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class="ArticleMiddleSection_articleMiddleSection__DtVY3"> <div class="articleHeader"> <strong>研究文章|<gydF4y2Ba!-- -->开放获取</年代trong><d我v class="articleHeader__meta"> <span>体积<gydF4y2Ba!-- -->2011年<gydF4y2Ba!-- -->|</年代pan> <span>文章的ID<gydF4y2Ba!-- -->594086年<gydF4y2Ba!-- -->|</年代pan> <span class="articleHeader__meta_doiLink"><a href="https://doi.org/10.1155/2011/594086" aria-label="Doi-link" target="_blank" rel="noreferrer">https://doi.org/10.1155/2011/594086</一个></年代pan> </div> <div class="simpleShowMore"> <button class="simpleShowMore__button">显示引用</bgydF4y2Bautton> </div> <h1 class="articleHeader__title">实时顺序固定侧<年代vg style="vertical-align:-4.50008pt;width:28.1625px;" id="M1" height="20.362499" version="1.1" viewbox="0 0 28.1625 20.362499" width="28.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,20.3625)"> <g transform="translate(72,-55.71)"> <text transform="matrix(1,0,0,-1,-71.95,60.24)"> <tspan style="font-size: 17.93px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-56.29,55.76)"> <tspan style="font-size: 12.55px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg> <svg style="vertical-align:-4.50008pt;width:0.75px;" id="M2" height="5.7249999" version="1.1" viewbox="0 0 0.75 5.7249999" width="0.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,5.725)"> <g transform="translate(72,-67.42)"></g> </g> </svg>对微型飞行器控制器</h1><d我v class="articleHeader__authors"> <span class="articleHeader__authors_author"><strong>米纳克希米。</年代trong><一个href="mailto:meenakshi_mbhat@yahoo.com" 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><sup>1</年代up></span> <span class="articleHeader__authors_author">和<gydF4y2Ba!-- -->m . Seetharama Bhat<年代up>2</年代up></span> </div> <div class="simpleShowMore"> <button class="simpleShowMore__button">显示更多</bgydF4y2Bautton> </div> <div class="articleHeader__academicEditor"> <strong>学术编辑器:</年代trong><年代pan>偏向可能性</年代pan> </div> <div class="articleHeader__timeline"> <div class="articleHeader__timeline_item "> <strong>收到了</年代trong><年代pan>2011年4月26日</年代pan> </div> <div class="articleHeader__timeline_item "> <strong>接受</年代trong><年代pan>2011年9月06</年代pan> </div> <div class="articleHeader__timeline_item articleHeader__timeline_item_sticky"> <strong>发表</年代trong><年代pan>2011年12月19日</年代pan> </div> </div> </div> <div class="articleBody"> <div class="xml-content"> <h4 class="header" id="abstract">文摘</h4><gydF4y2Bap>介绍了设计和开发的一个固定的低阶,健壮<我>H</gydF4y2Ba我><年代ub>2</年代ub>微型飞行器的控制器(微型飞行器Sarika-2命名。控制器综合使用加强离散最优投影方程和频率相关性能指标实现健壮的性能和稳定性。一个固定增益低阶动态控制器提供了同步稳定,抗干扰性,和传感器噪声衰减在整个飞行速度范围16米/秒26米/秒。比较研究表明,低阶的<我>H</gydF4y2Ba我><年代ub>2</年代ub>控制器实现健壮的性能水平与全阶控制器。随后,在基于数字信号处理器的飞行控制器实现计算机和通过硬件在环实时仿真验证。获得的反应与硬件在回路仿真比较与获得的离线仿真。</gydF4y2Bap> <span class="end-abs"></span> <h4 id="introduction">1。介绍</h4><gydF4y2Bap>一个低成本、遥控飞行器名叫Sarika-2 [<一个href="#B1">1</一个>,<gydF4y2Ba一个href="#B2">2</一个>)是设计和建造的印度理工学院科学,班加罗尔,印度为验证现代鲁棒最优控制算法。Sarika-2(如图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig1/" target="_blank">1</一个>)是一种轻量级(小于2公斤起飞)和低惯性车。无线电控制飞行的低惯性车通过joystick-driven手动命令是困难的,如果不是不可能,甚至温和的阵风的条件下。无线遥控飞行更容易控制机体的快速阻尼响应(<一个href="#B3">3</一个>]。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-f8547f3b4f03c7375868d1304ad04e1a"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.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-f8547f3b4f03c7375868d1304ad04e1a partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.001_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-f8547f3b4f03c7375868d1304ad04e1a 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pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>Microair车辆:Sarika-2。</td></tr></tbody> </table> </div> </div> </div> </div> <p>虽然传统的飞行控制设计方法已在实践中很长一段时间,这种方法受到限制。他们是浪费时间。控制器优化的多输入多输出(MIMO)系统也不简单。传统的控制器的另一个严重的限制是其对模型不确定性的可怜的鲁棒性。追求强健控制器在过去三十年里导致控制器(<一个href="#B4">4</一个>- - - - - -<一个href="#B7">7</一个>]强劲稳定系统,留下的印象,这种方法过于倚靠性能的鲁棒性和牺牲一个适当的视图。的<年代vg height="14.2375" id="M3" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>性能水平的植物通常是一个更现实的指示其真实性能(<一个href="#B8">8</一个>- - - - - -<一个href="#B10">10</一个>相比更为保守<年代vg height="14.2375" id="M4" style="vertical-align:-3.13504pt;width:24.525px;" version="1.1" viewbox="0 0 24.525 14.2375" width="24.525" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∞</t年代pan> </text> </g> </g> </svg>规范(<一个href="#B4">4</一个>- - - - - -<一个href="#B7">7</一个>]。健壮的<年代vg height="14.2375" id="M5" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制器以及其他强大的控制器<我>μ</gydF4y2Ba我>(<gydF4y2Ba一个href="#B11">11</一个>),<gydF4y2Ba年代vg height="14.2375" id="M6" style="vertical-align:-3.13504pt;width:24.525px;" version="1.1" viewbox="0 0 24.525 14.2375" width="24.525" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∞</t年代pan> </text> </g> </g> </svg>(<一个href="#B4">4</一个>- - - - - -<一个href="#B7">7</一个>)提供系统获取程序控制器,满足性能目标和保证鲁棒性对模型不确定性和不可测量的干扰。在<我>μ</gydF4y2Ba我>合成,<年代vg height="14.2375" id="M7" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>和<年代vg height="14.2375" id="M8" style="vertical-align:-3.13504pt;width:24.525px;" version="1.1" viewbox="0 0 24.525 14.2375" width="24.525" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∞</t年代pan> </text> </g> </g> </svg>循环形成,设计师指定频率相关权重(<一个href="#B4">4</一个>),以反映所需的性能和鲁棒性的目标。然而,这些技术给控制器,顺序通常高于给定的植物。因此,实时控制器实现很难(如果不是不可能的。大订单的执行控制器可能会产生不良的时间延迟。因此,一个健壮的顺序固定<年代vg height="14.2375" id="M9" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制是一个非常有吸引力的选择在几个健壮的多变量控制器设计方法,自<年代vg height="14.2375" id="M10" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>规范的更直观的测量性能(<一个href="#B8">8</一个>,<gydF4y2Ba一个href="#B10">10</一个>]。固定的低阶<年代vg height="14.2375" id="M11" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制器可以通过一步合成与其他多变量鲁棒控制器设计方法包括两步设计(<一个href="#B12">12</一个>]。一个单步过程保证了稳定鲁棒性和最优性<一个href="#B13">13</一个>]。</gydF4y2Bap> <p>健壮的<年代vg height="14.2375" id="M12" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>最优控制器问题可以冒充<年代vg height="14.2375" id="M13" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>最优控制问题,在模型不确定性满足设计。因此LQG设计相比,在性能和闭环系统的鲁棒性估计后控制器的设计和性能和鲁棒性规范包含在<年代vg height="14.2375" id="M14" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制器在设计阶段。一个标准的健壮的<年代vg height="14.2375" id="M15" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>优化问题可以表示为如图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig2/" target="_blank">2</一个>(<gydF4y2Ba一个href="#B3">3</一个>),衰减系统受到噪音和干扰。图中所示的配置<一个href="//www.newsama.com/journals/jcse/2011/594086/fig2/" target="_blank">2</一个>包含一个广义植物用于鲁棒稳定性分析和控制器设计。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-59c2318cddb235c5bcc317d4a87f027b"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.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-59c2318cddb235c5bcc317d4a87f027b partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.002_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-59c2318cddb235c5bcc317d4a87f027b 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pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>标准的表示<年代vg height="14.2375" id="M16" style="vertical-align:-3.13504pt" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>设计和分析。</td></tr></tbody> </table> </div> </div> </div> </div> <p>信号”<年代vg height="7.4499998" id="M17" style="vertical-align:-0.11285pt;width:12.2375px;" version="1.1" viewbox="0 0 12.2375 7.4499998" width="12.2375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.45)"> <g transform="translate(72,-66.04)"> <text transform="matrix(1,0,0,-1,-71.95,66.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>”和“<年代vg height="7.375" id="M18" style="vertical-align:-0.17555pt;width:7.9250002px;" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.375)"> <g transform="translate(72,-66.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>“是外生变量分别输入和性能。”<年代vg height="9.8625002" id="M19" style="vertical-align:-2.29482pt;width:7.875px;" version="1.1" viewbox="0 0 7.875 9.8625002" width="7.875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.8625)"> <g transform="translate(72,-64.11)"> <text transform="matrix(1,0,0,-1,-71.95,66.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>“是被测变量,”<年代vg height="7.1624999" id="M20" style="vertical-align:-0.11285pt;width:7.5374999px;" version="1.1" viewbox="0 0 7.5374999 7.1624999" width="7.5374999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1625)"> <g transform="translate(72,-66.27)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>“是控制输入。<年代vg height="16.2875" id="M21" style="vertical-align:-4.77652pt;width:15.85px;" version="1.1" viewbox="0 0 15.85 16.2875" width="15.85" 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pan> </text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>是表示实际的广义植物植物和所有加权函数。<年代vg height="14.2375" id="M22" style="vertical-align:-3.13504pt;width:18.125px;" version="1.1" viewbox="0 0 18.125 14.2375" width="18.125" 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pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> </g> </g> </svg>代表了传感器动态,包括前置放大器增益和<年代vg height="10.325" id="M23" style="vertical-align:-0.0pt;width:13.2875px;" version="1.1" viewbox="0 0 13.2875 10.325" width="13.2875" 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pan> </text> </g> </g> </svg>是控制器设计。<年代vg height="10.6625" id="M24" style="vertical-align:-0.0pt;width:11.4125px;" version="1.1" viewbox="0 0 11.4125 10.6625" width="11.4125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6625)"> <g transform="translate(72,-63.47)"> <text transform="matrix(1,0,0,-1,-71.95,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Δ</t年代pan> </text> </g> </g> </svg>所有可能的集合的不确定性,分组到单个block-diagonal有限维线性时不变系统。图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig2/" target="_blank">2</一个>也被称为一个标准的线性分式变换(LLFT)较低的融通的配方吗<年代vg height="10.325" id="M25" style="vertical-align:-0.0pt;width:13.2875px;" version="1.1" viewbox="0 0 13.2875 10.325" width="13.2875" 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pan> </text> </g> </g> </svg>,在那里<年代vg height="16.2875" id="M26" style="vertical-align:-4.77652pt;width:33.849998px;" version="1.1" viewbox="0 0 33.849998 16.2875" width="33.849998" 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pan> </text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-59.37,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-49.84,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> </g> </g> </svg>的系数矩阵是LLFT和上线性分式变换(ULFT)<年代vg height="10.6625" id="M27" style="vertical-align:-0.0pt;width:11.4125px;" version="1.1" viewbox="0 0 11.4125 10.6625" width="11.4125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6625)"> <g transform="translate(72,-63.47)"> <text transform="matrix(1,0,0,-1,-71.95,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Δ</t年代pan> </text> </g> </g> </svg>,在那里<年代vg height="16.2875" id="M28" style="vertical-align:-4.77652pt;width:15.85px;" version="1.1" viewbox="0 0 15.85 16.2875" width="15.85" 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pan> </text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>ULFT的系数矩阵。LLFT用于控制器设计阶段,ULFT鲁棒性能分析阶段使用。</gydF4y2Bap> <p>广义的植物,图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig2/" target="_blank">2</一个>可以用频域表示如下:<年代pan class="equation" id="EEq1a"> <svg height="62.637501" id="M29" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 62.637501" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,62.6375)"> <g transform="translate(72,-21.89)"> <text transform="matrix(1,0,0,-1,69.58,56.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="10.85"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="21.690001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="32.48"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="28.52" y="7.1054274e-015"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="28.52" y="10.85"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="28.52" y="21.690001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="28.52" y="32.48"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="5.6300001" y="2.45"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.944495" y="2.45"> (</t年代pan> <tspan style="font-size: 12.50px; " x="18.107994" y="2.45"> </t年代pan> <tspan style="font-size: 12.50px; " x="24.346991" y="2.45"> )</t年代pan> <tspan style="font-size: 12.50px; " x="5.6399999" y="27.459999"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.929489" y="27.459999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="18.092987" y="27.459999"> </t年代pan> <tspan style="font-size: 12.50px; " x="24.331985" y="27.459999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="37.610001" y="13.08"> =</t年代pan> <tspan style="font-size: 12.50px; " x="49.650391" y="13.08"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,126.66,40.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,133.9,43.82)"> <tspan style="font-size: 12.50px; " x="20.809999" y="-13.08"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="20.809999" y="-2.23"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="20.809999" y="8.6099997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="20.809999" y="19.4"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="52.779999" y="-13.08"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="52.779999" y="-2.23"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="52.779999" y="8.6099997"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="52.779999" y="19.4"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="61.880001" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="73.919998" y="-13.08"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="73.919998" y="-2.23"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="73.919998" y="8.6099997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="73.919998" y="19.4"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="79.540001" y="-10.63"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="26.440001" y="-10.63"> </t年代pan> <tspan style="font-size: 12.50px; " x="38.205322" y="-10.63"> (</t年代pan> <tspan style="font-size: 12.50px; " x="42.36882" y="-10.63"> </t年代pan> <tspan style="font-size: 12.50px; " x="48.607819" y="-10.63"> )</t年代pan> <tspan style="font-size: 12.50px; " x="28.32" y="14.38"> </t年代pan> <tspan style="font-size: 12.50px; " x="36.321918" y="14.38"> (</t年代pan> <tspan style="font-size: 12.50px; " x="40.48542" y="14.38"> </t年代pan> <tspan style="font-size: 12.50px; " x="46.724415" y="14.38"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,220.87,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.1599998" y="2.0699999"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="9.5360003" y="2.0699999"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,237.36,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="20.817495" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,265.6,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.1599998" y="2.0699999"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="9.5360003" y="2.0699999"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,282.09,54.45)"> <tspan style="font-size: 12.50px; " x="-68.650002" y="25.01"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,220.87,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.1599998" y="2.0699999"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="9.5360003" y="2.0699999"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,237.36,29.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1599998" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.398997" y="0.0099999998"> )</t年代pan> <tspan style="font-size: 12.50px; " x="20.813995" y="0.0099999998"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,265.6,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.1599998" y="2.0699999"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="9.5360003" y="2.0699999"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,282.09,29.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="14.57" y="-27.450001"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="14.57" y="-16.6"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="14.57" y="-5.7600002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="14.57" y="5.0300002"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="22.280001" y="-27.450001"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="22.280001" y="-16.6"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="22.280001" y="-5.7600002"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="22.280001" y="5.0300002"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="54.25" y="-27.450001"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="54.25" y="-16.6"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="54.25" y="-5.7600002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="54.25" y="5.0300002"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="61.959999" y="-14.37"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="4.1700001" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.408997" y="0.0099999998"> )</t年代pan> <tspan style="font-size: 12.50px; " x="27.91" y="-25"> </t年代pan> <tspan style="font-size: 12.50px; " x="39.675323" y="-25"> (</t年代pan> <tspan style="font-size: 12.50px; " x="43.838821" y="-25"> </t年代pan> <tspan style="font-size: 12.50px; " x="50.07782" y="-25"> )</t年代pan> <tspan style="font-size: 12.50px; " x="29.790001" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="37.79192" y="0.0099999998"> (</t年代pan> <tspan style="font-size: 12.50px; " x="41.955418" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="48.194416" y="0.0099999998"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,468.57,43.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 一个</t年代pan> <tspan style="font-size: 12.50px; " x="15.966331" y="0"> )</t年代pan> </text> </g> </g> </svg></span>的闭环传递矩阵在哪里<年代vg height="7.4499998" id="M30" style="vertical-align:-0.11285pt;width:12.2375px;" version="1.1" viewbox="0 0 12.2375 7.4499998" width="12.2375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.45)"> <g transform="translate(72,-66.04)"> <text transform="matrix(1,0,0,-1,-71.95,66.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>来<年代vg height="7.375" id="M31" style="vertical-align:-0.17555pt;width:7.9250002px;" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.375)"> <g transform="translate(72,-66.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>可以由<年代pan class="equation" id="EEq1b"> <svg height="50.512501" id="M32" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 50.512501" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,50.5125)"> <g transform="translate(72,-31.59)"> <text transform="matrix(1,0,0,-1,178.31,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.7023277" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="21.742718" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,206.93,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,221.36,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⋅</t年代pan> <tspan style="font-size: 12.50px; " x="6.3515239" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="16.041349" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,62.57)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> b</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,104.98,36.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,111.86,33.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,126.98,36.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,146.45,33.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.305984" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="8.6819839" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,162.78,36.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,181.55,33.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.305984" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="8.6819839" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,195.11,36.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,204.63,33.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,211.59,36.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.53" y="2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="16.379999" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="25.157106" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="36.497326" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,255.52,33.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.305984" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="8.6819839" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,269.08,36.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,278.6,33.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,283.48,36.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.53" y="2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,299.86,43.94)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,310.73,36.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代pan> </text> <text transform="matrix(1,0,0,-1,468.57,37.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> c</t年代pan> <tspan style="font-size: 12.50px; " x="15.966331" y="0"> )</t年代pan> </text> </g> </g> </svg></span>的最小化<年代vg height="14.2375" id="M34" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>规范的传递函数<年代vg height="7.4499998" id="M35" style="vertical-align:-0.11285pt;width:12.2375px;" version="1.1" viewbox="0 0 12.2375 7.4499998" width="12.2375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.45)"> <g transform="translate(72,-66.04)"> <text transform="matrix(1,0,0,-1,-71.95,66.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>来<年代vg height="7.375" id="M36" style="vertical-align:-0.17555pt;width:7.9250002px;" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.375)"> <g transform="translate(72,-66.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,也就是说,<年代vg height="14.3875" id="M37" style="vertical-align:-3.25793pt;width:23.275px;" version="1.1" viewbox="0 0 23.275 14.3875" width="23.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3875)"> <g transform="translate(72,-60.49)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </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pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> </g> </g> </svg>在所有可实现的控制器<年代vg height="13.45" id="M38" style="vertical-align:-2.21957pt;width:30.237499px;" version="1.1" viewbox="0 0 30.237499 13.45" width="30.237499" 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pan> <tspan style="font-size: 12.50px; " x="9.5272856" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.690785" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.929783" y="0"> )</t年代pan> </text> </g> </g> </svg>,构成了<年代vg height="14.2375" id="M39" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制问题。广义的元素<年代vg height="16.2875" id="M40" style="vertical-align:-4.77652pt;width:15.85px;" version="1.1" viewbox="0 0 15.85 16.2875" width="15.85" 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pan> </text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>是通过增加频率相关加权函数和相应的输出向量<年代vg height="7.375" id="M41" style="vertical-align:-0.17555pt;width:7.9250002px;" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.375)"> <g transform="translate(72,-66.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>为降低融通的形式。</gydF4y2Bap> <p>本文只关注设计、分析和验证的顺序固定<年代vg height="14.2375" id="M42" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制器通过实时硬件在回路仿真Sarika-2的横向动力学。控制器的设计是基于加强离散的组合最优投影方程(SDOPEs) [<一个href="#B14">14</一个>),这是修改后的版本的伯恩斯坦等的开创性工作。<一个href="#B15">15</一个>)顺序固定的控制器和frequency-shaped设计技术。在这篇文章中,状态和控制变量的时域加权矩阵<一个href="#B14">14</一个>)改变频率相关权重矩阵。这使得设计者可以指定形状的反应更严格的频率范围,向他们提供更大的权重,明确以牺牲更大的错误在其他频率范围的重要性。一个好的控制器系统的输出灵敏度之间权衡的结果<年代vg height="14.5875" id="M43" style="vertical-align:-3.2316pt;width:15.9125px;" version="1.1" viewbox="0 0 15.9125 14.5875" width="15.9125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>、互补的灵敏度函数<年代vg height="10.325" id="M44" style="vertical-align:-0.0pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 10.325" width="11.225" 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pan> </text> </g> </g> </svg>和控制灵敏度<年代vg height="14.5875" id="M45" style="vertical-align:-3.2316pt;width:27.4625px;" version="1.1" viewbox="0 0 27.4625 14.5875" width="27.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>(<年代vg height="14.5875" id="M46" style="vertical-align:-3.2316pt;width:14.3125px;" version="1.1" viewbox="0 0 14.3125 14.5875" width="14.3125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>:闭环系统的输入灵敏度函数)。自Sarika-2非常小,机翼,皮托管测量静态探测安装速度,成为在低雷诺数湍流流动机制。另外,重量轻压力传感器在测量灵敏度和稳定性差。进一步的空气速度之间的非线性关系和动态压力(总pressure-static压力)使这种装置不优先考虑,因为船上修正所有上述黑话不是可行的车辆在家门口2类。因此,家门口2没有传感器测量真或表示空气速度,因此,获得/控制器调度对其飞行速度范围的第16 - 26页m /秒不可行。因此,设计一个离散动态控制器在中央操作点(20米/秒的飞行速度)的车辆达到同步稳定,抗干扰性,和传感器噪声衰减在整个飞行包线16米/ sec-26米/秒。</gydF4y2Bap> <h4 id="lateral-dynamics-of-sarika-2">2。横向动力学Sarika-2</h4><gydF4y2Bap>Sarika-2是一个远程控制的小型飞行车0.6米跨度的向后倾斜的三角翼和翼面积0.195<年代up>2</年代up>。它有一个平方机身的宽度0.06米和0.8米的长度。它在起飞重量约1.75公斤。控制是通过独立的外置驱动电梯,内侧副翼和方向舵。Sarika-2没有水平的尾巴。电厂是一个4 cc螺旋桨发动机(OSMAX-LA 25),它使用甲醇+蓖麻油作为燃料,与硝基甲烷10 - 15%提高发动机功率。</gydF4y2Bap> <p>线性化状态空间模型的横向动力学开发稳定轴(<一个href="#B16">16</一个>),通过假设水平飞行的固定的高度高出海平面1000米(即。,100 m above the ground level at Bangalore) and trimming at six different operating speeds (i.e., at 16, 18, 20, 22, 24, and 26 m/sec). The state variables,<年代vg height="14.1875" id="M47" style="vertical-align:-0.33858pt;width:45.762501px;" version="1.1" viewbox="0 0 45.762501 14.1875" width="45.762501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.1875)"> <g transform="translate(72,-60.65)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.339981" y="0"> ∈</t年代pan> <tspan style="font-size: 12.50px; " x="22.380369" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-40.31,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</t年代pan> </text> </g> </g> </svg>描述横向动力学是侧滑角<年代vg height="13.425" id="M48" style="vertical-align:-2.29482pt;width:8.8500004px;" version="1.1" viewbox="0 0 8.8500004 13.425" width="8.8500004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.425)"> <g transform="translate(72,-61.26)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,滚转率<年代vg height="9.875" id="M49" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" 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pan> </text> </g> </g> </svg>,偏航率<年代vg height="7.0124998" id="M50" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和银行的角度<年代vg height="13.425" id="M51" style="vertical-align:-2.29482pt;width:10.2px;" version="1.1" viewbox="0 0 10.2 13.425" width="10.2" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.425)"> <g transform="translate(72,-61.26)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>。从风洞试验(静态衍生品<一个href="#B1">1</一个>)从理论计算结合动态衍生品<一个href="#B17">17</一个>,<gydF4y2Ba一个href="#B18">18</一个>)提供完整的一套稳定衍生品(<一个href="#B3">3</一个>Sarika-2横向动力学的。控制面是由微型机电伺服系统驱动的。实验测量的动态伺服驱动器(叶S3101微伺服)是由<年代pan class="equation" id="EEq2"> <svg height="17.9375" id="M52" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 17.9375" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.9375)"> <g transform="translate(72,-57.65)"> <text transform="matrix(1,0,0,-1,160.9,64.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</t年代pan> <tspan style="font-size: 12.50px; " x="-6.02" y="2.72"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,161.17,58.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,167.86,61.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="20.592442" y="0"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="26.843941" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="29.96969" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="36.221191" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,210.38,58.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,216.38,61.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="17.591721" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="20.71747" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="26.968971" y="0"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="33.22047" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,255.53,58.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,258.75,61.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,474.12,61.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代pan> </text> </g> </g> </svg></span>在那里,<年代vg height="9.9250002" id="M53" style="vertical-align:-0.13794pt;width:32.224998px;" version="1.1" viewbox="0 0 32.224998 9.9250002" width="32.224998" 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pan> <tspan style="font-size: 12.50px; " x="7.3517642" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="19.392153" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="7.0124998" id="M54" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>分别对副翼和方向舵。<年代vg height="14.5875" id="M55" style="vertical-align:-3.2316pt;width:12.0125px;" version="1.1" viewbox="0 0 12.0125 14.5875" width="12.0125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.66,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>副翼和方向舵的弧度,<年代vg height="11.05" id="M56" style="vertical-align:-3.2316pt;width:11.5625px;" version="1.1" viewbox="0 0 11.5625 11.05" width="11.5625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.05)"> <g transform="translate(72,-63.16)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>宽度的脉冲宽度调制(PWM)命令输入,以毫秒为单位。连续离散状态空间模型在50 Hz(同步命令PWM输入收到的车辆从地面站无线电/飞行员命令)。最后合成线性化模型用于控制器包括两个采样周期延迟状态占计算时间需求。因此,工厂的最终模型包括八个州(飞行器机身四个,两个致动器和两个计算延迟),两个控制输入,风扰动输入,和三个加速度计和速率陀螺传感器输出。离散状态空间模型的横向动力学Sarika-2,在中央操作条件的20米/秒(<一个href="#B3">3</一个>]<gydF4y2Ba年代pan class="equation" id="EEq3a"> <svg height="45.412498" id="M57" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 45.412498" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,45.4125)"> <g transform="translate(72,-35.67)"> <text transform="matrix(1,0,0,-1,96.33,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,103.21,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,110.07,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.715791" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="25.056011" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="31.307512" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="38.946846" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="50.974731" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,170.02,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,174.8,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,181.68,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,188.54,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.940125" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="17.87929" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="29.219511" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,226.46,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,235.62,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.0019197" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.165419" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="18.942045" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="25.88121" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="37.233932" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,281.56,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,290.71,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,297.04,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,304.28,63.2)"> <tspan style="font-size: 12.50px; " x="15.1" y="1.13"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.940125" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,468.57,62.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 一个</t年代pan> <tspan style="font-size: 12.50px; " x="15.966331" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,108.36,40.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.2769861" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.440485" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.217112" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="26.856443" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="38.884331" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,155.65,37.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,160.42,40.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,167.3,37.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,174.16,40.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.940125" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="17.87929" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="29.219511" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,213.26,37.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,222.42,40.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.0019197" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.165419" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="18.942045" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="25.88121" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="37.221432" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,269.53,37.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,278.69,40.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,285.01,37.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,292.25,40.6)"> <tspan style="font-size: 12.50px; " x="15.1" y="1.13"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.940125" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,39.47)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> b</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>在哪里<年代vg height="13.2375" id="M59" style="vertical-align:-4.77652pt;width:14.475px;" version="1.1" viewbox="0 0 14.475 13.2375" width="14.475" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.2375)"> <g transform="translate(72,-61.41)"> <text transform="matrix(1,0,0,-1,-71.95,66.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.62,63.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>是风组件在横向方向上,<年代vg height="19.424999" id="M60" style="vertical-align:-4.74141pt;width:122.125px;" version="1.1" viewbox="0 0 122.125 19.424999" width="122.125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.425)"> <g transform="translate(72,-56.46)"> <text transform="matrix(1,0,0,-1,-71.95,61.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.07,58.11)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-56.82,61.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="0.029999999"> (</t年代pan> </text> <text transform="matrix(1,0,0,-1,-38.54,62.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="8.35816" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="16.10368" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="23.14904" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="32.268623" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-1.87,60.37)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,5.24,62.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,9.64,60.37)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,14.78,61.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ]</t年代pan> </text> <text transform="matrix(1,0,0,-1,18.94,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="16.2875" id="M61" style="vertical-align:-2.21957pt;width:100.775px;" version="1.1" viewbox="0 0 100.775 16.2875" width="100.775" 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,-71.95,61.23)"> <tspan style="font-size: 12.50px; " x="36.540001" y="0.029999999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.9264221" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="10.089921" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="16.866547" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="24.493378" y="0"> =</t年代pan> </text> <text transform="matrix(1,0,0,-1,-29.16,62.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-24.76,60.38)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 6.25px; " x="3.138504" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-14.74,62.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-10.34,60.38)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 6.25px; " x="2.5508161" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-2.3,61.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ]</t年代pan> </text> <text transform="matrix(1,0,0,-1,1.86,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="16.375" id="M62" style="vertical-align:-2.29482pt;width:79.762497px;" version="1.1" viewbox="0 0 79.762497 16.375" width="79.762497" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.375)"> <g transform="translate(72,-58.9)"> <text transform="matrix(1,0,0,-1,-71.95,61.23)"> <tspan style="font-size: 12.50px; " x="21.709999" y="0.029999999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.6648188" y="0"> =</t年代pan> </text> <text transform="matrix(1,0,0,-1,-43.99,64.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-39.6,61.91)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-32.53,64.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="7.754272" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-19.12,61.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ]</t年代pan> </text> <text transform="matrix(1,0,0,-1,-14.96,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>测量对飞机身体轴(<年代vg height="12.925" id="M63" style="vertical-align:-4.74141pt;width:14.025px;" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>横向加速度),<年代pan class="equation" id="EEq3c"> <svg height="250.1875" id="M64" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 250.1875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,250.1875)"> <g transform="translate(72,128.15)"> <text transform="matrix(1,0,0,-1,-4.07,-31.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,4.89,-34.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,13.14,-31.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-88.089996"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-76.68"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-65.269997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-53.860001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-42.450001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-31.040001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-19.629999"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-8.2200003"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="3.1900001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="14.6"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="26.01"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="37.419998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="48.830002"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="60.240002"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="71.650002"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="83.059998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="94.410004"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="-88.089996"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="-76.68"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="-65.269997"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="-53.860001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="-42.450001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="-31.040001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="-19.629999"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="-8.2200003"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="3.1900001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="14.6"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="26.01"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="37.419998"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="48.830002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="60.240002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="71.650002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="83.059998"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="396.85001" y="94.410004"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="404.56" y="-5.3290705e-014"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="21.950001" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="28.2015" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="31.32725" y="-85.650002"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="37.578751" y="-85.650002"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="43.83025" y="-85.650002"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="50.081749" y="-85.650002"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="70.874237" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="77.12574" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="80.251488" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="86.502991" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="92.754486" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="99.005989" y="-85.650002"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="115.50995" y="-85.650002"> −</t年代pan> <tspan style="font-size: 12.50px; " x="124.0745" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="130.326" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="133.45175" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="139.70325" y="-85.650002"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="145.95476" y="-85.650002"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="152.20625" y="-85.650002"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="165.59697" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="171.84846" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="174.97421" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="181.22572" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="187.47722" y="-85.650002"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="193.72871" y="-85.650002"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="207.10693" y="-85.650002"> −</t年代pan> <tspan style="font-size: 12.50px; " x="215.67148" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="221.92299" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="225.04874" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="231.30023" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="237.55173" y="-85.650002"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="243.80324" y="-85.650002"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="259.16943" y="-85.650002"> −</t年代pan> <tspan style="font-size: 12.50px; " x="267.73398" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="273.98547" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="277.11124" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="283.36273" y="-85.650002"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="289.61423" y="-85.650002"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="304.9679" y="-85.650002"> −</t年代pan> <tspan style="font-size: 12.50px; " x="313.53247" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="319.78397" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="322.9097" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="329.16122" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="335.41272" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="341.66422" y="-85.650002"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="353.89215" y="-85.650002"> −</t年代pan> <tspan style="font-size: 12.50px; " x="362.4567" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="368.70819" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="371.83395" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="378.08545" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="384.33694" y="-85.650002"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="390.58844" y="-85.650002"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="17.67" y="-60.639999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="26.234554" y="-60.639999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="32.486053" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="35.611805" y="-60.639999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="41.863304" y="-60.639999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="48.114803" y="-60.639999"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="54.366306" y="-60.639999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="70.870262" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="77.121765" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="80.247513" y="-60.639999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="86.499016" y="-60.639999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="92.750519" y="-60.639999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="99.002014" y="-60.639999"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="119.7945" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="126.04601" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="129.17175" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="135.42325" y="-60.639999"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="141.67476" y="-60.639999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="147.92625" y="-60.639999"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="164.44272" y="-60.639999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="173.00728" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="179.25877" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="182.38452" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="188.63602" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="194.88753" y="-60.639999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="207.11546" y="-60.639999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="215.68001" y="-60.639999"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="221.93152" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="225.05727" y="-60.639999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="231.30876" y="-60.639999"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="237.56026" y="-60.639999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="243.81177" y="-60.639999"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="256.0397" y="-60.639999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="264.60425" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="270.85574" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="273.98151" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="280.233" y="-60.639999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="286.4845" y="-60.639999"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="292.73599" y="-60.639999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="304.96393" y="-60.639999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="313.5285" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="319.78" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="322.90573" y="-60.639999"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="329.15723" y="-60.639999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="335.40875" y="-60.639999"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="341.66025" y="-60.639999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="357.01392" y="-60.639999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="365.57849" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="371.82999" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="374.95572" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="381.20721" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="387.45874" y="-60.639999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="21.950001" y="-35.630001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="28.2015" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="31.32725" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="37.578751" y="-35.630001"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="43.83025" y="-35.630001"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="50.081749" y="-35.630001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="66.585709" y="-35.630001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="75.150269" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="81.401764" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="84.527512" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="90.779015" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="97.030518" y="-35.630001"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="103.28201" y="-35.630001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="119.79848" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="126.04998" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="129.17574" y="-35.630001"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="135.42723" y="-35.630001"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="141.67873" y="-35.630001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="147.93022" y="-35.630001"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="165.59697" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="171.84846" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="174.97421" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="181.22572" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="187.47722" y="-35.630001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="193.72871" y="-35.630001"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="211.39546" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="217.64696" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="220.77271" y="-35.630001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="227.0242" y="-35.630001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="233.27571" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="239.52721" y="-35.630001"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="260.3197" y="-35.630001"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="266.5712" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="269.69693" y="-35.630001"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="275.94846" y="-35.630001"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="282.19995" y="-35.630001"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="288.45145" y="-35.630001"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="309.24393" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="315.49542" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="318.62119" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="324.87268" y="-35.630001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="331.12418" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="337.37567" y="-35.630001"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="358.16818" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="364.41968" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="367.54541" y="-35.630001"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="373.79694" y="-35.630001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="380.04843" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="386.29993" y="-35.630001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="17.67" y="-10.63"> −</t年代pan> <tspan style="font-size: 12.50px; " x="26.234554" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="32.486053" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="35.611805" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="41.863304" y="-10.63"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="48.114803" y="-10.63"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="54.366306" y="-10.63"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="70.870262" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="77.121765" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="80.247513" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="86.499016" y="-10.63"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="92.750519" y="-10.63"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="99.002014" y="-10.63"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="119.7945" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="126.04601" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="129.17175" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="135.42325" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="141.67476" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="147.92625" y="-10.63"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="165.59299" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="171.8445" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="174.97025" y="-10.63"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="181.22174" y="-10.63"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="187.47324" y="-10.63"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="193.72475" y="-10.63"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="207.11546" y="-10.63"> −</t年代pan> <tspan style="font-size: 12.50px; " x="215.68001" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="221.93152" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="225.05727" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="231.30876" y="-10.63"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="237.56026" y="-10.63"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="243.81177" y="-10.63"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="256.0397" y="-10.63"> −</t年代pan> <tspan style="font-size: 12.50px; " x="264.60425" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="270.85574" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="273.98151" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="280.233" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="286.4845" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="292.73599" y="-10.63"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="308.08969" y="-10.63"> −</t年代pan> <tspan style="font-size: 12.50px; " x="316.65424" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="322.90573" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="326.03149" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="332.28299" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="338.53448" y="-10.63"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="353.88818" y="-10.63"> −</t年代pan> <tspan style="font-size: 12.50px; " x="362.45273" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="368.70422" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="371.82999" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="378.08148" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="384.33298" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="390.58447" y="-10.63"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="36.02" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="84.940002" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="133.87" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="179.67" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="214.51585" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="220.77986" y="14.38"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="223.90561" y="14.38"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="230.15712" y="14.38"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="236.40862" y="14.38"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="274.39273" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="309.2511" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="315.50259" y="14.38"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="318.62836" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="324.87985" y="14.38"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="331.13135" y="14.38"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="337.38284" y="14.38"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="372.24121" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="36.02" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="84.940002" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="133.87" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="179.67" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="225.47" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="263.4541" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="269.70563" y="39.389999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="272.83136" y="39.389999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="279.08286" y="39.389999"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="285.33435" y="39.389999"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="323.31848" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="358.17685" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="364.42834" y="39.389999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="367.55408" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="373.8056" y="39.389999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="380.0571" y="39.389999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="386.30859" y="39.389999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="36.02" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="84.940002" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="133.87" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="179.67" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="225.47" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="274.39001" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="309.24835" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="315.49988" y="64.389999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="318.62561" y="64.389999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="324.87711" y="64.389999"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="331.1286" y="64.389999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="337.38013" y="64.389999"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="372.23846" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="36.02" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="84.940002" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="133.87" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="179.67" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="225.47" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="274.39001" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; 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" x="40.708752" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="46.960251" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="70.86599" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="77.117485" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="80.243233" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="86.494736" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="92.746239" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="98.997734" y="-85.650002"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="21.950001" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="28.2015" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="31.32725" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="37.578751" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="43.83025" y="-60.639999"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="50.081749" y="-60.639999"> 5</t年代pan> <tspan style="font-size: 12.50px; 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" x="80.243111" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="86.494614" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="92.746109" y="39.389999"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="98.997612" y="39.389999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="21.950001" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="28.2015" y="64.389999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="31.32725" y="64.389999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="37.578751" y="64.389999"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="43.83025" y="64.389999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="50.081749" y="64.389999"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="84.940117" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="36.02" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="70.86586" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="77.117363" y="89.400002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="80.243111" y="89.400002"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="86.494614" y="89.400002"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="92.746109" y="89.400002"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="98.997612" y="89.400002"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="117.25" y="-5.3290705e-014"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="142.38103" y="-5.3290705e-014"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,249.42,-34.33)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,262.05,-31.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-88.089996"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-76.68"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-65.269997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-53.860001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-42.450001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-31.040001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-19.629999"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-8.2200003"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="3.1900001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="14.6"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="26.01"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="37.419998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="48.830002"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="60.240002"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="71.650002"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="83.059998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="94.410004"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="39.130001" y="14.38"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="39.130001" y="39.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="39.130001" y="64.389999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="39.130001" y="89.400002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="-88.089996"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="-76.68"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="-65.269997"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="-53.860001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="-42.450001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="-31.040001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="-19.629999"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="-8.2200003"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="3.1900001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="14.6"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="26.01"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="37.419998"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="48.830002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="60.240002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="71.650002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="83.059998"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="66.860001" y="94.410004"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="74.57" y="-6.0396133e-014"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="21.940001" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="28.1915" y="-85.650002"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="31.317249" y="-85.650002"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="37.568748" y="-85.650002"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="43.820251" y="-85.650002"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="50.071751" y="-85.650002"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="56.32325" y="-85.650002"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="20.790001" y="-60.639999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="29.354555" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="35.606056" y="-60.639999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="38.731804" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="44.983307" y="-60.639999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="51.234806" y="-60.639999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="57.486305" y="-60.639999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="21.940001" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="28.1915" y="-35.630001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="31.317249" y="-35.630001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="37.568748" y="-35.630001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="43.820251" y="-35.630001"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="50.071751" y="-35.630001"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="56.32325" y="-35.630001"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="17.66" y="-10.63"> −</t年代pan> <tspan style="font-size: 12.50px; " x="26.224554" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="32.476055" y="-10.63"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="35.601807" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="41.853306" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="48.104805" y="-10.63"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="54.356304" y="-10.63"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="60.607803" y="-10.63"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,-31.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> d</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span><span class="equation" id="EEq3e"> <svg height="93.900002" id="M66" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 93.900002" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,93.9)"> <g transform="translate(72,3.12)"> <text transform="matrix(1,0,0,-1,41.48,31.32)"> <tspan style="font-size: 12.50px; 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" x="306.32001" y="20.450001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="306.32001" y="31.9"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="314.03" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="17.66" y="-23.129999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="26.224554" y="-23.129999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="32.476055" y="-23.129999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="38.727554" y="-23.129999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="41.853306" y="-23.129999"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="48.104805" y="-23.129999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="54.356304" y="-23.129999"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="66.584236" y="-23.129999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="72.835739" y="-23.129999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="75.961487" y="-23.129999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="82.21299" y="-23.129999"> 1</t年代pan> <tspan style="font-size: 12.50px; 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" x="183.72485" y="-23.129999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="192.2894" y="-23.129999"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="198.54089" y="-23.129999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="204.7924" y="-23.129999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="207.91815" y="-23.129999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="214.16965" y="-23.129999"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="220.42116" y="-23.129999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="232.64908" y="-23.129999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="241.21364" y="-23.129999"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="247.46513" y="-23.129999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="253.71664" y="-23.129999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="259.96814" y="-23.129999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="263.0939" y="-23.129999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="269.3454" y="-23.129999"> 8</t年代pan> <tspan style="font-size: 12.50px; 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" x="287.82559" y="1.88"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="300.05353" y="1.88"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="36.009998" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="80.650002" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="111.21983" y="26.889999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="117.47134" y="26.889999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="120.59708" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="126.84859" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="133.10008" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="139.35158" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="163.68242" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="202.07913" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="254.13" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="287.82559" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="300.05353" y="26.889999"> 0</t年代pan> </text> <text transform="matrix(1,0,0,-1,468.57,31.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> e</t年代pan> <tspan style="font-size: 12.50px; " x="15.966331" y="0"> )</t年代pan> </text> </g> </g> </svg></span><span class="equation" id="EEq3f"> <svg height="93.900002" id="M67" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 93.900002" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,93.9)"> <g transform="translate(72,3.12)"> <text transform="matrix(1,0,0,-1,115.65,31.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,125.53,28.19)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,138.16,31.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-25.57"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-14.07"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-2.5599999"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="8.9499998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="20.450001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="31.9"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="36.139999" y="-25.57"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="36.139999" y="-14.07"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="36.139999" y="-2.5599999"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="36.139999" y="8.9499998"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="36.139999" y="20.450001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="36.139999" y="31.9"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="17.66" y="-23.129999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="29.887934" y="-23.129999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="17.66" y="1.88"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="29.887934" y="1.88"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="17.66" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="29.887934" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="43.849998" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="68.981033" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,217.02,28.19)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,229.65,31.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-25.57"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-14.07"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-2.5599999"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="8.9499998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="20.450001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="31.9"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="36.009998" y="1.88"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="36.009998" y="26.889999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="60.610001" y="-25.57"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="60.610001" y="-14.07"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="60.610001" y="-2.5599999"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="60.610001" y="8.9499998"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="60.610001" y="20.450001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="60.610001" y="31.9"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="68.32" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="17.67" y="-23.129999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="26.234554" y="-23.129999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="32.486053" y="-23.129999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="35.611805" y="-23.129999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="41.863304" y="-23.129999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="48.114803" y="-23.129999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="54.366306" y="-23.129999"> 9</t年代pan> </text> <text transform="matrix(1,0,0,-1,469.33,31.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> f</t年代pan> <tspan style="font-size: 12.50px; " x="15.203648" y="0"> )</t年代pan> </text> </g> </g> </svg></span>增稳系统(SAS)是基于对定义的反馈信号稳定轴。因此,测量变量从身体稳定轴轴使用下面的转换:<年代pan class="equation" id="EEq4"> <svg height="93.900002" id="M68" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 93.900002" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,93.9)"> <g transform="translate(72,3.12)"> <text transform="matrix(1,0,0,-1,124.49,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="11.5"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="23.01"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="34.52"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="46.02"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="57.470001"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="7.8800001" y="2.4400001"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,138.48,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,130.11,29.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,136.39,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.340992" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,132.87,4.43)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,137.97,1.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,145.08,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="11.5"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="23.01"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="34.52"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="46.02"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="57.470001"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="9.1000004" y="25.57"> =</t年代pan> <tspan style="font-size: 12.50px; " x="21.139999" y="0"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="21.139999" y="11.5"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="21.139999" y="23.01"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="21.139999" y="34.52"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="21.139999" y="46.02"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="21.139999" y="57.470001"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="107.78" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="107.78" y="11.5"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="107.78" y="23.01"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="107.78" y="34.52"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="107.78" y="46.02"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="107.78" y="57.470001"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="115.49" y="0"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="115.49" y="11.5"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="115.49" y="23.01"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="115.49" y="34.52"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="115.49" y="46.02"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="115.49" y="57.470001"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="123.37" y="2.4400001"> </t年代pan> <tspan style="font-size: 12.50px; " x="27.92" y="2.4400001"> c</t年代pan> <tspan style="font-size: 12.50px; " x="33.471333" y="2.4400001"> o</t年代pan> <tspan style="font-size: 12.50px; " x="39.722832" y="2.4400001"> 年代</t年代pan> <tspan style="font-size: 12.50px; " x="46.661999" y="2.4400001"> </t年代pan> <tspan style="font-size: 12.50px; " x="66.21669" y="2.4400001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="82.895691" y="2.4400001"> 年代</t年代pan> <tspan style="font-size: 12.50px; " x="87.759361" y="2.4400001"> 我</t年代pan> <tspan style="font-size: 12.50px; " x="91.235191" y="2.4400001"> n</t年代pan> <tspan style="font-size: 12.50px; " x="99.562187" y="2.4400001"> </t年代pan> <tspan style="font-size: 12.50px; " x="41.220001" y="27.450001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="68.314003" y="27.450001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="87.068504" y="27.450001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="26.77" y="52.459999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="37.410053" y="52.459999"> 年代</t年代pan> <tspan style="font-size: 12.50px; " x="42.27372" y="52.459999"> 我</t年代pan> <tspan style="font-size: 12.50px; " x="45.749554" y="52.459999"> n</t年代pan> <tspan style="font-size: 12.50px; " x="54.076553" y="52.459999"> </t年代pan> <tspan style="font-size: 12.50px; " x="69.467743" y="52.459999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="81.970741" y="52.459999"> c</t年代pan> <tspan style="font-size: 12.50px; " x="87.522079" y="52.459999"> o</t年代pan> <tspan style="font-size: 12.50px; " x="93.773575" y="52.459999"> 年代</t年代pan> <tspan style="font-size: 12.50px; " x="100.72524" y="52.459999"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,274.56,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,266.2,29.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,272.47,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.340992" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,268.96,4.43)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,274.06,1.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,281.43,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="11.5"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="23.01"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="34.52"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="46.02"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="57.470001"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="7.71" y="25.57"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,474.12,31.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代pan> </text> </g> </g> </svg></span>在哪里<年代vg height="7.1750002" id="M69" 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pan> </text> </g> </g> </svg>是攻击的俯仰角水平飞行速度设计的名义。</gydF4y2Bap> <h4 id="design-specifications">3所示。设计规范</h4><gydF4y2Bap>横向动力学的闭环设计规范确定的预期反应(<一个href="#B19">19</一个>)加入飞行员从副翼和方向舵操纵杆。SAS的主要要求是提高处理素质概括为节<一个href="#sec3.1">3.1</一个>。</gydF4y2Bap> <h5 id="sec3.1">3.1。1级飞行质量要求(<一个href="#B19">19</一个>]</h5><gydF4y2Ba年代pan class="list"><span class="list-item"><span class="list-label"></span><span class="list-content">荷兰滚阻尼比≥0.5。</年代pan></span><span class="list-item"><span class="list-label"></span><span class="list-content">辊沉降时间常数< 1秒。</年代pan></span><span class="list-item"><span class="list-label"></span><span class="list-content">螺旋模式-最小双振幅> 12秒的时间。</年代pan></span></span> <p>注意从表<一个href="//www.newsama.com/journals/jcse/2011/594086/tab1/" target="_blank">1</一个>螺旋的规范和滚动模式满足飞行速度。然而,dutch-roll响应快速阻尼较差,导致大量沉淀时间。因此,闭环规范增加dutch-roll阻尼降到最低为0.5。</gydF4y2Bap> <div class="floats-partial-section partial-other-wrapper" data-section="tab1"> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表1</年代pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/tab1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 植物极不同的操作点。</d我v> <a class="table-thumb-overlay" href="//www.newsama.com/journals/jcse/2011/594086/tab1" target="_blank" aria-label="View full page"></a> </div> </div> <h5 id="sec3.2">3.2。抗干扰性规范</h5><gydF4y2Bap>标准湍流参数,<年代vg height="14.3375" id="M77" style="vertical-align:-3.21404pt;width:17.35px;" version="1.1" viewbox="0 0 17.35 14.3375" width="17.35" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </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pan> </text> </g> </g> </svg>和<年代vg height="10.825" id="M78" style="vertical-align:-3.21404pt;width:15.4625px;" version="1.1" viewbox="0 0 15.4625 10.825" width="15.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.825)"> <g transform="translate(72,-63.34)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-64.61,63.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>(<一个href="#B20">20.</一个>侧风的阵风,修改<年代vg height="14.7" id="M79" style="vertical-align:-3.21404pt;width:44.549999px;" version="1.1" viewbox="0 0 44.549999 14.7" width="44.549999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.7)"> <g transform="translate(72,-60.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.1,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-54.7,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> 3</t年代pan> </text> </g> </g> </svg>m和<年代vg height="14.8875" id="M80" style="vertical-align:-3.21404pt;width:54.387501px;" version="1.1" viewbox="0 0 54.387501 14.8875" width="54.387501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.8875)"> <g transform="translate(72,-60.09)"> <text transform="matrix(1,0,0,-1,-71.95,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-64.61,60.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-56.21,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="18.279387" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="21.405136" y="0"> 5</t年代pan> </text> </g> </g> </svg>米/秒<年代up>2</年代up>考虑到最坏的情况,发生在所有的动态模式Sarika-2感到兴奋。阵风谱密度是评价巡航速度的函数从16米/秒26米/秒,和发现<一个href="#B3">3</一个>阵风的光谱带宽速度增加而增加(9.55 rad /秒26米/秒)。因此,抗干扰性规范如下:最小化灵敏度函数0分贝以下<年代vg height="11.0625" id="M81" style="vertical-align:-0.30096pt;width:45.787498px;" version="1.1" viewbox="0 0 45.787498 11.0625" width="45.787498" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.0625)"> <g transform="translate(72,-63.15)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="11.977874" y="0"> <</t年代pan> <tspan style="font-size: 12.50px; " x="24.018263" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="30.269764" y="0"> 0</t年代pan> </text> </g> </g> </svg>rad /秒。</gydF4y2Bap> <h5 id="sec3.3">3.3。传感器噪声衰减规范</h5><gydF4y2Bap>实验,发现低成本传感器像速率陀螺(微陀螺100)和加速度计(taa - 3804 - 100)高频噪声内容集中15 rad /秒以上。因此,实现高频噪声衰减的规格如下:获取−40 dB /十年以上的飞行参数碾轧15 rad /秒的频率。</gydF4y2Bap> <h5 id="sec3.4">3.4。鲁棒性规范</h5><gydF4y2Bap>设计的控制器在中央操作条件应该针对不同飞行条件下鲁棒为了使用一个控制器在不同的操作点,避免了增益/控制器调度。控制器还应健壮的上下文中对结构化的实值参数的不确定性状态空间模型和非结构化乘性不确定性在致动器输入飞行条件。更大的不确定性水平放置在动态衍生品(50%),这是获得使用系统分析(<一个href="#B17">17</一个>,<gydF4y2Ba一个href="#B18">18</一个>),因为静态衍生品(20%)从风洞数据获得比使用分析方法计算更可靠。</gydF4y2Bap> <p>除了上述规格,闭环系统还应该健壮与最大预期时间延迟可能出现的由于非线性和计算复杂度。此外,控制表面变形量不应超过其全面的挠度±16度(±0.4毫秒对PWM输入)的中性值为1.5 ms。</gydF4y2Bap> <h4 id="𝐻2 optimal-control-formulation">4所示。<年代vg height="14.2375" id="M82" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>最优控制配方</h4><gydF4y2Bap>图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig3/" target="_blank">3</一个>代表的标准<年代vg height="14.2375" id="M83" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制制定了常规配置的形式被称为线性分式变换(融通),或两口的框图。广义的植物<年代vg height="16.2875" id="M84" style="vertical-align:-4.77652pt;width:15.85px;" version="1.1" viewbox="0 0 15.85 16.2875" width="15.85" 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pan> </text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>通过增加实际的工厂吗<年代vg height="16.475" id="M85" style="vertical-align:-4.74141pt;width:17.5625px;" version="1.1" viewbox="0 0 17.5625 16.475" width="17.5625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.475)"> <g transform="translate(72,-58.82)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-62.77,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>权重矩阵。在图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig3/" target="_blank">3</一个>,<gydF4y2Ba年代vg height="14.7875" id="M86" style="vertical-align:-3.13504pt;width:214.1875px;" version="1.1" viewbox="0 0 214.1875 14.7875" width="214.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.7875)"> <g transform="translate(72,-60.17)"> <text transform="matrix(1,0,0,-1,-71.95,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,-54.08,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.040389" y="0"> d</t年代pan> <tspan style="font-size: 12.50px; " x="18.291889" y="0"> 我</t年代pan> <tspan style="font-size: 12.50px; " x="21.767723" y="0"> 一个</t年代pan> <tspan style="font-size: 12.50px; " x="27.319056" y="0"> g</t年代pan> <tspan style="font-size: 12.50px; " x="37.734055" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="41.897552" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="46.06105" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="52.312553" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="55.438301" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="61.6898" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="72.104797" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="78.3563" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="81.482048" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="87.733551" y="0"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="93.985054" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="100.23655" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="110.66405" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="116.91555" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="120.04131" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="126.2928" y="0"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="132.5443" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="138.79581" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="145.0473" y="0"> ]</t年代pan> <tspan style="font-size: 12.50px; " x="149.2108" y="0"> )</t年代pan> </text> </g> </g> </svg>代表了包括前置放大器增益和传感器灵敏度矩阵<年代vg height="10.325" id="M87" style="vertical-align:-0.0pt;width:13.2875px;" version="1.1" viewbox="0 0 13.2875 10.325" width="13.2875" 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pan> </text> </g> </g> </svg>是控制器设计。所有可能的集合的不确定性Δ分组到单个block-diagonal有限维线性时不变系统。输入信号向量<年代vg height="7.4499998" id="M88" style="vertical-align:-0.11285pt;width:12.2375px;" version="1.1" viewbox="0 0 12.2375 7.4499998" width="12.2375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.45)"> <g transform="translate(72,-66.04)"> <text transform="matrix(1,0,0,-1,-71.95,66.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>包括所有外源输入由植物干扰<年代vg height="16.637501" id="M89" style="vertical-align:-4.77652pt;width:39.712502px;" version="1.1" viewbox="0 0 39.712502 16.637501" width="39.712502" 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,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.815095" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="16.016342" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-49.6,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-44.44,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代pan> </text> </g> </g> </svg>、传感器噪声(<年代vg height="7.1374998" id="M90" 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pan> </text> </g> </g> </svg>)和命令输入(<年代vg height="7.0124998" id="M91" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>)。控制器的输出<年代vg height="7.1624999" id="M92" style="vertical-align:-0.11285pt;width:7.5374999px;" version="1.1" viewbox="0 0 7.5374999 7.1624999" width="7.5374999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1625)"> <g transform="translate(72,-66.27)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="9.8625002" id="M93" style="vertical-align:-2.29482pt;width:7.875px;" version="1.1" viewbox="0 0 7.875 9.8625002" width="7.875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.8625)"> <g transform="translate(72,-64.11)"> <text transform="matrix(1,0,0,-1,-71.95,66.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>是一个矢量的测量信号,可用于在线控制的目的。<年代vg height="14.6" id="M94" style="vertical-align:-3.13504pt;width:83.875px;" version="1.1" viewbox="0 0 83.875 14.6" width="83.875" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,-55.62,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="14.565995" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="19.767242" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-24.39,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,-19.52,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> </g> </g> </svg>,<年代vg height="14.75" id="M95" style="vertical-align:-3.25793pt;width:38.737499px;" version="1.1" viewbox="0 0 38.737499 14.75" width="38.737499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,-55.62,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> </g> </g> </svg>频率加权函数依赖吗<年代vg height="14.5875" id="M96" style="vertical-align:-3.2316pt;width:15.9125px;" version="1.1" viewbox="0 0 15.9125 14.5875" width="15.9125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="10.325" id="M97" style="vertical-align:-0.0pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 10.325" width="11.225" 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pan> </text> </g> </g> </svg>,<年代vg height="14.5875" id="M98" style="vertical-align:-3.2316pt;width:27.4625px;" version="1.1" viewbox="0 0 27.4625 14.5875" width="27.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>分别的输出向量形式表示,<年代vg height="17.575001" id="M99" style="vertical-align:-3.25793pt;width:87.787498px;" version="1.1" viewbox="0 0 87.787498 17.575001" width="87.787498" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.575)"> <g transform="translate(72,-57.94)"> <text transform="matrix(1,0,0,-1,-71.95,61.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.7023277" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="21.742718" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="25.906216" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-39.8,58.11)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,-34.92,61.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-28.68,58.11)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,-23.81,61.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-17.57,58.11)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,-12.7,61.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ]</t年代pan> </text> <text transform="matrix(1,0,0,-1,-8.53,66.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>。让<年代vg height="14.3875" id="M100" style="vertical-align:-3.25793pt;width:23.275px;" version="1.1" viewbox="0 0 23.275 14.3875" width="23.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3875)"> <g transform="translate(72,-60.49)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </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pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> </g> </g> </svg>表示生成的闭环传递函数<年代vg height="7.4499998" id="M101" style="vertical-align:-0.11285pt;width:12.2375px;" version="1.1" viewbox="0 0 12.2375 7.4499998" width="12.2375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.45)"> <g transform="translate(72,-66.04)"> <text transform="matrix(1,0,0,-1,-71.95,66.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>来<年代vg height="7.375" id="M102" style="vertical-align:-0.17555pt;width:7.9250002px;" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.375)"> <g transform="translate(72,-66.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-5a1329ec8e2645d78a2582f3fc2f0c9a"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.003.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-5a1329ec8e2645d78a2582f3fc2f0c9a partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.003_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-5a1329ec8e2645d78a2582f3fc2f0c9a 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pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>标准<年代vg height="14.2375" id="M103" style="vertical-align:-3.13504pt" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制配方。</td></tr></tbody> </table> </div> </div> </div> </div> <p>的目的<年代vg height="14.2375" id="M104" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>设计是要找到一个顺序固定、离散最优动态控制器在所有容许控制器内部收益率稳定闭环系统的norm-2降到最低<年代vg height="14.3875" id="M105" style="vertical-align:-3.25793pt;width:23.275px;" version="1.1" viewbox="0 0 23.275 14.3875" width="23.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3875)"> <g transform="translate(72,-60.49)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </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pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> </g> </g> </svg>;也就是说,<年代pan class="equation" id="EEq5"> <svg height="94.449997" id="M106" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 94.449997" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,94.45)"> <g transform="translate(72,3.56)"> <text transform="matrix(1,0,0,-1,108.61,31.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0.99000001"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="6.5300002" y="0.47999999"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,122.02,28.19)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,135.75,31.32)"> <tspan style="font-size: 12.50px; " x="14.57" y="-0.47999999"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="14.57" y="0.50999999"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,158.94,27.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,167.29,31.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-29.51"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-18.52"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-7.5300002"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="3.46"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="14.45"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="25.440001"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="29.530001"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="20.66" y="-25.57"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="20.66" y="-14.07"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="20.66" y="-2.5599999"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="20.66" y="8.9499998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="20.66" y="20.450001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="20.66" y="31.9"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="40.27" y="-23.129999"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,219.02,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,225.98,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="16.641493" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,250.75,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,257.34,54.45)"> <tspan style="font-size: 12.50px; " x="-47.900002" y="25.01"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,220.9,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,227.85,29.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="-34.27" y="25.02"> </t年代pan> <tspan style="font-size: 12.50px; " x="4.1700001" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.408997" y="0.0099999998"> )</t年代pan> <tspan style="font-size: 12.50px; " x="16.647993" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="27.613125" y="0.0099999998"> (</t年代pan> <tspan style="font-size: 12.50px; " x="31.776625" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="38.015621" y="0.0099999998"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,205.03,1.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,211.99,4.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="16.641493" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,236.76,1.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,242.07,4.44)"> <tspan style="font-size: 12.50px; " x="43.830002" y="-52.450001"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="43.830002" y="-40.950001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="43.830002" y="-29.440001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="43.830002" y="-17.93"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="43.830002" y="-6.4299998"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="43.830002" y="5.02"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="49.450001" y="-56.389999"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="49.450001" y="-45.400002"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="49.450001" y="-34.41"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="49.450001" y="-23.42"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="49.450001" y="-12.43"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="49.450001" y="-1.4400001"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="49.450001" y="2.6500001"> 为</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="16.641493" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="29.257021" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="33.420521" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="39.659515" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,300.15,-3.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,305.02,31.32)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,474.12,31.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代pan> </text> </g> </g> </svg></span>在哪里<年代pan class="equation" id="EEq6"> <svg height="70.699997" id="M107" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 70.699997" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,70.7)"> <g transform="translate(72,-15.44)"> <text transform="matrix(1,0,0,-1,89.1,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,97.23,55.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,105.21,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.889999" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="26.654602" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="38.007328" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,152.75,55.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,157.62,58.5)"> <tspan style="font-size: 12.50px; " x="19.709999" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.1772022" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,183.18,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,194.05,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ;</t年代pan> <tspan style="font-size: 12.50px; " x="25.481113" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,227.66,55.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,234.35,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.889999" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="26.667107" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="38.007328" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="47.534615" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,291.42,55.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,296.29,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.4300003" y="2.51"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,311.57,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,322.44,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-138.25999" y="21.99"> </t年代pan> <tspan style="font-size: 12.50px; " x="-171.91" y="31.129999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-161.55751" y="31.129999"> =</t年代pan> </text> <text transform="matrix(1,0,0,-1,193.71,33.39)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,198.58,36.51)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="11.50276" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="15.666259" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="21.905256" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="28.156755" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="40.759781" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="44.923279" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="51.162277" y="0"> )</t年代pan> </text> <g> <path d="m 174.12,30.5 89.86,0" 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,-1,174.12,18.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.7646027" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="20.117327" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,203.77,15.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,208.64,18.62)"> <tspan style="font-size: 12.50px; " x="56.540001" y="-8.75"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="11.50276" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="15.666259" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="21.905256" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="28.156755" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="40.772282" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="44.935783" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="51.174778" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,474.12,40.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代pan> </text> </g> </g> </svg></span> <svg height="14.5875" id="M108" style="vertical-align:-3.2316pt;width:15.9125px;" version="1.1" viewbox="0 0 15.9125 14.5875" width="15.9125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>是外部干扰和输出之间的传递函数,是一个很好的测量扰动的拒绝,这是一个低频现象。<年代vg height="10.325" id="M109" style="vertical-align:-0.0pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 10.325" width="11.225" 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pan> </text> </g> </g> </svg>,另一方面,是一个很好的衡量高频噪声衰减,定义为闭环传递函数的输入和输出之间的植物。因此,<年代vg height="14.2375" id="M110" style="vertical-align:-3.13504pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.2375" width="20.5375" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> </g> </g> </svg>选择低通滤波器和<年代vg height="14.2375" id="M111" style="vertical-align:-3.13504pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.2375" width="20.5375" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>作为一个高通滤波器。控制输入约束函数类似于把点球致动器使用。加权函数<年代vg height="14.3875" id="M112" style="vertical-align:-3.25793pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.3875" width="20.5375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3875)"> <g transform="translate(72,-60.49)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> </g> </g> </svg>决定了闭环系统的鲁棒性特征非结构化添加剂的不确定性;也就是说,<年代vg height="19.200001" id="M113" style="vertical-align:-4.35121pt;width:31.549999px;" version="1.1" viewbox="0 0 31.549999 19.200001" width="31.549999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.2)"> <g transform="translate(72,-56.64)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-57.68,66.03)"> <tspan style="font-size: 8.75px; " x="-2.8199999" y="9.21"> 3</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代pan> </text> </g> </g> </svg>作为上限控制器收益<年代vg height="14.7125" id="M114" style="vertical-align:-3.2316pt;width:36.625px;" version="1.1" viewbox="0 0 36.625 14.7125" width="36.625" 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pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-59.66,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-56.44,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.5272856" y="0"> )</t年代pan> </text> </g> </g> </svg>。然而,的交叉频率<年代vg height="14.5875" id="M115" style="vertical-align:-3.2316pt;width:15.9125px;" version="1.1" viewbox="0 0 15.9125 14.5875" width="15.9125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="14.5875" id="M116" style="vertical-align:-3.2316pt;width:27.4625px;" version="1.1" viewbox="0 0 27.4625 14.5875" width="27.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>或<年代vg height="10.325" id="M117" style="vertical-align:-0.0pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 10.325" width="11.225" 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pan> </text> </g> </g> </svg>(<年代vg height="14.7125" id="M118" style="vertical-align:-3.2316pt;width:41.662498px;" version="1.1" viewbox="0 0 41.662498 14.7125" width="41.662498" 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pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.5272856" y="0"> /</t年代pan> <tspan style="font-size: 12.50px; " x="13.00312" y="0"> </t年代pan> </text> </g> </g> </svg>)的鲁棒性和性能的关键属性,因为在交叉频率的鲁棒性和性能(地区<年代vg height="14.5875" id="M119" style="vertical-align:-3.2316pt;width:15.9125px;" version="1.1" viewbox="0 0 15.9125 14.5875" width="15.9125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="14.7125" id="M120" style="vertical-align:-3.2316pt;width:41.662498px;" version="1.1" viewbox="0 0 41.662498 14.7125" width="41.662498" 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pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.5272856" y="0"> /</t年代pan> <tspan style="font-size: 12.50px; " x="13.00312" y="0"> </t年代pan> </text> </g> </g> </svg>)措施,既不<年代vg height="14.5875" id="M121" style="vertical-align:-3.2316pt;width:15.9125px;" version="1.1" viewbox="0 0 15.9125 14.5875" width="15.9125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>也没有<年代vg height="10.325" id="M122" style="vertical-align:-0.0pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 10.325" width="11.225" 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pan> </text> </g> </g> </svg>功能是小(<一个href="#B21">21</一个>]。选择性能权重优化所需的闭环性能,同时保持鲁棒稳定性在交叉频率地区是困难的<一个href="#B22">22</一个>]。</gydF4y2Bap> <p>考虑到植物和权重的状态空间表示,<年代pan class="equation" id="EEq7"> <svg height="149.8125" id="M123" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 149.8125" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,149.8125)"> <g transform="translate(72,47.85)"> <text transform="matrix(1,0,0,-1,89.37,41.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,98.55,38)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,106.8,41.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-15.76"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-6.29"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="3.1900001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="12.67"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="22.08"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="20.65" y="-13.32"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,136.42,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <g> <path d="m 144.19,41.96 0,29.99" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,147.76,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,156.46,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,172.77,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,181.47,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 2</t年代pan> </text> <g> <path d="m 124.47,41.76 69.73,0" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,127.74,24.06)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,136.13,20.93)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <g> <path d="m 144.19,16.56 0,25" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,147.18,24.06)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,157.05,20.93)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,172.18,24.06)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,182.06,20.93)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,194.2,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="9.4700003"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="18.950001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="28.43"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="37.84"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="7.71" y="15.76"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="32.84103" y="15.76"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,238.5,38)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,246.85,41.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-15.76"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-6.29"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="3.1900001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="12.67"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="22.08"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="20.65" y="-13.32"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,276.47,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 1</t年代pan> </text> <g> <path d="m 291.11,41.96 0,29.99" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,294.69,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,303.39,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 1</t年代pan> </text> <g> <path d="m 264.51,41.76 54.12,0" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,267.79,24.06)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,276.18,20.93)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 1</t年代pan> </text> <g> <path d="m 291.11,16.56 0,25" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,294.1,24.06)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,303.98,20.93)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,318.63,56.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="9.4700003"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="18.950001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="28.43"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="37.84"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="7.71" y="15.76"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-224.71001" y="80.120003"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,105.37,-26.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,117.89,-23.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-15.77"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-6.29"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="3.1900001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="12.67"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="22.08"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="20.65" y="-13.32"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,147.5,-13.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 2</t年代pan> </text> <g> <path d="m 162.15,-22.4 0,29.99" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,165.73,-9.91)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,174.43,-13.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 2</t年代pan> </text> <g> <path d="m 135.55,-22.6 54.11,0" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,138.83,-40.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,147.22,-43.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 2</t年代pan> </text> <g> <path d="m 162.15,-47.8 0,25.01" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,165.14,-40.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,175.01,-43.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,189.66,-7.46)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="9.4799995"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="18.959999"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="28.440001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="37.849998"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="7.71" y="15.77"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="32.84103" y="15.77"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,233.96,-26.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,242.31,-23.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-15.77"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="-6.29"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="3.1900001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="12.67"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="22.08"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="20.65" y="-13.32"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,271.92,-13.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 3</t年代pan> </text> <g> <path d="m 286.57,-22.4 0,29.99" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,290.15,-9.91)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,298.85,-13.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 3</t年代pan> </text> <g> <path d="m 259.97,-22.6 54.11,0" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,263.25,-40.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,271.64,-43.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 3</t年代pan> </text> <g> <path d="m 286.57,-47.8 0,25.01" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,289.56,-40.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,299.44,-43.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.7828002" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,314.08,-7.46)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="9.4799995"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="18.959999"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="28.440001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="37.849998"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="7.71" y="15.77"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,474.12,8.95)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代pan> </text> </g> </g> </svg></span>同时使用融通理论(<一个href="#B8">8</一个>),闭环系统的加权成本函数是新配方<年代pan class="equation" id="EEq8"> <svg height="62.637501" id="M124" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 62.637501" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,62.6375)"> <g transform="translate(72,-21.89)"> <text transform="matrix(1,0,0,-1,60.01,56.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="10.85"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="21.690001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="32.48"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="28.51" y="7.1054274e-015"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="28.51" y="10.85"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="28.51" y="21.690001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="28.51" y="32.48"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="5.6300001" y="2.45"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.944495" y="2.45"> (</t年代pan> <tspan style="font-size: 12.50px; " x="18.107994" y="2.45"> </t年代pan> <tspan style="font-size: 12.50px; " x="24.346991" y="2.45"> )</t年代pan> <tspan style="font-size: 12.50px; " x="5.6399999" y="27.459999"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.916986" y="27.459999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="18.080484" y="27.459999"> </t年代pan> <tspan style="font-size: 12.50px; " x="24.319483" y="27.459999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="41.779999" y="13.08"> =</t年代pan> <tspan style="font-size: 12.50px; " x="57.983887" y="13.08"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,125.42,40.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,132.66,43.82)"> <tspan style="font-size: 12.50px; " x="20.82" y="-13.08"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="20.82" y="-2.23"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="20.82" y="8.6099997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="20.82" y="19.4"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="52.790001" y="-13.08"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="52.790001" y="-2.23"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="52.790001" y="8.6099997"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="52.790001" y="19.4"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="66.050003" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="82.260002" y="-13.08"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="82.260002" y="-2.23"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="82.260002" y="8.6099997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="82.260002" y="19.4"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="87.879997" y="-10.63"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="26.450001" y="-10.63"> </t年代pan> <tspan style="font-size: 12.50px; " x="38.215324" y="-10.63"> (</t年代pan> <tspan style="font-size: 12.50px; " x="42.378822" y="-10.63"> </t年代pan> <tspan style="font-size: 12.50px; " x="48.617821" y="-10.63"> )</t年代pan> <tspan style="font-size: 12.50px; " x="28.33" y="14.38"> </t年代pan> <tspan style="font-size: 12.50px; " x="36.331921" y="14.38"> (</t年代pan> <tspan style="font-size: 12.50px; " x="40.495419" y="14.38"> </t年代pan> <tspan style="font-size: 12.50px; " x="46.734417" y="14.38"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,227.97,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.305984" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="8.6819839" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,243.61,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="20.817495" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,271.86,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.305984" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="8.6819839" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,287.5,54.45)"> <tspan style="font-size: 12.50px; " x="-66.959999" y="25.01"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,227.97,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.305984" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="8.6819839" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,243.61,29.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1700001" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.408997" y="0.0099999998"> )</t年代pan> <tspan style="font-size: 12.50px; " x="20.811493" y="0.0099999998"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,271.86,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.305984" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="8.6819839" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,287.5,29.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="14.56" y="-27.450001"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="14.56" y="-16.6"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="14.56" y="-5.7600002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="14.56" y="5.0300002"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="26.440001" y="-27.450001"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="26.440001" y="-16.6"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="26.440001" y="-5.7600002"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="26.440001" y="5.0300002"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="58.41" y="-27.450001"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="58.41" y="-16.6"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="58.41" y="-5.7600002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="58.41" y="5.0300002"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="66.120003" y="-14.37"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="4.1599998" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.398997" y="0.0099999998"> )</t年代pan> <tspan style="font-size: 12.50px; " x="32.07" y="-25"> </t年代pan> <tspan style="font-size: 12.50px; " x="43.835323" y="-25"> (</t年代pan> <tspan style="font-size: 12.50px; " x="47.998821" y="-25"> </t年代pan> <tspan style="font-size: 12.50px; " x="54.23782" y="-25"> )</t年代pan> <tspan style="font-size: 12.50px; " x="33.950001" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="41.95192" y="0.0099999998"> (</t年代pan> <tspan style="font-size: 12.50px; " x="46.115417" y="0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="52.354416" y="0.0099999998"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,474.12,43.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代pan> </text> </g> </g> </svg></span>下列哪收益率状态方程:<年代pan class="equation" id="EEq9"> <svg height="66.9375" id="M125" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 66.9375" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,66.9375)"> <g transform="translate(72,-18.45)"> <text transform="matrix(1,0,0,-1,110.46,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.9521484" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.115647" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.667938" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="34.020664" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="40.272163" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="47.898994" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="59.939381" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="69.479172" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="78.443825" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="82.607323" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="89.383949" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="96.323112" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="107.66333" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,226.84,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,231.71,63.2)"> <tspan style="font-size: 12.50px; " x="-112.01" y="20.48"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="11.765323" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="15.928822" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.705448" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="29.657116" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="40.997337" y="0"> Γ</t年代pan> <tspan style="font-size: 12.50px; " x="48.336597" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="56.338516" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="60.502018" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="67.278641" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="73.530144" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-103.72" y="20.469999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="-99.556503" y="20.469999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-92.779877" y="20.469999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="-85.153046" y="20.469999"> =</t年代pan> <tspan style="font-size: 12.50px; " x="-73.112656" y="20.469999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-64.723145" y="20.469999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-55.758492" y="20.469999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="-51.594994" y="20.469999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-44.818367" y="20.469999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="-37.879204" y="20.469999"> +</t年代pan> <tspan style="font-size: 12.50px; " x="-26.53898" y="20.469999"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,215.06,39.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,219.93,42.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="11.77" y="-0.0099999998"> (</t年代pan> <tspan style="font-size: 12.50px; " x="15.933499" y="-0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.710125" y="-0.0099999998"> )</t年代pan> <tspan style="font-size: 12.50px; " x="29.64929" y="-0.0099999998"> +</t年代pan> <tspan style="font-size: 12.50px; " x="40.98951" y="-0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="50.866882" y="-0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="58.881306" y="-0.0099999998"> (</t年代pan> <tspan style="font-size: 12.50px; " x="63.044804" y="-0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="69.821426" y="-0.0099999998"> )</t年代pan> <tspan style="font-size: 12.50px; " x="76.072929" y="-0.0099999998"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-104.44" y="20.469999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-96.125504" y="20.469999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="-91.962006" y="20.469999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-85.185379" y="20.469999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="-77.546043" y="20.469999"> =</t年代pan> <tspan style="font-size: 12.50px; " x="-65.505661" y="20.469999"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,163.36,19.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,168.23,22.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.9521484" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.115647" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.892273" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="26.831438" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="38.184162" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,215.34,19.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,220.22,22.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="11.765323" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="15.928822" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.705448" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="29.644613" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="40.997337" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,270.14,19.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,275.02,22.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.0019197" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.165419" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="18.942045" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="25.193544" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,474.12,42.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> )</t年代pan> </text> </g> </g> </svg></span>在哪里<年代vg height="13.9625" id="M126" style="vertical-align:-2.21957pt;width:64.612503px;" version="1.1" viewbox="0 0 64.612503 13.9625" width="64.612503" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.9625)"> <g transform="translate(72,-60.83)"> <text transform="matrix(1,0,0,-1,-71.95,63.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="6.8766499" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="11.040149" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.816774" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="25.443605" y="0"> ∈</t年代pan> <tspan style="font-size: 12.50px; " x="37.483994" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-25.21,68.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="16.5375" id="M127" style="vertical-align:-2.21957pt;width:71.587502px;" version="1.1" viewbox="0 0 71.587502 16.5375" width="71.587502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.5375)"> <g transform="translate(72,-58.77)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.6898251" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.853324" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="20.62995" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="24.793449" y="0"> ∈</t年代pan> <tspan style="font-size: 12.50px; " x="36.821335" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-25.87,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.2139201" y="0"> 2</t年代pan> </text> </g> </g> </svg>,<年代vg height="16.5375" id="M128" style="vertical-align:-2.21957pt;width:64.862503px;" version="1.1" viewbox="0 0 64.862503 16.5375" width="64.862503" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.5375)"> <g transform="translate(72,-58.77)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="6.238997" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.179123" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="21.342621" y="0"> ∈</t年代pan> <tspan style="font-size: 12.50px; " x="33.370506" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-29.32,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 2</t年代pan> </text> </g> </g> </svg>,<年代vg height="16.5375" id="M129" style="vertical-align:-2.21957pt;width:66.887497px;" version="1.1" viewbox="0 0 66.887497 16.5375" width="66.887497" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.5375)"> <g transform="translate(72,-58.77)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.9264221" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="10.089921" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="16.866547" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="21.030046" y="0"> ∈</t年代pan> <tspan style="font-size: 12.50px; " x="33.057934" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-29.63,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.2139201" y="0"> 1</t年代pan> </text> </g> </g> </svg>,<年代vg height="16.637501" id="M130" style="vertical-align:-2.29482pt;width:64.8125px;" version="1.1" viewbox="0 0 64.8125 16.637501" width="64.8125" 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,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="6.201488" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="10.364987" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.141613" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="21.305113" y="0"> ∈</t年代pan> <tspan style="font-size: 12.50px; " x="33.332996" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-29.35,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 1</t年代pan> </text> </g> </g> </svg>此外,<年代vg height="13.45" id="M131" style="vertical-align:-2.21957pt;width:38.150002px;" version="1.1" viewbox="0 0 38.150002 13.45" width="38.150002" 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pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="13.703288" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="18.904535" y="0"> Γ</t年代pan> <tspan style="font-size: 12.50px; " x="26.243797" y="0"> )</t年代pan> </text> </g> </g> </svg>积,<年代vg height="13.45" id="M132" style="vertical-align:-2.21957pt;width:39.462502px;" version="1.1" viewbox="0 0 39.462502 13.45" width="39.462502" 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pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="13.703288" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="18.904535" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="27.294048" y="0"> )</t年代pan> </text> </g> </g> </svg>可检测,前馈矩阵<年代vg height="14.75" id="M133" style="vertical-align:-3.25793pt;width:44.575001px;" version="1.1" viewbox="0 0 44.575001 14.75" width="44.575001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.02,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,-54.68,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.040389" y="0"> 0</t年代pan> </text> </g> </g> </svg>和<年代vg height="14.2375" id="M134" style="vertical-align:-3.13504pt;width:17.375px;" version="1.1" viewbox="0 0 17.375 14.2375" width="17.375" 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pan> </text> <text transform="matrix(1,0,0,-1,-63.02,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>和<年代vg height="14.2375" id="M135" style="vertical-align:-3.13504pt;width:18.5625px;" version="1.1" viewbox="0 0 18.5625 14.2375" width="18.5625" 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pan> </text> <text transform="matrix(1,0,0,-1,-62.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> </g> </g> </svg>充满列和行秩矩阵,分别。方程(<一个href="#EEq9">9</一个>)可以重写的扩展形式<年代pan class="equation" id="EEq10"> <svg height="251.1875" id="M136" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 251.1875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,251.1875)"> <g transform="translate(72,128.95)"> <text transform="matrix(1,0,0,-1,-56.87,-5.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="11.67"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="23.33"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="35"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="46.669998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="58.27"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="5.6300001" y="2.45"> </t年代pan> <tspan style="font-size: 12.50px; " x="14.582148" y="2.45"> (</t年代pan> <tspan style="font-size: 12.50px; " x="18.745647" y="2.45"> </t年代pan> <tspan style="font-size: 12.50px; " x="28.297939" y="2.45"> +</t年代pan> <tspan style="font-size: 12.50px; " x="39.638161" y="2.45"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="45.88966" y="2.45"> )</t年代pan> </text> <g> <path d="m -54.23,-15.77 50.41,0" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,-32.15,-33.47)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <g> <path d="m -54.23,-41.18 50.41,0" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,-32.13,-58.88)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="25.32" y="-53.259998"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="25.32" y="-41.59"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="25.32" y="-29.93"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="25.32" y="-18.26"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="25.32" y="-6.5900002"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="25.32" y="5.0100002"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="34.419998" y="-27.280001"> =</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-115.77"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-104.31"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-92.849998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-81.389999"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-69.93"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-58.470001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-47.009998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-35.549999"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-24.09"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-12.63"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="-1.17"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="10.29"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="21.75"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="33.209999"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="44.669998"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="56.130001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="46.459999" y="67.529999"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="77.040001" y="-113.33"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,53.87,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,93.78,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="26.593882" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="53.187763" y="0"> 0</t年代pan> </text> <g> <path d="m 163.4,46.94 0,25.01" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,174.03,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="38.984352" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="82.269737" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="129.27" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,312,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 2</t年代pan> </text> <g> <path d="m 346.98,46.94 0,25.01" style="fill:none;stroke:#000000;stroke-width:0.398;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,372.81,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,381.51,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,23.28,29.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="8.5645552" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,40.55,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="7.2800002" y="0.50999999"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,52.71,29.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,62.23,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,67.11,29.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,75.5,26.31)"> <tspan style="font-size: 8.75px; 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" x="9.0299997" y="-28.27"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="9.0299997" y="-17.15"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="9.0299997" y="-6.04"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="9.0299997" y="5.0100002"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="16.74" y="-64.790001"> 。</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,-31.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>顺序固定的控制器设计的目标是找到一个<年代vg height="11.05" id="M137" style="vertical-align:-3.2316pt;width:18.8125px;" version="1.1" viewbox="0 0 18.8125 11.05" width="18.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.05)"> <g transform="translate(72,-63.16)"> <text transform="matrix(1,0,0,-1,-67.78,66.44)"> <tspan style="font-size: 12.50px; 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" x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="14.3625" id="M143" style="vertical-align:-3.2316pt;width:18.174999px;" version="1.1" viewbox="0 0 18.174999 14.3625" width="18.174999" 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pan> </text> <text transform="matrix(1,0,0,-1,-62.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg><span class="equation" id="EEq11"> <svg height="41.349998" id="M144" 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,-1,128.08,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,134.96,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,141.61,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.715791" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="25.056011" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="31.307512" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="38.946846" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="50.987232" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,201.56,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,206.13,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,213.01,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,219.66,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.940125" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="17.87929" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="29.219511" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,257.59,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,262.15,63.2)"> <tspan style="font-size: 12.50px; " x="-121.42" y="20.48"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.2894888" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.452988" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.229614" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="25.468611" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-113.41" y="20.469999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="-109.2465" y="20.469999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-102.46987" y="20.469999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="-94.843048" y="20.469999"> =</t年代pan> <tspan style="font-size: 12.50px; " x="-82.802658" y="20.469999"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,187.74,39.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,192.31,42.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,199.19,39.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,205.84,42.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.940125" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="17.87929" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="29.219511" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,244.94,39.6)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,249.51,42.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.2799997" y="-0.0099999998"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.443499" y="-0.0099999998"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.220125" y="-0.0099999998"> )</t年代pan> <tspan style="font-size: 12.50px; " x="25.471624" y="-0.0099999998"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,52.34)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>满足以下两个设计标准。</gydF4y2Bap> <p>(1)相对应的闭环系统(<一个href="#EEq10">10</一个>)- (<一个href="#EEq11">11</一个>)由<年代pan class="equation" id="EEq12"> <svg height="15.75" id="M145" 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,-1,58.86,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,65.73,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,79.5,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.715791" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="25.056011" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="31.307512" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="38.946846" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="50.974731" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,139.45,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,151.14,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,158.01,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,171.78,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.940125" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="17.87929" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="29.219511" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,210.88,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,222.57,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="11.765323" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="15.928822" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.705448" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="28.944445" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="54.087978" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="62.402473" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="66.565971" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="73.342598" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="80.981934" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="93.022324" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,324.53,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,336.21,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,343.09,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,354.77,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>在哪里<年代pan class="equation" id="EEq13"> <svg height="136.3625" id="M146" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 136.3625" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,136.3625)"> <g transform="translate(72,37.09)"> <text transform="matrix(1,0,0,-1,96.04,43.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,102.91,40.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,118.07,43.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-13.08"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-2.23"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="8.6099997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="19.4"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="19.950001" y="-10.63"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.66" y="14.38"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,142.61,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,147.18,56.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="10.85"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="21.690001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="32.48"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="7.71" y="13.08"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="32.84103" y="13.08"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,188.99,40.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,204.14,43.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-13.08"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="-2.23"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="8.6099997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="19.4"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="17.67" y="-10.63"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="29.985455" y="-10.63"> +</t年代pan> <tspan style="font-size: 12.50px; " x="41.325676" y="-10.63"> Γ</t年代pan> <tspan style="font-size: 12.50px; " x="48.664936" y="-10.63"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,262.69,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,267.25,54.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="15.366187" y="0"> Γ</t年代pan> <tspan style="font-size: 12.50px; " x="22.705448" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,298.35,51.32)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,237.9,29.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,246.6,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,251.17,29.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="34.820854" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,294.97,26.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,302.92,56.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="10.85"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="21.690001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="32.48"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="7.71" y="13.08"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-209.89" y="72.059998"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,102.91,-18.29)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,118.07,-15.16)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="16.200001" y="-13.08"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="16.200001" y="-2.24"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="16.200001" y="8.6099997"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="16.200001" y="19.4"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="21.83" y="-10.63"> Γ</t年代pan> <tspan style="font-size: 12.50px; " x="29.169262" y="-10.63"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,157.12,-7.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,161.69,-4.53)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,171.56,-7.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,144.16,-29.54)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,152.86,-32.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,157.43,-29.54)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,167.31,-32.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,176.44,-2.08)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="10.84"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="21.690001"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="32.48"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="7.71" y="13.08"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="32.84103" y="13.08"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,218.21,-18.29)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,233.37,-15.16)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.03" y="4.9200001"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.77" y="1.88"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,260.07,-20.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,270.92,-17.04)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,279.85,-20.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,284.72,-17.04)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,293.11,-20.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,297.68,-20.08)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,14.33)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>是渐近稳定的。</gydF4y2Bap> <p>(2)的norm-2闭环传递函数矩阵<年代pan class="equation" id="EEq14"> <svg height="22.637501" id="M147" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 22.637501" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,22.6375)"> <g transform="translate(72,-53.89)"> <text transform="matrix(1,0,0,-1,135.48,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,142.36,55.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,157.48,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,178.44,55.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,190.13,55.99)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="12.088997" y="-2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="20.866102" y="-2.51"> −</t年代pan> <tspan style="font-size: 12.50px; " x="32.206326" y="-2.51"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,231.31,55.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,242.99,55.99)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,248.84,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,259.71,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,269.59,55.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> C</t年代pan> <tspan style="font-size: 8.75px; " x="5.837584" y="0"> l</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,58.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>是最小化。目标2导致稳态二次性能指标<年代pan class="equation" id="EEq15"> <svg height="174.175" id="M148" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 174.175" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,174.175)"> <g transform="translate(72,67.34)"> <text transform="matrix(1,0,0,-1,41.64,47.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.34" y="2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="16.190001" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,66.79,44.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,71.36,47.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,85.27,44.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,89.84,47.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,103.44,44.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,108.01,47.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,123.09,44.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,127.66,45.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.3299999" y="-2.52"> =</t年代pan> <tspan style="font-size: 12.50px; " x="25.658918" y="-2.52"> l</t年代pan> <tspan style="font-size: 12.50px; " x="29.134752" y="-2.52"> 我</t年代pan> <tspan style="font-size: 12.50px; " x="32.610584" y="-2.52"> 米</t年代pan> </text> <text transform="matrix(1,0,0,-1,149.02,40.23)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.697216" y="0"> →</t年代pan> <tspan style="font-size: 8.75px; " x="19.2544" y="0"> ∞</t年代pan> </text> <text transform="matrix(1,0,0,-1,180.34,55.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 1</t年代pan> </text> <g> <path d="m 177.58,50.94 11.77,0" 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,-1,177.58,39.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="15.05" y="0.99000001"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,210.04,63.76)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,206.08,41.27)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,206.6,34.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.7435842" y="0"> =</t年代pan> <tspan style="font-size: 8.75px; " x="10.738704" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,224.32,47.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,231.2,44.69)"> <tspan style="font-size: 8.75px; " x="11.64" y="-8.1300001"> ∗</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,250,45.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.8499999" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,261.42,52.82)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,276.02,45.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.9400001" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,290.84,44.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.3672481" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,304.57,45.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.8499999" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,315.98,52.82)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,330.59,45.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.8499999" y="7.2199998"> </t年代pan> <tspan style="font-size: 12.50px; " x="-193.60001" y="46.880001"> =</t年代pan> <tspan style="font-size: 12.50px; " x="-177.27109" y="46.880001"> l</t年代pan> <tspan style="font-size: 12.50px; " x="-173.79524" y="46.880001"> 我</t年代pan> <tspan style="font-size: 12.50px; " x="-170.31941" y="46.880001"> 米</t年代pan> </text> <text transform="matrix(1,0,0,-1,149.02,-9.17)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.697216" y="0"> →</t年代pan> <tspan style="font-size: 8.75px; " x="19.2544" y="0"> ∞</t年代pan> </text> <text transform="matrix(1,0,0,-1,180.34,5.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 1</t年代pan> </text> <g> <path d="m 177.58,1.54 11.77,0" 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,-1,177.58,-10.34)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="15.05" y="0.98000002"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,210.04,14.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,206.08,-8.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,206.6,-15.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="4.7435842" y="0"> =</t年代pan> <tspan style="font-size: 8.75px; " x="10.738704" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,224.32,-1.58)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.5799999" y="2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.44" y="-4.4408921e-016"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,244.63,3.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代pan> </text> <text transform="matrix(1,0,0,-1,251.79,-4.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.8499999" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,263.21,3.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,277.81,-4.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.9400001" y="-2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.790001" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="25.639999" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,309.01,3.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,323.62,-4.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.9299998" y="-2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="16.889999" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.75" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,351.93,3.42)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,366.54,-4.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-158.81" y="46.880001"> +</t年代pan> <tspan style="font-size: 12.50px; " x="-150.24544" y="46.880001"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,222.22,-45.98)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∗</t年代pan> </text> <text transform="matrix(1,0,0,-1,229.38,-53.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.8499999" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,240.79,-45.98)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,255.4,-53.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.9400001" y="-2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.27" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="25.120001" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,286.09,-45.98)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,300.69,-53.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.9400001" y="-2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="15.95" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="21.799999" y="-2.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,328.05,-45.98)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,342.66,-53.5)"> <tspan style="font-size: 12.50px; " x="13.79" y="7.2199998"> </t年代pan> <tspan style="font-size: 12.50px; " x="29.32" y="-2.52"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.8514042" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,-0.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span> <svg height="13.45" id="M149" style="vertical-align:-2.21957pt;width:30.5375px;" version="1.1" viewbox="0 0 30.5375 13.45" width="30.5375" 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pan> <tspan style="font-size: 12.50px; " x="9.764843" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.928342" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="20.167339" y="0"> )</t年代pan> </text> </g> </g> </svg>和<年代vg height="13.45" id="M150" style="vertical-align:-2.21957pt;width:29.9px;" version="1.1" viewbox="0 0 29.9 13.45" width="29.9" 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pan> <tspan style="font-size: 12.50px; " x="9.2522202" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.415719" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.654716" y="0"> )</t年代pan> </text> </g> </g> </svg>(例如,<年代vg height="16.450001" id="M151" style="vertical-align:-2.21957pt;width:47.950001px;" version="1.1" viewbox="0 0 47.950001 16.450001" width="47.950001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.45)"> <g transform="translate(72,-58.84)"> <text transform="matrix(1,0,0,-1,-71.95,61.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.764843" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.928342" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-52.46,66.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-37.85,61.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代pan> </text> </g> </g> </svg>和<年代vg height="16.450001" id="M152" style="vertical-align:-2.21957pt;width:47.3125px;" version="1.1" viewbox="0 0 47.3125 16.450001" width="47.3125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.45)"> <g transform="translate(72,-58.84)"> <text transform="matrix(1,0,0,-1,-71.95,61.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.2522202" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.415719" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-52.97,66.1)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="3.4045279" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="9.3646402" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-38.36,61.1)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代pan> </text> </g> </g> </svg>)获得的权重矩阵<年代vg height="14.6" id="M153" style="vertical-align:-3.13504pt;width:38.737499px;" version="1.1" viewbox="0 0 38.737499 14.6" width="38.737499" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,-55.62,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> </g> </g> </svg>,<年代vg height="14.6" id="M154" style="vertical-align:-3.13504pt;width:38.737499px;" version="1.1" viewbox="0 0 38.737499 14.6" width="38.737499" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,-55.62,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> </g> </g> </svg>,<年代vg height="14.75" id="M155" style="vertical-align:-3.25793pt;width:38.737499px;" version="1.1" viewbox="0 0 38.737499 14.75" width="38.737499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.75)"> <g transform="translate(72,-60.2)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,-55.62,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.402496" y="0"> )</t年代pan> </text> </g> </g> </svg>(<一个href="#B3">3</一个>]。控制器参数<年代vg height="14.825" id="M156" style="vertical-align:-3.2316pt;width:141.2375px;" version="1.1" viewbox="0 0 141.2375 14.825" width="141.2375" 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,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-58.82,60.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-54.25,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="9.364747" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-36.17,60.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-31.61,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="9.3772497" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-13.84,60.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-9.27,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,0.11,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 一个</t年代pan> <tspan style="font-size: 12.50px; " x="5.551332" y="0"> n</t年代pan> <tspan style="font-size: 12.50px; " x="11.802832" y="0"> d</t年代pan> </text> <text transform="matrix(1,0,0,-1,22.33,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,32.21,60.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,36.77,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代pan> </text> </g> </g> </svg>最小化目标函数<年代vg height="10.5125" id="M157" 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pan> </text> </g> </g> </svg>(<一个href="#EEq15">15</一个>)是通过迭代解决以下四个耦合修改黎卡提微分和Lyaponv方程称为SDOPEs [<一个href="#B3">3</一个>,<gydF4y2Ba一个href="#B14">14</一个>]:<年代pan class="equation" id="EEq16"> <svg height="211.7625" id="M158" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 211.7625" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,211.7625)"> <g transform="translate(72,97.41)"> <text transform="matrix(1,0,0,-1,109.64,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="16.941565" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="33.145454" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="42.685242" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="51.987473" y="0"> Φ</t年代pan> </text> <text transform="matrix(1,0,0,-1,171.17,52.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,180.66,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代pan> </text> <text transform="matrix(1,0,0,-1,197.89,63.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,192,41.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,196.83,34.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,214.41,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="8.5645552" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="18.529446" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="29.869667" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,250.69,44.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ⟂</t年代pan> </text> <text transform="matrix(1,0,0,-1,257.25,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ψ</t年代pan> </text> <text transform="matrix(1,0,0,-1,266.58,52.96)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="15.43"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.6887999" y="15.43"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,275.61,40.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1.15" y="2.54"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,283.76,37.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="2.188" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,292.96,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,299.36,52.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="0" y="9.1000004"> ⟂</t年代pan> </text> <text transform="matrix(1,0,0,-1,306.07,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-191.87" y="49.310001"> </t年代pan> <tspan style="font-size: 12.50px; " x="-180.27972" y="49.310001"> =</t年代pan> <tspan style="font-size: 12.50px; " x="-168.23933" y="49.310001"> Φ</t年代pan> </text> <text transform="matrix(1,0,0,-1,147.37,3.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,154.09,-1.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.1269503" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="20.429901" y="0"> −</t年代pan> </text> <text transform="matrix(1,0,0,-1,191.76,14.25)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,185.87,-8.24)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,190.8,-15.35)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,204.11,-1.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="12.728054" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="25.268562" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="36.608784" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,247.13,3.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="0" y="9.0900002"> ⟂</t年代pan> </text> <text transform="matrix(1,0,0,-1,253.84,-1.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ψ</t年代pan> </text> <text transform="matrix(1,0,0,-1,263.17,3.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="15.62"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.198688" y="15.62"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,271.56,-9.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1" y="2.73"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,279.56,-11.96)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="2.188" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,288.55,-1.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,294.95,-4.81)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ⟂</t年代pan> </text> <text transform="matrix(1,0,0,-1,301.51,-1.69)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-170.19" y="41.16"> </t年代pan> <tspan style="font-size: 12.50px; " x="-145.33" y="36.439999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="-171.34" y="43.689999"> </t年代pan> <tspan style="font-size: 12.50px; " x="-158.57443" y="43.689999"> =</t年代pan> </text> <g> <path d="m 156.18,-42.26 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,-1,156.18,-54.14)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="9.5299997" y="-1.4299999"> </t年代pan> <tspan style="font-size: 12.50px; " x="15.88" y="-8.7600002"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.269033" y="-8.7600002"> Ψ</t年代pan> </text> <text transform="matrix(1,0,0,-1,187.79,-40.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="15.43"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.6887999" y="15.43"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,196.82,-52.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1.15" y="2.54"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,204.97,-55.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="2.188" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,216.94,-45.38)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> Ψ</t年代pan> </text> <text transform="matrix(1,0,0,-1,237.61,-40.04)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="15.43"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.6887999" y="15.43"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,246.64,-52.93)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1.15" y="2.54"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,254.79,-55.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="2.188" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,263.99,-45.38)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,270.39,-40.38)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,277.11,-52.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.4300003" y="-7.3299999"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-144.78999" y="29.67"> </t年代pan> <tspan style="font-size: 12.50px; " x="-120.08" y="25.15"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="-145.78999" y="32.400002"> </t年代pan> <tspan style="font-size: 12.50px; " x="-133.32451" y="32.400002"> =</t年代pan> </text> <g> <path d="m 157.03,-81.98 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,-1,157.03,-93.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="9.5299997" y="-1.4299999"> </t年代pan> <tspan style="font-size: 12.50px; " x="15.88" y="-8.75"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,179.31,-80.11)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,186.02,-85.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Ψ</t年代pan> </text> <text transform="matrix(1,0,0,-1,195.35,-79.76)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="15.62"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.198688" y="15.62"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,203.74,-92.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1" y="2.73"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,211.74,-95.38)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="2.188" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,223.51,-85.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="11.327718" y="0"> Ψ</t年代pan> </text> <text transform="matrix(1,0,0,-1,244.18,-79.76)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="15.62"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.198688" y="15.62"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,252.56,-92.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1" y="2.73"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,260.57,-95.38)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="2.188" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,269.55,-85.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="6.4099998" y="7.3200002"> </t年代pan> <tspan style="font-size: 12.50px; " x="14.84" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,-15.83)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>提供<年代vg height="10.325" id="M159" 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pan> </text> </g> </g> </svg>,<年代vg height="10.725" id="M160" style="vertical-align:-0.1254pt;width:11.375px;" version="1.1" viewbox="0 0 11.375 10.725" width="11.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.725)"> <g transform="translate(72,-63.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="15.2875" id="M161" style="vertical-align:-0.17555pt;width:11.75px;" version="1.1" viewbox="0 0 11.75 15.2875" width="11.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.2875)"> <g transform="translate(72,-59.77)"> <text transform="matrix(1,0,0,-1,-70.8,62.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1.15" y="2.54"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="15.675" id="M162" style="vertical-align:-0.17555pt;width:11.375px;" version="1.1" viewbox="0 0 11.375 15.675" width="11.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.675)"> <g transform="translate(72,-59.46)"> <text transform="matrix(1,0,0,-1,-70.95,62.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1" y="2.73"> </t年代pan> </text> </g> </g> </svg>都是非负的对称<年代vg height="8.7875004" id="M163" style="vertical-align:-0.3135pt;width:32.612499px;" version="1.1" viewbox="0 0 32.612499 8.7875004" width="32.612499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,8.7875)"> <g transform="translate(72,-64.97)"> <text transform="matrix(1,0,0,-1,-71.95,65.34)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.9896574" y="0"> ×</t年代pan> <tspan style="font-size: 12.50px; " x="19.767242" y="0"> </t年代pan> </text> </g> </g> </svg>矩阵,排名<年代vg height="18.049999" id="M164" style="vertical-align:-2.21957pt;width:22.1625px;" version="1.1" viewbox="0 0 22.1625 18.049999" width="22.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.05)"> <g transform="translate(72,-57.56)"> <text transform="matrix(1,0,0,-1,-71.95,59.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="5.3099999" y="-2.54"> </t年代pan> <tspan style="font-size: 12.50px; " x="4.1599998" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.462232" y="0"> )</t年代pan> </text> </g> </g> </svg>=排名<年代vg height="18.2875" id="M165" style="vertical-align:-2.21957pt;width:21.7875px;" version="1.1" viewbox="0 0 21.7875 18.2875" width="21.7875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.2875)"> <g transform="translate(72,-57.37)"> <text transform="matrix(1,0,0,-1,-71.95,59.63)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="5.1599998" y="-2.73"> </t年代pan> <tspan style="font-size: 12.50px; " x="4.1599998" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.16216" y="0"> )</t年代pan> </text> </g> </g> </svg>=排名<年代vg height="18.2875" id="M166" style="vertical-align:-2.21957pt;width:33.412498px;" version="1.1" viewbox="0 0 33.412498 18.2875" width="33.412498" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.2875)"> <g transform="translate(72,-57.37)"> <text transform="matrix(1,0,0,-1,-71.95,59.63)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="5.3099999" y="-2.54"> </t年代pan> <tspan style="font-size: 12.50px; " x="4.1599998" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="14.47" y="-2.73"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.47" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.459658" y="0"> )</t年代pan> </text> </g> </g> </svg>=<年代vg height="11.05" id="M167" style="vertical-align:-3.2316pt;width:13.6px;" version="1.1" viewbox="0 0 13.6 11.05" width="13.6" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.05)"> <g transform="translate(72,-63.16)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.74,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="21.424999" id="M168" style="vertical-align:-2.21957pt;width:133.675px;" version="1.1" viewbox="0 0 133.675 21.424999" width="133.675" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,21.425)"> <g transform="translate(72,-54.86)"> <text transform="matrix(1,0,0,-1,-71.95,57.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.55,62.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,-57.2,57.12)"> <tspan style="font-size: 12.50px; " x="39.259998" y="-2.54"> </t年代pan> <tspan style="font-size: 12.50px; " x="38.110001" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="48.41" y="-2.73"> </t年代pan> <tspan style="font-size: 12.50px; " x="65.889999" y="-2.54"> </t年代pan> <tspan style="font-size: 12.50px; " x="64.739998" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="75.050003" y="-2.73"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="21.905256" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="33.945644" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="47.41" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="56.412159" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="60.575661" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="74.050003" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="83.039658" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,30.01,66.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> #</t年代pan> </text> </g> </g> </svg>(幂等矩阵)<年代pan class="equation" id="eq1"> <svg height="268.01251" id="M169" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 268.01251" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,268.0125)"> <g transform="translate(72,142.41)"> <text transform="matrix(1,0,0,-1,111.78,63.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,105.89,41.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,111.83,34.18)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,125.52,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="16.203888" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,151.25,44.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,156.03,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,167.48,44.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,172.26,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,182.79,52.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="-1" y="8.1300001"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,189.5,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,220.53,63.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,214.64,41.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,220.79,34.18)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,234.26,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="16.203888" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,259.32,52.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,266.03,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,275.29,44.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,279.63,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,288.49,44.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,292.84,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-185.21001" y="37.41"> Φ</t年代pan> </text> <text transform="matrix(1,0,0,-1,117.17,15.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,125.52,10.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="24.355844" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="35.696064" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,170.75,7.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,175.52,10.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.389513" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="33.520542" y="0"> Φ</t年代pan> </text> <text transform="matrix(1,0,0,-1,218.59,15.22)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,226.94,10.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="28.519342" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="44.023064" y="0"> Γ</t年代pan> <tspan style="font-size: 12.50px; " x="51.362324" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,287.16,7.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,291.51,10.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-169.46001" y="38.02"> Ψ</t年代pan> </text> <text transform="matrix(1,0,0,-1,131.37,-22.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="15.43"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.6887999" y="15.43"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,140.4,-35.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1.15" y="2.54"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,148.55,-37.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="2.188" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,161.22,-27.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.040389" y="0"> Φ</t年代pan> </text> <text transform="matrix(1,0,0,-1,182.8,-22.81)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,190.75,-25.27)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1.15" y="2.54"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.1499996" y="5.0599999"> </t年代pan> <tspan style="font-size: 12.50px; " x="14.01" y="2.54"> Φ</t年代pan> </text> <text transform="matrix(1,0,0,-1,214.3,-22.81)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,221.1,-30.33)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,226.95,-20.18)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,236.44,-27.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代pan> </text> <text transform="matrix(1,0,0,-1,252.21,-11.87)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,247.78,-34.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,252.6,-41.34)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,263.93,-27.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-176.59" y="49.310001"> Ψ</t年代pan> </text> <text transform="matrix(1,0,0,-1,96.67,-71.77)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="15.62"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.198688" y="15.62"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,105.06,-84.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1" y="2.73"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,113.06,-87.39)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="2.188" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,125.52,-77.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.04" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.889999" y="0"> Φ</t年代pan> </text> <text transform="matrix(1,0,0,-1,152.95,-72.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="9.0100002"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,159.96,-79.63)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,165.81,-69.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,173.52,-74.39)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="-1" y="2.73"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.0021601" y="2.73"> Φ</t年代pan> </text> <text transform="matrix(1,0,0,-1,191.06,-72.12)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> <tspan style="font-size: 8.75px; " x="0" y="9.0100002"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,200.85,-77.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代pan> </text> <text transform="matrix(1,0,0,-1,218.09,-61.18)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,212.2,-83.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,217.12,-90.78)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,232.52,-77.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="25.131029" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,264.05,-80.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ⟂</t年代pan> </text> <text transform="matrix(1,0,0,-1,274.09,-77.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,292.13,-80.24)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,299.76,-77.12)"> <tspan style="font-size: 12.50px; " x="-193.94" y="35.900002"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="11.327718" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.729254" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,117.27,-116.15)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,125.52,-113.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="26.268803" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="37.609024" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="45.998535" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="53.42532" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,188.34,-108.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,195.05,-113.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="25.131029" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,229.44,-116.15)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,237.26,-113.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="16.203888" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="28.231773" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="39.571995" y="0"> Γ</t年代pan> </text> <text transform="matrix(1,0,0,-1,284.18,-108.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,290.89,-113.02)"> <tspan style="font-size: 12.50px; " x="-183.14999" y="24.620001"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.1269503" y="0"> Γ</t年代pan> <tspan style="font-size: 12.50px; " x="15.466211" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,117.27,-140.76)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,125.52,-137.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="21.567675" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="28.994457" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,163.91,-132.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,170.63,-137.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,184.89,-132.63)"> <tspan style="font-size: 8.75px; " x="-2.8099999" y="8.1300001"> </t年代pan> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,195.76,-137.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="25.131029" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,229.75,-140.76)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,237.57,-137.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,258.86,-132.63)"> <tspan style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代pan> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,273.9,-137.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Γ</t年代pan> </text> <text transform="matrix(1,0,0,-1,281.24,-132.63)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,287.95,-137.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.1269503" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="17.666739" y="0"> 。</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,-38.33)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>如果存在最优稳态功能成本<年代vg height="10.5125" id="M170" 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pan> </text> </g> </g> </svg>,<年代pan class="equation" id="eq2"> <svg height="21.5625" id="M171" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 21.5625" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,21.5625)"> <g transform="translate(72,-54.75)"> <text transform="matrix(1,0,0,-1,35.47,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.25" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="14.1" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,58.53,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,63.1,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,77.01,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,81.58,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,95.18,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,99.75,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,114.84,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,119.4,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,125.25,56.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> ∞</t年代pan> </text> <text transform="matrix(1,0,0,-1,137.33,61.13)"> <tspan style="font-size: 12.50px; " x="20.290001" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="26.139999" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,172.44,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,177,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,190.92,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,195.48,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,209.08,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,213.65,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,228.74,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,233.31,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,239.16,56.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.8353119" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="9.0233116" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,258.63,61.13)"> <tspan style="font-size: 12.50px; " x="20.290001" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="26.139999" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,293.73,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,298.3,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,312.21,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,316.78,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,330.38,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,334.95,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,350.04,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,354.6,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,360.46,56.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.0324001" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="7.2203999" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,378.16,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>在哪里<年代pan class="equation" id="EEq17"> <svg height="69" id="M172" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 69" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,69)"> <g transform="translate(72,-16.8)"> <text transform="matrix(1,0,0,-1,72.58,57.29)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.25" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="14.11" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,95.65,54.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,100.22,57.29)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,114.13,54.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,118.7,57.29)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,132.3,54.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,136.87,57.29)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,151.95,54.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,156.52,54.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,162.37,52.29)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.8353119" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="9.0233116" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,181.84,57.29)"> <tspan style="font-size: 12.50px; " x="24.6" y="4.9200001"> </t年代pan> <tspan style="font-size: 12.50px; " x="62.459999" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.040389" y="0"> t</t年代pan> <tspan style="font-size: 12.50px; " x="15.516223" y="0"> r</t年代pan> <tspan style="font-size: 12.50px; " x="31.15" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="40.914845" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="51.11729" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="68.309998" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="80.85051" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="92.190727" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,282.89,62.29)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="0" y="9.1499996"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,289.69,57.29)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,298.95,54.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,305.74,57.29)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,314.6,54.16)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,321.4,54.78)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.0799999" y="-5.0500002"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.9299998" y="-2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="17.23" y="2.4100001"> </t年代pan> <tspan style="font-size: 12.50px; " x="25.889999" y="-2.51"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-251.82001" y="29.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="-243.57001" y="32.040001"> </t年代pan> <tspan style="font-size: 12.50px; " x="-237.72" y="29.52"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,92.65,22.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,97.22,25.26)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,111.13,22.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,115.69,25.26)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2137508" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,129.29,22.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,133.86,25.26)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,148.95,22.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,153.52,22.74)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,159.37,20.25)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.0324001" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="7.2203999" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,180.55,25.26)"> <tspan style="font-size: 12.50px; " x="24.59" y="4.9200001"> </t年代pan> <tspan style="font-size: 12.50px; " x="60.580002" y="2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> t</t年代pan> <tspan style="font-size: 12.50px; " x="15.50372" y="0"> r</t年代pan> <tspan style="font-size: 12.50px; " x="31.139999" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="38.329224" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="49.231842" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="66.43" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="76.39489" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="87.735115" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,277.82,22.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,284.83,25.26)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,296.28,22.13)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,303.29,25.26)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,313.82,30.26)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="-1" y="9.0200005"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,320.53,22.74)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.9399996" y="-5.2399998"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.9400001" y="-2.52"> </t年代pan> <tspan style="font-size: 12.50px; " x="16.940001" y="2.4000001"> </t年代pan> <tspan style="font-size: 12.50px; " x="25.6" y="-2.52"> 。</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,41.27)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>控制器可以计算为:<年代pan class="equation" id="EEq18"> <svg height="48.924999" id="M173" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 48.924999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,48.925)"> <g transform="translate(72,-32.86)"> <text transform="matrix(1,0,0,-1,85.05,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,94.02,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,102.06,61.13)"> <tspan style="font-size: 12.50px; " x="30.33" y="2.51"> </t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="35.119999" y="0"> Φ</t年代pan> <tspan style="font-size: 12.50px; " x="47.422951" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="58.775677" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,170.37,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,175.14,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="11.165179" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="22.5054" y="0"> Γ</t年代pan> <tspan style="font-size: 12.50px; " x="29.844662" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,213.85,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,218.2,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="6.8699999" y="-2.51"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,234.5,66.2)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,241.21,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ;</t年代pan> <tspan style="font-size: 12.50px; " x="25.481113" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,275.39,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,283.44,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.943005" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,315.92,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,320.69,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="-177.57001" y="24.469999"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,151.51,33.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,159.55,36.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.040389" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,180.44,33.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,184.79,36.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,194.22,41.73)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,200.93,36.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ;</t年代pan> <tspan style="font-size: 12.50px; " x="25.481113" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,236.29,33.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,244.33,36.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.040389" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="18.291889" y="0"> ,</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,49.3)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>对于一些射影分解<年代vg height="13.45" id="M174" style="vertical-align:-2.21957pt;width:64.375px;" version="1.1" viewbox="0 0 64.375 13.45" width="64.375" 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pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.340701" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="18.541948" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="31.107464" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="36.321217" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="47.236336" y="0"> )</t年代pan> </text> </g> </g> </svg>的<年代vg height="18.2875" id="M175" style="vertical-align:-2.21957pt;width:33.412498px;" version="1.1" viewbox="0 0 33.412498 18.2875" width="33.412498" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.2875)"> <g transform="translate(72,-57.37)"> <text transform="matrix(1,0,0,-1,-71.95,59.63)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="5.3099999" y="-2.54"> </t年代pan> <tspan style="font-size: 12.50px; " x="4.1599998" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="14.47" y="-2.73"> </t年代pan> <tspan style="font-size: 12.50px; " x="13.47" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="22.459658" y="0"> )</t年代pan> </text> </g> </g> </svg>。</gydF4y2Bap> <h4 id="results-and-discussions">5。结果和讨论</h4><gydF4y2Bap>设计的控制器在中央操作Sarika-2点(即。在20米/秒),用于所有飞行条件。权重矩阵<年代vg height="14.2375" id="M176" style="vertical-align:-3.13504pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.2375" width="20.5375" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> </g> </g> </svg>和<年代vg height="14.2375" id="M177" style="vertical-align:-3.13504pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.2375" width="20.5375" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>需要严格的为了使馈通,<年代vg height="14.3875" id="M178" style="vertical-align:-3.25793pt;width:17.375px;" version="1.1" viewbox="0 0 17.375 14.3875" width="17.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3875)"> <g transform="translate(72,-60.49)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.02,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> </g> </g> </svg>零。遵循指导方针(<一个href="#B23">23</一个>)选择加权矩阵,最后选择加权矩阵,<年代vg height="14.2375" id="M179" style="vertical-align:-3.13504pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.2375" width="20.5375" 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; 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" x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> </g> </g> </svg>(在离散域)<年代pan class="equation" id="EEq19"> <svg height="315.0625" id="M182" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 315.0625" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,315.0625)"> <g transform="translate(72,180.05)"> <text transform="matrix(1,0,0,-1,12.55,26.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,24,23)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,30.96,26.14)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="30.08" y="-30.75"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="30.08" y="-19.440001"> ⎢</t年代pan> <tspan style="font-size: 12.50px; 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" x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> </g> </g> </svg>最小化灵敏度函数,这是一个低频信号。因此,截止频率<年代vg height="14.2375" id="M184" style="vertical-align:-3.13504pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.2375" width="20.5375" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> </g> </g> </svg>选择,一个低通滤波器,以减少工作频率的灵敏度范围内Sarika-2 (10 rad /秒)。权重矩阵<年代vg height="14.2375" id="M185" style="vertical-align:-3.13504pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.2375" width="20.5375" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>选择降低测量噪声的影响,导致由于减少cosensitivity范围以外的工作频率的车辆(10 rad /秒以上)。<年代vg height="14.3875" id="M186" style="vertical-align:-3.25793pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.3875" width="20.5375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3875)"> <g transform="translate(72,-60.49)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> </g> </g> </svg>有助于最小化控制工作在高频区域。所以,它必须是一个高通滤波器的截止频率10 rad /秒。</gydF4y2Bap> <p>与加权矩阵的选择表示(<一个href="#EEq19">21</一个>)、订单(<年代vg height="7.1374998" id="M187" 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pan> </text> </g> </g> </svg>)的广义植物24(4为飞行器机体状态,2个为致动器,2状态延迟单元,和16个州的加权矩阵<年代vg height="14.2375" id="M188" style="vertical-align:-3.13504pt;width:47.450001px;" version="1.1" viewbox="0 0 47.450001 14.2375" width="47.450001" 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pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,-55.62,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-38.96,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>,<年代vg height="14.3875" id="M189" style="vertical-align:-3.25793pt;width:20.5375px;" version="1.1" viewbox="0 0 20.5375 14.3875" width="20.5375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3875)"> <g transform="translate(72,-60.49)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代pan> </text> </g> </g> </svg>)。自固定的低阶控制器的设计并没有解决的最优控制器/最小订单能够满足设计规格,订单1 - 5分别设计控制器和控制器的稳定性和性能特征的递减顺序比较全面(24日)顺序控制器。表的第一列<一个href="//www.newsama.com/journals/jcse/2011/594086/tab2/" target="_blank">2</一个>分别给出的顺序控制器设计。第2列和第3列包含成本函数的值,<年代vg height="16.924999" id="M190" style="vertical-align:-5.00475pt;width:128.1375px;" version="1.1" viewbox="0 0 128.1375 16.924999" width="128.1375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.925)"> <g transform="translate(72,-58.46)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.2394772" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.402976" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-50.57,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-46,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-32.09,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-27.52,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-13.92,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-9.36,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2137508" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,5.73,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,10.3,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,14.46,59.84)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.8353119" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="9.0233116" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="16.8125" id="M191" style="vertical-align:-4.90819pt;width:130.27499px;" version="1.1" viewbox="0 0 130.27499 16.8125" width="130.27499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.8125)"> <g transform="translate(72,-58.55)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.2394772" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.402976" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-50.57,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-46,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-32.09,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-27.52,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-13.92,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-9.36,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2137508" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,5.73,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,10.3,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,14.46,59.84)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.0324001" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="7.2203999" y="0"> </t年代pan> </text> </g> </g> </svg>计算使用(<一个href="#EEq17">19</一个>)。满足必要的一阶最优性条件在每种情况下,这是说明了这一事实<年代vg height="16.924999" id="M192" style="vertical-align:-5.00475pt;width:128.1375px;" version="1.1" viewbox="0 0 128.1375 16.924999" width="128.1375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.925)"> <g transform="translate(72,-58.46)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.2394772" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.402976" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-50.57,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-46,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-32.09,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-27.52,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-13.92,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-9.36,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2137508" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,5.73,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,10.3,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,14.46,59.84)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="6.8353119" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="9.0233116" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="16.8125" id="M193" style="vertical-align:-4.90819pt;width:130.27499px;" version="1.1" viewbox="0 0 130.27499 16.8125" width="130.27499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.8125)"> <g transform="translate(72,-58.55)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="8.2394772" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="12.402976" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-50.57,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-46,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-32.09,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-27.52,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-13.92,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-9.36,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="5.2137508" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,5.73,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,10.3,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,14.46,59.84)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 8.75px; " x="5.0324001" y="0"> ,</t年代pan> <tspan style="font-size: 8.75px; " x="7.2203999" y="0"> </t年代pan> </text> </g> </g> </svg>几乎是相等的(<一个href="#B14">14</一个>]。</gydF4y2Bap> <div class="floats-partial-section partial-other-wrapper" data-section="tab2"> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表2</年代pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/tab2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 仿真结果。</d我v> <a class="table-thumb-overlay" href="//www.newsama.com/journals/jcse/2011/594086/tab2" target="_blank" aria-label="View full page"></a> </div> </div> <p>成本函数几乎是常数(约<年代vg height="11.1" id="M199" style="vertical-align:-0.17555pt;width:59.212502px;" version="1.1" viewbox="0 0 59.212502 11.1" width="59.212502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.1)"> <g transform="translate(72,-63.12)"> <text transform="matrix(1,0,0,-1,-71.95,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.214951" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="22.255341" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="28.50684" y="0"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="34.758339" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="41.009838" y="0"> 5</t年代pan> </text> </g> </g> </svg>)<年代vg height="11.05" id="M200" style="vertical-align:-3.2316pt;width:13.6px;" version="1.1" viewbox="0 0 13.6 11.05" width="13.6" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.05)"> <g transform="translate(72,-63.16)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.74,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>= 24和5到3,这意味着通过增加的顺序控制器3以上,这并不显著提高闭环系统的性能。同样,增加的成本函数<年代vg height="11.1" id="M201" style="vertical-align:-0.17555pt;width:59.212502px;" version="1.1" viewbox="0 0 59.212502 11.1" width="59.212502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.1)"> <g transform="translate(72,-63.12)"> <text transform="matrix(1,0,0,-1,-71.95,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.214951" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="22.255341" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="28.50684" y="0"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="34.758339" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="41.009838" y="0"> 5</t年代pan> </text> </g> </g> </svg>来<年代vg height="11.0375" id="M202" style="vertical-align:-0.27588pt;width:59.212502px;" version="1.1" viewbox="0 0 59.212502 11.0375" width="59.212502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.0375)"> <g transform="translate(72,-63.17)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="10.214951" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="22.255341" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="28.50684" y="0"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="34.758339" y="0"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="41.009838" y="0"> 8</t年代pan> </text> </g> </g> </svg>通过减少控制器的顺序<年代vg height="14.7125" id="M203" style="vertical-align:-3.2316pt;width:40.799999px;" version="1.1" viewbox="0 0 40.799999 14.7125" width="40.799999" 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pan> </text> <text transform="matrix(1,0,0,-1,-65.74,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-57.7,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.040389" y="0"> 3</t年代pan> </text> </g> </g> </svg>来<年代vg height="14.7125" id="M204" style="vertical-align:-3.2316pt;width:40.799999px;" version="1.1" viewbox="0 0 40.799999 14.7125" width="40.799999" 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pan> </text> <text transform="matrix(1,0,0,-1,-65.74,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-57.7,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="12.040389" y="0"> 2</t年代pan> </text> </g> </g> </svg>意味着闭环系统的性能恶化。因此,控制器的最小订单是3。第四列的表<一个href="//www.newsama.com/journals/jcse/2011/594086/tab2/" target="_blank">2</一个>表明对添加剂的健壮性不确定性<年代vg height="18.012501" id="M205" style="vertical-align:-3.2316pt;width:50.212502px;" version="1.1" viewbox="0 0 50.212502 18.012501" width="50.212502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.0125)"> <g transform="translate(72,-57.59)"> <text transform="matrix(1,0,0,-1,-71.95,60.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-59.66,57.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-56.44,60.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="9.5272856" y="0"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,-42.75,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代pan> </text> </g> </g> </svg><sub>,</年代ub>保持在1.497,不显示任何改进通过增加的顺序控制器3以上。与三阶控制器,二次稳定(列5表<一个href="//www.newsama.com/journals/jcse/2011/594086/tab2/" target="_blank">2</一个>)是保证125.01%左右的参数不确定性水平相比之下只有93.3%,这是获得与二阶控制器。这意味着与三阶控制器,闭环系统能够承受至少125.0133%的认为工厂不确定性,不动摇。存在参数依赖一个李亚普诺夫函数在每种情况下,由消极的暗示<年代vg height="9.125" id="M206" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" 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pan> </text> </g> </g> </svg>列6表中(可行性)<一个href="//www.newsama.com/journals/jcse/2011/594086/tab2/" target="_blank">2</一个>。参数依赖存在的李亚普诺夫函数意味着鲁棒稳定性对慢变的不确定性(<一个href="#B24">24</一个>,<gydF4y2Ba一个href="#B25">25</一个>]。</gydF4y2Bap> <p>图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig4/" target="_blank">4</一个>显示的频率响应的比较第三和24阶控制器。频率响应仍在密切社区两个控制器的频率范围1到100 rad /秒。这进一步具体化三阶控制器的选择。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-69cb9afd30655eb2d49a2cfabdb1ab8e"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.004a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.004b.jpg"> <br> <strong>(b)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(c)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.004c.jpg"> <br> <strong>(c)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(d)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.004d.jpg"> <br> <strong>(d)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(e)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.004e.jpg"> <br> <strong>(e)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(f)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.004f.jpg"> <br> <strong>(f)</年代trong></d我v> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-69cb9afd30655eb2d49a2cfabdb1ab8e partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.004d_th.jpg"><br><strong>(d)</年代trong></button> <button aria-label="Slide to (e) " class="partial-carousel-dot"><img loading="lazy" alt="(e)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.004e_th.jpg"><br><strong>(e)</年代trong></button> <button aria-label="Slide to (f) " class="partial-carousel-dot"><img loading="lazy" alt="(f)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.004f_th.jpg"><br><strong>(f)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-69cb9afd30655eb2d49a2cfabdb1ab8e 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pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig4/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>频率响应(-)3日和24日(<年代up>......</年代up>)顺序控制器。</td></tr></tbody> </table> </div> </div> </div> </div> <p>传递函数矩阵的六个元素的三阶控制器<年代vg height="14.5125" id="M207" style="vertical-align:-3.35449pt;width:30.6px;" version="1.1" viewbox="0 0 30.6 14.5125" width="30.6" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5125)"> <g transform="translate(72,-60.39)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> <tspan style="font-size: 8.75px; " x="4.3759999" y="0"> ×</t年代pan> <tspan style="font-size: 8.75px; " x="9.9772797" y="0"> 3</t年代pan> </text> </g> </g> </svg>是由<年代pan class="equation" id="EEq20"> <svg height="62.637501" id="M208" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 62.637501" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,62.6375)"> <g transform="translate(72,-21.89)"> <text transform="matrix(1,0,0,-1,-55.14,43.82)"> <tspan style="font-size: 12.50px; " x="53.599998" y="-7.25"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="12.615527" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="16.779026" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="23.018023" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="30.644854" y="0"> =</t年代pan> </text> <g> <path d="m -11.25,46.94 25.68,0" 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,-11.25,35.07)"> <tspan style="font-size: 12.50px; " x="28.950001" y="-21.83"> ⎡</t年代pan> <tspan style="font-size: 12.50px; " x="28.950001" y="-10.98"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="28.950001" y="-0.14"> ⎢</t年代pan> <tspan style="font-size: 12.50px; " x="28.950001" y="10.65"> ⎣</t年代pan> <tspan style="font-size: 12.50px; " x="451.47" y="-21.83"> ⎤</t年代pan> <tspan style="font-size: 12.50px; " x="451.47" y="-10.98"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="451.47" y="-0.14"> ⎥</t年代pan> <tspan style="font-size: 12.50px; " x="451.47" y="10.65"> ⎦</t年代pan> <tspan style="font-size: 12.50px; " x="459.17999" y="-8.75"> ,</t年代pan> <tspan style="font-size: 12.50px; " x="0" y="0"> Δ</t年代pan> <tspan style="font-size: 12.50px; " x="11.102664" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="15.266163" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="21.505159" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="34.580002" y="-19.379999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="43.144554" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="49.396053" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="52.521805" y="-19.379999"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="58.773304" y="-19.379999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="67.100304" y="-19.379999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="71.263802" y="-19.379999"> </t年代pan> <tspan style="font-size: 12.50px; " x="80.278465" y="-19.379999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="91.631187" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="97.88269" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="101.00844" y="-19.379999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="107.25994" y="-19.379999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="113.51144" y="-19.379999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="119.75043" y="-19.379999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="123.91393" y="-19.379999"> </t年代pan> <tspan style="font-size: 12.50px; " x="132.9411" y="-19.379999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="144.28133" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="150.53282" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="153.65857" y="-19.379999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="159.91006" y="-19.379999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="166.16158" y="-19.379999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="179.42726" y="-19.379999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="187.99181" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="194.24332" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="197.36906" y="-19.379999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="203.62056" y="-19.379999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="211.96007" y="-19.379999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="216.12357" y="-19.379999"> </t年代pan> <tspan style="font-size: 12.50px; " x="225.13823" y="-19.379999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="236.47844" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="242.72995" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="245.8557" y="-19.379999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="252.10719" y="-19.379999"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="258.3587" y="-19.379999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="264.6102" y="-19.379999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="268.77368" y="-19.379999"> </t年代pan> <tspan style="font-size: 12.50px; " x="277.78836" y="-19.379999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="289.12857" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="295.38007" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="298.50583" y="-19.379999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="304.75732" y="-19.379999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="311.00882" y="-19.379999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="324.27451" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="330.526" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="333.65176" y="-19.379999"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="339.90326" y="-19.379999"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="348.24277" y="-19.379999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="352.40625" y="-19.379999"> </t年代pan> <tspan style="font-size: 12.50px; " x="361.42093" y="-19.379999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="372.76114" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="379.01263" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="382.1384" y="-19.379999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="388.38989" y="-19.379999"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="394.64139" y="-19.379999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="400.89288" y="-19.379999"> (</t年代pan> <tspan style="font-size: 12.50px; " x="405.0564" y="-19.379999"> </t年代pan> <tspan style="font-size: 12.50px; " x="414.07104" y="-19.379999"> −</t年代pan> <tspan style="font-size: 12.50px; " x="425.41129" y="-19.379999"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="431.66278" y="-19.379999"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="434.78851" y="-19.379999"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="441.05252" y="-19.379999"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="447.30402" y="-19.379999"> )</t年代pan> <tspan style="font-size: 12.50px; " x="34.580002" y="5.6300001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="43.144554" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="49.396053" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="52.521805" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="58.773304" y="5.6300001"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="67.100304" y="5.6300001"> (</t年代pan> <tspan style="font-size: 12.50px; " x="71.263802" y="5.6300001"> </t年代pan> <tspan style="font-size: 12.50px; " x="80.278465" y="5.6300001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="91.631187" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="97.88269" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="101.00844" y="5.6300001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="107.25994" y="5.6300001"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="113.51144" y="5.6300001"> )</t年代pan> <tspan style="font-size: 12.50px; " x="119.75043" y="5.6300001"> (</t年代pan> <tspan style="font-size: 12.50px; " x="123.91393" y="5.6300001"> </t年代pan> <tspan style="font-size: 12.50px; " x="132.9411" y="5.6300001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="144.28133" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="150.53282" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="153.65857" y="5.6300001"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="159.91006" y="5.6300001"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="166.16158" y="5.6300001"> )</t年代pan> <tspan style="font-size: 12.50px; " x="176.3015" y="5.6300001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="184.86606" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="191.11755" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="194.24332" y="5.6300001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="200.49481" y="5.6300001"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="208.8343" y="5.6300001"> (</t年代pan> <tspan style="font-size: 12.50px; " x="212.9978" y="5.6300001"> </t年代pan> <tspan style="font-size: 12.50px; " x="222.01247" y="5.6300001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="233.35269" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="239.60419" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="242.72995" y="5.6300001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="248.98145" y="5.6300001"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="255.23294" y="5.6300001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="261.48444" y="5.6300001"> )</t年代pan> <tspan style="font-size: 12.50px; " x="267.73593" y="5.6300001"> (</t年代pan> <tspan style="font-size: 12.50px; " x="271.89944" y="5.6300001"> </t年代pan> <tspan style="font-size: 12.50px; " x="280.91409" y="5.6300001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="292.25433" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="298.50583" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="301.63159" y="5.6300001"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="307.88309" y="5.6300001"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="314.13458" y="5.6300001"> )</t年代pan> <tspan style="font-size: 12.50px; " x="324.27451" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="330.526" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="333.65176" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="339.90326" y="5.6300001"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="348.24277" y="5.6300001"> (</t年代pan> <tspan style="font-size: 12.50px; " x="352.40625" y="5.6300001"> </t年代pan> <tspan style="font-size: 12.50px; " x="361.42093" y="5.6300001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="372.76114" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="379.01263" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="382.1384" y="5.6300001"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="388.38989" y="5.6300001"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="394.64139" y="5.6300001"> )</t年代pan> <tspan style="font-size: 12.50px; " x="400.89288" y="5.6300001"> (</t年代pan> <tspan style="font-size: 12.50px; " x="405.0564" y="5.6300001"> </t年代pan> <tspan style="font-size: 12.50px; " x="414.07104" y="5.6300001"> −</t年代pan> <tspan style="font-size: 12.50px; " x="425.41129" y="5.6300001"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="431.66278" y="5.6300001"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="434.78851" y="5.6300001"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="441.05252" y="5.6300001"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="447.30402" y="5.6300001"> )</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,43.82)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>在哪里<年代vg height="16.5375" id="M209" style="vertical-align:-2.21957pt;width:273.38751px;" version="1.1" viewbox="0 0 273.38751 16.5375" width="273.38751" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.5375)"> <g transform="translate(72,-58.77)"> <text transform="matrix(1,0,0,-1,-71.95,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Δ</t年代pan> <tspan style="font-size: 12.50px; " x="9.0271664" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="13.190665" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="19.429663" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="27.056492" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="39.096882" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="43.26038" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="52.275043" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="63.615265" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="69.86676" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="72.992516" y="0"> 9</t年代pan> <tspan style="font-size: 12.50px; " x="79.244011" y="0"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="85.495514" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="91.747017" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="95.910515" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="100.07401" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,34.38,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> <text transform="matrix(1,0,0,-1,42.03,61.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="17.591721" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="20.71747" y="0"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="26.968971" y="0"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="33.22047" y="0"> 8</t年代pan> <tspan style="font-size: 12.50px; " x="39.47197" y="0"> 7</t年代pan> <tspan style="font-size: 12.50px; " x="45.723473" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="54.738132" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="66.078354" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="72.329857" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="75.455605" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="81.707108" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="87.958603" y="0"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="94.210106" y="0"> 5</t年代pan> <tspan style="font-size: 12.50px; " x="100.4616" y="0"> )</t年代pan> </text> </g> </g> </svg>。从横向加速度传递函数的频率响应<年代vg height="12.925" id="M210" style="vertical-align:-4.74141pt;width:14.025px;" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,滚转率<年代vg height="9.875" id="M211" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" 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pan> </text> </g> </g> </svg>,偏航率<年代vg height="7.0124998" id="M212" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>副翼和方向舵输入通道显示洗掉或导致滤波器特性。这意味着只在瞬态控制表面是活跃的和不受影响,当输出达到稳定状态,这是可取的。控制器的相位超前有助于克服低带宽和重量轻的相位滞后执行机构。闭环dutch-roll阻尼计算在不同飞行条件(使用控制器设计的飞行速度20米/秒)。根据设计规范,dutch-roll阻尼仍然高于0.5在所有飞行条件。</gydF4y2Bap> <h4 id="performance-and-robustness-analysis">6。性能和鲁棒性分析</h4><gydF4y2Bap>块的奇异值<年代vg height="14.5875" id="M213" style="vertical-align:-3.2316pt;width:15.9125px;" version="1.1" viewbox="0 0 15.9125 14.5875" width="15.9125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="14.5875" id="M214" style="vertical-align:-3.2316pt;width:27.4625px;" version="1.1" viewbox="0 0 27.4625 14.5875" width="27.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="10.325" id="M215" style="vertical-align:-0.0pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 10.325" width="11.225" 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pan> </text> </g> </g> </svg>(<一个href="#EEq6">6</一个>)和一个三阶控制器以三种不同的飞行速度(16米/秒,20米/秒和26米/秒),如图所示<一个href="//www.newsama.com/journals/jcse/2011/594086/fig5/" target="_blank">5</一个>。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-03bd69832545ff78572e9b0080bff4d5"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.005a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.005b.jpg"> <br> <strong>(b)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(c)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.005c.jpg"> <br> <strong>(c)</年代trong></d我v> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-03bd69832545ff78572e9b0080bff4d5 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.005c_th.jpg"><br><strong>(c)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-03bd69832545ff78572e9b0080bff4d5 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pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig5/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>奇异值的<年代vg height="14.5875" id="M216" style="vertical-align:-3.2316pt" version="1.1" viewbox="0 0 15.9125 14.5875" width="15.9125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="14.5875" id="M217" style="vertical-align:-3.2316pt" version="1.1" viewbox="0 0 27.4625 14.5875" width="27.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="10.325" id="M218" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 11.225 10.325" width="11.225" 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pan> </text> </g> </g> </svg>(16 m / s:虚线,20 m / s:粗线,26 m / s: dash-dot线)。</td></tr></tbody> </table> </div> </div> </div> </div> <p>奇异值的<年代vg height="14.5875" id="M219" style="vertical-align:-3.2316pt;width:21.125px;" version="1.1" viewbox="0 0 21.125 14.5875" width="21.125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>的横向加速度、滚转率和偏航率循环显示轻微的偏差从一个另一个在低频率(低于8 rad /秒),在社区级0分贝的消极的一面。较大的衰减奇异值的偏航率比之间的横向加速度和滚转率表明,三个输出,偏航率,因此β响应最小输出扰动的影响。开环系统的非最小相位零限制了下界的灵敏度,可以实现<b>gydF4y2Ba。</b>gydF4y2Ba低的值<年代vg height="14.5875" id="M220" style="vertical-align:-3.2316pt;width:27.4625px;" version="1.1" viewbox="0 0 27.4625 14.5875" width="27.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>在低频率(40 rad /秒)显示很好的闭环系统的稳定鲁棒性属性对添加剂的不确定性,<年代vg height="14.675" id="M221" style="vertical-align:-3.22282pt;width:17.525px;" version="1.1" viewbox="0 0 17.525 14.675" width="17.525" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.675)"> <g transform="translate(72,-60.26)"> <text transform="matrix(1,0,0,-1,-71.95,63.52)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Δ</t年代pan> </text> <text transform="matrix(1,0,0,-1,-62.92,60.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>。尽管的上界<年代vg height="14.5875" id="M222" style="vertical-align:-3.2316pt;width:27.4625px;" version="1.1" viewbox="0 0 27.4625 14.5875" width="27.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-63.82,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-60.6,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>增加频率范围超出40 rad /秒,这是在0分贝,表明积极的增益裕度。这个属性保存在所有飞行条件。的奇异值<年代vg height="10.325" id="M223" style="vertical-align:-0.0pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 10.325" width="11.225" 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pan> </text> </g> </g> </svg>展示一个衰减−60 dB /十年<我>ω</gydF4y2Ba我>=10r一个d/秒,确凿的噪声衰减了1000倍,这是可以接受的。</gydF4y2Bap> <p>图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig6/" target="_blank">6</一个>给响应的闭环系统由于大气湍流和植物(飞机)。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-c1b33d43d96b50ba4f97a79ad6d3c787"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.006a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.006b.jpg"> <br> <strong>(b)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(c)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.006c.jpg"> <br> <strong>(c)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(d)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.006d.jpg"> <br> <strong>(d)</年代trong></d我v> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-c1b33d43d96b50ba4f97a79ad6d3c787 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-c1b33d43d96b50ba4f97a79ad6d3c787 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pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig6/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>阵风响应输入。</td></tr></tbody> </table> </div> </div> </div> </div> <p>湍流生成输入通过一个零均值和方差为0.01 m<年代up>2</年代up>/ s,带限白噪声通过成形滤波器(<一个href="#B3">3</一个>,<gydF4y2Ba一个href="#B20">20.</一个>]。闭环反应(行)<年代vg height="12.925" id="M224" style="vertical-align:-4.74141pt;width:14.025px;" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="9.875" id="M225" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" 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pan> </text> </g> </g> </svg>,<年代vg height="7.0124998" id="M226" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<我>β</gydF4y2Ba我>在图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig6/" target="_blank">6</一个>显示显著减少级相比,相应的植物反应(<年代up>......</年代up>行)(衰减50%<年代vg height="12.925" id="M227" style="vertical-align:-4.74141pt;width:14.025px;" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>反应,33%<我>β</gydF4y2Ba我>响应)。换句话说,的方差<年代vg height="12.925" id="M228" style="vertical-align:-4.74141pt;width:14.025px;" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>闭环系统是减少到2.2558米/秒<年代up>2</年代up>从8.6635米/秒<年代up>2</年代up>。同样,的方差<年代vg height="9.875" id="M229" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" 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pan> </text> </g> </g> </svg>,<年代vg height="7.0124998" id="M230" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<我>β</gydF4y2Ba我>闭环系统的减少到90.0325度/秒,27.5604度/秒,0.3089度和相应的植物响应值为316.9422度/秒,分别为111.4768度/秒,1.0575度。</gydF4y2Bap> <h5 id="sec6.1">6.1。摄动分析</h5><gydF4y2Bap>闭环系统的鲁棒稳定性和性能在所有飞行条件(使用一个控制器设计的名义飞行速度20米/秒)进一步证明了使用LMI-based测试(<一个href="#B24">24</一个>,<gydF4y2Ba一个href="#B25">25</一个>]。为此,仿射parameter-dependent植物模型假设结构化开发的实值参数的不确定性(即。通过扰动稳定车辆的衍生品)在每个飞行条件。在20米/秒的巡航速度,建立了闭环系统的二次稳定性以125.0133%的规定不确定参数框。同样,在16米/秒和26米/秒的巡航速度,保留了闭环系统的二次稳定性有103.185%和101.861%的不确定参数框,分别。同样的不确定性水平,<我>μ</gydF4y2Ba我>上限大约是0.5549、0.6454和0.6745在20日的巡航速度分别为16 - 26米/秒。因此,最大的不确定性Δ可以容忍不失稳定是1.802,1.549,和1.483,大于1.0所需的下界。</gydF4y2Bap> <h5 id="sec6.2">6.2。时间响应研究</h5><gydF4y2Bap>滚转率命令应用于副翼控制杆以脉宽调制信号的形式给出的单位毫秒(相对于中性或偏差值1.5微秒,这对应于零偏转副翼控制表面的)。在仿真研究中,包括一个20毫秒延迟输入的副翼和方向舵,占计算延迟。宽带传感器噪声的零均值和方差0.005伏特介绍了模拟。首先,飞机是修剪水平直线飞行的高度高出海平面1000米(即。在班加罗尔,高出地面100米)。积极两秒的持续时间和幅度0.1毫秒的脉冲(对于1.5毫秒的标称值)对应于−3.84度副翼偏转副翼通道的应用<年代vg height="10.85" id="M231" style="vertical-align:-0.12538pt;width:54.787498px;" version="1.1" viewbox="0 0 54.787498 10.85" width="54.787498" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.85)"> <g transform="translate(72,-63.32)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.37677" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="19.417158" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,-44.19,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 年代</t年代pan> <tspan style="font-size: 12.50px; " x="4.863667" y="0"> e</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> c</t年代pan> </text> </g> </g> </svg>。这个输入是紧随其后的是两个第二的负脉冲持续时间和振幅为0.1微秒,对应于一个3.84学位副翼偏转。这种输入模式相当于移动副翼通道操纵杆的中性点一边到另一边和中性点。仿真研究提出了相对应的三个模型的巡航速度16日20日和26米/秒。</gydF4y2Bap> <p>数据<一个href="//www.newsama.com/journals/jcse/2011/594086/fig7/" target="_blank">7</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/jcse/2011/594086/fig8/" target="_blank">8</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/jcse/2011/594086/fig9/" target="_blank">9</一个>闭环系统的时间响应给上述命令的输入。性能更好的升值的闭环系统的鲁棒性,响应时间也模拟矩阵微扰植物(50%和20%对动态和静态稳定衍生品、职责)。在数据<一个href="//www.newsama.com/journals/jcse/2011/594086/fig7/" target="_blank">7</一个>- - - - - -<一个href="//www.newsama.com/journals/jcse/2011/594086/fig9/" target="_blank">9</一个>,响应图15秒对应非微扰(名义)植物而情节时间<年代vg height="11.25" id="M232" style="vertical-align:-0.30096pt;width:62.599998px;" version="1.1" viewbox="0 0 62.599998 11.25" width="62.599998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.25)"> <g transform="translate(72,-63)"> <text transform="matrix(1,0,0,-1,-71.95,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="7.37677" y="0"> ></t年代pan> <tspan style="font-size: 12.50px; " x="19.417158" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="25.668659" y="0"> 5</t年代pan> </text> <text transform="matrix(1,0,0,-1,-37.94,63.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 年代</t年代pan> <tspan style="font-size: 12.50px; " x="4.863667" y="0"> e</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> c</t年代pan> </text> </g> </g> </svg>对应于摄动的植物。虽然摄动的反应植物高度振荡,闭环系统响应的摄动和名义植物定居相对比,控制飞机的响应。显然,固定增益控制器强劲稳定的名义和摄动植物在三个巡航速度,而摄动植物响应(16米/秒的飞行速度)发散导致不稳定。摄动的不稳定是由于气动中心的转变之前,飞机的重心。此外,阵风扰动和传感器噪声被拒绝在所有飞行条件。闭环系统的反应<年代vg height="12.925" id="M233" style="vertical-align:-4.74141pt;width:14.025px;" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和<我>β</gydF4y2Ba我>名义和摄动植物明显减弱。此外,闭环反应的<年代vg height="9.875" id="M234" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" 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pan> </text> </g> </g> </svg>和<年代vg height="7.0124998" id="M235" style="vertical-align:-0.0pt;width:6.5px;" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>有阻尼的快速沉淀时间7秒。快速沉降和well-damped响应名义和摄动植物模型在所有飞行条件下,与固定增益控制器,证明了鲁棒性能对参数变化。控制表面变形量图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig9/" target="_blank">9</一个>表明,变形量都在其上界<年代vg height="12.175" id="M236" style="vertical-align:-1.09097pt;width:26.4625px;" version="1.1" viewbox="0 0 26.4625 12.175" width="26.4625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.175)"> <g transform="translate(72,-62.26)"> <text transform="matrix(1,0,0,-1,-71.95,63.4)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ±</t年代pan> <tspan style="font-size: 12.50px; " x="8.5645552" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="14.816055" y="0"> 6</t年代pan> </text> </g> </g> </svg>度的PWM控制信号达到最大值<年代vg height="12.05" id="M237" style="vertical-align:-1.09097pt;width:30.362499px;" version="1.1" viewbox="0 0 30.362499 12.05" width="30.362499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.05)"> <g transform="translate(72,-62.36)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ±</t年代pan> <tspan style="font-size: 12.50px; " x="8.5645552" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="14.816055" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="17.941805" y="0"> 4</t年代pan> </text> </g> </g> </svg>微秒。给定积极副翼偏转,注意舵的舵变位是负由于坐标的避免不利影响偏航。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-7ddae6507855954bcff9cbd041fd2872"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.007a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.007b.jpg"> <br> <strong>(b)</年代trong></d我v> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-7ddae6507855954bcff9cbd041fd2872 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.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-7ddae6507855954bcff9cbd041fd2872 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pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig7/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>的反应<年代vg height="12.925" id="M238" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="9.875" id="M239" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" 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pan> </text> </g> </g> </svg>的名义和摄动植物(实线:闭环反应,虚线:植物响应)。</td></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-9744b8341f58308443c2a00a71c4f582"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.008a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.008b.jpg"> <br> <strong>(b)</年代trong></d我v> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-9744b8341f58308443c2a00a71c4f582 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.008a_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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.008b_th.jpg"><br><strong>(b)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-9744b8341f58308443c2a00a71c4f582 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8</年代pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig8/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>的反应<年代vg height="7.0124998" id="M240" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和<我>β</gydF4y2Ba我>的名义和摄动植物(实线:闭环反应,虚线:植物响应)。</td></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-5bf02be0184a43d8bac056baf44a766b"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.009a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.009b.jpg"> <br> <strong>(b)</年代trong></d我v> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-5bf02be0184a43d8bac056baf44a766b partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.009a_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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.009b_th.jpg"><br><strong>(b)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-5bf02be0184a43d8bac056baf44a766b 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9</年代pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig9/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>的反应<年代vg height="14.5875" id="M241" style="vertical-align:-3.22282pt" version="1.1" viewbox="0 0 14.1 14.5875" width="14.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.66,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>和<年代vg height="14.475" id="M242" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 13.075 14.475" width="13.075" 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pan> </text> <text transform="matrix(1,0,0,-1,-65.66,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>的名义和摄动植物(实线:闭环反应,虚线:植物响应)。</td></tr></tbody> </table> </div> </div> </div> </div> <h4 id="real-time-hardware-in-the-loop-validation-of-the-controller">7所示。实时Hardware-in-the-Loop-Validation控制器</h4><gydF4y2Bap>实验设置hardware-in-loop-simulation(边境)包括一个模拟计算机和机载计算机命名飞行仪表计算机(FIC)由两个数字信号处理器(dsp): TMS320LF2407和TMS320VC33从德州仪器,美国。机载计算机硬件(尺寸为139.7毫米×50.8毫米,体重55克)内部开发。电脑上的集成,能够实时飞行控制的实现,在Sarika-2是一个技术上的挑战任务由于成本的严格约束,大小、重量和功耗限制。膜集成电路具有附加的机载程序(256 kb)和数据(4 mb)的记忆。膜集成电路能够获取数据(10 Hz低通滤波器和必要的信号调节与获得20率通道和一个单位增益加速度通道),内部数据日志记录、执行实时多输入多输出离散的控制逻辑,并生成和PWM信号的捕获。</gydF4y2Bap> <p>模拟计算机是奔腾4个人电脑(Windows 2000操作系统)操作在3.4 GHz dSPACE DS1104RTI /环球套票。DS1104是一个完整的实时控制系统是基于PC 603浮点处理器运行在250 MHz。本构的构建块边境设施或设置如图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig10/" target="_blank">10</一个>。横向飞行动力学模型,在桌面计算机上运行,计算车辆的滚转角速度,角速度,随后和侧向加速度响应,DS1104系统生成等效模拟传感器信号伏特。敏感性MEMS-based传感器用于Sarika-2(1)速率陀螺:1.11 mv /度/ s(的偏移电压2.25伏)和(2)加速度计:500 mv / g(2.5伏特的偏见)。因此,传感器的电输出模拟(发送通过数字模拟转换器,DAC DS1104),根据关系,<年代pan class="equation" id="EEq21"> <svg height="48.349998" id="M243" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 48.349998" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,48.35)"> <g transform="translate(72,-33.32)"> <text transform="matrix(1,0,0,-1,79.73,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,86.92,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代pan> <tspan style="font-size: 8.75px; " x="3.8858881" y="0"> 问</t年代pan> </text> <text transform="matrix(1,0,0,-1,97.77,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,112.21,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> o</t年代pan> <tspan style="font-size: 12.50px; " x="6.2515001" y="0"> r</t年代pan> </text> <text transform="matrix(1,0,0,-1,126.79,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.1012239" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="12.740557" y="0"> =</t年代pan> <tspan style="font-size: 12.50px; " x="24.768442" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="31.019943" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="34.145695" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="40.397194" y="0"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="46.648693" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="52.900192" y="0"> 6</t年代pan> <tspan style="font-size: 12.50px; " x="59.151691" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="65.403191" y="0"> 3</t年代pan> <tspan style="font-size: 12.50px; " x="74.442863" y="0"> ×</t年代pan> <tspan style="font-size: 12.50px; " x="87.295944" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="91.459442" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,228.54,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> o</t年代pan> <tspan style="font-size: 12.50px; " x="6.2515001" y="0"> r</t年代pan> </text> <text transform="matrix(1,0,0,-1,243.13,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> <tspan style="font-size: 12.50px; " x="5.1012239" y="0"> )</t年代pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> +</t年代pan> <tspan style="font-size: 12.50px; " x="23.38061" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,273.7,60.07)"> <tspan style="font-size: 8.75px; 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" x="0" y="0"> 。</t年代pan> </text> <text transform="matrix(1,0,0,-1,467.87,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代pan> <tspan style="font-size: 12.50px; " x="4.1634989" y="0"> 2</t年代pan> <tspan style="font-size: 12.50px; " x="10.414999" y="0"> 4</t年代pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> )</t年代pan> </text> </g> </g> </svg></span>从1104年dSPACE膜集成电路不断接收模拟信号并将其转换成一个等效的PWM信号。这两个输入的基础上,生成并反馈到控制器输出模拟执行器通过捕获单元dSPACE1104 RTI /环球套票。</gydF4y2Bap> <p>实时指挥射频接收器收到的信号和模拟传感器信号从边境(相应的飞行速度20米/秒)绘制在图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig12/" target="_blank">12</一个>。副翼输入紧身上衣的女士−0.1到0.1(1.5毫秒的中立的价值,即。,±3.84学位副翼偏转)。舵命令举行它的中立立场。飞机的反应显示了滚转率不同从−0.04伏(<我>≈</gydF4y2Ba我>−0。02伏特36度/秒)(<我>≈</gydF4y2Ba我>18度/秒)。因此,−0.4毫秒的副翼输入,对于中立的位置,对应于一个最大−144度/秒,滚转率在0.4毫秒副翼输入对应于最高72度/秒。同样,偏航率0.01伏特的最大之间的响应变化(<我>≈</gydF4y2Ba我>9度/秒)−0.004伏(<我>≈</gydF4y2Ba我>−4度/秒)。之间的横向加速度的变化<年代vg height="12.175" id="M245" style="vertical-align:-1.09097pt;width:38.174999px;" version="1.1" viewbox="0 0 38.174999 12.175" width="38.174999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.175)"> <g transform="translate(72,-62.26)"> <text transform="matrix(1,0,0,-1,-71.95,63.4)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ±</t年代pan> <tspan style="font-size: 12.50px; " x="8.5645552" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="14.816055" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="17.941805" y="0"> 1</t年代pan> <tspan style="font-size: 12.50px; " x="24.193304" y="0"> 6</t年代pan> </text> </g> </g> </svg>伏特(<我>≈</gydF4y2Ba我><年代vg height="14.1" id="M246" style="vertical-align:-2.7337pt;width:40.787498px;" version="1.1" viewbox="0 0 40.787498 14.1" width="40.787498" 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"> ±</t年代pan> <tspan style="font-size: 12.50px; " x="8.5645552" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="14.816055" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="17.941805" y="0"> 3</t年代pan> </text> <text transform="matrix(1,0,0,-1,-45.67,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> g</t年代pan> </text> </g> </g> </svg>),这意味着最多1.2 g输入时偏移<年代vg height="12.05" id="M247" style="vertical-align:-1.09097pt;width:51.212502px;" version="1.1" viewbox="0 0 51.212502 12.05" width="51.212502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.05)"> <g transform="translate(72,-62.36)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ±</t年代pan> <tspan style="font-size: 12.50px; " x="8.5645552" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="14.816055" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="17.941805" y="0"> 4</t年代pan> </text> <text transform="matrix(1,0,0,-1,-45.67,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 米</t年代pan> <tspan style="font-size: 12.50px; " x="9.727334" y="0"> 年代</t年代pan> </text> </g> </g> </svg>对于中立的立场。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-d75b16d6e02291c5e59c29850433b381"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.0012a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.0012b.jpg"> <br> <strong>(b)</年代trong></d我v> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-d75b16d6e02291c5e59c29850433b381 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.0012a_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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.0012b_th.jpg"><br><strong>(b)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-d75b16d6e02291c5e59c29850433b381 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12</年代pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig12/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>命令输入,控制器输出和边境响应<年代vg height="12.925" id="M248" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> <text transform="matrix(1,0,0,-1,-65.67,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>,<年代vg height="9.875" id="M249" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" 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pan> </text> </g> </g> </svg>,<年代vg height="7.0124998" id="M250" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.0125)"> <g transform="translate(72,-66.39)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代pan> </text> </g> </g> </svg>。</td></tr></tbody> </table> </div> </div> </div> </div> <p>比较实际的和预期的输出以20米/秒的巡航速度控制器如图<一个href="//www.newsama.com/journals/jcse/2011/594086/fig13/" target="_blank">13</一个>。FIC,获得的实际输出和期望输出使用仿真软件得到的仿真工具。0.1秒的延迟发现之间的实际和预期输出控制器,这是由于运输延迟期间推出的单元模拟(按条目1104)。然而,这种延迟不会发生在现实中。副翼通道,实际的输出显示了一小抵消<年代vg height="12.05" id="M251" style="vertical-align:-1.09097pt;width:72.900002px;" version="1.1" viewbox="0 0 72.900002 12.05" width="72.900002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.05)"> <g transform="translate(72,-62.36)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ±</t年代pan> <tspan style="font-size: 12.50px; " x="8.5645552" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="14.816055" y="0"> 。</t年代pan> <tspan style="font-size: 12.50px; " x="17.941805" y="0"> 0</t年代pan> <tspan style="font-size: 12.50px; " x="24.193304" y="0"> 1</t年代pan> </text> <text transform="matrix(1,0,0,-1,-39.42,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 米</t年代pan> <tspan style="font-size: 12.50px; " x="9.727334" y="0"> 年代</t年代pan> <tspan style="font-size: 12.50px; " x="14.591001" y="0"> e</t年代pan> <tspan style="font-size: 12.50px; " x="20.142332" y="0"> c</t年代pan> </text> </g> </g> </svg>对模拟的输出。另一方面,舵通道几乎为零的不匹配。在真实的应用程序中,一个0.01毫秒PWM信号的抵消副翼通道给出了0.4的差异程度的副翼偏转。然而,由于控制器是健壮的,这失配是可以接受的。</gydF4y2Bap> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-e65ce84218ddbf32865ad3f832031d65"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.0013a.jpg"> <br> <strong>(一)</年代trong></d我v> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/figures/594086.fig.0013b.jpg"> <br> <strong>(b)</年代trong></d我v> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-e65ce84218ddbf32865ad3f832031d65 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)gydF4y2Ba" src="https://static-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.0013a_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-02.hindawi.com/articles/jcse/volume-2011/594086/thumbnails/594086.fig.0013b_th.jpg"><br><strong>(b)</年代trong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-e65ce84218ddbf32865ad3f832031d65 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13</年代pan> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/jcse/2011/594086/fig13/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> <tbody> <tr> <td>比较实际的和预期的输出控制器。</td></tr></tbody> </table> </div> </div> </div> </div> <h4 id="conclusions">8。结论</h4><gydF4y2Bap>设计和开发的一个离散的顺序固定的健壮<年代vg height="14.2375" id="M252" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>飞行microair车辆稳定系统,名叫Sarika-2,。本文演示了一个健壮的设计顺序固定<年代vg height="14.2375" id="M253" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>最优控制器使用频率相关加权函数的基础上加强离散最优投影方程。减少顺序固定<年代vg height="14.2375" id="M254" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>直接单步执行程序,设计的控制器,保证闭环系统的稳定性和最优性。控制器也带来强劲的性能参数不确定性对50%和20%的动态和静态稳定性衍生品。摄动分析还表明,可以稳定不稳定摄动装置由控制器设计的一个工厂。反馈回路的冲刷特性使控制活动期间零稳态操作。控制器允许翼autolevel后立即执行协调转弯或撤回侧风输入,有利于侦察任务。时间响应的闭环仿真,使用实时硬件在回路仿真实验设置中,匹配相应的离线仿真的反应。因此,健壮的顺序固定<年代vg height="14.2375" id="M255" 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pan> </text> <text transform="matrix(1,0,0,-1,-61.03,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代pan> </text> </g> </g> </svg>控制器上实现飞行仪表飞行控制计算机可以被成功地用于Sarika-2 microair车辆。</gydF4y2Bap> </div> </div> <div class="ArticleReferences_xmlContent__TZqgx"> <h4 class="ArticleReferences_references__dHBcT" id="references">引用</h4><olcl一个年代年代="ArticleReferences_orderedReferences__K1TM4"> <li class="ArticleReferences_articleReference__7aCxy" id="B1"> <div class="referenceContent"> <p class="referenceText">b . r . Srinivasa Rao,诉Surendranath和h . r . s . Prasanna家门口飞机的风洞试验结果,“技术。众议员AE / WT / IRR / 16日航空航天工程系,印度科学研究所的班加罗尔,印度,2001。</gydF4y2Bap>视图:<gydF4y2Ba!-- --> <a href="https://scholar.google.com/scholar_lookup?title=Wind tunnel test results of SARIKA airplane&author=B. R. Srinivasa Rao, V. Surendranath, and H. R. S. Prasanna&publication_year=2001" target="_blank" rel="noreferrer">谷歌学术搜索</一个></d我v></li> <li class="ArticleReferences_articleReference__7aCxy" id="B2"> <div class="referenceContent"> <p class="referenceText">b . m . Seetharama m·米纳克希s p Govindaraju et al .,“设计和开发微型飞行器的飞行控制和仪表,“技术。众议员ARDB / MSB / tr - 99 - 1050,航空航天工程系,印度科学研究所的班加罗尔,印度,2002。</gydF4y2Bap>视图:<gydF4y2Ba!-- --> <a href="https://scholar.google.com/scholar_lookup?title=Design and development of flight control and instrumentation for micro air vehicle&author=B. M. Seetharama, M. Meenakshi, S. P. 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