5 48.3 42.4c-22.7 21.7-37.5 48.3-44.6 80l-2.2 10.1v837l2.2 10.1c6.7 30 19.3 53.9 39.8 75.3 23.3 24.3 56.4 40.9 90 45 12.8 1.6 1122.2 1.6 1135 0 38.9-4.8 75.9-25.6 100-56.4 15-19.3 24.2-39 29.8-63.9l2.2-10.1v-837l-2.2-10.1c-7.1-31.8-21.9-58.3-44.6-80.1-20.2-19.2-43.9-31.7-73.6-38.5l-9.6-2.3L705 1.4c-321.9-.1-568.5.2-572.5.7zm1123.4 99.5c1.7.4 3.1 1 3.1 1.4 0 .5-125.6 87.7-279 194L700.9 490.2 422 297C268.5 190.7 143 103.4 143 103c0-.5 1-1.1 2.3-1.3 3.5-.7 1107.1-.8 1110.6-.1zM401 404c164.4 113.8 299.4 207 300 207 .6 0 135.6-93.2 300.1-207 164.5-113.9 299.3-207 299.5-207 .2 0 .4 170.9.4 379.7 0 417.9.5 386-6.1 398.3-6.2 11.6-19 21.4-31.9 24.4-5.8 1.4-67.4 1.6-562 1.6s-556.2-.2-562-1.6c-12.9-3-25.7-12.8-31.9-24.4-6.6-12.3-6.1 19.6-6.1-398.3 0-208.8.2-379.7.5-379.7S236.6 290.1 401 404z"></path> </svg></span></a><a href="http://orcid.org/0000-0001-8052-1137" aria-label="Redirect to Doi" target="_blank" rel="noreferrer"><span role="img" class="anticon"> <svg xmlns="http://www.w3.org/2000/svg" viewbox="0 0 256 256" xml:space="preserve" width="1em" height="1em"> <path d="M256 128c0 70.7-57.3 128-128 128S0 198.7 0 128 57.3 0 128 0s128 57.3 128 128z" fill="#a6ce39"></path> <path d="M86.3 186.2H70.9V79.1h15.4v107.1zm22.6-107.1h41.6c39.6 0 57 28.3 57 53.6 0 27.5-21.5 53.6-56.8 53.6h-41.8V79.1zm15.4 93.3h24.5c34.9 0 42.9-26.5 42.9-39.7C191.7 111.2 178 93 148 93h-23.7v79.4zM88.7 56.8c0 5.5-4.5 10.1-10.1 10.1s-10.1-4.6-10.1-10.1c0-5.6 4.5-10.1 10.1-10.1s10.1 4.6 10.1 10.1z" fill="#fff"></path> </svg></span></a><sup>1</年代up></span> <span class="articleHeader__authors_author">和<gydF4y2Ba!-- -->Chih-Peng林<年代up>2</年代up></span> </div> <div class="simpleShowMore"> <button class="simpleShowMore__button">显示更多</gydF4y2Babutton> </div> <div class="articleHeader__academicEditor"> <strong>学术编辑器:</年代trong> <span>Uzay Kaymak</年代p一个n></div> <div class="articleHeader__timeline"> <div class="articleHeader__timeline_item "> <strong>收到了</年代trong> <span>2011年6月29日</年代p一个n></div> <div class="articleHeader__timeline_item "> <strong>修改后的</年代trong> <span>2011年11月15日</年代p一个n></div> <div class="articleHeader__timeline_item "> <strong>接受</年代trong> <span>2011年12月20日</年代p一个n></div> <div class="articleHeader__timeline_item articleHeader__timeline_item_sticky"> <strong>发表</年代trong> <span>05年4月2012年</年代p一个n></div> </div> </div> <div class="articleBody"> <div class="xml-content"> <h4 class="header" id="abstract">文摘</gydF4y2Bah4> <p>混合递归模糊神经网络(HRFNN)控制永磁同步电动机永磁同步电动机驱动系统采用转子磁通估计器控制电动自行车。首先,永磁同步电动机驱动系统的动态模型推导出根据电动自行车。由于电动车负载退出了许多不确定因素,例如,非线性摩擦力传动皮带,等等。比例积分控制器的电动自行车和非线性不确定性禁用速度跟踪控制。此外,为了减少干扰的编码器和成本下降,HRFNN控制系统使用转子磁通估计量是控制永磁同步电动机驱动系统,以推动电动自行车。转子磁通估计由转子磁通位置和速度估计算法的基础上,重新电磁力(EMF)以供应HRFNN控制器。HRFNN控制器由主管控制,RFNN和补偿控制自适应法应用于永磁同步电动机驱动系统。RFNN的参数训练根据电动自行车的速度不同。电动踏板车操作提供扰动转矩。显示所提出的控制器的有效性,比较研究与PI控制器由实验结果证明。</p><年代p一个ncl作为年代="end-abs"></span> <h4 id="introduction">1。介绍</gydF4y2Bah4> <p>近年来,为了减少空气污染,加强环境保护,不少国家需要他们的汽车工业发展电动汽车逐渐代替汽油汽车。这里我们把我们的注意力放在电动摩托车的开发和研究由于摩托车比汽车更广泛的个人交通工具在亚洲。交流伺服驱动器,包括永磁同步电动机(梯形和正弦类型),开关磁阻电机,感应电动机,已广泛应用于机器人、computer-numerically-controlled机床(数控),电梯,和许多其他应用程序领域的机电一体化(<一个href="#B1">1</一个>,<gydF4y2Ba一个href="#B2">2</一个>几十年来]。</p><p>gydF4y2Ba快速实现四象限运行和顺利启动和加速,定向控制(<一个href="#B1">1</一个>- - - - - -- - - - - -- - - - - -- - - - - -- - - - - -- - - - - -<gydF4y2Ba一个href="#B3">3</一个>),或矢量控制,用于交流伺服驱动器的设计。与感应伺服电机相比,永磁同步电机具有更高的效率由于缺乏转子的损失和降低空载电流低于额定转速;此外,它的解耦控制性能是电动机的参数变化不太敏感(<一个href="#B1">1</一个>,<gydF4y2Ba一个href="#B2">2</一个>]。</p><p>gydF4y2Ba最近的许多研究已经完成模糊神经网络(FNN)的应用系统,具有模糊系统和神经网络的优点,在控制领域的处理非线性和不确定性的控制系统<一个href="#B4">4</一个>- - - - - -- - - - - -- - - - - -- - - - - -- - - - - -- - - - - -<gydF4y2Ba一个href="#B15">15</一个>]。此外,模糊神经网络是普遍接近者(<一个href="#B6">6</一个>,<gydF4y2Ba一个href="#B7">7</一个>],它可以近似任何动态的判断准确性学习过程(<一个href="#B6">6</一个>]。中给出的模糊神经接近者低浓缩铀et al。<一个href="#B8">8</一个>)调整线近似未知非线性动态系统的自适应控制。监督模糊神经网络控制器提出了林等。<一个href="#B9">9</一个>监督控制器组成,旨在稳定系统的状态定义约束区域,和一个模糊神经网络滑模控制器,它结合了滑模控制的优点和健壮的特点和模糊神经网络的在线学习能力。宫(<一个href="#B10">10</一个>)提出了一种自适应模糊控制器,以应对摩擦和外部负载效应的永磁直线同步电动机(SM)驱动器。金和李<一个href="#B11">11</一个>]提出了一种模糊扰动观测器实现良好的轨迹跟踪SM永磁直线驱动器的外部干扰和内部参数不确定性。的关键方法提出了智能控制系统的不确定性是近似模糊系统和模糊系统用于抵消集总扰动的影响在控制系统的设计。虽然达到了良好的控制性能,但一些约束条件和系统信息之前需要在智能控制系统。模糊神经网络(FNN)多层联结主义网络,将神经网络的学习能力来实现模糊系统的元素和功能。低级学习的模糊神经网络具有的优点和计算神经网络的力量,和高级人类思维和推理的模糊理论。在[<一个href="#B12">12</一个>,<gydF4y2Ba一个href="#B13">13</一个>),一个自适应模糊神经网络控制方案提出了永磁直线SM的位置跟踪控制驱动器。鲁棒控制性能不确定性发生时实现包括非线性摩擦力。模糊神经网络是一种前馈网络结构,执行代数映射的输入输出训练数据。然而,使用模糊神经网络模型动态结构。这不是更适合描述系统的动态行为。另一方面,一个反复出现的模糊神经网络(RFNN)优越的动态能力的模糊神经网络(<一个href="#B14">14</一个>,<gydF4y2Ba一个href="#B15">15</一个>]。自从RFNN有一个内部反馈回路来捕获系统动力学,系统的动态响应可以不使用外部反馈通过捕获延迟。RFNN是一个动态映射和通常获得良好的控制性能在系统不确定性的存在。林等。<一个href="#B16">16</一个>)提出了一个RFNN轨迹跟踪控制器的永磁线性SM驱动器的结构和参数同时学习阶段。王,李<一个href="#B17">17</一个>)设计了一种自适应RFNN控制自主水下航行器的控制方案。RFNN是车辆的逆动力学模型的训练,然后利用作为前馈控制器的额定转矩计算车辆沿着期望的轨迹。林等。<一个href="#B18">18</一个>)解决复发性的应用程序功能性质的模糊神经网络控制周期参考轨迹跟踪问题SM永磁直线伺服驱动器。虽然这些RFNN技术可以将模糊规则为更好的近似非线性动力学动态元素,如何构建一个suitable-sized网络结构和发展RFNN在线训练算法是主要的具有挑战性的问题。此外,控制器的优化也应该考虑实现鲁棒控制。苏和Liaw [<一个href="#B19">19</一个>)相结合的混合前馈/反馈控制器和扰动观测器的自适应位置跟踪控制的永磁直线SM驱动器。在[<一个href="#B20">20.</一个>),一个健壮的前馈和反馈控制方案提出了解决控制性能的敏感性SM永磁直线驱动器的外部干扰。尽管保证良好的跟踪性能,提出控制方法需要知道系统动力学。一种方法在处理重大变化和不确定性非线性动力学过程是通过神经建模和控制。Nho和Meckl<一个href="#B21">21</一个>结合神经网络标识符和一个简单的PD控制器控制一个关节机器人。训练神经网络标识符来表示机器人的逆动力学,然后用于计算转矩控制架构。李和腾<一个href="#B22">22</一个>)提出了一个新颖的RFNN识别和控制非线性动态系统的控制结构。未知系统的控制方案,确定了RFNN标识符提供敏感信息系统RFNN控制器,而RFNN控制器产生控制信号,以减少实际系统输出和期望输出值之间的误差。尽管这些方法很有效,一个重要的问题是如何设计一个强大的网络用一个简单的结构和更少的时间在训练。因此,本文提出了混合递归模糊神经网络(HRFNN);控制永磁同步电动机驱动系统采用转子磁通估计器控制电动自行车。该方法不依赖于预先确定的电机的特点,可以适应任何电机特性的变化。由于PI控制器无法处理与非线性不确定性如电动滑板车。因此,HRFNN控制系统使用转子磁通估计量是控制开发的永磁同步电动机驱动系统,以推动电动自行车。转子磁通估计由转子磁通位置和速度估计算法的基础上,重新电磁力(EMF)以供应HRFNN控制器。HRFNN控制器由主管控制,RFNN和补偿控制自适应法应用于永磁同步电动机驱动系统。 The parameters of RFNN are trained according to different speeds in electric scooter. The electric scooter is operated to provide disturbance torque. Finally, to show the effectiveness of the proposed controller, comparative studies with PI controller are demonstrated by experimental results.</p><h4 id="configuration-of-pmsm-drive-system">2。永磁同步电动机驱动系统的配置</gydF4y2Bah4> <p>为方便分析,电磁铁扭矩<年代vg height="14.3625" id="M1" style="vertical-align:-3.2316pt;width:14.2125px;" version="1.1" viewbox="0 0 14.2125 14.3625" width="14.2125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>永磁同步电动机驱动电动车方程可以被描述为(<一个href="#B1">1</一个>- - - - - -- - - - - -- - - - - -- - - - - -- - - - - -- - - - - -<gydF4y2Ba一个href="#B3">3</一个>]<gydF4y2Ba年代p一个ncl作为年代="equation" id="EEq1"> <svg height="30.700001" id="M2" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 30.700001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,30.7)"> <g transform="translate(72,-47.44)"> <text transform="matrix(1,0,0,-1,103.91,56.25)"> <tspan style="font-size: 12.50px; 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" x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.05" y="-6.2399998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.84" y="-8.7600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,166.75,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.2139201" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,178.65,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,184.65,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8573599" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,195.18,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,199.07,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,210.21,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.34" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.190001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,236.26,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.71,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,264.91,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,269.77,53.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,281.59,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,290.59,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,294.48,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,302.84,53.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.8699999" y="-2.52"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="171.28" y="-2.52"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="175.4435" y="-2.52"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="181.69499" y="-2.52"> )</t年代p一个n></text> </g> </g> </svg></span>汽车动力学的方程<年代p一个ncl作为年代="equation" id="EEq2"> <svg height="15.75" id="M3" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 15.75" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.75)"> <g transform="translate(72,-59.4)"> <text transform="matrix(1,0,0,-1,151.45,63.2)"> <tspan style="font-size: 12.50px; 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" x="26.71891" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.604704" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,258.1,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,262.17,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="211.95" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="216.11349" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="222.36501" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>在(<一个href="#EEq1">1</一个>)和(<一个href="#EEq2">2</一个>),<gydF4y2Ba年代vg height="13.7875" id="M4" style="vertical-align:-3.24037pt;width:16.237499px;" version="1.1" viewbox="0 0 16.237499 13.7875" width="16.237499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.7875)"> <g transform="translate(72,-60.97)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="15.6625" id="M5" style="vertical-align:-4.74141pt;width:15.4375px;" version="1.1" viewbox="0 0 15.4375 15.6625" width="15.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.6625)"> <g transform="translate(72,-59.47)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="0"> </t年代p一个n></text> </g> </g> </svg>是<年代vg height="10.75" id="M6" style="vertical-align:-0.15048pt;width:9.375px;" version="1.1" viewbox="0 0 9.375 10.75" width="9.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.75)"> <g transform="translate(72,-63.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; 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" x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.1,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是<年代vg height="10.75" id="M10" style="vertical-align:-0.15048pt;width:9.375px;" version="1.1" viewbox="0 0 9.375 10.75" width="9.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.75)"> <g transform="translate(72,-63.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg><i>- - - - - -</我>和<年代vg height="9.875" id="M11" style="vertical-align:-2.29482pt;width:7.9124999px;" version="1.1" viewbox="0 0 7.9124999 9.875" width="7.9124999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设在定子电感,<年代vg height="10.925" id="M12" style="vertical-align:-3.13504pt;width:15.85px;" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>转子转速,<年代vg height="10.325" id="M13" style="vertical-align:-0.0pt;width:11.75px;" version="1.1" viewbox="0 0 11.75 10.325" width="11.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是极数,<年代vg height="14.2375" id="M14" style="vertical-align:-3.13504pt;width:17.0875px;" version="1.1" viewbox="0 0 17.0875 14.2375" width="17.0875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>代表负载转矩(外部负载扰动,如电动自行车),<年代vg height="10.325" id="M15" style="vertical-align:-0.0pt;width:11.625px;" version="1.1" viewbox="0 0 11.625 10.325" width="11.625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>代表了粘滞摩擦系数,<年代vg height="10.5125" id="M16" style="vertical-align:-0.15048pt;width:10.4375px;" version="1.1" viewbox="0 0 10.4375 10.5125" width="10.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.5125)"> <g transform="translate(72,-63.59)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>转动惯量。驱动控制永磁同步电动机的基本原理是基于磁场取向。在(<一个href="#EEq1">1</一个>)和(<一个href="#EEq2">2</一个>),如果<年代vg height="14.725" id="M17" style="vertical-align:-3.24037pt;width:43.450001px;" version="1.1" viewbox="0 0 43.450001 14.725" width="43.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.725)"> <g transform="translate(72,-60.22)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-55.58,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> 0</t年代p一个n></text> </g> </g> </svg>,<年代vg height="10.75" id="M18" style="vertical-align:-0.15048pt;width:9.375px;" version="1.1" viewbox="0 0 9.375 10.75" width="9.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.75)"> <g transform="translate(72,-63.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设在磁链<年代vg height="14.6" id="M19" style="vertical-align:-3.24037pt;width:15.675px;" version="1.1" viewbox="0 0 15.675 14.6" width="15.675" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6)"> <g transform="translate(72,-60.32)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.19,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是固定的,因为<年代vg height="14.375" id="M20" style="vertical-align:-3.24037pt;width:26.0625px;" version="1.1" viewbox="0 0 26.0625 14.375" width="26.0625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.1,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.2139201" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="16.2875" id="M21" style="vertical-align:-4.77652pt;width:20.799999px;" version="1.1" viewbox="0 0 20.799999 16.2875" width="20.799999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.2875)"> <g transform="translate(72,-58.97)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.95,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8573599" y="0"> </t年代p一个n></text> </g> </g> </svg>恒为永磁同步电动机;电磁转矩<年代vg height="14.3625" id="M22" style="vertical-align:-3.2316pt;width:14.2125px;" version="1.1" viewbox="0 0 14.2125 14.3625" width="14.2125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>然后成正比<年代vg height="15.6625" id="M23" style="vertical-align:-4.74141pt;width:15.4375px;" version="1.1" viewbox="0 0 15.4375 15.6625" width="15.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.6625)"> <g transform="translate(72,-59.47)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="0"> </t年代p一个n></text> </g> </g> </svg>,这是由闭环控制。转子磁通产生的<年代vg height="10.75" id="M24" style="vertical-align:-0.15048pt;width:9.375px;" version="1.1" viewbox="0 0 9.375 10.75" width="9.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.75)"> <g transform="translate(72,-63.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设在,而电流向量生成<年代vg height="9.875" id="M25" style="vertical-align:-2.29482pt;width:7.9124999px;" version="1.1" viewbox="0 0 7.9124999 9.875" width="7.9124999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设在定向控制。由于生成的电动机转矩线性成正比的<年代vg height="9.875" id="M26" style="vertical-align:-2.29482pt;width:7.9124999px;" version="1.1" viewbox="0 0 7.9124999 9.875" width="7.9124999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设在当前的<年代vg height="10.75" id="M27" style="vertical-align:-0.15048pt;width:9.375px;" version="1.1" viewbox="0 0 9.375 10.75" width="9.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.75)"> <g transform="translate(72,-63.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设在转子磁通不变(<一个href="#EEq2">2</一个>),可以实现最大转矩/安培。</p><p>gydF4y2Ba间接磁场定向矢量控制的实现,可以简化为永磁同步伺服电机驱动<年代p一个ncl作为年代="equation" id="EEq3"> <svg height="35.099998" id="M28" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 35.099998" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,35.1)"> <g transform="translate(72,-43.92)"> <text transform="matrix(1,0,0,-1,132.52,52.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,139.39,49.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,147.26,52.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,168.82,49.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,172.06,52.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,175.95,57.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1199999"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,184.31,52.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.166139" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.01,49.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,215.72,52.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.23" y="-10.78"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.481501" y="-10.78"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.908281" y="-10.78"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.48,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.2139201" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,263.38,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,269.38,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8573599" y="0"> </t年代p一个n></text> <g> <path d="m 228.95,55.85 50.96,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,251.31,43.97)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.799999" y="-10.86"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="222.81" y="-10.86"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="226.9735" y="-10.86"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="233.22501" y="-10.86"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>永磁同步电动机驱动系统的框图电动车如图<一个href="//www.newsama.com/journals/afs/2012/319828/fig1/" target="_blank">1</一个>。系统由以下部分组成:永磁同步电动机(加载轮电动滑板车),联锁和延时电路、定向机制包括翻译和协调<年代vg height="17.975" id="M29" style="vertical-align:-3.13504pt;width:141.08749px;" version="1.1" viewbox="0 0 141.08749 17.975" width="141.08749" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-71.95,60.8)"> <tspan style="font-size: 12.50px; " x="36.290001" y="-2.72"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.139999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.666498" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.829998" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-35.26,57.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-31.19,60.8)"> <tspan style="font-size: 12.50px; " x="53.650002" y="-2.72"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.5" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> /</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="3.4758339" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.727334" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.890833" y="0"> /</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.366667" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.917999" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.169498" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.033165" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="38.196667" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,22.86,57.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,26.93,60.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> /</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="3.4758339" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.727334" y="0"> )</t年代p一个n></text> </g> </g> </svg>一代,和查表生成为了减少计算负担,hysteresis-band比较电流控制PWM,电压源逆变器(VSI),速度控制回路和位置控制回路实现了TMS320C32 DSP控制板和接口卡。驱动系统的定向机制实现了TMS320C32 DSP控制系统。主机电脑下载程序在DSP上运行。速度控制系统,电动自行车经营提供恒定扰动转矩。</p><gydF4y2Badiv class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-8d61c575c519de45e1487189ee554817"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.001.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-8d61c575c519de45e1487189ee554817 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.001_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-8d61c575c519de45e1487189ee554817 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图1</年代p一个n><一个一个ria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/afs/2012/319828/fig1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>的配置提出HRFNN使用转子磁通估计控制系统。</tgydF4y2Bad> </tr> </tbody> </table> </div> </div> </div> </div> <h4 id="the-hybrid-rfnn-control-design-using-rotor-flux-estimator">3所示。混合使用转子磁通估计RFNN控制设计</gydF4y2Bah4> <p>的配置提出HRFNN控制系统使用转子磁通估计是描绘在图<一个href="//www.newsama.com/journals/afs/2012/319828/fig1/" target="_blank">1</一个>。HRFNN控制系统采用转子磁通估计器控制永磁同步电动机驱动系统,以推动电动自行车。转子磁通估计由转子磁通位置和速度估计算法的基于电磁力(EMF)。机模型可以重写的永磁同步电动机静止参考系如下(<一个href="#B1">1</一个>- - - - - -- - - - - -- - - - - -- - - - - -- - - - - -- - - - - -<gydF4y2Ba一个href="#B3">3</一个>]:<年代p一个ncl作为年代="equation" id="EEq5"> <svg height="152.66251" id="M30" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 152.66251" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,152.6625)"> <g transform="translate(72,50.13)"> <text transform="matrix(1,0,0,-1,89.74,46.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 88.16,42.58 10.56,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,88.16,30.7)"> <tspan style="font-size: 12.50px; " x="13.84" y="-1.42"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.190001" y="-16.41"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.6515961" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,112.24,52.11)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,108.68,33.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,112.57,38.91)"> <tspan style="font-size: 8.75px; 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" x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9700003" y="-8.7600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,202.09,-14.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.24,-11.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.666498" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.97,-14.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,178.79,-28.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 178.79,-32.23 9.3,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,180.32,-44.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9700003" y="-8.75"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,197.8,-38.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,203.96,-35.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.666498" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.68,-38.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,235.03,-10.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="9.21"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="18.42"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="27.629999"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="36.77"> ⎦</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.71" y="15.23"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="239.09" y="-18.629999"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="243.25349" y="-18.629999"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="249.505" y="-18.629999"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="16.637501" id="M31" style="vertical-align:-4.35999pt;width:19.2875px;" version="1.1" viewbox="0 0 19.2875 16.637501" width="19.2875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.6375)"> <g transform="translate(72,-58.69)"> <text transform="matrix(1,0,0,-1,-71.95,63.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.62,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="17.112499" id="M32" style="vertical-align:-4.74141pt;width:18.475px;" version="1.1" viewbox="0 0 18.475 17.112499" width="18.475" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.1125)"> <g transform="translate(72,-58.31)"> <text transform="matrix(1,0,0,-1,-71.95,63.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.62,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> </g> </g> </svg>是<年代vg height="10.75" id="M33" style="vertical-align:-0.15048pt;width:9.375px;" version="1.1" viewbox="0 0 9.375 10.75" width="9.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.75)"> <g transform="translate(72,-63.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>- - -<年代vg height="9.875" id="M34" style="vertical-align:-2.29482pt;width:7.9124999px;" version="1.1" viewbox="0 0 7.9124999 9.875" width="7.9124999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设在定子电压,<年代vg height="16.637501" id="M35" style="vertical-align:-4.35999pt;width:16.237499px;" version="1.1" viewbox="0 0 16.237499 16.637501" width="16.237499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.6375)"> <g transform="translate(72,-58.69)"> <text transform="matrix(1,0,0,-1,-71.95,63.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="17.112499" id="M36" style="vertical-align:-4.74141pt;width:15.4375px;" version="1.1" viewbox="0 0 15.4375 17.112499" width="15.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.1125)"> <g transform="translate(72,-58.31)"> <text transform="matrix(1,0,0,-1,-71.95,63.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> </g> </g> </svg>是<年代vg height="10.75" id="M37" style="vertical-align:-0.15048pt;width:9.375px;" version="1.1" viewbox="0 0 9.375 10.75" width="9.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.75)"> <g transform="translate(72,-63.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="9.875" id="M38" style="vertical-align:-2.29482pt;width:7.9124999px;" version="1.1" viewbox="0 0 7.9124999 9.875" width="7.9124999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>轴定子电流,<年代vg height="14.3625" id="M39" style="vertical-align:-3.2316pt;width:16.625px;" version="1.1" viewbox="0 0 16.625 14.3625" width="16.625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.1,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>定子电感,<年代vg height="14.3625" id="M40" style="vertical-align:-3.2316pt;width:17.525px;" version="1.1" viewbox="0 0 17.525 14.3625" width="17.525" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>站电磁力常数,<年代vg height="14.3625" id="M41" style="vertical-align:-3.2316pt;width:17.125px;" version="1.1" viewbox="0 0 17.125 14.3625" width="17.125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.7,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>代表了定子电阻,<年代vg height="10.925" id="M42" style="vertical-align:-3.13504pt;width:15.85px;" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>转子磁通的速度,<年代vg height="14.475" id="M43" style="vertical-align:-3.13504pt;width:12.775px;" version="1.1" viewbox="0 0 12.775 14.475" width="12.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.9,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>转子磁通位置。然后电磁力可以定义为电压<年代p一个ncl作为年代="equation" id="EEq6"> <svg height="66.775002" id="M44" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 66.775002" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,66.775)"> <g transform="translate(72,-18.58)"> <text transform="matrix(1,0,0,-1,141.17,34.84)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3499999" y="-14.94"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,153.85,45.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,147.93,36.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,154.26,33.65)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,159.53,34.84)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.8199997" y="-7.3200002"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.86039" y="-7.3200002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.92,39.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,197.4,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎡</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="11.94"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="23.889999"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="35.77"> ⎣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.6199999" y="0.36000001"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.38" y="-6.9000001"> </t年代p一个n></text> <g> <path d="m 212.78,59.66 9.3,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,214.31,47.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9700003" y="-8.75"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.79,53.41)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,237.95,56.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.666498" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,260.67,53.41)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.5,39.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 208.5,35.49 9.3,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,210.03,23.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9700003" y="-8.75"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,227.51,29.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,233.67,32.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.666498" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,256.39,29.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,264.74,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="11.94"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="23.889999"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="35.77"> ⎦</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.71" y="14.73"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="209.38" y="14.73"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="213.5435" y="14.73"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="219.795" y="14.73"> )</t年代p一个n></text> </g> </g> </svg></span>然后切换滑模面可以定义如下,以确保估计误差估计电流和测量电流达到滑动面:<年代p一个ncl作为年代="equation" id="EEq7"> <svg height="39.162498" id="M45" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 39.162498" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,39.1625)"> <g transform="translate(72,-40.67)"> <text transform="matrix(1,0,0,-1,140.13,53.21)"> <tspan style="font-size: 12.50px; " x="23.639999" y="7.3299999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.470001" y="-9.7399998"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.99" y="-7.6599998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.590281" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,175.47,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,185.79,60.87)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,201.03,65.87)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,176.25,47.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-5.48" y="2.0799999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,176.12,52.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,185.79,45.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,201.03,50.44)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1199999"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,210.03,45.88)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.6" y="-7.3299999"> Δ</t年代p一个n></text> <g> <path d="m 222.63,50.32 9.03,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <g> <path d="m 222.63,46.19 9.03,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,235.83,53.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.76,50.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,255.2,53.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.291889" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="218.92" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="223.0835" y="0"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="229.33499" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>当前观察者与滑模的动态模式可以表示如下,以减少误差估计电流和测量电流:<年代p一个ncl作为年代="equation" id="EEq8"> <svg height="124.0875" id="M46" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 124.0875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,124.0875)"> <g transform="translate(72,27.27)"> <text transform="matrix(1,0,0,-1,87.83,46.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 86.24,42.58 10.57,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,86.24,30.7)"> <tspan style="font-size: 12.50px; " x="13.85" y="-1.42"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.68" y="-18.190001"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.200001" y="-16.110001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.6515961" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.79,54.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,112.24,34.06)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-5.48" y="2.0799999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,112.11,39.2)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,119.33,32.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.8299999" y="-7.3299999"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.870001" y="-24.77"> ⎡</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.870001" y="-14.46"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.870001" y="-4.1399999"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.870001" y="6.1799998"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.870001" y="16.43"> ⎣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.49" y="-22.43"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="37.25" y="-31.67"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,165.84,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 156.58,57.68 13.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,156.78,45.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,165.64,42.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,186.51,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0.61000001" y="20.139999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-30.530001" y="29.379999"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-9.1623726" y="29.379999"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,196.37,31.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 187.12,28.3 13.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,187.32,16.42)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,196.17,13.3)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,201.91,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.31"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="20.629999"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="30.950001"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="41.200001"> ⎦</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.71" y="27.17"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.459999" y="5.0100002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.98" y="7.0900002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.24,57.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.69,37.05)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-5.48" y="2.0799999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.56,42.19)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.78,29.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.05" y="-9.7299995"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.389999" y="-25.48"> ⎡</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.389999" y="-16.01"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.389999" y="-6.54"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.389999" y="2.9300001"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.389999" y="12.33"> ⎣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.689999" y="-32.080002"> 1</t年代p一个n></text> <g> <path d="m 259.99,57.68 13.2,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,259.99,45.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,268.84,42.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,285.04,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-21.57" y="27.68"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="20.43"> 1</t年代p一个n></text> <g> <path d="m 281.56,30 13.2,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,281.56,18.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,290.41,14.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,295.96,55.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="9.4700003"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="18.940001"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="28.41"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="37.810001"> ⎦</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.71" y="23.08"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.06" y="5.0999999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,316.35,55.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,310.34,36.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,318.13,41.89)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="8.1199999"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="8.1199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,325.35,32.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-186.92" y="46.740002"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-175.59229" y="46.740002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,159.3,-17.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,165.77,-21.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.22" y="-14.92"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3600001" y="-14.82"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,178.45,-11.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,179.4,-19.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.8600001" y="0.1"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,178.86,-23.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,184.13,-21.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.610001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="57.5" y="-12.58"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="68.82" y="-17.17"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="63.349998" y="-15.09"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.1300001" y="-7.3200002"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.470221" y="-7.3200002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.959999" y="-15.09"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.823666" y="-15.09"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.075169" y="-15.09"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,252.82,0.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.45" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.206064" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,263.15,-6.85)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,279.84,-1.85)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,287.39,-9.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-45.119999" y="15.64"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-33.790001" y="11.05"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-39.259998" y="13.13"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-66.650002" y="13.13"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-61.786331" y="13.13"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-55.534832" y="13.13"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,253.47,-15.27)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,263.15,-22.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,279.84,-17.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,286.74,-25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.5" y="-3.0599999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.93" y="-10.38"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="187.38" y="-44.240002"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="191.5435" y="-44.240002"> 7</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="197.795" y="-44.240002"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="19.887501" id="M47" style="vertical-align:-4.74141pt;width:43.275002px;" version="1.1" viewbox="0 0 43.275002 19.887501" width="43.275002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.8875)"> <g transform="translate(72,-56.09)"> <text transform="matrix(1,0,0,-1,-66.47,62.95)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-5.48" y="2.0799999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-66.6,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.06,60.87)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.86" y="-2.0799999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3800001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-44.33,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="16.6875" id="M48" style="vertical-align:-4.74141pt;width:40.837502px;" version="1.1" viewbox="0 0 40.837502 16.6875" width="40.837502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.6875)"> <g transform="translate(72,-58.65)"> <text transform="matrix(1,0,0,-1,-65.09,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.8600001" y="0.1"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.62,59.52)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.94,63.42)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.24" y="-0.1"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3699999" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-44.24,60.3)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>表示观测值在<年代vg height="16.637501" id="M49" style="vertical-align:-4.35999pt;width:16.237499px;" version="1.1" viewbox="0 0 16.237499 16.637501" width="16.237499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.6375)"> <g transform="translate(72,-58.69)"> <text transform="matrix(1,0,0,-1,-71.95,63.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> </g> </g> </svg>,<年代vg height="17.112499" id="M50" style="vertical-align:-4.74141pt;width:15.4375px;" version="1.1" viewbox="0 0 15.4375 17.112499" width="15.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.1125)"> <g transform="translate(72,-58.31)"> <text transform="matrix(1,0,0,-1,-71.95,63.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="13.1875" id="M51" style="vertical-align:-4.74141pt;width:40.837502px;" version="1.1" viewbox="0 0 40.837502 13.1875" width="40.837502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.1875)"> <g transform="translate(72,-61.45)"> <text transform="matrix(1,0,0,-1,-71.95,66.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.62,62.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.94,66.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.364747" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-44.24,63.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>分别<年代vg height="7.1750002" id="M52" style="vertical-align:-0.1254pt;width:8.9375px;" version="1.1" viewbox="0 0 8.9375 7.1750002" width="8.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>代表切换增益,<年代vg height="14.1" id="M53" style="vertical-align:-2.73372pt;width:39.3125px;" version="1.1" viewbox="0 0 39.3125 14.1" width="39.3125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.1)"> <g transform="translate(72,-60.72)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.115167" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.442165" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.605663" y="0"> ⋅</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.181522" y="0"> )</t年代p一个n></text> </g> </g> </svg>是符号函数。用(<一个href="#EEq8">7</一个>)(<gydF4y2Ba一个href="#EEq5">4</一个>),然后动态方程可以获得如下:<年代p一个ncl作为年代="equation" id="EEq9"> <svg height="39.4375" id="M54" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 39.4375" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,39.4375)"> <g transform="translate(72,-40.45)"> <text transform="matrix(1,0,0,-1,90.31,55.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.71" y="2.54"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,91.52,49.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,101.97,53.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.992537" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,131.9,49.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,141.65,53.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.53,49.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,169,45.77)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.22" y="-14.92"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3499999" y="-14.82"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,181.68,56.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.14,60.59)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.81,57.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.04,47.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.8600001" y="0.1"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,182.5,44.71)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.14,47.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.81,44.71)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,213.49,45.77)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.610001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="57.490002" y="-12.59"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="68.82" y="-17.18"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="63.34" y="-15.1"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.1300001" y="-7.3299999"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.457718" y="-7.3299999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.959999" y="-15.1"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.823666" y="-15.1"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.075169" y="-15.1"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,282.18,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,292.51,60.87)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,307.74,65.87)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,316.74,58.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-45.110001" y="15.65"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-33.779999" y="11.06"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-39.259998" y="13.13"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-66.650002" y="13.13"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-61.786331" y="13.13"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-55.534832" y="13.13"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,282.83,52.45)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,292.51,45.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,307.74,50.23)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,316.09,42.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.5" y="-3.0599999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.94" y="-10.39"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="158.03" y="-10.39"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="162.1935" y="-10.39"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="168.44499" y="-10.39"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代p一个ncl作为年代="equation" id="EEq10"> <svg height="73.5625" id="M55" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 73.5625" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,73.5625)"> <g transform="translate(72,-13.15)"> <text transform="matrix(1,0,0,-1,160.36,39.45)"> <tspan style="font-size: 12.50px; " x="24.48" y="-17.440001"> ⎡</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.48" y="-7.1300001"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.48" y="3.1900001"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.48" y="13.51"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.48" y="23.76"> ⎣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.1" y="-15.1"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.860001" y="-24.34"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.427982" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.48,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 200.22,57.68 13.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,200.42,45.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.28,42.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.15,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0.61000001" y="20.139999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-30.530001" y="29.379999"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-9.1623726" y="29.379999"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,240.01,31.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 230.76,28.3 13.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,230.96,16.42)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,239.81,13.3)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,245.55,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.31"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="20.629999"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="30.950001"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="41.200001"> ⎦</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.71" y="17.440001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="228.57001" y="17.440001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="232.73351" y="17.440001"> 9</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="238.985" y="17.440001"> )</t年代p一个n></text> </g> </g> </svg></span>和切换增益<年代vg height="7.1750002" id="M56" style="vertical-align:-0.1254pt;width:8.9375px;" version="1.1" viewbox="0 0 8.9375 7.1750002" width="8.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>可以设计成<年代p一个ncl作为年代="equation" id="EEq11"> <svg height="107.45" id="M57" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 107.45" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,107.45)"> <g transform="translate(72,13.96)"> <text transform="matrix(1,0,0,-1,60.49,49.6)"> <tspan style="font-size: 12.50px; " x="46.189999" y="9.7299995"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.639999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.555412" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.282745" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.758579" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,129.38,46.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,134.93,57.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.32" y="-4.5799999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,146.12,67.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.45" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.206064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,156.45,60.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,171.68,65.18)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,180.69,57.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 134.93,52.73 51.61,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,154.13,40.85)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.98,37.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.51,49.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,211.38,46.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.86,47.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.71" y="-2.6099999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.04,46.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,238.5,49.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,256.16,46.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,261.84,47.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.469999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.799999" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.330002" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9400001" y="-2.51"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.803667" y="-2.51"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.055166" y="-2.51"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,302.51,56.82)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,312.84,49.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,328.07,54.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,337.07,47.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.1400003" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-236.36" y="44.900002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,109.96,-0.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,115.51,10.42)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.32" y="-4.5799999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,126.71,20.15)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,136.38,12.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.61,17.93)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,159.97,10.42)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 115.51,5.31 50.31,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,134.06,-6.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,142.92,-9.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,169.8,2.19)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.67,-0.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,197.14,-0.33)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72" y="-2.6199999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8600001" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.32,-0.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,216.96,2.19)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,234.63,-0.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,239.48,-0.33)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.469999" y="-2.220446e-016"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.799999" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.330002" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9400001" y="-2.52"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.803667" y="-2.52"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.055166" y="-2.52"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,280.15,9.41)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,289.83,2.19)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,305.06,7.19)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,313.42,-0.33)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="7.2199998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.08" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.420219" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.709229" y="-2.52"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="154.45" y="-26.219999"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="158.61349" y="-26.219999"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="164.86501" y="-26.219999"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="171.1165" y="-26.219999"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="10.7375" id="M58" style="vertical-align:-0.13794pt;width:7.9875002px;" version="1.1" viewbox="0 0 7.9875002 10.7375" width="7.9875002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是非常小的值,以确保转换增益<年代vg height="7.1750002" id="M59" style="vertical-align:-0.1254pt;width:8.9375px;" version="1.1" viewbox="0 0 8.9375 7.1750002" width="8.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在评估行动。</p><p><年代p一个ncl作为年代="statement" id="thm1"><span class="statement-title">定理1。</年代p一个n><我>如果切换增益<年代vg height="7.1750002" id="M60" style="vertical-align:-0.1254pt;width:8.9375px;" version="1.1" viewbox="0 0 8.9375 7.1750002" width="8.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>满足(<一个href="#EEq11">10</一个>),然后(<一个href="#EEq10">9</一个>)将保证全局渐近稳定的。</我></年代p一个n></p> <p><span class="statement" id="proof1"><span class="statement-title"><i class="statement-title">证明。</我></年代p一个n>正定的李雅普诺夫函数可以选择如下:<年代p一个ncl作为年代="equation" id="EEq12"> <svg height="30.700001" id="M61" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 30.700001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,30.7)"> <g transform="translate(72,-47.44)"> <text transform="matrix(1,0,0,-1,172.06,56.25)"> <tspan style="font-size: 12.50px; " x="23.9" y="-7.25"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.665059" y="0"> =</t年代p一个n></text> <g> <path d="m 195.96,59.37 6.25,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,195.96,47.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4499998" y="-8.7600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,212.41,61.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,219.12,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.46,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,233.43,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.1269503" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="234.44" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="238.6035" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="244.855" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="251.10651" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="14.375" id="M62" style="vertical-align:-3.13504pt;width:18.012501px;" version="1.1" viewbox="0 0 18.012501 14.375" width="18.012501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.61,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是单位正定矩阵。然后我们区分(<一个href="#EEq12">11</一个>)如下:<年代p一个ncl作为年代="equation" id="EEq13"> <svg height="366.625" id="M63" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 366.625" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,366.625)"> <g transform="translate(72,221.3)"> <text transform="matrix(1,0,0,-1,66.56,55.98)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.8800001" y="2.53"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.585731" y="2.53"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.62612" y="2.53"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,93.19,58.52)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,99.91,53.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,107.25,50.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,121.6,56.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.3800001" y="2.72"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.0854912" y="2.72"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.125879" y="2.72"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,148.41,58.45)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-0.75" y="9.0200005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,155.12,53.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.46,50.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,171.52,46.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.33" y="-7.3299999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.294651" y="-7.3299999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,200.74,49.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,210.49,53.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.36,50.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,237.84,46.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.22" y="-14.92"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3499999" y="-14.82"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,250.52,57.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,258.98,60.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,276.65,57.81)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.88,48.28)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.8699999" y="0.1"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.34,45.05)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,258.98,48.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,276.65,45.05)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,282.33,46.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3515239" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-200.91" y="36.240002"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-189.56978" y="36.240002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-182.51808" y="36.240002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,109.49,14.88)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-0.75" y="9.0200005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,116.21,9.88)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,123.55,6.75)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,132.6,0.14)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.799999" y="-17.49"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.130001" y="-22.07"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.650002" y="-20"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.2700005" y="-20"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.133667" y="-20"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.385166" y="-20"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,173.6,27.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.93,20.14)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,199.16,25.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.16,17.63)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-45.110001" y="15.65"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-33.779999" y="11.06"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-39.259998" y="13.14"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-66.639999" y="13.14"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-61.776333" y="13.14"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-55.524834" y="13.14"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,174.25,11.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.93,4.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,199.16,9.5)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.52,1.98)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.4899998" y="1.84"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-135.37" y="28.200001"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-123.33" y="30.709999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-118.54" y="30.76"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-107.21" y="26.17"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-112.69" y="28.25"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,100.18,-19.05)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,110.5,-26.27)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,125.74,-21.27)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,134.74,-28.78)"> <tspan style="font-size: 12.50px; " x="23.16" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.68" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.827838" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,157.77,-19.05)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,167.45,-26.27)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,182.68,-21.27)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1199999"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,191.03,-28.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8600001" y="-0.050000001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.73" y="-2.5599999"> Γ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,211.1,-29.34)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,218.07,-26.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-136.64999" y="50.580002"> ×</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-123.78" y="28.799999"> ⎡</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-123.78" y="38.790001"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-123.78" y="48.779999"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-123.78" y="58.759998"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-123.78" y="68.75"> ⎢</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-123.78" y="78.68"> ⎣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-118.16" y="35.400002"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-109.59544" y="35.400002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,117.73,-64.75)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,123.27,-53.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.33" y="-4.5799999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8600001" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,134.47,-43.82)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,144.8,-51.04)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,160.03,-46.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,169.03,-53.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 123.27,-58.49 51.62,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,142.48,-70.37)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.33,-73.5)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,178.86,-61.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,199.73,-64.75)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.21,-64.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.71" y="-2.6099999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,218.38,-65.52)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.84,-61.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.51,-64.75)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,250.19,-64.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="50.639999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="61.970001" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="56.5" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.970221" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.109915" y="-2.51"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.973579" y="-2.51"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.225082" y="-2.51"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,312.03,-54.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,322.36,-61.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,337.59,-56.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,346.6,-64.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-244.57001" y="31.290001"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-236.00545" y="31.290001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,119.85,-98.54)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,125.39,-87.19)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.33" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,136.59,-77.45)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,146.27,-84.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.5,-79.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,169.86,-87.19)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 125.39,-92.29 50.32,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,143.95,-104.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,152.8,-107.29)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,179.68,-95.42)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,200.55,-98.54)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.03,-97.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72" y="-2.6099999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,219.21,-98.54)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.84,-95.42)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.51,-98.54)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,249.37,-97.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="50.639999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="61.970001" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="56.490002" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.970221" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.09741" y="-2.51"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.961079" y="-2.51"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.212578" y="-2.51"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,311.21,-88.19)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,320.89,-95.42)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,336.12,-90.41)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,344.48,-97.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9699998" y="-42.91"> ⎤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9699998" y="-32.919998"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9699998" y="-22.93"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9699998" y="-12.95"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9699998" y="-2.96"> ⎥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9699998" y="6.9699998"> ⎦</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-250.53" y="26.59"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-272.32999" y="35.830002"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-260.28961" y="35.830002"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,103.2,-127.65)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 93.95,-130.63 13.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,94.15,-142.51)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,103,-145.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,110.83,-138.68)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.7399998" y="-1.04"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.07" y="-5.6300001"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.59" y="-3.5599999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,127.77,-127.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,138.09,-135.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,153.33,-130.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.25"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.25"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.33,-137.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,168.18,-127.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,175.84,-135.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.34" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.67" y="-2.0699999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.190001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,198.38,-127.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.05,-135.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.29,-130.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.64,-137.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,237.5,-127.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,242.37,-138.68)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-160.95" y="27.1"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-149.60977" y="27.1"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,102.29,-168.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,108.77,-168.29)"> <tspan style="font-size: 12.50px; " x="17.5" y="-2.6099999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.64" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.7886491" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,125.74,-169.68)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,134.19,-165.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.86,-168.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,157.54,-168.29)"> <tspan style="font-size: 12.50px; " x="19.27" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.79" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9269018" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,176.68,-158.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,187,-165.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,202.23,-160.78)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,211.24,-168.29)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.969999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.689999" y="-2.6099999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.82" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,243.39,-168.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.02,-165.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,268.69,-168.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,273.55,-168.29)"> <tspan style="font-size: 12.50px; " x="19.26" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.79" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9269018" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,292.68,-158.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.45" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5584159" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,302.36,-165.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,317.59,-160.78)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1199999"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,325.95,-168.29)"> <tspan style="font-size: 12.50px; " x="-224.05" y="24.77"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-219.25999" y="20.42"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-219.25999" y="24.09"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-211.28" y="20.190001"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-216.75999" y="22.26"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8514042" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-244.53" y="22.26"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-233.18977" y="22.26"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,114.54,-183.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,124.86,-190.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,140.09,-185.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,149.1,-188.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.6700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2800002" y="1.84"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.620001" y="-2.8421709e-014"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.620001" y="3.6700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.6" y="-0.23"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.120001" y="1.84"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,173.57,-183.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.25,-190.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,198.48,-185.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.84,-188.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.6700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="2.5" y="4.3499999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-138.16" y="24.290001"> Δ</t年代p一个n></text> <g> <path d="m 68.68,-215.89 9.03,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <g> <path d="m 68.68,-220.01 9.03,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,77.71,-213)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,84.47,-216.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,92.12,-213)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,110.23,-216.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,115.11,-213)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="352.76001" y="-135.22"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="356.92349" y="-135.22"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="363.17499" y="-135.22"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="369.42651" y="-135.22"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代p一个ncl作为年代="equation" id="EEq14"> <svg height="84.775002" id="M64" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 84.775002" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,84.775)"> <g transform="translate(72,-4.18)"> <text transform="matrix(1,0,0,-1,49.72,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,56.48,51.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,64.83,54.55)"> <tspan style="font-size: 12.50px; " x="21.799999" y="-9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,95.88,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 86.63,57.68 13.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,86.83,45.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,95.68,42.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,101.43,52.04)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.32" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,112.63,61.77)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,122.95,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,138.18,59.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,147.19,52.04)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,153.04,62.35)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,160.69,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,181.56,51.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,188.04,52.04)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.71" y="-2.6099999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,200.22,50.65)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.67,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.34,51.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,232.02,52.04)"> <tspan style="font-size: 12.50px; " x="19.27" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.79" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9269018" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.16,61.77)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,261.48,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,276.71,59.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,285.72,52.04)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.110001" y="-4.3499999"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.110001" y="-0.68000001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="37.080002" y="-4.5900002"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.610001" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.970221" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,322.68,61.77)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,333,54.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,348.23,59.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,357.24,56.39)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.6700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.5799999" y="1.84"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-304.75" y="40.18"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,59.25,13.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,67.6,16.21)"> <tspan style="font-size: 12.50px; " x="21.799999" y="-9.2299995"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,98.65,22.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 89.4,19.33 13.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,89.6,7.46)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,98.45,4.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,104.19,13.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.33" y="-4.5799999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,115.39,23.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,125.07,16.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,140.3,21.21)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,148.66,13.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,154.51,24.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.16,16.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.03,13.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,189.51,13.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.71" y="-2.6099999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,201.69,13.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.32,16.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.99,13.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.85,13.7)"> <tspan style="font-size: 12.50px; " x="19.26" y="-4.5799999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.78" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9269018" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,250.98,23.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,260.66,16.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,275.89,21.21)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,284.25,13.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.110001" y="-4.3499999"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.110001" y="-0.68000001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="37.080002" y="-4.5799999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.610001" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.970221" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,321.2,23.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.45" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5584159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,330.88,16.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,346.11,21.21)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,354.47,18.05)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.6700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.5900002" y="1.84"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="113.4" y="-16.92"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="117.5635" y="-16.92"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="123.815" y="-16.92"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="130.0665" y="-16.92"> )</t年代p一个n></text> </g> </g> </svg></span>如果李雅普诺夫函数的微分是负定,可以保证系统全局渐近稳定的。通过切换增益(<一个href="#EEq10">9</一个>),<gydF4y2Ba年代vg height="14.475" id="M65" style="vertical-align:-3.13504pt;width:14.675px;" version="1.1" viewbox="0 0 14.675 14.475" width="14.675" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.19,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> </g> </g> </svg>和<年代vg height="14.475" id="M66" style="vertical-align:-3.13504pt;width:14.675px;" version="1.1" viewbox="0 0 14.675 14.475" width="14.675" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.19,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> </g> </g> </svg>在(<一个href="#EEq14">13</一个>)应小于零<年代vg height="13.3875" id="M67" style="vertical-align:-0.30096pt;width:39.825001px;" version="1.1" viewbox="0 0 39.825001 13.3875" width="39.825001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.3875)"> <g transform="translate(72,-61.29)"> <text transform="matrix(1,0,0,-1,-64.07,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.8800001" y="2.53"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.585731" y="2.53"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.62612" y="2.53"> 0</t年代p一个n></text> </g> </g> </svg>满足滑模的交换条件。</年代p一个n></p><p>根据定理<一个href="#thm1">1</一个>的切换增益等于控制滑模切换面是足够小,以便能满足切换条件。可以满足切换条件时,系统在(<一个href="#EEq9">8</一个>)将达到渐近稳定。因此,<年代p一个ncl作为年代="equation" id="EEq15"> <svg height="17.7125" id="M68" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 17.7125" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.7125)"> <g transform="translate(72,-57.83)"> <text transform="matrix(1,0,0,-1,195.7,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.7199998" y="2.53"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,196.91,58.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.36,61.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.279387" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="260.51001" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="264.67349" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="270.92499" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="277.17651" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>它代表了系统动态掉落在切换面。我们使用(<一个href="#EEq9">8</一个>)和(<一个href="#EEq15">14</一个>),可以获得的关系<年代p一个ncl作为年代="equation" id="EEq16"> <svg height="73.1875" id="M69" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 73.1875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,73.1875)"> <g transform="translate(72,-13.45)"> <text transform="matrix(1,0,0,-1,141.08,59.28)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.8600001" y="0.1"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,140.55,56.06)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,149.7,59.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,168.06,56.06)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,176.52,59.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.97" y="-7.2600002"> </t年代p一个n></text> <g> <path d="m 189.06,62.31 13.92,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,189.06,50.43)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,198.59,47.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.26,59.18)"> <tspan style="font-size: 12.50px; " x="21.530001" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.860001" y="-2.0799999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.389999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.115167" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,238.99,66.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.34"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.34"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,249.32,59.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,264.55,64.19)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.25"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.25"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,273.55,56.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9400001" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-131" y="31.09"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-137.86" y="31.190001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,142.02,22.35)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,150.35,25.48)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,168.71,22.35)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,176.35,25.48)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.97" y="-7.25"> </t年代p一个n></text> <g> <path d="m 188.88,28.6 13.92,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,188.88,16.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,198.41,13.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.08,25.48)"> <tspan style="font-size: 12.50px; " x="21.540001" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.869999" y="-2.0699999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.389999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.115167" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,238.82,32.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,248.49,25.48)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,263.73,30.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,272.08,22.96)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9400001" y="-2.52"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="195.78999" y="-16.639999"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="199.95351" y="-16.639999"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="206.205" y="-16.639999"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="212.4565" y="-16.639999"> )</t年代p一个n></text> </g> </g> </svg></span>我们的替代品(<一个href="#EEq16">15</一个>)(<gydF4y2Ba一个href="#EEq6">5</一个>),那么转子磁通的位置<年代vg height="14.475" id="M70" style="vertical-align:-3.13504pt;width:12.775px;" version="1.1" viewbox="0 0 12.775 14.475" width="12.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.9,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>电机可以更换<年代vg height="17.975" id="M71" style="vertical-align:-3.13504pt;width:13.4px;" version="1.1" viewbox="0 0 13.4 17.975" width="13.4" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-65.8,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.1500001" y="2.72"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.4,57.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,它是可以估计的<年代p一个ncl作为年代="equation" id="EEq18"> <svg height="48.1875" id="M72" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 48.1875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,48.1875)"> <g transform="translate(72,-33.45)"> <text transform="matrix(1,0,0,-1,61.79,52.33)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.1500001" y="2.73"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,62.19,46.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,69.73,49.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> t</t年代p一个n><t年代p一个n style="font-size: 12.50px; 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" x="23.214556" y="-20.309999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,228.45,57.05)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,232.84,60.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,239.17,57.05)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,247.63,60.18)"> <tspan style="font-size: 12.50px; " x="42.009998" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.34" y="-2.0699999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.860001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.467411" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.331078" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.582579" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,300.84,67.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.196064" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,311.17,60.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,326.4,65.18)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2399998"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.656064" y="9.2399998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,335.4,57.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 210.36,52.73 130.89,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,215.7,38.76)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,225.23,35.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,229.62,38.76)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,235.95,35.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,243.58,38.76)"> <tspan style="font-size: 12.50px; " x="42.02" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.34" y="-2.0699999"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.869999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.479914" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.34358" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.595081" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,296.8,45.98)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.46" y="10.35"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.5484159" y="10.35"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,306.47,38.76)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,321.7,43.18)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="7.5500002"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="7.5500002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,330.06,36.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.39" y="-3.6199999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.93" y="-13.35"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="137.81" y="-13.35"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="141.9735" y="-13.35"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="148.22501" y="-13.35"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="154.4765" y="-13.35"> )</t年代p一个n></text> </g> </g> </svg></span>和转子角速度<年代vg height="10.925" id="M73" style="vertical-align:-3.13504pt;width:15.85px;" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>电机可以估计<年代p一个ncl作为年代="equation" id="EEq19"> <svg height="30.700001" id="M74" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 30.700001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,30.7)"> <g transform="translate(72,-47.44)"> <text transform="matrix(1,0,0,-1,130.67,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-0.75018001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,138.43,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,145.97,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.76" y="-7.25"> 2</t年代p一个n></text> <g> <path d="m 159.2,59.37 9.3,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,159.2,47.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.58" y="-6.2399998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.299999" y="-8.8599997"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.43" y="-8.7600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.96,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.9,56.25)"> <tspan style="font-size: 12.50px; " x="24.9" y="-2.72"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.75" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> c</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.551332" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.802832" y="0"> 年代</t年代p一个n></text> <text transform="matrix(1,0,0,-1,216.2,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.05,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.209999" y="-0.1"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.34" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,240.72,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,248.48,56.25)"> <tspan style="font-size: 12.50px; " x="22.83" y="-2.72"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.68" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,271.71,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,275.78,53.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.52"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="192.09" y="-2.52"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="196.25349" y="-2.52"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="202.505" y="-2.52"> 7</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="208.7565" y="-2.52"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="17.975" id="M75" style="vertical-align:-3.13504pt;width:18.612499px;" version="1.1" viewbox="0 0 18.612499 17.975" width="18.612499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-65.8,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.1500001" y="2.72"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.4,57.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>国际空间站的估计转子磁通的位置<年代vg height="14.475" id="M76" style="vertical-align:-3.13504pt;width:12.775px;" version="1.1" viewbox="0 0 12.775 14.475" width="12.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.9,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="16.025" id="M77" style="vertical-align:-3.13504pt;width:26.275px;" version="1.1" viewbox="0 0 26.275 16.025" width="26.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.025)"> <g transform="translate(72,-59.18)"> <text transform="matrix(1,0,0,-1,-71.19,62.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-0.75018001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,59.23)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>转子角速度估计吗<年代vg height="10.925" id="M78" style="vertical-align:-3.13504pt;width:15.85px;" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。</p><p>gydF4y2Ba为了避免滑模抖振现象,符号功能<年代vg height="14.1" id="M79" style="vertical-align:-2.73372pt;width:58.825001px;" version="1.1" viewbox="0 0 58.825001 14.1" width="58.825001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.1)"> <g transform="translate(72,-60.72)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.115167" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.442165" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.605663" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.544828" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.708328" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="38.621765" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="42.785267" y="0"> )</t年代p一个n></text> </g> </g> </svg>可以由以下方程<年代p一个ncl作为年代="equation" id="EEq20"> <svg height="38.125" id="M80" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 38.125" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,38.125)"> <g transform="translate(72,-41.5)"> <text transform="matrix(1,0,0,-1,195.43,63.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.515023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.678522" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.591961" y="0"> )</t年代p一个n></text> <g> <path d="m 182.2,58.27 49.23,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,182.2,46.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.1700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.26" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.26" y="3.1700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="2.5" y="1.59"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.015023" y="1.59"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.178522" y="1.59"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.091961" y="1.59"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.540001" y="1.59"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.880222" y="1.59"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="50.419998" y="-8.21"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="285.67001" y="-8.21"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="289.8335" y="-8.21"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="296.08499" y="-8.21"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="302.33649" y="-8.21"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代p一个ncl作为年代="equation" id="EEq21"> <svg height="38.575001" id="M81" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 38.575001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,38.575)"> <g transform="translate(72,-41.14)"> <text transform="matrix(1,0,0,-1,150.85,53.45)"> <tspan style="font-size: 12.50px; " x="22.85" y="7.3299999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.18" y="-7.6199999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.815095" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,191.75,57.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,196.62,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.63" y="-1.59"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.63" y="1.5700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.889999" y="-1.59"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.889999" y="1.5700001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.63" y="13.41"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.63" y="16.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.889999" y="13.41"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.889999" y="16.58"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.129999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.645023" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.808521" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.721962" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="46.869999" y="0"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="58.897884" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="64.949341" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-11.59" y="15"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-5.3385" y="15"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.129999" y="15"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.645023" y="15"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.808521" y="15"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.721962" y="15"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="46.869999" y="15"> ≥</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="58.897884" y="15"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="64.949341" y="15"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="271.25" y="7.6199999"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="275.41351" y="7.6199999"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="281.66501" y="7.6199999"> 9</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="287.9165" y="7.6199999"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="10.875" id="M82" style="vertical-align:-3.25793pt;width:14.6125px;" version="1.1" viewbox="0 0 14.6125 10.875" width="14.6125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.875)"> <g transform="translate(72,-63.3)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.24,63.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</t年代p一个n></text> </g> </g> </svg>和<年代vg height="7.1875" id="M83" style="vertical-align:-0.13794pt;width:7.6875px;" version="1.1" viewbox="0 0 7.6875 7.1875" width="7.6875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1875)"> <g transform="translate(72,-66.25)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>都是正的常数。</p><p>gydF4y2Ba由于电动车负载退出了许多不确定性。条件与非线性PID控制器无法处理不确定性,如电动滑板车。因此,HRFNN控制系统采用转子磁通估计量是控制开发的永磁同步电动机驱动系统来驱动电动滑板车在这一节中。的配置提出HRFNN控制系统,监控系统相结合,RFNN控制器,补偿控制系统,如图<一个href="//www.newsama.com/journals/afs/2012/319828/fig2/" target="_blank">2</一个>。控制律设计采取以下形式(<一个href="#B6">6</一个>]:<年代p一个ncl作为年代="equation" id="EEq22"> <svg height="15.75" id="M84" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 15.75" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.75)"> <g transform="translate(72,-59.4)"> <text transform="matrix(1,0,0,-1,155.26,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,164.08,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,170.79,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,191.64,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,201.22,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,221.38,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.13,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.29,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,258.36,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="209.50999" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="213.67349" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="219.925" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="226.1765" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="14.35" id="M85" style="vertical-align:-3.22282pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 14.35" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是一个监控,<年代vg height="14.2375" id="M86" style="vertical-align:-3.13504pt;width:19.862499px;" version="1.1" viewbox="0 0 19.862499 14.2375" width="19.862499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是RFNN控制,<年代vg height="14.375" id="M87" style="vertical-align:-3.24037pt;width:19.987499px;" version="1.1" viewbox="0 0 19.987499 14.375" width="19.987499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是一个补偿控制。监督控制<年代vg height="14.35" id="M88" style="vertical-align:-3.22282pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 14.35" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设计这样的状态控制系统稳定在一个预定的区域。由于过度和抖振控制努力引起监控法,介绍了RFNN控制和补偿控制来减少和平滑控制的努力当系统的状态在预定义的约束。RFNN控制<年代vg height="14.2375" id="M89" style="vertical-align:-3.13504pt;width:19.862499px;" version="1.1" viewbox="0 0 19.862499 14.2375" width="19.862499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是主要的跟踪控制器用来模拟一个想法控制律,和补偿控制<年代vg height="14.375" id="M90" style="vertical-align:-3.24037pt;width:19.987499px;" version="1.1" viewbox="0 0 19.987499 14.375" width="19.987499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是为了补偿控制律和之间的差异RFNN控制。监督控制律火灾只有当RFNN近似属性无法保证。</p><gydF4y2Badiv class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-9b6a46786d84b9d7574efcb6f6f8bcb3"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.002.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-9b6a46786d84b9d7574efcb6f6f8bcb3 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.002_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-9b6a46786d84b9d7574efcb6f6f8bcb3 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图2</年代p一个n><一个一个ria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/afs/2012/319828/fig2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>HRFNN控制系统的方块图使用转子磁通估计。</tgydF4y2Bad> </tr> </tbody> </table> </div> </div> </div> </div> <p>一个基础课(RFNN包括输入<年代vg height="9.9250002" id="M91" style="vertical-align:-0.13794pt;width:4.9875002px;" version="1.1" viewbox="0 0 4.9875002 9.9250002" width="4.9875002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.925)"> <g transform="translate(72,-64.06)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>(层),成员资格<年代vg height="12.675" id="M92" style="vertical-align:-2.34499pt;width:7.1374998px;" version="1.1" viewbox="0 0 7.1374998 12.675" width="7.1374998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.675)"> <g transform="translate(72,-61.86)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>(层),规则<年代vg height="10.7375" id="M93" style="vertical-align:-0.13794pt;width:8.6000004px;" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>(层)和输出层<年代vg height="7.1875" id="M94" style="vertical-align:-0.13794pt;width:7.2874999px;" version="1.1" viewbox="0 0 7.2874999 7.1875" width="7.2874999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1875)"> <g transform="translate(72,-66.25)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>采用层)和实现RFNN控制器在这项研究。信号传播的基本功能在每一层RFNN介绍如下。</p><p><年代p一个ncl作为年代="statement" id="layer1"><span class="statement-title"><i class="statement-title">层1(输入层)。</我></年代p一个n>对于每一个节点<年代vg height="9.9250002" id="M95" style="vertical-align:-0.13794pt;width:4.9875002px;" version="1.1" viewbox="0 0 4.9875002 9.9250002" width="4.9875002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.925)"> <g transform="translate(72,-64.06)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在这一层,净输入和输出表示为<年代p一个ncl作为年代="equation" id="EEq23"> <svg height="100.6625" id="M96" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 100.6625" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,100.6625)"> <g transform="translate(72,8.53)"> <text transform="matrix(1,0,0,-1,109.22,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.690305" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,124.38,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,131.34,53.53)"> <tspan style="font-size: 12.50px; " x="35.599998" y="6.5599999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.928822" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.555653" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,174.45,40.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,185.97,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,192.85,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,199.8,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.928822" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.180323" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.67,50.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,238.9,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,245.1,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,252.06,53.53)"> <tspan style="font-size: 12.50px; " x="-133.88" y="35.970001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.579218" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.919439" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.17094" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.42244" y="0"> ,</t年代p一个n></text> <text transform="matrix(1,0,0,-1,124.38,22.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,131.34,17.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.928822" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.555653" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.596043" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,175.38,22.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.5" y="8.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,182.34,15.04)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.52"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.1015" y="-2.52"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.552809" y="-2.52"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,203.36,22.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,210.32,17.56)"> <tspan style="font-size: 12.50px; " x="20.09" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.41" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.45039" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.701889" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.153198" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,266.94,22.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,273.9,17.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.167818" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-42.77" y="22.290001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-35.405731" y="22.290001"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-23.377848" y="22.290001"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-17.126347" y="22.290001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-11.912596" y="22.290001"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-5.6610961" y="22.290001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="193.97" y="-11.05"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="198.1335" y="-11.05"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="204.38499" y="-11.05"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="210.63651" y="-11.05"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="19.0375" id="M97" style="vertical-align:-4.22832pt;width:84.574997px;" version="1.1" viewbox="0 0 84.574997 19.0375" width="84.574997" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.0375)"> <g transform="translate(72,-56.77)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.21"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-56.73,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-36.17,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-28.32,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.090401" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.352724" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-8.46,57.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是错误的命令之间所需的命令,<年代vg height="15.4375" id="M98" style="vertical-align:-3.13504pt;width:17.112499px;" version="1.1" viewbox="0 0 17.112499 15.4375" width="17.112499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.4375)"> <g transform="translate(72,-59.65)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> </g> </g> </svg>转子角速度估计,<年代vg height="19.0375" id="M99" style="vertical-align:-4.22832pt;width:163.9375px;" version="1.1" viewbox="0 0 163.9375 19.0375" width="163.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.0375)"> <g transform="translate(72,-56.77)"> <text transform="matrix(1,0,0,-1,-71.19,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-0.75018001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,57.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.37,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ;</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.727334" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-42.76,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.21"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-34.42,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.604223" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.767723" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.794889" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="42.135109" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,13.96,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,24.83,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6268301" y="0"> ≡</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.667219" y="0"> Δ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.694386" y="0"> </t年代p一个n></text> </g> </g> </svg>是错误的命令改变,<年代vg height="13.9875" id="M100" style="vertical-align:-0.17555pt;width:26.725px;" version="1.1" viewbox="0 0 26.725 13.9875" width="26.725" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.9875)"> <g transform="translate(72,-60.81)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.71,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代p一个n></text> </g> </g> </svg>代表一个时间延迟;<年代vg height="10.325" id="M101" style="vertical-align:-0.0pt;width:14.8375px;" version="1.1" viewbox="0 0 14.8375 10.325" width="14.8375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>表示迭代的数量;<年代vg height="17.799999" id="M102" style="vertical-align:-3.2316pt;width:19.174999px;" version="1.1" viewbox="0 0 19.174999 17.799999" width="19.174999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.8)"> <g transform="translate(72,-57.76)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.75,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1199999"> </t年代p一个n></text> </g> </g> </svg>RFNN的输出。</年代p一个n></p><p><span class="statement" id="layer2"><span class="statement-title"><i class="statement-title">2层(层)会员。</我></年代p一个n>在这一层中,每个节点执行一个隶属函数。采用高斯函数作为隶属函数。为<年代vg height="12.675" id="M103" style="vertical-align:-2.34499pt;width:7.1374998px;" version="1.1" viewbox="0 0 7.1374998 12.675" width="7.1374998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.675)"> <g transform="translate(72,-61.86)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>th节点,<年代p一个ncl作为年代="equation" id="EEq24"> <svg height="111.4375" id="M104" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 111.4375" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,111.4375)"> <g transform="translate(72,17.15)"> <text transform="matrix(1,0,0,-1,96.42,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.702808" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.59,52.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,118.55,47.63)"> <tspan style="font-size: 12.50px; " x="45.360001" y="-8.25"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="51.209999" y="-10.77"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.555653" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.596043" y="0"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,176.64,63.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,184.29,58.4)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,204.51,55.27)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,211.66,55.88)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.51,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <g> <path d="m 163.91,50.75 58.48,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,177.93,31.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.49,31.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,197.64,31.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,203.49,41.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.58,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-118.19" y="37.93"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.59,14.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,118.55,9.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.555653" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.596043" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.59,14.76)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.5" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,169.55,7.18)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.1015" y="-2.51"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.540304" y="-2.51"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.56,14.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,197.52,9.7)"> <tspan style="font-size: 12.50px; " x="20.1" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="63.68" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.928822" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.42" y="0.0099999998"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.447887" y="0.0099999998"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="46.999218" y="0.0099999998"> x</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.250717" y="0.0099999998"> p</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="69.529999" y="0.0099999998"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="75.781502" y="0.0099999998"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="81.232811" y="0.0099999998"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,282.22,14.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,289.18,9.7)"> <tspan style="font-size: 12.50px; " x="20.09" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.02" y="0.0099999998"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-64.860001" y="23.049999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-56.533001" y="23.049999"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-44.492615" y="23.049999"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-38.241112" y="23.049999"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-33.027363" y="23.049999"> …</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-18.448864" y="23.049999"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-13.235113" y="23.049999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.021122" y="23.049999"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="178.69" y="-14.6"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="182.8535" y="-14.6"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="189.105" y="-14.6"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="195.35651" y="-14.6"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="12.975" id="M105" style="vertical-align:-4.77652pt;width:20.1625px;" version="1.1" viewbox="0 0 20.1625 12.975" width="20.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.975)"> <g transform="translate(72,-61.62)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="12.7625" id="M106" style="vertical-align:-4.77652pt;width:17.450001px;" version="1.1" viewbox="0 0 17.450001 12.7625" width="17.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.7625)"> <g transform="translate(72,-61.79)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.24,63.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> </g> </g> </svg>分别是,均值和标准差的高斯函数<年代vg height="12.675" id="M107" style="vertical-align:-2.34499pt;width:7.1374998px;" version="1.1" viewbox="0 0 7.1374998 12.675" width="7.1374998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.675)"> <g transform="translate(72,-61.86)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>届任期的<年代vg height="9.9250002" id="M108" style="vertical-align:-0.13794pt;width:4.9875002px;" version="1.1" viewbox="0 0 4.9875002 9.9250002" width="4.9875002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.925)"> <g transform="translate(72,-64.06)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>th输入语言变量<年代vg height="18.5" id="M109" style="vertical-align:-3.7982pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 18.5" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.5)"> <g transform="translate(72,-57.2)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> </g> </g> </svg>节点的层<一个href="#layer2">2</一个>,<gydF4y2Ba年代vg height="7.1374998" id="M110" style="vertical-align:-0.10033pt;width:7.8874998px;" version="1.1" viewbox="0 0 7.8874998 7.1374998" width="7.8874998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>的总数是语言变量的输入节点。</年代p一个n></p><p><span class="statement" id="layer3"><span class="statement-title"><i class="statement-title">第三层(准则层)。</我></年代p一个n>每个节点<年代vg height="10.7375" id="M111" style="vertical-align:-0.13794pt;width:8.6000004px;" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在这一层用<年代vg height="16.1" id="M112" style="vertical-align:-3.2729pt;width:27.475px;" version="1.1" viewbox="0 0 27.475 16.1" width="27.475" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.1)"> <g transform="translate(72,-59.12)"> <text transform="matrix(1,0,0,-1,-71.95,62.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∏</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.59" y="-0.029999999"> ,</t年代p一个n></text> </g> </g> </svg>使产品的输入信号和输出结果。为<年代vg height="10.7375" id="M113" style="vertical-align:-0.13794pt;width:8.6000004px;" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>th规则节点<年代p一个ncl作为年代="equation" id="EEq25"> <svg height="102.5875" id="M114" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 102.5875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,102.5875)"> <g transform="translate(72,10.07)"> <text transform="matrix(1,0,0,-1,112.83,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.702808" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,128,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,135.33,53.53)"> <tspan style="font-size: 12.50px; " x="35.599998" y="6.5599999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.555653" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,178.48,40.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,189.95,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,199.64,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.4045279" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.29,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,215.17,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.8199997"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,222.12,53.53)"> <tspan style="font-size: 12.50px; " x="-100.32" y="37.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.928822" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.180323" y="0"> ,</t年代p一个n></text> <text transform="matrix(1,0,0,-1,128,21.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,135.33,16.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.555653" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.596043" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,179.37,21.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.5" y="9.2600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,186.33,13.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.1015" y="-2.51"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.540304" y="-2.51"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.34,21.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,214.67,16.02)"> <tspan style="font-size: 12.50px; " x="20.09" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.42" y="0.0099999998"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.447887" y="0.0099999998"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.699387" y="0.0099999998"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.150696" y="0.0099999998"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,271.29,21.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,278.62,16.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.167818" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-57.450001" y="22.290001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-47.210045" y="22.290001"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-35.169655" y="22.290001"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-28.918154" y="22.290001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-23.704403" y="22.290001"> …</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-9.125905" y="22.290001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-3.912154" y="22.290001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0.0638" y="22.290001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="189.25" y="-11.82"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="193.4135" y="-11.82"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="199.66499" y="-11.82"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="205.9165" y="-11.82"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="20.5875" id="M115" style="vertical-align:-5.46602pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 20.5875" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,20.5875)"> <g transform="translate(72,-55.53)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.8100004"> </t年代p一个n></text> </g> </g> </svg>代表了<年代vg height="12.675" id="M116" style="vertical-align:-2.34499pt;width:7.1374998px;" version="1.1" viewbox="0 0 7.1374998 12.675" width="7.1374998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.675)"> <g transform="translate(72,-61.86)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>输入层的节点<一个href="#layer3">3</一个>;<gydF4y2Ba年代vg height="21.15" id="M117" style="vertical-align:-5.92247pt;width:28.25px;" version="1.1" viewbox="0 0 28.25 21.15" width="28.25" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,21.15)"> <g transform="translate(72,-55.08)"> <text transform="matrix(1,0,0,-1,-67.78,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-58.09,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.4045279" y="9.2700005"> </t年代p一个n></text> </g> </g> </svg>、会员之间的权重层和规则层,是假定为统一;<年代vg height="16.0875" id="M118" style="vertical-align:-2.21957pt;width:55.887501px;" version="1.1" viewbox="0 0 55.887501 16.0875" width="55.887501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.0875)"> <g transform="translate(72,-59.13)"> <text transform="matrix(1,0,0,-1,-71.95,61.39)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4392848" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.479673" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.643173" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.857164" y="0"> /</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.332996" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="37.221432" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-30.56,66.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是规则完全规则连接的数量如果每个输入节点具有相同的语言变量。</年代p一个n></p><p><span class="statement" id="layer4"><span class="statement-title"><i class="statement-title">第四层(输出层)。</我></年代p一个n>一个节点<年代vg height="7.1875" id="M119" style="vertical-align:-0.13794pt;width:7.2874999px;" version="1.1" viewbox="0 0 7.2874999 7.1875" width="7.2874999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1875)"> <g transform="translate(72,-66.25)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在这一层是贴上<年代vg height="16.1" id="M120" style="vertical-align:-3.2729pt;width:14.4125px;" version="1.1" viewbox="0 0 14.4125 16.1" width="14.4125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.1)"> <g transform="translate(72,-59.12)"> <text transform="matrix(1,0,0,-1,-71.95,62.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∑</t年代p一个n></text> </g> </g> </svg>,计算总体产出的总和所有输入信号:<年代p一个ncl作为年代="equation" id="EEq26"> <svg height="100.925" id="M121" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 100.925" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,100.925)"> <g transform="translate(72,8.74)"> <text transform="matrix(1,0,0,-1,113.38,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.702808" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,128.55,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,135.51,53.54)"> <tspan style="font-size: 12.50px; " x="35.599998" y="6.5599999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.555653" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,176.82,39.87)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,187.27,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,196.96,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="9.1400003"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.21,53.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,213.08,58.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,220.41,53.54)"> <tspan style="font-size: 12.50px; " x="-98.059998" y="36.189999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.167818" y="0"> ,</t年代p一个n></text> <text transform="matrix(1,0,0,-1,128.55,22.35)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,135.51,17.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.555653" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.596043" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,179.55,22.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.5" y="8.1999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,186.51,14.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.52"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.1015" y="-2.52"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.552809" y="-2.52"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.53,22.35)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,214.49,17.35)"> <tspan style="font-size: 12.50px; " x="20.09" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.41" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.437885" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.689384" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.140694" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,271.11,22.35)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,278.06,17.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.928822" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.180323" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-36.779999" y="22.280001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-27.590296" y="22.280001"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-15.549906" y="22.280001"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-9.2984056" y="22.280001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="189.81" y="-11.16"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="193.9735" y="-11.16"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="200.22501" y="-11.16"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="206.4765" y="-11.16"> )</t年代p一个n></text> </g> </g> </svg></span>连接的重量<年代vg height="19.075001" id="M122" style="vertical-align:-4.25465pt;width:23.799999px;" version="1.1" viewbox="0 0 23.799999 19.075001" width="23.799999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.075)"> <g transform="translate(72,-56.74)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.26,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="9.1400003"> </t年代p一个n></text> </g> </g> </svg>是输出动作的力量吗<年代vg height="7.1875" id="M123" style="vertical-align:-0.13794pt;width:7.2874999px;" version="1.1" viewbox="0 0 7.2874999 7.1875" width="7.2874999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1875)"> <g transform="translate(72,-66.25)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>输出相关的<年代vg height="10.7375" id="M124" style="vertical-align:-0.13794pt;width:8.6000004px;" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>th规则;<年代vg height="19.075001" id="M125" style="vertical-align:-4.25465pt;width:20.487499px;" version="1.1" viewbox="0 0 20.487499 19.075001" width="20.487499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.075)"> <g transform="translate(72,-56.74)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n></text> </g> </g> </svg>代表了<年代vg height="10.7375" id="M126" style="vertical-align:-0.13794pt;width:8.6000004px;" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>输入层的节点<一个href="#layer4">4</一个>,<gydF4y2Ba年代vg height="17.799999" id="M127" style="vertical-align:-3.2316pt;width:53.099998px;" version="1.1" viewbox="0 0 53.099998 17.799999" width="53.099998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.8)"> <g transform="translate(72,-57.76)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.75,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.4,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-36.55,57.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。此外,<年代vg height="14.2375" id="M128" style="vertical-align:-3.13504pt;width:19.862499px;" version="1.1" viewbox="0 0 19.862499 14.2375" width="19.862499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>可以改写如下:<年代p一个ncl作为年代="equation" id="EEq27"> <svg height="18.3125" id="M129" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 18.3125" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.3125)"> <g transform="translate(72,-57.35)"> <text transform="matrix(1,0,0,-1,142.49,61.15)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.3,58.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.75,61.15)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,182.6,58.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,191.66,61.16)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.978834" y="0"> ∣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.767963" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.170219" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="43.973049" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="56.013439" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,257.08,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,263.8,61.15)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.3392611" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="204.07001" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="208.23351" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="214.485" y="0"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="220.7365" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>错误的信号<年代vg height="10.6875" id="M130" style="vertical-align:-0.0pt;width:10.55px;" version="1.1" viewbox="0 0 10.55 10.6875" width="10.55" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是输入RFNN;<年代vg height="22.1875" id="M131" style="vertical-align:-4.3161pt;width:166.10001px;" version="1.1" viewbox="0 0 166.10001 22.1875" width="166.10001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,22.1875)"> <g transform="translate(72,-54.25)"> <text transform="matrix(1,0,0,-1,-71.95,58.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.615527" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.655916" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.819414" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-33.43,63.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2200003"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="9.2200003"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-14.04,58.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-4.35,63.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2200003"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="9.2200003"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,12.96,58.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⋯</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.642214" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,42.29,63.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2200003"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7831359" y="9.2200003"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,49.95,58.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ]</t年代p一个n></text> <text transform="matrix(1,0,0,-1,54.11,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是可调参数向量RFNN;<年代vg height="19.0625" id="M132" style="vertical-align:-4.24588pt;width:133.64999px;" version="1.1" viewbox="0 0 133.64999 19.0625" width="133.64999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.0625)"> <g transform="translate(72,-56.75)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.802592" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.842981" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.006479" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-38.06,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.21"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-27.21,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-20.33,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.21"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-7.4,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⋯</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.642214" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,19.12,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,23.99,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ]</t年代p一个n></text> <text transform="matrix(1,0,0,-1,28.16,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,在这<年代vg height="19.075001" id="M133" style="vertical-align:-4.25465pt;width:15.275px;" version="1.1" viewbox="0 0 15.275 19.075001" width="15.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.075)"> <g transform="translate(72,-56.74)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n></text> </g> </g> </svg>是由选定的隶属函数和<年代vg height="19.075001" id="M134" style="vertical-align:-4.25465pt;width:69.675003px;" version="1.1" viewbox="0 0 69.675003 19.075001" width="69.675003" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.075)"> <g transform="translate(72,-56.74)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.7148314" y="0"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.75522" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-43.31,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-34.6,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> 1</t年代p一个n></text> </g> </g> </svg>。</年代p一个n></p><p>开发补偿控制<年代vg height="14.375" id="M135" style="vertical-align:-3.24037pt;width:19.987499px;" version="1.1" viewbox="0 0 19.987499 14.375" width="19.987499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>最小逼近误差<年代vg height="9.875" id="M136" style="vertical-align:-2.29482pt;width:7.9749999px;" version="1.1" viewbox="0 0 7.9749999 9.875" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>定义如下:<年代p一个ncl作为年代="equation" id="EEq28"> <svg height="19.35" id="M137" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.35)"> <g transform="translate(72,-56.52)"> <text transform="matrix(1,0,0,-1,148.85,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.7398367" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.780226" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,180.83,66.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,188.68,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.84,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.9,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.652832" y="-2.51"> ∣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.454464" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.76,66.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,256.84,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="211.03" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="215.1935" y="-2.51"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="221.44499" y="-2.51"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="227.6965" y="-2.51"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="11.8" id="M138" style="vertical-align:-0.13794pt;width:18.225px;" version="1.1" viewbox="0 0 18.225 11.8" width="18.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.8)"> <g transform="translate(72,-62.56)"> <text transform="matrix(1,0,0,-1,-71.95,62.75)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.55,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> </g> </g> </svg>是一个最优权向量,实现最小逼近误差,和的绝对值<年代vg height="9.875" id="M139" style="vertical-align:-2.29482pt;width:7.9749999px;" version="1.1" viewbox="0 0 7.9749999 9.875" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>认为是小于一个小正的常数,<年代vg height="9.875" id="M140" style="vertical-align:-2.29482pt;width:7.9375px;" version="1.1" viewbox="0 0 7.9375 9.875" width="7.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>(例如,<年代vg height="13.55" id="M141" style="vertical-align:-2.29482pt;width:41.424999px;" version="1.1" viewbox="0 0 41.424999 13.55" width="41.424999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.55)"> <g transform="translate(72,-61.16)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="2.5006001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.7771063" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.741037" y="0"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.781425" y="0"> </t年代p一个n></text> </g> </g> </svg>)。误差方程可以改写如下:<年代p一个ncl作为年代="equation" id="EEq29"> <svg height="150.6875" id="M142" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 150.6875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,150.6875)"> <g transform="translate(72,48.55)"> <text transform="matrix(1,0,0,-1,45.86,63.96)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.9699998" y="2.8299999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.8328319" y="2.8299999"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.87322" y="2.8299999"> Λ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.650328" y="2.8299999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.765495" y="2.8299999"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.105717" y="2.8299999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,102.32,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.11,58.62)"> <tspan style="font-size: 12.50px; " x="11.98" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.1892252" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,133.28,66.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,141.13,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.29,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,170.35,61.14)"> <tspan style="font-size: 12.50px; " x="36.34" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.966331" y="0"> ∣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.767963" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.170219" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="43.91" y="0.0099999998"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.250221" y="0.0099999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,234.42,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.27,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,264.42,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,271.22,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-220.52" y="21.83"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-208.49211" y="21.83"> Λ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-199.71501" y="21.83"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-188.58734" y="21.83"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-177.24712" y="21.83"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,102.32,33.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.11,34.28)"> <tspan style="font-size: 12.50px; " x="11.98" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.1892252" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,133.28,41.79)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,141.13,36.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.29,33.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,170.35,34.28)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.652832" y="-2.51"> ∣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.454464" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,204.22,41.87)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.29,34.28)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.970221" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,238.08,33.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,247.14,34.28)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.652832" y="-2.51"> ∣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.454464" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,281,41.87)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,286.08,34.28)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.970221" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,314.87,33.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,323.92,36.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.349998" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1700001" y="0.0099999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.972832" y="0.0099999998"> ∣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.774464" y="0.0099999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="32.17672" y="0.0099999998"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-227.59" y="24.360001"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-219.02545" y="24.360001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,113.71,9.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,123.56,12.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,143.72,9.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,150.52,9.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-99.82" y="21.83"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-87.792114" y="21.83"> Λ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-79.015007" y="21.83"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-67.887337" y="21.83"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-56.547115" y="21.83"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,102.32,-15.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.11,-14.41)"> <tspan style="font-size: 12.50px; " x="11.98" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.1892252" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,133.28,-6.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,141.13,-11.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.29,-15.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,170.35,-14.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.652832" y="-2.51"> ∣</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.454464" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,204.22,-6.82)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.29,-14.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.969999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.83" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.52,-6.82)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,249.59,-14.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="56.549999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9400001" y="-2.51"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.054928" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.395147" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.558647" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="42.960903" y="-2.51"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="49.212402" y="-2.51"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="64.120003" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="75.46022" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,333.87,-15.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,343.72,-11.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,363.87,-15.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,370.67,-14.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-319.97" y="25.68"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-307.94211" y="25.68"> Λ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-299.16501" y="25.68"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-288.03732" y="25.68"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-276.69711" y="25.68"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,102.32,-43.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.11,-45.01)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.370001" y="-2.4100001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.220001" y="-4.9200001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9700003" y="-4.9200001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.009668" y="-4.9200001"> +</t年代p一个n></text> <text transform="matrix(1,0,0,-1,155.73,-35.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,163.58,-40.09)"> <tspan style="font-size: 12.50px; " x="20.75" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,190.18,-32.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,196.89,-40.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.114927" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.455149" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,227.17,-43.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,237.02,-40.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,257.17,-43.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,263.97,-45.01)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.05" y="-4.9200001"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="203.89999" y="-53.610001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="208.06349" y="-53.610001"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="214.315" y="-53.610001"> 7</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="220.5665" y="-53.610001"> )</t年代p一个n></text> </g> </g> </svg></span>然后,李雅普诺夫函数被定义为<年代p一个ncl作为年代="equation" id="EEq30"> <svg height="33.612499" id="M143" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 33.612499" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,33.6125)"> <g transform="translate(72,-45.11)"> <text transform="matrix(1,0,0,-1,97,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,104.19,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.16,56.25)"> <tspan style="font-size: 12.50px; " x="28.950001" y="-7.25"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.703768" y="0"> =</t年代p一个n></text> <g> <path d="m 140.11,59.37 6.25,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,140.11,47.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="50.259998" y="-16.01"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4400001" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.779501" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.418835" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.534" y="-8.7600002"> +</t年代p一个n></text> <g> <path d="m 187.19,59.37 12.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,187.19,47.49)"> <tspan style="font-size: 12.50px; " x="13.8" y="-6.2399998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.99" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.58,61.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,225.43,56.25)"> <tspan style="font-size: 12.50px; " x="20.75" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,253.37,63.78)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,262.17,53.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.1799998" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,278.76,61.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,286.61,56.25)"> <tspan style="font-size: 12.50px; " x="20.75" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.02" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="181.25999" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="185.42349" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="191.675" y="0"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="197.9265" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>李雅普诺夫函数的求导和使用(<一个href="#EEq29">27</一个>),然后<年代p一个ncl作为年代="equation" id="EEq31"> <svg height="75.400002" id="M144" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 75.400002" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,75.4)"> <g transform="translate(72,-11.68)"> <text transform="matrix(1,0,0,-1,91.68,58.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.8800001" y="2.53"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,90.99,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,97.97,56.25)"> <tspan style="font-size: 12.50px; " x="37.509998" y="-7.25"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.703768" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.744158" y="0"> −</t年代p一个n></text> <g> <path d="m 135.48,59.37 6.25,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,135.48,47.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4400001" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.779501" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.506836" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.622002" y="-8.7600002"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.962223" y="-8.7600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,191.79,61.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,198.5,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,214.48,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.28,53.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.1900001" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.217167" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.557386" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,259.66,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,269.51,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,289.66,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,296.46,53.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-173.50999" y="30.91"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-162.16978" y="30.91"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,142.63,27.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,149.34,22.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,165.32,19.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,172.03,20.31)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.1900001" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,188.63,27.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,196.48,22.82)"> <tspan style="font-size: 12.50px; " x="20.74" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,224.41,30.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.13,22.82)"> <tspan style="font-size: 12.50px; " x="22.700001" y="-7.2600002"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.102424" y="0"> −</t年代p一个n></text> <g> <path d="m 253.78,25.95 6.35,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,253.78,14.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.5500002" y="-6.2399998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.74" y="-8.75"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,277.92,27.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,285.78,22.82)"> <tspan style="font-size: 12.50px; " x="20.74" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,313.71,30.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,328,25.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.5799999" y="2.74"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="1.822256" y="2.74"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="139.87" y="-13.16"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="144.03349" y="-13.16"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="150.285" y="-13.16"> 9</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="156.5365" y="-13.16"> )</t年代p一个n></text> </g> </g> </svg></span>为了满足<年代vg height="17.0375" id="M145" style="vertical-align:-3.22282pt;width:57.724998px;" version="1.1" viewbox="0 0 57.724998 17.0375" width="57.724998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.0375)"> <g transform="translate(72,-58.37)"> <text transform="matrix(1,0,0,-1,-64.07,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.8800001" y="2.53"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.76,58.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.87,61.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.703768" y="0"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.744158" y="0"> 0</t年代p一个n></text> </g> </g> </svg>,适应法律<年代vg height="13.4375" id="M146" style="vertical-align:-0.13794pt;width:11.875px;" version="1.1" viewbox="0 0 11.875 13.4375" width="11.875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.4375)"> <g transform="translate(72,-61.25)"> <text transform="matrix(1,0,0,-1,-64.37,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.5799999" y="2.73"> </t年代p一个n></text> </g> </g> </svg>和补偿控制器<年代vg height="14.375" id="M147" style="vertical-align:-3.24037pt;width:19.987499px;" version="1.1" viewbox="0 0 19.987499 14.375" width="19.987499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设计如下:<年代p一个ncl作为年代="equation" id="EEq32"> <svg height="48.9375" id="M148" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 48.9375" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,48.9375)"> <g transform="translate(72,-32.85)"> <text transform="matrix(1,0,0,-1,177.26,63.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.5799999" y="2.73"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2855868" y="2.73"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.325975" y="2.73"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.6775" y="2.73"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.29,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,216,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,231.98,57.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,238.69,61.07)"> <tspan style="font-size: 12.50px; " x="-87.230003" y="23.610001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.3392611" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="229.17999" y="-0.44"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="233.34351" y="-0.44"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="239.595" y="-0.44"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="245.8465" y="-0.44"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,160.27,34.34)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,170.82,37.46)"> <tspan style="font-size: 12.50px; " x="41.900002" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.75" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.367388" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.231054" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.482553" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.91,42.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,233.63,37.46)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,249.61,34.34)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,256.32,34.95)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="211.55" y="-2.55"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="215.7135" y="-2.55"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="221.965" y="-2.55"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="228.21649" y="-2.55"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代vg height="13.6125" id="M150" style="vertical-align:-2.34499pt;width:35.262501px;" version="1.1" viewbox="0 0 35.262501 13.6125" width="35.262501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.6125)"> <g transform="translate(72,-61.11)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.8148546" y="0"> ></t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.855244" y="0"> 0</t年代p一个n></text> </g> </g> </svg>表示为适应收益。替代(<一个href="#EEq32">30.</一个>)(<gydF4y2Ba一个href="#EEq31">29日</一个>),然后<年代p一个ncl作为年代="equation" id="EEq34"> <svg height="114.25" id="M151" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 114.25" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,114.25)"> <g transform="translate(72,19.4)"> <text transform="matrix(1,0,0,-1,68.93,58.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.8800001" y="2.53"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,68.24,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,75.22,56.25)"> <tspan style="font-size: 12.50px; " x="37.509998" y="-7.25"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.703768" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.744158" y="0"> −</t年代p一个n></text> <g> <path d="m 112.73,59.37 6.25,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,112.73,47.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4499998" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.789501" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.516834" y="-8.7600002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.632004" y="-8.7600002"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.972221" y="-8.7600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,169.05,61.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,175.76,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,191.74,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,200.53,53.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.1900001" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.217167" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.557386" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,236.91,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,246.76,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,266.92,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,273.72,53.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-155.42999" y="23.65"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-182.78999" y="30.91"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-167.97394" y="30.91"> −</t年代p一个n></text> <g> <path d="m 118.29,25.95 6.25,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,118.29,14.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4400001" y="-8.75"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.779501" y="-8.75"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.506836" y="-8.75"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.622002" y="-8.75"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.962223" y="-8.75"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,174.6,27.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,181.31,22.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,197.29,19.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.09,20.31)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.1900001" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.217167" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.557386" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,242.47,19.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,252.32,22.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,272.47,19.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,279.27,20.31)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-160.98" y="23.66"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-188.34" y="30.91"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-173.52394" y="30.91"> −</t年代p一个n></text> <g> <path d="m 118.29,-7.47 6.25,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,118.29,-19.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4400001" y="-8.75"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.779501" y="-8.75"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.506836" y="-8.75"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.622002" y="-8.75"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.962223" y="-8.75"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,174.6,-5.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,181.31,-10.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,197.29,-13.73)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.09,-9.01)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.1600001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="2.5" y="1.59"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.75" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.75" y="3.1600001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.03" y="1.59"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.37022" y="1.59"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,239.8,-5.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,246.52,-10.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,262.49,-13.73)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,269.21,-10.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,278.02,-13.73)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,287.87,-10.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,307.55,-5.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,314.27,-10.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,330.24,-13.73)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,336.96,-10.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,345.77,-13.73)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,352.57,-10.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="115.3" y="-33.77"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="119.4635" y="-33.77"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="125.715" y="-33.77"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="131.96649" y="-33.77"> )</t年代p一个n></text> </g> </g> </svg></span>监督控制器<年代vg height="14.35" id="M152" style="vertical-align:-3.22282pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 14.35" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.14,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>设计如下:<年代p一个ncl作为年代="equation" id="EEq35"> <svg height="19.4375" id="M153" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.4375" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.4375)"> <g transform="translate(72,-56.45)"> <text transform="matrix(1,0,0,-1,147.89,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,156.7,57.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,166.98,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.88,57.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,192.67,61.07)"> <tspan style="font-size: 12.50px; " x="21.540001" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.389999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.863667" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.115167" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,228.4,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,235.11,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.09,57.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,257.8,58.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9400001" y="-2.52"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="210.07001" y="-2.52"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="214.23351" y="-2.52"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="220.485" y="-2.52"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="226.7365" y="-2.52"> )</t年代p一个n></text> </g> </g> </svg></span>在哪里<年代p一个ncl作为年代="equation" id="eq1"> <svg height="42.099998" id="M154" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 42.099998" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,42.1)"> <g transform="translate(72,-38.32)"> <text transform="matrix(1,0,0,-1,151.37,52.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,156.23,48.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,166.42,52.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.03" y="7.3200002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.360001" y="-7.6300001"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.6115" y="-7.6300001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.24025" y="-7.6300001"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.716084" y="-7.6300001"> f</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="57.043083" y="-7.6300001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.66,56.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,239.02,59.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ></t年代p一个n></text> <g> <path d="m 251.06,70.71 10,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,251.06,59.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.0024" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-61.279999" y="16.790001"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-55.0285" y="16.790001"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-39.39975" y="16.790001"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-35.923916" y="16.790001"> f</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-27.596918" y="16.790001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.66,39.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,239.02,42.87)"> <tspan style="font-size: 12.50px; " x="0" y="0"> <</t年代p一个n></text> <g> <path d="m 251.06,53.92 10,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,251.06,42.87)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.0024" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="216.81" y="-9.1599998"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="220.9735" y="-9.1599998"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="227.22501" y="-9.1599998"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="233.4765" y="-9.1599998"> )</t年代p一个n></text> </g> </g> </svg></span>替代(<一个href="#EEq32">31日</一个>)和(<一个href="#EEq35">33</一个>)(<gydF4y2Ba一个href="#EEq34">32</一个>),从而<年代p一个ncl作为年代="equation" id="EEq36"> <svg height="30.700001" id="M155" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 30.700001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,30.7)"> <g transform="translate(72,-47.44)"> <text transform="matrix(1,0,0,-1,154.91,58.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.8800001" y="2.53"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,154.22,53.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,161.2,56.25)"> <tspan style="font-size: 12.50px; " x="43.07" y="-7.25"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.703768" y="0"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.519823" y="0"> −</t年代p一个n></text> <g> <path d="m 204.27,59.37 6.25,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,204.27,47.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.4400001" y="-8.7600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,220.05,61.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.76,56.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.727334" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.542669" y="0"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.570557" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.822056" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="241.11" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="245.2735" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="251.52499" y="0"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="257.77649" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>自<年代vg height="17.0375" id="M156" style="vertical-align:-3.22282pt;width:57.724998px;" version="1.1" viewbox="0 0 57.724998 17.0375" width="57.724998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.0375)"> <g transform="translate(72,-58.37)"> <text transform="matrix(1,0,0,-1,-64.07,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.8800001" y="2.53"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.76,58.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.87,61.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.703768" y="0"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.744158" y="0"> 0</t年代p一个n></text> </g> </g> </svg>,<年代vg height="17.0375" id="M157" style="vertical-align:-3.22282pt;width:30.525px;" version="1.1" viewbox="0 0 30.525 17.0375" width="30.525" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.0375)"> <g transform="translate(72,-58.37)"> <text transform="matrix(1,0,0,-1,-64.07,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.8800001" y="2.53"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.76,58.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.87,61.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n></text> </g> </g> </svg>是负半定(例如,<年代vg height="14.7125" id="M158" style="vertical-align:-3.22282pt;width:83.237503px;" version="1.1" viewbox="0 0 83.237503 14.7125" width="83.237503" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.7125)"> <g transform="translate(72,-60.23)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.76,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.87,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.703768" y="0"> ≤</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.744158" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-24.93,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-20.04,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代p一个n></text> </g> </g> </svg>),这意味着<年代vg height="10.6875" id="M159" style="vertical-align:-0.0pt;width:10.55px;" version="1.1" viewbox="0 0 10.55 10.6875" width="10.55" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="14.4" id="M160" style="vertical-align:-2.21957pt;width:57.724998px;" version="1.1" viewbox="0 0 57.724998 14.4" width="57.724998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4)"> <g transform="translate(72,-60.48)"> <text transform="matrix(1,0,0,-1,-71.95,62.75)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-58.38,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-50.53,62.75)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.492416" y="0"> )</t年代p一个n></text> </g> </g> </svg>是有界的。让函数<年代vg height="17.75" id="M161" style="vertical-align:-3.22282pt;width:158.91251px;" version="1.1" viewbox="0 0 158.91251 17.75" width="158.91251" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.75)"> <g transform="translate(72,-57.8)"> <text transform="matrix(1,0,0,-1,-71.95,61.07)"> <tspan style="font-size: 12.50px; " x="52.23" y="-2.53"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="44.360001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> Ξ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0394287" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.202928" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.116367" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.743196" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.783585" y="0"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-20.41,57.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-15.51,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.703768" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.744158" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,20.58,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,27.29,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.727334" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.066835" y="0"> /</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.542669" y="0"> 2</t年代p一个n></text> </g> </g> </svg>和集成功能<年代vg height="13.45" id="M162" style="vertical-align:-2.21957pt;width:25.475px;" version="1.1" viewbox="0 0 25.475 13.45" width="25.475" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.45)"> <g transform="translate(72,-61.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ξ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0394287" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.202928" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.116367" y="0"> )</t年代p一个n></text> </g> </g> </svg>关于时间:<年代p一个ncl作为年代="equation" id="EEq37"> <svg height="38.387501" id="M163" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 38.387501" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,38.3875)"> <g transform="translate(72,-41.29)"> <text transform="matrix(1,0,0,-1,138.28,45.26)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,145.28,66.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.25" y="25.530001"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,150.98,52.96)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ξ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.12743" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.290929" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.204369" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.443365" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.094961" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.972332" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.012718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,211.19,49.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,218.16,52.97)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1599998" y="0.0099999998"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.4115" y="0.0099999998"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.350664" y="0.0099999998"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.690886" y="0.0099999998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,254.05,49.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,261.03,52.97)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1599998" y="0.0099999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0734386" y="0.0099999998"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.312436" y="0.0099999998"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="206.84" y="0.0099999998"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="211.00349" y="0.0099999998"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="217.255" y="0.0099999998"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="223.5065" y="0.0099999998"> )</t年代p一个n></text> </g> </g> </svg></span>因为<年代vg height="14.7125" id="M164" style="vertical-align:-3.22282pt;width:33.450001px;" version="1.1" viewbox="0 0 33.450001 14.7125" width="33.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.7125)"> <g transform="translate(72,-60.23)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.76,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.87,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代p一个n></text> </g> </g> </svg>是有界的,<年代vg height="14.7125" id="M165" style="vertical-align:-3.22282pt;width:30.525px;" version="1.1" viewbox="0 0 30.525 14.7125" width="30.525" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.7125)"> <g transform="translate(72,-60.23)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.76,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-59.87,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0769377" y="0"> )</t年代p一个n></text> </g> </g> </svg>nonincreasing和有界呢<年代p一个ncl作为年代="equation" id="EEq38"> <svg height="38.387501" id="M166" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 38.387501" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,38.3875)"> <g transform="translate(72,-41.29)"> <text transform="matrix(1,0,0,-1,157.74,52.96)"> <tspan style="font-size: 12.50px; " x="0" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="3.4758339" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.9516678" y="0"> 米</t年代p一个n></text> <text transform="matrix(1,0,0,-1,156.19,45.46)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.1922078" y="0"> →</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="13.758144" y="0"> ∞</t年代p一个n></text> <text transform="matrix(1,0,0,-1,180.14,45.26)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,187.14,66.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-1.25" y="25.530001"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,192.85,52.96)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ξ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.114927" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.278426" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.191866" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.443365" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.094961" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.959827" y="0"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="53.000217" y="0"> ∞</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="64.577995" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="275.01999" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="279.1835" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="285.435" y="0"> 7</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="291.68649" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>区分<年代vg height="13.45" id="M167" style="vertical-align:-2.21957pt;width:25.475px;" version="1.1" viewbox="0 0 25.475 13.45" width="25.475" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.45)"> <g transform="translate(72,-61.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ξ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0394287" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.202928" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.116367" y="0"> )</t年代p一个n></text> </g> </g> </svg>那么,关于时间<年代p一个ncl作为年代="equation" id="EEq39"> <svg height="18.424999" id="M168" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 18.424999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.425)"> <g transform="translate(72,-57.26)"> <text transform="matrix(1,0,0,-1,178.21,63.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.8899999" y="2.6500001"> Ξ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="3.2249269" y="2.6500001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.3884258" y="2.6500001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.301865" y="2.6500001"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.941198" y="2.6500001"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.969084" y="2.6500001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.53,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,224.24,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.709999" y="-2.8199999"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.7299995" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.069502" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="243.63" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="247.7935" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="254.045" y="0"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="260.29651" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>因为所有的右边的变量(<一个href="#EEq30">28</一个>)是有界的,它意味着<年代vg height="13.375" id="M169" style="vertical-align:-0.0pt;width:10.55px;" version="1.1" viewbox="0 0 10.55 13.375" width="10.55" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.375)"> <g transform="translate(72,-61.3)"> <text transform="matrix(1,0,0,-1,-64.97,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.98" y="2.8199999"> </t年代p一个n></text> </g> </g> </svg>也有界。然后<年代vg height="13.45" id="M170" style="vertical-align:-2.21957pt;width:25.475px;" version="1.1" viewbox="0 0 25.475 13.45" width="25.475" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.45)"> <g transform="translate(72,-61.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ξ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0394287" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.202928" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.116367" y="0"> )</t年代p一个n></text> </g> </g> </svg>是均匀连续的(<一个href="#B23">23</一个>]。通过使用Barbalat引理(<一个href="#B23">23</一个>,<gydF4y2Ba一个href="#B24">24</一个>),它可以显示<年代vg height="14.8" id="M171" style="vertical-align:-3.21404pt;width:101.4875px;" version="1.1" viewbox="0 0 101.4875 14.8" width="101.4875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.8)"> <g transform="translate(72,-60.16)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="3.4758339" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.9516678" y="0"> 米</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-55.27,60.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.1922078" y="0"> →</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="13.758144" y="0"> ∞</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-32.91,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ξ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.0394287" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.202928" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.116367" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.755699" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.783585" y="0"> 0</t年代p一个n></text> </g> </g> </svg>。因此,<年代vg height="13.45" id="M172" style="vertical-align:-2.21957pt;width:62.025002px;" version="1.1" viewbox="0 0 62.025002 13.45" width="62.025002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.45)"> <g transform="translate(72,-61.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.503" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.416439" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.131269" y="0"> →</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="43.26038" y="0"> 0</t年代p一个n></text> </g> </g> </svg>作为<年代vg height="9.125" id="M173" style="vertical-align:-0.11285pt;width:47.849998px;" version="1.1" viewbox="0 0 47.849998 9.125" width="47.849998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.4647713" y="0"> →</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.593882" y="0"> ∞</t年代p一个n></text> </g> </g> </svg>。因此,混合动力控制系统是渐近稳定。此外,系统的跟踪误差,<年代vg height="7.1875" id="M174" style="vertical-align:-0.13794pt;width:7.0749998px;" version="1.1" viewbox="0 0 7.0749998 7.1875" width="7.0749998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1875)"> <g transform="translate(72,-66.25)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>将根据收敛于零<年代vg height="13.45" id="M175" style="vertical-align:-2.21957pt;width:53.049999px;" version="1.1" viewbox="0 0 53.049999 13.45" width="53.049999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.45)"> <g transform="translate(72,-61.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3395014" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.503" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.416439" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.043268" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.083656" y="0"> 0</t年代p一个n></text> </g> </g> </svg>。</p><p>gydF4y2Ba为了有效地训练RFNN,在线参数训练方法可以使用适应派生法<年代vg height="13.4375" id="M176" style="vertical-align:-0.13794pt;width:11.875px;" version="1.1" viewbox="0 0 11.875 13.4375" width="11.875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.4375)"> <g transform="translate(72,-61.25)"> <text transform="matrix(1,0,0,-1,-64.37,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.5799999" y="2.73"> </t年代p一个n></text> </g> </g> </svg>上面的李雅普诺夫稳定性定理。然后适应法律RFNN中的参数<年代vg height="20.424999" id="M177" style="vertical-align:-5.34312pt;width:124.0125px;" version="1.1" viewbox="0 0 124.0125 20.424999" width="124.0125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,20.425)"> <g transform="translate(72,-55.66)"> <text transform="matrix(1,0,0,-1,-64.37,63.77)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.5799999" y="2.74"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="1.8097529" y="2.74"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.9732518" y="2.74"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-48.69,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="9.1400003"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-39.44,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-25.36,57.34)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-18.21,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-6.28,57.34)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,0.87,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,15.77,57.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,22.99,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> </g> </g> </svg>可以计算梯度下降法和反向传播算法如下:<年代p一个ncl作为年代="equation" id="EEq40"> <svg height="122.1625" id="M178" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 122.1625" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,122.1625)"> <g transform="translate(72,25.73)"> <text transform="matrix(1,0,0,-1,136.4,61.16)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-7.7199998" y="0.13"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,138.37,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="9.1400003"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.09,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.391912" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,177.82,66.2)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,184.54,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,200.51,57.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.23,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-59.610001" y="33.360001"> Δ</t年代p一个n></text> <g> <path d="m 147.62,24.78 9.03,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <g> <path d="m 147.62,20.66 9.03,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,159.43,27.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.74" y="-9.2299995"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.129032" y="-9.2299995"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,193.75,33.77)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 178.32,30.8 22.18,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,178.32,18.92)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,193.52,15.79)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,202.89,36.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,218.09,33.68)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 202.89,30.8 22.18,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,205.24,17.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.83,21.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="7.1599998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,232.98,36.91)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,245.57,41.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <g> <path d="m 227.46,30.8 28.51,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,227.46,17.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.1,21.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="7.1599998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,258.36,36.91)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,282,41.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <g> <path d="m 258.36,30.8 28.51,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,259.95,17.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,276.03,21.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="9.1499996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.09,-13.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.604944" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.01" y="-9.2299995"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.386532" y="-9.2299995"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,194.68,-7.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 179.24,-10.67 22.18,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,179.24,-22.55)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,194.45,-25.68)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,202.62,-13.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.49,-8.8)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1400003"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,214.74,-13.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="253.13" y="-33.810001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="257.29349" y="-33.810001"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="263.54501" y="-33.810001"> 9</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="269.79651" y="-33.810001"> )</t年代p一个n></text> </g> </g> </svg></span>上面的雅可比矩阵控制系统可以写成<年代vg height="17.75" id="M179" style="vertical-align:-3.22282pt;width:132.55px;" version="1.1" viewbox="0 0 132.55 17.75" width="132.55" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.75)"> <g transform="translate(72,-57.8)"> <text transform="matrix(1,0,0,-1,-71.95,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-58.37,57.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.48,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> /</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="3.4758339" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.8523636" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-34.8,57.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-24.35,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.592442" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,4.59,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,11.3,61.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,27.28,57.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。可以计算的误差项<年代p一个ncl作为年代="equation" id="EEq41"> <svg height="45.549999" id="M180" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 45.549999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,45.55)"> <g transform="translate(72,-35.56)"> <text transform="matrix(1,0,0,-1,80.37,50.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,86.66,55.72)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-0.50999999" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,95.7,50.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Δ</t年代p一个n></text> <g> <path d="m 95.7,47.77 9.02,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <g> <path d="m 95.7,43.64 9.02,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,107.5,50.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.4" y="-9.2299995"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.776529" y="-9.2299995"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,135.47,56.76)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 120.04,53.78 22.18,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,120.04,41.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,135.25,38.78)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,144.61,59.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,159.81,56.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 144.61,53.78 22.18,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,146.97,40.47)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,159.56,44.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="7.1599998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,174.7,59.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,187.3,64.89)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <g> <path d="m 169.18,53.78 28.51,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,169.18,40.47)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,192.82,44.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="7.1599998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,200.08,59.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4770336" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.728534" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.179842" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.72,64.89)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <g> <path d="m 200.08,53.78 28.52,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,205.43,40.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,218.02,44.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,236.51,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,249.1,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <g> <path d="m 230.99,53.78 28.88,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,230.99,40.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,254.63,44.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,264.54,50.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,284.92,55.82)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,291.63,50.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.6393328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,307.61,47.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,314.32,50.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,324.01,55.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="9.1499996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,333.26,50.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="134.61" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="138.7735" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="145.02499" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="151.2765" y="0"> )</t年代p一个n></text> </g> </g> </svg></span>成员函数可以计算的误差项<年代p一个ncl作为年代="equation" id="EEq42"> <svg height="102.475" id="M181" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 102.475" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,102.475)"> <g transform="translate(72,9.98)"> <text transform="matrix(1,0,0,-1,86.94,49.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,93.23,54.76)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-0.5" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,102.27,49.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Δ</t年代p一个n></text> <g> <path d="m 102.27,46.8 9.03,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <g> <path d="m 102.27,42.68 9.03,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,114.07,49.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.4" y="-9.2299995"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.776529" y="-9.2299995"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,142.05,55.79)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 126.61,52.82 22.18,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,126.61,40.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,141.82,37.81)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.18,58.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3890328" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,166.39,55.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 151.18,52.82 22.18,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,153.54,39.51)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,166.13,44.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="7.1599998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,181.28,58.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,193.87,63.93)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <g> <path d="m 175.75,52.82 28.52,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,175.75,39.51)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,199.39,44.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="7.1599998"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,206.66,58.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.3,63.93)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> <g> <path d="m 206.66,52.82 28.51,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,212,39.39)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,224.59,44.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,243.09,60.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,255.68,65.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <g> <path d="m 237.56,52.82 28.88,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,237.56,39.39)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,261.2,44.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,268.83,60.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,292.47,65.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <g> <path d="m 268.83,52.82 28.88,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,274.54,39.51)"> <tspan style="font-size: 12.50px; 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" x="8.4770336" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.728534" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.179842" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,323.74,44.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,100.37,6.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.04" y="6.5500002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,118.12,-7.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,128.56,6.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,134.85,11.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-0.5" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,139.73,6.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,145.93,11.3)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.2700005"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,153.26,6.31)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1599998" y="0.0099999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.91282" y="0.0099999998"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.16432" y="0.0099999998"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="314.60999" y="-21.57"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="318.7735" y="-21.57"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="325.02499" y="-21.57"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="331.27649" y="-21.57"> )</t年代p一个n></text> </g> </g> </svg></span>的意思是<年代vg height="12.975" id="M182" style="vertical-align:-4.77652pt;width:20.1625px;" version="1.1" viewbox="0 0 20.1625 12.975" width="20.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.975)"> <g transform="translate(72,-61.62)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> </g> </g> </svg>和标准偏差<年代vg height="12.7625" id="M183" style="vertical-align:-4.77652pt;width:17.450001px;" version="1.1" viewbox="0 0 17.450001 12.7625" width="17.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.7625)"> <g transform="translate(72,-61.79)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.24,63.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> </g> </g> </svg>高斯函数的使用梯度下降方法可以更新<年代p一个ncl作为年代="equation" id="EEq43"> <svg height="114.5" id="M184" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 114.5" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,114.5)"> <g transform="translate(72,19.6)"> <text transform="matrix(1,0,0,-1,118.71,49.69)"> <tspan style="font-size: 12.50px; 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" x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,276.64,33.97)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,282.49,44.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,304.31,49.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-182.71001" y="51.27"> ̇</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-189.24907" y="51.27"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,122.39,-4.7)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,133.02,-1.58)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.25" y="-9.2299995"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; 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" x="8.4645309" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.716031" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.167339" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,211.86,44.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,219.12,59.49)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.4770336" y="0"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.728534" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.179842" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,242.76,64.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <g> <path d="m 219.12,52.82 28.52,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,221.73,40.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.3765302" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,237.81,37.81)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.0084162" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,104.61,3.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.04" y="6.5500002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,122.76,-10.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,132.81,3.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,139.09,8.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-0.5" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,149.33,13.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.3400002" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.19" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,172.4,10.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,182.32,13.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,200.54,18.8)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,207.5,13.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.09" y="2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1700001" y="0.0099999998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.92282" y="0.0099999998"> )</t年代p一个n></text> <g> <path d="m 149.33,6.15 84.12,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,176.17,-12.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,188.73,-13.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7218721" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,195.88,-12.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,201.73,-2.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,234.64,3.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,241.52,8.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.6899996"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,248.48,3.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.916319" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.167818" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,276.85,8.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1199999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,283.81,3.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.579218" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.919439" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.17094" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.42244" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="184.06" y="-22.34"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="188.2235" y="-22.34"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="194.47501" y="-22.34"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="200.7265" y="-22.34"> )</t年代p一个n></text> </g> </g> </svg></span></p> <h4 id="experimental-results">4所示。实验结果</gydF4y2Bah4> <p>DSP-based计算机控制系统的方块图中描述了永磁同步电动机伺服驱动<一个href="//www.newsama.com/journals/afs/2012/319828/fig1/" target="_blank">1</一个>。所实现的电流控制PWM逆变器采用IGBT模块的开关频率15 kHz。控制算法是实现TMS320C32 DSP-based控制系统。一个TMS320C32 DSP-based控制板包括D / A的反应,8通道可编程PWM和编码器接口电路。使用的永磁同步电动机驱动系统是一个三相两极48 V 16.5 750 W 3600 rpm的类型。给出了永磁同步电动机的参数如下:<年代vg height="19.512501" id="M187" style="vertical-align:-3.2316pt;width:341.29999px;" version="1.1" viewbox="0 0 341.29999 19.512501" width="341.29999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.5125)"> <g transform="translate(72,-56.39)"> <text transform="matrix(1,0,0,-1,-71.95,59.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.7,56.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-54.88,59.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.291889" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.417639" y="0"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.744637" y="0"> Ω</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.046867" y="0"> ,</t年代p一个n></text> <g> <path d="m -6.45,70.71 8.26,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,-6.45,59.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.727814" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.755699" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.0072" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.13295" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.384449" y="0"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.424118" y="0"> ×</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.201706" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="65.453201" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,65.26,64.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.99512" y="0"> 3</t年代p一个n></text> <text transform="matrix(1,0,0,-1,78.21,59.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> N</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.102664" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.917999" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.781666" y="0"> ,</t年代p一个n></text> <g> <path d="m 115.38,70.71 9.2,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,115.38,59.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.665539" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.705929" y="0"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.957428" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.083179" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.334679" y="0"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="49.361843" y="0"> ×</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="60.139431" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="66.39093" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,188.03,64.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.99512" y="0"> 3</t年代p一个n></text> </g> </g> </svg>N m s / rad,<年代vg height="14.825" id="M188" style="vertical-align:-3.21404pt;width:107.1px;" version="1.1" viewbox="0 0 107.1 14.825" width="107.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.825)"> <g transform="translate(72,-60.14)"> <text transform="matrix(1,0,0,-1,-71.95,63.4)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.42,60.27)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-55.71,63.4)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.279387" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.405136" y="0"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.656635" y="0"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.996136" y="0"> N</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.098801" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="56.826134" y="0"> /</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="60.301968" y="0"> 一个</t年代p一个n></text> </g> </g> </svg>,<年代vg height="16.7875" id="M189" style="vertical-align:-4.74141pt;width:127.6px;" version="1.1" viewbox="0 0 127.6 16.7875" width="127.6" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.7875)"> <g transform="translate(72,-58.57)"> <text transform="matrix(1,0,0,-1,-71.95,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.1,60.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-53.95,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-33.06,60.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-24.73,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.291889" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.417639" y="0"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.66914" y="0"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.996136" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.723473" y="0"> H</t年代p一个n></text> </g> </g> </svg>负责开路测试,短的测试,转子块测试,负载测试。</p><p>gydF4y2Ba提出的控制收益HRFNN控制系统使用转子磁通估计有以下几点:<年代p一个ncl作为年代="equation" id="EEq46"> <svg height="41.349998" id="M190" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 41.349998" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,41.35)"> <g transform="translate(72,-38.92)"> <text transform="matrix(1,0,0,-1,116.35,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.7523403" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.792728" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.04423" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.169979" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="37.421478" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="62.552509" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="73.080032" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="85.120422" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="91.371925" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="94.497673" y="0"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="100.74918" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="125.8802" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="135.40749" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="147.44788" y="0"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="153.69939" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="156.82513" y="0"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="163.07663" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-33.110001" y="20.48"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-23.295145" y="20.48"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-11.254756" y="20.48"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-5.0032558" y="20.48"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-1.877506" y="20.48"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.3739939" y="20.48"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.505024" y="20.48"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.232357" y="20.48"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="51.272747" y="20.48"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="57.524246" y="20.48"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="60.649998" y="20.48"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="66.901497" y="20.48"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="92.032524" y="20.48"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="102.84763" y="20.48"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="114.88801" y="20.48"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="121.13951" y="20.48"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="127.39101" y="20.48"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="152.52203" y="20.48"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="162.27438" y="20.48"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="174.30226" y="20.48"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="180.55377" y="20.48"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="183.67952" y="20.48"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="189.93102" y="20.48"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="196.18251" y="20.48"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="351.51999" y="10.86"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="355.6835" y="10.86"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="361.935" y="10.86"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="368.18649" y="10.86"> )</t年代p一个n></text> </g> </g> </svg></span>中的所有收益HRFNN选择控制系统采用转子磁通估计达到最好的瞬态控制性能实验考虑稳定性的要求。显示RFNN控制的有效性与小的规则集,RFNN有两个,六,九,一个神经元的输入,会员,规则,和输出层,分别。可以认为,相关的模糊集与高斯函数为每个输入信号分为N (-)、Z(零),P(积极的)。通常情况下,可以使用一些启发式约RFNN实际应用的初始化参数。由于不准确的影响选择的初始化参数可以通过在线检索参数训练方法。因此,为简单起见,意味着高斯函数的设定在−1,0,1,N, Z, P神经元,标准差的高斯函数设置为1。此外,输出层之间的连接权值和规则层,和复发性权值初始化随机数。</p><p>显示的优点HRFNN控制永磁同步电动机驱动系统采用转子磁通估计电动摩托车是比较试验。实验中提供的两个条件,一个是1200 rpm安装电动自行车和另一个被2400 rpm安装电动自行车一样,用数字表示<一个href="//www.newsama.com/journals/afs/2012/319828/fig3/" target="_blank">3</一个>和<一个href="//www.newsama.com/journals/afs/2012/319828/fig4/" target="_blank">4</一个>,分别。测量和估计转子速度反应,测量和估计转子位置,命令和测量电流相位(a),和命令和测量电流相位的PI控制系统安装电动自行车在1200 rpm中描述数据<一个href="//www.newsama.com/journals/afs/2012/319828/fig3/" target="_blank">3(一个)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig3/" target="_blank">3 (b)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig3/" target="_blank">3 (c)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig3/" target="_blank">3 (d)</一个>,分别。测量和估计转子速度反应,测量和估计转子位置,命令和测量电流(a)阶段,命令和测量电流相位的PI控制系统安装电动自行车在2400 rpm中描述数据<一个href="//www.newsama.com/journals/afs/2012/319828/fig4/" target="_blank">4(一)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig4/" target="_blank">4 (b)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig4/" target="_blank">4 (c)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig4/" target="_blank">4 (d)</一个>,分别。由于PI控制系统无法处理非线性不确定性。简并跟踪响应如图<一个href="//www.newsama.com/journals/afs/2012/319828/fig4/" target="_blank">4(一)</一个>是导致由于参数变化和外部干扰的条件。</p><gydF4y2Badiv class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-26b4fdf3510696655ce4b4541f177de2"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.003a.jpg"> <br> <strong>(一)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.003b.jpg"> <br> <strong>(b)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(c)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.003c.jpg"> <br> <strong>(c)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(d)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.003d.jpg"> <br> <strong>(d)</年代trong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-26b4fdf3510696655ce4b4541f177de2 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.003a_th.jpg"><br><strong>(一)</年代trong></button> <button aria-label="Slide to (b) " class="partial-carousel-dot"><img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.003b_th.jpg"><br><strong>(b)</年代trong></button> <button aria-label="Slide to (c) " class="partial-carousel-dot"><img loading="lazy" alt="(c)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.003c_th.jpg"><br><strong>(c)</年代trong></button> <button aria-label="Slide to (d) " class="partial-carousel-dot"><img loading="lazy" alt="(d)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.003d_th.jpg"><br><strong>(d)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-26b4fdf3510696655ce4b4541f177de2 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图3</年代p一个n><一个一个ria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/afs/2012/319828/fig3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>实验结果的PI控制系统在1200 rpm安装电动自行车:(一)命令转子速度<年代vg height="11.7" id="M191" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 17.112499 11.7" width="17.112499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.7)"> <g transform="translate(72,-62.64)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> </g> </g> </svg>,测量转子速度<年代vg height="10.925" id="M192" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,估计转子速度<年代vg height="16.025" id="M193" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 16.025" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.025)"> <g transform="translate(72,-59.18)"> <text transform="matrix(1,0,0,-1,-71.19,62.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-0.75018001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,59.23)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(b)测量转子位置<年代vg height="14.475" id="M194" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 12.775 14.475" width="12.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.9,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和估计转子位置<年代vg height="17.975" id="M195" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 13.4 17.975" width="13.4" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-65.8,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.1500001" y="2.72"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.4,57.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(c)命令<年代vg height="15.55" id="M196" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.325 15.55" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.55)"> <g transform="translate(72,-59.56)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> </g> </g> </svg>和测量电流<年代vg height="13.7625" id="M197" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.1 13.7625" width="11.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.7625)"> <g transform="translate(72,-60.99)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="7.1750002" id="M198" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 7.9749999 7.1750002" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(d)命令<年代vg height="16.8375" id="M199" style="vertical-align:-4.25465pt" version="1.1" viewbox="0 0 11.325 16.8375" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.8375)"> <g transform="translate(72,-58.53)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代p一个n></text> </g> </g> </svg>和测量电流<年代vg height="15.05" id="M200" style="vertical-align:-4.25465pt" version="1.1" viewbox="0 0 10.75 15.05" width="10.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.05)"> <g transform="translate(72,-59.96)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,60.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="10.7375" id="M201" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 7.4749999 10.7375" width="7.4749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。</tgydF4y2Bad> </tr> </tbody> </table> </div> </div> </div> </div> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-a637312c4925c451bb3af39ea0ef0f1a"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.004a.jpg"> <br> <strong>(一)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.004b.jpg"> <br> <strong>(b)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(c)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.004c.jpg"> <br> <strong>(c)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(d)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.004d.jpg"> <br> <strong>(d)</年代trong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-a637312c4925c451bb3af39ea0ef0f1a partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.004a_th.jpg"><br><strong>(一)</年代trong></button> <button aria-label="Slide to (b) " class="partial-carousel-dot"><img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.004b_th.jpg"><br><strong>(b)</年代trong></button> <button aria-label="Slide to (c) " class="partial-carousel-dot"><img loading="lazy" alt="(c)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.004c_th.jpg"><br><strong>(c)</年代trong></button> <button aria-label="Slide to (d) " class="partial-carousel-dot"><img loading="lazy" alt="(d)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.004d_th.jpg"><br><strong>(d)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-a637312c4925c451bb3af39ea0ef0f1a partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图4</年代p一个n><一个一个ria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/afs/2012/319828/fig4/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>实验结果的PI控制系统在2400 rpm安装电动自行车:(一)命令转子速度<年代vg height="11.7" id="M202" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 17.112499 11.7" width="17.112499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.7)"> <g transform="translate(72,-62.64)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> </g> </g> </svg>,测量转子速度<年代vg height="10.925" id="M203" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和估计转子速度<年代vg height="16.025" id="M204" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 16.025" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.025)"> <g transform="translate(72,-59.18)"> <text transform="matrix(1,0,0,-1,-71.19,62.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-0.75018001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,59.23)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(b)测量转子位置<年代vg height="14.475" id="M205" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 12.775 14.475" width="12.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.9,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和估计转子位置<年代vg height="17.975" id="M206" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 13.4 17.975" width="13.4" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-65.8,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.1500001" y="2.72"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.4,57.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(c)命令<年代vg height="15.55" id="M207" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.325 15.55" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.55)"> <g transform="translate(72,-59.56)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> </g> </g> </svg>和测量电流<年代vg height="13.7625" id="M208" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.1 13.7625" width="11.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.7625)"> <g transform="translate(72,-60.99)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="7.1750002" id="M209" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 7.9749999 7.1750002" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(d)命令<年代vg height="16.8375" id="M210" style="vertical-align:-4.25465pt" version="1.1" viewbox="0 0 11.325 16.8375" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.8375)"> <g transform="translate(72,-58.53)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代p一个n></text> </g> </g> </svg>和测量电流<年代vg height="15.05" id="M211" style="vertical-align:-4.25465pt" version="1.1" viewbox="0 0 10.75 15.05" width="10.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.05)"> <g transform="translate(72,-59.96)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,60.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="10.7375" id="M212" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 7.4749999 10.7375" width="7.4749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。</tgydF4y2Bad> </tr> </tbody> </table> </div> </div> </div> </div> <p>HRFNN控制系统的实验结果在1200 rpm安装电动自行车和2400 rpm案件数据所示<一个href="//www.newsama.com/journals/afs/2012/319828/fig5/" target="_blank">5</一个>和<一个href="//www.newsama.com/journals/afs/2012/319828/fig6/" target="_blank">6</一个>。测量和估计转子速度反应,测量和估计转子位置,命令和测量电流(a)阶段,命令和测量的当前阶段HRFNN控制系统在1200 rpm安装电动自行车数据所示<一个href="//www.newsama.com/journals/afs/2012/319828/fig5/" target="_blank">5(一个)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig5/" target="_blank">5 (b)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig5/" target="_blank">5 (c)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig5/" target="_blank">5 (d)</一个>,分别。测量和估计转子速度反应,测量和估计转子位置,命令和测量电流(a)阶段,命令和测量的当前阶段HRFNN控制系统在2400 rpm安装电动自行车数据所示<一个href="//www.newsama.com/journals/afs/2012/319828/fig6/" target="_blank">6(一)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig6/" target="_blank">6 (b)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig6/" target="_blank">6 (c)</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/afs/2012/319828/fig6/" target="_blank">6 (d)</一个>,分别。然而,由于RFNN在线自适应机制和补偿控制器,可以获得准确的跟踪控制永磁同步电动机的性能。提出HRFNN控制系统的控制性能优越比PI控制系统安装电动滑板车。此外,小的抖振现象,存在于阶段(a)和(b)阶段如图<一个href="//www.newsama.com/journals/afs/2012/319828/fig6/" target="_blank">6 (c)</一个>和<一个href="//www.newsama.com/journals/afs/2012/319828/fig6/" target="_blank">6 (d)</一个>的在线调整,由于RFNN应对高频未建模动态的控制装置。从实验结果,提出了HRFNN控制器的控制性能使用转子磁通估计适用于永磁同步电动机驱动的电动滑板车。测量转子速度反应步骤是给出了扰动力矩。测量转子转速响应和测量电流(a)由于阶段<年代vg height="14.6" id="M213" style="vertical-align:-3.13504pt;width:46.900002px;" version="1.1" viewbox="0 0 46.900002 14.6" width="46.900002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6)"> <g transform="translate(72,-60.32)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-54.91,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> 2</t年代p一个n></text> </g> </g> </svg>N m负荷随负载转矩扰动和负荷使用PI控制系统在2400 rpm如图<一个href="//www.newsama.com/journals/afs/2012/319828/fig7/" target="_blank">7(一)</一个>在同一干扰,测量速度反应条件使用HRFNN控制系统如图所示<一个href="//www.newsama.com/journals/afs/2012/319828/fig7/" target="_blank">7 (b)</一个>。从实验结果,退化反应由于转子惯量和负载转矩扰动的变化大大提高使用HRFNN控制系统。从实验结果,HRFNN控制系统的瞬态响应比PI控制系统在负载调节。</p><gydF4y2Badiv class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-6488245ea432bca99c905afe80fe6a0c"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.005a.jpg"> <br> <strong>(一)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.005b.jpg"> <br> <strong>(b)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(c)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.005c.jpg"> <br> <strong>(c)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(d)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.005d.jpg"> <br> <strong>(d)</年代trong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-6488245ea432bca99c905afe80fe6a0c partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.005a_th.jpg"><br><strong>(一)</年代trong></button> <button aria-label="Slide to (b) " class="partial-carousel-dot"><img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.005b_th.jpg"><br><strong>(b)</年代trong></button> <button aria-label="Slide to (c) " class="partial-carousel-dot"><img loading="lazy" alt="(c)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.005c_th.jpg"><br><strong>(c)</年代trong></button> <button aria-label="Slide to (d) " class="partial-carousel-dot"><img loading="lazy" alt="(d)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.005d_th.jpg"><br><strong>(d)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-6488245ea432bca99c905afe80fe6a0c partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图5</年代p一个n><一个一个ria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/afs/2012/319828/fig5/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>HRFNN控制系统的实验结果在1200 rpm安装电动自行车:(一)命令转子速度<年代vg height="11.7" id="M214" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 17.112499 11.7" width="17.112499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.7)"> <g transform="translate(72,-62.64)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> </g> </g> </svg>,测量转子速度<年代vg height="10.925" id="M215" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,估计转子速度<年代vg height="16.025" id="M216" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 16.025" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.025)"> <g transform="translate(72,-59.18)"> <text transform="matrix(1,0,0,-1,-71.19,62.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-0.75018001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,59.23)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(b)测量转子位置<年代vg height="14.475" id="M217" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 12.775 14.475" width="12.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.9,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和估计转子位置<年代vg height="17.975" id="M218" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 13.4 17.975" width="13.4" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-65.8,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.1500001" y="2.72"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.4,57.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(c)命令<年代vg height="15.55" id="M219" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.325 15.55" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.55)"> <g transform="translate(72,-59.56)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> </g> </g> </svg>和测量电流<年代vg height="13.7625" id="M220" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.1 13.7625" width="11.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.7625)"> <g transform="translate(72,-60.99)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="7.1750002" id="M221" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 7.9749999 7.1750002" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(d)命令<年代vg height="16.8375" id="M222" style="vertical-align:-4.25465pt" version="1.1" viewbox="0 0 11.325 16.8375" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.8375)"> <g transform="translate(72,-58.53)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代p一个n></text> </g> </g> </svg>和测量电流<年代vg height="15.05" id="M223" style="vertical-align:-4.25465pt" version="1.1" viewbox="0 0 10.75 15.05" width="10.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.05)"> <g transform="translate(72,-59.96)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,60.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="10.7375" id="M224" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 7.4749999 10.7375" width="7.4749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。</tgydF4y2Bad> </tr> </tbody> </table> </div> </div> </div> </div> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-185b76f0825b6b3de48e76d6029346fe"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.006a.jpg"> <br> <strong>(一)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.006b.jpg"> <br> <strong>(b)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(c)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.006c.jpg"> <br> <strong>(c)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(d)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.006d.jpg"> <br> <strong>(d)</年代trong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-185b76f0825b6b3de48e76d6029346fe partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.006a_th.jpg"><br><strong>(一)</年代trong></button> <button aria-label="Slide to (b) " class="partial-carousel-dot"><img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.006b_th.jpg"><br><strong>(b)</年代trong></button> <button aria-label="Slide to (c) " class="partial-carousel-dot"><img loading="lazy" alt="(c)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.006c_th.jpg"><br><strong>(c)</年代trong></button> <button aria-label="Slide to (d) " class="partial-carousel-dot"><img loading="lazy" alt="(d)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.006d_th.jpg"><br><strong>(d)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-185b76f0825b6b3de48e76d6029346fe partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图6</年代p一个n><一个一个ria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/afs/2012/319828/fig6/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>HRFNN控制系统的实验结果在2400 rpm安装电动自行车:(一)命令转子速度<年代vg height="11.7" id="M225" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 17.112499 11.7" width="17.112499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.7)"> <g transform="translate(72,-62.64)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> </g> </g> </svg>,测量转子速度<年代vg height="10.925" id="M226" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,估计转子速度<年代vg height="16.025" id="M227" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 16.025" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.025)"> <g transform="translate(72,-59.18)"> <text transform="matrix(1,0,0,-1,-71.19,62.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-0.75018001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,59.23)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(b)测量转子位置<年代vg height="14.475" id="M228" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 12.775 14.475" width="12.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.9,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和估计转子位置<年代vg height="17.975" id="M229" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 13.4 17.975" width="13.4" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-65.8,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̂</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-6.1500001" y="2.72"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.4,57.67)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(c)命令<年代vg height="15.55" id="M230" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.325 15.55" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.55)"> <g transform="translate(72,-59.56)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n></text> </g> </g> </svg>和测量电流<年代vg height="13.7625" id="M231" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.1 13.7625" width="11.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.7625)"> <g transform="translate(72,-60.99)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="7.1750002" id="M232" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 7.9749999 7.1750002" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>;(d)命令<年代vg height="16.8375" id="M233" style="vertical-align:-4.25465pt" version="1.1" viewbox="0 0 11.325 16.8375" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.8375)"> <g transform="translate(72,-58.53)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代p一个n></text> </g> </g> </svg>和测量电流<年代vg height="15.05" id="M234" style="vertical-align:-4.25465pt" version="1.1" viewbox="0 0 10.75 15.05" width="10.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.05)"> <g transform="translate(72,-59.96)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,60.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="10.7375" id="M235" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 7.4749999 10.7375" width="7.4749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。</tgydF4y2Bad> </tr> </tbody> </table> </div> </div> </div> </div> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-1d6d0598b05c9df6469cac8ef3f6ff46"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.007a.jpg"> <br> <strong>(一)</年代trong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/figures/319828.fig.007b.jpg"> <br> <strong>(b)</年代trong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-1d6d0598b05c9df6469cac8ef3f6ff46 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.007a_th.jpg"><br><strong>(一)</年代trong></button> <button aria-label="Slide to (b) " class="partial-carousel-dot"><img loading="lazy" alt="(b)gydF4y2Ba" src="https://static.hindawi.com/articles/afs/volume-2012/319828/thumbnails/319828.fig.007b_th.jpg"><br><strong>(b)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-1d6d0598b05c9df6469cac8ef3f6ff46 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图7</年代p一个n><一个一个ria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/afs/2012/319828/fig7/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>由于实验结果<年代vg height="14.6" id="M236" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 44.287498 14.6" width="44.287498" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6)"> <g transform="translate(72,-60.32)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-54.91,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.040389" y="0"> 2</t年代p一个n></text> </g> </g> </svg>纳米负载随负载转矩扰动和负载在2400 rpm:(一)命令转子速度<年代vg height="11.7" id="M237" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 17.112499 11.7" width="17.112499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.7)"> <g transform="translate(72,-62.64)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> </g> </g> </svg>,测量转子速度<年代vg height="10.925" id="M238" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,并测量电流<年代vg height="13.7625" id="M239" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.1 13.7625" width="11.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.7625)"> <g transform="translate(72,-60.99)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="7.1750002" id="M240" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 7.9749999 7.1750002" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>使用PI控制系统;(b)命令转子速度<年代vg height="11.7" id="M241" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 17.112499 11.7" width="17.112499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.7)"> <g transform="translate(72,-62.64)"> <text transform="matrix(1,0,0,-1,-71.95,62.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,67.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代p一个n></text> </g> </g> </svg>,测量转子速度<年代vg height="10.925" id="M242" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 15.85 10.925" width="15.85" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.925)"> <g transform="translate(72,-63.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.44,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,并测量电流<年代vg height="13.7625" id="M243" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 11.1 13.7625" width="11.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.7625)"> <g transform="translate(72,-60.99)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.06,61.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在阶段<年代vg height="7.1750002" id="M244" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 7.9749999 7.1750002" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>使用HRFNN控制系统。</tgydF4y2Bad> </tr> </tbody> </table> </div> </div> </div> </div> <h4 id="conclusions">5。结论</gydF4y2Bah4> <p>一个永磁同步电动机永磁同步电动机驱动系统使用混合递归模糊神经网络(HRFNN)控制系统与转子磁通估计已成功开发驾驶电动自行车与鲁棒控制特性研究。首先,永磁同步电动机驱动系统的动态模型推导出根据电动滑板车。由于电动车负载退出了许多不确定性。条件与非线性PI控制器无法处理不确定性,如电动滑板车。接下来,HRFNN控制与监控系统设计了基于控制系统的不确定性范围稳定系统的状态在一个预定义的约束。减少过度和抖振控制努力结果的监督控制,RFNN和补偿控制系统介绍了减少和平滑控制的努力当系统状态在预定义的约束。此外,在线参数训练方法,推导出利用李雅普诺夫稳定性定理和梯度下降方法,提出了增加RFNN的在线学习能力。为了减少干扰的编码器和成本下降,HRFNN控制系统使用转子磁通估计量是控制永磁同步电动机驱动系统,以推动电动自行车。转子磁通估计由转子磁通位置和速度估计算法的基础上,重新电磁力(EMF)以供应HRFNN控制器。RFNN的参数训练根据电动自行车的速度不同。 The electric scooter is operated to provide disturbance torque. 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Tan Lee窦,s . j .下巴和s .赵“精密运动控制和扰动观测器pulsewidth-modulated-driven永磁直线电机,”<我>IEEE磁学</我>,39卷,不。3、1813 - 1818年,2003页。</p>gydF4y2Ba视图:<gydF4y2Ba!-- --> <a href="https://doi.org/10.1109/TMAG.2003.810617" target="_blank" rel="noreferrer">出版商的网站</一个><年代p一个ncl作为年代="sep">|</年代p一个n><一个href="https://scholar.google.com/scholar_lookup?title=Precision%20motion%20control%20with%20disturbance%20observer%20for%20pulsewidth-modulated-driven%20permanent-magnet%20linear%20motors&author=K.%20K.%20Tan&author=T.%20H.%20Lee&author=H.%20F.%20Dou&author=S.%20J.%20Chin&author=S.%20Zhao&publication_year=2003" target="_blank" rel="noreferrer">谷歌学术搜索</一个></div></li> <li class="ArticleReferences_articleReference__ouEuh" id="B21"> <div class="referenceContent"> <p class="referenceText">h . c . Nho和p . 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Wittenmark<我>自适应控制</我>美国,addison - wesley,纽约,纽约,1995年。</p></gydF4y2Badiv></li> </ol> </div> <h4 class="copyright-title" id="copyright">版权</gydF4y2Bah4> <div class="copyright-body"> 版权©2012 Chih-Hong林和林Chih-Peng。这是一个开放的分布式下文章<一个rel="license" href="http://creativecommons.org/licenses/by/3.0/">知识共享归属许可</一个>,它允许无限制的使用、分配和复制在任何媒介,提供最初的工作是正确引用。</gydF4y2Badiv> <div id="related-articles"></div> </div> </div> <div class="ant-col ThreeColumnLayout_rightColumn__b_MuL"> <div> <div> <div class="ArticleRightSection_articleRightSection__rG8Zh"> <div class="ArticleToolbar_articleToolbar__8fsAH"> <a href="https://downloads.hindawi.com/journals/afs/2012/319828.pdf" class="ButtonGroup_buttonGroupWrapper__Rqhy0" role="button" type="primary" aria-label="PDF" tabindex="0" unselectable="on" target="_blank" data-testid="download-pdf"><span class="ButtonGroup_leftGroup__FJAmS"><span role="img" class="anticon ButtonGroup_buttonGroupWrapperIcon__CFikg"> <svg xmlns="http://www.w3.org/2000/svg" width="1em" 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