Ĥʽԭˮλf(shu)
һĤʽúԭ(jin)
ĤʽҪdzȥoˮе,CoˮƷ|(zh)ˮܽ⣬(hu)ʹcˮ|ĽٸgضԽ߸gԽ@ڟύQКwۼ͕(hu)K^(gu)̵M(jn)УO(sh)ĂЧˮܽκΚwDzֱ{O(sh)İȫ\(yn)Ĥʽʡǽoˮ?z)ϵy(tng)еһ(g)ʽӟͬr(sh)߉ӟˮW(xu)a(b)ˮȫS̎ˮ|(zh)ϸˮŚȾͨĤʽRpٰl(f)늏Sˮpʧ
(dng)ˮijNw|r(sh),͕(hu)һ֚wڽˮȥwܽȾDZʾwܽˮеĔ(sh)Ժ/Ӌ(j)ֵ͚wķNԼˮķ։ˮĜضP(gun) һĉˮĜضԽߣwܽȾԽ֮wܽȾԽͬr(sh)wˮķ։ԽߣܽȾԽ֮ܽҲԽ͡Ȼˮгдܽ_(d)10/
݆C(j)Y(ji)ˮд?yn)՚ͨ^(gu)̎ՠB(ti)µO(sh)䲻(yn)ܲ֝BM(jn)ȥ⣬a(b)ˮҲ⼰̼wҺϚwȫҺwķ։ˮӟr(sh)Һ渽ˮķ։͕(hu)ӣ(yng)Һ渽wķ։͕(hu) (dng)ˮӟᵽc(din)r(sh)ķ։͕(hu)ӽҺϵȫ˕r(sh)Һwķ։ӽ@ЩwȫˮȥҪ_(d)@һc(din)HҪˮӟᵽc(din)߀ҪʹҺϛ](mi)@ЩwݳĚwSr(sh)
ĤʽĹԭ(du)ˮM(jn)мӟʹˮ_(d)һµ͜ضc(din)@r(sh)ĤʽĿgMˮķ։uͽӽ㣬ܽˮ⌢ȫݳԱCoˮϸ
ڸ߅(sh)늏Sһ0.59Ĥʽ@ӿԜpكr(ji)F\(yn)вʮֿɿĸ߉ӟĔ(sh)Ŀ߅(sh)偠toˮضһ230~250z϶ø߉ĤʽڙC(j)M߉ӟͣÕr(sh)M(jn)偠tĽoˮضԿԾS150~160z϶ȣ@ӌ(du)偠t\(yn)Ӱ푾ͿСһc(din)偠tĤʽĉԱY(ji)ˮM(jn)Ĥʽr(sh)a(chn)vF(xin)Y(ji)ˮ(hu)ʹˮM(jn)ڮa(chn)g@(du)ˮDzS
Ĥʽˮλƺ(jin)f(shu)
ĤʽˮλƵĿǾSˮλO(sh)ֵ㶨ֵˮλ^(gu)ߕ(hu)Ӱ݆C(j)ȫ\(yn)УC(j)M(jn)ˮ^(gu)t܌(do)½oˮgӰ푽oˮõİȫ
ӰĤʽˮλУˮoˮ^(gu)ٟpˮԼM(jn)Ĥʽo(li)Ըӵˮ
нoˮĤʽ|(zh)ˮˮM(jn)Ĥʽ|(zh)(dng)M(jn)ƽr(sh)t(do)Ĥʽˮλ׃
@ЩУoˮˮλƵҪDzӿƵģˮS߉ӟ\(yn)r׃˿Ĥʽˮλ׃ֻˮ҂ͨ^(gu)ƳˮλyַQˮy_(ki)M(jn)Ĥʽˮ^Ĥʽˮλ
wrɷһrM(jn)з
1r£
1Һλ׃y(c)Ĥʽˮλ(jng)̎x@^(gu)̖(ho)ЄeĤʽˮλǷ^(gu)
2O(sh)ֵ\(yn)ˆTO(sh)Ĥʽˮλֵ
3(dng)oˮС30r(sh)ɆΛ_1EPI{(dio)(ji)Ԅ(dng)ˮλKʹҲ_(d)ˮλֵ
4(dng)ؓ(f)ɴ30r(sh)Ԅ(dng)x_ГQҪԄ(dng)ġo(w)_˕r(sh)ˮPIDڸ(j)Ԫy(c)õˮ̖(ho)׃Ԅ(dng)ظ׃?c)O(sh)ֵˮλy_(ki)ȣSr(sh)ʹˮcO(sh)ֵһ@ڿ˷ˮl(f)_(dng)
oˮǰ̖(ho)pˮ(dng)ˮO(sh)ֵһ(dng)oˮӕr(sh)ˮO(sh)ֵS֮ĶʹˮPIDڵݔˮyT_(ki)ˮɌ@һ^(gu)̷Q{(dio)@ӿʹˮ푑(yng)oˮ׃
O(sh)(dng)ĤʽˮλO(sh)ֵSƽr(sh)M(jn)ĤʽˮcĤʽĽoˮͬ׃ԒtĤʽˮλ׃߀ڳˮӰĤʽˮλȻ(hu)׃(du)@(g)׃_3EҲQ{(dio)(ji)PID۵ݔl(f)׃ԓ{(dio)(ji)ݔJ(rn)ˮPIDڵO(sh)ֵһPIDڌ(j)O(sh)ֵ(du)ˮM(jn)һ{(dio)ԿKPIDˮλƫ@һ^(gu)̿ɷQ鼚(x){(dio)
@һ(g)(j)_Ʒ˕r(sh)30»oˮ̖(ho)|(zh)Ļˮ|(zh)ģtΛ_@һГQҲԄ(dng)ҟo(w)_ġ
2r
1(dng)Ĥʽˮλ^(gu)ߕr(sh)YP(gun)]oP(gun)]ˮy
2(dng)ˮy_(ki)ԲܝMĤʽ(du)ˮҪt혿_(ki)·T
3ք(dng)ʽl
Ĥʽˮλߣyָc(sh)Hyλƫ^(gu)׃cO(sh)ֵƫĤʽˮλy(c)(zhn)Ĥʽˮλy(c)O(sh)ep