比较分析的PID、铅、滞后,领先-落后,级联药物输注系统的控制器</t我tle> <link href="//www.newsama.com/static/themes/hindawi/base.css" rel="stylesheet"> <link href="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/3153252-style.css" rel="stylesheet" class="next-head"> <link href="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/static/lib/basictable.css" rel="stylesheet" media="none" class="next-head"> <link rel="stylesheet" href="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/static/lib/owl.carousel.min.css" media="none" class="next-head"> <link rel="stylesheet" href="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/static/lib/owl.theme.default.min.css" media="none" class="next-head"> <link rel="preload" type="text/css" href="https://cdn.bibblio.org/rcm/4.24/bib-related-content.min.css" as="style" class="next-head"> <link rel="preload" type="text/css" href="https://cdn.bibblio.org/rcm/4.24/bib-related-content.min.css" as="style" class="next-head"> <link rel="stylesheet" href="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/css/common.dd217a9c.chunk.css"> <link rel="stylesheet" href="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/css/static/H8nbD5C9-F-wQIXNukUKY/pages/journal_article.js.99ed7586.chunk.css"> <style data-styled="NQpXC gnduKR jzXSTA bNmdOy epRoim bUhGXt gjctdt jGJLow kAzjOl ivbKJD fopjOz hbVEoI khbeDd gvAGTV kNoiZu diutvq bqeMOy bMdQcY ldSkVQ cmzomn bomGMi kuxTps prcY bJcSpM hdSPnx fTkdCR dDYYdJ EwsTm hYnXNL hGCBfz dfaOeH jOLhQl iiusBg TsaZF cqhPZs gaRePw dEfJbW eBepOs fSPaCp bVEEaH etauus ctePXh gCIfTO hHKuAX dIjoCg jUTgTa eujois cQgXqt ewCAZX kdvWPs hAFFGk lkWWFY ehYbwJ legory epgILe kCfRMJ bjwAQR byflLi jXeALb UVThf dDyxFF fkVFlF dzZrgS jLUVhb dVCLgr bBmZJZ ewHMLz bbzREB jknsZc eSvjPB jntdRu hAzjHP mBGSe bkiEfx ztvYg cUsFHx duuwge lcOiDF gsmOCv kPshFw jMdfPj jZOxOO eHMFfo XkrFe irNWJI iQSObO dMuGGA kfDwZY evMkvU fYrLtk fjviok hgKieC cIribm khHUcu cRDvIO dbAANp eyHfWh cBTaXT becpDt coBIiF jzTMLK gbrQxi hRnXob hymroZ cbcyj hmDWcT isgRZA ihmyEq itFKcQ cGuwDn jrsDZP gWTCXQ jGPvPL etzuBr gWgCNb WHkfb ibWUzs kdRRST cHatnS kxdGAZ jHPgUP fXBKFa hNPrIr bnbfTS cYsVdk inBNwS dkutRV hlGpbO filPdg ecHxGW gCiATD eEFYIL dsXEHZ iXKuYd" data-styled-version="4.4.1"> /* sc-component-id: sc-bdVaJa */ .EwsTm{height:200vh;width:100%;position:fixed;z-index:1;background:rgba(255,255,255,0.8);} .EwsTm.isHide{display:none;} @media (min-width:768px) and (max-width:991px){} @media (min-width:992px){.EwsTm{display:none;}} /* sc-component-id: sc-htpNat */ .bUhGXt{color:black;-webkit-text-decoration:none;text-decoration:none;border-radius:5px;font-size:16px;} .bUhGXt:focus-visible{outline-width:3px;outline-color:#8fc9ff;outline-style:solid;} /* sc-component-id: sc-bxivhb */ .ivbKJD{display:inline-block;} /* sc-component-id: sc-ifAKCX */ .fopjOz{display:-webkit-inline-box;display:-webkit-inline-flex;display:-ms-inline-flexbox;display:inline-flex;-webkit-flex:wrap;-ms-flex:wrap;flex:wrap;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;list-style-type:none;margin:0;padding:0;} .fopjOz li{padding:0 10px;} .fopjOz li a{padding:0;} .fopjOz a{-webkit-transition:border .25s ease-in-out 0s;transition:border .25s ease-in-out 0s;border-bottom:2px solid #fff;border-radius:0;} .fopjOz a:hover{border-bottom:2px solid #9b9b9b;padding-bottom:4px;} .fopjOz .active{border-bottom:2px solid #57a61e;} /* sc-component-id: sc-EHOje */ .jOLhQl{vertical-align:middle;height:24px;}.iiusBg{vertical-align:middle;height:16px;}.TsaZF{vertical-align:middle;height:40px;} /* sc-component-id: sc-bZQynM */ .bNmdOy{max-width:1440px;margin:0 auto;width:100%;} /* sc-component-id: sc-htoDjs */ .khbeDd{vertical-align:middle;font-size:24px;}.gvAGTV{vertical-align:middle;font-size:9px;}.kNoiZu{vertical-align:middle;font-size:16px;}.diutvq{vertical-align:middle;font-size:22px;}.bqeMOy{vertical-align:middle;font-size:20px;}.bMdQcY{vertical-align:middle;font-size:11px;} /* sc-component-id: sc-fjdhpX */ .jzXSTA{position:fixed;top:0;left:0;right:0;z-index:1000;background:#fff;height:70px;font-size:16px;font-weight:500;border-bottom:1px solid #e3e3e3;-webkit-transition:all 0.5s;transition:all 0.5s;} @media (max-width:991px){.jzXSTA{border-bottom:1px solid #e3e3e3;}} @media (max-width:767px){.jzXSTA{margin-bottom:70px;height:60px;}} .jzXSTA .header__padding{padding:0 20px;box-sizing:border-box;} @media (max-width:991px){.jzXSTA .header__padding{padding:0 0 0 20px;}} .jzXSTA .menu{position:fixed;top:60px;right:0;width:100%;background:white;} @media (max-width:991px){.jzXSTA .menu{z-index:2;}} @media (min-width:768px){.jzXSTA .menu{width:500px;top:70px;}} @media (min-width:991.5px){.jzXSTA .menu{display:none;}} .jzXSTA .menu ul{list-style-type:none;text-align:center;padding:0;margin:0;} @media (min-width:768px){.jzXSTA .menu ul{padding:0;border-left:1px solid #e3e3e3;}} .jzXSTA .menu ul li a{color:#4a4a4a;padding:10px;-webkit-text-decoration:none;text-decoration:none;display:block;border-bottom:1px solid #e3e3e3;} .jzXSTA .menu .button_wrap{width:90%;margin:10px auto;border-radius:5px;border-style:solid;border-width:1px;} @media (min-width:768px){.jzXSTA .menu .button_wrap{display:none;}} .jzXSTA .menu .button__publishing{background-color:#6ba439;color:#fff;border-color:#6ba439;} .jzXSTA .menu .button__login{display:none;background-color:#fff;color:#4D8A17;border-color:#e3e3e3;} .jzXSTA.headerUp{-webkit-transform:translateY(-100%);-ms-transform:translateY(-100%);transform:translateY(-100%);} /* sc-component-id: sc-jzJRlG */ .jGJLow{-webkit-box-pack:end;-webkit-justify-content:flex-end;-ms-flex-pack:end;justify-content:flex-end;} .jGJLow a{padding:10px;} .jGJLow nav{-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} @media (max-width:991px){.jGJLow nav{display:none;}} .jGJLow nav ul{margin-right:16px;} .jGJLow nav ul li a{color:#4a4a4a;padding:10px 0px 4px;margin:0 6px;} @media (max-width:991px){.jGJLow .icon-themeable{border-left:1px solid #e3e3e3;padding:23px 20px;}} @media (max-width:767px){.jGJLow .icon-themeable{padding:18px 20px;}} @media (max-width:767.5px){.jGJLow.mobileButtonFlex{-ms-flex:0 0 51%;-webkit-flex:0 0 51%;-ms-flex:0 0 51%;flex:0 0 51%;max-width:51%;}} /* sc-component-id: sc-cSHVUG */ .ldSkVQ{display:none;padding:0;background-color:#fff;border:none;height:59px;} @media (min-width:768px){.ldSkVQ{height:69px;}} .ldSkVQ img{box-sizing:content-box;width:28px;padding:17px 20px;} @media (min-width:768px){.ldSkVQ img{padding:22px 20px;}} @media (max-width:991px){.ldSkVQ{display:inline-block;}} /* sc-component-id: sc-kAzzGY */ .epRoim a{display:inline-block;padding:15px 0;} @media (max-width:767px){.epRoim a{padding:10px 0;}} @media (max-width:767.5px){.epRoim.mobileLogoFlex{-ms-flex:0 0 49%;-webkit-flex:0 0 49%;-ms-flex:0 0 49%;flex:0 0 49%;max-width:49%;}} /* sc-component-id: sc-chPdSV */ .hbVEoI{border:none;height:50px;background-color:#fff;margin:10px 0 0 17px;position:relative;} @media (max-width:991.5px){.hbVEoI{margin:0 3px 0 16px;padding:0;height:69px;}} @media (max-width:767.5px){.hbVEoI{height:59px;}} .hbVEoI img{box-sizing:content-box;} .hbVEoI .icon__cross{width:24px;height:24px;} @media (min-width:768px){.hbVEoI .icon__cross{padding:23px 20px;}} @media (min-width:992px){.hbVEoI .icon__cross{padding:0px;}} /* sc-component-id: sc-ckVGcZ */ .gjctdt{vertical-align:middle;height:39px;} @media (max-width:401px){.gjctdt{max-width:100%;}} /* sc-component-id: sc-jKJlTe */ .inBNwS{background-color:#0d2934;font-size:16px;position:relative;z-index:3;} @media (max-width:991px){.inBNwS{z-index:0;}} /* sc-component-id: sc-eNQAEJ */ .dkutRV{border-bottom :1px solid;border-color:#828282;padding:29px 40px 30px 40px;} @media (min-width:992px){.dkutRV{padding:40px 40px 40px 35px;}} .dkutRV .primary__footer .mobile{display:block;} .dkutRV .primary__footer .desktop{display:none;} @media (min-width:992px){.dkutRV .primary__footer{-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;}.dkutRV .primary__footer .mobile{display:none;}.dkutRV .primary__footer .desktop{display:block;}} @media (min-width:992px){.dkutRV .col5{-webkit-flex:0 0 18%;-ms-flex:0 0 18%;flex:0 0 18%;max-width:18%;}} .dkutRV address{font-style:inherit;line-height:1.5;font-size:16px;display:none;border-right:1px solid #EBEBEB;} @media (max-width:767px){.dkutRV address{border-bottom:1px solid #E3E3E3;padding-bottom:20px;}} @media (min-width:992px){.dkutRV address{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-flex-direction:column;-ms-flex-direction:column;flex-direction:column;-webkit-box-pack:center;-webkit-justify-content:center;-ms-flex-pack:center;justify-content:center;margin-right:50px;}} @media (min-width:1200px){.dkutRV address{margin-right:70px;}} .dkutRV address p{margin:0;font-size:14px;} @media (max-width:767px){.dkutRV address p{text-align:center;}} @media (min-width:1200px){.dkutRV address p{font-size:16px;}} .dkutRV nav ul{list-style:none;padding:0;line-height:2;font-size:16px;margin:18px 0 0 0;} .dkutRV nav ul:first-child{margin:0;} @media (min-width:992px){.dkutRV nav ul{margin:0;}} .dkutRV nav ul li{line-height:22px;padding:5px;} .dkutRV nav ul li a{color:#d8d8d8;font-weight:500;display:block;font-size:16px;} .dkutRV nav ul li img{padding:2.5px 0 0 10px;box-sizing:content-box;-webkit-transform:rotate(180deg);-ms-transform:rotate(180deg);transform:rotate(180deg);} /* sc-component-id: sc-hMqMXs */ .hlGpbO{padding-top:6px;color:#FFFFFF;font-weight:500;margin-bottom:29px;} @media (min-width:992px){.hlGpbO{-webkit-flex:0 0 25%;-ms-flex:0 0 25%;flex:0 0 25%;max-width:-webkit-fit-content;max-width:-moz-fit-content;max-width:fit-content;}} /* sc-component-id: sc-kEYyzF */ .ecHxGW{margin-right:20px;} .ecHxGW:last-child{margin-right:0;} /* sc-component-id: sc-kkGfuU */ .filPdg{margin-top:15px;} /* sc-component-id: sc-iAyFgw */ .gCiATD{line-height:30px;font-size:11px;padding:10px 20px;text-align:center;} .gCiATD .textright{text-align:right;font-weight:500;} @media (max-width:767px){.gCiATD .textright{text-align:center;}} @media (min-width:992px){.gCiATD .textright{font-weight:100;}} .gCiATD a{font-size:13px;color:#fff;} /* sc-component-id: sc-hSdWYo */ .etauus{display:inline-block;background-color:#fff;color:#4D8A17;border-color:#E3E3E3;width:auto;border-radius:5px;font-size:16px;border-width:1px;border-style:solid;} .etauus:focus-visible{outline-width:3px;outline-color:#8fc9ff;outline-style:solid;} /* sc-component-id: sc-eHgmQL */ .fTkdCR{font-size:22px;color:#000;} @media (min-width:767.5px){.fTkdCR{font-size:24px;}} @media (min-width:991.5px){.fTkdCR{font-size:25px;}} .fTkdCR:after{content:'';display:inline-block;margin-top:0.2em;margin-left:0.5em;} /* sc-component-id: sc-iRbamj */ .jZOxOO{font-size:30px;font-weight:500;-webkit-letter-spacing:1px;-moz-letter-spacing:1px;-ms-letter-spacing:1px;letter-spacing:1px;line-height:1;margin-top:0;} @media (min-width:767.5px){.jZOxOO{font-size:40px;}} @media (min-width:991.5px){.jZOxOO{font-size:40px;}} .jZOxOO sup,.jZOxOO sub{vertical-align:baseline;position:relative;top:-10px;} .jZOxOO sub{top:10px;} /* sc-component-id: sc-Rmtcm */ .hNPrIr{font-size:20px;font-weight:500;margin-top:0;margin-bottom:15px;} /* sc-component-id: sc-bRBYWo */ .fXBKFa{display:inline-block;} @media (max-width:991.5px){.fXBKFa{width:100%;}} @media (min-width:991.5px){.fXBKFa.hide{display:none !important;}} /* sc-component-id: sc-hzDkRC */ .bnbfTS{display:-webkit-inline-box;display:-webkit-inline-flex;display:-ms-inline-flexbox;display:inline-flex;-webkit-flex:wrap;-ms-flex:wrap;flex:wrap;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;list-style-type:none;margin:0;width:100%;padding:0 !important;border-top:1px solid #fff;} .bnbfTS li{width:100%;text-align:center;box-sizing:border-box;padding:17px 0px;min-height:48px;} .bnbfTS li a{display:block;} .bnbfTS .iconBorder{border-right:1px solid #fff;} .bnbfTS img{width:23px;} .bnbfTS img.socialLinkedin{width:28px;} .bnbfTS .wechat-container{position:relative;} .bnbfTS .wechat-container .addthis_inline_share_toolbox{position:absolute;top:0;left:0;width:100%;height:100%;opacity:0 !important;} /* sc-component-id: sc-jtRfpW */ .hHKuAX{background-color:#6BA439;color:#fff;padding:20px;line-height:22px !important;border-radius:0;border-top:1px solid #fff;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;min-height:60px;} .hHKuAX img{display:-webkit-inline-box;display:-webkit-inline-flex;display:-ms-inline-flexbox;display:inline-flex;-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} .hHKuAX span{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} .hHKuAX span.text{padding-left:20px;font-weight:500;} @media (max-width:360px){.hHKuAX span.text{padding-left:5px;font-size:14px;}} @media (min-width:320px) and (max-width:767.5px){.hHKuAX span.text{padding-left:20px;}}.dIjoCg{background-color:#F2F2F2;color:#4A4A4A;padding:20px;line-height:22px !important;border-radius:0;border-top:1px solid #E3E3E3;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;min-height:60px;} .dIjoCg img{display:-webkit-inline-box;display:-webkit-inline-flex;display:-ms-inline-flexbox;display:inline-flex;-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} .dIjoCg span{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} .dIjoCg span.text{padding-left:20px;font-weight:500;} @media (max-width:360px){.dIjoCg span.text{padding-left:5px;font-size:14px;}} @media (min-width:320px) and (max-width:767.5px){.dIjoCg span.text{padding-left:20px;}} /* sc-component-id: sc-kTUwUJ */ .eujois{width:20px;} /* sc-component-id: sc-dqBHgY */ .cQgXqt{width:20px;height:16px;color:#6ba439;} /* sc-component-id: sc-cbkKFq */ .kuxTps{-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;position:fixed;top:60px;} @media (min-width:767.5px){.kuxTps{position:fixed;top:70px;}} @media (min-width:991.5px){.kuxTps{position:fixed;top:70px;}}.prcY{-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;top:0px;} @media (min-width:767.5px){.prcY{top:0px;}} @media (min-width:991.5px){.prcY{position:fixed;top:241px;}} /* sc-component-id: sc-hGoxap */ .dEfJbW{position:relative;background:#007d8d;} @media (max-width:991px){.dEfJbW{z-index:2;}} @media (min-width:767.5px) and (max-width:991.5px){.dEfJbW{width:50%;}} @media (min-width:991.5px){.dEfJbW{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:end;-webkit-justify-content:flex-end;-ms-flex-pack:end;justify-content:flex-end;border-top:1px solid white;}} .dEfJbW.isHide{display:none;} @media (min-width:991.5px){.dEfJbW.isHide{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;}} .dEfJbW .submit__button{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;box-shadow:0 2px 4px rgba(0,0,0,.5);padding:0 20px;min-height:45px;} .dEfJbW .submit__button span.text{font-size:16px;} .dEfJbW .submit__button img{width:20px;} @media (min-width:767.5px){.dEfJbW .submit__button{min-height:58px;}.dEfJbW .submit__button img{width:22px;}} @media (min-width:991.5px){.dEfJbW .submit__button{display:none;}} /* sc-component-id: sc-fjmCvl */ .fSPaCp{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;font-size:16px;font-weight:500;color:#fff;background-color:#007d8d;line-height:20px;padding:10px 20px;border:0;border-radius:0;border-top:1px solid #fff;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;margin:0;} @media (min-width:767.5px){.fSPaCp{padding:16px 20px;}} @media (min-width:991.5px){.fSPaCp{border-top:none;border-right:1px solid #fff;padding:14.5px 15px;font-size:14px;}} @media (min-width:1200px){.fSPaCp{padding:14.5px 20px;font-size:16px;}} .fSPaCp .icon__inactive{-webkit-transform:rotateZ(-90deg);-ms-transform:rotateZ(-90deg);transform:rotateZ(-90deg);line-height:20px;} @media (min-width:991.5px){.fSPaCp .icon__inactive{-webkit-transform:rotateZ(0);-ms-transform:rotateZ(0);transform:rotateZ(0);}} .fSPaCp.button__active{background:#fff;color:#4A4A4A;} @media (min-width:767.5px) and (max-width:991.5px){.fSPaCp.button__active{border-right:1px solid #007f8f;}} .fSPaCp .icon__active{-webkit-transform:rotateZ(-90deg);-ms-transform:rotateZ(-90deg);transform:rotateZ(-90deg);line-height:20px;} @media (min-width:991.5px){.fSPaCp .icon__active{-webkit-transform:rotate(0);-ms-transform:rotate(0);transform:rotate(0);}} .fSPaCp .icon__hidden{display:none;}.bVEEaH{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;font-size:16px;font-weight:500;color:#fff;background-color:#007d8d;line-height:20px;padding:10px 20px;border:0;border-radius:0;border-top:1px solid #fff;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;margin:0;} @media (min-width:767.5px){.bVEEaH{padding:16px 20px;}} @media (min-width:991.5px){.bVEEaH{border-top:none;border-right:0;padding:14.5px 15px;font-size:14px;}} @media (min-width:1200px){.bVEEaH{padding:14.5px 20px;font-size:16px;}} .bVEEaH .icon__inactive{-webkit-transform:rotateZ(-90deg);-ms-transform:rotateZ(-90deg);transform:rotateZ(-90deg);line-height:20px;} @media (min-width:991.5px){.bVEEaH .icon__inactive{-webkit-transform:rotateZ(0);-ms-transform:rotateZ(0);transform:rotateZ(0);}} .bVEEaH.button__active{background:#fff;color:#4A4A4A;} @media (min-width:767.5px) and (max-width:991.5px){.bVEEaH.button__active{border-right:1px solid #007f8f;}} .bVEEaH .icon__active{-webkit-transform:rotateZ(-90deg);-ms-transform:rotateZ(-90deg);transform:rotateZ(-90deg);line-height:20px;} @media (min-width:991.5px){.bVEEaH .icon__active{-webkit-transform:rotate(0);-ms-transform:rotate(0);transform:rotate(0);}} .bVEEaH .icon__hidden{display:none;} /* sc-component-id: sc-TFwJa */ .gCIfTO{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;font-size:16px;font-weight:500;color:#fff;background-color:#007d8d;line-height:20px;padding:10px 20px;border:0;border-radius:0;border-top:1px solid #fff;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;} @media (min-width:767.5px){.gCIfTO{padding:16px 20px;}} @media (min-width:991.5px){.gCIfTO{-webkit-transition:all 0.25s;transition:all 0.25s;border-top:none;border-right:1px solid #fff;border-left:0;padding:14.5px 30px 14.5px 20px;width:calc(100% / 6);font-size:14px;}.gCIfTO:hover{background:#fff;color:#4A4A4A;}} @media (min-width:1200px){.gCIfTO{font-size:16px;}} /* sc-component-id: sc-bHwgHz */ .ctePXh{width:18px;margin-right:-4px;} @media (min-width:991.5px){.ctePXh{width:7px;font-size:7px;}} @media (min-width:1200px){.ctePXh{width:18px;}} /* sc-component-id: sc-krDsej */ .ewCAZX{position:absolute;top:0;width:calc(100% - 20px);right:0;bottom:0;background:#fff;-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;min-height:290px;box-shadow:0 2px 4px rgba(0,0,0,0.5);} .ewCAZX.hide__submenu{-webkit-transform:translateX(100%);-ms-transform:translateX(100%);transform:translateX(100%);} @media (min-width:767.5px){.ewCAZX.hide__submenu{-webkit-transform:translateX(-200%);-ms-transform:translateX(-200%);transform:translateX(-200%);}} @media (min-width:767.5px){.ewCAZX{left:100%;width:100%;padding-top:20px;z-index:-1;min-height:375px;}} @media (min-width:991.5px){.ewCAZX{display:none;}} /* sc-component-id: sc-dTdPqK */ .lkWWFY{-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;display:none;} @media (min-width:991.5px){.lkWWFY.hide__submenu{-webkit-transform:translateY(-300%);-ms-transform:translateY(-300%);transform:translateY(-300%);}} @media (min-width:991.5px){.lkWWFY{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;height:186px;top:49px;left:0;position:absolute;right:0;background:#fff;z-index:-1;box-shadow:0 4px 6px rgba(0,0,0,0.21);}} /* sc-component-id: sc-itybZL */ .kdvWPs{font-weight:700;border:0;color:#4A4A4A;padding:10px 0;background-color:#fff;font-size:16px;line-height:20px;} .kdvWPs:focus-visible{outline-width:3px;outline-color:#8fc9ff;outline-style:solid;} @media (min-width:767.5px){.kdvWPs{display:none;}} /* sc-component-id: sc-fzsDOv */ .hAFFGk{margin:0px 10px 2px 20px;-webkit-transform:rotate(90deg);-ms-transform:rotate(90deg);transform:rotate(90deg);display:inline-block;} /* sc-component-id: sc-gPWkxV */ .legory{width:50%;} /* sc-component-id: sc-jVODtj */ .epgILe{color:#007B8B;width:50%;font-size:16px;line-height:26px;margin:auto;padding:0 6%;} /* sc-component-id: sc-kUaPvJ */ .ehYbwJ{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:50%;padding:24.5px 2% 0;-webkit-order:0;-ms-flex-order:0;order:0;} @media (min-width:1024px){.ehYbwJ{padding:24.5px 3% 0;}} /* sc-component-id: sc-giadOv */ .eBepOs{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;} @media (min-width:991.5px){.eBepOs{width:calc(100% / 6);}.eBepOs:first-child{border-left:none;}} /* sc-component-id: sc-fONwsr */ .kCfRMJ{background-color:#D8D8D8;position:absolute;left:50%;display:inline-block;height:121px;width:2px;top:33px;} /* sc-component-id: sc-LKuAh */ .lcOiDF{padding:0;margin:10px 0 25px 0;} /* sc-component-id: sc-iBEsjs */ .kPshFw{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;border:none;font-size:12px;font-weight:500;margin-top:7px;padding:0;color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .kPshFw:hover{-webkit-text-decoration:underline;text-decoration:underline;} @media (min-width:767.5px){.kPshFw{margin-top:10px;}} /* sc-component-id: sc-hzNEM */ .gsmOCv{overflow-y:hidden;height:auto;max-height:100%;-webkit-transition:all .5s;transition:all .5s;background-color:#F2F2F2;padding:0 16px;} .gsmOCv.isHide{max-height:0;-webkit-transition:all .5s;transition:all .5s;} .gsmOCv p{font-size:14px;line-height:22px;} .gsmOCv sup{margin-top:-5px;} /* sc-component-id: sc-chbbiW */ .mBGSe{padding:0;} /* sc-component-id: sc-kZmsYB */ .bkiEfx{font-size:14px;font-weight:700;line-height:16px;-webkit-letter-spacing:0.58px;-moz-letter-spacing:0.58px;-ms-letter-spacing:0.58px;letter-spacing:0.58px;margin:23px 0 0px !important;} @media (min-width:767.5px){.bkiEfx{margin:34px 0 0px !important;}} @media (min-width:991.5px){.bkiEfx{margin:-4px 0 0 !important;}} /* sc-component-id: sc-RcBXQ */ .ztvYg{font-size:14px;line-height:22px;} .ztvYg a{color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .ztvYg a:hover{-webkit-text-decoration:underline;text-decoration:underline;} /* sc-component-id: sc-iSDuPN */ @font-face{font-family:'STIXGeneral-Bold';src:url('https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/node_modules/hindawi-ui/fonts/STIXGeneral-Bold.otf');font-weight:normal;font-style:normal;} .jMdfPj{font-weight:700;font-family:STIXGeneral-Bold;margin:19px 0 22px;font-size:25px;line-height:28px;-webkit-letter-spacing:normal;-moz-letter-spacing:normal;-ms-letter-spacing:normal;letter-spacing:normal;} @media (min-width:767.5px){.jMdfPj{font-size:25px;margin:20px 0 23px;}} @media (min-width:991.5px){.jMdfPj{font-size:30px;line-height:34px;margin:19px 0 22px;}} .jMdfPj p{margin:0;} /* sc-component-id: sc-fZwumE */ .cUsFHx{padding:0 3px;} /* sc-component-id: sc-fQejPQ */ .duuwge{font-size:14px;} .duuwge:hover{-webkit-text-decoration:underline;text-decoration:underline;} /* sc-component-id: sc-jtRlXQ */ @font-face{font-family:'STIXGeneral-Regular';src:url('https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/node_modules/hindawi-ui/fonts/STIXGeneral-Regular.otf');font-weight:normal;font-style:normal;} @font-face{src:url('https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/node_modules/hindawi-ui/fonts/STIXGeneral-Regular.otf');font-weight:normal;font-style:normal;} @font-face{font-family:'STIXGeneral-Regular';src:url('https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/node_modules/hindawi-ui/fonts/STIXGeneral-Regular.otf');font-weight:normal;font-style:normal;} .cRDvIO{font-family:STIXGeneral-Regular;text-align:justify;} .cRDvIO a{word-break:break-all;} .cRDvIO h4:first-of-type{border-top:0px solid #E3E3E3;padding-top:0;} .cRDvIO h4{font-size:20px;font-family:"IBM Plex Sans",sans-serif;border-top:1px solid #E3E3E3;padding-top:23px;margin-top:15px;margin-bottom:-3px;} .cRDvIO h4#abstract{margin-top:-7px;margin-bottom:-3px;} @media (min-width:767.5){.cRDvIO h4#abstract{margin-top:-6px;}} @media (min-width:991.5px){.cRDvIO h4#abstract{margin-top:34px;}} .cRDvIO h4.references,.cRDvIO h4.copyright{border-top:1px solid #E3E3E3;padding-top:23px;} .cRDvIO h4.references{margin-bottom:-8px;} .cRDvIO h5,.cRDvIO h6{margin:22px 0;font-size:16px;word-break:break-word;} .cRDvIO h6{margin:25px 0;text-align:left;} .cRDvIO p{font-size:16px;word-break:break-word;} .cRDvIO .floats-partial-section{border:1px solid #E3E3E3;margin:25px auto;} @media (max-width:767px){.cRDvIO .floats-partial-section{margin:0 auto;overflow-x:hidden;}} .cRDvIO .floats-partial-section .floats-partial-content{padding:19px 0px 19px 0px;height:254px;width:96%;overflow:hidden;margin:0 auto;position:relative;cursor:pointer;} .cRDvIO .floats-partial-section .floats-partial-content table{margin:0 auto;} .cRDvIO .floats-partial-section .floats-partial-content .table-group{width:-webkit-fit-content;width:-moz-fit-content;width:fit-content;} .cRDvIO .floats-partial-section .floats-partial-content .table-group table{width:-webkit-fit-content;width:-moz-fit-content;width:fit-content;} .cRDvIO .floats-partial-section .floats-partial-content .table-group table object{z-index:-1;position:relative;} .cRDvIO .floats-partial-section .floats-partial-content .table-group table td{padding:4px 7px;} .cRDvIO .floats-partial-section .floats-partial-content .table-group table td.align_left{text-align:left;} .cRDvIO .floats-partial-section .floats-partial-content .table-group table td.align_center{text-align:center;} @media (min-width:768px){.cRDvIO .floats-partial-section .floats-partial-content{padding:22px 0px 0 0px;height:197px;}} @media (min-width:992px){.cRDvIO .floats-partial-section .floats-partial-content{padding:23px 0px 13px 0px;height:215px;}} .cRDvIO .floats-partial-section .floats-partial-content:after{content:"";height:20%;position:absolute;bottom:0;right:0;left:0;background:-moz-linear-gradient(left,rgba(255,255,255,.7) 0%,rgba(255,255,255,.7) 56%,rgba(255,255,255,.7) 100%);background:-webkit-gradient(linear,left top,right top,color-stop(0%,rgba(255,255,255,.7)),color-stop(56%,rgba(255,255,255,.7)),color-stop(100%,rgba(255,255,255,.7)));background:-webkit-linear-gradient(rgba(255,255,255,0) 0%,rgba(255,255,255,0.5) 30%,rgba(255,255,255,0.7) 56%,rgba(255,255,255,0.9) 75%,rgba(255,255,255,1) 100%);background:-o-linear-gradient(left,rgba(255,255,255,.7) 0%,rgba(255,255,255,.7) 56%,rgba(255,255,255,.7) 100%);background:-ms-linear-gradient(left,rgba(255,255,255,.7) 0%,rgba(255,255,255,.7) 56%,rgba(255,255,255,.7) 100%);background:linear-gradient(left,rgba(255,255,255,.7) 0%,rgba(255,255,255,.7) 56%,rgba(255,255,255,.7) 100%);-webkit-filter:progid:DXImageTransform.Microsoft.gradient( startColorstr='#00ffffff',endColorstr='#ffffff',GradientType=1 );filter:progid:DXImageTransform.Microsoft.gradient( startColorstr='#00ffffff',endColorstr='#ffffff',GradientType=1 );} .cRDvIO .floats-partial-section .floats-partial-footer{background-color:#F2F2F2;border-top:1px solid #E3E3E3;} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:end;-webkit-justify-content:flex-end;-ms-flex-pack:end;justify-content:flex-end;} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .minimize_btn{-webkit-flex:1;-ms-flex:1;flex:1;background:url('data:image/svg+xml;base64,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') no-repeat 6px;background-position:center;margin-top:10px;min-width:55px;} @media (min-width:768px){.cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .minimize_btn{display:none;}} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .expand_btn{-webkit-flex:1;-ms-flex:1;flex:1;background:url('data:image/svg+xml;base64,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') no-repeat 6px;background-position:center;margin-top:10px;min-width:55px;display:none;} @media (min-width:768px){.cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .expand_btn{display:none;}} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{-webkit-flex:9;-ms-flex:9;flex:9;text-align:left;padding:21px 37px 10px 0px;font-size:16px;font-weight:700;} @media (min-width:768px){.cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{padding:19px 18px 10px 18px;}} @media (min-width:992px){.cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{padding:19px 21px 10px 21px;}} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{-webkit-flex:1;-ms-flex:1;flex:1;background:url('data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjAiIGhlaWdodD0iMjAiIHZpZXdCb3g9IjAgMCAyMCAyMCI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMGEzLDMsMCwwLDEtMy0zVjZBMywzLDAsMCwxLDMsM0g5QTEsMSwwLDAsMSw5LDVIM0ExLDEsMCwwLDAsMiw2VjE3YTEsMSwwLDAsMCwxLDFIMTRhMSwxLDAsMCwwLDEtMVYxMWExLDEsMCwxLDEsMiwwdjZhMywzLDAsMCwxLTMsM1ptNC4yOTMtNy4yOTNhMSwxLDAsMCwxLDAtMS40MTRMMTYuNTg1LDJIMTNhMSwxLDAsMCwxLDAtMmg2YTEsMSwwLDAsMSwuNC4wODJoMGwuMDE4LjAwOC4wMDgsMEwxOS40MzguMWwuMDE0LjAwNy4wMDYsMCwuMDE5LjAxaDBBMSwxLDAsMCwxLDIwLDEuMDI4VjdhMSwxLDAsMSwxLTIsMFYzLjQxNUw4LjcwOCwxMi43MDdhMSwxLDAsMCwxLTEuNDE1LDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDIpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTIgLTIpIj48cGF0aCBkPSJNMywyMGEzLDMsMCwwLDEtMy0zVjZBMywzLDAsMCwxLDMsM0g5QTEsMSwwLDAsMSw5LDVIM0ExLDEsMCwwLDAsMiw2VjE3YTEsMSwwLDAsMCwxLDFIMTRhMSwxLDAsMCwwLDEtMVYxMWExLDEsMCwxLDEsMiwwdjZhMywzLDAsMCwxLTMsM1ptNC4yOTMtNy4yOTNhMSwxLDAsMCwxLDAtMS40MTRMMTYuNTg1LDJIMTNhMSwxLDAsMCwxLDAtMmg2YTEsMSwwLDAsMSwuNC4wODJoMGwuMDE4LjAwOC4wMDgsMEwxOS40MzguMWwuMDE0LjAwNy4wMDYsMCwuMDE5LjAxaDBBMSwxLDAsMCwxLDIwLDEuMDI4VjdhMSwxLDAsMSwxLTIsMFYzLjQxNUw4LjcwOCwxMi43MDdhMSwxLDAsMCwxLTEuNDE1LDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDIpIi8+PGcgY2xpcC1wYXRoPSJ1cmwoI2EpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9IiM2YmE0MzkiLz48L2c+PC9nPjwvc3ZnPg==') no-repeat 6px;background-position:center;padding:16px 0 16px 0;min-width:62px;max-width:62px;} @media (min-width:768px){.cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{padding:16px 0 17px 0;min-width:52px;max-width:52px;}} @media (min-width:992px){.cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{padding:15px 0 17px 0;min-width:60px;max-width:60px;}} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url:hover{-webkit-text-decoration:none;text-decoration:none;} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption-text{font-size:14px;padding:0px 18px 17px 22px;} @media (min-width:768px){.cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption-text{padding:0px 15px 15px 18px;}} @media (min-width:992px){.cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption-text{padding:0px 18px 19px 21px;}} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption-text figcaption{margin:0;padding:0;} .cRDvIO .floats-partial-section .floats-partial-footer .floats-partial-caption-text svg{max-width:100%;} .cRDvIO ol{font-size:16px;padding-left:32px;font-family:STIXGeneral-Regular;line-height:24px;margin:15px 0;} .cRDvIO ol li{margin:10px 0;padding-left:10px;word-break:normal;} .cRDvIO ol li a{word-break:break-all;} .cRDvIO ol li .reflinks{display:block;} .cRDvIO ol li .reflinks a{color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .cRDvIO ol li .reflinks a:hover{-webkit-text-decoration:underline;text-decoration:underline;} .cRDvIO ol li .reflinks .sep{color:#000000;} .cRDvIO .table-wrapper{width:auto;overflow-x:auto;} .cRDvIO .table-wrapper::-webkit-scrollbar{-webkit-appearance:none;width:5px;height:5px;} .cRDvIO .table-wrapper::-webkit-scrollbar-thumb{border-radius:5px;background-color:rgba(0,0,0,.5);-webkit-box-shadow:0 0 1px rgba(255,255,255,.5);} @media (min-width:768px){.cRDvIO .table-wrapper{overflow-x:auto;width:auto;-webkit-break-word:word-break;break-word:word-break;margin:0 auto;}} @media (min-width:992px){.cRDvIO .table-wrapper{width:auto;}} @media (min-width:1324px){.cRDvIO .table-wrapper{width:auto;}} @media (min-width:320px){.cRDvIO{margin-bottom:33px;padding:0;}} @media (min-width:992px){.cRDvIO{padding:0;margin-bottom:100px;}} @media (min-width:1325px){.cRDvIO{margin-bottom:100px;}} .cRDvIO .owl-stage{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;} .cRDvIO .floats-partial-middle--thumbs{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;} .cRDvIO .floats-partial-middle--thumbs .partial-carousel-dot svg{fill:#4D8A17;} .cRDvIO .floats-partial-middle--thumbs .partial-carousel-dot strong{color:#4D8A17;font-weight:500;} .cRDvIO .floats-partial-middle--thumbs .partial-carousel-dot.active strong{color:#007B8B;} .cRDvIO .floats-partial-middle--thumbs .partial-carousel-dot.active svg{fill:#007B8B;} .cRDvIO .floats-partial-middle--thumbs .partial-carousel-dot .nowrap{white-space:nowrap;} .cRDvIO .partial-carousel-dot{text-align:center;cursor:pointer;border:0;width:100px;padding-bottom:20px;background-color:#fff;display:table-cell;} .cRDvIO .partial-carousel-dot:focus-visible{outline-offset:-3px;} .cRDvIO .partial-carousel-dot strong{font-size:11px;padding-top:12px;} @media (min-width:767.5px){.cRDvIO .partial-carousel-dot strong{font-size:16px;}} .cRDvIO .partial-carousel-dot img{width:90px;height:90px;border:1px solid #979797;margin:10px 0;} .cRDvIO .partial-carousel-wrapper .floats-partial-middle{border-top:1px solid #e3e3e3;display:block;margin-bottom:50px;padding-top:1px;} @media (min-width:767.5px){.cRDvIO .partial-carousel-wrapper .floats-partial-middle{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;margin-bottom:0;}} .cRDvIO .partial-carousel--single-image{overflow:hidden;text-align:center;} .cRDvIO .partial-carousel--single-image img{width:100%;max-height:239px;height:auto;} @media (min-width:767.5px){.cRDvIO .partial-carousel--single-image img{max-height:357px;}} @media (min-width:991.5px){.cRDvIO .partial-carousel--single-image img{max-height:417px;}} .cRDvIO .partial-carousel--single-image strong{font-size:11px;padding-top:12px;} @media (min-width:767.5px){.cRDvIO .partial-carousel--single-image strong{font-size:16px;}} .cRDvIO .owl-nav,.cRDvIO .owl-dots{display:none;} .cRDvIO .partial-carousel-wrapper .owl-loaded{position:relative;height:auto;max-height:287px;} @media (min-width:767.6px){.cRDvIO .partial-carousel-wrapper .owl-loaded{max-height:414px;}} @media (min-width:767.5px){.cRDvIO .partial-carousel-wrapper .owl-loaded{max-height:477px;}} .cRDvIO .partial-carousel-wrapper .floats-partial-content,.cRDvIO .owl-stage-outer,.cRDvIO .owl-stage{max-height:287px;height:auto;} @media (min-width:767.6px){.cRDvIO .partial-carousel-wrapper .floats-partial-content,.cRDvIO .owl-stage-outer,.cRDvIO .owl-stage{max-height:414px;}} @media (min-width:767.5px){.cRDvIO .partial-carousel-wrapper .floats-partial-content,.cRDvIO .owl-stage-outer,.cRDvIO .owl-stage{max-height:477px;}} .cRDvIO .partial-carousel-wrapper .floats-partial-content::after,.cRDvIO .owl-stage-outer::after,.cRDvIO .owl-stage::after{background:transparent;} .cRDvIO .partial-carousel-wrapper .floats-partial-middle--thumbs{width:100%;overflow-x:auto;-webkit-align-items:self-start;-webkit-box-align:self-start;-ms-flex-align:self-start;align-items:self-start;} @media (min-width:767.5px){.cRDvIO .partial-carousel-wrapper .floats-partial-middle--thumbs{width:calc(100% - 110px);}} .cRDvIO .partial-carousel-wrapper .floats-partial-middle--nav{width:100%;position:relative;} @media (min-width:767.5px){.cRDvIO .partial-carousel-wrapper .floats-partial-middle--nav{width:20%;}} .cRDvIO .floats-partial-middle{position:relative;} .cRDvIO .partial-carousel-wrapper .carousel-prev{background:url('data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjYuNjY3IiBoZWlnaHQ9IjI2LjY2NyIgdmlld0JveD0iMCAwIDI2LjY2NyAyNi42NjciPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTS0xMC4yOTMsMTMuNzA3YTEsMSwwLDAsMCwwLTEuNDE0TC0xNC41ODYsOEgtMUExLDEsMCwwLDAsMCw3LDEsMSwwLDAsMC0xLDZILTE0LjU4Nmw0LjI5My00LjI5M2ExLDEsMCwwLDAsMC0xLjQxNSwxLDEsMCwwLDAtMS40MTQsMGwtNiw2YTEsMSwwLDAsMC0uMTcyLjIzMWgwbC0uMDEuMDE5LDAsLjAwNS0uMDA3LjAxNC0uMDA2LjAxMiwwLC4wMDgtLjAwOC4wMTh2MEExLDEsMCwwLDAtMTgsN2ExLDEsMCwwLDAsLjA5Mi40MTlsMCwwLC4wMDguMDE2LDAsLjAwOS4wMDUuMDExLjAwNy4wMTMsMCwuMDA4LjAwOC4wMTUsMCwuMDA1LjAxLjAxNiwwLDAsLjAxMS4wMTcsMCwwLC4wMTIuMDE4LDAsMCwuMDEyLjAxNywwLDAsLjAxMi4wMTYsMCwwLC4wMTEuMDE0LDAsLjAwNi4wMS4wMTIuMDA5LjAxMS4wMDYuMDA3LjAxNS4wMTdoMGwuMDQuMDQyLDYsNkExLDEsMCwwLDAtMTEsMTQsMSwxLDAsMCwwLTEwLjI5MywxMy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwIDApIHJvdGF0ZSgtMTgwKSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDI2LjY2Nykgcm90YXRlKDE4MCkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMjQpIHJvdGF0ZSgtMTgwKSIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxwYXRoIGQ9Ik0wLDBIMjRWMjRTNiwzMCwwLDI0LDAsMCwwLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyNCkgcm90YXRlKC0xODApIiBmaWxsPSJyZ2JhKDAsMCwwLDApIi8+PHBhdGggZD0iTS0xMC4yOTMsMTMuNzA3YTEsMSwwLDAsMCwwLTEuNDE0TC0xNC41ODYsOEgtMUExLDEsMCwwLDAsMCw3LDEsMSwwLDAsMC0xLDZILTE0LjU4Nmw0LjI5My00LjI5M2ExLDEsMCwwLDAsMC0xLjQxNSwxLDEsMCwwLDAtMS40MTQsMGwtNiw2YTEsMSwwLDAsMC0uMTcyLjIzMWgwbC0uMDEuMDE5LDAsLjAwNS0uMDA3LjAxNC0uMDA2LjAxMiwwLC4wMDgtLjAwOC4wMTh2MEExLDEsMCwwLDAtMTgsN2ExLDEsMCwwLDAsLjA5Mi40MTlsMCwwLC4wMDguMDE2LDAsLjAwOS4wMDUuMDExLjAwNy4wMTMsMCwuMDA4LjAwOC4wMTUsMCwuMDA1LjAxLjAxNiwwLDAsLjAxMS4wMTcsMCwwLC4wMTIuMDE4LDAsMCwuMDEyLjAxNywwLDAsLjAxMi4wMTYsMCwwLC4wMTEuMDE0LDAsLjAwNi4wMS4wMTIuMDA5LjAxMS4wMDYuMDA3LjAxNS4wMTdoMGwuMDQuMDQyLDYsNkExLDEsMCwwLDAtMTEsMTQsMSwxLDAsMCwwLTEwLjI5MywxMy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgzIC01KSByb3RhdGUoLTE4MCkiLz48ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgzIC01KSIgY2xpcC1wYXRoPSJ1cmwoI2EpIj48ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgtMyA1KSI+PHJlY3Qgd2lkdGg9IjI0IiBoZWlnaHQ9IjI0IiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyNCkgcm90YXRlKC0xODApIiBmaWxsPSJyZ2JhKDAsMCwwLDApIi8+PHJlY3Qgd2lkdGg9IjI0IiBoZWlnaHQ9IjI0IiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyNCkgcm90YXRlKC0xODApIiBmaWxsPSIjNmJhNDM5Ii8+PC9nPjwvZz48L2c+PC9zdmc+') no-repeat 17.5px;height:50px;width:61px;display:inline-block;border:0;border-right:1px solid #E3E3E3;padding:0;cursor:pointer;background-position-y:54.35%;} @media (min-width:767.5px){.cRDvIO .partial-carousel-wrapper .carousel-prev{width:51px;background-position-x:8px;}} @media (min-width:991.5px){.cRDvIO .partial-carousel-wrapper .carousel-prev{width:59px;background-position-x:16px;}} .cRDvIO .partial-carousel-wrapper .carousel-next{background:url('data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMTQiIHZpZXdCb3g9IjAgMCAxOCAxNCI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMTAuMjkzLDEzLjcwN2ExLDEsMCwwLDEsMC0xLjQxNEwxNC41ODYsOEgxQTEsMSwwLDAsMSwxLDZIMTQuNTg2TDEwLjI5MywxLjcwN0ExLDEsMCwwLDEsMTEuNzA3LjI5M2w2LDZhMSwxLDAsMCwxLC4xNzIuMjMxaDBsLjAxLjAxOSwwLC4wMDUuMDA3LjAxNC4wMDYuMDEyLDAsLjAwOC4wMDguMDE4djBhMSwxLDAsMCwxLS4wMDkuODE3bDAsMEwxNy45LDcuNDRsMCwuMDA5LS4wMDUuMDExLS4wMDcuMDEzLDAsLjAwOC0uMDA4LjAxNSwwLC4wMDUtLjAxLjAxNiwwLDAtLjAxMS4wMTcsMCwwLS4wMTIuMDE4LDAsMC0uMDEyLjAxNywwLDBMMTcuOCw3LjZsMCwwLS4wMTEuMDE0LDAsLjAwNi0uMDEuMDEyLS4wMDkuMDExLS4wMDYuMDA3LS4wMTUuMDE3aDBsLS4wNC4wNDItNiw2YTEsMSwwLDAsMS0xLjQxNCwwWiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyA1KSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC01KSI+PHBhdGggZD0iTTEwLjI5MywxMy43MDdhMSwxLDAsMCwxLDAtMS40MTRMMTQuNTg2LDhIMUExLDEsMCwwLDEsMSw2SDE0LjU4NkwxMC4yOTMsMS43MDdBMSwxLDAsMCwxLDExLjcwNy4yOTNsNiw2YTEsMSwwLDAsMSwuMTcyLjIzMWgwbC4wMS4wMTksMCwuMDA1LjAwNy4wMTQuMDA2LjAxMiwwLC4wMDguMDA4LjAxOHYwYTEsMSwwLDAsMS0uMDA5LjgxN2wwLDBMMTcuOSw3LjQ0bDAsLjAwOS0uMDA1LjAxMS0uMDA3LjAxMywwLC4wMDgtLjAwOC4wMTUsMCwuMDA1LS4wMS4wMTYsMCwwLS4wMTEuMDE3LDAsMC0uMDEyLjAxOCwwLDAtLjAxMi4wMTcsMCwwTDE3LjgsNy42bDAsMC0uMDExLjAxNCwwLC4wMDYtLjAxLjAxMi0uMDA5LjAxMS0uMDA2LjAwNy0uMDE1LjAxN2gwbC0uMDQuMDQyLTYsNmExLDEsMCwwLDEtMS40MTQsMFoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgNSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+') no-repeat 18.5px;height:52px;width:61px;display:inline-block;padding:0px;cursor:pointer;border:0;} @media (min-width:767.5px){.cRDvIO .partial-carousel-wrapper .carousel-next{width:51px;}} @media (min-width:991.5px){.cRDvIO .partial-carousel-wrapper .carousel-next{width:59px;}} .cRDvIO .partial-carousel-wrapper .partial-carousel-next-prev{position:absolute;right:0;bottom:-50px;height:50px;} @media (min-width:767.5px){.cRDvIO .partial-carousel-wrapper .partial-carousel-next-prev{bottom:0;}} .cRDvIO .partial-carousel-wrapper .floats-partial-content{padding:12px;} .cRDvIO .partial-carousel-wrapper .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{border-left:none;} .cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-content{display:none;} .cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer{background-image:url(https://w2o-xhtml-parsed-preprod.s3-eu-west-1.amazonaws.com/table_thumb.svg);background-repeat:no-repeat;background-position:17px 17px;background-size:100px 70px;border-top:none;min-height:110px;position:relative;} .cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .table-thumb-overlay{cursor:pointer;position:absolute;left:17px;top:17px;height:70px;width:100px;} .cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .caption-text{padding-left:137px;padding-right:0px;position:relative;} .cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .caption-text .caption-text-overlay{cursor:pointer;position:absolute;top:20px;left:135px;height:20px;width:60px;} .cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .floats-partial-caption-text{color:black;display:block !important;-webkit-text-decoration:none;text-decoration:none;width:auto;margin-left:140px;margin-right:20px;padding:0px 0px 15px 0px;width:-webkit-fit-content;width:-moz-fit-content;width:fit-content;} .cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .minimize_btn{display:none !important;} .cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .expand_btn{display:none !important;} @media (max-width:567px){.cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer{background-size:60px 45px;}.cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .table-thumb-overlay{height:45px;width:60px;}.cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .caption-text{padding:30px 0px 15px 95px;}.cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .caption-text .caption-text-overlay{top:30px;left:95px;}.cRDvIO .partial-other-wrapper[data-section*="tab"] .floats-partial-footer .floats-partial-caption-text{margin:0px 20px;}} .cRDvIO .owl-item{overflow-y:hidden;margin-bottom:0;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;-webkit-box-pack:center;-webkit-justify-content:center;-ms-flex-pack:center;justify-content:center;} .cRDvIO .supplementary--docs{display:-ms-flexbox;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-ms-flex-wrap:wrap;-webkit-flex-wrap:wrap;-ms-flex-wrap:wrap;flex-wrap:wrap;padding-left:2em;} @media (min-width:767.5px){.cRDvIO .supplementary--docs{padding-left:1em;}} .cRDvIO .supplementary--docs li{-ms-flex:0 0 100%;-webkit-flex:0 0 100%;-ms-flex:0 0 100%;flex:0 0 100%;max-width:100%;} @media (min-width:991.5px){.cRDvIO .supplementary--docs li{-ms-flex:0 0 50%;-webkit-flex:0 0 50%;-ms-flex:0 0 50%;flex:0 0 50%;max-width:50%;}} .cRDvIO .supplementary--docs li a::after{content:'';background :url(data:image/svg+xml;base64,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) no-repeat 5px;padding-right:35px;background-size:14px;} .cRDvIO .dataset-section .supplementary--dpis-desc{padding-left:19px;} .cRDvIO .dataset-section .supplementary--dpis-desc p{margin:10px 0;} .cRDvIO .table-group.fixed-width,.cRDvIO .table-group.sidewaystable{min-width:auto;} .cRDvIO .noliststyle{padding-left:1em;} .cRDvIO .noliststyle li{padding-left:0;} .cRDvIO .xml-content > hr{display:none;} .cRDvIO sup,.cRDvIO sub{vertical-align:baseline;position:relative;top:5px;} .cRDvIO sup{top:-5px;} @media (min-width:767.5px){.cRDvIO a{position:relative;}} .cRDvIO a div.tooltip{cursor:auto;position:absolute;width:280px;background:#fff;border:1px solid #adadad;padding:20px;margin:0;display:none;z-index:2;color:#000;} @media (min-width:767.5px){.cRDvIO a div.tooltip{width:400px;}} @media (min-width:991.5px){.cRDvIO a div.tooltip{width:572px;}} .cRDvIO a div.tooltip .cross{position:absolute;right:10px;top:10px;display:block;height:14px;width:14px;cursor:pointer;} .cRDvIO a div.tooltip ol{margin:0;padding:0 0 10px 20px;} .cRDvIO a div.tooltip ol li{text-align:left;margin:0;} .cRDvIO a div.tooltip.left{left:20px;} @media (min-width:767.5px){.cRDvIO a div.tooltip.left{left:-20px;}} @media (min-width:991.5px){.cRDvIO a div.tooltip.left{left:-100px;}} .cRDvIO a div.tooltip.right{right:20px;} @media (min-width:767.5px){.cRDvIO a div.tooltip.right{right:-20px;}} @media (min-width:991.5px){.cRDvIO a div.tooltip.right{right:-100px;}} .cRDvIO a div.tooltip a.seeRef{padding-left:30px;} .cRDvIO .gloss-abbr tr td:first-child{white-space:nowrap;} .cRDvIO table.algorithm td{word-break:keep-all;} .cRDvIO h4#copyright + p a{word-break:break-word;} /* sc-component-id: sc-bGbJRg */ .dVCLgr{width:100%;} @media (min-width:991.5px){.dVCLgr{width:19%;}} @media (min-width:1280px){.dVCLgr{width:24%;max-width:350px;}} .dVCLgr p{border:1px solid #E3E3E3;} /* sc-component-id: sc-bEjcJn */ .jLUVhb{-webkit-flex:1 0 30%;-ms-flex:1 0 30%;flex:1 0 30%;list-style:none;padding:0;-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;} @media (min-width:320px) and (max-width:991.5px){.jLUVhb{position:fixed;width:100%;z-index:2;margin:0;margin-top:50px;top:169px;max-height:calc(100vh - 165px);overflow-y:auto;}} @media (min-width:767.5px) and (max-width:991.5px){.jLUVhb{top:179px;}} @media (min-width:991.5px) and (max-width:1200px){.jLUVhb{max-width:354px;-webkit-flex:1 0 20%;-ms-flex:1 0 20%;flex:1 0 20%;}} @media (min-width:1200px){.jLUVhb{-webkit-flex:1 0 25%;-ms-flex:1 0 25%;flex:1 0 25%;max-width:354px;}} .jLUVhb p{margin:0;padding:10px 0;font-size:16px;font-weight:700;line-height:24px;display:none;} @media (min-width:991.5px){.jLUVhb p{display:block;padding:10px 20px;border:1px solid #E3E3E3;border-bottom:0;}} .jLUVhb.links__hidden{display:none;} @media (min-width:991.5px){.jLUVhb.links__hidden{display:block;}} .jLUVhb.translate{-webkit-transform :translateY(-120px);-ms-transform :translateY(-120px);transform :translateY(-120px);} @media (min-width:768px){.jLUVhb.translate{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} @media (min-width:991.5px){.jLUVhb.translate{-webkit-transform:none;-ms-transform:none;transform:none;}.jLUVhb.translate #leftSectionMenu{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} /* sc-component-id: sc-ePZHVD */ .ewHMLz{color:#4A4A4A;} /* sc-component-id: sc-likbZx */ .bBmZJZ{font-size:16px;font-weight:500;line-height:20px;color:#4A4A4A;border:1px solid #E3E3E3;border-bottom:0;background-color:#f2f2f2;display:list-item;} @media (min-width:991px){.bBmZJZ{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.bBmZJZ:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} .bBmZJZ:last-child{border-bottom:1px solid #E3E3E3;} .bBmZJZ a{display:block;padding:10px 20px;} /* sc-component-id: sc-eKZiaR */ .dzZrgS{position:fixed;width:100%;height:50px;color:#4D8A17;background-color:#F2F2F2;border:none;font-size:16px;line-height:18px;font-weight:500;z-index:2;top:170px;-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;text-align:left;border-top:1px solid #FFFFFF;} @media (min-width:320px) and (max-width:991.5px){.dzZrgS{padding-left:15px;border-bottom:4px solid #FFFFFF;}.dzZrgS.is-open{border-bottom:4px solid #F2F2F2;}} @media (min-width:767.5px){.dzZrgS{top:179px;}} @media (min-width:991.5px){.dzZrgS{display:none;}} .dzZrgS .icon__dots{cursor:pointer;-webkit-transform:rotate(90deg) translateY(8px);-ms-transform:rotate(90deg) translateY(8px);transform:rotate(90deg) translateY(8px);margin-right:15px;} @media (min-width:991.5px){.dzZrgS .icon__dots{padding-right:20px;margin-bottom:2px;-webkit-transform:none;-ms-transform:none;transform:none;}} .dzZrgS.translate{-webkit-transform :translateY(-120px);-ms-transform :translateY(-120px);transform :translateY(-120px);top:170px;} @media(min-width:991.5px){.dzZrgS.translate{-webkit-transform :translateY(-130px) rotate(90deg);-ms-transform :translateY(-130px) rotate(90deg);transform :translateY(-130px) rotate(90deg);}} /* sc-component-id: sc-jrIrqw */ .eHMFfo{padding:0;margin:20px 0;} .eHMFfo span{font-size:14px;} .eHMFfo span.isHide{display:none;} .eHMFfo span i{font-style:italic;} .eHMFfo span i.isHide{display:none;} /* sc-component-id: sc-hjRWVT */ .irNWJI{width:16px;margin:0 2px 2px;} /* sc-component-id: sc-iybRtq */ .iQSObO{width:16px;margin-bottom:2px;} /* sc-component-id: sc-iQtOjA */ .kfDwZY{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;border:none;font-size:12px;font-weight:500;margin-top:7px;padding:0;color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .kfDwZY:hover{-webkit-text-decoration:underline;text-decoration:underline;} @media (min-width:767.5px){.kfDwZY{margin-top:5px;}} /* sc-component-id: sc-fHxwqH */ .dMuGGA{overflow-y:hidden;height:auto;max-height:100%;-webkit-transition:all .5s;transition:all .5s;} .dMuGGA.isHide{max-height:0;-webkit-transition:all .5s;transition:all .5s;} .dMuGGA p:first-child{margin-top:15px;} .dMuGGA p{font-size:14px;line-height:23px;display:block;} .dMuGGA sup{margin-top:-5px;} /* sc-component-id: sc-cEvuZC */ .XkrFe{border:none;border-top:1px solid #E3E3E3;height:2px;margin:15px 0;} .XkrFe.hr__author{margin-bottom:12px;} /* sc-component-id: sc-cBdUnI */ @media (min-width:320px) and (max-width:991.5px){.hRnXob{display:none;}} @media (min-width:991.5px){.hRnXob{z-index:1;}} /* sc-component-id: sc-exkUMo */ .hymroZ{background-color:#6ba339;color:#ffffff;display:none;} .hymroZ span.text{padding-left:20px;} @media (min-width:991px){.hymroZ{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.hymroZ:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} /* sc-component-id: sc-kcDeIU */ .cbcyj{background-color:#f2f2f2;color:#4a4a4a;display:none;} .cbcyj span.text{padding-left:20px;} @media (min-width:991.5px) and (max-width:1279.5px){.cbcyj{display:none !important;}} @media (min-width:991px){.cbcyj{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.cbcyj:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} @media (min-width:991.5px){.cbcyj.hide{display:none !important;}} /* sc-component-id: sc-BngTV */ .hmDWcT{background-color:#f2f2f2;color:#4a4a4a;display:none;} .hmDWcT span.text{padding-left:20px;} @media (min-width:1279.5px){.hmDWcT{display:none !important;}} @media (min-width:991px){.hmDWcT{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.hmDWcT:hover{background-color :#5D9230;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} @media (min-width:991.5px){.hmDWcT.hide{display:none !important;}} /* sc-component-id: sc-hBbWxd */ .kdRRST{background-color:#f2f2f2;border-top:1px solid #ffffff;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;font-size:14px;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;padding:20px 55px 20px 25px;} @media (max-width:1279.5px){.kdRRST{padding-right:20px;}} @media (max-width:991.5px){.kdRRST{display:none;}} /* sc-component-id: sc-dyGzUR */ .cHatnS div{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-flex-direction:column;-ms-flex-direction:column;flex-direction:column;} .cHatnS div:last-of-type{padding-top:20px;} .cHatnS span{color:#4F4F4F;font-size:20px;font-weight:700;line-height:26px;} /* sc-component-id: sc-drKuOJ */ .kxdGAZ{-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-flex-direction:column-reverse;-ms-flex-direction:column-reverse;flex-direction:column-reverse;height:100%;-webkit-box-pack:end;-webkit-justify-content:flex-end;-ms-flex-pack:end;justify-content:flex-end;} .kxdGAZ span{padding-top:15px;} /* sc-component-id: sc-cTjmhe */ @media (min-width:991.5px){.ihmyEq{width:100%;z-index:1;}} /* sc-component-id: sc-cugefK */ .itFKcQ{background-color:#F2F2F2;color:#4A4A4A;border-top:1px solid #FFFFFF;font-size:16px;font-weight:500;padding:20px;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;cursor:pointer;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;} @media (min-width:991px){.itFKcQ{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.itFKcQ:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} @media (min-width:991.5px){.itFKcQ.hide{display:none !important;}} .itFKcQ.active .icon-themeable{-webkit-transform:rotate(180deg);-ms-transform:rotate(180deg);transform:rotate(180deg);} /* sc-component-id: sc-fnwBNb */ .etzuBr{display:none;} /* sc-component-id: sc-iNhVCk */ .gWgCNb{background-color:#f2f2f2;border-radius:0;border-top:1px solid #e3e3e3;font-size:16px;color:#4a4a4a;font-weight:500;padding:11px 20px;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;} @media (min-width:991px){.gWgCNb{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.gWgCNb:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} /* sc-component-id: sc-eAKXzc */ .WHkfb{-webkit-flex:1 0 90%;-ms-flex:1 0 90%;flex:1 0 90%;padding-left:50px;} @media (min-width:767.5px){.WHkfb{padding-left:93px;}} @media (min-width:991.5px){.WHkfb{padding-left:50px;}} /* sc-component-id: sc-bfYoXt */ .cGuwDn{width:20px;height:24px;} /* sc-component-id: sc-gbOuXE */ .jGPvPL{width:22px;height:21px;padding:2px;} /* sc-component-id: sc-dRFtgE */ .jrsDZP{-webkit-flex:1 0 80%;-ms-flex:1 0 80%;flex:1 0 80%;padding-left:26px;} @media (min-width:767.5px){.jrsDZP{padding-left:69px;}} @media (min-width:991.5px){.jrsDZP{padding-left:20px;}} @media (min-width:991.5px) and (max-width:1279.5px){.jrsDZP{display:none;}} /* sc-component-id: sc-gkFcWv */ .gWTCXQ{display:none;} @media (min-width:991.5px){.gWTCXQ{padding-left:20px;max-width:100px;display:inline;}} @media (min-width:1279.5px){.gWTCXQ{display:none;}} /* sc-component-id: sc-hUfwpO */ .jHPgUP{width:100%;border-left:1px solid #f2f2f2;border-right:1px solid #f2f2f2;border-bottom:none;cursor:pointer;} .jHPgUP li{background-color:#f2f2f2;} @media (min-width:991px){.jHPgUP li{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.jHPgUP li:hover{background-color :#ffffff;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} .jHPgUP h3{display:none;} /* sc-component-id: sc-imABML */ .ibWUzs{background-color:#f2f2f2;color:#4a4a4a;display:block;border-top:1px solid #ffffff;border-radius:0;font-size:16px;font-weight:500;padding:20px;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;cursor:pointer;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;} .ibWUzs .right__icon{padding:0;height:16px;width:20px;} @media (min-width:991px){.ibWUzs{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.ibWUzs:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} @media (min-width:991.5px){.ibWUzs.hide{display:none !important;}} /* sc-component-id: sc-cjHlYL */ .hYnXNL{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:25%;float:right;margin-top:-49px;} @media (max-width:374px){.hYnXNL{width:26.5%;}} @media (min-width:992px){.hYnXNL{display:none;}} /* sc-component-id: sc-dRaagA */ .hGCBfz{background-color:#6BA339;color:white;-webkit-flex:1 0 25%;-ms-flex:1 0 25%;flex:1 0 25%;z-index:100;padding:14px 16px 10px 19px;border-radius:0px;border-bottom:1px solid #FFFFFF;} @media (min-width:320px) and (max-width:767px){.hGCBfz{border-bottom:none;padding:16px 16px 14px 16px;font-size:14px;}.hGCBfz .article_toolbar_icon{display:none;}} /* sc-component-id: sc-fEUNkw */ .dfaOeH{margin-right:16px;width:24px;height:24px;} /* sc-component-id: sc-dREXXX */ .cqhPZs{width:16px;height:auto;float:right;} @media (min-width:767.5px){.cqhPZs{width:24px;height:24px;}} /* sc-component-id: sc-nrwXf */ .byflLi{font-size:14px;padding:16px 20px 24px;} @media (max-width:991px){.byflLi{display:none;}} /* sc-component-id: sc-eitiEO */ .jXeALb{font-size:14px;} .jXeALb:hover{-webkit-text-decoration:underline;text-decoration:underline;} /* sc-component-id: sc-bhlBdH */ .UVThf{font-size:14px;font-weight:bold;} /* sc-component-id: sc-OxbzP */ .eEFYIL{width:100%;height:auto;background-color:#4A4A4A;font-family:'IBM Plex Sans',sans-serif;font-size:14px;font-weight:500;color:#fff;padding:15px 20px;line-height:20px;position:fixed;bottom:0px;z-index:3;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;-webkit-transition:-webkit-transform .25s;-webkit-transition:transform .25s;transition:transform .25s;} .eEFYIL a{color:#7ED321;} .eEFYIL p{display:inline;margin:0;} .eEFYIL.hideBanner{-webkit-transform:translateY(100%);-ms-transform:translateY(100%);transform:translateY(100%);} /* sc-component-id: sc-bYnzgO */ .dsXEHZ{background:transparent;border:none;height:20px;width:20px;margin-left:20px;padding:0;cursor:pointer;} /* sc-component-id: sc-cPuPxo */ .iXKuYd{min-width:20px;height:20px;} /* sc-component-id: baseContent__Main-sc-134g3di-2 */ .cmzomn{margin-top:140px;} @media (min-width:767.5px){.cmzomn{margin-top:85px;}} @media (min-width:991.5px){.cmzomn{margin-top:70px;min-height:calc(100vh - 334px);}} /* sc-component-id: threeColumn__ThreeColumnWrapper-sc-1bf4078-0 */ .dDyxFF{width:100%;} @media only screen and (min-width:992px){.dDyxFF{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-flex-flow:row wrap;-ms-flex-flow:row wrap;flex-flow:row wrap;padding:0 20px;max-width:1440px;margin:0 auto;}} @media (min-width:991.5px) and (max-width:1100.5px){.dDyxFF .partenership__collabText{font-size:12px;}} @media (min-width:1100.5px) and (max-width:1200.5px){.dDyxFF .partenership__collabText{font-size:14px;}} @media (min-width:991.5px) and (max-width:1071.5px){.dDyxFF .partenership__logoWrapper img{margin-left:20px;margin-bottom:10px;}.dDyxFF .partenership__logoWrapper img:last-child{margin-left:0;margin-bottom:0;}} @media (max-width:1150px){.dDyxFF .journal-metrics-container{display:none;}.dDyxFF .journal_report_link-border-helper{display:none;}} /* sc-component-id: threeColumn__LeftWrapper-sc-1bf4078-1 */ @media only screen and (min-width:992px){.fkVFlF{width:20%;}} @media only screen and (min-width:1280px){.fkVFlF{width:25%;}} /* sc-component-id: threeColumn__RightWrapper-sc-1bf4078-2 */ .jzTMLK{-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;} @media only screen and (min-width:992px){.jzTMLK{width:20%;margin-bottom:60px;}.jzTMLK.translate{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} @media only screen and (min-width:1280px){.jzTMLK{width:25%;}} /* sc-component-id: threeColumn__ContentWrapper-sc-1bf4078-3 */ .bbzREB{margin:0 20px;overflow:hidden;} @media only screen and (min-width:992px){.bbzREB{width:calc(60% - 40px);}} @media only screen and (min-width:1280px){.bbzREB{width:calc(50% - 40px);}} /* sc-component-id: threeColumn__Content-sc-1bf4078-4 */ .jknsZc{margin:0 auto;overflow:hidden;} @media only screen and (min-width:768px){.jknsZc{max-width:688px;}} @media only screen and (min-width:992px){.jknsZc{max-width:100%;}} @media only screen and (min-width:1075px){.jknsZc{max-width:572px;}} /* sc-component-id: article__BaseStyle-sc-10qhnp8-0 */ .gnduKR{width:100%;margin-top:170px;} @media (min-width:767.5px){.gnduKR{margin-top:179px;}} @media (min-width:991.5px){.gnduKR{margin-top:180px;min-height:840px;}} /* sc-component-id: article__StickyStyle-sc-10qhnp8-1 */ .bomGMi{width:100%;max-width:1440px;z-index:3;-webkit-transition:all .5s;transition:all .5s;} .bomGMi.translate{-webkit-transform:translateY(-120px);-ms-transform:translateY(-120px);transform:translateY(-120px);} @media (min-width:767.5px){.bomGMi.translate{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} @media (min-width:991.5px){.bomGMi.translate{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} /* sc-component-id: article__SubtitleStyled-sc-10qhnp8-2 */ .hdSPnx{background-color:#007B8B;opacity:0.8;color:#fff;margin-bottom:0;margin-top:0;padding:17px 0 17px 20px;line-height:23px;height:60px;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;font-size:20px;font-weight:500;} @media (min-width:767.5px){.hdSPnx{line-height:26px;}} @media (min-width:991.5px){.hdSPnx{line-height:50px;padding:5px 0 5px 20px;height:60px;}} /* sc-component-id: article__JournalMenuTitle-sc-10qhnp8-3 */ .dDYYdJ{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;font-size:16px;font-weight:500;line-height:20px;height:50px;width:100%;background-color:#007B8B;color:#fff;text-align:left;padding-left:14px;padding-right:0;border:0;border-top:1px solid #fff;} .dDYYdJ span{font-size:24px;padding-right:14px;} @media (min-width:991.5px){.dDYYdJ{display:none;}} /* sc-component-id: article__WhiteWrapper-sc-10qhnp8-5 */ .bJcSpM{background-color:#fff;display:block;position:relative;} .bJcSpM h1,.bJcSpM h2{color:#fff;} .bJcSpM h2{font-size:20px;} @media (min-width:767.5px){.bJcSpM h2{font-size:25px;}} .bJcSpM h1{font-size:20px;} @media (min-width:767.5px){.bJcSpM h1{font-size:24px;}} @media (min-width:991.5px){.bJcSpM h1{font-size:40px;}} /* sc-component-id: articleContent__ArticleContentsWrapper-sc-2yl9jy-0 */ .eSvjPB{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;} .eSvjPB .author__editor--hr{display:block;} /* sc-component-id: articleContent__ArticleContentsSectionsWrapper-sc-2yl9jy-1 */ .jntdRu{width:100%;} @media (max-width:991.5px){.jntdRu{margin-top:52px;}} .jntdRu p{margin:12px 0;line-height:20px;} .jntdRu .articlecontent__alignment{width:100%;min-width:306px;padding-left:7px;padding-right:7px;} @media (min-width:346px){.jntdRu .articlecontent__alignment{padding-left:20px;padding-right:20px;}} @media (min-width:767.5px){.jntdRu .articlecontent__alignment{width:543px;margin:auto;padding-left:0px;padding-right:0px;}} @media (min-width:991.5px){.jntdRu .articlecontent__alignment{max-width:612px;width:75%;margin:inherit;margin-left:50px;padding-left:20px;padding-right:20px;}} @media (min-width:1100px){.jntdRu .articlecontent__alignment{margin-left:118px;}} .jntdRu .article__title{padding-bottom:12px;} @media (min-width:767.5px){.jntdRu .article__title{padding-bottom:15px;}} .jntdRu .article__summary{padding-bottom:65px;} @media (min-width:991.5px){.jntdRu .article__summary{padding-bottom:75px;}} @media (min-width:767.5px){.jntdRu #vjs_video_3 button{-webkit-transform:none;-ms-transform:none;transform:none;left:40%;margin-top:0;}} .jntdRu .video-js .vjs-big-play-button{top:calc(50% - 22.5px);left:calc(50% - 50px);} .jntdRu .video-js{margin:20px 0;} .jntdRu a{color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .jntdRu a:hover{-webkit-text-decoration:underline;text-decoration:underline;} /* sc-component-id: articleContent__ArticleWrapper-sc-2yl9jy-2 */ .hAzjHP{background-position:0px 0px;background-origin:content-box;background-size:99%;} /* sc-component-id: articleContent__EditorWrapper-sc-2yl9jy-3 */ .evMkvU{padding:0;} /* sc-component-id: articleContent__PublicationTimeLineWrapper-sc-2yl9jy-4 */ .fjviok{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-flex-wrap:wrap;-ms-flex-wrap:wrap;flex-wrap:wrap;margin:15px 0 30px;border-bottom:1px solid #E3E3E3;} @media (min-width:767.5px){.fjviok{border-top:1px solid #E3E3E3;margin:20px 0 30px;}} /* sc-component-id: articleContent__PublcationCol-sc-2yl9jy-5 */ .hgKieC{-webkit-flex-basis:0;-ms-flex-preferred-size:0;flex-basis:0;-webkit-box-flex:1;-webkit-flex-grow:1;-ms-flex-positive:1;flex-grow:1;max-width:100%;border-right:1px solid #E3E3E3;padding:5px 0 15px;} @media (min-width:767.5px){.hgKieC{padding:5px 0;}} .hgKieC.notPublished{display:none;} @media (min-width:767.5px){.hgKieC.notPublished{display:block;}} @media (max-width:767.5px){.hgKieC.isPublished{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;}.hgKieC.isPublished span:first-child::after{content:':';padding-right:3px;}} .hgKieC:last-child{border-right:none;} /* sc-component-id: articleContent__PublicationField-sc-2yl9jy-6 */ .cIribm{display:block;text-align:center;font-size:14px;font-weight:700;} /* sc-component-id: articleContent__PublicationValue-sc-2yl9jy-7 */ .khHUcu{display:block;text-align:center;font-size:14px;} /* sc-component-id: articleContent__TextWrapper-sc-2yl9jy-8 */ .fYrLtk{margin:-7px 0 -5px;font-size:14px;} /* sc-component-id: biblio__Wrapper-sc-1nou1lz-0 */ .eyHfWh{position:relative;} .eyHfWh.hide{display:none;} .eyHfWh hr{position:absolute;left:0;right:0;top:-30px;border-top:1px solid #E3E3E3;border-bottom:0;}.cBTaXT.hide{display:none;} .cBTaXT hr{display:none;} /* sc-component-id: biblio__BiblioWrapper-sc-1nou1lz-1 */ @font-face{font-family:'STIXGeneral-Bold';src:url('https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/_/hindawi-ui/fonts/STIXGeneral-Regular.otf');} .coBIiF{padding:0 20px 20px;} .coBIiF .bib__image{display:none;} .coBIiF .bib__title{font-size:20px;} .coBIiF .bib__name{font-size:18px;font-family:'STIXGeneral-Bold',serif !important;color:rgb(74,74,74);font-weight:700;} .coBIiF .bib--split .bib__link .bib__info,.coBIiF .bib--split .bib__link.bib__link--image .bib__info,.coBIiF [class*='bib--txt'] .bib__link .bib__info,.coBIiF [class*='bib--txt'] .bib__link.bib__link--image .bib__info{padding:10px 0 !important;} .coBIiF .bib__author{font-size:14px;line-height:22px;color:rgb(132,132,132);margin-top:3px;margin-bottom:0px;margin-right:20px;opacity:1;font-family:'IBM Plex Sans',sans-serif;font-weight:500;} .coBIiF #biblio_sidebar .bib__link{border-top:1px solid rgb(227,227,227) !important;padding-top:5px !important;padding-bottom:5px !important;} .coBIiF #biblio_sidebar .bib__link:first-child{border-top:0 !important;padding-top:0 !important;} .coBIiF #biblio_sidebar .bib__link:first-child .bib__info{padding-top:0 !important;} .coBIiF #biblio_widget .bib--split .bib__link .bib__info,.coBIiF #biblio_widget .bib--split .bib__link.bib__link--image .bib__info{padding:10px 15px 10px 0 !important;} @media (min-width:767.5px){.coBIiF{padding:0 40px 20px;}} @media (min-width:991.5px){.coBIiF{padding:0 20px;}} /* sc-component-id: biblio__H4-sc-1nou1lz-2 */ .becpDt{font-size:20px;font-family:'IBM Plex Sans';color:#000;font-weight:600;margin-top:34px;margin-bottom:18px;padding:0 20px;} /* sc-component-id: journal_article__ArticleStickyTopToolbar-sc-12fk6zy-0 */ .gbrQxi{display:none;} @media (min-width:991.5px){.gbrQxi{display:block;}.gbrQxi .article_top_toolbar{top:110px;z-index:-100;}.gbrQxi .article_top_toolbar .pdf_desktop{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;}.gbrQxi .article_top_toolbar .ref_desktop{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;}} .gbrQxi .article_toolbar_views{margin-top:-58px;display:block;text-align:right;} /* sc-component-id: journal_article__ArticleStickyBottomToolbar-sc-12fk6zy-1 */ @media (min-width:991.5px){.isgRZA .article_bottom_toolbar{top:292px;z-index:-10;}} /* sc-component-id: journal_article__BreadCrumbStyle-sc-12fk6zy-2 */ @media (min-width:991.5px){.bjwAQR{padding:16px 20px 24px;height:60px;}} /* sc-component-id: journal_article__ArticleBaseStyle-sc-12fk6zy-3 */ .NQpXC .content,.NQpXC .contentWrapper{overflow:visible;} /* sc-component-id: journal_article__BiblioIntegratorSidebar-sc-12fk6zy-4 */ .cYsVdk{max-width:350px;} @media (max-width:991.5px){.cYsVdk{display:none !important;}} /* sc-component-id: journal_article__BiblioIntegratorWidget-sc-12fk6zy-5 */ .dbAANp{background-color:#f5f5f5;padding:15px 20px 24px 20px;margin-top:2px;margin-bottom:20px;} @media (min-width:991.5px){.dbAANp{margin-top:-64px;margin-bottom:40px;}} .dbAANp .hrTitleRef{padding:0;margin-top:0;font-family:'IBM Plex Sans',sans-serif;} .dbAANp #biblio_widget{padding:0;}</style> </head> <body style="margin:0;box-sizing:border-box"> <div id="__next"> <div class="static_page"> <div class="page no__focus__outline"> <header class="sc-fjdhpX jzXSTA"> <div class="sc-bZQynM bNmdOy E_HUmlU2Hj3PpkDmWzKPd header__padding"> <div class="sc-kAzzGY epRoim mobileLogoFlex _1fpqArXPCxgnlv2rXZC2sl _1SoDWGr_FVsil9klRfjnhb"> <a class="sc-htpNat bUhGXt link" href="//www.newsama.com/" aria-label="Home"><img alt="标志”年代rc="https://preprod-admin.w2o.hindawi.com/themes/custom/hindawi_extended/logo.svg" class="sc-ckVGcZ gjctdt"></a> </div> <div class="sc-jzJRlG jGJLow mobileButtonFlex _2v1j-tLx3hx0tgKcpPzH6B _3wm8FgzqRuRWouJG31YgKx E_HUmlU2Hj3PpkDmWzKPd"> <nav class="sc-bxivhb ivbKJD"> <ul class="sc-ifAKCX fopjOz sc-kpOJdX kAzjOl"> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/journals/" aria-label="Journals">期刊</a></li> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/publish-research/" aria-label="Publish with us">雷电竞下载苹果</a></li> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/publishing-partnerships/" aria-label="Publishing partnerships">raybet推荐吗</a></li> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/about/" aria-label="About us">关于我们</a></li> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/blog/" aria-label="Blog">博客</a></li> </ul> </nav> <button class="sc-chPdSV hbVEoI icon__search" aria-label="Search"><span class="sc-htoDjs khbeDd icon__search icon-colored _3hSk3ArgsWMFh5QJIGblNr icon-themeable" title="" font-size="24"></span></button> <button aria-label="Hamburger Menu" class="sc-cSHVUG ldSkVQ"><span class="sc-htoDjs khbeDd hamburger icon-colored _20YUA8q5mREEBfJm8VsdXV icon-themeable" title="" font-size="24"></span></button> </div> </div> </header> <div class="sc-bZQynM bNmdOy"></div> <main class="baseContent__Main-sc-134g3di-2 cmzomn article__BaseStyle-sc-10qhnp8-0 gnduKR DADtd11SJ4KyWZ2l6zAnr base_style journal_article__ArticleBaseStyle-sc-12fk6zy-3 NQpXC"> <div class="sc-bZQynM bNmdOy width_wrapper"> <div id="journal__navigation" class="sc-cbkKFq kuxTps article__StickyStyle-sc-10qhnp8-1 bomGMi"> <a class="sc-htpNat bUhGXt link article__WhiteWrapper-sc-10qhnp8-5 bJcSpM" href="//www.newsama.com/journals/jhe/" aria-label=""><h2 class="sc-eHgmQL fTkdCR article__SubtitleStyled-sc-10qhnp8-2 hdSPnx _1ZrXcsbATVL_kHOpFAan9k">医疗保健工程</h2></a> <button class="article__JournalMenuTitle-sc-10qhnp8-3 dDYYdJ journalNavCheck" id="journalMenuTitle"><span>+</年代pan>杂志菜单</button> <div class="sc-bdVaJa EwsTm isHide" id="fadeOut"></div> <div class="sc-cjHlYL hYnXNL"> <a class="sc-htpNat bUhGXt link sc-dRaagA hGCBfz article-toolbar-link" href="//www.newsama.com/downloads/journals/jhe/2017/3153252.pdf" aria-label="" target="_blank"><img alt="" class="sc-EHOje jOLhQl sc-fEUNkw dfaOeH article_toolbar_icon" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/node_modules/hindawi-ui/src/icon/svg/pdf.svg" height="24">PDF<我米g alt="" class="sc-EHOje jOLhQl sc-dREXXX cqhPZs" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"></a> </div> <nav id="journal__nav" class="sc-hGoxap dEfJbW article__JournalNavigationStyle-sc-10qhnp8-4 gaRePw isHide journalNavCheck"> <div class="sc-giadOv eBepOs journalNavCheck"> <button class="sc-hSdWYo etauus sc-fjmCvl fSPaCp journalNavCheck" color="">日报》概述<年代pan class="sc-htoDjs gvAGTV sc-bHwgHz ctePXh journalNavCheck icon__inactive icon-white _1CwL9R82TPl2HxDleeYGDR icon-themeable" title="" font-size="9"></span><span class="sc-htoDjs gvAGTV sc-bHwgHz ctePXh journalNavCheck icon__active icon-colored icon__hidden _1CwL9R82TPl2HxDleeYGDR icon-themeable" title="" font-size="9"></span></button> </div> <a class="sc-htpNat bUhGXt link sc-TFwJa gCIfTO" href="//www.newsama.com/journals/jhe/guidelines/" aria-label="For authors">对于作者</a> <a class="sc-htpNat bUhGXt link sc-TFwJa gCIfTO" href="//www.newsama.com/publish-research/reviewers/" aria-label="For reviewers">对于审查员</a> <a class="sc-htpNat bUhGXt link sc-TFwJa gCIfTO" href="//www.newsama.com/publish-research/editors/" aria-label="For editors">的编辑器</a> <a class="sc-htpNat bUhGXt link sc-TFwJa gCIfTO" href="//www.newsama.com/journals/jhe/contents/year/2021/" aria-label="Table of Contents">表的内容</a> <div class="sc-giadOv eBepOs journalNavCheck"> <button class="sc-hSdWYo etauus sc-fjmCvl bVEEaH journalNavCheck" color="">特殊的问题<年代pan class="sc-htoDjs gvAGTV sc-bHwgHz ctePXh journalNavCheck icon__inactive icon-white _1CwL9R82TPl2HxDleeYGDR icon-themeable" title="" font-size="9"></span><span class="sc-htoDjs gvAGTV sc-bHwgHz ctePXh journalNavCheck icon__active icon-colored icon__hidden _1CwL9R82TPl2HxDleeYGDR icon-themeable" title="" font-size="9"></span></button> </div> <a class="sc-htpNat bUhGXt link sc-jtRfpW hHKuAX submit__button journalNavCheck" href="//www.newsama.com/review/submit?journal=jhe" aria-label="" target="" id=""><span><img alt="" class="sc-EHOje jOLhQl sc-kTUwUJ jUTgTa" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAxOCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTgsMTdWMTVINmExLDEsMCwwLDEsMC0ySDhWMTFhMSwxLDAsMSwxLDIsMHYyaDJhMSwxLDAsMCwxLDAsMkgxMHYyYTEsMSwwLDAsMS0yLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgzIDEpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTMgLTEpIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTgsMTdWMTVINmExLDEsMCwwLDEsMC0ySDhWMTFhMSwxLDAsMSwxLDIsMHYyaDJhMSwxLDAsMCwxLDAsMkgxMHYyYTEsMSwwLDAsMS0yLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgzIDEpIi8+PGcgY2xpcC1wYXRoPSJ1cmwoI2EpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9IiNmZmYiLz48L2c+PC9nPjwvc3ZnPg==" height="24"><span class="text">提交</年代pan></span><span class="sc-htoDjs kNoiZu sc-dqBHgY cQgXqt fileArrow icon-colored undefined icon-themeable" title="" font-size="16"></span></a> <div class="sc-krDsej ewCAZX hide__submenu journalSubmenuCheck" id="journalnav__submenu"> <button class="sc-itybZL kdvWPs journalSubmenuCheck"><span class="sc-htoDjs gvAGTV sc-fzsDOv hAFFGk journalSubmenuCheck icon-colored _1CwL9R82TPl2HxDleeYGDR icon-themeable" title="" font-size="9"></span></button> </div> <div class="sc-dTdPqK lkWWFY hide__submenu journal__nav__desktop" id="journalnav__submenudesktop"> <div order="0" class="sc-kUaPvJ ehYbwJ"> <div class="sc-gPWkxV legory"></div> <div class="sc-gPWkxV legory"></div> </div> <div class="sc-jVODtj epgILe"></div> <span class="sc-fONwsr kCfRMJ"></span> </div> </nav> </div> <div class="sc-nrwXf byflLi breadcrumb__wrapper journal_article__BreadCrumbStyle-sc-12fk6zy-2 bjwAQR article"> <a class="sc-htpNat bUhGXt link sc-eitiEO jXeALb breadCrumb" href="//www.newsama.com/journals/jhe/" aria-label="Journal of Healthcare Engineering">医疗保健工程</a>/<a class="sc-htpNat bUhGXt link sc-eitiEO jXeALb breadCrumb" href="//www.newsama.com/journals/jhe/contents/year/2017/" aria-label="2017">2017年</a>/<年代pan class="sc-bhlBdH UVThf">文章</年代pan> </div> <div class="threeColumn__ThreeColumnWrapper-sc-1bf4078-0 dDyxFF threeColumnWrapper"> <div class="threeColumn__LeftWrapper-sc-1bf4078-1 fkVFlF leftWrapper"> <button type="button" class="sc-eKZiaR dzZrgS section__button " id="sectionButton"><span class="sc-htoDjs diutvq icon__dots dots__detector icon-colored _3n-7Ho7DlfjMlZbrRr9Q4a icon-themeable" title="" font-size="22"></span>文章部分</button> <div class="sc-bEjcJn jLUVhb static_contents__section_links links__hidden "> <div id="leftSectionMenu" class="sc-cbkKFq prcY sc-bGbJRg dVCLgr left_section_menu"> <p>在这一页上</p> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#abstract" aria-label="">文摘</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#introduction" aria-label="">介绍</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#system-model-and-description" aria-label="">系统模型</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#methods" aria-label="">方法</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#results" aria-label="">结果</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#discussion" aria-label="">讨论</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#conclusion" aria-label="">结论</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#conflicts-of-interest" aria-label="">的利益冲突</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#references" aria-label="">引用</a></span> <span class="sc-likbZx bBmZJZ grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-ePZHVD ewHMLz" href="#copyright" aria-label="">版权</a></span> </div> </div> </div> <div class="threeColumn__ContentWrapper-sc-1bf4078-3 bbzREB contentWrapper"> <div class="threeColumn__Content-sc-1bf4078-4 jknsZc content"> <div class="articleContent__ArticleContentsWrapper-sc-2yl9jy-0 eSvjPB article_contents"> <div class="articleContent__ArticleContentsSectionsWrapper-sc-2yl9jy-1 jntdRu article_contents__sections_wrapper"> <div class="articleContent__ArticleWrapper-sc-2yl9jy-2 hAzjHP"> <div class="sc-chbbiW mBGSe article_header_class"> <p class="sc-kZmsYB bkiEfx article_type">研究文章|开放获取</p> <div class="sc-RcBXQ ztvYg article_citation"> 体积 2017年 <span class="sc-fZwumE cUsFHx">|</年代pan>文章的ID 3153252 <span class="sc-fZwumE cUsFHx">|</年代pan> <a class="sc-htpNat bUhGXt link sc-fQejPQ duuwge" href="https://doi.org/10.1155/2017/3153252" aria-label="Doi-link">https://doi.org/10.1155/2017/3153252</a> </div> <div class="sc-LKuAh lcOiDF article_full_citation"> <div class="sc-hzNEM gsmOCv isHide"> <p>索比亚沙克尔,Zuwwar汗贾东Abeera萨利姆,阿里•Khaqan Sana舒贾,卡迪尔ul-Hasan,沙赫扎德a·马利克,里亚兹拉贾·阿里, ”<年代pan class="adjust-article-svg-size">比较分析的PID、铅、滞后,领先-落后,级联药物输注系统的控制器</年代pan>”,<i>医疗保健工程</我>, 卷。2017年, 文章的ID3153252, 13   页面, 2017年。 https://doi.org/10.1155/2017/3153252</p> </div> <button class="sc-hSdWYo etauus sc-iBEsjs kPshFw" color="">显示引用</button> </div> <h1 class="sc-iRbamj jZOxOO sc-iSDuPN jMdfPj article_title adjust-article-svg-size heading-title">比较分析的PID、铅、滞后,领先-落后,级联药物输注系统的控制器</h1> </div> <div class="sc-jrIrqw eHMFfo article_authors"> <hr class="sc-cEvuZC XkrFe hr__author"> <span class="">Zuwwar汗贾东,<年代up>1</年代up></span> <span class="">索比亚沙基尔,<年代up>1</年代up></span> <span class="">Abeera萨利姆,<年代up>1</年代up></span> <span class=""><b>阿里Khaqan</b><a class="sc-htpNat bUhGXt link" href="mailto:" aria-label="Mail Option"><span class="sc-htoDjs kNoiZu sc-hjRWVT irNWJI icon-colored _2zt-1j0LmaF8UjTQAM413G icon-themeable" title="" font-size="16"></span></a><a class="sc-htpNat bUhGXt link" href="http://orcid.org/0000-0001-9330-369X" aria-label="Redirect to Doi" target="_blank"><img alt="" class="sc-EHOje iiusBg sc-iybRtq iQSObO" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIGlkPSJMYXllcl8xIiBkYXRhLW5hbWU9IkxheWVyIDEiIHZpZXdCb3g9IjAgMCAyOTkuNSAyNTkuNSI+PGRlZnM+PHN0eWxlPi5jbHMtMXtmaWxsOiNhNmNlMzk7fS5jbHMtMntmaWxsOiNmZmY7fS5jbHMtM3tmaWxsOm5vbmU7fTwvc3R5bGU+PC9kZWZzPjx0aXRsZT5vcmNoaWQ8L3RpdGxlPjxwYXRoIGNsYXNzPSJjbHMtMSIgZD0iTTI4Ny41LDEyOS41YTEyOCwxMjgsMCwxLDEtMTI4LTEyOEExMjgsMTI4LDAsMCwxLDI4Ny41LDEyOS41WiIvPjxwYXRoIGNsYXNzPSJjbHMtMiIgZD0iTTExNy44LDE4Ny43SDEwMi40VjgwLjZoMTUuNFYxODcuN1oiLz48cGF0aCBjbGFzcz0iY2xzLTIiIGQ9Ik0xNDAuNCw4MC42SDE4MmMzOS42LDAsNTcsMjguMyw1Nyw1My42LDAsMjcuNS0yMS41LDUzLjYtNTYuOCw1My42SDE0MC40Wm0xNS40LDkzLjNoMjQuNWMzNC45LDAsNDIuOS0yNi41LDQyLjktMzkuNywwLTIxLjUtMTMuNy0zOS43LTQzLjctMzkuN0gxNTUuOHY3OS40WiIvPjxwYXRoIGNsYXNzPSJjbHMtMiIgZD0iTTEyMC4yLDU4LjNhMTAuMSwxMC4xLDAsMSwxLTEwLjEtMTAuMUExMC4xNCwxMC4xNCwwLDAsMSwxMjAuMiw1OC4zWiIvPjxyZWN0IGNsYXNzPSJjbHMtMyIgd2lkdGg9IjI5OS41IiBoZWlnaHQ9IjI1OS41Ii8+PC9zdmc+" height="16"></a>,<年代up>1</年代up></span> <span class="">Sana舒贾,<年代up>1</年代up></span> <span class="">卡迪尔ul-Hasan,<年代up>1</年代up></span> <span class="">沙赫扎德a·马利克<a class="sc-htpNat bUhGXt link" href="http://orcid.org/0000-0003-1268-5521" aria-label="Redirect to Doi" target="_blank"><img alt="" class="sc-EHOje iiusBg sc-iybRtq iQSObO" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIGlkPSJMYXllcl8xIiBkYXRhLW5hbWU9IkxheWVyIDEiIHZpZXdCb3g9IjAgMCAyOTkuNSAyNTkuNSI+PGRlZnM+PHN0eWxlPi5jbHMtMXtmaWxsOiNhNmNlMzk7fS5jbHMtMntmaWxsOiNmZmY7fS5jbHMtM3tmaWxsOm5vbmU7fTwvc3R5bGU+PC9kZWZzPjx0aXRsZT5vcmNoaWQ8L3RpdGxlPjxwYXRoIGNsYXNzPSJjbHMtMSIgZD0iTTI4Ny41LDEyOS41YTEyOCwxMjgsMCwxLDEtMTI4LTEyOEExMjgsMTI4LDAsMCwxLDI4Ny41LDEyOS41WiIvPjxwYXRoIGNsYXNzPSJjbHMtMiIgZD0iTTExNy44LDE4Ny43SDEwMi40VjgwLjZoMTUuNFYxODcuN1oiLz48cGF0aCBjbGFzcz0iY2xzLTIiIGQ9Ik0xNDAuNCw4MC42SDE4MmMzOS42LDAsNTcsMjguMyw1Nyw1My42LDAsMjcuNS0yMS41LDUzLjYtNTYuOCw1My42SDE0MC40Wm0xNS40LDkzLjNoMjQuNWMzNC45LDAsNDIuOS0yNi41LDQyLjktMzkuNywwLTIxLjUtMTMuNy0zOS43LTQzLjctMzkuN0gxNTUuOHY3OS40WiIvPjxwYXRoIGNsYXNzPSJjbHMtMiIgZD0iTTEyMC4yLDU4LjNhMTAuMSwxMC4xLDAsMSwxLTEwLjEtMTAuMUExMC4xNCwxMC4xNCwwLDAsMSwxMjAuMiw1OC4zWiIvPjxyZWN0IGNsYXNzPSJjbHMtMyIgd2lkdGg9IjI5OS41IiBoZWlnaHQ9IjI1OS41Ii8+PC9zdmc+" height="16"></a>,<年代up>1</年代up> 和</年代pan> <span class="">里亚兹拉贾·阿里<年代up>1</年代up></span> <div class="sc-fHxwqH dMuGGA isHide"> <p><sup>1</年代up><span>电子工程、通讯卫星信息技术研究所翟沙赫扎德公园路,伊斯兰堡,巴基斯坦</年代pan></p> </div> <button class="sc-hSdWYo etauus sc-iQtOjA kfDwZY" color="">显示更多</button> </div> <div class="articleContent__EditorWrapper-sc-2yl9jy-3 evMkvU"> <div class="articleContent__TextWrapper-sc-2yl9jy-8 fYrLtk"> <b>学术编辑器:</b>玛丽亚·林登</div> <div class="articleContent__PublicationTimeLineWrapper-sc-2yl9jy-4 fjviok"> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">收到了</年代pan> <span class="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2017年2月23日</年代pan> </div> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">修改后的</年代pan> <span class="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2017年7月26日</年代pan> </div> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">接受</年代pan> <span class="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">07年8月2017年</年代pan> </div> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC isPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">发表</年代pan> <span class="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2017年9月20日</年代pan> </div> </div> </div> <article class="sc-jtRlXQ cRDvIO article_body "> <div> <div class="xml-content"> <h4 class="header" id="abstract">文摘</h4> <p><i>目标</我>。本文的目的是进行全面比较分析五种不同的控制器之间在全静脉麻醉药物输注系统(TIVA)管理。<我>方法。</我>该方法模型与一阶指数衰减稀释室代表药物的药代动力学衰减特征。稀释室与五种不同的集成控制技术与仿真比较分析它们之间执行。设计过程中进行了使用MATLAB SISOTOOL。<我>结果。</我>研究结果显示,每个控制器都有自己的优缺点。结果使用MATLAB生成表示并确认π和级联控制器的有效性,与级联控制器作为最好的自动化控制技术和控制异丙酚交付。<我>结论。</我>摘要不同的计量控制技术回馈控制异丙酚交付确认有不错的效果。<我>的意义。</我>比较分析表明,这种药物灌注平台,与适当的控制技术,将执行总静脉麻醉领域的突出。</p> <span class="end-abs"></span> <h4 id="introduction">1。介绍</h4> <p>在全身麻醉,麻醉(TCIA)是一个公认的研究技术,发现最广泛认可闭环药方法(<a href="#B1">1</a>- - - - - -<a href="#B3">3</a>]。麻醉药品管理局在人体是一个众人瞩目的研究人员,要求红衣主教在生物医学工程领域的关注。缺乏或过量的剂量可能会导致病人病情不稳定等中毒。异丙酚是一种非阿片类麻醉剂,广泛用于静脉全身麻醉领域的管理。因此,由于它的广泛使用和军团的优势,达到和维持其目标是严格的浓度(<a href="#B4">4</a>,<a href="#B5">5</a>]。</p> <p>药物动力学(PK)是药理学的一个分支,研究有关一个活的有机体如何影响注入药物,虽然药效学(PD)是药理学的分支,涉及的研究注入药物如何影响一个活的有机体。考虑所有的重要参数,准确的药代动力学(PK)和药效学(PD)模型开发,TCIA介绍的基础上。TCIA的功效取决于PK模型的精度,影响网站的浓度之间的相互关系,测量,和设备用于药物监测和控制。实现彻底的控制给药,连续异丙酚在执行测量总静脉麻醉(TIVA)。</p> <p>在[<a href="#B6">6</a>,<a href="#B7">7</a>),规范three-compartmental模型被用来描述药物浓度和动态流动的品质和特性在人类循环系统。第一间构成了血液,注入药物。给药后,药物浓度在不同的单独的隔间包括网站,就是大脑,由于各种因素的影响。这些因素包括速率常数分布交互隔间内,体积组成各自的隔间和输注速率。</p> <p>设置的药物浓度程度影响网站所需的目标程度正是TCIA的主要目标。血液中的药物注入和测量,是第一个隔间。在这种情况下,通过药效学模型,测量血液中的药物浓度提供了一个估计影响网站的药物浓度。一旦血液中的药物浓度是量化,其控制和监管也可以完成所需的目标水平。</p> <p>在闭环药物输送系统中,采用不同的控制技术来控制药物输注速率,从而导致血液中药物浓度的控制,因此网站的影响。在[<a href="#B8">8</a>- - - - - -<a href="#B11">11</a>),讨论了PID控制器作为最简单的控制器,广泛应用领域的控制系统设计。参考文献(<a href="#B12">12</a>,<a href="#B13">13</a>]讨论脆弱性高频噪声和积分器结尾的效果的一个主要缺点的PID控制器。最可行的替代铅、滞后或调整的控制器,在设计参数,研究了(<a href="#B14">14</a>,<a href="#B15">15</a>]。在某些情况下,[中讨论<a href="#B16">16</a>,<a href="#B17">17</a>铅和滞后),二阶控制器,与广泛使用的PID控制器相比,导致更好的结果。</p> <p>相位超前和相位滞后两个最常利用的控制架构设计控制系统的根轨迹或预示补偿方法使用。在[<a href="#B18">18</a>),级联或串联补偿的控制系统设计中最受欢迎的方法。铅和滞后控制器的设计和实现研究了(<a href="#B19">19</a>- - - - - -<a href="#B22">22</a>]。一个概念性的理解提供了控制系统工程(<a href="#B23">23</a>]。比较分析不同的控制技术研究[<a href="#B24">24</a>,<a href="#B25">25</a>]。</p> <p>本文比较分析的五个不同的控制技术及其设计过程,自动注入的交付系统,基于异丙酚测量闭环反馈系统。比较分析对不同时间域规范进行增益,超出比例,沉降时间和上升时间。相位超前的设计过程,执行滞后,领先-落后,级联控制器通过应用根轨迹技术的原则(<a href="#B26">26</a>- - - - - -<a href="#B28">28</a>),使用MATLAB SISOTOOL [<a href="#B29">29日</a>- - - - - -<a href="#B31">31日</a>]。仿真研究是基于该模型开发的迈尔斯等人在<a href="#B32">32</a>]。</p> <p>本文的组织结构如下:部分<a href="#sec2">2</a>描述了系统建模和描述。部分<a href="#sec3">3</a>介绍了使用的方法一个开环和闭环分析。部分<a href="#sec4">4</a>显示了五个不同的控制器,仿真结果,比较分析了不同参数的基础上,例如上升时间、超调,沉降时间。部分<a href="#sec5">5</a>评论的讨论。最后,部分<a href="#sec6">6</a>总结了纸。</p> <h4 id="system-model-and-description">2。系统模型和描述</h4> <p>下面的方程,迈尔斯等人所示(<a href="#B32">32</a>),用于系统建模。</p> <p>后喷丸或异丙酚输注的引入,一个一阶动力学模型描述了药物在血液循环,消除动力学数学描述为<年代pan class="equation_break" id="EEq1"><span class="left_break" id="L1"></span><span class="middle_break"><span class="center_break" id="M1"> <svg height="27.228pt" id="M1-1" version="1.1" viewbox="0 0 92.964 27.228" width="92.964pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B1-1"> <g transform="matrix(.013,0,0,-0.013,0,9.288)"> <path d="M530 686C535 705 530 712 521 712C504 712 448 684 359 674L358 648H393C437 648 439 646 429 593L400 435C372 447 345 448 332 448C286 448 194 414 144 373C68 311 23 203 23 111C23 26 57 -12 91 -12C120 -12 147 3 188 29C227 54 290 102 341 170H343L322 71C308 6 320 -12 341 -12C373 -12 442 27 501 96L485 120C455 91 422 67 408 67C401 67 401 76 404 91C440 294 479 473 530 686ZM387 375L355 241C326 187 200 53 142 53C126 53 109 73 109 130C109 217 154 337 218 381C240 396 265 404 297 404S372 390 387 375Z" id="g113-101"></path> </g> <g transform="matrix(.013,0,0,-0.013,7.22,9.288)"> <path d="M632 159C554 79 496 30 378 30C330 30 251 50 213 80V583C258 614 324 632 379 632C497 632 552 583 630 503L661 534C584 627 498 676 375 676C172 676 45 529 45 332C45 140 176 -14 374 -14C497 -14 586 35 663 128L632 159ZM169 118C160 125 155 134 148 145C111 201 89 264 89 332C89 416 122 490 169 558V118Z" id="g197-14"></path> </g> <g transform="matrix(.013,0,0,-0.013,18.56,9.471)"> <path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path> </g> <g transform="matrix(.013,0,0,-0.013,23.08,9.288)"> <path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path> </g> <g transform="matrix(.013,0,0,-0.013,27.51,9.471)"> <path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path> </g> <rect height="0.65243" width="32.0999" x="0" y="14.142"></rect> <g transform="matrix(.013,0,0,-0.013,10.21,27.022)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,17.42,27.022)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,36.93,17.796)"> <path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z" id="g117-34"></path> </g> <g transform="matrix(.013,0,0,-0.013,48.19,17.796)"> <path d="M535 230V280H52V230H535Z" id="g117-33"></path> </g> <g transform="matrix(.013,0,0,-0.013,55.82,17.796)"> <path d="M529 97L508 118C475 75 449 58 438 58C428 58 421 66 415 104C393 234 374 403 364 496C345 670 307 712 254 712C220 712 174 691 153 669L161 645C176 653 194 658 206 658C237 658 261 640 278 562C287 522 290 483 293 434C223 269 110 105 23 9L32 -12C59 -6 85 0 108 7C152 64 251 252 300 366C307 297 315 221 337 82C346 24 363 -12 393 -12C425 -12 475 13 529 97Z" id="g113-233"></path> </g> <g transform="matrix(.013,0,0,-0.013,63,17.796)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.013,0,0,-0.013,74.34,17.979)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.86,17.796)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.29,17.979)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,90,17.796)"> <path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z" id="g113-47"></path> </g> </g> </svg></span></span><span class="right_break" id="R1"> <svg class="label" height="11.44pt" id="M1-2" version="1.1" viewbox="0 0 13.398 11.44" width="13.398pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B1-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 611 70 451 70 272V271C70 90 136 -71 282 -169L300 -147Z" id="g190-41"></path> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M311 0V25C221 32 216 41 216 113V635C162 613 103 594 39 583V559L88 556C131 552 135 546 135 500V113C135 41 131 32 40 25V0H311Z" id="g190-213"></path> </g> <g transform="matrix(.013,0,0,-0.013,8.9,9.26)"> <path d="M275 271C275 451 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 269V271Z" id="g190-42"></path> </g> </g> </svg></span></span></p> <p>模型代表药物浓度随时间指数衰减<年代pan class="equation_break" id="eq1"><span class="left_break" id="L2"></span><span class="middle_break"><span class="center_break" id="M2"> <svg height="16.7446pt" id="M2-1" version="1.1" viewbox="0 0 95.434 16.7446" width="95.434pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B2-1"> <g transform="matrix(.013,0,0,-0.013,0,12.78)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.013,0,0,-0.013,11.35,12.963)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.86,12.78)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,20.3,12.963)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.46,12.78)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,39.72,12.78)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.013,0,0,-0.013,51.07,12.78)"> <path d="M332 -241C217 -138 149 60 149 271C149 483 216 680 332 783L312 808C148 686 74 491 74 272V271C74 50 148 -146 312 -266L332 -241Z" id="g119-5"></path> </g> <g transform="matrix(.013,0,0,-0.013,56.09,12.78)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,60.46,15.912)"> <path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path> </g> <g transform="matrix(.013,0,0,-0.013,65.4,12.78)"> <path d="M311 271V272C311 491 237 686 73 808L53 783C169 680 236 483 236 271C236 60 168 -138 53 -241L73 -266C237 -146 311 50 311 271Z" id="g119-6"></path> </g> <g transform="matrix(.013,0,0,-0.013,72.62,12.78)"> <path d="M391 364C391 409 353 448 295 448C249 448 198 426 152 393C65 331 23 225 23 139C23 14 96 -12 146 -12C198 -12 280 9 367 101L351 124C300 78 242 48 194 48C129 48 109 107 109 162V191C208 213 391 266 391 364ZM313 350C313 305 268 261 113 223C132 334 187 381 217 398C227 404 244 405 261 405C290 405 313 385 313 350Z" id="g113-102"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,78,6.517)"> <path d="M556 236V289H56V236H556Z" id="g54-33"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,83.56,6.517)"> <path d="M547 100L523 123C489 76 461 62 452 62C442 62 433 71 427 109C405 243 387 408 378 495C360 666 322 710 263 710C230 710 182 688 161 667L170 639C184 646 203 651 218 651C247 651 272 634 288 562C297 521 300 485 304 436C230 267 111 104 24 11L33 -12L116 6C163 73 263 255 311 362L347 84C355 26 373 -12 406 -12C440 -12 489 12 547 100Z" id="g50-233"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,88.76,6.517)"> <path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path> </g> <g transform="matrix(.013,0,0,-0.013,92.47,12.78)"> <path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path> </g> </g> </svg></span></span><span class="right_break" id="R2"> <svg class="label" height="11.44pt" id="M2-2" version="1.1" viewbox="0 0 15.038 11.44" width="15.038pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B2-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M411 139C381 76 368 73 314 73H129L267 224C351 317 400 380 400 469C400 574 322 635 233 635C176 635 128 610 98 576L40 495L63 476C89 515 130 568 198 568C274 568 316 519 316 436C316 347 251 264 191 192C142 134 85 76 30 21V0H403C415 45 425 89 438 131L411 139Z" id="g190-243"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.54,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span>在哪里<年代vg height="11.5564pt" id="M3" style="vertical-align:-2.26807pt" version="1.1" viewbox="-0.0498162 -9.28833 22.7784 11.5564" width="22.7784pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.165,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.663,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.096,0)"> <use xlink:href="#g113-42"></use> </g> </svg>代表了时间依赖药物浓度和<年代vg height="12.5794pt" id="M4" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 27.6596 12.5794" width="27.6596pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.165,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.663,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,18.031,3.132)"> <use xlink:href="#g50-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,22.978,0)"> <use xlink:href="#g113-42"></use> </g> </svg>在时间描述药物的浓度,<我>t</我>=<我>t</我><sub>0</年代ub>。<我>λ</我>代表药物消除速率是一个函数的血液和PK衰变率的体积。</p> <p>当药物注入血液中注入速度<我>我</我>(<我>t</我>),(<a href="#EEq1">1</a>)是合格的<年代pan class="equation_break" id="EEq2"><span class="left_break" id="L5"></span><span class="middle_break"><span class="center_break" id="M5"> <svg height="27.228pt" id="M5-1" version="1.1" viewbox="0 0 125.834 27.228" width="125.834pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B5-1"> <g transform="matrix(.013,0,0,-0.013,0,9.288)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.22,9.288)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.56,9.471)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,23.08,9.288)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.51,9.471)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="32.0999" x="0" y="14.142"></rect> <g transform="matrix(.013,0,0,-0.013,10.21,27.022)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,17.42,27.022)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,36.93,17.796)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.19,17.796)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,55.82,17.796)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,63,17.796)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.013,0,0,-0.013,74.34,17.979)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.86,17.796)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.29,17.979)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.73,17.796)"> <path d="M535 230V280H323V490H265V280H52V230H265V-3H323V230H535Z" id="g117-36"></path> </g> <g transform="matrix(.013,0,0,-0.013,102.46,9.288)"> <path d="M244 607C244 633 228 655 200 655C166 655 146 618 146 594C146 564 166 546 191 546C221 546 244 574 244 607ZM222 91L209 114C184 94 148 66 133 66C127 66 124 73 130 96L201 370C213 416 211 448 191 448C162 448 88 407 29 352L42 328C73 354 104 371 114 371C120 371 119 365 115 345L53 92C32 5 45 -12 68 -12C103 -12 186 50 222 91Z" id="g113-106"></path> </g> <g transform="matrix(.013,0,0,-0.013,108.19,9.471)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,112.7,9.288)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,117.13,9.471)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="19.2208" x="102.46" y="14.142"></rect> <g transform="matrix(.013,0,0,-0.013,107.81,27.022)"> <path d="M653 662H607L398 78H396L185 662H12L248 0H417L653 662ZM361 44H279L73 618H156L361 44Z" id="g197-33"></path> </g> <g transform="matrix(.013,0,0,-0.013,122.87,17.796)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R5"> <svg class="label" height="11.44pt" id="M5-2" version="1.1" viewbox="0 0 14.868 11.44" width="14.868pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B5-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M269 381C298 400 325 421 340 436C360 455 370 476 370 504C370 579 313 635 223 635H222C170 635 123 610 95 579L52 516L72 497C95 533 136 577 193 577C245 577 286 546 286 482C286 408 218 369 127 339L133 314C149 319 174 325 197 325C254 325 324 285 324 192C325 83 266 39 201 39C143 39 103 68 78 91C70 98 62 97 54 91C45 84 33 71 32 58C30 46 34 35 48 22C61 10 102 -12 148 -12C216 -12 410 57 410 225C410 298 357 362 269 379V381Z" id="g190-232"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.37,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>在我们的模拟研究中,定容稀释室是用来模拟人类的血液。药物浓度在本室模型的指数衰减的实际PK衰变药物在血液中。药物消除速率<我>λ</我>确定是<年代pan class="equation_break" id="EEq3"><span class="left_break" id="L6"></span><span class="middle_break"><span class="center_break" id="M6"> <svg height="29.5507pt" id="M6-1" version="1.1" viewbox="0 0 39.774 29.5507" width="39.774pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B6-1"> <g transform="matrix(.013,0,0,-0.013,0,17.144)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.8,17.144)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.5,8.636)"> <path d="M719 146L691 147C666 77 657 72 612 72H528C572 125 688 224 688 364C688 546 558 665 384 665C212 665 77 541 77 361C77 221 188 124 239 72H150C110 72 97 80 73 147L46 146L63 0H307L314 18C284 71 178 203 178 360C178 529 256 631 383 631C509 631 588 523 588 363C588 197 485 67 453 18L458 0H701L719 146Z" id="g113-153"></path> </g> <rect height="0.65243" width="12.3581" x="23.26" y="13.49"></rect> <g transform="matrix(.013,0,0,-0.013,23.26,26.369)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,30.64,29.501)"> <path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path> </g> <g transform="matrix(.013,0,0,-0.013,36.81,17.144)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R6"> <svg class="label" height="11.44pt" id="M6-2" version="1.1" viewbox="0 0 15.458 11.44" width="15.458pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B6-2"> <g transform="matrix(.013,0,0,-0.013,0,9.25)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.25)"> <path d="M465 179V225H369V632H330C227 497 124 346 29 205V179H289V107C289 37 284 33 198 26V0H454V26C374 33 369 37 369 107V179H465ZM289 225H92C156 335 222 430 287 520H289V225Z" id="g190-166"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.96,9.25)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p> <svg height="11.8696pt" id="M7" style="vertical-align:-3.18151pt" version="1.1" viewbox="-0.0498162 -8.68809 12.4578 11.8696" width="12.4578pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"> <use xlink:href="#g50-50"></use> </g> </svg>显示室的体积<我>Ω</我>代表了稀释流量。</p> <p>一个特定数量的药物注射增加腔内的浓度水平。这个新的室被定义为初始浓度的浓度,也就是说,<年代pan class="nowrap"> <svg height="12.4698pt" id="M8" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 29.5386 12.4698" width="29.5386pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.165,3.132)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.111,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.609,0)"> <path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z" id="g113-49"></path> </g> <g transform="matrix(.013,0,0,-0.013,24.85,0)"> <use xlink:href="#g113-42"></use> </g> </svg>,</年代pan>随着时间的推移而衰减指数。设定的指数衰减率<我>Ω</我>和<年代vg height="11.8696pt" id="M9" style="vertical-align:-3.18151pt" version="1.1" viewbox="-0.0498162 -8.68809 12.4578 11.8696" width="12.4578pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"> <use xlink:href="#g50-50"></use> </g> </svg><span class="equation_break" id="EEq4"><span class="left_break" id="L10"></span><span class="middle_break"><span class="center_break" id="M10"> <svg height="16.7446pt" id="M10-1" version="1.1" viewbox="0 0 122.404 16.7446" width="122.404pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B10-1"> <g transform="matrix(.013,0,0,-0.013,0,12.78)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.16,15.912)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.29,12.963)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,20.8,12.78)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.23,12.963)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,33.4,12.78)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,44.66,12.78)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,53.83,15.912)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.95,12.963)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,65.47,12.78)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,71.71,12.963)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.42,12.78)"> <use xlink:href="#g113-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,83.81,6.517)"> <use xlink:href="#g54-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,89.37,6.517)"> <path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,92.62,6.517)"> <path d="M727 145L694 147C669 79 660 74 614 74H536C582 128 696 227 696 364C696 547 564 666 388 666C215 666 78 544 78 361C78 224 189 126 240 74H155C117 74 102 83 79 147L48 145L64 0H313L320 21C290 72 182 208 182 360C182 527 261 628 387 628S593 523 593 362C593 199 488 69 456 21L461 0H709L727 145Z" id="g50-153"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,99.61,6.517)"> <path d="M381 704H317L48 -163H112L381 704Z" id="g50-48"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,103.52,6.517)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0065,0,0,-0.0065,108.69,8.618)"> <path d="M394 0V37C301 42 295 50 295 122V635C236 613 178 596 109 583V553L165 551C205 549 209 544 209 495V122C209 50 203 42 111 37V0H394Z" id="g176-50"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,112.41,6.517)"> <path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,115.67,6.517)"> <use xlink:href="#g50-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,119.44,12.78)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R10"> <svg class="label" height="11.44pt" id="M10-2" version="1.1" viewbox="0 0 14.898 11.44" width="14.898pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B10-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M130 550H367L393 615L386 623H101L63 323C82 331 123 342 165 342C275 342 328 277 328 188C328 107 283 40 201 40C141 40 99 72 78 91C69 99 59 98 51 91C39 81 30 67 29 58C28 48 33 37 46 24C60 10 104 -12 149 -12C203 -11 269 14 323 59C384 109 412 165 412 225C412 308 347 399 219 399C193 399 146 382 104 367L130 550Z" id="g190-161"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.4,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>浓度稀释的动力室同样可以导数形式的象征<年代pan class="equation_break" id="eq2"><span class="left_break" id="L11"></span><span class="middle_break"><span class="center_break" id="M11"> <svg height="30.4379pt" id="M11-1" version="1.1" viewbox="0 0 110.434 30.4379" width="110.434pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B11-1"> <g transform="matrix(.013,0,0,-0.013,0,9.288)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.22,9.288)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,16.38,12.42)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,23.51,9.471)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.02,9.288)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.46,9.471)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="37.0463" x="0" y="14.377"></rect> <g transform="matrix(.013,0,0,-0.013,12.68,27.256)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,19.9,27.256)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.88,18.031)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,53.14,18.031)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.21,9.523)"> <use xlink:href="#g113-153"></use> </g> <rect height="0.65243" width="12.3581" x="61.97" y="14.377"></rect> <g transform="matrix(.013,0,0,-0.013,61.97,27.256)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,69.35,30.388)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,75.52,18.031)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,84.69,21.163)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.81,18.214)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,96.33,18.031)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,100.76,18.214)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,107.47,18.031)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R11"> <svg class="label" height="11.44pt" id="M11-2" version="1.1" viewbox="0 0 15.428 11.44" width="15.428pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B11-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.49,9.26)"> <path d="M143 344C173 483 265 547 326 576C363 593 402 605 434 611L429 641C389 634 343 623 301 608C195 570 43 456 43 236C43 81 135 -12 245 -12C368 -12 453 88 453 208C453 310 380 393 273 393C253 393 232 386 211 376L143 344ZM234 338C325 338 367 255 367 172C367 102 346 21 264 21C184 21 132 113 132 239C132 267 133 291 138 312C164 327 197 338 234 338Z" id="g190-227"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.93,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>丸剂量,当与连续灌注合并结果的时间浓度、稀释的变化室<年代pan class="equation_break" id="EEq5"><span class="left_break" id="L12"></span><span class="middle_break"><span class="center_break" id="M12"> <svg height="30.4379pt" id="M12-1" version="1.1" viewbox="0 0 143.304 30.4379" width="143.304pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B12-1"> <g transform="matrix(.013,0,0,-0.013,0,9.288)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.22,9.288)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,16.38,12.42)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,23.51,9.471)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.02,9.288)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.46,9.471)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="37.0463" x="0" y="14.377"></rect> <g transform="matrix(.013,0,0,-0.013,12.68,27.256)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,19.89,27.256)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.88,18.031)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,53.14,18.031)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.21,9.523)"> <use xlink:href="#g113-153"></use> </g> <rect height="0.65243" width="12.3581" x="61.97" y="14.377"></rect> <g transform="matrix(.013,0,0,-0.013,61.97,27.256)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,69.35,30.388)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,75.52,18.031)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,84.68,21.163)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.81,18.214)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,96.32,18.031)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,100.76,18.214)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,108.19,18.031)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,119.93,9.523)"> <use xlink:href="#g113-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,125.65,9.706)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,130.17,9.523)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,134.6,9.706)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="19.2208" x="119.93" y="14.377"></rect> <g transform="matrix(.013,0,0,-0.013,123.36,27.256)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,130.74,30.388)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,140.34,18.031)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R12"> <svg class="label" height="11.44pt" id="M12-2" version="1.1" viewbox="0 0 15.028 11.44" width="15.028pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B12-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M430 623H48C43 580 39 534 30 478H57C80 544 84 550 152 550H369C286 366 187 178 74 -1L81 -12L156 -2C249 201 343 408 438 611L430 623Z" id="g190-223"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.53,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>系统模型的微分方程是由(<a href="#EEq5">7</a>)。</p> <p>图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig1/" target="_blank">1</a>显示输注回馈控制系统的框图。它是由以下几点:<年代pan class="list"><span class="list-item"><span class="list-label">(1)</年代pan><span class="list-content">一个控制器来实现目标浓度的异丙酚</年代pan></span><span class="list-item"><span class="list-label">(2)</年代pan><span class="list-content">稀释定容室,代表第一室,这是我们的工厂</年代pan></span><span class="list-item"><span class="list-label">(3)</年代pan><span class="list-content">连续稀释比例的稀释泵调节背景电解质</年代pan></span><span class="list-item"><span class="list-label">(4)</年代pan><span class="list-content">一个音量控制泵室保持恒定体积。</年代pan></span></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig1"> <div class="floats-partial-content fig-content-fig1"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.001" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.001.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图1</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 回馈控制药物输注系统的框图。</div> </div> </div> <h4 id="methods">3所示。方法</h4> <p>分析输注回馈控制系统的性能,与定容稀释室<年代vg height="11.8696pt" id="M13" style="vertical-align:-3.18151pt" version="1.1" viewbox="-0.0498162 -8.68809 12.4578 11.8696" width="12.4578pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"> <use xlink:href="#g50-50"></use> </g> </svg>被认为是。为了改变初始浓度<年代vg height="12.4698pt" id="M14" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 29.5386 12.4698" width="29.5386pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.165,3.132)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.111,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.609,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.85,0)"> <use xlink:href="#g113-42"></use> </g> </svg>随着时间的推移,稀释室连续稀释通过稀释泵在背景电解质稀释率(<我>Ω</我>)。内的浓度变化从一个初始浓度稀释室中描述(<a href="#EEq2">3</a>)。首先,系统分析了在一个开放的循环,闭环系统的设计和实现后,使用五种不同的控制方案。</p> <h5 id="sec3.1">3.1。开环的分析</h5> <p>开环分析可以通过以下两个步骤进行描述。第一步描述稀释室的指数衰减。<年代vg height="11.8696pt" id="M15" style="vertical-align:-3.18151pt" version="1.1" viewbox="-0.0498162 -8.68809 12.4578 11.8696" width="12.4578pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"> <use xlink:href="#g50-50"></use> </g> </svg>描述室的体积是固定在10毫升。<年代vg height="12.4698pt" id="M16" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 29.5386 12.4698" width="29.5386pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.165,3.132)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.111,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.609,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.85,0)"> <use xlink:href="#g113-42"></use> </g> </svg>描述初始浓度的异丙酚被设置为0.01毫升。为了模拟PK衰变,这个初始浓度稀释的连续稀释背景电解质的流量0.04毫升/秒。</p> <p>在第二步中,稀释室体积是相同的,也就是说,10毫升;然而,异丙酚的浓度在室设置为零,也就是说,<年代pan class="inline_break"> <svg height="12.4698pt" id="M17" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 40.61 12.4698" width="40.61pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.165,3.132)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.111,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.609,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.85,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.979,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="12.4698pt" style="vertical-align:-3.18147pt" version="1.1" viewbox="44.192183799999995 -9.28833 6.24 12.4698" width="6.24pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,44.242,0)"> <use xlink:href="#g113-49"></use> </g> </svg></span>。之后,连续稀释和注入异丙酚处理的并行操作固定输液速度。</p> <p>开环的设计参数分析如表所示<a href="//www.newsama.com/journals/jhe/2017/3153252/tab1/" target="_blank">1</a>。图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig2/" target="_blank">2</a>显示控制系统的开环阶跃响应与一个非常高的沉降时间、上升时间和稳态误差。然而,过度的比例系统响应几乎为零。</p> <div class="floats-partial-section partial-other-wrapper" data-section="tab1"> <div class="floats-partial-content fig-content-tab1"> <table class="table-group" id="tab1"> <tbody> <tr> <td> <table class="table"> <tbody> <tr> <td class="thead-hr" colspan="3"> <hr></td> </tr> <tr class="thead"> <td class="align_left">变量</td> <td class="align_center">描述</td> <td class="align_center">价值</td> </tr> <tr> <td class="thead-hr" colspan="3"> <hr></td> </tr> <tr> <td class="align_left"><i>我</我>(<我>t</我>)</td> <td class="align_center">输液速度</td> <td class="align_center">控制器计算注入率</td> </tr> <tr> <td class="align_left"><span style="width: 29.9039ptpx;"> <svg height="12.2871pt" id="M18" style="vertical-align:-3.181459pt" version="1.1" viewbox="-0.0498162 -9.10564 29.9039 12.2871" width="29.9039pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M632 159C554 79 496 30 378 30C330 30 251 50 213 80V583C258 614 324 632 379 632C497 632 552 583 630 503L661 534C584 627 498 676 375 676C172 676 45 529 45 332C45 140 176 -14 374 -14C497 -14 586 35 663 128L632 159ZM169 118C160 125 155 134 148 145C111 201 89 264 89 332C89 416 122 490 169 558V118Z" id="g197-14"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.165,3.132)"> <path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path> </g> <g transform="matrix(.013,0,0,-0.013,16.291,.183)"> <path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path> </g> <g transform="matrix(.013,0,0,-0.013,20.805,0)"> <path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path> </g> <g transform="matrix(.013,0,0,-0.013,25.239,.183)"> <path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path> </g> </svg></span></td> <td class="align_center">浓度的稀释</td> <td class="align_center">与时间有关的</td> </tr> <tr> <td class="align_left">目标</td> <td class="align_center">目标浓度的稀释</td> <td class="align_center">0.038更易</td> </tr> <tr> <td class="align_left"><span style="width: 12.4578ptpx;"> <svg height="11.8696pt" id="M19" style="vertical-align:-3.18151pt" version="1.1" viewbox="-0.0498162 -8.68809 12.4578 11.8696" width="12.4578pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M653 662H607L398 78H396L185 662H12L248 0H417L653 662ZM361 44H279L73 618H156L361 44Z" id="g197-33"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"> <path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path> </g> </svg></span></td> <td class="align_center">稀释箱的体积</td> <td class="align_center">10毫升</td> </tr> <tr> <td class="align_left"><i>Ω</我></td> <td class="align_center">稀释泵/稀释流量的速度</td> <td class="align_center">0.04毫升/秒</td> </tr> <tr> <td class="align_left"><i>λ</我></td> <td class="align_center">消除速率<年代vg height="12.4698pt" id="M20" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 49.838 12.4698" width="49.838pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M529 97L508 118C475 75 449 58 438 58C428 58 421 66 415 104C393 234 374 403 364 496C345 670 307 712 254 712C220 712 174 691 153 669L161 645C176 653 194 658 206 658C237 658 261 640 278 562C287 522 290 483 293 434C223 269 110 105 23 9L32 -12C59 -6 85 0 108 7C152 64 251 252 300 366C307 297 315 221 337 82C346 24 363 -12 393 -12C425 -12 475 13 529 97Z" id="g113-233"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.806,0)"> <path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z" id="g117-34"></path> </g>  <g transform="matrix(.013,0,0,-0.013,22.068,0)"> <path d="M719 146L691 147C666 77 657 72 612 72H528C572 125 688 224 688 364C688 546 558 665 384 665C212 665 77 541 77 361C77 221 188 124 239 72H150C110 72 97 80 73 147L46 146L63 0H307L314 18C284 71 178 203 178 360C178 529 256 631 383 631C509 631 588 523 588 363C588 197 485 67 453 18L458 0H701L719 146Z" id="g113-153"></path> </g> <g transform="matrix(.013,0,0,-0.013,31.91,0)"> <path d="M368 703H309L44 -163H104L368 703Z" id="g113-48"></path> </g>  <g transform="matrix(.013,0,0,-0.013,37.271,0)"> <path d="M653 662H607L398 78H396L185 662H12L248 0H417L653 662ZM361 44H279L73 618H156L361 44Z" id="g197-33"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,44.655,3.132)"> <path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path> </g> </svg></td> <td class="align_center">0.004<我>年代</我><sup>−1</年代up></td> </tr> <tr class="table-tr"> <td colspan="3"> <hr class="tbody-hr"></td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表1</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/tab1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 仿真参数。</div> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig2"> <div class="floats-partial-content fig-content-fig2"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.002" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.002.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图2</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 阶跃响应的不受控制的稀释。</div> </div> </div> <h5 id="sec3.2">3.2。控制技术和设计</h5> <p>本节介绍了闭环设计药物输注系统的分析。为了达到研究药物灌注在第一隔间或稀释室,五个不同的控制技术设计并实现了闭环反馈系统。中使用的技术的基本原理精心设计过程的五个动态控制器是指(<a href="#B33">33</a>- - - - - -<a href="#B35">35</a>]。描述的设计技术的闭环分析输液系统使用相同的参数已经被用于开环的分析。设计参数如表所示<a href="//www.newsama.com/journals/jhe/2017/3153252/tab1/" target="_blank">1</a>。</p> <h6 id="sec3.2.1">3.2.1之上。PID控制器</h6> <p>proportional-integral-derivative(比例积分微分)控制器是一种最常用的和公认的控制算法用于控制行业。PID控制器的属性部分他们的宽量程操作的鲁棒性能和部分简化操作。PID一词描述了它的三个主要组件,比例控制术语(<我>K<年代ub>P</年代ub></i>),一个完整的控制项(<我>K<年代ub>我</年代ub></i>),和一个微分控制项(<我>K<年代ub>D</年代ub></i>)。表<a href="//www.newsama.com/journals/jhe/2017/3153252/tab2/" target="_blank">2</a>描述一个PID控制器的效果的三个组件。在数学上,下面的方程描述一个PID控制器:<年代pan class="equation_break" id="EEq6"><span class="left_break" id="L21"></span><span class="middle_break"><span class="center_break" id="M21"> <svg height="52.4701pt" id="M21-1" version="1.1" viewbox="0 0 109.164 52.4701" width="109.164pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B21-1"> <g transform="matrix(.013,0,0,-0.013,0,9.184)"> <use xlink:href="#g113-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.56,9.367)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,12.08,9.184)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.51,9.367)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.67,9.184)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,35.94,9.184)"> <path d="M298 36L289 62C276 55 253 45 228 45C202 45 169 60 169 141V397H276C289 405 292 426 282 437H169V574L155 576L90 509V437H45L17 408L21 397H90V107C90 28 125 -12 188 -12C198 -12 213 -8 230 1L298 36Z" id="g121-114"></path> </g> <g transform="matrix(.013,0,0,-0.013,39.98,9.184)"> <path d="M433 39L423 65C413 59 399 54 387 54C370 54 352 69 352 114V299C352 352 342 392 307 422C285 440 255 449 225 449C168 437 102 399 75 379C56 365 44 353 44 339C44 315 69 296 87 296C101 296 111 303 116 319C124 349 133 371 145 385C156 397 171 404 190 404C241 404 275 364 275 291V274C253 256 180 229 120 209C65 190 39 159 39 110C39 47 88 -12 159 -12C189 -12 237 25 277 52C282 35 288 21 301 8C312 -3 333 -12 348 -12L433 39ZM275 84C256 65 221 48 195 48C164 48 124 73 124 124C124 161 146 180 185 198C206 208 254 229 275 240V84Z" id="g121-95"></path> </g> <g transform="matrix(.013,0,0,-0.013,45.57,9.184)"> <path d="M181 342V451C133 431 89 419 40 411V388C98 381 102 377 102 311V104C102 38 95 32 33 26V0H263V26C186 32 181 38 181 104V287C203 343 235 372 261 372C277 372 289 366 304 352C310 346 318 345 330 350C349 359 362 379 362 399C362 422 338 449 304 449C256 449 213 393 183 342H181Z" id="g121-112"></path> </g> <g transform="matrix(.013,0,0,-0.013,50.29,9.184)"> <path d="M463 437C426 431 375 425 327 422C297 440 264 449 231 449H230C153 449 51 396 51 283C51 215 94 168 139 149C123 129 91 103 51 88C50 78 53 60 62 46C75 25 100 2 136 -9C112 -28 73 -59 53 -79C38 -94 29 -113 29 -135C30 -192 91 -257 203 -257C336 -257 452 -160 452 -59C452 39 371 59 309 59C275 59 240 58 203 58C158 58 140 77 140 96C140 110 157 129 170 138C186 135 205 133 221 133C306 133 396 185 396 293C396 328 384 360 366 381L423 378C439 387 459 413 468 429L463 437ZM219 418C277 418 314 362 314 284C314 205 275 166 231 165C176 165 137 221 137 299C137 376 177 418 219 418ZM241 -11C285 -11 314 -14 339 -24C367 -36 384 -61 384 -95C384 -157 335 -206 240 -206C166 -206 108 -165 108 -110C108 -82 128 -54 154 -32C172 -17 195 -11 241 -11Z" id="g121-101"></path> </g> <g transform="matrix(.013,0,0,-0.013,56.27,9.184)"> <path d="M380 106C343 72 306 56 265 56C195 56 116 112 115 248C235 252 361 262 377 265C396 269 400 277 400 297C400 374 333 449 250 449H249C198 449 144 421 103 376S37 269 37 201C37 88 109 -12 232 -12C263 -12 332 6 395 84L380 106ZM225 412C281 412 315 364 314 312C314 297 308 292 290 292C232 290 176 289 120 289C135 370 180 412 225 412Z" id="g121-99"></path> </g> <g transform="matrix(.013,0,0,-0.013,61.79,9.184)"> <use xlink:href="#g121-114"></use> </g> <g transform="matrix(.013,0,0,-0.013,68.66,9.184)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,79.2,9.184)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.54,9.367)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,95.06,9.184)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,99.49,9.367)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,106.2,9.184)"> <use xlink:href="#g113-45"></use> </g> </g> </svg> <svg height="52.4701pt" id="M21-3" version="1.1" viewbox="0 0 149.333 52.4701" width="149.333pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B21-3"> <g transform="matrix(.013,0,0,-0.013,0,41.701)"> <use xlink:href="#g113-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.73,41.883)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.24,41.701)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.68,41.883)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,22.84,41.701)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,34.1,41.701)"> <path d="M743 650H503L496 622L527 618C563 613 564 603 532 573C449 495 371 431 323 392C301 374 272 355 246 346L280 522C297 609 300 614 379 622L385 650H135L129 622C209 614 215 609 198 522L124 133C106 39 99 35 23 28L17 0H271L277 28C193 35 192 39 208 133L239 316C264 328 280 325 303 288C368 183 435 90 502 0H652L659 28C602 34 584 43 543 94C495 154 403 283 347 369L574 554C634 603 659 612 735 624L743 650Z" id="g113-76"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,43.33,44.832)"> <path d="M622 479C622 589 545 650 400 650H146L140 618C229 609 230 602 215 527L135 132C117 43 112 41 27 32L18 0H305L313 32C213 40 205 44 222 132L251 284L324 262H365C484 269 622 333 622 479ZM528 477C528 356 420 305 344 305C300 305 276 314 259 321L303 554C311 597 313 600 331 606C345 611 361 614 379 614C463 614 528 580 528 477Z" id="g50-81"></path> </g> <g transform="matrix(.013,0,0,-0.013,49.51,41.701)"> <use xlink:href="#g113-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,57.07,41.883)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,61.59,41.701)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.02,41.883)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,73.46,41.701)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,84,41.701)"> <use xlink:href="#g113-76"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,93.23,44.832)"> <path d="M418 650H141L133 618C225 611 232 604 218 531L141 120C126 45 119 37 33 32L24 0H301L308 32C220 37 214 44 227 120L305 531C319 605 325 611 411 618L418 650Z" id="g50-74"></path> </g> <g transform="matrix(.013,0,0,-0.013,99.87,41.714)"> <path d="M570 1230C570 1262 541 1287 502 1287C357 1287 278 1119 280 794L288 -503C289 -666 275 -701 243 -701C218 -701 198 -654 157 -654C127 -654 101 -678 101 -710C101 -743 131 -775 179 -775C326 -775 401 -601 399 -187L392 1014C391 1190 408 1219 438 1219C469 1219 469 1176 513 1176C546 1176 570 1198 570 1230Z" id="g119-89"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,108.62,28.163)"> <use xlink:href="#g50-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,106.08,52.311)"> <use xlink:href="#g50-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.47,41.701)"> <use xlink:href="#g113-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,122.03,41.883)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,126.55,41.701)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,130.98,41.883)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,137.69,41.701)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,144.9,41.701)"> <use xlink:href="#g113-117"></use> </g> </g> </svg> <svg height="52.4701pt" id="M21-4" version="1.1" viewbox="0 0 60.984 52.4701" width="60.984pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B21-4"> <g transform="matrix(.013,0,0,-0.013,0,41.701)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.54,41.701)"> <use xlink:href="#g113-76"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,19.77,44.832)"> <path d="M786 370C786 572 637 650 431 650H137L130 618C217 606 220 603 204 519L129 127C115 48 107 39 26 30L18 0H270C410 0 516 20 609 75C722 140 786 240 786 370ZM683 373C683 178 547 40 323 40C298 40 264 40 241 45C213 51 207 64 220 127L295 545C304 582 309 595 320 601C335 610 367 613 406 613C570 613 683 538 683 373Z" id="g50-69"></path> </g> <g transform="matrix(.013,0,0,-0.013,28.52,33.193)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,35.74,33.193)"> <use xlink:href="#g113-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,43.3,33.376)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,47.82,33.193)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,52.25,33.376)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="28.3027" x="28.52" y="38.047"></rect> <g transform="matrix(.013,0,0,-0.013,36.83,50.926)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,44.04,50.926)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,58.02,41.701)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R21"> <svg class="label" height="11.44pt" id="M21-2" version="1.1" viewbox="0 0 15.168 11.44" width="15.168pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B21-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M246 635C138 635 67 554 67 471C67 401 116 348 178 315C143 296 103 268 87 252C65 231 42 203 42 157C42 50 128 -12 234 -12C319 -12 432 52 432 169C432 256 370 303 299 344C347 376 373 399 381 408C399 430 408 459 408 487C408 569 341 635 246 635ZM235 603C284 603 334 567 334 483C334 420 306 383 273 358C202 393 142 427 142 503C142 552 173 603 235 603ZM245 21C179 21 122 70 122 163C122 219 155 270 204 300C279 263 352 219 352 144C352 66 308 21 245 21Z" id="g190-152"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.67,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="label" height="11.44pt" id="M21-5" version="1.1" viewbox="0 0 15.338 11.44" width="15.338pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B21-5"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M247 635C117 635 41 518 41 422C41 317 114 239 220 239C239 239 256 244 278 255L348 290C315 139 207 37 63 13L67 -15C93 -15 155 -5 207 17C343 71 443 203 443 385C443 520 371 635 247 635ZM231 602C331 602 355 476 355 390C355 371 354 349 351 325C334 310 298 294 261 294C177 294 128 369 128 457C128 516 155 602 231 602Z" id="g190-193"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.84,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <div class="floats-partial-section partial-other-wrapper" data-section="tab2"> <div class="floats-partial-content fig-content-tab2"> <table class="table-group" id="tab2"> <tbody> <tr> <td> <table class="table"> <tbody> <tr> <td class="thead-hr" colspan="5"> <hr></td> </tr> <tr class="thead"> <td class="align_left">响应</td> <td class="align_center">上升时间</td> <td class="align_center">过度</td> <td class="align_center">沉淀时间</td> <td class="align_center">稳态误差</td> </tr> <tr> <td class="thead-hr" colspan="5"> <hr></td> </tr> <tr> <td class="align_left"><i>K<年代ub>P</年代ub></i></td> <td class="align_center">减少</td> <td class="align_center">增加</td> <td class="align_center">没有影响</td> <td class="align_center">减少</td> </tr> <tr> <td class="align_left"><i>K<年代ub>我</年代ub></i></td> <td class="align_center">减少</td> <td class="align_center">增加</td> <td class="align_center">增加</td> <td class="align_center">消除</td> </tr> <tr> <td class="align_left"><i>K<年代ub>D</年代ub></i></td> <td class="align_center">没有影响</td> <td class="align_center">减少</td> <td class="align_center">减少</td> <td class="align_center">没有影响</td> </tr> <tr class="table-tr"> <td colspan="5"> <hr class="tbody-hr"></td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表2</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/tab2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 的影响<我>K<年代ub>P</年代ub></i>,<我>K<年代ub>D</年代ub></i>,<我>K<年代ub>我</年代ub></i>在PID控制器。</div> </div> </div> <p>通过保持相同的参数,用于开环分析,设计了PID控制器取得目标浓度。在这项研究中,由迈尔斯等人在<a href="#B32">32</a>),一个PID控制器触发喷丸后注入。一个小数量的药物浓度涨落。因此,<我>K<年代ub>D</年代ub></i>控制器的一部分设置为零。通过连接与稀释的比例积分控制器室在闭环系统中,9个运行记录的每个九参数表<a href="//www.newsama.com/journals/jhe/2017/3153252/tab3/" target="_blank">3</a>。最后,调整PI控制器通过使用参数5控制闭环药物输送。在我们的模拟研究是确定使用的参数集从实验和模拟参数<a href="#B32">32</a>]。</p> <div class="floats-partial-section partial-other-wrapper" data-section="tab3"> <div class="floats-partial-content fig-content-tab3"> <table class="table-group" id="tab3"> <tbody> <tr> <td> <table class="table"> <tbody> <tr> <td class="thead-hr" colspan="3"> <hr></td> </tr> <tr class="thead"> <td class="align_left">PI参数</td> <td class="align_center"><i>K<年代ub>P</年代ub></i></td> <td class="align_center"><i>K<年代ub>我</年代ub></i></td> </tr> <tr> <td class="thead-hr" colspan="3"> <hr></td> </tr> <tr> <td class="align_left">1</td> <td class="align_center">3000000年</td> <td class="align_center">55</td> </tr> <tr> <td class="align_left">2</td> <td class="align_center">6000000年</td> <td class="align_center">55</td> </tr> <tr> <td class="align_left">3</td> <td class="align_center">750000年</td> <td class="align_center">55</td> </tr> <tr> <td class="align_left">4</td> <td class="align_center">4500000年</td> <td class="align_center">5。5</td> </tr> <tr> <td class="align_left">5</td> <td class="align_center">4500000年</td> <td class="align_center">55</td> </tr> <tr> <td class="align_left">6</td> <td class="align_center">4500000年</td> <td class="align_center">550年</td> </tr> <tr> <td class="align_left">7</td> <td class="align_center">4500000年</td> <td class="align_center">5500年</td> </tr> <tr> <td class="align_left">8</td> <td class="align_center">4500000年</td> <td class="align_center">55000年</td> </tr> <tr> <td class="align_left">9</td> <td class="align_center">4500000年</td> <td class="align_center">550000年</td> </tr> <tr class="table-tr"> <td colspan="3"> <hr class="tbody-hr"></td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表3</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/tab3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> PI参数。</div> </div> </div> <p>开环+系统动力学建模中(<a href="#EEq5">7</a>)和PID控制器的数学描述(<a href="#EEq6">8</a>)和(<a href="#EEq6">9</a>)集体呈现一个完整的闭环流动系统。PID控制器,结合稀释室在一个闭环反馈系统,如图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig3/" target="_blank">3</a>。通过调整PI控制器使用参数5,也就是说,<我>K<年代ub>P</年代ub></i>= 4.5×10<年代up>6</年代up>和<我>K<年代ub>我</年代ub></i>= 55岁的闭环传递函数PI-controlled稀释室了<年代pan class="equation_break" id="eq3"><span class="left_break" id="L22"></span><span class="middle_break"><span class="center_break" id="M22"> <svg height="27.6586pt" id="M22-1" version="1.1" viewbox="0 0 36.548 27.6586" width="36.548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B22-1"> <g transform="matrix(.013,0,0,-0.013,0,16.857)"> <path d="M673 297H417L411 270C517 261 522 258 506 183L487 92C476 38 428 19 360 19C207 19 123 132 123 287C123 472 243 631 441 631C557 631 617 583 617 469L647 472C650 545 655 604 658 632C625 643 554 666 467 666C201 666 23 502 23 278C23 90 156 -16 339 -16C410 -16 501 6 569 24C566 43 567 70 573 101L589 183C604 259 607 262 667 271L673 297Z" id="g113-72"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,8.83,19.988)"> <path d="M618 181C565 77 513 26 413 26C264 26 151 150 151 336C151 486 240 625 407 625C516 625 573 582 600 475L634 483C627 540 622 581 613 638C585 643 518 665 435 665C211 665 46 526 46 315C46 158 157 -15 406 -15C480 -15 564 4 594 12C612 43 638 121 651 168L618 181Z" id="g58-65"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,14.95,19.988)"> <path d="M499 166C484 119 466 88 447 68C424 43 390 38 338 38C297 38 262 40 242 51C223 62 218 80 218 133V522C218 607 226 612 309 617V650H41V617C124 612 131 605 131 522V129C131 45 123 38 38 33V0H497C505 30 529 128 534 160L499 166Z" id="g58-74"></path> </g> <g transform="matrix(.013,0,0,-0.013,22.66,17.039)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.17,16.857)"> <path d="M352 391C352 416 319 448 267 448C236 448 173 423 147 400C107 364 96 332 96 304C96 248 143 210 193 181C241 153 258 124 258 100C258 72 232 38 184 38C151 38 107 66 81 108C77 114 64 116 55 111C34 99 23 84 23 65C23 29 81 -12 134 -12C220 -12 325 61 325 141C325 184 297 215 234 256C194 282 161 309 161 346C161 380 188 401 217 401C255 401 279 380 301 353C308 344 313 341 325 347C341 355 352 371 352 391Z" id="g113-116"></path> </g> <g transform="matrix(.013,0,0,-0.013,32.05,17.039)"> <use xlink:href="#g113-42"></use> </g> </g> </svg> <svg height="27.6586pt" id="M22-2" version="1.1" viewbox="0 0 137.504 27.6586" width="137.504pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B22-2"> <g transform="matrix(.013,0,0,-0.013,0,16.857)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,30.38,8.349)"> <path d="M456 178V225H360V632H320C217 496 115 347 20 206V178H280V106C280 40 276 34 189 27V0H445V27C364 34 360 39 360 106V178H456ZM280 225H82C149 335 214 431 278 520H280V225Z" id="g113-53"></path> </g> <g transform="matrix(.013,0,0,-0.013,36.62,8.349)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.76,8.349)"> <path d="M153 550H386L412 615L406 623H120L82 318C104 327 142 338 184 338C294 338 347 275 347 187C347 112 305 39 221 39C160 39 119 71 97 89C88 97 80 96 71 90C59 80 50 67 49 57C48 45 52 36 66 23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z" id="g113-54"></path> </g> <g transform="matrix(.013,0,0,-0.013,48,8.349)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,54.24,8.349)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.48,8.349)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,65.63,8.349)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,71.87,8.349)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.11,8.349)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,84.35,8.349)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,92.13,8.349)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,102.66,8.349)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,108.9,8.349)"> <use xlink:href="#g113-54"></use> </g> <rect height="0.65243" width="120.88" x="12.46" y="13.203"></rect> <g transform="matrix(.013,0,0,-0.013,12.46,26.082)"> <path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path> </g> <g transform="matrix(.013,0,0,-0.013,18.7,26.082)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.94,26.082)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,29.82,21.907)"> <path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path> </g> <g transform="matrix(.013,0,0,-0.013,37.67,26.082)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.2,26.082)"> <use xlink:href="#g113-53"></use> </g> <g transform="matrix(.013,0,0,-0.013,54.44,26.082)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.59,26.082)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,65.83,26.082)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.07,26.082)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.31,26.082)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.45,26.082)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,89.69,26.082)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,95.93,26.082)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,102.17,26.082)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,109.95,26.082)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,120.49,26.082)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,126.73,26.082)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,134.54,16.857)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="49.6737pt" id="I22" version="1.1" viewbox="0 0 151.13 49.6737" width="151.13pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 -7.67)" xlink:href="#B22-1"></use> <use transform="matrix(1 0 0 1 13.59 22.02)" xlink:href="#B22-2"></use> </svg></span></span><span class="right_break" id="R22"> <svg class="label" height="11.44pt" id="M22-3" version="1.1" viewbox="0 0 19.728 11.44" width="19.728pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B22-3"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.82,9.26)"> <path d="M248 635C97 635 43 457 43 311C43 153 97 -12 247 -12S450 166 450 312C450 466 397 635 248 635ZM246 603C337 603 361 452 361 312S337 20 248 20S132 172 132 313C132 452 156 603 246 603Z" id="g190-254"></path> </g> <g transform="matrix(.013,0,0,-0.013,15.23,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="49.6737pt" id="IL22" version="1.1" viewbox="0 0 19.81 49.6737" width="19.81pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 18.91)" xlink:href="#B22-3"></use> </svg></span></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig3"> <div class="floats-partial-content fig-content-fig3"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.003" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.003.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图3</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 框图的PID控制器与稀释室在一个闭环反馈系统。</div> </div> </div> <h6 id="sec3.2.2">3.2.2。相位滞后控制器</h6> <p>通过增加相同数量的极点和零点,相位滞后控制器提供了一个系统可观数量的相对稳定,产生缓慢的响应时间。在相位滞后控制器,控制器的钢管放置接近零的起源与控制器。给出了广义传递函数的相位滞后控制器<年代pan class="equation_break" id="eq4"><span class="left_break" id="L23"></span><span class="middle_break"><span class="center_break" id="M23"> <svg height="28.1675pt" id="M23-1" version="1.1" viewbox="0 0 71.134 28.1675" width="71.134pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B23-1"> <g transform="matrix(.013,0,0,-0.013,0,15.513)"> <path d="M645 631C614 643 545 666 457 666C215 666 23 519 23 283C23 90 158 -16 337 -16C412 -16 489 2 522 10C543 39 590 127 606 167L580 181C519 89 459 18 348 18C201 18 122 136 122 287C122 464 244 632 435 632C544 632 602 595 608 472L639 475C643 526 645 581 645 631Z" id="g113-68"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.86,15.695)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.38,15.513)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,20.25,15.695)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.42,15.513)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.49,7.005)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.27,7.005)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.81,7.005)"> <path d="M475 445L452 468C423 436 401 426 385 426S352 427 305 436C268 443 216 448 185 448C156 448 128 425 102 382C89 360 77 338 64 304L89 291C117 340 143 380 190 380C214 380 268 376 295 373C320 370 344 371 362 374L70 101C32 65 23 36 23 18C23 5 27 -3 31 -8C36 -8 39 -6 42 -1C52 15 67 31 80 40S110 49 143 33C195 8 257 -20 290 -20C339 -20 382 11 439 129L416 148C366 74 334 55 305 55C278 55 236 68 203 81C169 94 141 100 122 96C205 170 348 308 411 376L475 445Z" id="g113-123"></path> </g> <rect height="0.65243" width="26.1017" x="40.87" y="11.859"></rect> <g transform="matrix(.013,0,0,-0.013,40.87,24.738)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.65,24.738)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.19,24.738)"> <path d="M570 304C570 398 525 448 414 448C385 448 343 445 312 434L329 511L321 518C297 504 262 482 244 460L233 411C195 397 159 381 128 358L135 332C160 347 189 360 224 373L111 -147C97 -210 84 -218 17 -231L13 -257L254 -247L259 -218L233 -216C183 -212 177 -202 189 -142L218 -1C238 -10 266 -12 283 -12C351 3 429 48 483 105C543 168 570 242 570 304ZM482 289C482 161 380 33 304 33C278 33 248 51 233 69L303 396C326 400 352 403 369 403C428 403 482 380 482 289Z" id="g113-113"></path> </g> <g transform="matrix(.013,0,0,-0.013,68.17,15.513)"> <use xlink:href="#g113-45"></use> </g> </g> </svg></span></span><span class="right_break" id="R23"> <svg class="label" height="11.44pt" id="M23-2" version="1.1" viewbox="0 0 17.788 11.44" width="17.788pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B23-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.9,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.29,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span>在哪里<年代pan class="equation_break" id="eq5"><span class="left_break" id="L24"></span><span class="middle_break"><span class="center_break" id="M24"> <svg height="13.8661pt" id="M24-1" version="1.1" viewbox="0 0 32.044 13.8661" width="32.044pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B24-1"> <g transform="matrix(.013,0,0,-0.013,0,9.184)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,11.35,9.184)"> <path d="M512 -3V55L134 254V256L512 456V514L75 281V230L512 -3Z" id="g117-91"></path> </g> <g transform="matrix(.013,0,0,-0.013,22.61,9.184)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.08,9.184)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R24"> <svg class="label" height="11.44pt" id="M24-2" version="1.1" viewbox="0 0 19.468 11.44" width="19.468pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B24-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.93,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.97,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>解决稳态误差、相位滞后控制器设计,利用根轨迹的方法。目标是实现一个稳态误差补偿值<我>E</我><sub>ssc</年代ub><i><</我>0.01,在不影响瞬变,<我>E</我><sub>ssc</年代ub>代表了稳态误差补偿。对于滞后控制器,不同的瞬变会导致较慢的响应时间(<a href="#B35">35</a>),这不是理想的。相位滞后控制器设计使用以下两个步骤。</p> <p>在第一步中,<我>z</我>/<我>p</我>比例是评价。假设我们有一个系统<我>G</我>(<我>年代</我>),注册一个滞后控制器<年代pan class="inline_break"> <svg height="12.7178pt" id="M25" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 33.818 12.7178" width="33.818pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-68"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.684,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.182,0)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.058,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,26.187,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="12.7178pt" style="vertical-align:-3.42947pt" version="1.1" viewbox="37.4001838 -9.28833 39.145 12.7178" width="39.145pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,37.45,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.948,0)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.729,0)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.265,0)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.741,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,71.239,0)"> <path d="M368 703H309L44 -163H104L368 703Z" id="g113-48"></path> </g> </svg><span class="isep"></span> <svg height="12.7178pt" style="vertical-align:-3.42947pt" version="1.1" viewbox="76.5501838 -9.28833 35.023 12.7178" width="35.023pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,76.6,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,81.098,0)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.878,0)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,99.415,0)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,107.125,0)"> <use xlink:href="#g113-42"></use> </g> </svg></span>。</p> <p>使用终值定理[<a href="#B36">36</a>),首先,稳态误差公式计算(错误)的最终值<年代pan class="equation_break" id="eq6"><span class="left_break" id="L26"></span><span class="middle_break"><span class="center_break" id="M26"> <svg height="31.0513pt" id="M26-1" version="1.1" viewbox="0 0 14.742 31.0513" width="14.742pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B26-1"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <path d="M593 650H142L136 622C219 616 224 611 209 531L130 120C114 39 108 34 23 28L17 0H501C518 32 557 130 568 158L540 169C519 132 495 93 469 70C439 43 409 35 332 35C272 35 241 37 225 50C211 61 211 89 222 149L253 320H350C441 320 443 312 441 239H471L510 434H481C455 366 448 358 360 358H260L303 572C311 613 312 615 348 615H431C509 615 522 603 532 581C544 555 546 531 545 491L574 493C583 555 592 631 593 650Z" id="g113-70"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,7.95,20.745)"> <path d="M327 325C324 350 312 408 304 433C283 442 256 451 213 451C120 451 59 391 59 320C59 243 125 210 188 181C237 158 266 136 266 93C266 52 231 24 195 24C134 24 93 81 74 148L42 143C42 106 51 37 59 23C78 8 125 -12 177 -12C257 -12 345 35 345 127C345 198 292 234 216 264C171 283 131 305 131 348C131 387 156 416 195 416C243 416 277 378 297 317L327 325Z" id="g58-113"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,11.32,20.745)"> <use xlink:href="#g58-113"></use> </g> </g> </svg> <svg height="31.0513pt" id="M26-2" version="1.1" viewbox="0 0 33.625 31.0513" width="33.625pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B26-2"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,11.26,17.613)"> <path d="M238 0V26C174 32 166 38 166 104V712C132 700 70 683 18 677V653C81 647 87 645 87 577V104C87 38 78 32 15 26V0H238Z" id="g190-109"></path> </g> <g transform="matrix(.013,0,0,-0.013,14.56,17.613)"> <path d="M135 536C164 536 186 560 186 587C186 617 164 639 136 639C109 639 85 617 85 587C85 560 109 536 135 536ZM252 0V26C188 32 181 38 181 106V451C138 433 90 420 39 412V388C99 379 102 374 102 312V106C102 38 95 32 32 26V0H252Z" id="g190-106"></path> </g> <g transform="matrix(.013,0,0,-0.013,18.06,17.613)"> <path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 423C504 407 475 389 446 366C425 418 382 449 334 449C303 449 279 437 253 421C222 403 201 385 180 371V452C135 432 85 419 41 411V388C99 379 102 374 102 310V103C102 38 93 32 27 26V0H238V26C189 32 180 38 180 103V338C210 363 250 390 289 390C351 390 377 348 377 275V103C377 37 368 32 306 26V0H520V26C465 32 456 38 456 101V296C456 314 455 326 453 338C491 369 529 390 565 390C628 390 653 345 653 274V107C653 36 642 32 583 26V0H797Z" id="g190-110"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,11.52,25.58)"> <path d="M357 391C357 416 325 451 270 451C241 451 179 431 146 400C109 365 97 334 97 307C97 248 143 213 196 180C250 146 261 123 261 101C261 75 237 40 190 40C153 40 110 72 86 109C81 116 68 119 55 112C37 102 24 87 24 66C24 30 85 -12 137 -12C229 -12 331 62 331 140C331 189 304 218 236 260C197 284 164 309 164 346C164 381 194 400 220 400C259 400 282 380 304 350C310 342 321 339 330 344C347 353 357 372 357 391Z" id="g50-116"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,14.99,25.58)"> <path d="M935 263C895 299 821 372 745 456L719 439L824 289H72V236H823L719 87L745 70C821 154 895 227 935 263Z" id="g54-148"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,24,25.58)"> <use xlink:href="#g50-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.75,17.613)"> <use xlink:href="#g113-116"></use> </g> </g> </svg> <svg height="31.0513pt" id="M26-3" version="1.1" viewbox="0 0 212.934 31.0513" width="212.934pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B26-3"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <path d="M170 255C170 288 146 313 114 313S58 288 58 255C58 221 82 198 114 198S170 221 170 255Z" id="g113-46"></path> </g> <g transform="matrix(.013,0,0,-0.013,95.12,9.106)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z" id="g113-86"></path> </g> <g transform="matrix(.013,0,0,-0.013,106.76,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,111.27,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,116.15,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="201.709" x="7.06" y="13.96"></rect> <g transform="matrix(.013,0,0,-0.013,7.06,27.113)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.21,27.113)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,26.75,27.113)"> <use xlink:href="#g119-5"></use> </g> <g transform="matrix(.013,0,0,-0.013,31.77,27.113)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,40.6,30.245)"> <path d="M870 650H622L613 619C694 615 708 606 708 559C708 531 702 477 686 396L636 136H633L281 650H127L120 619C180 616 198 611 212 592C227 572 232 558 220 503L166 254C148 169 139 131 126 89C112 43 85 35 33 32L24 0H280L286 32C208 37 189 44 189 93C189 124 198 179 212 250L267 526H271L622 -8H655L732 396C747 477 762 532 770 556C785 600 798 616 862 619L870 650Z" id="g50-79"></path> </g> <g transform="matrix(.013,0,0,-0.013,51.06,27.296)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,55.57,27.113)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.45,27.296)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,67.16,27.113)"> <use xlink:href="#g113-48"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.52,27.113)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,81.35,30.245)"> <use xlink:href="#g50-69"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.08,27.296)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,95.6,27.113)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,100.47,27.296)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,105.01,27.113)"> <use xlink:href="#g119-6"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.02,27.113)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,118.89,27.113)"> <use xlink:href="#g119-5"></use> </g> <g transform="matrix(.013,0,0,-0.013,123.91,27.296)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,128.43,27.113)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,136.21,27.113)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,146.74,27.113)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,153.22,27.296)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,159.98,27.113)"> <use xlink:href="#g113-48"></use> </g> <g transform="matrix(.013,0,0,-0.013,167.52,27.113)"> <use xlink:href="#g119-5"></use> </g> <g transform="matrix(.013,0,0,-0.013,172.55,27.113)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,180.33,27.113)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,190.86,27.113)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,198.57,27.113)"> <use xlink:href="#g119-6"></use> </g> <g transform="matrix(.013,0,0,-0.013,203.67,27.113)"> <use xlink:href="#g119-6"></use> </g> <g transform="matrix(.013,0,0,-0.013,209.97,17.613)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="58.7869pt" id="I26" version="1.1" viewbox="0 0 225.82 58.7869" width="225.82pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 -8.3)" xlink:href="#B26-1"></use> <use transform="matrix(1 0 0 1 18.9 -8.3)" xlink:href="#B26-2"></use> <use transform="matrix(1 0 0 1 12.87 27.74)" xlink:href="#B26-3"></use> </svg></span></span><span class="right_break" id="R26"> <svg class="label" height="11.44pt" id="M26-4" version="1.1" viewbox="0 0 19.258 11.44" width="19.258pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B26-4"> <g transform="matrix(.013,0,0,-0.013,0,9.25)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.49,9.25)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.89,9.25)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.76,9.25)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="58.7869pt" id="IL26" version="1.1" viewbox="0 0 19.34 58.7869" width="19.34pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 23.46)" xlink:href="#B26-4"></use> </svg></span></span></p> <p>对于阶跃输入,<我>U</我>(<我>年代</我>)= 1 /<我>年代</我>上面的方程,应用极限后,简化了<年代pan class="equation_break" id="eq7"><span class="left_break" id="L27"></span><span class="middle_break"><span class="center_break" id="M27"> <svg height="30.7511pt" id="M27-1" version="1.1" viewbox="0 0 149.294 30.7511" width="149.294pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B27-1"> <g transform="matrix(.013,0,0,-0.013,0,18.096)"> <use xlink:href="#g113-70"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.94,21.228)"> <use xlink:href="#g58-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.32,21.228)"> <use xlink:href="#g58-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.9,18.096)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.04,9.106)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,71.86,12.237)"> <use xlink:href="#g50-69"></use> </g> <g transform="matrix(.013,0,0,-0.013,81.6,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,86.12,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,92.36,9.288)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,99.8,9.106)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,105.67,9.106)"> <use xlink:href="#g113-113"></use> </g> <rect height="0.65243" width="113.783" x="31.35" y="14.443"></rect> <g transform="matrix(.013,0,0,-0.013,31.35,27.322)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,40.18,30.453)"> <use xlink:href="#g50-69"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.92,27.504)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,54.43,27.322)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.67,27.504)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,68.12,27.322)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,73.99,27.322)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,84.6,27.322)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,95.14,27.322)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,103.97,30.453)"> <use xlink:href="#g50-79"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.43,27.504)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,118.94,27.322)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,125.18,27.504)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,132.62,27.322)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,138.49,27.322)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,146.33,18.096)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R27"> <svg class="label" height="11.44pt" id="M27-2" version="1.1" viewbox="0 0 19.638 11.44" width="19.638pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B27-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.68,9.26)"> <use xlink:href="#g190-166"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.14,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>现在,通过求解0到极点的比例,我们得到以下方程:<年代pan class="equation_break" id="EEq8"><span class="left_break" id="L28"></span><span class="middle_break"><span class="center_break" id="M28"> <svg height="30.6173pt" id="M28-1" version="1.1" viewbox="0 0 129.744 30.6173" width="129.744pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B28-1"> <g transform="matrix(.013,0,0,-0.013,0.62,9.455)"> <use xlink:href="#g113-123"></use> </g> <rect height="0.65243" width="7.73789" x="0" y="14.309"></rect> <g transform="matrix(.013,0,0,-0.013,0,27.188)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,12.56,17.962)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.02,9.106)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,33.85,12.237)"> <use xlink:href="#g50-69"></use> </g> <g transform="matrix(.013,0,0,-0.013,43.58,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.1,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,54.34,9.288)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,61.78,9.106)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.32,9.106)"> <use xlink:href="#g113-70"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,80.26,12.237)"> <use xlink:href="#g58-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,83.64,12.237)"> <use xlink:href="#g58-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,87.13,12.237)"> <path d="M396 114C349 71 317 59 274 59C216 59 123 104 123 241C123 342 180 400 246 400C283 400 317 386 348 359C355 352 361 348 366 348C378 348 401 371 402 394C402 405 398 413 385 424C369 437 337 451 294 451H293C254 451 193 434 141 394C73 342 39 277 39 198C39 90 114 -12 243 -12C303 -12 371 31 415 90L396 114Z" id="g58-97"></path> </g> <g transform="matrix(.013,0,0,-0.013,91.6,9.106)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,100.43,12.237)"> <use xlink:href="#g50-69"></use> </g> <g transform="matrix(.013,0,0,-0.013,110.17,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.68,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,120.92,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="100.566" x="25.02" y="14.309"></rect> <g transform="matrix(.013,0,0,-0.013,48.34,27.188)"> <use xlink:href="#g113-70"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,56.28,30.32)"> <use xlink:href="#g58-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,59.66,30.32)"> <use xlink:href="#g58-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,63.15,30.32)"> <use xlink:href="#g58-97"></use> </g> <g transform="matrix(.013,0,0,-0.013,67.62,27.188)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,76.45,30.32)"> <use xlink:href="#g50-79"></use> </g> <g transform="matrix(.013,0,0,-0.013,86.91,27.371)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.42,27.188)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,97.66,27.371)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,126.78,17.962)"> <use xlink:href="#g113-45"></use> </g> </g> </svg></span></span><span class="right_break" id="R28"> <svg class="label" height="11.44pt" id="M28-2" version="1.1" viewbox="0 0 19.288 11.44" width="19.288pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B28-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.89,9.26)"> <use xlink:href="#g190-161"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.79,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span>在哪里<我>z</我>和<我>p</我>代表0和钢管的控制器,<我>G<年代ub>D</年代ub></i>(0)和<我>G<年代ub>N</年代ub></i>(0)分母和分子系统的传递函数<我>G</我>(<我>年代</我>)<我>年代</我>→0。</p> <p>在第二步中,0和磁极的位置控制器的使用一个代数方法决定。为了一个点<我>P</我>存在于根轨迹,所有波兰人的角度之和减去所有的零角度之和等于180°(<a href="#B36">36</a>]。角所对应的角度从开环极点或零线,从点<我>P</我>根轨迹。图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig4/" target="_blank">4(一)</a>生动地解释了上述概念,通过考虑二阶伪系统根轨迹的存在<我>年代</我>。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig4"> <div class="floats-partial-content fig-content-fig4"> <div class="partial-carousel--single-image"> <img alt="(一)系统的根轨迹存在使用两极”name="3153252.fig.004a" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.004a.svgz"> <br> <strong>(一)系统的根轨迹存在使用两极</年代trong> </div> <div class="partial-carousel--single-image"> <img alt="(b)极零位置使用系统和控制器与根轨迹形成C”name="3153252.fig.004b" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.004b.svgz"> <br> <strong>(b)极零位置使用系统和控制器与根轨迹形成C</年代trong> </div> <div class="partial-carousel--single-image"> <img alt="(c)极零位置使用系统和控制器c没有根轨迹成形”name="3153252.fig.004c" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.004c.svgz"> <br> <strong>(c)极零位置使用系统和控制器c没有根轨迹成形</年代trong> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs fig-thumbs-fig4"> <button class="partial-carousel-dot" aria-label="(a) Root locus existence using two poles of a system S"><img alt="(一)系统的根轨迹存在使用两极”name="3153252.fig.004a" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.004a.svgz"><br><strong>(一)系统的根轨迹存在使用两极</年代trong></button> <button class="partial-carousel-dot" aria-label="(b) Pole zero placement using system S and controller C with root locus shaping"><img alt="(b)极零位置使用系统和控制器与根轨迹形成C”name="3153252.fig.004b" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.004b.svgz"><br><strong>(b)极零位置使用系统和控制器与根轨迹形成C</年代trong></button> <button class="partial-carousel-dot" aria-label="(c) Pole zero placement using system S and controller C with no root locus shaping"><img alt="(c)极零位置使用系统和控制器c没有根轨迹成形”name="3153252.fig.004c" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.004c.svgz"><br><strong>(c)极零位置使用系统和控制器c没有根轨迹成形</年代trong></button> </div> <div class="partial-carousel-next-prev fig-nav-fig4"> <button class="carousel-prev" aria-label="Previous"></button> <button class="carousel-next" aria-label="Next"></button> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图4</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig4/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 根轨迹的图形说明存在塑造和极零位置使用伪系统的概念<我>年代</我>和一个伪滞后控制器<我>C</我>。</div> </div> </div> <p>数学上,<年代pan class="equation_break" id="EEq9"><span class="left_break" id="L29"></span><span class="middle_break"><span class="center_break" id="M29"> <svg height="17.7546pt" id="M29-1" version="1.1" viewbox="0 0 108.154 17.7546" width="108.154pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B29-1"> <g transform="matrix(.013,0,0,-0.013,0,12.211)"> <path d="M956 -188L922 -180C881 -295 847 -317 759 -317H196L640 311L259 873H678C777 873 812 865 833 838C853 816 869 781 885 721L918 727L902 932H77V907L514 253L53 -396V-421H902L956 -188Z" id="g119-73"></path> </g> <g transform="matrix(.013,0,0,-0.013,15.34,12.205)"> <path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z" id="g113-230"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,21.49,15.336)"> <path d="M573 302C573 402 527 451 414 451C386 451 343 446 313 437L330 513L320 522C295 508 261 484 243 463L230 415C194 400 159 383 126 359L131 330C159 344 187 357 222 368L109 -147C96 -204 80 -214 18 -223L13 -255L256 -244L259 -212L236 -210C184 -205 180 -195 191 -141L219 -1C240 -10 268 -12 284 -12C352 4 431 48 484 104C543 166 573 240 573 302ZM481 290C481 165 381 37 305 37C280 37 249 56 235 71L302 395C328 399 353 402 372 402C427 402 481 378 481 290Z" id="g50-113"></path> </g> <g transform="matrix(.013,0,0,-0.013,30.35,12.205)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.88,12.211)"> <use xlink:href="#g119-73"></use> </g> <g transform="matrix(.013,0,0,-0.013,56.23,12.205)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,62.38,15.336)"> <path d="M481 445L456 468C426 437 403 427 388 427C372 427 356 428 302 438C256 447 221 451 187 451C159 451 130 428 105 384C93 363 80 340 65 305L96 290C122 342 149 381 193 381C216 381 267 377 294 374S346 372 365 376L75 105C37 70 24 35 24 16C24 2 30 -5 35 -8C42 -8 46 -6 48 -2C58 14 75 35 90 41C102 46 116 46 147 32C200 8 267 -21 298 -21C347 -21 390 12 448 126L420 151C369 77 338 56 311 56C287 56 249 68 212 81C180 92 149 100 127 98C212 172 353 308 413 372L481 445Z" id="g50-123"></path> </g> <g transform="matrix(.013,0,0,-0.013,71.12,12.205)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,82.38,12.205)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.62,12.205)"> <path d="M249 635C141 635 70 555 70 471C70 401 114 353 179 316C143 294 106 267 90 252C68 231 45 202 45 157C45 50 130 -12 237 -12C322 -12 435 52 435 169C435 256 372 304 303 343C349 374 375 398 383 407C401 429 411 458 411 487C411 569 344 635 249 635ZM238 603C285 603 337 567 337 482C337 422 310 385 276 358C205 393 145 426 145 500C145 552 179 603 238 603ZM248 20C183 20 125 70 125 163C125 218 158 268 206 300C284 261 355 217 355 143C355 66 308 20 248 20Z" id="g113-57"></path> </g> <g transform="matrix(.013,0,0,-0.013,94.86,12.205)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,101.17,5.941)"> <path d="M339 262C339 340 273 403 193 403S48 340 48 262S113 121 193 121S339 184 339 262ZM283 262C283 210 242 168 193 168S104 210 104 262S144 356 193 356S283 314 283 262Z" id="g54-73"></path> </g> <g transform="matrix(.013,0,0,-0.013,105.19,12.205)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R29"> <svg class="label" height="11.44pt" id="M29-2" version="1.1" viewbox="0 0 19.758 11.44" width="19.758pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B29-2"> <g transform="matrix(.013,0,0,-0.013,0,9.25)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.25)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.83,9.25)"> <use xlink:href="#g190-227"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.26,9.25)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>现在,描绘极零位置的设计过程<我>实际</我>相位滞后控制器,相同的二阶伪系统<我>年代</我>被认为是和注册一个伪相位滞后控制器吗<我>C</我>。图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig4/" target="_blank">4 (b)</a>显示了改变了根轨迹和大量的系统的根轨迹成形<我>年代</我>,当与控制器<我>C</我>。根轨迹的概念存在于(<a href="#EEq9">16</a>),<年代pan class="equation_break" id="eq8"><span class="left_break" id="L30"></span><span class="middle_break"><span class="center_break" id="M30"> <svg height="16.7928pt" id="M30-1" version="1.1" viewbox="0 0 126.544 16.7928" width="126.544pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B30-1"> <g transform="matrix(.013,0,0,-0.013,0,11.319)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.15,14.45)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,14,11.319)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.54,11.319)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,30.69,14.45)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,38.54,11.319)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.08,11.319)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,55.23,14.45)"> <use xlink:href="#g50-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,64.08,11.319)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,74.62,11.319)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,80.77,14.45)"> <use xlink:href="#g50-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,89.51,11.319)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,100.77,11.319)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,107.01,11.319)"> <use xlink:href="#g113-57"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.25,11.319)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,119.56,5.055)"> <use xlink:href="#g54-73"></use> </g> <g transform="matrix(.013,0,0,-0.013,123.58,11.319)"> <use xlink:href="#g113-45"></use> </g> </g> </svg></span></span><span class="right_break" id="R30"> <svg class="label" height="11.44pt" id="M30-2" version="1.1" viewbox="0 0 19.338 11.44" width="19.338pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B30-2"> <g transform="matrix(.013,0,0,-0.013,0,9.25)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.25)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.81,9.25)"> <use xlink:href="#g190-223"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.84,9.25)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span>在哪里<我>θ</我><sub>1</年代ub>和<我>θ</我><sub>2</年代ub>的角度与两极伪系统<我>年代</我>和<我>θ<年代ub>p</年代ub></i>和<我>θ<年代ub>z</年代ub></i>与北极和零角度相关的伪滞后控制器吗<我>C</我>。现在,为了没有根轨迹形成,极点和零点的角贡献控制器<我>C</我>应该是接近于零,如图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig4/" target="_blank">4 (c)</a>数学上,<年代pan class="equation_break" id="EEq10"><span class="left_break" id="L31"></span><span class="middle_break"><span class="center_break" id="M31"> <svg height="14.7625pt" id="M31-1" version="1.1" viewbox="0 0 60.904 14.7625" width="60.904pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B31-1"> <g transform="matrix(.013,0,0,-0.013,0,9.288)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.15,12.42)"> <use xlink:href="#g50-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.01,9.288)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.54,9.288)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,31.69,12.42)"> <use xlink:href="#g50-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.44,9.288)"> <path d="M537 353L508 390C487 357 455 333 417 333C389 333 344 353 309 370C265 391 212 414 172 414C122 414 79 382 50 340L81 307C101 339 134 364 172 364C198 364 245 343 280 326C324 305 375 283 417 283C466 283 507 314 537 353ZM537 168L508 205C487 172 455 148 417 148C389 148 344 168 309 185C265 206 212 229 172 229C122 229 79 197 50 155L81 122C101 154 134 179 172 179C198 179 245 158 280 141C324 120 375 98 417 98C466 98 507 129 537 168Z" id="g117-132"></path> </g> <g transform="matrix(.013,0,0,-0.013,51.7,9.288)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,57.94,9.288)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R31"> <svg class="label" height="11.44pt" id="M31-2" version="1.1" viewbox="0 0 19.498 11.44" width="19.498pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B31-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.83,9.26)"> <use xlink:href="#g190-152"></use> </g> <g transform="matrix(.013,0,0,-0.013,15,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>现在,考虑到<我>实际</我>系统,也就是说,稀释室,实现上述两个微不足道的角差和最小根轨迹的要求塑造所示(<a href="#EEq10">18</a>)和图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig4/" target="_blank">4 (c)</a>分别实现以下过程。钢管和零相位滞后的实际控制器放置彼此接近,与相同的起源<我>z</我>/<我>p</我>比第一步中计算使用(<a href="#EEq8">15</a>)。通过这样的位置,杆的角度和零一起变得越来越近,要求(<a href="#EEq10">18</a>)是满足。发现极零位置控制器的使用(<a href="#EEq11">19</a>)和(<a href="#EEq11">20.</a>)。获得(<我>k</我>),需要实现期望的稳态误差,使用MATLAB SISOTOOL计算。<年代pan class="equation_break" id="EEq11"><span class="left_break" id="L32"></span><span class="middle_break"><span class="center_break" id="M32"> <svg height="63.5315pt" id="M32-1" version="1.1" viewbox="0 0 187.024 63.5315" width="187.024pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B32-1"> <g transform="matrix(.013,0,0,-0.013,0,17.927)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.11,17.927)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,22.57,9.236)"> <use xlink:href="#g121-112"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.22,9.236)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.82,9.236)"> <use xlink:href="#g121-95"></use> </g> <g transform="matrix(.013,0,0,-0.013,38.6,9.236)"> <path d="M238 0V26C174 32 166 38 166 104V712C132 700 70 683 18 677V653C81 647 87 645 87 577V104C87 38 78 32 15 26V0H238Z" id="g121-106"></path> </g> <g transform="matrix(.013,0,0,-0.013,44.06,9.236)"> <path d="M390 111C344 68 312 56 269 56C212 56 118 102 118 241C118 346 175 401 241 401C277 401 312 388 342 360C350 352 355 349 361 349C372 349 394 371 394 392C394 403 391 411 378 422C362 436 329 449 288 449H287C250 449 190 432 138 392C71 341 37 274 37 197C37 90 112 -12 238 -12C297 -12 363 32 407 90L390 111Z" id="g121-97"></path> </g> <g transform="matrix(.013,0,0,-0.013,49.48,9.236)"> <use xlink:href="#g121-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,52.77,9.236)"> <path d="M257 449C165 449 37 374 37 209C37 98 119 -12 256 -12C355 -12 473 65 473 226C473 349 381 449 257 449ZM244 416C333 416 380 320 380 204C380 67 329 21 267 21C184 21 130 115 130 241C130 354 184 416 244 416Z" id="g121-109"></path> </g> <g transform="matrix(.013,0,0,-0.013,59.4,9.236)"> <path d="M319 325C317 349 306 409 297 431C277 440 250 449 209 449C117 449 57 389 57 319C57 243 122 209 182 182C232 159 261 135 261 91C261 48 227 21 190 21C130 21 85 79 68 145L41 140C41 104 51 36 58 22C75 7 121 -12 172 -12C252 -12 337 35 337 126C337 195 286 231 210 262C166 281 126 304 126 348C126 388 152 417 191 417C240 417 274 378 294 318L319 325Z" id="g121-113"></path> </g> <g transform="matrix(.013,0,0,-0.013,64.28,9.236)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,69.87,9.236)"> <path d="M517 51L485 54C448 58 441 63 441 115V712C404 700 337 684 285 678V653C357 648 362 645 362 580V437C339 446 309 449 295 449C159 449 38 340 38 201C38 61 143 -12 223 -12C234 -12 261 -6 301 17L362 53V-12C420 9 495 22 517 26V51ZM362 85C338 67 301 51 266 51C201 51 128 109 128 228C128 373 212 411 259 411C296 411 338 395 362 360V85Z" id="g121-98"></path> </g> <g transform="matrix(.013,0,0,-0.013,76.73,9.236)"> <path d="M300 253H71L57 198H286L300 253Z" id="g190-46"></path> </g> <g transform="matrix(.013,0,0,-0.013,81.38,9.236)"> <use xlink:href="#g121-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,84.66,9.236)"> <use xlink:href="#g121-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.41,9.236)"> <use xlink:href="#g121-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,97.9,9.236)"> <path d="M169 380V459C122 440 66 423 24 416V392C86 384 90 382 90 317V-135C90 -201 81 -207 17 -213V-240H253V-213C176 -207 169 -201 169 -125V6C182 -1 208 -11 238 -12C368 12 487 109 487 260C487 358 421 449 310 449C298 449 279 444 261 433L169 380ZM169 346C196 367 237 389 269 389C341 389 403 329 403 221C403 109 347 37 263 37C228 37 191 53 169 76V346Z" id="g121-110"></path> </g> <g transform="matrix(.013,0,0,-0.013,106.89,9.236)"> <use xlink:href="#g121-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.75,9.236)"> <use xlink:href="#g121-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,120.22,9.236)"> <path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 423C504 407 475 389 446 366C425 418 382 449 334 449C303 449 279 437 253 421C222 403 201 385 180 371V452C135 432 85 419 41 411V388C99 379 102 374 102 310V103C102 38 93 32 27 26V0H238V26C189 32 180 38 180 103V338C210 363 250 390 289 390C351 390 377 348 377 275V103C377 37 368 32 306 26V0H520V26C465 32 456 38 456 101V296C456 314 455 326 453 338C491 369 529 390 565 390C628 390 653 345 653 274V107C653 36 642 32 583 26V0H797Z" id="g121-107"></path> </g> <g transform="matrix(.013,0,0,-0.013,130.87,9.236)"> <path d="M135 536C164 536 186 560 186 587C186 617 164 639 136 639C109 639 85 617 85 587C85 560 109 536 135 536ZM252 0V26C188 32 181 38 181 106V451C138 433 90 420 39 412V388C99 379 102 374 102 312V106C102 38 95 32 32 26V0H252Z" id="g121-103"></path> </g> <g transform="matrix(.013,0,0,-0.013,134.35,9.236)"> <path d="M524 0V26C466 32 460 36 460 104V297C460 393 411 449 331 449C302 449 276 437 248 419C223 402 201 387 181 372V451C137 432 90 420 42 411V388C96 378 102 374 102 310V104C102 38 97 33 29 26V0H246V26C187 32 181 36 181 104V339C211 365 250 390 290 390C357 390 381 345 381 276V109C381 40 374 32 315 26V0H524Z" id="g121-108"></path> </g> <g transform="matrix(.013,0,0,-0.013,141.43,9.236)"> <use xlink:href="#g121-95"></use> </g> <g transform="matrix(.013,0,0,-0.013,147.02,9.236)"> <use xlink:href="#g121-108"></use> </g> <g transform="matrix(.013,0,0,-0.013,153.88,9.236)"> <use xlink:href="#g121-114"></use> </g> <g transform="matrix(.013,0,0,-0.013,160.02,9.236)"> <use xlink:href="#g121-110"></use> </g> <g transform="matrix(.013,0,0,-0.013,166.95,9.236)"> <use xlink:href="#g121-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,173.49,9.236)"> <use xlink:href="#g121-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,176.78,9.236)"> <use xlink:href="#g121-99"></use> </g> <rect height="0.65243" width="160.292" x="22.57" y="14.273"></rect> <g transform="matrix(.013,0,0,-0.013,96.45,27.152)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,102.69,27.152)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,184.06,17.927)"> <use xlink:href="#g113-45"></use> </g> </g> </svg> <svg height="63.5315pt" id="M32-3" version="1.1" viewbox="0 0 47.574 63.5315" width="47.574pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B32-3"> <g transform="matrix(.013,0,0,-0.013,0,50.877)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,11.34,50.877)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,30.36,42.369)"> <use xlink:href="#g113-123"></use> </g> <rect height="0.65243" width="19.6122" x="23.8" y="47.223"></rect> <g transform="matrix(.013,0,0,-0.013,23.8,60.102)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,30.28,60.102)"> <use xlink:href="#g113-48"></use> </g> <g transform="matrix(.013,0,0,-0.013,35.64,60.102)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,44.61,50.877)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="63.5315pt" id="I32" version="1.1" viewbox="0 0 188.32 63.5315" width="188.32pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 1.24 0)" xlink:href="#B32-1"></use> <use transform="matrix(1 0 0 1 0 0)" xlink:href="#B32-3"></use> </svg></span></span><span class="right_break" id="R32"> <svg class="label" height="11.44pt" id="M32-2" version="1.1" viewbox="0 0 19.598 11.44" width="19.598pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B32-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.76,9.26)"> <use xlink:href="#g190-193"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.1,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="label" height="11.44pt" id="M32-4" version="1.1" viewbox="0 0 21.518 11.44" width="21.518pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B32-4"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.61,9.26)"> <use xlink:href="#g190-254"></use> </g> <g transform="matrix(.013,0,0,-0.013,17.02,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="63.5315pt" id="IL32" version="1.1" viewbox="0 0 21.6 63.5315" width="21.6pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 7.75)" xlink:href="#B32-2"></use> <use transform="matrix(1 0 0 1 0 43.95)" xlink:href="#B32-4"></use> </svg></span></span></p> <p>适当的位置和子午贡献(<年代pan class="inline_break"> <svg height="14.7625pt" id="M33" style="vertical-align:-5.47417pt" version="1.1" viewbox="-0.0498162 -9.28833 48.065 14.7625" width="48.065pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"> <use xlink:href="#g50-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.006,0)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.542,0)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,31.691,3.132)"> <use xlink:href="#g50-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.434,0)"> <use xlink:href="#g117-132"></use> </g> </svg><span class="irelop"></span> <svg height="14.7625pt" style="vertical-align:-5.47417pt" version="1.1" viewbox="51.6471838 -9.28833 6.24 14.7625" width="6.24pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,51.697,0)"> <use xlink:href="#g113-49"></use> </g> </svg></span>)的杆和零控制器如图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig5/" target="_blank">5</a>,验证没有根轨迹成形。底线的整个设计过程所涉及的步骤说明如下:<年代pan class="list"><span class="list-item"><span class="list-label">(1)</年代pan><span class="list-content">的<我>z</我>/<我>p</我>比率维持,稳态误差补偿所需的(<我>E</我><sub>ssc</年代ub>)。</年代pan></span><span class="list-item"><span class="list-label">(2)</年代pan><span class="list-content">的<我>z</我>和<我>p</我>的滞后控制器保持尽可能接近虚轴,以避免形成根轨迹和瞬变。</年代pan></span></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig5"> <div class="floats-partial-content fig-content-fig5"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.005" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.005.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图5</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig5/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 系统的根轨迹与设计滞后控制器。</div> </div> </div> <p>相位滞后控制器的设计细节见图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig6/" target="_blank">6</a>。传递函数的相位滞后控制器设计与调整<我>k</我>= 30<年代pan class="equation_break" id="eq9"><span class="left_break" id="L34"></span><span class="middle_break"><span class="center_break" id="M34"> <svg height="27.1888pt" id="M34-1" version="1.1" viewbox="0 0 147.594 27.1888" width="147.594pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B34-1"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.83,20.745)"> <path d="M387 400C387 425 348 451 303 451C247 451 176 414 132 376C69 322 24 228 24 148C24 43 74 -12 147 -12C211 -12 301 33 363 103L346 128C319 99 249 51 193 51C148 51 112 84 112 165C112 230 130 287 154 330C170 359 199 400 243 400C277 400 304 383 326 354C333 345 343 343 354 348C378 360 387 382 387 400Z" id="g50-100"></path> </g> <g transform="matrix(.013,0,0,-0.013,15.26,17.796)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,19.77,17.613)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.65,17.796)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.81,17.613)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,45.27,9.106)"> <path d="M447 623H65C61 580 56 530 47 475H76C100 541 106 550 172 550H388C308 376 196 170 91 -1L98 -12L172 -2C268 204 360 408 455 611L447 623Z" id="g113-56"></path> </g> <g transform="matrix(.013,0,0,-0.013,51.52,9.106)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,54.48,9.106)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.72,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.96,9.106)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,73.2,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,81.62,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,86.14,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,93.92,9.106)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,104.46,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,110.7,9.106)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.66,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,119.9,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,126.14,9.106)"> <path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path> </g> <g transform="matrix(.013,0,0,-0.013,132.38,9.106)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,138.62,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="98.1569" x="45.27" y="13.96"></rect> <g transform="matrix(.013,0,0,-0.013,58.63,26.839)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.41,26.839)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,76.95,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.19,26.839)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,86.15,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,92.39,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,98.63,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,104.87,26.839)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,111.11,26.839)"> <path d="M285 378C315 398 338 416 353 432C373 451 384 474 384 503C384 579 325 635 236 635H235C182 635 136 610 108 579L65 516L85 496C110 533 150 575 205 575C258 575 300 543 300 481C300 407 232 369 141 339L147 310C163 315 188 321 211 321C268 321 338 284 338 192C338 94 288 40 217 40C160 40 119 68 93 91C85 98 77 97 69 91C60 84 47 71 46 58C44 46 48 35 62 22C75 10 116 -12 162 -12C234 -12 424 62 424 224C424 297 373 359 285 376V378Z" id="g113-52"></path> </g> <g transform="matrix(.013,0,0,-0.013,117.35,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,123.59,26.839)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,144.63,17.613)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R34"> <svg class="label" height="11.44pt" id="M34-2" version="1.1" viewbox="0 0 19.468 11.44" width="19.468pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B34-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.58,9.26)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.97,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig6"> <div class="floats-partial-content fig-content-fig6"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.006" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.006.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图6</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig6/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 插图设计细节的相位滞后控制器。</div> </div> </div> <p>控制器,当与稀释室合并,导致以下闭环传递函数<年代pan class="equation_break" id="eq10"><span class="left_break" id="L35"></span><span class="middle_break"><span class="center_break" id="M35"> <svg height="29.2897pt" id="M35-1" version="1.1" viewbox="0 0 36.538 29.2897" width="36.538pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B35-1"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.82,20.745)"> <use xlink:href="#g58-65"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,14.95,20.745)"> <use xlink:href="#g58-74"></use> </g> <g transform="matrix(.013,0,0,-0.013,22.65,17.796)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.17,17.613)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.04,17.796)"> <use xlink:href="#g113-42"></use> </g> </g> </svg> <svg height="29.2897pt" id="M35-2" version="1.1" viewbox="0 0 142.164 29.2897" width="142.164pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B35-2"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,23.02,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.26,9.106)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.22,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,38.47,9.106)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,44.71,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,50.95,9.106)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,57.19,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,65.61,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,70.13,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,77.91,9.106)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.44,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,94.68,9.106)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,97.65,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,103.89,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,110.13,9.106)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,116.37,9.106)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,122.61,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="125.55" x="12.46" y="13.96"></rect> <g transform="matrix(.013,0,0,-0.013,12.46,27.022)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.97,26.839)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.75,26.839)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,35.29,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.53,26.839)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,44.49,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,50.73,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,56.97,26.839)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.21,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,69.45,26.839)"> <path d="M244 635C114 635 38 519 38 422C38 317 111 240 217 240C236 240 255 244 277 256L345 292C311 140 203 39 59 15L64 -15C89 -15 150 -5 204 17C339 72 440 202 440 386C440 521 368 635 244 635ZM228 602C326 602 352 479 352 390C352 370 351 347 348 324C327 308 293 296 258 296C174 296 124 369 124 458C124 517 152 602 228 602Z" id="g113-58"></path> </g> <g transform="matrix(.013,0,0,-0.013,75.69,26.839)"> <path d="M137 343C167 482 260 545 321 574C357 591 397 603 429 609L423 641C382 634 335 622 295 608C189 570 37 457 37 238C37 84 125 -12 242 -12C362 -12 447 89 447 209C447 311 374 393 267 393C247 393 226 386 204 376L137 343ZM227 337C318 337 361 256 361 173C361 105 336 22 258 22C176 22 126 120 126 240C126 266 127 291 132 310C155 323 189 337 227 337Z" id="g113-55"></path> </g> <g transform="matrix(.013,0,0,-0.013,81.93,27.022)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.85,27.022)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,93.36,26.839)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,101.14,26.839)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,111.68,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,117.92,26.839)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,120.88,26.839)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,127.13,26.839)"> <use xlink:href="#g113-55"></use> </g> <g transform="matrix(.013,0,0,-0.013,133.37,27.022)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,139.2,17.613)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="51.3048pt" id="I35" version="1.1" viewbox="0 0 155.8 51.3048" width="155.8pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 -8.43)" xlink:href="#B35-1"></use> <use transform="matrix(1 0 0 1 13.6 22.02)" xlink:href="#B35-2"></use> </svg></span></span><span class="right_break" id="R35"> <svg class="label" height="11.44pt" id="M35-3" version="1.1" viewbox="0 0 21.158 11.44" width="21.158pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B35-3"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.61,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.66,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="51.3048pt" id="IL35" version="1.1" viewbox="0 0 21.24 51.3048" width="21.24pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 19.72)" xlink:href="#B35-3"></use> </svg></span></span></p> <h6 id="sec3.2.3">3.2.3。相位超前控制器</h6> <p>通过增加相同数量的极点和零点,相位超前控制器提供了一个明显的改善系统的瞬态响应,在某些情况下提高开环增益。增加获得噪声导致更多的易感性。领先的控制器,控制器的零放置接近原点而极的控制器。给出了广义传递函数的相位超前控制器<年代pan class="equation_break" id="eq11"><span class="left_break" id="L36"></span><span class="middle_break"><span class="center_break" id="M36"> <svg height="28.1675pt" id="M36-1" version="1.1" viewbox="0 0 71.134 28.1675" width="71.134pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B36-1"> <g transform="matrix(.013,0,0,-0.013,0,15.513)"> <use xlink:href="#g113-68"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.86,15.695)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.38,15.513)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,20.25,15.695)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.42,15.513)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.49,7.005)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.27,7.005)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.81,7.005)"> <use xlink:href="#g113-123"></use> </g> <rect height="0.65243" width="26.1017" x="40.87" y="11.859"></rect> <g transform="matrix(.013,0,0,-0.013,40.87,24.738)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.65,24.738)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.19,24.738)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,68.17,15.513)"> <use xlink:href="#g113-45"></use> </g> </g> </svg></span></span><span class="right_break" id="R36"> <svg class="label" height="11.44pt" id="M36-2" version="1.1" viewbox="0 0 21.018 11.44" width="21.018pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B36-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.49,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.64,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.52,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span>在哪里<年代pan class="equation_break" id="eq12"><span class="left_break" id="L37"></span><span class="middle_break"><span class="center_break" id="M37"> <svg height="13.8661pt" id="M37-1" version="1.1" viewbox="0 0 32.044 13.8661" width="32.044pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B37-1"> <g transform="matrix(.013,0,0,-0.013,0,9.184)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,11.35,9.184)"> <path d="M512 230V281L75 514V456L453 256V254L75 55V-3L512 230Z" id="g117-92"></path> </g> <g transform="matrix(.013,0,0,-0.013,22.61,9.184)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.08,9.184)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R37"> <svg class="label" height="11.44pt" id="M37-2" version="1.1" viewbox="0 0 21.318 11.44" width="21.318pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B37-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.49,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.36,9.26)"> <use xlink:href="#g190-166"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.82,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>为了实现更快的响应时间,相位超前控制器设计,利用根轨迹的方法。根轨迹图,渐近线穿过实线的位置称为重心或质心,定义在(<a href="#EEq8">15</a>)。导致控制器改变根轨迹的左侧<我>年代</我>飞机通过转移重心,渐近线,和左边的闭环极点,从而提供了一个更快的响应(<a href="#B36">36</a>]。数据<a href="//www.newsama.com/journals/jhe/2017/3153252/fig7/" target="_blank">7(一)</a>和<a href="//www.newsama.com/journals/jhe/2017/3153252/fig7/" target="_blank">7 (b)</a>用图形说明了相位超前的影响控制器的质心运动和通过考虑二阶伪系统根轨迹成形<我>年代</我>和一个伪相位超前控制器<我>C</我>。<年代pan class="equation_break" id="eq13"><span class="left_break" id="L38"></span><span class="middle_break"><span class="center_break" id="M38"> <svg height="27.9522pt" id="M38-1" version="1.1" viewbox="0 0 46.734 27.9522" width="46.734pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B38-1"> <g transform="matrix(.013,0,0,-0.013,0,18.377)"> <path d="M614 175C564 76 510 21 408 21C256 21 146 149 146 336C146 488 235 629 402 629C510 629 570 586 597 480L626 488C620 541 614 582 606 638C578 643 510 665 429 665C206 665 44 527 44 316C44 157 153 -15 402 -15C474 -15 558 5 586 11C604 45 629 119 643 165L614 175Z" id="g121-65"></path> </g> <g transform="matrix(.013,0,0,-0.013,8.84,18.377)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.37,18.377)"> <use xlink:href="#g121-108"></use> </g> <g transform="matrix(.013,0,0,-0.013,21.23,18.377)"> <use xlink:href="#g121-114"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.26,18.377)"> <use xlink:href="#g121-112"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.91,18.377)"> <use xlink:href="#g121-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,36.39,18.377)"> <use xlink:href="#g121-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,39.87,18.377)"> <use xlink:href="#g121-98"></use> </g> </g> </svg> <svg height="27.9522pt" id="M38-2" version="1.1" viewbox="0 0 166.474 27.9522" width="166.474pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B38-2"> <g transform="matrix(.013,0,0,-0.013,0,18.377)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,12.46,9.693)"> <path d="M697 -46L668 -39C637 -126 611 -142 545 -142H163L474 298L206 694H483C558 694 584 688 600 668C615 651 627 625 639 580L667 585L655 739H70V714L378 254L53 -203V-228H655L697 -46Z" id="g119-65"></path> </g> <g transform="matrix(.013,0,0,-0.013,24.42,9.686)"> <path d="M517 0V26C453 32 447 37 447 100V450C395 439 339 437 259 437H180V471C180 551 194 602 213 628C225 647 246 664 275 664C322 664 356 632 379 605C387 596 396 596 408 604C417 609 425 619 430 628C434 639 434 651 425 664C414 680 379 710 319 712C281 708 235 690 194 658C140 614 120 563 112 538C106 517 101 491 101 460V437H53L25 408L29 397H101V100C101 38 93 33 30 26V0H250V26C187 32 180 38 180 100V397H316C365 397 368 390 368 345V100C368 37 361 31 305 26V0H517Z" id="g121-27"></path> </g> <g transform="matrix(.013,0,0,-0.013,31.38,9.686)"> <use xlink:href="#g121-108"></use> </g> <g transform="matrix(.013,0,0,-0.013,38.49,9.686)"> <use xlink:href="#g121-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.81,9.686)"> <use xlink:href="#g121-114"></use> </g> <g transform="matrix(.013,0,0,-0.013,45.7,9.686)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,53.4,9.686)"> <use xlink:href="#g121-110"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.33,9.686)"> <use xlink:href="#g121-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.87,9.686)"> <use xlink:href="#g121-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,70.16,9.686)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,75.68,9.686)"> <use xlink:href="#g121-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.36,9.686)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,93.9,9.693)"> <use xlink:href="#g119-65"></use> </g> <g transform="matrix(.013,0,0,-0.013,105.86,9.686)"> <use xlink:href="#g121-27"></use> </g> <g transform="matrix(.013,0,0,-0.013,112.82,9.686)"> <use xlink:href="#g121-108"></use> </g> <g transform="matrix(.013,0,0,-0.013,119.93,9.686)"> <use xlink:href="#g121-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,123.26,9.686)"> <use xlink:href="#g121-114"></use> </g> <g transform="matrix(.013,0,0,-0.013,127.14,9.686)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,134.84,9.686)"> <path d="M387 138L374 114C336 54 316 33 240 33H141C223 167 303 295 385 423L379 437H149C112 437 100 443 94 458H73C65 415 50 352 39 314L64 305L78 332C106 388 119 403 191 403C214 403 246 403 280 403C198 270 117 142 31 15L38 0H367C382 40 399 86 413 125L387 138Z" id="g121-120"></path> </g> <g transform="matrix(.013,0,0,-0.013,140.3,9.686)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,145.83,9.686)"> <use xlink:href="#g121-112"></use> </g> <g transform="matrix(.013,0,0,-0.013,150.48,9.686)"> <use xlink:href="#g121-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,157.11,9.686)"> <use xlink:href="#g121-113"></use> </g> <rect height="0.65243" width="149.861" x="12.46" y="14.723"></rect> <g transform="matrix(.013,0,0,-0.013,72.23,27.602)"> <path d="M495 86L479 114C446 82 419 66 409 66C401 66 401 72 406 97C420 166 436 231 453 297C489 435 454 448 428 448C406 448 384 439 354 422C305 394 222 327 161 247H159L183 345C200 415 194 448 173 448C143 448 82 410 23 351L38 325C64 349 95 371 105 371C111 371 116 365 109 336L25 -4L31 -12C50 -4 77 3 107 9C119 69 132 122 145 168C197 254 321 381 370 381C387 381 393 374 378 305L329 95C309 17 320 -12 345 -12C372 -12 430 19 495 86Z" id="g113-111"></path> </g> <g transform="matrix(.013,0,0,-0.013,81.66,27.602)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,92.2,27.602)"> <path d="M766 88L752 113C719 83 690 64 681 64C674 64 672 74 679 103L724 292C758 436 724 448 701 448C680 448 666 442 639 429C594 407 514 350 441 252H439L447 289C476 423 450 448 419 448C398 448 379 441 355 427C307 400 234 344 162 249H160L180 324C203 409 197 448 170 448C144 448 82 413 23 349L35 321C57 343 96 374 108 374C115 374 117 371 111 341C87 227 57 112 24 -6L32 -12C53 -4 81 4 108 6C119 68 134 128 149 171C177 229 309 383 364 383C387 383 388 355 373 282C354 190 330 92 303 -6L309 -12C332 -4 356 3 386 6C396 63 411 122 424 171C458 236 590 383 642 383C658 383 664 369 652 315L603 91C587 20 593 -12 619 -12C642 -12 708 23 766 88Z" id="g113-110"></path> </g> <g transform="matrix(.013,0,0,-0.013,163.51,18.377)"> <use xlink:href="#g113-45"></use> </g> </g> </svg> <svg class="alt_equation" height="50.0195pt" id="I38" version="1.1" viewbox="0 0 170.15 50.0195" width="170.15pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 -9.14)" xlink:href="#B38-1"></use> <use transform="matrix(1 0 0 1 3.63 22.07)" xlink:href="#B38-2"></use> </svg></span></span><span class="right_break" id="R38"> <svg class="label" height="11.44pt" id="M38-3" version="1.1" viewbox="0 0 21.078 11.44" width="21.078pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B38-3"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.68,9.26)"> <use xlink:href="#g190-161"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.58,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="50.0195pt" id="IL38" version="1.1" viewbox="0 0 21.16 50.0195" width="21.16pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 19.08)" xlink:href="#B38-3"></use> </svg></span></span>在哪里<我>n</我>=极数<我>米</我>= 0。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig7"> <div class="floats-partial-content fig-content-fig7"> <div class="partial-carousel--single-image"> <img alt="(a)伪系统的根轨迹年代没有伪铅控制器C”name="3153252.fig.007a" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.007a.svgz"> <br> <strong>(a)伪系统的根轨迹年代没有伪铅控制器C</年代trong> </div> <div class="partial-carousel--single-image"> <img alt="(b)伪系统的根轨迹控制器C S伪领先”name="3153252.fig.007b" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.007b.svgz"> <br> <strong>(b)伪系统的根轨迹控制器C S伪领先</年代trong> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs fig-thumbs-fig7"> <button class="partial-carousel-dot" aria-label="(a) Root locus of the pseudo system S without a pseudo lead controller C"><img alt="(a)伪系统的根轨迹年代没有伪铅控制器C”name="3153252.fig.007a" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.007a.svgz"><br><strong>(a)伪系统的根轨迹年代没有伪铅控制器C</年代trong></button> <button class="partial-carousel-dot" aria-label="(b) Root locus of the pseudo system S with a pseudo lead controller C"><img alt="(b)伪系统的根轨迹控制器C S伪领先”name="3153252.fig.007b" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.007b.svgz"><br><strong>(b)伪系统的根轨迹控制器C S伪领先</年代trong></button> </div> <div class="partial-carousel-next-prev fig-nav-fig7"> <button class="carousel-prev" aria-label="Previous"></button> <button class="carousel-next" aria-label="Next"></button> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图7</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig7/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 图解积分法的影响相位超前控制器在使用伪系统根轨迹<我>年代</我>伪牵引控制器<我>C</我>。</div> </div> </div> <p>现在,为了实现所需的输出,实际的相位超前控制器设计使用以下步骤:<年代pan class="list"><span class="list-item"><span class="list-label">(1)</年代pan><span class="list-content">控制器的零保存在虚轴附近,比杆的控制器。</年代pan></span><span class="list-item"><span class="list-label">(2)</年代pan><span class="list-content">控制器的杆保持远离控制器的零和虚轴。</年代pan></span><span class="list-item"><span class="list-label">(3)</年代pan><span class="list-content">杆之间的距离和控制器的零保存。</年代pan></span><span class="list-item"><span class="list-label">(4)</年代pan><span class="list-content">添加极有负值比添加零,零驻留在原点附近。</年代pan></span></span></p> <p>相位超前控制器的设计细节见图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig8/" target="_blank">8</a>。传递函数的相位超前设计控制器增益<我>k</我>= 500了<年代pan class="equation_break" id="eq14"><span class="left_break" id="L39"></span><span class="middle_break"><span class="center_break" id="M39"> <svg height="27.1888pt" id="M39-1" version="1.1" viewbox="0 0 128.004 27.1888" width="128.004pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B39-1"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.83,20.745)"> <use xlink:href="#g50-100"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.26,17.796)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,19.78,17.613)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.65,17.796)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.82,17.613)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,45.28,9.106)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,51.52,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,57.76,9.106)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,62.9,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,69.14,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,75.38,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.8,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.31,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,96.09,9.106)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,106.63,9.106)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,112.87,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,119.11,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="78.5707" x="45.28" y="13.96"></rect> <g transform="matrix(.013,0,0,-0.013,65.98,26.839)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,73.77,26.839)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,84.3,26.839)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.54,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,96.78,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,125.04,17.613)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R39"> <svg class="label" height="11.44pt" id="M39-2" version="1.1" viewbox="0 0 21.478 11.44" width="21.478pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B39-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.54,9.26)"> <use xlink:href="#g190-227"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.98,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig8"> <div class="floats-partial-content fig-content-fig8"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.008" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.008.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图8</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig8/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 插图设计细节的相位超前控制器。</div> </div> </div> <p>设计相位超前控制器和稀释室在闭环系统中,导致传递函数如下:<年代pan class="equation_break" id="eq15"><span class="left_break" id="L40"></span><span class="middle_break"><span class="center_break" id="M40"> <svg height="29.2897pt" id="M40-1" version="1.1" viewbox="0 0 166.874 29.2897" width="166.874pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B40-1"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.82,20.745)"> <use xlink:href="#g58-65"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,14.95,20.745)"> <use xlink:href="#g58-74"></use> </g> <g transform="matrix(.013,0,0,-0.013,22.65,17.796)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.17,17.613)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.04,17.796)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.21,17.613)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,74.11,9.106)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,80.35,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,86.59,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,92.83,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,101.25,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,105.77,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.55,9.106)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,124.09,9.106)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,130.33,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,136.57,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="110.049" x="52.67" y="13.96"></rect> <g transform="matrix(.013,0,0,-0.013,52.67,27.022)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,57.18,26.839)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,64.96,26.839)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,75.5,26.839)"> <use xlink:href="#g113-57"></use> </g> <g transform="matrix(.013,0,0,-0.013,81.74,26.839)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,84.7,26.839)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.94,26.839)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,97.18,26.839)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,103.42,27.022)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,110.27,27.022)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.78,26.839)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,122.56,26.839)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,133.1,26.839)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,139.34,26.839)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,145.58,26.839)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,151.82,26.839)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,158.06,27.022)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,163.91,17.613)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="29.2897pt" id="I40" version="1.1" viewbox="0 0 166.87 29.2897" width="166.87pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 0)" xlink:href="#B40-1"></use> </svg></span></span><span class="right_break" id="R40"> <svg class="label" height="11.44pt" id="M40-2" version="1.1" viewbox="0 0 21.158 11.44" width="21.158pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B40-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.63,9.26)"> <use xlink:href="#g190-223"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.66,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="29.2897pt" id="IL40" version="1.1" viewbox="0 0 21.23 29.2897" width="21.23pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 8.71)" xlink:href="#B40-2"></use> </svg></span></span></p> <h6 id="sec3.2.4">3.2.4。Phase-Lead-Lag控制器</h6> <p>相位超前和滞后控制器都有自己的优点和缺点正如上面所讨论的。实际系统通常要求某些严格的规范,两者的结合可以可行的领先和滞后控制器。广义phase-lead-lag控制器的传递函数<年代pan class="equation_break" id="eq16"><span class="left_break" id="L41"></span><span class="middle_break"><span class="center_break" id="M41"> <svg height="29.4984pt" id="M41-1" version="1.1" viewbox="0 0 148.184 29.4984" width="148.184pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B41-1"> <g transform="matrix(.013,0,0,-0.013,0,17.091)"> <use xlink:href="#g113-68"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.86,17.274)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.38,17.091)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,20.25,17.274)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.42,17.091)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.88,8.349)"> <path d="M483 97L471 123C436 91 401 65 392 65C388 65 384 74 390 106C414 239 444 378 457 429L455 433C444 433 429 436 416 439C392 444 368 448 344 448C281 448 204 415 152 376C71 315 23 205 23 103C23 21 57 -12 85 -12C114 -12 149 6 185 34C231 70 285 119 329 183H331L309 81C292 0 308 -12 326 -12C350 -12 421 24 483 97ZM374 387C370 363 356 291 345 261C315 193 181 50 139 50C124 50 110 71 110 118C110 224 153 331 218 379C238 394 271 402 301 402C329 402 359 394 374 387Z" id="g113-98"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,46.87,11.48)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,51.82,8.349)"> <path d="M471 456L444 459C426 433 414 430 388 430C324 430 270 434 216 434C103 434 51 374 23 338L43 317C96 366 146 380 221 375L154 109C149 86 147 68 147 52C147 4 168 -12 197 -12C240 -12 291 25 334 71L320 96C295 75 268 58 252 58C238 58 227 79 238 138C251 211 272 296 292 372C310 372 332 368 350 368C391 368 421 369 434 371C444 388 455 413 471 456Z" id="g113-241"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,57.25,11.48)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,62.2,8.349)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,69.98,8.349)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,80.51,8.349)"> <use xlink:href="#g113-50"></use> </g> <rect height="0.65243" width="45.99" x="40.88" y="13.438"></rect> <g transform="matrix(.013,0,0,-0.013,46.36,26.317)"> <use xlink:href="#g113-241"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,51.79,29.449)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,56.74,26.317)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,64.52,26.317)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,75.05,26.317)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.97,17.091)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,98.03,8.349)"> <use xlink:href="#g113-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,104.03,11.48)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,108.97,8.349)"> <use xlink:href="#g113-241"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,114.41,11.48)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,119.35,8.349)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,127.13,8.349)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,137.67,8.349)"> <use xlink:href="#g113-50"></use> </g> <rect height="0.65243" width="45.99" x="98.03" y="13.438"></rect> <g transform="matrix(.013,0,0,-0.013,103.51,26.317)"> <use xlink:href="#g113-241"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,108.95,29.449)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.89,26.317)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,121.67,26.317)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,132.21,26.317)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,145.22,17.091)"> <use xlink:href="#g113-45"></use> </g> </g> </svg> <svg class="alt_equation" height="29.4984pt" id="I41" version="1.1" viewbox="0 0 148.18 29.4984" width="148.18pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 0)" xlink:href="#B41-1"></use> </svg></span></span><span class="right_break" id="R41"> <svg class="label" height="11.44pt" id="M41-2" version="1.1" viewbox="0 0 21.298 11.44" width="21.298pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B41-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.62,9.26)"> <use xlink:href="#g190-152"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.8,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="29.4984pt" id="IL41" version="1.1" viewbox="0 0 21.38 29.4984" width="21.38pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 8.82)" xlink:href="#B41-2"></use> </svg></span></span>在哪里<年代pan class="equation_break" id="eq17"><span class="left_break" id="L42"></span><span class="middle_break"><span class="center_break" id="M42"> <svg height="13.8661pt" id="M42-1" version="1.1" viewbox="0 0 72.254 13.8661" width="72.254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B42-1"> <g transform="matrix(.013,0,0,-0.013,0,9.184)"> <use xlink:href="#g113-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,5.99,12.316)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.57,9.184)"> <use xlink:href="#g117-92"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.83,9.184)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.07,9.184)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,37.22,9.184)"> <use xlink:href="#g113-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,43.21,12.316)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,51.79,9.184)"> <use xlink:href="#g117-91"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.05,9.184)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,69.29,9.184)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R42"> <svg class="label" height="11.44pt" id="M42-2" version="1.1" viewbox="0 0 21.388 11.44" width="21.388pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B42-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.54,9.26)"> <use xlink:href="#g190-193"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.89,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>获得更快的响应和相对稳定性,phase-lead-lag控制器设计使用相同的设计原则,讨论了相位超前和相位滞后部分。以下两个步骤描述整个设计过程。</p> <p>在第一步中,相位超前控制器设计使用下列程序:<年代pan class="list"><span class="list-item"><span class="list-label">(1)</年代pan><span class="list-content">控制器的钢管放置深入左边半平面离虚轴。</年代pan></span><span class="list-item"><span class="list-label">(2)</年代pan><span class="list-content">控制器的零放置在虚轴附近。</年代pan></span><span class="list-item"><span class="list-label">(3)</年代pan><span class="list-content">控制器的钢管和零被放置在这样的点,因此,它们之间的距离足够大,重心进一步转向左边半平面。</年代pan></span></span></p> <p>在第二步中,相位滞后控制器设计一个不同的方法由于成功的原因。在传统的滞后控制器设计,主要目标是消除稳态误差没有改变瞬变和根轨迹形成。而不是实现传统的方法,在这里,主要目标是实现<我>这两个</我>消除稳态误差以及快速响应。这样的要求,需要不同的瞬变和根轨迹形成,以不同的方式完成,描述如下:<年代pan class="list"><span class="list-item"><span class="list-label">(1)</年代pan><span class="list-content">与传统极零位置滞后控制器,控制器放置远离零点的杆控制器和虚轴。</年代pan></span><span class="list-item"><span class="list-label">(2)</年代pan><span class="list-content">不同于(<a href="#EEq10">18</a>),<年代vg height="12.4698pt" id="M43" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 38.9493 12.4698" width="38.9493pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.234,0)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.77,0)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,31.92,3.132)"> <path d="M701 633L695 650H264C230 650 223 653 209 675H184C176 622 160 547 140 473L173 471C198 528 219 557 232 573C254 600 272 612 384 612H566L24 18L33 0H597C617 34 651 142 661 179L629 194C598 133 574 92 545 69C510 41 440 40 342 40C274 40 209 42 163 46L701 633Z" id="g50-91"></path> </g> </svg>保存大于0,而不是接近0,在哪里<我>θ<年代ub>p</年代ub></i>和<我>θ<年代ub>z</年代ub></i>与北极和零角度相关的控制器,分别。</年代pan></span></span></p> <p>少量的根轨迹形成原因<年代pan class="inline_break"> <svg height="14.7625pt" id="M44" style="vertical-align:-5.47417pt" version="1.1" viewbox="-0.0498162 -9.28833 48.106 14.7625" width="48.106pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"> <use xlink:href="#g50-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.006,0)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.542,0)"> <use xlink:href="#g113-230"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,31.691,3.132)"> <use xlink:href="#g50-123"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.106,0)"> <path d="M-161 592L-215 609L-427 -83L-372 -100L-161 592Z" id="g117-145"></path> </g> <g transform="matrix(.013,0,0,-0.013,40.434,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="14.7625pt" style="vertical-align:-5.47417pt" version="1.1" viewbox="51.6751838 -9.28833 6.24 14.7625" width="6.24pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,51.725,0)"> <use xlink:href="#g113-49"></use> </g> </svg></span>验证见图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig9/" target="_blank">9</a>。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig9"> <div class="floats-partial-content fig-content-fig9"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.009" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.009.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图9</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig9/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 系统的根轨迹与设计超前滞后控制器。</div> </div> </div> <p>phase-lead-lag控制器的设计细节见图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig10/" target="_blank">10</a>。的传递函数设计领先-落后与增益控制器,<我>k</我>= 500结果如下:<年代pan class="equation_break" id="eq18"><span class="left_break" id="L45"></span><span class="middle_break"><span class="center_break" id="M45"> <svg height="29.2897pt" id="M45-1" version="1.1" viewbox="0 0 29.138 29.2897" width="29.138pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B45-1"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.82,20.745)"> <use xlink:href="#g50-100"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.25,17.796)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,19.77,17.613)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.64,17.796)"> <use xlink:href="#g113-42"></use> </g> </g> </svg> <svg height="29.2897pt" id="M45-2" version="1.1" viewbox="0 0 144.344 29.2897" width="144.344pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B45-2"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,12.46,9.106)"> <use xlink:href="#g113-53"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.7,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.94,9.106)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,31.18,9.106)"> <use xlink:href="#g113-53"></use> </g> <g transform="matrix(.013,0,0,-0.013,37.42,9.106)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.38,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.8,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,53.32,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,61.1,9.106)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,71.64,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,77.88,9.106)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,80.84,9.106)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,87.08,9.106)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,93.32,9.288)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,100.14,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,104.66,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,112.44,9.106)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,122.97,9.106)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,129.21,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,135.45,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="127.73" x="12.46" y="13.96"></rect> <g transform="matrix(.013,0,0,-0.013,27.56,27.022)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.08,26.839)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,39.86,26.839)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,50.39,26.839)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,56.63,26.839)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.6,26.839)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,65.84,26.839)"> <use xlink:href="#g113-57"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.08,27.022)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.9,27.022)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.41,26.839)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.19,26.839)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,101.73,26.839)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,107.97,26.839)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.21,26.839)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,120.45,27.022)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,141.38,17.613)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="51.3048pt" id="I45" version="1.1" viewbox="0 0 157.98 51.3048" width="157.98pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 -8.43)" xlink:href="#B45-1"></use> <use transform="matrix(1 0 0 1 13.6 22.02)" xlink:href="#B45-2"></use> </svg></span></span><span class="right_break" id="R45"> <svg class="label" height="11.44pt" id="M45-3" version="1.1" viewbox="0 0 21.438 11.44" width="21.438pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B45-3"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.53,9.26)"> <use xlink:href="#g190-254"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.94,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="51.3048pt" id="IL45" version="1.1" viewbox="0 0 21.52 51.3048" width="21.52pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 19.72)" xlink:href="#B45-3"></use> </svg></span></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig10"> <div class="floats-partial-content fig-content-fig10"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.0010" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0010.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图10</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig10/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 插图设计细节的相位超前滞后控制器。</div> </div> </div> <p>控制器与稀释商会注册时导致闭环传递函数如下:<年代pan class="equation_break" id="eq19"><span class="left_break" id="L46"></span><span class="middle_break"><span class="center_break" id="M46"> <svg height="31.0513pt" id="M46-1" version="1.1" viewbox="0 0 36.548 31.0513" width="36.548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B46-1"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.83,20.745)"> <use xlink:href="#g58-65"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,14.95,20.745)"> <use xlink:href="#g58-74"></use> </g> <g transform="matrix(.013,0,0,-0.013,22.66,17.796)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.17,17.613)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.05,17.796)"> <use xlink:href="#g113-42"></use> </g> </g> </svg> <svg height="31.0513pt" id="M46-2" version="1.1" viewbox="0 0 182.004 31.0513" width="182.004pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B46-2"> <g transform="matrix(.013,0,0,-0.013,0,17.613)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,31.29,9.106)"> <use xlink:href="#g113-53"></use> </g> <g transform="matrix(.013,0,0,-0.013,37.53,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,43.77,9.106)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,50.01,9.106)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,52.97,9.106)"> <use xlink:href="#g113-53"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.21,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,67.63,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.15,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,79.93,9.106)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.47,9.106)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,96.71,9.106)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,99.67,9.106)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,105.91,9.106)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,112.15,9.288)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,118.97,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,123.49,9.106)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,131.27,9.106)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,141.8,9.106)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,148.04,9.106)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,154.28,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="165.38" x="12.46" y="13.96"></rect> <g transform="matrix(.013,0,0,-0.013,12.46,27.296)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.98,27.113)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.76,27.113)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,35.29,27.113)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.53,27.113)"> <use xlink:href="#g113-53"></use> </g> <g transform="matrix(.013,0,0,-0.013,47.77,27.113)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,54.01,27.113)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,56.98,27.113)"> <use xlink:href="#g113-55"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.22,27.296)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,70.06,27.113)"> <use xlink:href="#g119-5"></use> </g> <g transform="matrix(.013,0,0,-0.013,75.09,27.113)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,79.96,22.937)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,87.81,27.113)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,98.35,27.113)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,104.59,27.113)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,110.83,27.113)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.79,27.113)"> <use xlink:href="#g113-57"></use> </g> <g transform="matrix(.013,0,0,-0.013,120.03,27.113)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,126.28,27.113)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,134.06,27.113)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,144.59,27.113)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,150.83,27.113)"> <use xlink:href="#g113-53"></use> </g> <g transform="matrix(.013,0,0,-0.013,157.07,27.113)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,160.04,27.113)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,166.28,27.113)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,172.52,27.113)"> <use xlink:href="#g119-6"></use> </g> <g transform="matrix(.013,0,0,-0.013,179.04,17.613)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="53.0664pt" id="I46" version="1.1" viewbox="0 0 185.67 53.0664" width="185.67pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 -8.43)" xlink:href="#B46-1"></use> <use transform="matrix(1 0 0 1 3.63 22.02)" xlink:href="#B46-2"></use> </svg></span></span><span class="right_break" id="R46"> <svg class="label" height="11.44pt" id="M46-3" version="1.1" viewbox="0 0 19.078 11.44" width="19.078pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B46-3"> <g transform="matrix(.013,0,0,-0.013,0,9.25)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.25)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.19,9.25)"> <use xlink:href="#g190-213"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.58,9.25)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="53.0664pt" id="IL46" version="1.1" viewbox="0 0 19.16 53.0664" width="19.16pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 20.6)" xlink:href="#B46-3"></use> </svg></span></span></p> <h6 id="sec3.2.5">3.2.5。级联导致控制器</h6> <p>一般来说,一个级联相位超前控制器应用于实现一个非常快的响应时间。应用两个铅控制器串联,与工厂合并在一个闭环反馈系统,可以显著加快系统响应时间。对于药物输注系统,更快的响应是必需的,因为一个小的拖延或过度药会导致严重后果。传统的传递函数级联控制器<年代pan class="equation_break" id="eq20"><span class="left_break" id="L47"></span><span class="middle_break"><span class="center_break" id="M47"> <svg height="28.4023pt" id="M47-1" version="1.1" viewbox="0 0 117.644 28.4023" width="117.644pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B47-1"> <g transform="matrix(.013,0,0,-0.013,0,15.747)"> <use xlink:href="#g113-68"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.86,15.93)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.38,15.747)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,20.25,15.93)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.42,15.747)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.49,7.005)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.27,7.005)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.81,7.005)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,65.96,10.136)"> <use xlink:href="#g50-50"></use> </g> <rect height="0.65243" width="30.722" x="40.87" y="12.094"></rect> <g transform="matrix(.013,0,0,-0.013,40.87,24.973)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.65,24.973)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.19,24.973)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,66.58,28.105)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,75.7,15.747)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.38,7.005)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.16,7.005)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,101.7,7.005)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,107.85,10.136)"> <use xlink:href="#g50-51"></use> </g> <rect height="0.65243" width="30.722" x="82.76" y="12.094"></rect> <g transform="matrix(.013,0,0,-0.013,82.76,24.973)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.54,24.973)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,101.08,24.973)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,108.46,28.105)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.68,15.747)"> <use xlink:href="#g113-45"></use> </g> </g> </svg></span></span><span class="right_break" id="R47"> <svg class="label" height="11.44pt" id="M47-2" version="1.1" viewbox="0 0 20.708 11.44" width="20.708pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B47-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.16,9.26)"> <use xlink:href="#g190-243"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.21,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span>在哪里<年代pan class="equation_break" id="eq21"><span class="left_break" id="L48"></span><span class="middle_break"><span class="center_break" id="M48"> <svg height="13.8661pt" id="M48-1" version="1.1" viewbox="0 0 86.924 13.8661" width="86.924pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B48-1"> <g transform="matrix(.013,0,0,-0.013,0,9.184)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.38,12.316)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.96,9.184)"> <use xlink:href="#g117-92"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.22,9.184)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,33.37,12.316)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,38.32,9.184)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,45.64,9.184)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,53.02,12.316)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,61.6,9.184)"> <use xlink:href="#g117-92"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.86,9.184)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,79.01,12.316)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.96,9.184)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R48"> <svg class="label" height="11.44pt" id="M48-2" version="1.1" viewbox="0 0 20.548 11.44" width="20.548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B48-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.49,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.17,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.05,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>达到一个更高的响应时间,一个级联相位超前控制器设计。设计原则是类似于相位超前部分讨论。获得最大的期望输出值,考虑以下:<年代pan class="list"><span class="list-item"><span class="list-label">(1)</年代pan><span class="list-content">两极的两个铅控制器放置离虚轴到左半平面。</年代pan></span><span class="list-item"><span class="list-label">(2)</年代pan><span class="list-content">0的两个铅控制器放置在虚轴附近。</年代pan></span><span class="list-item"><span class="list-label">(3)</年代pan><span class="list-content">两极之间的最大距离(<我>p</我><sub>1</年代ub>,<我>p</我><sub>2</年代ub>)和0 (<我>z</我><sub>1</年代ub>,<我>z</我><sub>2</年代ub>两个铅控制器保存的)。</年代pan></span></span></p> <p>数学上,<年代pan class="equation_break" id="eq22"><span class="left_break" id="L49"></span><span class="middle_break"><span class="center_break" id="M49"> <svg height="35.268pt" id="M49-1" version="1.1" viewbox="0 0 142.184 35.268" width="142.184pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B49-1"> <g transform="matrix(.013,0,0,-0.013,0,9.236)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.38,12.368)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.23,9.236)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.77,9.236)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,31.92,12.368)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.49,9.236)"> <path d="M512 230V281L75 514V456L453 256V254L75 55V-3L512 230ZM780 230V281L343 514V456L721 256V254L343 55V-3L780 230Z" id="g117-124"></path> </g> <g transform="matrix(.013,0,0,-0.013,55.24,9.236)"> <use xlink:href="#g121-95"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.71,9.236)"> <path d="M478 437H300V411C357 404 363 393 347 345C325 280 293 190 258 107C229 178 188 284 163 354C147 397 149 405 203 411V437H-2V411C52 403 59 396 82 339C130 222 176 109 220 -11H248C304 138 356 261 390 336C417 395 425 404 478 411V437Z" id="g121-116"></path> </g> <g transform="matrix(.013,0,0,-0.013,66.82,9.236)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.35,9.236)"> <use xlink:href="#g121-112"></use> </g> <g transform="matrix(.013,0,0,-0.013,77.17,9.236)"> <use xlink:href="#g121-95"></use> </g> <g transform="matrix(.013,0,0,-0.013,82.81,9.236)"> <use xlink:href="#g121-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.79,9.236)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,96.49,9.236)"> <use xlink:href="#g121-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,103.36,9.236)"> <use xlink:href="#g121-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,106.8,9.236)"> <use xlink:href="#g121-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,111.51,9.236)"> <use xlink:href="#g121-114"></use> </g> <g transform="matrix(.013,0,0,-0.013,115.55,9.236)"> <use xlink:href="#g121-95"></use> </g> <g transform="matrix(.013,0,0,-0.013,121.14,9.236)"> <use xlink:href="#g121-108"></use> </g> <g transform="matrix(.013,0,0,-0.013,128.2,9.236)"> <use xlink:href="#g121-97"></use> </g> <g transform="matrix(.013,0,0,-0.013,133.7,9.236)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,139.22,9.236)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,0,31.304)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.38,34.435)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.23,31.304)"> <use xlink:href="#g117-33"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.77,31.304)"> <use xlink:href="#g113-123"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,31.92,34.435)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.49,31.304)"> <use xlink:href="#g117-124"></use> </g> <g transform="matrix(.013,0,0,-0.013,55.24,31.304)"> <use xlink:href="#g121-95"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.71,31.304)"> <use xlink:href="#g121-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.82,31.304)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.35,31.304)"> <use xlink:href="#g121-112"></use> </g> <g transform="matrix(.013,0,0,-0.013,77.17,31.304)"> <use xlink:href="#g121-95"></use> </g> <g transform="matrix(.013,0,0,-0.013,82.81,31.304)"> <use xlink:href="#g121-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.79,31.304)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,96.49,31.304)"> <use xlink:href="#g121-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,103.36,31.304)"> <use xlink:href="#g121-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,106.8,31.304)"> <use xlink:href="#g121-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,111.51,31.304)"> <use xlink:href="#g121-114"></use> </g> <g transform="matrix(.013,0,0,-0.013,115.55,31.304)"> <use xlink:href="#g121-95"></use> </g> <g transform="matrix(.013,0,0,-0.013,121.14,31.304)"> <use xlink:href="#g121-108"></use> </g> <g transform="matrix(.013,0,0,-0.013,128.2,31.304)"> <use xlink:href="#g121-97"></use> </g> <g transform="matrix(.013,0,0,-0.013,133.7,31.304)"> <use xlink:href="#g121-99"></use> </g> <g transform="matrix(.013,0,0,-0.013,139.22,31.304)"> <use xlink:href="#g113-45"></use> </g> </g> </svg></span></span><span class="right_break" id="R49"> <svg class="label" height="11.44pt" id="M49-2" version="1.1" viewbox="0 0 21.488 11.44" width="21.488pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B49-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.49,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.53,9.26)"> <use xlink:href="#g190-166"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.99,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span>在哪里<我>p</我><sub>1</年代ub>和<我>p</我><sub>2</年代ub>代表了波兰和<我>z</我><sub>1</年代ub>和<我>z</我><sub>2</年代ub>代表两个级联的零铅控制器。</p> <p>级联导致控制器的设计细节见图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig11/" target="_blank">11</a>。的传递函数设计的级联相位超前控制器增益<我>k</我>= 500<年代pan class="equation_break" id="eq23"><span class="left_break" id="L50"></span><span class="middle_break"><span class="center_break" id="M50"> <svg height="31.6202pt" id="M50-1" version="1.1" viewbox="0 0 29.148 31.6202" width="29.148pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B50-1"> <g transform="matrix(.013,0,0,-0.013,0,19.944)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.83,23.076)"> <use xlink:href="#g50-100"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.26,20.127)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,19.78,19.944)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.65,20.127)"> <use xlink:href="#g113-42"></use> </g> </g> </svg> <svg height="31.6202pt" id="M50-2" version="1.1" viewbox="0 0 175.284 31.6202" width="175.284pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B50-2"> <g transform="matrix(.013,0,0,-0.013,0,19.944)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,12.46,11.436)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.7,11.436)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,21.66,11.436)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.9,11.436)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,34.14,11.436)"> <use xlink:href="#g113-55"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.38,11.436)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.53,11.436)"> <path d="M528 54L331 254L528 455L492 493L294 291L96 493L60 455L257 254L60 54L96 16L294 217L492 16L528 54Z" id="g117-42"></path> </g> <g transform="matrix(.013,0,0,-0.013,60.07,11.436)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.31,11.436)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,72.55,5.695)"> <path d="M453 623H65C60 580 56 530 46 472H80C103 538 110 548 175 548H389C310 380 195 168 90 0L98 -12L175 -2C273 206 366 408 462 610L453 623Z" id="g50-56"></path> </g> <g transform="matrix(.013,0,0,-0.013,79.67,11.619)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,84.19,11.436)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.97,11.436)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,102.5,11.436)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,108.74,11.436)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,111.71,11.436)"> <use xlink:href="#g113-57"></use> </g> <g transform="matrix(.013,0,0,-0.013,117.95,11.436)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,124.19,11.436)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,130.43,11.619)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,137.27,11.619)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,141.79,11.436)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,149.57,11.436)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,160.11,11.436)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,166.35,11.619)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="158.673" x="12.46" y="16.29"></rect> <g transform="matrix(.013,0,0,-0.013,44.52,29.352)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.03,29.169)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,56.81,29.169)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,67.35,29.169)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,73.59,29.169)"> <use xlink:href="#g113-58"></use> </g> <g transform="matrix(.013,0,0,-0.013,79.83,29.169)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,86.07,29.352)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,92.88,29.352)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,97.4,29.169)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,105.18,29.169)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,115.71,29.169)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,121.95,29.169)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,128.19,29.169)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,134.43,29.352)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,172.32,19.944)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="53.6353pt" id="I50" version="1.1" viewbox="0 0 178.96 53.6353" width="178.96pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 -10.76)" xlink:href="#B50-1"></use> <use transform="matrix(1 0 0 1 3.63 22.02)" xlink:href="#B50-2"></use> </svg></span></span><span class="right_break" id="R50"> <svg class="label" height="11.44pt" id="M50-3" version="1.1" viewbox="0 0 20.708 11.44" width="20.708pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B50-3"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.31,9.26)"> <use xlink:href="#g190-161"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.21,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="53.6353pt" id="IL50" version="1.1" viewbox="0 0 20.79 53.6353" width="20.79pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 20.89)" xlink:href="#B50-3"></use> </svg></span></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig11"> <div class="floats-partial-content fig-content-fig11"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.0011" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0011.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图11</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig11/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 插图设计的细节级联控制器。</div> </div> </div> <p>设计级联相位超前控制器,当合并药物输注系统,导致闭环传递函数如下:<年代pan class="equation_break" id="eq24"><span class="left_break" id="L51"></span><span class="middle_break"><span class="center_break" id="M51"> <svg height="33.537pt" id="M51-1" version="1.1" viewbox="0 0 36.538 33.537" width="36.538pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B51-1"> <g transform="matrix(.013,0,0,-0.013,0,20.099)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.82,23.231)"> <use xlink:href="#g58-65"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,14.95,23.231)"> <use xlink:href="#g58-74"></use> </g> <g transform="matrix(.013,0,0,-0.013,22.65,20.282)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.17,20.099)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.04,20.282)"> <use xlink:href="#g113-42"></use> </g> </g> </svg> <svg height="33.537pt" id="M51-2" version="1.1" viewbox="0 0 219.204 33.537" width="219.204pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B51-2"> <g transform="matrix(.013,0,0,-0.013,0,20.099)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,34.41,11.591)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.65,11.591)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,43.62,11.591)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,49.86,11.591)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,56.1,11.591)"> <use xlink:href="#g113-55"></use> </g> <g transform="matrix(.013,0,0,-0.013,62.34,11.591)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,71.49,11.591)"> <use xlink:href="#g117-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,82.03,11.591)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.27,11.591)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,94.51,5.85)"> <path d="M141 347C171 480 264 541 327 570C364 587 403 599 436 605L429 641C389 634 339 622 300 609C191 570 37 458 37 239C37 86 126 -12 245 -12C367 -12 454 89 454 210C454 314 380 397 272 397C252 397 230 390 208 380L141 347ZM231 338C323 338 366 257 366 174C366 108 340 27 263 27C180 27 129 123 129 244C129 268 130 292 135 310C158 323 193 338 231 338Z" id="g50-55"></path> </g> <g transform="matrix(.013,0,0,-0.013,101.63,11.774)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,106.15,11.591)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.93,11.591)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,124.46,11.591)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,130.7,11.774)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,137.47,11.774)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,141.98,11.591)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,149.76,11.591)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,160.3,11.591)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,166.54,11.591)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,169.5,11.591)"> <use xlink:href="#g113-57"></use> </g> <g transform="matrix(.013,0,0,-0.013,175.74,11.591)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,181.98,11.591)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,188.22,11.774)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="202.587" x="12.46" y="16.446"></rect> <g transform="matrix(.013,0,0,-0.013,12.46,29.599)"> <use xlink:href="#g119-5"></use> </g> <g transform="matrix(.013,0,0,-0.013,17.48,29.599)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.26,29.599)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,35.8,29.599)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,42.04,29.599)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,45,29.599)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,51.24,29.599)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,57.49,29.599)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.63,29.599)"> <use xlink:href="#g117-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,77.17,29.599)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.41,29.599)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,89.65,25.423)"> <use xlink:href="#g50-55"></use> </g> <g transform="matrix(.013,0,0,-0.013,94.6,29.599)"> <use xlink:href="#g119-6"></use> </g> <g transform="matrix(.013,0,0,-0.013,102.02,29.781)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,106.54,29.599)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.32,29.599)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,124.85,29.599)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,131.09,29.599)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,134.06,29.599)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,140.3,29.599)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,146.54,29.781)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,153.36,29.781)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,157.87,29.599)"> <use xlink:href="#g113-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,165.65,29.599)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,176.19,29.599)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,182.43,29.599)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,185.39,29.599)"> <use xlink:href="#g113-56"></use> </g> <g transform="matrix(.013,0,0,-0.013,191.64,29.599)"> <use xlink:href="#g113-55"></use> </g> <g transform="matrix(.013,0,0,-0.013,197.88,29.599)"> <use xlink:href="#g113-57"></use> </g> <g transform="matrix(.013,0,0,-0.013,204.12,29.599)"> <use xlink:href="#g113-57"></use> </g> <g transform="matrix(.013,0,0,-0.013,210.36,29.781)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,216.24,20.099)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="55.5521pt" id="I51" version="1.1" viewbox="0 0 222.88 55.5521" width="222.88pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 -10.92)" xlink:href="#B51-1"></use> <use transform="matrix(1 0 0 1 3.64 22.01)" xlink:href="#B51-2"></use> </svg></span></span><span class="right_break" id="R51"> <svg class="label" height="11.44pt" id="M51-3" version="1.1" viewbox="0 0 21.438 11.44" width="21.438pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B51-3"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.5,9.26)"> <use xlink:href="#g190-227"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.94,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="55.5521pt" id="IL51" version="1.1" viewbox="0 0 21.52 55.5521" width="21.52pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 21.84)" xlink:href="#B51-3"></use> </svg></span></span></p> <h4 id="results">4所示。结果</h4> <h5 id="sec4.1">4.1。开环的结果</h5> <p>理解一阶指数衰减的稀释,开环系统的特点进行评估在部分的两个步骤<a href="#sec2">2</a>开环的分析。第一步介绍了稀释室的指数衰减属性。0.01初始浓度的异丙酚将更易与L在固定10毫升的体积稀释室。结果在图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig12/" target="_blank">12</a>显示了指数衰减,并具体化的稀释浓度随着时间的推移,由于连续稀释的背景电解质。完美的情节与理论计算使用(<a href="#EEq3">4</a>)和(<a href="#EEq4">5</a>)<年代pan class="equation_break" id="eq25"><span class="left_break" id="L52"></span><span class="middle_break"><span class="center_break" id="M52"> <svg height="16.0778pt" id="M52-1" version="1.1" viewbox="0 0 103.904 16.0778" width="103.904pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B52-1"> <g transform="matrix(.013,0,0,-0.013,0,12.113)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.17,15.245)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.29,12.296)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,20.81,12.113)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.24,12.296)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,33.41,12.113)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,44.67,12.113)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,50.91,12.113)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,53.87,12.113)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,60.11,12.113)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,66.35,12.113)"> <use xlink:href="#g113-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,71.73,5.85)"> <use xlink:href="#g54-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,77.29,5.85)"> <use xlink:href="#g50-49"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,81.73,5.85)"> <path d="M117 -12C153 -12 178 12 178 50C178 84 153 110 118 110C84 110 59 84 59 50C59 12 84 -12 117 -12Z" id="g50-47"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,83.88,5.85)"> <use xlink:href="#g50-49"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,88.31,5.85)"> <use xlink:href="#g50-49"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,92.75,5.85)"> <path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z" id="g50-53"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,97.18,5.85)"> <use xlink:href="#g50-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,100.94,12.113)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R52"> <svg class="label" height="11.44pt" id="M52-2" version="1.1" viewbox="0 0 20.788 11.44" width="20.788pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B52-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.26,9.26)"> <use xlink:href="#g190-223"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.29,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig12"> <div class="floats-partial-content fig-content-fig12"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.0012" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0012.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图12</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig12/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 指数衰减与异丙酚浓度稀释浓度= 0.01毫米和流量= 0.04毫升/秒。</div> </div> </div> <p>在第二步中,识别和验证系统的开环增益和稳态分析。从理论上讲,稳态增益计算(<a href="#EEq5">7</a>)系统模型和描述。在稳态<年代pan class="inline_break"> <svg height="12.4698pt" id="M53" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 40.112 12.4698" width="40.112pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.215,0)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,16.38,3.132)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,21.327,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.825,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,30.258,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,34.756,0)"> <use xlink:href="#g113-48"></use> </g> </svg><span class="isep"></span> <svg height="12.4698pt" style="vertical-align:-3.18147pt" version="1.1" viewbox="40.067183799999995 -9.28833 11.648 12.4698" width="11.648pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,40.117,0)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,47.332,0)"> <use xlink:href="#g113-117"></use> </g> </svg></span>趋于零,开环增益<我>G</我>该系统将<年代pan class="equation_break" id="EEq13"><span class="left_break" id="L54"></span><span class="middle_break"><span class="center_break" id="M54"> <svg height="30.2552pt" id="M54-1" version="1.1" viewbox="0 0 118.761 30.2552" width="118.761pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B54-1"> <g transform="matrix(.013,0,0,-0.013,0,17.848)"> <use xlink:href="#g113-72"></use> </g> <g transform="matrix(.013,0,0,-0.013,12.52,17.848)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,24.98,9.106)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,34.15,12.237)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,41.27,9.288)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,45.79,9.106)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,50.22,9.288)"> <use xlink:href="#g113-42"></use> </g> <rect height="0.65243" width="29.8043" x="24.98" y="14.195"></rect> <g transform="matrix(.013,0,0,-0.013,30.27,27.074)"> <use xlink:href="#g113-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,36,27.256)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.52,27.074)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,44.95,27.256)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,59.61,17.848)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.72,9.34)"> <use xlink:href="#g113-50"></use> </g> <rect height="0.65243" width="19.561" x="72.07" y="14.195"></rect> <g transform="matrix(.013,0,0,-0.013,72.07,27.074)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,79.25,27.074)"> <use xlink:href="#g197-33"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,86.63,30.205)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,96.46,17.848)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,110.73,9.34)"> <use xlink:href="#g113-50"></use> </g> <rect height="0.65243" width="9.87791" x="108.92" y="14.195"></rect> <g transform="matrix(.013,0,0,-0.013,108.92,27.074)"> <use xlink:href="#g113-153"></use> </g> </g> </svg> <svg height="30.2552pt" id="M54-2" version="1.1" viewbox="0 0 56.664 30.2552" width="56.664pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B54-2"> <g transform="matrix(.013,0,0,-0.013,0,17.848)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,11.27,17.848)"> <use xlink:href="#g113-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,17.51,17.848)"> <use xlink:href="#g113-54"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.92,17.848)"> <use xlink:href="#g121-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,30.69,17.848)"> <use xlink:href="#g113-48"></use> </g> <g transform="matrix(.013,0,0,-0.013,36.06,17.848)"> <use xlink:href="#g121-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,46.7,17.848)"> <path d="M495 163C480 117 462 85 444 65C421 39 387 34 332 34C290 34 256 36 236 47C218 57 213 77 213 131V526C213 612 222 616 301 622V650H40V622C122 616 128 611 128 526V126C128 41 120 34 36 28V0H489C498 31 519 126 525 157L495 163Z" id="g121-74"></path> </g> <g transform="matrix(.013,0,0,-0.013,53.7,17.848)"> <use xlink:href="#g113-47"></use> </g> </g> </svg></span></span><span class="right_break" id="R54"> <svg class="label" height="11.44pt" id="M54-3" version="1.1" viewbox="0 0 21.188 11.44" width="21.188pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B54-3"> <g transform="matrix(.013,0,0,-0.013,0,9.25)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.49,9.25)"> <use xlink:href="#g190-232"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.51,9.25)"> <use xlink:href="#g190-152"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.69,9.25)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>异丙酚输注,在连续稀释的同时,进行了一段时间。过了一段时间,达到一个平衡状态注入和消除速率之间的异丙酚。在这样的时刻,<年代pan class="inline_break"> <svg height="12.4698pt" id="M55" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 40.112 12.4698" width="40.112pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.215,0)"> <use xlink:href="#g197-14"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,16.38,3.132)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,21.327,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.825,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,30.258,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,34.756,0)"> <use xlink:href="#g113-48"></use> </g> </svg><span class="isep"></span> <svg height="12.4698pt" style="vertical-align:-3.18147pt" version="1.1" viewbox="40.067183799999995 -9.28833 11.648 12.4698" width="11.648pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,40.117,0)"> <use xlink:href="#g113-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,47.332,0)"> <use xlink:href="#g113-117"></use> </g> </svg></span>趋于零和浓度水平接近其稳定状态。</p> <p>上述infusion-dilution平衡导致成功受孕。为特定的价值稀释流量、定义注入率结果到一个特定的稳态浓度点。稀释流量的0.04毫升/秒,在五个不同注入率、开环增益和相应的稳态浓度评估,见图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig13/" target="_blank">13</a>。从理论计算值(<a href="#EEq13">38</a>)不同注入率完全满足线性比例。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig13"> <div class="floats-partial-content fig-content-fig13"> <div class="partial-carousel--single-image"> <img alt="" name="3153252.fig.0013" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0013.svgz"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图13</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig13/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 稳态浓度在五个不同注入率与流量,<我>Ω</我>= 0.04毫升/秒。</div> </div> </div> <h5 id="sec4.2">4.2。闭环结果</h5> <p>五种不同的控制方案被为了达到目标闭环反馈系统中的药物浓度。PI控制器调整了九个不同参数,见表<a href="//www.newsama.com/journals/jhe/2017/3153252/tab3/" target="_blank">3</a>,各种参数显示彼此更紧密的结果导致响应时间重叠,如图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig14/" target="_blank">(14日)</a>。的有效性<我>K<年代ub>P</年代ub></i>和<我>K<年代ub>我</年代ub></i>可以从图描述在以下方式。比例项<我>K<年代ub>P</年代ub></i>对应于高上升时间和沉降时间积分项<我>K<年代ub>我</年代ub></i>对应于一种改进的最终值的响应。PI控制器,当调谐与第五个参数表<a href="//www.newsama.com/journals/jhe/2017/3153252/tab3/" target="_blank">3</a>,产生一个更有效的响应时间与其他九个参数相比,如图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig14/" target="_blank">14 (b)</a>。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig14"> <div class="floats-partial-content fig-content-fig14"> <div class="partial-carousel--single-image"> <img alt="(一)闭环结果用PI控制器调9表3中不同的参数”name="3153252.fig.0014a" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0014a.svgz"> <br> <strong>(一)闭环结果用PI控制器调9表3中不同的参数</年代trong> </div> <div class="partial-carousel--single-image"> <img alt="(b)使用比例积分控制器闭环结果调整与第五个参数在表3中”name="3153252.fig.0014b" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0014b.svgz"> <br> <strong>(b)使用比例积分控制器闭环结果调整与第五个参数在表3中</年代trong> </div> <div class="partial-carousel--single-image"> <img alt="(c)使用滞后闭环结果的比较分析,领导,和领先-落后控制器”name="3153252.fig.0014c" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0014c.svgz"> <br> <strong>(c)使用滞后闭环结果的比较分析,领导,和领先-落后控制器</年代trong> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs fig-thumbs-fig14"> <button class="partial-carousel-dot" aria-label="(a) Closed-loop results using the PI controller tuned with 9 different parameters in Table 3"><img alt="(一)闭环结果用PI控制器调9表3中不同的参数”name="3153252.fig.0014a" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0014a.svgz"><br><strong>(一)闭环结果用PI控制器调9表3中不同的参数</年代trong></button> <button class="partial-carousel-dot" aria-label="(b) Closed-loop result using the PI controller tuned with the fifth parameter in Table 3"><img alt="(b)使用比例积分控制器闭环结果调整与第五个参数在表3中”name="3153252.fig.0014b" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0014b.svgz"><br><strong>(b)使用比例积分控制器闭环结果调整与第五个参数在表3中</年代trong></button> <button class="partial-carousel-dot" aria-label="(c) Comparative analysis of closed-loop results using lag, lead, and lead-lag controllers"><img alt="(c)使用滞后闭环结果的比较分析,领导,和领先-落后控制器”name="3153252.fig.0014c" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0014c.svgz"><br><strong>(c)使用滞后闭环结果的比较分析,领导,和领先-落后控制器</年代trong></button> </div> <div class="partial-carousel-next-prev fig-nav-fig14"> <button class="carousel-prev" aria-label="Previous"></button> <button class="carousel-next" aria-label="Next"></button> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图14</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig14/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 使用PI闭环结果的比较分析,铅、滞后,领先-落后控制器。</div> </div> </div> <p>图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig14/" target="_blank">14 (c)</a>之间的比较说明了相位滞后、铅和领先-落后控制器与稀释商会注册时在一个封闭的循环。相位滞后控制器极大地提高了系统的稳态误差,相比开环阶跃响应图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig2/" target="_blank">2</a>:然而,它并不提供响应时间的要求。相位超前控制器提供了一个更快的响应和相位滞后控制器相比预期,但仍无法满足更高的响应时间要求。phase-lead-lag控制器提供了<我>这两个</我>更快的响应和稳态误差减少,因此符合客观phase-lead-lag部分所需的部分<a href="#sec3">3</a>。响应时间使用领先-落后控制器似乎更接近一个控制器但比一个滞后控制器。</p> <p>图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig15/" target="_blank">(15日)</a>显示系统的响应时间当结合级联领先控制器闭环反馈系统。由于两个铅控制器串联和有效极零位置,响应时间更快比所有其他控制技术上面所讨论的。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig15"> <div class="floats-partial-content fig-content-fig15"> <div class="partial-carousel--single-image"> <img alt="(一)闭环结果使用级联控制器”name="3153252.fig.0015a" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0015a.svgz"> <br> <strong>(一)闭环结果使用级联控制器</年代trong> </div> <div class="partial-carousel--single-image"> <img alt="(b)比较分析闭环结果使用PI控制器和级联控制器”name="3153252.fig.0015b" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0015b.svgz"> <br> <strong>(b)比较分析闭环结果使用PI控制器和级联控制器</年代trong> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs fig-thumbs-fig15"> <button class="partial-carousel-dot" aria-label="(a) Closed-loop result using the cascaded lead controller"><img alt="(一)闭环结果使用级联控制器”name="3153252.fig.0015a" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0015a.svgz"><br><strong>(一)闭环结果使用级联控制器</年代trong></button> <button class="partial-carousel-dot" aria-label="(b) Comparative analysis of closed-loop results using PI controller and cascaded lead controller"><img alt="(b)比较分析闭环结果使用PI控制器和级联控制器”name="3153252.fig.0015b" src="https://static-01.hindawi.com/articles/jhe/volume-2017/3153252/figures/3153252.fig.0015b.svgz"><br><strong>(b)比较分析闭环结果使用PI控制器和级联控制器</年代trong></button> </div> <div class="partial-carousel-next-prev fig-nav-fig15"> <button class="carousel-prev" aria-label="Previous"></button> <button class="carousel-next" aria-label="Next"></button> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图15</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/fig15/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 比较分析闭环结果使用级联控制器和PI控制器。</div> </div> </div> <p>图<a href="//www.newsama.com/journals/jhe/2017/3153252/fig15/" target="_blank">15 (b)</a>显示使用PI闭环结果之间的比较分析和级联控制器。PI控制器和级联控制器结果变成一个更快的和稳定的响应相比其他控制器;然而,级联控制器显示铅相对更好的结果比PI控制器。表<a href="//www.newsama.com/journals/jhe/2017/3153252/tab4/" target="_blank">4</a>审查所有5个控制器的优缺点的每个控制技术不同的时域特征。</p> <div class="floats-partial-section partial-other-wrapper" data-section="tab4"> <div class="floats-partial-content fig-content-tab4"> <table class="table-group" id="tab4"> <tbody> <tr> <td> <table class="table"> <tbody> <tr> <td class="thead-hr" colspan="5"> <hr></td> </tr> <tr class="thead"> <td class="align_left">控制器</td> <td class="align_center">获得</td> <td class="align_center">上升时间(秒)</td> <td class="align_center">沉降时间(秒)</td> <td class="align_center">过度(%)</td> </tr> <tr> <td class="thead-hr" colspan="5"> <hr></td> </tr> <tr> <td class="align_left">滞后</td> <td class="align_center">30.</td> <td class="align_center">2.9120</td> <td class="align_center">5.2720</td> <td class="align_center">0</td> </tr> <tr> <td class="align_left">铅</td> <td class="align_center">500年</td> <td class="align_center">0.0573</td> <td class="align_center">0.2492</td> <td class="align_center">0</td> </tr> <tr> <td class="align_left">领先-落后</td> <td class="align_center">500年</td> <td class="align_center">0.0880</td> <td class="align_center">0.1980</td> <td class="align_center">0.7164</td> </tr> <tr> <td class="align_left">π</td> <td class="align_center">4.5×10<年代up>6</年代up></td> <td class="align_center">4.8822×10<年代up>−6</年代up></td> <td class="align_center">8.6935×10<年代up>−6</年代up></td> <td class="align_center">0</td> </tr> <tr> <td class="align_left">级联领先</td> <td class="align_center">500年</td> <td class="align_center">4.0862×10<年代up>−7</年代up></td> <td class="align_center">7.2779×10<年代up>−7</年代up></td> <td class="align_center">0</td> </tr> <tr class="table-tr"> <td colspan="5"> <hr class="tbody-hr"></td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表4</年代pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jhe/2017/3153252/tab4/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 控制器性能特征(比较分析)。</div> </div> </div> <h4 id="discussion">5。讨论</h4> <p>目标和维护该药物在人体内的浓度水平,由稀释商会表示,五种不同的控制方案设计和实现与每个人之间的仿真比较分析。比较仿真研究论述了针对每个控制器的有效性和维护异丙酚水平。</p> <p>药物浓度和动态使用稀释定容室,由于成功两个<我>现象</我>。这些是指数衰减的药物浓度稀释室和系统的稳态分析,解释彻底在步骤1和步骤2的开环分析,在部分<a href="#sec3">3</a>。开环的结果部分<a href="#sec4">4</a>也给一个具体的证据<我>现象。</我></p> <p>在我们的<我>基于仿真的研究</我>,结果显示使用稀释的比例积分控制器结合室展示一个快速响应时间和超调量和稳态误差可以忽略不计的百分比。然而,迈尔斯等所产生的结果,使用相同的PI控制器,显示出快速响应时间和超调高,稳态误差小,一些RMSE目标百分比。这些发现是由于反馈的实时分析和电化学传感器测量。比例积分控制器后,相位滞后、相位超前和phase-lead-lag控制器和控制器级联领先设计和优化使用根轨迹方法以满足预期的需求。每个控制器显示自己的优缺点的不同时间域规范如表所示<a href="//www.newsama.com/journals/jhe/2017/3153252/tab4/" target="_blank">4</a>。的增益<我>k</我>是相同的所有控制器,是吗<我>k</我>= 500除了PI控制器和相位滞后控制器。比例积分控制器,获得更高的<我>K<年代ub>P</年代ub></i>= 4.5×10<年代up>6</年代up>使用,使它更容易受到噪音,当用于实时分析。相位滞后控制器,获得的<我>k</我>使用= 30,这是必要的,以满足所需的稳定状态的要求。通过使用级联控制器,由于质心运动,增加系统的闭环极点进一步向左半平面在拉普拉斯域,提供更快速响应的要求。级联导致控制器超过所有其他控制技术,最重要的是获得较低的价值<我>k</我>= 500。通过使用这种技术,级联控制器增益较低铅值提供了相对更好的结果和响应时间比PI控制器具有更高的增益值,维护级联控制器最精湛的技术。</p> <p>闭环的比较分析结果与时域特征见表<a href="//www.newsama.com/journals/jhe/2017/3153252/tab4/" target="_blank">4</a>显然演示并验证一个级联的增强疗效铅闭环药物输注系统控制器。</p> <h4 id="conclusion">6。结论</h4> <p>目标和维持药物的浓度水平是不可或缺的在人体解剖学和保持核心重要性作为控制技术在生物医学工程中的应用。闭环药物输注系统,模拟5个不同的控制器使用MATLAB已经证明,这显示了异丙酚的令人鼓舞的结果。更快的和稳定的响应的药物输注系统,比较分析上述控制器已经完成和分析。仿真分析和结果后,级联控制器和PI控制器显示最好的结果与级联导致控制器显示相对更好的结果比其他所有的控制技术。自信的结果提供一个关键的平台来实现这个模型实时自动给药。这种典型的范例在生物医学领域术语会导致更快的响应感应控制和减少总静脉麻醉临床领域的工作负载。</p> <h4 id="conflicts-of-interest">的利益冲突</h4> <p>这个手稿的作者声明没有利益冲突有关的出版。</p> </div> <div class="xml-content"> <h4 class="references" id="references">引用</h4> <ol> <li id="B1">史密斯和p . f .白,“类型的静脉麻醉,”<我>全静脉麻醉</我>p。2224年,英国医学杂志》的出版集团,伦敦,英国,1998年。<年代pan class="reflinks">视图:<a href="https://scholar.google.com/scholar_lookup?title=Types%20of%20intravenous%20anaesthesia&author=I. Smith &author=P. F. White&publication_year=1998" target="_blank">谷歌学术搜索</a></span></li> <li id="B2">史密斯和p . f .白,“静脉麻醉交付和监测系统,”<我>全静脉麻醉</我>p。98127年,英国医学杂志》的出版集团,伦敦,英国,1998年。<年代pan class="reflinks">视图:<a href="https://scholar.google.com/scholar_lookup?title=Intravenous%20anaesthesia%20delivery%20and%20monitoring%20systems&author=I. Smith &author=P. F. White&publication_year=1998" target="_blank">谷歌学术搜索</a></span></li> <li id="B3">e . Krger-Thiemer”连续静脉输注,multicompartment积累。”<我>欧洲药理学杂志</我>,4卷,不。3、317 - 324年,1968页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1016/0014-2999(68)90100-3">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Continous%20intravenous%20infusion%20and%20multicompartment%20accumulation&author=E. Krger-Thiemer&publication_year=1968" target="_blank">谷歌学术搜索</a></span></li> <li id="B4">s . Syaie m . a . Rami和f . Tadeo“积极注入异丙酚在诱导药物,”<我>2010年IEEE国际工业工程与工程管理会议</我>澳门,页325 - 328年,中国,2010年12月7 - 10日。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/IEEM.2010.5674305">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Positive%20infusion%20of%20propofol%20drug%20during%20induction&author=S. Syaie&author=M. A. Rami&author=&author=F. Tadeo" target="_blank">谷歌学术搜索</a></span></li> <li id="B5">a . Simalatsar m . Guidi, t . Buclin“麻醉交付,级联PID控制器”<我>IEEE 2016年第38届国际会议在医学和生物工程协会(EMBC)</我>IEEE,页533 - 536年,美国佛罗里达州奥兰多市2016年8月16日。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/EMBC.2016.7590757">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Cascaded%20PID%20controller%20for%20anaesthesia%20delivery&author=A. Simalatsar&author=M. Guidi&author=&author=T. Buclin" target="_blank">谷歌学术搜索</a></span></li> <li id="B6">b·马什,m .白色:莫顿,g . n . Kenny”儿童丙泊酚的药代动力学模型驱动注入。”<我>英国麻醉学杂志</我>卷。67年,41-48,1991页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1093/bja/67.1.41">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Pharmacokinetic%20model%20driven%20infusion%20of%20propofol%20in%20children&author=B. Marsh&author=M. White&author=N. Morton&author=&author=G. N. Kenny&publication_year=1991" target="_blank">谷歌学术搜索</a></span></li> <li id="B7">t·w·施耐德,c . f . Minto p l . Gambus et al .,“协变量的影响的方法管理和药物动力学的异丙酚在成年志愿者,“<我>麻醉学</我>,卷88,不。5,1170 - 1182年,1998页。<年代pan class="reflinks">视图:<a href="https://scholar.google.com/scholar_lookup?title=The%20influence%20of%20method%20of%20administration%20and%20covariates%20on%20the%20pharmacokinetics%20of%20propofol%20in%20adult%20volunteers&author=T. W. Schnider&author=C. F. Minto&author=P. L. Gambus et al.&publication_year=1998" target="_blank">谷歌学术搜索</a></span></li> <li id="B8">h . y . Horng“领先-落后补偿器设计基于贪婪粒子群优化”<我>2013年国际研讨会上新一代电子产品(ISNE)</我>,页579 - 581,高雄,台湾,2013年2月25日至26日。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/ISNE.2013.6512428">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Lead-lag%20compensator%20design%20based%20on%20greedy%20particle%20swarm%20optimization&author=H. Y. Horng" target="_blank">谷歌学术搜索</a></span></li> <li id="B9">夏勒,j . Lippert, l . Schaupp t . Pieber a . Schuppert和t . eis,“强劲PBPK / PD-based模型预测控制血糖,”<我>IEEE生物医学工程</我>,卷63,不。7,1492 - 1504年,2016页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/TBME.2015.2497273">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Robust%20PBPK/PD-based%20model%20predictive%20control%20of%20blood%20glucose&author=S. Schaller&author=J. Lippert&author=L. Schaupp&author=T. Pieber&author=A. Schuppert&author=&author=T. Eissing&publication_year=2016" target="_blank">谷歌学术搜索</a></span></li> <li id="B10">即岩石:棕褐色,d·p·阿瑟顿”简单的过程改善pid控制器的性能,”<我>学报2003年IEEE会议控制应用程序,2003年2003年(CCA)</我>,卷2,页882 - 885,伊斯坦布尔,土耳其,25-25 2003年6月。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/CCA.2003.1223126">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Simple%20procedure%20for%20improving%20performance%20of%20pid%20controllers&author=I. Kaya&author=N. Tan&author=&author=D. P. Atherton" target="_blank">谷歌学术搜索</a></span></li> <li id="B11">k . h . y . Li Ang, g .庄”PID控制系统分析和设计,<我>电机控制系统</我>,26卷,不。1,32-41,2006页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/MCS.2006.1580152">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=PID%20control%20system%20analysis%20and%20design&author=Y. Li&author=K. H. Ang&author=&author=G. Chong&publication_year=2006" target="_blank">谷歌学术搜索</a></span></li> <li id="B12">a . s .霍黛尔和c e .大厅,“变结构PID控制以防止integrator终结,”<我>IEEE工业电子产品</我>,48卷,不。2、442 - 451年,2001页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/41.915424">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Variable-structure%20PID%20control%20to%20prevent%20integrator%20windup&author=A. S. Hodel &author=C. E. Hall&publication_year=2001" target="_blank">谷歌学术搜索</a></span></li> <li id="B13">r . j .曼缇是h·d·巴蒂斯塔,“评论变结构PID控制以防止积分器终结,“<我>IEEE工业电子产品</我>,51卷,不。3、736 - 738年,2004页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/TIE.2004.825205">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Comments%20on%20variable-structure%20PID%20control%20to%20prevent%20integrator%20windup&author=R. J. Mantz &author=H. D. Battista&publication_year=2004" target="_blank">谷歌学术搜索</a></span></li> <li id="B14">h . y . Horng“领先-落后补偿器设计基于遗传算法”<我>2012年会议技术和人工智能的应用(TAAI)</我>,页80 - 85,台南,台湾,2012年11月16日- 18日。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/TAAI.2012.66">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Lead-lag%20compensator%20design%20based%20on%20genetic%20algorithms&author=H. Y. Horng" target="_blank">谷歌学术搜索</a></span></li> <li id="B15">p·d·Rohitha s Senadheera, j·k·派普,“完全自动化的PID和铅工业用/滞后补偿器设计工具,”<我>学报2005年IEEE会议控制应用,2005 (CCA 2005)</我>IEEE,页1009 - 1014年,多伦多,安大略省,加拿大,2005年8月28-31。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/CCA.2005.1507262">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Fully%20automated%20PID%20and%20lead/lag%20compensator%20design%20tool%20for%20industrial%20use&author=P. D. Rohitha&author=S. Senadheera&author=&author=J. K. Pieper" target="_blank">谷歌学术搜索</a></span></li> <li id="B16">y陈”,取代PID控制器通过它的lat-lead补偿器频率特性的方法,”<我>IEEE机器人和自动化</我>,5卷,不。2、174 - 182年,1989页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/70.88038">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Replacing%20a%20PID%20controller%20by%20a%20lat-lead%20compensator%20for%20a%20robot-a%20frequency-response%20approach&author=Y. Chen&publication_year=1989" target="_blank">谷歌学术搜索</a></span></li> <li id="B17">r . Zanasi s Cuoghi,“设计领先-落后为鲁棒控制补偿器,”<我>2011年9日IEEE控制与自动化国际会议上(ICCA)</我>IEEE,页106 - 111年,圣地亚哥,智利,2011年12月19日—21日。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/ICCA.2011.6138021">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Design%20of%20lead-lag%20compensators%20for%20robust%20control&author=R. Zanasi &author=S. Cuoghi" target="_blank">谷歌学术搜索</a></span></li> <li id="B18">f . y . Wang和y黄”,non-trial和错误的相位超前和相位滞后补偿器设计的方法,”<我>IEEE自动控制</我>,22卷,2001年。<年代pan class="reflinks">视图:<a href="https://scholar.google.com/scholar_lookup?title=A%20non-trial%20and-error%20method%20for%20phase-lead%20and%20phase-lag%20compensator%20design&author=F. Y. Wang &author=Y. Huang&publication_year=2001" target="_blank">谷歌学术搜索</a></span></li> <li id="B19">n . Tan“计算延迟/铅控制器参数稳定。”<我>电脑和电子工程</我>,29卷,第849 - 835页,2003年。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1016/S0045-7906(03)00012-0">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Computation%20of%20stabilizing%20lag/lead%20controller%20parameters&author=N. Tan&publication_year=2003" target="_blank">谷歌学术搜索</a></span></li> <li id="B20">w . c . Messner m . d . Bedillion l .夏和d . c .圆锥形石垒,“铅和复杂滞后补偿器的极点和零点:设计公式的建模和循环形成,”<我>IEEE控制系统杂志</我>,27卷,不。1,44-54,2007页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/MCS.2007.284508">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Lead%20and%20lag%20compensators%20with%20complex%20poles%20and%20zeros:%20design%20formulas%20for%20modeling%20and%20loop%20shaping&author=W. C. Messner&author=M. D. Bedillion&author=L. Xia&author=&author=D. C. Karns&publication_year=2007" target="_blank">谷歌学术搜索</a></span></li> <li id="B21">s s·弗洛雷斯,a . m .山谷和b . a . Castillejos“几何设计的铅/ Hinf规范滞后补偿器会议”<我>2007 4日电气与电子工程国际会议</我>墨西哥城,墨西哥,2007年9月5 - 7,。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/ICEEE.2007.4345017">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Geometric%20design%20of%20lead/lag%20compensators%20meeting%20a%20Hinf%20specification&author=S. S. Flores&author=A. M. Valle&author=&author=B. A. Castillejos" target="_blank">谷歌学术搜索</a></span></li> <li id="B22">r . Zanasi s Cuoghi, l . Ntogramatzidis”分析和图形设计领先-落后补偿器,”<我>国际期刊的控制</我>卷,84年,第1846 - 1830页,2011年。<年代pan class="reflinks">视图:<a href="https://scholar.google.com/scholar_lookup?title=Analytical%20and%20graphical%20design%20of%20lead-lag%20compensators&author=R. Zanasi&author=S. Cuoghi&author=&author=L. Ntogramatzidis&publication_year=2011" target="_blank">谷歌学术搜索</a></span></li> <li id="B23">理事长绪方k .<我>现代控制工程</我>美国新泽西,新世纪,恩格尔伍德悬崖,第3版,1997年版。<年代pan class="reflinks"></span></li> <li id="B24">j·阿卜杜勒和n . Thanvy的加里奥(Jaleel)”之间的比较研究π,PD, PID控制器和领先-落后对于电力系统稳定器,”<我>2013年国际会议上电路、电力和计算技术(ICCPCT)</我>Nagercoil,页456 - 460年,印度,2013年3月20日至21日。<年代pan class="reflinks">视图:<a href="https://scholar.google.com/scholar_lookup?title=A%20comparative%20study%20between%20PI,%20PD,%20PID%20and%20lead-lag%20controller%20for%20power%20system%20stabilizer&author=J. Abdul Jaleel &author=N. Thanvy" target="_blank">谷歌学术搜索</a></span></li> <li id="B25">A . Dass和s . k . Jha”的比较研究铅、滞后、领先-落后和位置控制系统的鲁棒控制器,”<我>2014年国际会议上可靠性优化和信息技术(ICROIT)</我>法里达巴德,页520 - 523年,印度,2014年2月6 - 8。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/ICROIT.2014.6798378">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=A%20comparative%20study%20of%20lead,%20lag,%20lead-lag%20and%20robust%20controllers%20for%20a%20position%20control%20system&author=A. Dass &author=S. K. Jha" target="_blank">谷歌学术搜索</a></span></li> <li id="B26">g·w·埃文斯,“把根轨迹教室”,<我>电机控制系统</我>,24卷,6 - 81,2004页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/MCS.2004.1368483">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Bringing%20root%20locus%20to%20the%20classroom&author=G. W. Evans&publication_year=2004" target="_blank">谷歌学术搜索</a></span></li> <li id="B27">w·r·埃文斯“控制系统根轨迹合成的方法,”<我>美国电气工程师学会的事务</我>卷,69年,第69 - 66页,1950年。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/T-AIEE.1950.5060121">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Control%20system%20synthesis%20by%20root%20locus%20method&author=W. R. Evans&publication_year=1950" target="_blank">谷歌学术搜索</a></span></li> <li id="B28">t . b . Sekara和m . r . Rapai”与应用根轨迹方法的修订,”<我>《过程控制</我>卷,34岁的保险,2015页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1016/j.jprocont.2015.07.007">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=A%20revision%20of%20root%20locus%20method%20with%20applications&author=T. B. Sekara &author=M. R. Rapai&publication_year=2015" target="_blank">谷歌学术搜索</a></span></li> <li id="B29">r .他,:美国Sanyal, a . n . Sanyal“直升机稳定,补偿器设计”<我>Procedia技术</我>4卷,第81 - 74页,2012年。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1016/j.protcy.2012.05.009">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Compensator%20design%20for%20helicopter%20stabilization&author=R. Goswami&author=S. Sanyal&author=&author=A. N. Sanyal&publication_year=2012" target="_blank">谷歌学术搜索</a></span></li> <li id="B30">d . m . Sajnekar s . b . Deshpande, r . m . Moharil”有效的PID控制器优化方法选择用于无刷同步发电机的励磁系统,”<我>2016国际会议上计算的电力、能源信息和通信(ICCPEIC)</我>IEEE,页413 - 418年,钦奈,印度,2016年4月20日至21日。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/ICCPEIC.2016.7557266">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Efficient%20PID%20controller%20tuning%20method%20selection%20to%20be%20used%20in%20excitation%20system%20of%20brushless%20synchronous%20generator&author=D. M. Sajnekar&author=S. B. Deshpande&author=&author=R. M. Moharil" target="_blank">谷歌学术搜索</a></span></li> <li id="B31">c·p·谭、k . s .销量和l . j . n .琼斯,“回顾matlab SISOTOOL;特性和控制教育的贡献,”<我>IFAC诉讼卷</我>第41卷。。2、8473 - 8474年,2008页。<年代pan class="reflinks">视图:<a href="https://doi.org/10.3182/20080706-5-KR-1001.01432">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=A%20review%20of%20Matlabs%20SISOTOOL;%20features%20and%20contributions%20to%20control%20education&author=C. P. Tan&author=K. S. Teoh&author=&author=L. J. N. Jones&publication_year=2008" target="_blank">谷歌学术搜索</a></span></li> <li id="B32">f·m·h·迈尔斯y . Li Kivlehan, e·林德纳和e . Chaum“反馈控制方法有机药物输液使用电化学测试,”<我>IEEE生物医学工程</我>卷,63年,第511 - 506页,2016年。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/TBME.2015.2464771">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=A%20feedback%20control%20approach%20to%20organic%20drug%20infusions%20using%20electrochemical%20measurement&author=M. H. Myers&author=Y. Li&author=F. Kivlehan&author=E. Lindner&author=&author=E. Chaum&publication_year=2016" target="_blank">谷歌学术搜索</a></span></li> <li id="B33">b . c .郭<我>自动控制系统</我>新世纪国际,伦敦,英国,第九版,1962年版。<年代pan class="reflinks"></span></li> <li id="B34">m . c . m .特谢拉”理事长绪方直接表达的领先-落后使用根轨迹设计方法,”<我>IEEE教育</我>,37卷,不。1,第64 - 63页,1994。<年代pan class="reflinks">视图:<a href="https://doi.org/10.1109/13.275189">出版商的网站</a><span class="sep">|</年代pan><a href="https://scholar.google.com/scholar_lookup?title=Direct%20expressions%20for%20Ogata’s%20lead-lag%20design%20method%20using%20root%20locus&author=M. C. M. Teixeira&publication_year=1994" target="_blank">谷歌学术搜索</a></span></li> <li id="B35">g·f·富兰克林,<我>动态系统的反馈控制</我>,addison - wesley朗文出版有限公司,波士顿,MA,美国,第二版,1993年版。<年代pan class="reflinks"></span></li> <li id="B36">n . s .伪<我>控制系统工程</我>约翰•威利父子公司,纽约,2011年。<年代pan class="reflinks"></span></li> </ol> </div> <div class="xml-content"> <h4 class="copyright" id="copyright">版权</h4> <p>版权©2017 Zuwwar汗贾东et al。这是一个开放的分布式下文章<a rel="license" href="http://creativecommons.org/licenses/by/4.0/">知识共享归属许可</a>,它允许无限制的使用、分配和复制在任何媒介,提供最初的工作是正确引用。</p> </div> </div> </article> </div> </div> </div> <div class="biblio__Wrapper-sc-1nou1lz-0 eyHfWh journal_article__BiblioIntegratorWidget-sc-12fk6zy-5 dbAANp article_widget biblioWrapper hide"> <hr> <h4 class="biblio__H4-sc-1nou1lz-2 becpDt hrTitleRef">更多相关文章</h4> <div id="biblio_widget" class="biblio__BiblioWrapper-sc-1nou1lz-1 coBIiF"></div> </div> </div> </div> <div class="threeColumn__RightWrapper-sc-1bf4078-2 jzTMLK rightWrapper" id="rightSectionMenu"> <div> <div class="journal_article__ArticleStickyTopToolbar-sc-12fk6zy-0 gbrQxi article_sticky_top_toolbar"> <div class="sc-cBdUnI hRnXob article_top_toolbar"> <a class="sc-htpNat bUhGXt link sc-jtRfpW dIjoCg sc-exkUMo hymroZ pdf_desktop button__group" href="//www.newsama.com/downloads/journals/jhe/2017/3153252.pdf" aria-label="" target="_blank" id="toolbar__dcNavSmall"><span><img alt="" class="sc-EHOje jOLhQl sc-kTUwUJ eujois" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/node_modules/hindawi-ui/src/icon/svg/pdf.svg" height="24"><span class="text">PDF</年代pan></span><span class="sc-htoDjs bqeMOy sc-dqBHgY cQgXqt fileArrow icon-colored _3P4iUn1NDM5G77nWCamJ4l icon-themeable" title="" font-size="20"></span></a> <a class="sc-htpNat bUhGXt link sc-jtRfpW dIjoCg sc-kcDeIU cbcyj ref_desktop" href="//www.newsama.com/journals/jhe/2017/3153252.ris" aria-label="" target="" id="toolbar__dcNavLarge"><span><img alt="" class="sc-EHOje jOLhQl sc-kTUwUJ eujois" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAxOCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTUsMTdhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJabTAtNGExLDEsMCwxLDEsMC0yaDhhMSwxLDAsMSwxLDAsMlpNNSw5QTEsMSwwLDEsMSw1LDdIN0ExLDEsMCwwLDEsNyw5WiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyAxKSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC0xKSI+PHBhdGggZD0iTTMsMjJhMywzLDAsMCwxLTMtM1YzQTMsMywwLDAsMSwzLDBoOGEuOTkxLjk5MSwwLDAsMSwuNTczLjE4MWwwLDAsLjAwOC4wMDZhLjk1NS45NTUsMCwwLDEsLjEyMi4xbDYsNmExLjAyNSwxLjAyNSwwLDAsMSwuMS4xMjJsLjAwNi4wMSwwLDBBMSwxLDAsMCwxLDE4LDYuOTc1VjE5YTMsMywwLDAsMS0zLDNaTTIsM1YxOWExLDEsMCwwLDAsMSwxSDE1YTEsMSwwLDAsMCwxLTFWOEgxMWExLDEsMCwwLDEtMS0xVjJIM0ExLDEsMCwwLDAsMiwzWk0xMiw2aDIuNTg3TDEyLDMuNDE0Wk01LDE3YTEsMSwwLDEsMSwwLTJoOGExLDEsMCwxLDEsMCwyWm0wLTRhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJaTTUsOUExLDEsMCwxLDEsNSw3SDdBMSwxLDAsMCwxLDcsOVoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgMSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIvPjwvZz48L2c+PC9zdmc+" height="24"><span class="text">下载引用</年代pan></span><span class="sc-htoDjs bqeMOy sc-dqBHgY cQgXqt fileArrow icon-colored _3P4iUn1NDM5G77nWCamJ4l icon-themeable" title="" font-size="20"></span></a> <a class="sc-htpNat bUhGXt link sc-jtRfpW dIjoCg sc-BngTV hmDWcT ref_desktop" href="//www.newsama.com/journals/jhe/2017/3153252.ris" aria-label="" target="" id="toolbar__dcNavSmall"><span><img alt="" class="sc-EHOje jOLhQl sc-kTUwUJ eujois" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAxOCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTUsMTdhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJabTAtNGExLDEsMCwxLDEsMC0yaDhhMSwxLDAsMSwxLDAsMlpNNSw5QTEsMSwwLDEsMSw1LDdIN0ExLDEsMCwwLDEsNyw5WiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyAxKSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC0xKSI+PHBhdGggZD0iTTMsMjJhMywzLDAsMCwxLTMtM1YzQTMsMywwLDAsMSwzLDBoOGEuOTkxLjk5MSwwLDAsMSwuNTczLjE4MWwwLDAsLjAwOC4wMDZhLjk1NS45NTUsMCwwLDEsLjEyMi4xbDYsNmExLjAyNSwxLjAyNSwwLDAsMSwuMS4xMjJsLjAwNi4wMSwwLDBBMSwxLDAsMCwxLDE4LDYuOTc1VjE5YTMsMywwLDAsMS0zLDNaTTIsM1YxOWExLDEsMCwwLDAsMSwxSDE1YTEsMSwwLDAsMCwxLTFWOEgxMWExLDEsMCwwLDEtMS0xVjJIM0ExLDEsMCwwLDAsMiwzWk0xMiw2aDIuNTg3TDEyLDMuNDE0Wk01LDE3YTEsMSwwLDEsMSwwLTJoOGExLDEsMCwxLDEsMCwyWm0wLTRhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJaTTUsOUExLDEsMCwxLDEsNSw3SDdBMSwxLDAsMCwxLDcsOVoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgMSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIvPjwvZz48L2c+PC9zdmc+" height="24"><span class="text">引用</年代pan></span><span class="sc-htoDjs bqeMOy sc-dqBHgY cQgXqt fileArrow icon-colored _3P4iUn1NDM5G77nWCamJ4l icon-themeable" title="" font-size="20"></span></a> </div> </div> <div class="journal_article__ArticleStickyBottomToolbar-sc-12fk6zy-1 isgRZA article_sticky_bottom_toolbar"> <div class="sc-cTjmhe ihmyEq article_bottom_toolbar"> <div class="sc-cugefK itFKcQ accordion" property="background-color" color="#D8D8D8" id="toolbar__dofNav"> <span><img alt="" class="sc-EHOje jOLhQl sc-bfYoXt cGuwDn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjAiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAyMCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjE2YTEsMSwwLDAsMSwyLDB2M2ExLDEsMCwwLDAsMSwxSDE3YTEsMSwwLDAsMCwxLTFWMTZhMSwxLDAsMSwxLDIsMHYzYTMsMywwLDAsMS0zLDNabTYuMjg4LTYuMy00LTRhMSwxLDAsMCwxLDEuNDE0LTEuNDE0TDksMTIuNTg2VjFhMSwxLDAsMCwxLDIsMFYxMi41ODZsMi4yOTMtMi4yOTNhMSwxLDAsMCwxLDEuNDE0LDEuNDE0bC00LDRhMSwxLDAsMCwxLTEuNDIzLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDEpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTIgLTEpIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjE2YTEsMSwwLDAsMSwyLDB2M2ExLDEsMCwwLDAsMSwxSDE3YTEsMSwwLDAsMCwxLTFWMTZhMSwxLDAsMSwxLDIsMHYzYTMsMywwLDAsMS0zLDNabTYuMjg4LTYuMy00LTRhMSwxLDAsMCwxLDEuNDE0LTEuNDE0TDksMTIuNTg2VjFhMSwxLDAsMCwxLDIsMFYxMi41ODZsMi4yOTMtMi4yOTNhMSwxLDAsMCwxLDEuNDE0LDEuNDE0bC00LDRhMSwxLDAsMCwxLTEuNDIzLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDEpIi8+PGcgY2xpcC1wYXRoPSJ1cmwoI2EpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiLz48L2c+PC9nPjwvc3ZnPg==" height="24"><span class="sc-dRFtgE jrsDZP">下载其他格式</年代pan><span class="sc-gkFcWv gWTCXQ">更多的</年代pan></span> <span class="sc-htoDjs bMdQcY sc-gbOuXE jGPvPL icon-colored _1CwL9R82TPl2HxDleeYGDR icon-themeable" title="" font-size="11"></span> </div> <div class="sc-fnwBNb etzuBr"> <a class="sc-htpNat bUhGXt link sc-iNhVCk gWgCNb open_panel" href="//www.newsama.com/downloads/journals/jhe/2017/3153252.epub" aria-label="ePub" property="background-color" color="#D8D8D8"> <div class="sc-eAKXzc WHkfb"> ePub</div><img alt="" class="sc-EHOje jOLhQl sc-bfYoXt cGuwDn" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"></a> <a class="sc-htpNat bUhGXt link sc-iNhVCk gWgCNb open_panel" href="//www.newsama.com/downloads/journals/jhe/2017/3153252.xml" aria-label="XML" property="background-color" color="#D8D8D8"> <div class="sc-eAKXzc WHkfb"> XML</div><img alt="" class="sc-EHOje jOLhQl sc-bfYoXt cGuwDn" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"></a> </div> <a class="sc-htpNat bUhGXt link sc-imABML ibWUzs" href="//www.newsama.com/reprints/3153252/confirm" aria-label="Order Printed Copies" target="_blank" property="background-color" color="#D8D8D8" id="toolbar__opcNav"><span><img alt="" class="sc-EHOje jOLhQl sc-bfYoXt cGuwDn" title="" role="presentation" src="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB3aWR0aD0iMTZweCIgaGVpZ2h0PSIyMnB4IiB2aWV3Qm94PSIwIDAgMTYgMjIiIHZlcnNpb249IjEuMSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIiB4bWxuczp4bGluaz0iaHR0cDovL3d3dy53My5vcmcvMTk5OS94bGluayI+CiAgICA8IS0tIEdlbmVyYXRvcjogU2tldGNoIDU0LjEgKDc2NDkwKSAtIGh0dHBzOi8vc2tldGNoYXBwLmNvbSAtLT4KICAgIDx0aXRsZT5hbGlnbi1sZWZ0PC90aXRsZT4KICAgIDxkZXNjPkNyZWF0ZWQgd2l0aCBTa2V0Y2guPC9kZXNjPgogICAgPGRlZnM+CiAgICAgICAgPHBhdGggZD0iTTE1LjgzMzMzMzMsMTYgTDE1LjgzMzMzMzMsMyBMNS40MTY2NjY2NywzIEM0LjcyNjMxMDczLDMgNC4xNjY2NjY2NywzLjY3MTU3Mjg4IDQuMTY2NjY2NjcsNC41IEw0LjE2NjY2NjY3LDE2LjMzNjgxNTYgQzQuNTQ1NTIzMDgsMTYuMTIwODQ1NSA0Ljk2OTMzNDQ2LDE2IDUuNDE2NjY2NjcsMTYgTDE1LjgzMzMzMzMsMTYgWiBNMTUuODMzMzMzMywxOCBMNS40MTY2NjY2NywxOCBDNC43MjYzMTA3MywxOCA0LjE2NjY2NjY3LDE4LjY3MTU3MjkgNC4xNjY2NjY2NywxOS41IEM0LjE2NjY2NjY3LDIwLjMyODQyNzEgNC43MjYzMTA3MywyMSA1LjQxNjY2NjY3LDIxIEwxNS44MzMzMzMzLDIxIEwxNS44MzMzMzMzLDE4IFogTTUuNDE2NjY2NjcsMSBMMTYuNjY2NjY2NywxIEMxNy4xMjY5MDQsMSAxNy41LDEuNDQ3NzE1MjUgMTcuNSwyIEwxNy41LDIyIEMxNy41LDIyLjU1MjI4NDcgMTcuMTI2OTA0LDIzIDE2LjY2NjY2NjcsMjMgTDUuNDE2NjY2NjcsMjMgQzMuODA1ODM2MTUsMjMgMi41LDIxLjQzMjk5NjYgMi41LDE5LjUgTDIuNSw0LjUgQzIuNSwyLjU2NzAwMzM4IDMuODA1ODM2MTUsMSA1LjQxNjY2NjY3LDEgWiIgaWQ9InBhdGgtMSI+PC9wYXRoPgogICAgPC9kZWZzPgogICAgPGcgaWQ9IlN5bWJvbHMiIHN0cm9rZT0ibm9uZSIgc3Ryb2tlLXdpZHRoPSIxIiBmaWxsPSJub25lIiBmaWxsLXJ1bGU9ImV2ZW5vZGQiPgogICAgICAgIDxnIGlkPSJTaWRlYmFycy9EZXNrdG9wL0FydGljbGUtU2lkZWJhciIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTI0LjAwMDAwMCwgLTI2Mi4wMDAwMDApIj4KICAgICAgICAgICAgPGcgaWQ9Ik9yZGVyLXByaW50ZWQtY29waWVzIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgtMS4wMDAwMDAsIDI0MC4wMDAwMDApIj4KICAgICAgICAgICAgICAgIDxnIGlkPSJUeXBlLWFuZC1pY29ucyIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMjEuMDAwMDAwLCAyMS4wMDAwMDApIj4KICAgICAgICAgICAgICAgICAgICA8ZyBpZD0iSWNvbnMvUHJpbnRlZC1Db3BpZXMiPgogICAgICAgICAgICAgICAgICAgICAgICA8ZyBpZD0iYm9vayIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMi4wMDAwMDAsIDAuMDAwMDAwKSI+CiAgICAgICAgICAgICAgICAgICAgICAgICAgICA8bWFzayBpZD0ibWFzay0yIiBmaWxsPSJ3aGl0ZSI+CiAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgPHVzZSB4bGluazpocmVmPSIjcGF0aC0xIj48L3VzZT4KICAgICAgICAgICAgICAgICAgICAgICAgICAgIDwvbWFzaz4KICAgICAgICAgICAgICAgICAgICAgICAgICAgIDx1c2UgaWQ9IkNvbWJpbmVkLVNoYXBlIiBmaWxsPSIjMDAwMDAwIiBmaWxsLXJ1bGU9Im5vbnplcm8iIHhsaW5rOmhyZWY9IiNwYXRoLTEiPjwvdXNlPgogICAgICAgICAgICAgICAgICAgICAgICAgICAgPGcgaWQ9IkNPTE9SLy1ibGFjayIgbWFzaz0idXJsKCNtYXNrLTIpIiBmaWxsPSIjMDAwMDAwIiBmaWxsLXJ1bGU9ImV2ZW5vZGQiPgogICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgIDxyZWN0IGlkPSJSZWN0YW5nbGUiIHg9IjAiIHk9IjAiIHdpZHRoPSIyMCIgaGVpZ2h0PSIyNCI+PC9yZWN0PgogICAgICAgICAgICAgICAgICAgICAgICAgICAgPC9nPgogICAgICAgICAgICAgICAgICAgICAgICA8L2c+CiAgICAgICAgICAgICAgICAgICAgPC9nPgogICAgICAgICAgICAgICAgPC9nPgogICAgICAgICAgICA8L2c+CiAgICAgICAgPC9nPgogICAgPC9nPgo8L3N2Zz4=" height="24"><span class="sc-dRFtgE jrsDZP">订单打印副本</年代pan><span class="sc-gkFcWv gWTCXQ">订单</年代pan></span><span class="sc-htoDjs kNoiZu sc-gbOuXE jGPvPL right__icon icon-colored _32KP5uexH-Bgs7Kj8Gk1Tz icon-themeable" title="" font-size="16"></span></a> <div class="sc-hBbWxd kdRRST"> <div class="sc-dyGzUR cHatnS"> <div> 的观点<年代pan>40400年</年代pan> </div> <div> 下载<年代pan>2994年</年代pan> </div> </div> <div> <div class="sc-drKuOJ kxdGAZ"> <span class="__dimensions_badge_embed__" data-doi="10.1155/2017/3153252" data-style="small_circle"></span>引用</div> </div> </div> <nav class="sc-bRBYWo fXBKFa sc-hUfwpO jHPgUP" id="toolbar__iconNav"> <h3 class="sc-Rmtcm hNPrIr">分享文章</h3> <ul class="sc-hzDkRC bnbfTS"> <li class="iconBorder"><a class="sc-htpNat bUhGXt link" href="https://twitter.com/share?url=https://doi.org/10.1155/2017/3153252&via=Hindawi" aria-label="Sharing on Twitter" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje jOLhQl socialTwitter" title="" role="presentation" src="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB3aWR0aD0iMzFweCIgaGVpZ2h0PSIzMXB4IiB2aWV3Qm94PSIwIDAgMzEgMzEiIHZlcnNpb249IjEuMSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIiB4bWxuczp4bGluaz0iaHR0cDovL3d3dy53My5vcmcvMTk5OS94bGluayI+CiAgICA8IS0tIEdlbmVyYXRvcjogU2tldGNoIDU3LjEgKDgzMDg4KSAtIGh0dHBzOi8vc2tldGNoLmNvbSAtLT4KICAgIDx0aXRsZT5Ud2l0dGVyX1NvY2lhbF9JY29uX0NpcmNsZV9Db2xvcjwvdGl0bGU+CiAgICA8ZGVzYz5DcmVhdGVkIHdpdGggU2tldGNoLjwvZGVzYz4KICAgIDxnIGlkPSJQYWdlLTEiIHN0cm9rZT0ibm9uZSIgc3Ryb2tlLXdpZHRoPSIxIiBmaWxsPSJub25lIiBmaWxsLXJ1bGU9ImV2ZW5vZGQiPgogICAgICAgIDxnIGlkPSJUd2l0dGVyX1NvY2lhbF9JY29uX0NpcmNsZV9Db2xvciIgZmlsbC1ydWxlPSJub256ZXJvIj4KICAgICAgICAgICAgPGcgaWQ9IkRhcmtfQmx1ZSIgZmlsbD0iIzFEQTFGMiI+CiAgICAgICAgICAgICAgICA8Y2lyY2xlIGlkPSJPdmFsIiBjeD0iMTUuNSIgY3k9IjE1LjUiIHI9IjE1LjUiPjwvY2lyY2xlPgogICAgICAgICAgICA8L2c+CiAgICAgICAgICAgIDxnIGlkPSJMb2dvX194MjAxNF9fRklYRUQiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDcuMDAwMDAwLCA5LjAwMDAwMCkiIGZpbGw9IiNGRkZGRkYiPgogICAgICAgICAgICAgICAgPHBhdGggZD0iTTUuNjc0NTc2MjcsMTQuOTYwOTM3NSBDMTIuNDM5ODMwNSwxNC45NjA5Mzc1IDE2LjEzODk4MzEsOS4yMTg3NSAxNi4xMzg5ODMxLDQuMjQyMTg3NSBDMTYuMTM4OTgzMSw0LjA3ODEyNSAxNi4xMzg5ODMxLDMuOTE0MDYyNSAxNi4xMzEzNTU5LDMuNzU3ODEyNSBDMTYuODQ4MzA1MSwzLjIyNjU2MjUgMTcuNDczNzI4OCwyLjU2MjUgMTcuOTY5NDkxNSwxLjgwNDY4NzUgQzE3LjMxMzU1OTMsMi4xMDE1NjI1IDE2LjYwNDIzNzMsMi4zMDQ2ODc1IDE1Ljg1Njc3OTcsMi4zOTg0Mzc1IEMxNi42MTk0OTE1LDEuOTI5Njg3NSAxNy4xOTkxNTI1LDEuMTk1MzEyNSAxNy40NzM3Mjg4LDAuMzEyNSBDMTYuNzY0NDA2OCwwLjc0MjE4NzUgMTUuOTc4ODEzNiwxLjA1NDY4NzUgMTUuMTM5ODMwNSwxLjIyNjU2MjUgQzE0LjQ2ODY0NDEsMC40OTIxODc1IDEzLjUxNTI1NDIsMC4wMzkwNjI1IDEyLjQ1NTA4NDcsMC4wMzkwNjI1IEMxMC40MjYyNzEyLDAuMDM5MDYyNSA4Ljc3ODgxMzU2LDEuNzI2NTYyNSA4Ljc3ODgxMzU2LDMuODA0Njg3NSBDOC43Nzg4MTM1Niw0LjEwMTU2MjUgOC44MDkzMjIwMyw0LjM5MDYyNSA4Ljg3Nzk2NjEsNC42NjQwNjI1IEM1LjgxOTQ5MTUzLDQuNTA3ODEyNSAzLjExMTg2NDQxLDMuMDA3ODEyNSAxLjI5NjYxMDE3LDAuNzI2NTYyNSBDMC45ODM4OTgzMDUsMS4yODEyNSAwLjgwMDg0NzQ1OCwxLjkyOTY4NzUgMC44MDA4NDc0NTgsMi42MTcxODc1IEMwLjgwMDg0NzQ1OCwzLjkyMTg3NSAxLjQ0OTE1MjU0LDUuMDc4MTI1IDIuNDQwNjc3OTcsNS43NSBDMS44MzgxMzU1OSw1LjczNDM3NSAxLjI3MzcyODgxLDUuNTYyNSAwLjc3Nzk2NjEwMiw1LjI4MTI1IEMwLjc3Nzk2NjEwMiw1LjI5Njg3NSAwLjc3Nzk2NjEwMiw1LjMxMjUgMC43Nzc5NjYxMDIsNS4zMjgxMjUgQzAuNzc3OTY2MTAyLDcuMTU2MjUgMi4wNDQwNjc4LDguNjcxODc1IDMuNzI5NjYxMDIsOS4wMjM0Mzc1IEMzLjQyNDU3NjI3LDkuMTA5Mzc1IDMuMDk2NjEwMTcsOS4xNTYyNSAyLjc2MTAxNjk1LDkuMTU2MjUgQzIuNTI0NTc2MjcsOS4xNTYyNSAyLjI5NTc2MjcxLDkuMTMyODEyNSAyLjA2Njk0OTE1LDkuMDg1OTM3NSBDMi41MzIyMDMzOSwxMC41ODU5Mzc1IDMuODg5ODMwNTEsMTEuNjcxODc1IDUuNDk5MTUyNTQsMTEuNzAzMTI1IEM0LjI0MDY3Nzk3LDEyLjcxMDkzNzUgMi42NTQyMzcyOSwxMy4zMTI1IDAuOTMwNTA4NDc1LDEzLjMxMjUgQzAuNjMzMDUwODQ3LDEzLjMxMjUgMC4zNDMyMjAzMzksMTMuMjk2ODc1IDAuMDUzMzg5ODMwNSwxMy4yNTc4MTI1IEMxLjY2MjcxMTg2LDE0LjMzNTkzNzUgMy42LDE0Ljk2MDkzNzUgNS42NzQ1NzYyNywxNC45NjA5Mzc1IiBpZD0iUGF0aCI+PC9wYXRoPgogICAgICAgICAgICA8L2c+CiAgICAgICAgPC9nPgogICAgPC9nPgo8L3N2Zz4=" height="24"></a></li> <li class="iconBorder"><a class="sc-htpNat bUhGXt link" href="https://www.linkedin.com/shareArticle/?url=https://doi.org/10.1155/2017/3153252" aria-label="Sharing on Linkedin" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje jOLhQl socialLinkedin" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/node_modules/hindawi-ui/src/icon/svg/socialLinkedin.svg" height="24"></a></li> <li class="iconBorder"><a class="sc-htpNat bUhGXt link" href="https://www.facebook.com/sharer/sharer.php?u=https://doi.org/10.1155/2017/3153252" aria-label="Sharing on Facebook" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje jOLhQl socialFacebook" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/H8nbD5C9-F-wQIXNukUKY/_next/static/node_modules/hindawi-ui/src/icon/svg/socialFacebook-HINDAWI.svg" height="24"></a></li> <li class="iconBorder"> <div class="wechat-container"> <img alt="" class="sc-EHOje jOLhQl socialWechat" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"> <div class="addthis_inline_share_toolbox"></div> </div></li> <li><a class="sc-htpNat bUhGXt link" href="mailto:?subject=A Comparative Analysis of PID, Lead, Lag, Lead-Lag, and Cascaded Lead Controllers for a Drug Infusion System&body=https://doi.org/10.1155/2017/3153252" aria-label="Sharing on Mail" target="_blank"><img alt="" class="sc-EHOje jOLhQl socialMail" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjIuOTE3IiBoZWlnaHQ9IjE4IiB2aWV3Qm94PSIwIDAgMjIuOTE3IDE4Ij48ZGVmcz48Y2xpcFBhdGggaWQ9ImEiPjxwYXRoIGQ9Ik0zLjEyNSwxOEEzLjA2NywzLjA2NywwLDAsMSwwLDE1VjMuMDFDMCwzLDAsMi45OSwwLDIuOThBMy4wNjgsMy4wNjgsMCwwLDEsMy4xMjUsMEgxOS43OTJhMy4wNjgsMy4wNjgsMCwwLDEsMy4xMjYsM1YxNWEzLjA2OCwzLjA2OCwwLDAsMS0zLjEyNiwzWk0yLjA4MywxNWExLjAyMiwxLjAyMiwwLDAsMCwxLjA0MiwxSDE5Ljc5MmExLjAyMiwxLjAyMiwwLDAsMCwxLjA0Mi0xVjQuOTIxbC04Ljc3OCw1LjlhMS4wNzYsMS4wNzYsMCwwLDEtMS4xOTQsMGwtOC43NzgtNS45Wk0xMS40NTgsOC43OGw5LjI2NS02LjIyNkExLjA0NywxLjA0NywwLDAsMCwxOS43OTIsMkgzLjEyNWExLjA0NywxLjA0NywwLDAsMC0uOTMyLjU1M1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDApIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMCkiIGNsaXAtcGF0aD0idXJsKCNhKSI+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTEuMDQyIC0zKSI+PHJlY3Qgd2lkdGg9IjI1IiBoZWlnaHQ9IjI0IiBmaWxsPSJyZ2JhKDAsMCwwLDApIi8+PHJlY3Qgd2lkdGg9IjI0IiBoZWlnaHQ9IjI0IiBmaWxsPSIjNmJhNDM5Ii8+PC9nPjwvZz48L3N2Zz4=" height="24"></a></li> </ul> </nav> </div> </div> <div class="biblio__Wrapper-sc-1nou1lz-0 cBTaXT journal_article__BiblioIntegratorSidebar-sc-12fk6zy-4 cYsVdk biblioWrapperRight biblioWrapper hide"> <hr> <h4 class="biblio__H4-sc-1nou1lz-2 becpDt hrTitleRef">相关文章</h4> <div id="biblio_sidebar" class="biblio__BiblioWrapper-sc-1nou1lz-1 coBIiF"></div> </div> </div> </div> </div> </div> </main> <footer class="sc-jKJlTe inBNwS"> <section class="sc-eNQAEJ dkutRV"> <div class="sc-bZQynM bNmdOy E_HUmlU2Hj3PpkDmWzKPd primary__footer footer__bodypadding"> <div class="sc-hMqMXs hlGpbO mobile"> 遵循我们:<nav role="navigation" class="sc-kkGfuU filPdg"> <a class="sc-htpNat bUhGXt link sc-kEYyzF ecHxGW" href="https://twitter.com/hindawi" aria-label="Twitter" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje TsaZF" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSI0MCIgaGVpZ2h0PSI0MCIgdmlld0JveD0iMCAwIDQwIDQwIiBmaWxsPSJub25lIj48cGF0aCBmaWxsLXJ1bGU9ImV2ZW5vZGQiIGNsaXAtcnVsZT0iZXZlbm9kZCIgZD0iTTAgMjBDMCA4Ljk1NTk5IDguOTU1OTkgMCAyMCAwQzMxLjA0NCAwIDQwIDguOTU1OTkgNDAgMjBDNDAgMzEuMDQ0IDMxLjA0NCA0MCAyMCA0MEM4Ljk1NTk5IDQwIDAgMzEuMDQ0IDAgMjBaTTI5LjE0NDkgMTYuMTg3MUMyOS4xNDQ5IDE1Ljk4ODUgMjkuMTQwNiAxNS43OTA3IDI5LjEzMTggMTUuNTkzOUMzMC4wMjgxIDE0Ljk0NiAzMC44MDcyIDE0LjEzNzMgMzEuNDIxNSAxMy4yMTY2QzMwLjU5OTEgMTMuNTgyMiAyOS43MTQxIDEzLjgyODQgMjguNzg1NCAxMy45Mzk1QzI5LjczMzMgMTMuMzcxIDMwLjQ2MDggMTIuNDcxOSAzMC44MDQxIDExLjQwMDVDMjkuOTE3IDExLjkyNjMgMjguOTM0OSAxMi4zMDgzIDI3Ljg4OTEgMTIuNTE0NkMyNy4wNTE0IDExLjYyMjMgMjUuODU4OCAxMS4wNjQxIDI0LjUzODMgMTEuMDY0MUMyMi4wMDMyIDExLjA2NDEgMTkuOTQ3MiAxMy4xMjAxIDE5Ljk0NzIgMTUuNjU0M0MxOS45NDcyIDE2LjAxNDQgMTkuOTg3OCAxNi4zNjQ3IDIwLjA2NjUgMTYuNzAxQzE2LjI1MTIgMTYuNTA5MSAxMi44NjggMTQuNjgyMyAxMC42MDQyIDExLjkwNDZDMTAuMjEgMTIuNTgzIDkuOTgyNiAxMy4zNzEgOS45ODI2IDE0LjIxMkM5Ljk4MjYgMTUuODA0NyAxMC43OTI4IDE3LjIxMDcgMTIuMDI1NSAxOC4wMzMxQzExLjI3MjMgMTguMDA5OSAxMC41NjQ5IDE3LjgwMyA5Ljk0NjI5IDE3LjQ1OTFDOS45NDU2OCAxNy40NzgzIDkuOTQ1NjggMTcuNDk2OSA5Ljk0NTY4IDE3LjUxNzdDOS45NDU2OCAxOS43NDA2IDExLjUyOCAyMS41OTcgMTMuNjI4NSAyMi4wMTc1QzEzLjI0MjggMjIuMTIyOCAxMi44MzY5IDIyLjE3OTMgMTIuNDE3OSAyMi4xNzkzQzEyLjEyMjggMjIuMTc5MyAxMS44MzUgMjIuMTUgMTEuNTU1MiAyMi4wOTYzQzEyLjEzOTkgMjMuOTIwMyAxMy44MzQyIDI1LjI0NzUgMTUuODQzOCAyNS4yODQ3QzE0LjI3MjUgMjYuNTE2MSAxMi4yOTMxIDI3LjI0OTggMTAuMTQyMiAyNy4yNDk4QzkuNzcyMDMgMjcuMjQ5OCA5LjQwNjQzIDI3LjIyODcgOS4wNDcyNCAyNy4xODYzQzExLjA3ODggMjguNDg4NSAxMy40OTEyIDI5LjI0ODQgMTYuMDgzNyAyOS4yNDg0QzI0LjUyNzYgMjkuMjQ4IDI5LjE0NDkgMjIuMjUzMSAyOS4xNDQ5IDE2LjE4NzFaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PC9zdmc+" height="40"></a> <a class="sc-htpNat bUhGXt link sc-kEYyzF ecHxGW" href="https://www.linkedin.com/company/hindawilimited/" aria-label="LinkedIn" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje TsaZF" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iNDAiIGhlaWdodD0iNDAiIHZpZXdCb3g9IjAgMCA0MCA0MCIgZmlsbD0ibm9uZSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj48cGF0aCBmaWxsLXJ1bGU9ImV2ZW5vZGQiIGNsaXAtcnVsZT0iZXZlbm9kZCIgZD0iTTAgMjBDMCA4Ljk1NTk5IDguOTU1OTkgMCAyMCAwQzMxLjA0NCAwIDQwIDguOTU1OTkgNDAgMjBDNDAgMzEuMDQ0IDMxLjA0NCA0MCAyMCA0MEM4Ljk1NTk5IDQwIDAgMzEuMDQ0IDAgMjBaTTkuMzE3MzIgMzAuMjM0NEgxNC4xODgyVjE1LjU4MDFIOS4zMTczMlYzMC4yMzQ0Wk0xMS43NTI5IDEzLjU3OTFIMTEuNzIxMkMxMC4wODY3IDEzLjU3OTEgOS4wMjk1NCAxMi40NTM5IDkuMDI5NTQgMTEuMDQ3N0M5LjAyOTU0IDkuNjA5NjggMTAuMTE5IDguNTE1NjIgMTEuNzg1MyA4LjUxNTYyQzEzLjQ1MTUgOC41MTU2MiAxNC40NzY5IDkuNjA5NjggMTQuNTA4NyAxMS4wNDc3QzE0LjUwODcgMTIuNDUzOSAxMy40NTE1IDEzLjU3OTEgMTEuNzUyOSAxMy41NzkxWk0yNi44ODE0IDMwLjIzNDRIMzEuNzUxN1YyMS44MzE3QzMxLjc1MTcgMTcuMzMwNiAyOS4zNDg4IDE1LjIzNjIgMjYuMTQ0MSAxNS4yMzYyQzIzLjU1OTkgMTUuMjM2MiAyMi40MDE3IDE2LjY1NjUgMjEuNzU0NSAxNy42NTVWMTUuNTgwMUgxNi44ODM5QzE2Ljk0NzYgMTYuOTU1IDE2Ljg4MzkgMzAuMjM0NCAxNi44ODM5IDMwLjIzNDRIMjEuNzU0NVYyMi4wNTA4QzIxLjc1NDUgMjEuNjEyOSAyMS43ODU5IDIxLjE3NTIgMjEuOTE0NyAyMC44NjIxQzIyLjI2NjggMTkuOTg3MiAyMy4wNjgyIDE5LjA4MDggMjQuNDEzOCAxOS4wODA4QzI2LjE3NjEgMTkuMDgwOCAyNi44ODE0IDIwLjQyNDUgMjYuODgxNCAyMi4zOTQ3VjMwLjIzNDRaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PC9zdmc+" height="40"></a> <a class="sc-htpNat bUhGXt link sc-kEYyzF ecHxGW" href="https://www.youtube.com/channel/UCDIK_O7FATPEkhad_sQVaSg" aria-label="Youtube" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje TsaZF" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iNDAiIGhlaWdodD0iNDAiIHZpZXdCb3g9IjAgMCA0MCA0MCIgZmlsbD0ibm9uZSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj48cGF0aCBkPSJNMTcuMjk3MyAyMy43ODM4TDIzLjc4MzggMjBMMTcuMjk3MyAxNi4yMTYyVjIzLjc4MzhaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PHBhdGggZmlsbC1ydWxlPSJldmVub2RkIiBjbGlwLXJ1bGU9ImV2ZW5vZGQiIGQ9Ik0wIDIwQzAgOC45NTU5OSA4Ljk1NTk5IDAgMjAgMEMzMS4wNDQgMCA0MCA4Ljk1NTk5IDQwIDIwQzQwIDMxLjA0NCAzMS4wNDQgNDAgMjAgNDBDOC45NTU5OSA0MCAwIDMxLjA0NCAwIDIwWk0zMS45ODI0IDI2LjAzMjRDMzIuNDk2OSAyNC4wNzY1IDMyLjQ5NjkgMjAuMDIwNCAzMi40OTY5IDIwLjAyMDRDMzIuNDk2OSAyMC4wMjA0IDMyLjUxNzcgMTUuOTQ0MiAzMS45ODI0IDEzLjk4ODNDMzEuNjk0IDEyLjkxNzggMzAuODQ5OSAxMi4wNzM0IDI5Ljc3OTQgMTEuNzg1M0MyNy44MjM1IDExLjI1IDIwIDExLjI1IDIwIDExLjI1QzIwIDExLjI1IDEyLjE3NjUgMTEuMjUgMTAuMjIwNiAxMS43NjQ4QzkuMTcwNTMgMTIuMDUyOSA4LjMwNTY2IDEyLjkxNzggOC4wMTc1OCAxMy45ODgzQzcuNTAyNzUgMTUuOTQ0MiA3LjUwMjc1IDIwIDcuNTAyNzUgMjBDNy41MDI3NSAyMCA3LjUwMjc1IDI0LjA3NjUgOC4wMTc1OCAyNi4wMTE3QzguMzA1OTcgMjcuMDgyMiA5LjE1MDA5IDI3LjkyNjYgMTAuMjIwNiAyOC4yMTQ3QzEyLjE5NyAyOC43NSAyMCAyOC43NSAyMCAyOC43NUMyMCAyOC43NSAyNy44MjM1IDI4Ljc1IDI5Ljc3OTQgMjguMjM1MkMzMC44NDk5IDI3Ljk0NzEgMzEuNjk0IDI3LjEwMyAzMS45ODI0IDI2LjAzMjRaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PC9zdmc+" height="40"></a> <a class="sc-htpNat bUhGXt link sc-kEYyzF ecHxGW" href="https://www.facebook.com/HindawiLimited/" aria-label="Facebook" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje TsaZF" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iNDAiIGhlaWdodD0iMzkiIHZpZXdCb3g9IjAgMCA0MCAzOSIgZmlsbD0ibm9uZSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj48cGF0aCBkPSJNNDAgMTkuNDU5NUM0MCA4LjcxMzk0IDMxLjA0NCAwIDIwIDBDOC45NTU5OSAwIDAgOC43MTM5NCAwIDE5LjQ1OTVDMCAzMC4yMDUgOC45NTU5OSAzOC45MTg5IDIwIDM4LjkxODlDMjAuMTE3NSAzOC45MTg5IDIwLjIzNDQgMzguOTE2NSAyMC4zNTE2IDM4LjkxNDVWMjMuNzY2MUgxNi4wNTQ3VjE4Ljg5MzhIMjAuMzUxNlYxNS4zMDg0QzIwLjM1MTYgMTEuMTUwMiAyMi45NjA1IDguODg3MDUgMjYuNzcyOCA4Ljg4NzA1QzI4LjU5ODMgOC44ODcwNSAzMC4xNjc1IDkuMDE5NDggMzAuNjI1IDkuMDc4NTdWMTMuNDI0NEgyNy45OTYyQzI1LjkyMjIgMTMuNDI0NCAyNS41MjA2IDE0LjM4MzUgMjUuNTIwNiAxNS43OTA2VjE4Ljg5MzhIMzAuNDc5N0wyOS44MzM0IDIzLjc2NjFIMjUuNTIwNlYzOC4xNjcxQzMzLjg4MDMgMzUuODM1MyA0MCAyOC4zNDE4IDQwIDE5LjQ1OTVaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PC9zdmc+" height="40"></a> </nav> </div> <nav class="E_HUmlU2Hj3PpkDmWzKPd _3wm8FgzqRuRWouJG31YgKx" role="navigation"> <ul class="_2k5c8zEhMT-84kRD4oDgAz _1SoDWGr_FVsil9klRfjnhb"> <li><a class="sc-htpNat bUhGXt link about_us" href="//www.newsama.com/about/" aria-label="About us">关于我们</a></li> <li><a class="sc-htpNat bUhGXt link contact_us" href="//www.newsama.com/about/contact/" aria-label="Contact us">联系我们</a></li> <li><a class="sc-htpNat bUhGXt link partnerships" href="//www.newsama.com/publishing-partnerships/" aria-label="Partnerships">合作伙伴关系</a></li> <li><a class="sc-htpNat bUhGXt link blog" href="//www.newsama.com/blog/" aria-label="Blog">博客</a></li> </ul> <ul class="_2k5c8zEhMT-84kRD4oDgAz _1SoDWGr_FVsil9klRfjnhb"> <li><a class="sc-htpNat bUhGXt link journals" href="//www.newsama.com/journals/" aria-label="Journals">期刊</a></li> <li><a class="sc-htpNat bUhGXt link article_processing_charges" href="//www.newsama.com/publish-research/authors/article-processing-charges/" aria-label="Article Processing Charges">文章处理费用</a></li> <li><a class="sc-htpNat bUhGXt link print_editions" href="//www.newsama.com/print-editions/" aria-label="Print editions">印刷版</a></li> </ul> <ul class="_2k5c8zEhMT-84kRD4oDgAz _1SoDWGr_FVsil9klRfjnhb"> <li><a class="sc-htpNat bUhGXt link authors" href="//www.newsama.com/publish-research/authors/" aria-label="Authors">作者</a></li> <li><a class="sc-htpNat bUhGXt link editors" href="//www.newsama.com/publish-research/editors/" aria-label="Editors">编辑器</a></li> <li><a class="sc-htpNat bUhGXt link reviewers" href="//www.newsama.com/publish-research/reviewers/" aria-label="Reviewers">评论家</a></li> </ul> <ul class="_2k5c8zEhMT-84kRD4oDgAz _1SoDWGr_FVsil9klRfjnhb"> <li><a class="sc-htpNat bUhGXt link hindawi_xml_corpus" href="//www.newsama.com/hindawi-xml-corpus/" aria-label="Hindawi XML Corpus">雷电竞APP</a></li> <li><a class="sc-htpNat bUhGXt link open_archives_initiative" href="//www.newsama.com/open-archives-initiative/" aria-label="Open Archives Initiative">开放档案计划</a></li> <li><a class="sc-htpNat bUhGXt link fraud_prevention" href="//www.newsama.com/preventing-and-protecting-against-fraud/" aria-label="Fraud prevention">欺诈防范</a></li> </ul> </nav> <div class="sc-hMqMXs hlGpbO desktop"> 遵循我们:<nav role="navigation" class="sc-kkGfuU filPdg"> <a class="sc-htpNat bUhGXt link sc-kEYyzF ecHxGW" href="https://twitter.com/hindawi" aria-label="Twitter" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje TsaZF" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSI0MCIgaGVpZ2h0PSI0MCIgdmlld0JveD0iMCAwIDQwIDQwIiBmaWxsPSJub25lIj48cGF0aCBmaWxsLXJ1bGU9ImV2ZW5vZGQiIGNsaXAtcnVsZT0iZXZlbm9kZCIgZD0iTTAgMjBDMCA4Ljk1NTk5IDguOTU1OTkgMCAyMCAwQzMxLjA0NCAwIDQwIDguOTU1OTkgNDAgMjBDNDAgMzEuMDQ0IDMxLjA0NCA0MCAyMCA0MEM4Ljk1NTk5IDQwIDAgMzEuMDQ0IDAgMjBaTTI5LjE0NDkgMTYuMTg3MUMyOS4xNDQ5IDE1Ljk4ODUgMjkuMTQwNiAxNS43OTA3IDI5LjEzMTggMTUuNTkzOUMzMC4wMjgxIDE0Ljk0NiAzMC44MDcyIDE0LjEzNzMgMzEuNDIxNSAxMy4yMTY2QzMwLjU5OTEgMTMuNTgyMiAyOS43MTQxIDEzLjgyODQgMjguNzg1NCAxMy45Mzk1QzI5LjczMzMgMTMuMzcxIDMwLjQ2MDggMTIuNDcxOSAzMC44MDQxIDExLjQwMDVDMjkuOTE3IDExLjkyNjMgMjguOTM0OSAxMi4zMDgzIDI3Ljg4OTEgMTIuNTE0NkMyNy4wNTE0IDExLjYyMjMgMjUuODU4OCAxMS4wNjQxIDI0LjUzODMgMTEuMDY0MUMyMi4wMDMyIDExLjA2NDEgMTkuOTQ3MiAxMy4xMjAxIDE5Ljk0NzIgMTUuNjU0M0MxOS45NDcyIDE2LjAxNDQgMTkuOTg3OCAxNi4zNjQ3IDIwLjA2NjUgMTYuNzAxQzE2LjI1MTIgMTYuNTA5MSAxMi44NjggMTQuNjgyMyAxMC42MDQyIDExLjkwNDZDMTAuMjEgMTIuNTgzIDkuOTgyNiAxMy4zNzEgOS45ODI2IDE0LjIxMkM5Ljk4MjYgMTUuODA0NyAxMC43OTI4IDE3LjIxMDcgMTIuMDI1NSAxOC4wMzMxQzExLjI3MjMgMTguMDA5OSAxMC41NjQ5IDE3LjgwMyA5Ljk0NjI5IDE3LjQ1OTFDOS45NDU2OCAxNy40NzgzIDkuOTQ1NjggMTcuNDk2OSA5Ljk0NTY4IDE3LjUxNzdDOS45NDU2OCAxOS43NDA2IDExLjUyOCAyMS41OTcgMTMuNjI4NSAyMi4wMTc1QzEzLjI0MjggMjIuMTIyOCAxMi44MzY5IDIyLjE3OTMgMTIuNDE3OSAyMi4xNzkzQzEyLjEyMjggMjIuMTc5MyAxMS44MzUgMjIuMTUgMTEuNTU1MiAyMi4wOTYzQzEyLjEzOTkgMjMuOTIwMyAxMy44MzQyIDI1LjI0NzUgMTUuODQzOCAyNS4yODQ3QzE0LjI3MjUgMjYuNTE2MSAxMi4yOTMxIDI3LjI0OTggMTAuMTQyMiAyNy4yNDk4QzkuNzcyMDMgMjcuMjQ5OCA5LjQwNjQzIDI3LjIyODcgOS4wNDcyNCAyNy4xODYzQzExLjA3ODggMjguNDg4NSAxMy40OTEyIDI5LjI0ODQgMTYuMDgzNyAyOS4yNDg0QzI0LjUyNzYgMjkuMjQ4IDI5LjE0NDkgMjIuMjUzMSAyOS4xNDQ5IDE2LjE4NzFaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PC9zdmc+" height="40"></a> <a class="sc-htpNat bUhGXt link sc-kEYyzF ecHxGW" href="https://www.linkedin.com/company/hindawilimited/" aria-label="LinkedIn" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje TsaZF" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iNDAiIGhlaWdodD0iNDAiIHZpZXdCb3g9IjAgMCA0MCA0MCIgZmlsbD0ibm9uZSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj48cGF0aCBmaWxsLXJ1bGU9ImV2ZW5vZGQiIGNsaXAtcnVsZT0iZXZlbm9kZCIgZD0iTTAgMjBDMCA4Ljk1NTk5IDguOTU1OTkgMCAyMCAwQzMxLjA0NCAwIDQwIDguOTU1OTkgNDAgMjBDNDAgMzEuMDQ0IDMxLjA0NCA0MCAyMCA0MEM4Ljk1NTk5IDQwIDAgMzEuMDQ0IDAgMjBaTTkuMzE3MzIgMzAuMjM0NEgxNC4xODgyVjE1LjU4MDFIOS4zMTczMlYzMC4yMzQ0Wk0xMS43NTI5IDEzLjU3OTFIMTEuNzIxMkMxMC4wODY3IDEzLjU3OTEgOS4wMjk1NCAxMi40NTM5IDkuMDI5NTQgMTEuMDQ3N0M5LjAyOTU0IDkuNjA5NjggMTAuMTE5IDguNTE1NjIgMTEuNzg1MyA4LjUxNTYyQzEzLjQ1MTUgOC41MTU2MiAxNC40NzY5IDkuNjA5NjggMTQuNTA4NyAxMS4wNDc3QzE0LjUwODcgMTIuNDUzOSAxMy40NTE1IDEzLjU3OTEgMTEuNzUyOSAxMy41NzkxWk0yNi44ODE0IDMwLjIzNDRIMzEuNzUxN1YyMS44MzE3QzMxLjc1MTcgMTcuMzMwNiAyOS4zNDg4IDE1LjIzNjIgMjYuMTQ0MSAxNS4yMzYyQzIzLjU1OTkgMTUuMjM2MiAyMi40MDE3IDE2LjY1NjUgMjEuNzU0NSAxNy42NTVWMTUuNTgwMUgxNi44ODM5QzE2Ljk0NzYgMTYuOTU1IDE2Ljg4MzkgMzAuMjM0NCAxNi44ODM5IDMwLjIzNDRIMjEuNzU0NVYyMi4wNTA4QzIxLjc1NDUgMjEuNjEyOSAyMS43ODU5IDIxLjE3NTIgMjEuOTE0NyAyMC44NjIxQzIyLjI2NjggMTkuOTg3MiAyMy4wNjgyIDE5LjA4MDggMjQuNDEzOCAxOS4wODA4QzI2LjE3NjEgMTkuMDgwOCAyNi44ODE0IDIwLjQyNDUgMjYuODgxNCAyMi4zOTQ3VjMwLjIzNDRaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PC9zdmc+" height="40"></a> <a class="sc-htpNat bUhGXt link sc-kEYyzF ecHxGW" href="https://www.youtube.com/channel/UCDIK_O7FATPEkhad_sQVaSg" aria-label="Youtube" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje TsaZF" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iNDAiIGhlaWdodD0iNDAiIHZpZXdCb3g9IjAgMCA0MCA0MCIgZmlsbD0ibm9uZSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj48cGF0aCBkPSJNMTcuMjk3MyAyMy43ODM4TDIzLjc4MzggMjBMMTcuMjk3MyAxNi4yMTYyVjIzLjc4MzhaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PHBhdGggZmlsbC1ydWxlPSJldmVub2RkIiBjbGlwLXJ1bGU9ImV2ZW5vZGQiIGQ9Ik0wIDIwQzAgOC45NTU5OSA4Ljk1NTk5IDAgMjAgMEMzMS4wNDQgMCA0MCA4Ljk1NTk5IDQwIDIwQzQwIDMxLjA0NCAzMS4wNDQgNDAgMjAgNDBDOC45NTU5OSA0MCAwIDMxLjA0NCAwIDIwWk0zMS45ODI0IDI2LjAzMjRDMzIuNDk2OSAyNC4wNzY1IDMyLjQ5NjkgMjAuMDIwNCAzMi40OTY5IDIwLjAyMDRDMzIuNDk2OSAyMC4wMjA0IDMyLjUxNzcgMTUuOTQ0MiAzMS45ODI0IDEzLjk4ODNDMzEuNjk0IDEyLjkxNzggMzAuODQ5OSAxMi4wNzM0IDI5Ljc3OTQgMTEuNzg1M0MyNy44MjM1IDExLjI1IDIwIDExLjI1IDIwIDExLjI1QzIwIDExLjI1IDEyLjE3NjUgMTEuMjUgMTAuMjIwNiAxMS43NjQ4QzkuMTcwNTMgMTIuMDUyOSA4LjMwNTY2IDEyLjkxNzggOC4wMTc1OCAxMy45ODgzQzcuNTAyNzUgMTUuOTQ0MiA3LjUwMjc1IDIwIDcuNTAyNzUgMjBDNy41MDI3NSAyMCA3LjUwMjc1IDI0LjA3NjUgOC4wMTc1OCAyNi4wMTE3QzguMzA1OTcgMjcuMDgyMiA5LjE1MDA5IDI3LjkyNjYgMTAuMjIwNiAyOC4yMTQ3QzEyLjE5NyAyOC43NSAyMCAyOC43NSAyMCAyOC43NUMyMCAyOC43NSAyNy44MjM1IDI4Ljc1IDI5Ljc3OTQgMjguMjM1MkMzMC44NDk5IDI3Ljk0NzEgMzEuNjk0IDI3LjEwMyAzMS45ODI0IDI2LjAzMjRaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PC9zdmc+" height="40"></a> <a class="sc-htpNat bUhGXt link sc-kEYyzF ecHxGW" href="https://www.facebook.com/HindawiLimited/" aria-label="Facebook" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje TsaZF" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iNDAiIGhlaWdodD0iMzkiIHZpZXdCb3g9IjAgMCA0MCAzOSIgZmlsbD0ibm9uZSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj48cGF0aCBkPSJNNDAgMTkuNDU5NUM0MCA4LjcxMzk0IDMxLjA0NCAwIDIwIDBDOC45NTU5OSAwIDAgOC43MTM5NCAwIDE5LjQ1OTVDMCAzMC4yMDUgOC45NTU5OSAzOC45MTg5IDIwIDM4LjkxODlDMjAuMTE3NSAzOC45MTg5IDIwLjIzNDQgMzguOTE2NSAyMC4zNTE2IDM4LjkxNDVWMjMuNzY2MUgxNi4wNTQ3VjE4Ljg5MzhIMjAuMzUxNlYxNS4zMDg0QzIwLjM1MTYgMTEuMTUwMiAyMi45NjA1IDguODg3MDUgMjYuNzcyOCA4Ljg4NzA1QzI4LjU5ODMgOC44ODcwNSAzMC4xNjc1IDkuMDE5NDggMzAuNjI1IDkuMDc4NTdWMTMuNDI0NEgyNy45OTYyQzI1LjkyMjIgMTMuNDI0NCAyNS41MjA2IDE0LjM4MzUgMjUuNTIwNiAxNS43OTA2VjE4Ljg5MzhIMzAuNDc5N0wyOS44MzM0IDIzLjc2NjFIMjUuNTIwNlYzOC4xNjcxQzMzLjg4MDMgMzUuODM1MyA0MCAyOC4zNDE4IDQwIDE5LjQ1OTVaIiBmaWxsPSIjRjJGMkYyIj48L3BhdGg+PC9zdmc+" height="40"></a> </nav> </div> </div> </section> <div class="sc-bZQynM bNmdOy"> <section class="sc-iAyFgw gCiATD"> <a class="sc-htpNat bUhGXt link" href="//www.newsama.com/privacy/" aria-label="Privacy Policy">隐私政策 |</a> <a class="sc-htpNat bUhGXt link" href="//www.newsama.com/terms/" aria-label="Terms of Service">服务条款 |</a> <a class="sc-htpNat bUhGXt link" href="//www.newsama.com/responsible-disclosure-policy/" aria-label="Responsible Disclosure Policy">负责信息披露政策 |</a> <a class="sc-htpNat bUhGXt link" href="//www.newsama.com/cookie-policy/" aria-label="Cookie Policy">饼干的政策 |</a> <a class="sc-htpNat bUhGXt link" href="//www.newsama.com/copyright/" aria-label="Copyright">版权 |</a> <a class="sc-htpNat bUhGXt link" href="//www.newsama.com/modern-slavery-statement/" aria-label="Modern slavery statement">现代奴隶制的声明</a> </section> </div> </footer> <div class="sc-OxbzP eEFYIL advWrapper hideBanner"> <span><p>文章奖:2020年杰出的研究贡献,选择由我们的首席编辑。<a href="//www.newsama.com/article-year-award/" rel="noopener noreferrer" target="_blank">获奖的文章阅读</a>。</p></span> <button class="sc-bYnzgO dsXEHZ"><img alt="" class="sc-EHOje iiusBg sc-cPuPxo iXKuYd" title="" role="presentation" src="data:image/svg+xml;base64,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" height="16"></button> </div> </div> </div> <noscript> <iframe src="https://www.newsama.com/ns.html?id=GTM-MQ4MGW" height="0" width="0" style="display:none;visibility:hidden"></iframe> </noscript> </div> </body> </html>