{"id":49594,"date":"2024-04-07T20:55:42","date_gmt":"2024-04-07T12:55:42","guid":{"rendered":"https:\/\/swarma.org\/?p=49594"},"modified":"2024-04-07T20:55:42","modified_gmt":"2024-04-07T12:55:42","slug":"%e9%bb%84%e4%b8%80%ef%bc%9a%e8%b5%b0%e9%a9%ac%e8%a7%82%e8%8a%b1%e7%9c%8b%e6%8e%a7%e5%88%b6%e5%8f%91%e5%b1%95%e7%ae%80%e5%8f%b2","status":"publish","type":"post","link":"https:\/\/swarma.org\/?p=49594","title":{"rendered":"\u9ec4\u4e00\uff1a\u8d70\u9a6c\u89c2\u82b1\u770b\u63a7\u5236\u53d1\u5c55\u7b80\u53f2"},"content":{"rendered":"
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n

<\/span><\/p>\n<\/section>\n

\n
\n
\n
\n
\n
\n

<\/section>\n<\/section>\n
\n
\n

\u5bfc\u8bed<\/strong><\/p>\n<\/section>\n<\/section>\n

\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n
\n
2024\u5e744\u67082\u65e5\u9ec4\u4e00\u8001\u5e08\u5728\u96c6\u667a\u5b66\u56ed\u300a\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5<\/a>\u300b\u7cfb\u5217\u8bfe\u7a0b\u4e2d\u505a\u4e86\u201c\u8d70\u9a6c\u89c2\u82b1\u770b\u63a7\u5236\u53d1\u5c55\u7b80\u53f2\u201d\u7684\u5206\u4eab\uff0c\u8bfe\u7a0b\u4e3b\u8981\u56de\u987e\u4e86\u63a7\u5236\u53d1\u5c55\u7b80\u53f2\uff0c\u4ecb\u7ecd\u63a7\u5236\u8bfe\u7a0b\u91cc\u7684\u4e00\u4e9b\u57fa\u672c\u6982\u5ff5\u4ee5\u53ca\u5224\u636e\u5b9a\u7406\u7b49\u662f\u4e3a\u4e86\u89e3\u51b3\u4ec0\u4e48\u95ee\u9898\u800c\u63d0\u51fa\u548c\u5efa\u7acb\u7684\uff0c\u5e76\u4ea4\u6d41\u5386\u53f2\u7ed9\u4e88\u7684\u542f\u793a\u3002<\/span><\/strong><\/section>\n

<\/span><\/strong><\/section>\n
\u8fd9\u7bc7\u6587\u7ae0\u662f\u9ec4\u4e00\u8001\u5e08\u5728\u300a\u7cfb\u7edf\u4e0e\u63a7\u5236\u7eb5\u6a2a\u300b2021\u5e74\u7b2c1\u671f\u4e0a\u53d1\u8868\u7684\u540c\u540d\u6587\u7ae0\uff0c\u516c\u4f17\u53f7\u7ecf\u6388\u6743\u5206\u4eab\u7ed9\u5404\u4f4d\u8bfb\u8005\uff0c\u4ece\u516c\u5143\u524d300\u5e74\u5f00\u59cb\u8d70\u8fdb\u63a7\u5236\u79d1\u5b66\u7684\u53d1\u5c55\u53f2\u3002<\/span><\/strong><\/section>\n<\/section>\n
\n
<\/span><\/strong><\/span><\/strong><\/span><\/strong><\/span><\/strong><\/span><\/strong><\/section>\n<\/section>\n
\n
<\/strong><\/section>\n<\/section>\n
\n
<\/strong><\/strong><\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u9ec4\u4e00\uff08\u4e2d\u56fd\u79d1\u5b66\u9662\u6570\u5b66\u4e0e\u7cfb\u7edf\u79d1\u5b66\u7814\u7a76\u9662\uff09<\/span><\/span><\/span> | \u4f5c\u8005<\/span><\/strong><\/section>\n
\u539f\u6587\u520a\u8f7d\u4e8e\u300a\u7cfb\u7edf\u4e0e\u63a7\u5236\u7eb5\u6a2a\u300b2021\u5e74\u7b2c1\u671f<\/span><\/span> <\/span>| \u6765\u6e90<\/span><\/strong><\/strong><\/section>\n<\/section>\n


<\/p>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n

\n
\n
\n


<\/p>\n<\/section>\n

\n


<\/span><\/p>\n

\n
\n
\n

\u76ee\u5f55<\/strong><\/strong><\/p>\n<\/section>\n<\/section>\n<\/section>\n

\n

1. \u516c\u5143\u524d300\u5e74\uff1a\u6d6e\u7403\u8c03\u8282\u88c5\u7f6e<\/span><\/strong><\/p>\n

2. \u8fd1\u4ee3\u6b27\u6d32\u6700\u65e9\u7684\u53cd\u9988\u7cfb\u7edf\uff1a\u6e29\u5ea6\u8c03\u8282\u5668<\/span><\/strong><\/p>\n

3. \u6700\u65e9\u5e94\u7528\u4e8e\u5de5\u4e1a\u8fc7\u7a0b\u7684\u53cd\u9988\u7cfb\u7edf\uff1a\u74e6\u7279\u98de\u7403\u5f0f\u8c03\u901f\u5668<\/span><\/strong><\/p>\n

4. \u53cd\u9988\u7cfb\u7edf\u7a33\u5b9a\u6027\u7684\u7406\u8bba\u7814\u7a76\uff1a\u9ea6\u514b\u65af\u97e6\u300a\u8bba\u8c03\u901f\u5668\u300b\u3001Routh-Hurwitz \u5224\u636e<\/span><\/strong><\/p>\n

5. \u53cd\u9988\u63a7\u5236\u5668\u7684\u5927\u91cf\u5e94\u7528\uff1a\u8239\u7684\u81ea\u52a8\u9a7e\u9a76\u4eea\u3001PID\u63a7\u5236\u5668\u3001\u9891\u57df\u65b9\u6cd5\u3001\u9632\u7a7a\u63a7\u5236\u3001\u7ecf\u5178\u63a7\u5236\u7406\u8bba\u7b49<\/span><\/strong><\/p>\n

6. \u9632\u7a7a\u63a7\u5236\u95ee\u9898\u4e0e\u7ef4\u7eb3\u7684\u201cCybernetics\u201d\u548c\u94b1\u5b66\u68ee\u7684\u201cEngineering Cybernetics\u201d<\/span><\/strong><\/p>\n

7. \u73b0\u4ee3\u63a7\u5236\u7406\u8bba<\/span><\/strong><\/p>\n

8. \u63a7\u5236\u53d1\u5c55\u5386\u53f2\u7684\u542f\u53d1<\/span><\/strong><\/p>\n


<\/p>\n<\/section>\n


<\/span><\/p>\n

2005\u5e74\uff0c\u4e2d\u56fd\u79d1\u5b66\u9662\u7cfb\u7edf\u63a7\u5236\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u7ed9\u5ba4\u91cc\u7814\u7a76\u751f\u4eec\u5f00\u4e86\u4e00\u6b21\u201c\u63a7\u5236\u7406\u8bba\u57fa\u7840\u201d\u7684\u8bfe\u7a0b\uff0c\u7531\u5f20\u7eaa\u5cf0\u3001\u65b9\u6d77\u6d9b\u548c\u6211\u8054\u5408\u4e0a\u8bfe\uff0c\u6bcf\u4eba\u8bb24\u6b21\uff0c\u6bcf\u6b214\u5c0f\u65f6\u3002\u5206\u914d\u6211\u8bb2\u201c\u7ebf\u6027\u7cfb\u7edf\u7684\u9891\u57df\u54cd\u5e94\u65b9\u6cd5\u201d\u90e8\u5206\uff0c\u4e3b\u8981\u8003\u8651\u5230\u63a7\u5236\u5ba4\u7684\u5b66\u751f\u672c\u79d1\u5927\u591a\u662f\u5b66\u6570\u5b66\u7684\uff0c\u5bf9\u7ecf\u5178\u63a7\u5236\u7406\u8bba\u4e86\u89e3\u4e0d\u591a\uff0c\u5e0c\u671b\u7ed9\u5927\u5bb6\u8865\u4e0a\u8fd9\u90e8\u5206\u5185\u5bb9\u3002\u5f20\u7eaa\u5cf0\u8fd8\u6177\u6168\u5730\u7ed9\u4e86\u6211\u4e00\u5806\u8d44\u6599\uff0c\u5176\u4e2d\u4e00\u672c1996\u5e74IEEE Control Systems<\/em>\u6742\u5fd7\u7b2c3\u671f\u63a7\u5236\u5386\u53f2\u4e13\u8f91<\/span>\uff08Special Issue on the History of Control\uff09\uff08\u89c1\u56fe1\uff09<\/span>\u8ba9\u6211\u5982\u83b7\u81f3\u5b9d\uff0c\u81f3\u4eca\u4ecd\u9738\u4e3a\u5df1\u6709\u3002\u5f53\u65f6\u770b\u5f97\u5982\u9965\u4f3c\u6e34\uff0c\u4e0d\u65ad\u6709\u201c\u539f\u6765\u662f\u8fd9\u6837\u201d\u7684\u6536\u83b7\uff0c\u8fb9\u770b\u8fb9\u60f3\uff0c\u5982\u679c\u5b66\u751f\u4eec\u5728\u5b66\u4e60\u7b2c\u4e00\u95e8\u63a7\u5236\u8bfe\u7a0b\u65f6\u5c31\u4e86\u89e3\u8fd9\u4e9b\u8fc7\u5f80\uff0c\u63a7\u5236\u8bfe\u7a0b\u5c31\u4e0d\u518d\u53ea\u662f\u4e00\u6761\u6761\u5b9a\u4e49\u4e00\u5806\u5806\u5b9a\u7406\uff0c\u5b66\u751f\u4eec\u5c31\u80fd\u77e5\u9053\u5b83\u4eec\u662f\u4e3a\u4e86\u89e3\u51b3\u4ec0\u4e48\u95ee\u9898\u800c\u63d0\u51fa\u548c\u5efa\u7acb\u7684\uff0c\u89e3\u51b3\u4e86\u54ea\u4e9b\u95ee\u9898\uff0c\u4e0d\u8db3\u53c8\u5728\u54ea\u91cc\u3002\u4e8e\u662f\uff0c\u5c31\u7279\u522b\u60f3\u5728\u8bfe\u4e0a\u4e0e\u5b66\u751f\u4eec\u5206\u4eab\u4e00\u4e0b\u63a7\u5236\u53d1\u5c55\u53f2\uff0c\u4f46\u53c8\u611f\u5230\u5386\u53f2\u592a\u5e9e\u535a\uff0c\u80fd\u8bb2\u51fa\u6765\u7684\u53ea\u662f\u81ea\u5df1\u88ab\u5438\u5f15\u6709\u6240\u611f\u89e6\u7684\u90e8\u5206\uff0c\u96be\u514d\u6302\u4e00\u6f0f\u4e07\uff0c\u56e0\u800c\u52a0\u4e0a\u201c\u8d70\u9a6c\u89c2\u82b1\u201d\u7684\u524d\u7f00\u3002
<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe1. 1996\u5e74IEEE Control Systems\u6742\u5fd7\u63a7\u5236\u5386\u53f2\u4e13\u8f91<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

2007\u5e74\u7ed9\u63a7\u5236\u5ba4\u7814\u7a76\u751f\u8bb2\u201c\u7ebf\u6027\u7cfb\u7edf\u201d\u8bfe\u7a0b\u7684\u8865\u5145\u90e8\u5206\uff0c2011\u5e74\u30012016\u5e742\u6b21\u7ed9\u56fd\u79d1\u5927\u7814\u7a76\u751f\u4e0a\u201c\u7cfb\u7edf\u7a33\u5b9a\u6027\u7406\u8bba\u201d\u8bfe\u7a0b\u90fd\u4f1a\u5174\u81f4\u52c3\u52c3\u5730\u628a\u8fd9\u90e8\u5206\u5185\u5bb9\u7aef\u51fa\u6765\u4e0e\u5b66\u751f\u4eec\u5206\u4eab\uff0c\u800c\u4e14\u8fd9\u671f\u95f4\u4e0d\u65ad\u987a\u85e4\u6478\u74dc\uff0c\u770b\u89c1\u6709\u5173\u7684\u7d20\u6750\u4f1a\u683c\u5916\u5173\u6ce8\u4e00\u4e0b\uff0c\u52a0\u4ee5\u8865\u5145\u3002\u90a3\u65f6\uff0c\u67e5\u627e\u8d44\u6599\u8fd8\u4e0d\u50cf\u73b0\u5728\u8fd9\u4e48\u65b9\u4fbf\uff0c\u9ad8\u5fd7\u5f3a\u3001\u59dc\u949f\u5e73\u90fd\u4ece\u56fd\u5916\u5e2e\u6211\u67e5\u8fc7\u8d44\u6599\u4e70\u8fc7\u4e66\u30022018\u5e74\uff0c\u6536\u5230\u300a\u7cfb\u7edf\u4e0e\u63a7\u5236\u7eb5\u6a2a\u300b\u7684\u7ea6\u7a3f\uff0c\u6211\u9887\u6709\u4e9b\u72b9\u8c6b\uff0c\u4e3b\u8981\u8fd8\u662f\u62c5\u5fc3\u5185\u5bb9\u4e0a\u53ea\u662f\u968f\u81ea\u5df1\u5174\u8da3\u800c\u6765\uff0c\u4fe1\u9a6c\u7531\u7f30\u30022019\u5e74\u7ed9\u56fd\u79d1\u5927\u672c\u79d1\u751f\u4e0a\u201c\u63a7\u5236\u8bba\u201d\u8bfe\u7a0b\uff0c\u53c8\u7b56\u9a6c\u6e9c\u4e86\u4e00\u904d\u3002\u7ec8\u4e8e\uff0c\u7740\u624b\u6574\u7406\u51fa\u6765\uff0c\u5e76\u975e\u5b8c\u6574\u7684\u5386\u53f2\u4ecb\u7ecd\uff0c\u66f4\u50cf\u662f\u4e00\u4efd\u6559\u6848\u3002
<\/span><\/p>\n<\/section>\n

\n


<\/span><\/p>\n

\u201c\u8d70\u9a6c\u89c2\u82b1\u201d\u4ee5Stuart Bennett\u7684\u6587\u7ae0[1]\u4e3a\u4e3b\u7ebf<\/span>\uff08\u89c1\u56fe2\uff09<\/span>\uff0c\u4ee51996\u5e74\u4e13\u8f91\u4e2dPresident’s Message\u91cc\u7684\u4e00\u5e2d\u8bdd\u5f00\u573a\uff1a\u201c\u63a7\u5236\u7cfb\u7edf\u7684\u5386\u53f2\u60a0\u4e45\uff0c\u6ca1\u6709\u4eba\u80fd\u786e\u5207\u77e5\u9053\u7b2c\u4e00\u4e2a\u63a7\u5236\u7cfb\u7edf\u662f\u4ec0\u4e48\u65f6\u5019\u53d1\u660e\u7684\uff0c\u4f46\u6211\u4eec\u53ef\u4ee5\u80af\u5b9a\u5730\u8bf4\uff0c\u90a3\u65f6\u5b83\u4e00\u5b9a\u6ca1\u6709\u88ab\u8ba4\u4e3a\u662f\u4e00\u4e2a\u2018\u63a7\u5236\u7cfb\u7edf\u2019\u3002\u56e0\u4e3a\u63a7\u5236\u592a\u81ea\u7136\u4e86\uff0c\u4ece\u62bd\u8c61\u610f\u4e49\u4e0a\u8bf4\uff0c\u4efb\u4f55\u4e00\u4e2a\u53ef\u4ee5\u88ab\u53e6\u4e00\u4e2a\u5bf9\u8c61\u6216\u8fc7\u7a0b\u6539\u53d8\u7684\u5bf9\u8c61\u6216\u8fc7\u7a0b\u90fd\u53ef\u4ee5\u4ece\u63a7\u5236\u7cfb\u7edf\u7684\u89d2\u5ea6\u6765\u67e5\u770b\u3002\u6211\u4eec\u65e0\u6cd5\u786e\u5b9a\u4eba\u7c7b\u662f\u4f55\u65f6\u5f00\u59cb\u6709\u76ee\u7684\u5730\u6539\u53d8<\/span>\uff08\u63a7\u5236\uff09<\/span>\u6240\u751f\u5b58\u7684\u73af\u5883\u7684[2]\u3002<\/span>\u201d<\/span>
<\/p>\n<\/section>\n<\/section>\n<\/section>\n

\n
\n
\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe2. \u8d70\u9a6c\u89c2\u82b1\u7ebf\u8def\u56fe\uff082019\u56fd\u79d1\u5927\u300a\u63a7\u5236\u8bba\u300b\u8bfe\u7a0b\uff09<\/span><\/p>\n<\/section>\n

\n


<\/p>\n


<\/p>\n

\n
\n
\n
\n
\n

<\/section>\n

<\/section>\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n
\n

1. \u516c\u5143\u524d300\u5e74\uff1a\u6d6e\u7403\u8c03\u8282\u88c5\u7f6e<\/strong><\/span><\/strong><\/strong><\/p>\n<\/section>\n

\n

<\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n

\u4e00\u822c\u8ba4\u4e3a\uff0c\u6700\u65e9\u7684\u63a7\u5236\u7cfb\u7edf\u662f\u516c\u5143\u524d300\u5e74\u81f3\u516c\u51431\u5e74\u53e4\u5e0c\u814a\u4eba\u548c\u963f\u62c9\u4f2f\u4eba\u53d1\u660e\u7684\u6d6e\u7403\u8c03\u8282\u88c5\u7f6e\uff0c\u5982\u6c34\u949f[3,4]<\/span>\uff08\u89c1\u56fe3\u3001\u56fe4\uff09<\/span>\u3002
<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe3. \u5e0c\u814a\u4ebaKtesibios\u53d1\u660e\u7684\u6c34\u949f[4] <\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe4. \u6c34\u949f\u4e2d\u7684\u6d6e\u7403\u8c03\u8282\u88c5\u7f6e\u793a\u610f\u56fe[3]<\/span><\/p>\n<\/section>\n

\n


<\/p>\n

\u56fe4\u4e3a\u6c34\u949f\u4e2d\u7684\u6d6e\u7403\u8c03\u8282\u88c5\u7f6e\u793a\u610f\u56fe[3]\uff0c\u6c34\u4ece\u6f0f\u58f6\u4e2d\u4ee5\u6052\u5b9a\u7684\u6d41\u91cf\u6ce8\u5165\u53d7\u6c34\u58f6\uff0c\u6d6e\u5728\u53d7\u6c34\u58f6\u6c34\u9762\u4e0a\u7684\u6307\u9488\u968f\u6c34\u9762\u4e0a\u5347\u6307\u793a\u65f6\u95f4\u3002\u4e3a\u4e86\u83b7\u5f97\u6052\u5b9a\u7684\u6d41\u91cf\uff0c\u5fc5\u987b\u4f7f\u6f0f\u58f6\u7684\u6c34\u4f4d\u4fdd\u6301\u6052\u5b9a\u3002\u5f53\u6f0f\u58f6\u6c34\u4f4d\u4e0b\u964d\u65f6\uff0c\u6d6e\u7403\u968f\u4e4b\u4e0b\u964d\uff0c\u6c34\u81ea\u52a8\u6ce8\u5165\u6f0f\u58f6\uff0c\u6f0f\u58f6\u6c34\u4f4d\u4e0a\u5347\u5230\u8bbe\u5b9a\u9ad8\u5ea6\u65f6\uff0c\u6d6e\u7403\u81ea\u52a8\u5835\u4f4f\u5165\u6c34\u53e3\uff0c\u6f0f\u58f6\u6c34\u4f4d\u4fdd\u6301\u5728\u8bbe\u5b9a\u9ad8\u5ea6\u3002<\/span><\/p>\n


<\/p>\n

\u73b0\u5728\u6211\u4eec\u901a\u5e38\u628a\u95ed\u73af<\/span>\uff08\u53cd\u9988\uff09<\/span>\u63a7\u5236\u7cfb\u7edf\u5206\u4e3a\u4f20\u611f\u5668\u3001\u63a7\u5236\u5668\u3001\u6267\u884c\u673a\u6784\u3001\u88ab\u63a7\u5bf9\u8c61\u7b49\u51e0\u4e2a\u57fa\u672c\u7ec4\u6210\u90e8\u5206<\/span>\uff08\u89c1\u56fe5\uff09<\/span>\uff0c\u5728\u6d6e\u7403\u8c03\u8282\u88c5\u7f6e\u8fd9\u4e2a\u8bbe\u8ba1\u5de7\u5999\u7684\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0c\u4f20\u611f\u5668\u3001\u63a7\u5236\u5668\u3001\u6267\u884c\u673a\u6784\u662f\u4e00\u4f53\u7684\u3002<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe5 \u95ed\u73af\uff08\u53cd\u9988\uff09\u63a7\u5236\u7cfb\u7edf\u6846\u56fe<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n
\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n
\u6d6e\u7403\u8c03\u8282\u88c5\u7f6e\u73b0\u5728\u8fd8\u5728\u6211\u4eec\u7684\u65e5\u5e38\u751f\u6d3b\u4e2d\u5e7f\u6cdb\u4f7f\u7528\uff0c\u5c31\u662f\u62bd\u6c34\u9a6c\u6876\u3002\u5728\u6211\u81ea\u5df1\u5b66\u4e60\u63a7\u5236\u7684\u7b2c\u4e00\u5802\u8bfe\u4e0a\uff0c\u8001\u5e08\u7ed9\u6211\u4eec\u4e3e\u7684\u63a7\u5236\u7cfb\u7edf\u4f8b\u5b50\u5c31\u662f\u62bd\u6c34\u9a6c\u6876\uff0c\u5f53\u65f6\u8fd8\u89c9\u5f97\u600e\u4e48\u5b66\u4e86\u4e2a\u4e0d\u592a\u201c\u9ad8\u96c5\u201d\u7684\u4e13\u4e1a\u3002<\/span><\/section>\n
 <\/span><\/section>\n
\u6211\u5728\u8bfe\u7a0b\u4e2d\u4e00\u76f4\u5e0c\u671b\u80fd\u8ba9\u5b66\u751f\u4eec\u5c06\u8bfe\u5802\u5b66\u4e60\u4e0e\u5b9e\u9645\u8054\u7cfb\u8d77\u6765\uff0c\u90fd\u4f1a\u7ed9\u5b66\u751f\u4eec\u7559\u4e00\u4e2a\u5927\u4f5c\u4e1a\uff0c\u6bcf\u4eba\u9009\u53d6\u4e00\u4e2a\u81ea\u5df1\u611f\u5174\u8da3\u7684\u63a7\u5236\u7cfb\u7edf\u7ed3\u5408\u8bfe\u7a0b\u5185\u5bb9\u8fdb\u884c\u5206\u6790\u4ecb\u7ecd\uff0c\u5b66\u751f\u4eec\u5728\u8fd9\u4e2a\u73af\u8282\u7684\u8868\u73b0\u5f80\u5f80\u4e00\u6539\u5e73\u65f6\u4e0a\u8bfe\u7684\u6c89\u95f7\uff0c\u4e00\u4e2a\u4e2a\u71a0\u71a0\u751f\u8f89\uff0c\u6bcf\u6bcf\u8ba9\u6211\u5fc3\u82b1\u6012\u653e\uff0c\u60ca\u53f9\u4e0d\u5df2\u3002\u8fd8\u8bb0\u5f97\u767d\u6587\u8273\u4e00\u5f00\u59cb\u4ea4\u4e0a\u6765\u7684\u9009\u9898\u662f\u201c\u62bd\u6c34\u9a6c\u6876\u7cfb\u7edf\u201d\uff0c\u6211\u7ed9\u5979\u6539\u4e86\u4e2a\u201c\u597d\u542c\u201d\u4e00\u70b9\u7684\u9898\u76ee\u201c\u6d6e\u7403\u6db2\u4f4d\u63a7\u5236\u7cfb\u7edf\u201d\uff0c\u7ed3\u679c\u5979\u4e0a\u53f0\u540e\u7684\u5f00\u573a\u767d\u662f\uff1a\u201c\u8001\u5e08\u6539\u7684\u9898\u76ee\u6709\u70b9\u5c0f\u4e86\uff0c\u6211\u4eca\u5929\u8981\u8bb2\u7684\u662f\u62bd\u6c34\u9a6c\u6876\u7cfb\u7edf\u4e2d\u7684\u63a7\u5236\u95ee\u9898\u201d\uff0c\u7acb\u523b\u8ba9\u6211\u5bf9\u8fd9\u4e2a\u770b\u4e0a\u53bb\u6587\u6587\u9759\u9759\u7684\u5c0f\u59d1\u5a18\u6240\u8868\u73b0\u51fa\u7684\u6267\u7740\u7684\u79d1\u5b66\u7cbe\u795e\u8083\u7136\u8d77\u656c\u3002<\/span><\/section>\n<\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/p>\n<\/section>\n

\n

\u4e2d\u56fd\u53e4\u4ee3\u8ba1\u65f6\u5668\u5219\u6709\u523b\u6f0f\u3001\u6c34\u8fd0\u6d51\u5929\u4eea\u3001\u6c34\u8fd0\u4eea\u8c61\u53f0\u7b49<\/span>\uff08\u89c1\u56fe6\uff09<\/span>\uff0c\u4e2d\u56fd\u53e4\u4ee3\u8457\u540d\u7684\u63a7\u5236\u7cfb\u7edf\u8fd8\u6709\u6307\u5357\u8f66\u3001\u90fd\u6c5f\u5830\u6c34\u5229\u5de5\u7a0b\u7b49<\/span>\uff08\u89c1\u56fe7\uff0c\u56fe8\uff09<\/span>\u3002Mayr\u7684\u4e66\u4e2d\u63d0\u5230\u4e86\u4e2d\u56fd\u53e4\u4ee3\u7684\u6c34\u8fd0\u4eea\u8c61\u53f0\u548c\u6307\u5357\u8f66[4]\uff0c\u4f46\u5bf9\u5176\u63a7\u5236\u673a\u7406\u8fd8\u6709\u7591\u95ee\u3002\u90fd\u6c5f\u5830\u6c34\u5229\u5de5\u7a0b<\/span>\uff08\u7ea6\u516c\u5143\u524d256-\u524d251\uff09<\/span>\u5219\u88ab\u8bb8\u591a\u4eba\u8ba4\u4e3a\u662f\u4e00\u4e2a\u6770\u51fa\u7684\u63a7\u5236\u7cfb\u7edf\uff0c\u4e24\u5343\u591a\u5e74\u4e86\uff0c\u81f3\u4eca\u4f9d\u7136\u5728\u9020\u798f\u6210\u90fd\u5e73\u539f\u30022015\u5e74\u7b2c6\u5c4a\u4e2d\u745e\u63a7\u5236\u4f1a\u8bae\u5728\u6210\u90fd\u53ec\u5f00<\/span>\uff08\u89c1\u56fe9\uff09<\/span>\uff0c\u6709\u5148\u5230\u8fbe\u7684\u745e\u5178\u53c2\u4f1a\u4eba\u5458\u8feb\u4e0d\u53ca\u5f85\u5730\u53bb\u4e86\u90fd\u6c5f\u5830\uff0c\u56de\u6765\u540e\u5c31\u5728\u81ea\u5df1\u62a5\u544a\u7684\u7b2c\u4e00\u9875\u6253\u51fa\u90fd\u6c5f\u5830\u7684\u7167\u7247\uff0c\u8d5e\u53f9\u8fd9\u4e00\u63a7\u5236\u7cfb\u7edf\u3002\u90fd\u6c5f\u5830\u4e3b\u4f53\u5de5\u7a0b\u5305\u62ec\u9c7c\u5634\u5206\u6c34\u5824\u3001\u98de\u6c99\u5830\u6ea2\u6d2a\u9053\u548c\u5b9d\u74f6\u53e3\u8fdb\u6c34\u53e3<\/span>\uff08\u89c1\u56fe8\u4e2d\u4e09\u4e2a\u7ea2\u5708\u5904\uff09<\/span>\uff0c\u88ab\u63a7\u91cf\u4e3a\u8fdb\u5165\u6210\u90fd\u7684\u6c34\u91cf\uff0c\u67af\u6c34\u671f\u4e0d\u80fd\u5c11\uff0c\u4e30\u6c34\u671f\u4e0d\u80fd\u591a\uff0c\u662f\u4e2a\u591a\u73af\u8282\u63a7\u5236\u7cfb\u7edf\uff0c\u800c\u4e14\u5145\u6ee1\u5404\u79cd\u6270\u52a8\u3001\u4e0d\u786e\u5b9a\u6027\u548c\u65f6\u53d8\u6027\u30022019\u5e74\u79cb\u5b63\u5f00\u5b66\u524d\uff0c\u81ea\u6297\u6270\u63a7\u5236\u7fa4\u91cc\u5404\u4f4d\u53c8\u5c06\u5f00\u59cb\u8bb2\u6388\u63a7\u5236\u8bfe\u7a0b\u7684\u8001\u5e08\u4eec\u8fd8\u70ed\u70c8\u8ba8\u8bba\u4e86\u4e00\u756a\u5176\u63a7\u5236\u539f\u7406\uff0c\u51c6\u5907\u5728\u8bfe\u4e0a\u597d\u597d\u8bb2\u8bb2\u90fd\u6c5f\u5830\u8fd9\u4e2a\u63a7\u5236\u7cfb\u7edf\u3002<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe6. \u5317\u5b8b\u82cf\u9882\u3001\u97e9\u516c\u5ec9\u7b49\u4eba\u6240\u5236\u6c34\u8fd0\u4eea\u8c61\u53f0\uff08\u56fe\u7247\u6765\u81ea\u7f51\u7edc\uff09<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe7. \u6307\u5357\u8f66\uff08\u56fe\u7247\u6765\u81ea\u7f51\u7edc)<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe8. \u90fd\u6c5f\u5830\u6c34\u5229\u5de5\u7a0b\uff0c\u53f3\u4e0a\u56fe\u7684\u4e09\u4e2a\u7ea2\u5708\u5206\u522b\u4e3a\u9c7c\u5634\u5206\u6c34\u5824\u3001\u98de\u6c99\u5830\u6ea2\u6d2a\u9053\u548c\u5b9d\u74f6\u53e3\u8fdb\u6c34\u53e3<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe9. 2015\u5e743\u670823-24\u65e5\u7b2c6\u5c4a\u4e2d\u745e\u63a7\u5236\u4f1a\u8bae\u5728\u6210\u90fd\u53ec\u5f00<\/span><\/p>\n<\/section>\n

\n


<\/p>\n


<\/p>\n

\n
\n
\n
\n
\n

<\/section>\n

<\/section>\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n
\n

2. \u8fd1\u4ee3\u6b27\u6d32\u6700\u65e9\u7684\u53cd\u9988\u7cfb\u7edf\uff1a\u6e29\u5ea6\u8c03\u8282\u5668<\/strong><\/span><\/strong><\/strong><\/p>\n<\/section>\n

\n

<\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n<\/section>\n

\n

\u8fd1\u4ee3\u6b27\u6d32\u6700\u65e9\u53d1\u660e\u7684\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u662f\u8377\u5170\u4ebaCornelis Drebbel<\/span>\uff081572-1633\uff09<\/span>\u53d1\u660e\u7684\u57f9\u80b2\u7bb1\u6e29\u5ea6\u8c03\u8282\u5668<\/span>\uff08\u89c1\u56fe10\u3001\u56fe11\uff09<\/span>[3,4,5]\u3002<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe10. \u8377\u5170\u4ebaDrebbel\u53d1\u660e\u7684\u6052\u6e29\u57f9\u80b2\u7bb1[4]<\/span><\/p>\n


<\/span><\/p>\n<\/section>\n<\/section>\n

\n
\n

<\/p>\n<\/section>\n

\n

\u56fe11. \u57f9\u80b2\u7bb1\u6e29\u5ea6\u8c03\u8282\u88c5\u7f6e\u793a\u610f\u56fe[5]<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

Drebbel\u662f\u8377\u5170\u53d1\u660e\u5bb6\uff0c\u4ed6\u53d1\u660e\u4e86\u4e00\u4e2a\u5b75\u5316\u5c0f\u9e21\u7684\u57f9\u80b2\u7bb1\uff0c\u901a\u8fc7\u63a7\u5236\u7089\u6e29\u6765\u7ed9\u57f9\u80b2\u7bb1\u52a0\u70ed\u3002\u56fe11\u4e3a\u57f9\u80b2\u7bb1\u6e29\u5ea6\u63a7\u5236\u88c5\u7f6e\u793a\u610f\u56fe[5]\uff0c\u57f9\u80b2\u7bb1\u662f\u53cc\u5c42\u7684\u3001\u4e2d\u95f4\u6709\u6c34\uff0c\u628a\u70ed\u91cf\u5747\u5300\u5730\u4f20\u9012\u7ed9\u5185\u5c42\uff0c\u6e29\u5ea6\u4f20\u611f\u5668\u662f\u4e00\u4e2a\u5185\u90e8\u88c5\u6709\u9152\u7cbe\u548c\u6c34\u94f6\u7684\u5bb9\u5668\u3002\u5f53\u6e29\u5ea6\u8fc7\u9ad8\u65f6\uff0c\u6e29\u5ea6\u4f20\u611f\u5668\u7684\u6c34\u94f6\u67f1\u4e0a\u5347\uff0c\u9600\u95e8\u5173\u95ed\uff0c\u51cf\u5c11\u8fdb\u6c14\uff0c\u964d\u4f4e\u6e29\u5ea6\uff1b\u53cd\u4e4b\u5219\u6c34\u94f6\u67f1\u4e0b\u964d\uff0c\u9600\u95e8\u6253\u5f00\uff0c\u589e\u52a0\u8fdb\u6c14\uff0c\u63d0\u9ad8\u6e29\u5ea6\u3002
<\/span><\/p>\n


<\/span><\/p>\n


<\/span><\/p>\n

\n
\n
\n
\n
\n

<\/section>\n

<\/section>\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n
\n

3. \u6700\u65e9\u5e94\u7528\u4e8e\u5de5\u4e1a\u8fc7\u7a0b\u7684\u53cd\u9988\u7cfb\u7edf\uff1a<\/strong><\/span><\/strong><\/strong><\/p>\n

\u74e6\u7279\u98de\u7403\u5f0f\u8c03\u901f\u5668<\/strong><\/span><\/strong><\/strong><\/span><\/p>\n<\/section>\n

\n

<\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n

\u4eba\u4eec\u666e\u904d\u8ba4\u4e3a\u6700\u65e9\u5e94\u7528\u4e8e\u5de5\u4e1a\u8fc7\u7a0b\u7684\u63a7\u5236\u5668\u662f\u74e6\u7279<\/span>\uff08James Watt\uff0c1736-1819\uff09<\/span>1788\u5e74\u5e94\u7528\u4e8e\u84b8\u6c7d\u673a\u7684\u98de\u7403\u5f0f\u8c03\u901f\u5668<\/span>\uff08Fly-ball Governor\uff0c\u89c1\u56fe12\uff09<\/span>[3]\u3002<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n
\u56fe12. \u653e\u7f6e\u5728\u897f\u73ed\u7259\u9a6c\u5fb7\u91cc\u7406\u5de5\u5927\u5b66\u7684\u4e00\u53f01859\u5e74\u5236\u9020\u7684\u74e6\u7279\u84b8\u6c7d\u673a\uff0c\u9ec4\u5708\u4e2d\u4e3a\u98de\u7403\u5f0f\u8c03\u901f\u5668[39]<\/span><\/section>\n<\/section>\n
\n


<\/p>\n

\u98de\u7403\u5f0f\u8c03\u901f\u5668\uff0c\u4e5f\u79f0\u4e3a\u79bb\u5fc3\u5f0f\u8c03\u901f\u5668<\/span>\uff08Centrifugal Governor\uff09<\/span>\u3002\u56fe13\u5c55\u793a\u4e86\u5176\u5de5\u4f5c\u539f\u7406[5]\uff1a\u5047\u5b9a\u84b8\u6c7d\u673a\u8fd0\u884c\u5728\u5e73\u8861\u72b6\u6001\uff0c\u4e24\u4e2a\u91cd\u7403\u5728\u4e0e\u4e2d\u5fc3\u8f74\u6210\u67d0\u4e00\u7ed9\u5b9a\u89d2\u5ea6\u7684\u9525\u9762\u4e0a\u56f4\u7ed5\u8f74\u65cb\u8f6c\u3002\u5f53\u84b8\u6c7d\u673a\u8d1f\u8f7d\u589e\u5927\u65f6\uff0c\u5b83\u7684\u901f\u5ea6\u964d\u4f4e\uff0c\u4e24\u4e2a\u91cd\u7403\u4e0b\u8dcc\u5230\u66f4\u5c0f\u7684\u9525\u9762\u4e0a\u65cb\u8f6c\uff0c\u5f15\u8d77\u6760\u6746\u8fd0\u52a8\u6253\u5f00\u84b8\u6c7d\u5ba4\u4e3b\u9600<\/span>\uff08\u6267\u884c\u673a\u6784\uff09<\/span>\uff0c\u4ece\u800c\u589e\u52a0\u8fdb\u5165\u7684\u84b8\u6c7d\u91cf\uff0c\u4ee5\u6062\u590d\u964d\u4f4e\u7684\u901f\u5ea6\u3002\u56e0\u6b64\uff0c\u7403\u4e0e\u4e2d\u5fc3\u8f74\u7684\u89d2\u5ea6\u662f\u7528\u6765\u4f20\u611f\u8f93\u51fa\u901f\u5ea6\u7684\u3002
<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe13. \u98de\u7403\u5f0f\u8c03\u901f\u5668\u793a\u610f\u56fe[5]<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

\u98de\u7403\u5f0f\u8c03\u901f\u5668\u88ab\u8ba4\u4e3a\u662f\u63a7\u5236\u53d1\u5c55\u53f2\u4e0a\u7684\u4e00\u4e2a\u91cc\u7a0b\u7891\uff0cMayr\u4e66\u7684\u5c01\u9762\u5c31\u662f\u4e00\u4e2a\u98de\u7403\u5f0f\u8c03\u901f\u5668\u7684\u56fe\u7247<\/span>\uff08\u89c1\u56fe14\uff09<\/span>\uff0c\u6211\u66fe\u5728\u4f26\u6566\u8857\u5934\u89c1\u5230\u4e00\u5c0a\u96d5\u5851\uff0c\u4ee5\u98de\u7403\u5f0f\u8c03\u901f\u5668\u4ee3\u8868\u79d1\u5b66<\/span>\uff08\u89c1\u56fe15\uff09<\/span>\u3002
<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe14. Otto Mayr\u8457\uff1aThe Origins of Feedback Control<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe15. \u4f26\u6566\u8857\u5934\u4ee3\u8868\u79d1\u5b66\u7684\u96d5\u5851<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

\u5173\u4e8e\u98de\u7403\u5f0f\u8c03\u901f\u5668\uff0c\u6709\u4e2a\u8bef\u4f20\u6d41\u4f20\u8f83\u5e7f\uff0c\u8bf4\u662f\u74e6\u7279\u53d1\u660e\u7684\u3002\u98de\u7403\u5f0f\u8c03\u901f\u5668\u5e76\u4e0d\u662f\u74e6\u7279\u53d1\u660e\u7684\u3002\u5173\u4e8e\u5e94\u7528\u79bb\u5fc3\u529b\u63a7\u5236\u901f\u5ea6\u7684\u7814\u7a76\uff0c\u79d1\u5b66\u5bb6\u60e0\u66f4\u65af<\/span>\uff08Christiaan Huygens\uff0c1629-1695\uff09<\/span>\u548c\u80e1\u514b<\/span>\uff08Robert Hooke\uff0c1635-1703\uff09<\/span>\u90fd\u66fe\u94bb\u7814\u8fc7\u8fd9\u4e2a\u95ee\u9898\uff0c\u5e76\u8bbe\u8ba1\u4e86\u5229\u7528\u79bb\u5fc3\u529b\u63a7\u5236\u901f\u5ea6\u7684\u88c5\u7f6e[6,7]<\/span>\uff08\u89c1\u56fe16)<\/span>\u3002\u523018\u4e16\u7eaa\uff0c\u5728\u84b8\u6c7d\u673a\u4e4b\u524d\uff0c\u79bb\u5fc3\u529b\u8c03\u901f\u5668\u5df2\u7ecf\u5728\u98ce\u8f66\u4e0a\u88ab\u5927\u91cf\u5e94\u7528\u3002\u98ce\u8f66\u6280\u672f\u4eba\u5458\u5f00\u53d1\u4e86\u8bb8\u591a\u65b0\u88c5\u7f6e\uff0c\u4e0d\u8fc7\u4ed6\u4eec\u5927\u591a\u662f\u5de5\u7a0b\u5e08\u800c\u4e0d\u662f\u79d1\u5b66\u5bb6\uff0c\u56e0\u6b64\u9664\u4e86\u7b80\u7565\u7684\u4e13\u5229\uff0c\u7559\u4e0b\u7684\u6587\u732e\u7eaa\u5f55\u5f88\u5c11[6]\u3002\u56fe17\u4e2d\u662fThomas Mead\u57281787\u5e74\u7533\u8bf7\u7684\u63a7\u5236\u98ce\u8f66\u901f\u5ea6\u7684\u8c03\u901f\u5668\u4e13\u5229\u4e2d\u7684\u4e00\u5f20\u56fe[4]\uff0c\u53ef\u4ee5\u770b\u5230\u5176\u91c7\u7528\u4e86\u4e00\u4e2a\u53cc\u7403\u7684\u79bb\u5fc3\u529b\u8c03\u901f\u5668\u3002<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe16. \u60e0\u66f4\u65af\u548c\u80e1\u514b\u90fd\u66fe\u94bb\u7814\u8fc7\u5229\u7528\u79bb\u5fc3\u529b\u63a7\u5236\u901f\u5ea6\u7684\u95ee\u9898\uff0c\u5e76\u8bbe\u8ba1\u4e86\u6709\u5173\u88c5\u7f6e[6]<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe17. 1787\u5e74, Thomas Mead\u7533\u8bf7\u4e86\u4e00\u4e2a\u63a7\u5236\u98ce\u8f66\u901f\u5ea6\u7684\u8c03\u8282\u5668\u4e13\u5229[4]<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

\u7136\u540e\u662f\u74e6\u7279\u84b8\u6c7d\u673a\u767b\u573a\uff0c\u74e6\u7279\u5bf9\u84b8\u6c7d\u673a\u7684\u6539\u8fdb\u59cb\u4e8e1763\u5e74\uff0c\u5f53\u65f6\u4ed6\u5728\u683c\u62c9\u65af\u54e5\u5927\u5b66<\/span>\uff08University of Glasgow\uff09<\/span>\u51e0\u4f4d\u6559\u6388\u7684\u5e2e\u52a9\u4e0b\uff0c\u5728\u5927\u5b66\u91cc\u5f00\u8bbe\u4e86\u4e00\u95f4\u5c0f\u4fee\u7406\u5e97\u3002\u8fd9\u5e74\uff0c\u4ed6\u4fee\u7406\u4e86\u5b66\u6821\u7684\u4e00\u53f0\u7ebd\u79d1\u95e8\u84b8\u6c7d\u673a<\/span>\uff08Newcomen Steam Engine\uff09<\/span>\uff0c\u4f46\u5f53\u65f6\u84b8\u6c7d\u673a\u7684\u6548\u7387\u5f88\u4f4e\u3002\u6b64\u540e\uff0c\u74e6\u7279\u5bf9\u84b8\u6c7d\u673a\u8fdb\u884c\u4e86\u4e00\u7cfb\u5217\u91cd\u5927\u6539\u8fdb\uff1a\u5982\u5c06\u51b7\u51dd\u5668\u4e0e\u6c7d\u7f38\u5206\u79bb\u3001\u91c7\u7528\u8fde\u7eed\u65cb\u8f6c\u8fd0\u52a8\u7684\u66f2\u67c4\u4f20\u52a8\u7cfb\u7edf\u3001\u53d1\u660e\u4e86\u53cc\u5411\u6c14\u7f38\u3001\u5e73\u884c\u8fd0\u52a8\u8fde\u6746\u673a\u6784\u7b49[8]\u30021788\u5e74\u74e6\u7279\u4ece\u5176\u5408\u4f19\u4eba\u535a\u5c14\u987f<\/span>\uff08Matthew Boulton\uff09<\/span>\u5904\u4e86\u89e3\u5230\u5df2\u7ecf\u5728\u98ce\u8f66\u4e2d\u91c7\u7528\u7684\u98de\u7403\u8c03\u901f\u5668\uff0c\u610f\u8bc6\u5230\u53ef\u4ee5\u6539\u8fdb\u540e\u7528\u4e8e\u84b8\u6c7d\u673a\u7684\u8f6c\u901f\u63a7\u5236\uff0c\u4ee5\u4fdd\u8bc1\u84b8\u6c7d\u673a\u7684\u5e73\u7a33\u8fd0\u884c[1,8]\uff0c\u4e8e\u662f\u53d1\u660e\u4e86\u91c7\u7528\u98de\u7403\u8c03\u901f\u5668\u7684\u84b8\u6c7d\u673a\u3002<\/span><\/p>\n


<\/p>\n

\u84b8\u6c7d\u673a\u7684\u51fa\u73b0\u5f00\u8f9f\u4e86\u4eba\u7c7b\u5229\u7528\u80fd\u6e90\u7684\u65b0\u65f6\u4ee3\uff0c\u4f7f\u4eba\u7c7b\u5b9e\u73b0\u4e86\u673a\u5668\u5927\u751f\u4ea7\uff0c\u74e6\u7279\u7684\u6539\u8fdb\u8d21\u732e\u5de8\u5927\u3002\u540e\u4eba\u4e3a\u4e86\u7eaa\u5ff5\u74e6\u7279\u8fd9\u4f4d\u4f1f\u5927\u7684\u53d1\u660e\u5bb6\uff0c\u628a\u529f\u7387\u7684\u5355\u4f4d\u5b9a\u4e3a\u201c\u74e6\u7279\u201d\u3002<\/span><\/p>\n


<\/p>\n

\u52301868\u5e74\uff0c\u7ea6\u670975000\u53f0\u74e6\u7279\u8c03\u8282\u5668\u5728\u82f1\u56fd\u4f7f\u7528[6]\u3002\u6700\u521d\u7684\u74e6\u7279\u8c03\u8282\u5668\u5b58\u5728\u7684\u4e3b\u8981\u95ee\u9898\u662f\uff1a\u53ea\u80fd\u5728\u4e00\u4e2a\u8fd0\u884c\u6761\u4ef6\u4e0a\u5b9e\u73b0\u7cbe\u786e\u63a7\u5236\uff0c\u5373\u53ea\u80fd\u5728\u5c0f<\/span>\uff08\u8d1f\u8f7d\u53d8\u5316\uff09<\/span>\u8303\u56f4\u8fd0\u884c[1]\u3002\u7528\u73b0\u5728\u7684\u8bdd\u8bf4\uff0c\u5c31\u662f\u5f53\u8d1f\u8f7d<\/span>\uff08\u5916\u6270\uff09<\/span>\u53d8\u5316\u8f83\u5927\u65f6\uff0c\u63a7\u5236\u5b58\u5728\u7a33\u6001\u504f\u5dee\u3002<\/span><\/p>\n


<\/p>\n

\u74e6\u7279\u8c03\u901f\u5668\u53ea\u91c7\u7528\u4e86\u6bd4\u4f8b\u63a7\u5236\uff0c\u6211\u4eec\u91c7\u7528\u5982\u4e0b\u7684\u4e00\u4e2a\u7b80\u5316\u6a21\u578b\u63cf\u8ff0\u5176\u5de5\u4f5c\u8fc7\u7a0b\uff1a<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n

\u5176\u4e2d\uff1aP\u4e3a\u9a71\u52a8\u529b\u77e9\uff0cR\u4e3a\u8d1f\u8f7d\u529b\u77e9\uff0cV\u4e3a\u8bbe\u5b9a\u8f6c\u901f\uff0c\u5b9e\u9645\u8f6c\u901f\u4e3a\uff0cM\u4e3a\u8f6c\u52a8\u60ef\u91cf\uff0cF\u4e3a\u53cd\u9988\u589e\u76ca\u7cfb\u6570\uff0ct\u4e3a\u65f6\u95f4\uff0c\u7a33\u6001\u65f6\u7684\u901f\u5ea6\u4e3a\uff1a
<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n

\u53ef\u89c1\uff0c\u5f53\u9a71\u52a8\u529b\u77e9P\u4e0e\u8d1f\u8f7d\u529b\u77e9R\u4e0d\u5339\u914d\u65f6\uff0c\u7cfb\u7edf\u5b58\u5728\u4e0e\u8d1f\u8f7dR<\/span>\uff08\u672a\u77e5\u5916\u6270\uff09<\/span>\u6709\u5173\u7684\u7a33\u6001\u504f\u5dee\u3002
<\/span><\/p>\n


<\/p>\n

19\u4e16\u7eaa\u7684\u524d70\u5e74\uff0c\u5927\u91cf\u7684\u5de5\u4f5c\u56f4\u7ed5\u6539\u8fdb\u8c03\u901f\u5668\u5c55\u5f00\uff0c\u5f88\u591a\u79d1\u5b66\u5bb6\u9700\u8981\u91c7\u7528\u6027\u80fd\u66f4\u597d\u7684\u8c03\u901f\u5668\u6765\u5f00\u5c55\u5404\u81ea\u9886\u57df\u7684\u7814\u7a76\u5de5\u4f5c\uff0c\u4e16\u754c\u5404\u5730\u51fa\u73b0\u4e86\u5927\u91cf\u8c03\u901f\u5668\u65b9\u9762\u7684\u4e13\u5229\u3002\u6bd4\u5982\u56fe18\u6240\u793aFleeming Jenkin\u8bbe\u8ba1\u7684\u8c03\u901f\u5668[7]\uff0c\u5728\u8fd9\u4e2a\u8bbe\u8ba1\u4e2d\uff0c\u7cfb\u7edf\u5e73\u8861\u70b9\u4e0d\u518d\u53d7\u8d1f\u8f7d\u5916\u6270R\u7684\u5f71\u54cd\uff0c\u4f46\u5374\u9047\u5230\u4e86\u7a33\u5b9a\u6027\u95ee\u9898\u300219\u4e16\u7eaa\u65e9\u671f\u51fa\u73b0\u4e86\u5173\u4e8e\u8c03\u901f\u5668\u201chunting<\/span>\uff08\u6765\u56de\u6446\u52a8\uff0c\u5373\u4e0d\u7a33\u5b9a\uff09<\/span>\u201d\u884c\u4e3a\u7684\u62a5\u544a\uff0c\u4eba\u4eec\u5f00\u59cb\u52aa\u529b\u5206\u6790\u8c03\u901f\u5668\u52a8\u6001\u7279\u6027\uff0c\u5bfb\u627e\u7a33\u5b9a<\/span>\uff08non-hunting\uff09<\/span>\u7684\u6761\u4ef6[1]\u3002<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe18. Fleeming Jenkin\u8bbe\u8ba1\u7684\u8c03\u901f\u5668[7]<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

\u74e6\u7279\u662f\u4f01\u4e1a\u5bb6\uff0c\u5e76\u6ca1\u6709\u4ece\u4e8b\u8c03\u901f\u5668\u7684\u7406\u8bba\u5206\u6790\u3002[6][9]\u4ecb\u7ecd\u4e86\u4ece1673\u5e74\u60e0\u66f4\u65af\uff0c\u80e1\u514b\u76f4\u52301868\u5e74\u9ea6\u514b\u65af\u97e6<\/span>\uff08James Clerk Maxwell\uff0c1831-1879\uff09<\/span>\u4e00\u6bb5\u65f6\u671f\u63a7\u5236\u7406\u8bba\u7684\u65e9\u671f\u53d1\u5c55\uff0c\u5176\u4e2d\u5bf9G.B.Airy<\/span> (1801-1892\uff0c\u5251\u6865\u5927\u5b66\u6570\u5b66\u53ca\u5929\u6587\u5b66\u6559\u6388\uff09<\/span>\u5728\u8c03\u901f\u5668\u7a33\u5b9a\u6027\u5206\u6790\u65b9\u9762\u6240\u505a\u7684\u8d21\u732e\u7ed9\u4e88\u4e86\u7279\u522b\u7684\u8bc4\u4ef7\u3002Airy\u5173\u6ce8\u8c03\u901f\u5668\u7684\u901f\u5ea6\u63a7\u5236\u95ee\u9898\uff0c\u662f\u56e0\u4e3a\u4ed6\u9700\u8981\u91c7\u7528\u8c03\u901f\u5668\u63a7\u5236\u671b\u8fdc\u955c\u4ee5\u4e0e\u5730\u7403\u65cb\u8f6c\u76f8\u53cd\u65b9\u5411\u505a\u8865\u507f\u5730\u901f\u7684\u8fd0\u52a8\uff0c\u4ee5\u4fbf\u957f\u65f6\u95f4\u89c2\u5bdf\u67d0\u4e00\u661f\u5ea7[7]\u3002\u4ed6\u4f7f\u7528\u8c03\u901f\u5668\u65f6\u53d1\u73b0\u5176\u53ef\u80fd\u6709\u7684\u4e0d\u7a33\u5b9a\u8fd0\u52a8\uff1a\u201cThe machine<\/span>\uff08If I may so express myself\uff09<\/span>became perfectly wild\u201d<\/span> (Fuller\u5f15\u7528Airy\u76841840\u5e74\u8bba\u6587\u6240\u8ff0[6]\uff09<\/span>\uff0c\u5e76\u91c7\u7528\u5fae\u5206\u65b9\u7a0b\u7684\u5de5\u5177\u5bf9\u6b64\u8fdb\u884c\u5206\u6790\u3002Fuller\u8ba4\u4e3aAiry\u7684\u7814\u7a76\u5bf9\u63a7\u5236\u7406\u8bba\u7684\u8d21\u732e\u5728\u4e8e\u5f15\u8d77\u5bf9\u63a7\u5236\u7cfb\u7edf\u4e2d\u4e0d\u7a33\u5b9a\u73b0\u8c61\u7684\u5173\u6ce8\u3001\u63d0\u793a\u4e0d\u7a33\u5b9a\u95ee\u9898\u53ef\u4ee5\u901a\u8fc7\u7cfb\u7edf\u7684\u5fae\u5206\u65b9\u7a0b\u6a21\u578b\u6765\u8bf4\u660e\uff0c\u662f\u52a8\u6001\u63a7\u5236\u7cfb\u7edf\u7814\u7a76\u7684\u5f00\u7aef\u3002\u4f46\u7531\u4e8e\u4ed6\u7684\u8bba\u6587\u5199\u5f97\u975e\u5e38\u7b80\u7565\uff0c\u4e0d\u80fd\u5224\u65ad\u4ed6\u5f53\u65f6\u662f\u5426\u5f97\u5230\u4e86\u7a33\u5b9a\u6027\u6761\u4ef6[6]\u3002
<\/span><\/p>\n


<\/p>\n

\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n
\u4eba\u4eec\u5bf9\u5b87\u5b99\u7684\u63a2\u7d22\u5bf9\u63a7\u5236\u7406\u8bba\u7684\u53d1\u5c55\u8d77\u8fc7\u5f88\u5927\u7684\u63a8\u52a8\u4f5c\u7528\uff0c\u751a\u81f3\u65e9\u4e8e\u725b\u987f\u8fd0\u52a8\u5b9a\u5f8b\u7684\u53d1\u8868\uff0c\u5929\u6587\u5b66\u5bb6\u662f\u7b2c\u4e00\u6279\u7740\u624b\u89e3\u51b3\u52a8\u6001\u7cfb\u7edf\u7a33\u5b9a\u6027\u95ee\u9898\u7684\u4eba\u5458\uff0c\u56e0\u4e3a\u4ed6\u4eec\u9700\u8981\u7cbe\u786e\u63a7\u5236\u5927\u578b\u671b\u8fdc\u955c\u7684\u8fd0\u52a8\uff0c\u800c\u4e14\u4ed6\u4eec\u719f\u6089\u592a\u9633\u7cfb\u4e2d\u5929\u4f53\u8fd0\u52a8\u7684\u7a33\u5b9a\u6027\u95ee\u9898[6]\u30021893\u5e74\uff0c\u4fc4\u7f57\u65af\u6570\u5b66\u5bb6A.M. Lyapunov\u53d1\u8868\u4e86\u4ed6\u8457\u540d\u7684\u5173\u4e8e\u52a8\u6001\u7cfb\u7edf\u7a33\u5b9a\u6027\u7684\u535a\u58eb\u8bba\u6587\uff0c\u5efa\u7acb\u4e86\u975e\u7ebf\u6027\u65f6\u53d8\u7cfb\u7edf\u5e38\u5fae\u5206\u65b9\u7a0b\u7406\u8bba\uff0c\u8fd9\u4e2a\u7814\u7a76\u7684\u51fa\u53d1\u70b9\u4e5f\u662f\u4e3a\u4e86\u7814\u7a76\u5929\u4f53\u8fd0\u52a8\u7684\u7a33\u5b9a\u6027\u95ee\u9898[38]\u3002\u73b0\u4ee3\u822a\u5929\u5de5\u7a0b\u7684\u53d1\u5c55\u66f4\u662f\u6781\u5927\u5730\u63a8\u52a8\u4e86\u63a7\u5236\u7406\u8bba\u7684\u53d1\u5c55[1]\u3002<\/span><\/section>\n
 <\/span><\/section>\n
\u56fe19\u3001\u56fe20\u53ef\u4ee5\u8bf4\u660e\u4e3a\u4ec0\u4e48\u5982\u679c\u60f3\u957f\u65f6\u95f4\u89c2\u5bdf\u67d0\u4e00\u661f\u5ea7\uff0c\u9700\u8981\u63a7\u5236\u671b\u8fdc\u955c\u505a\u4e0e\u5730\u7403\u65cb\u8f6c\u65b9\u5411\u76f8\u53cd\u7684\u8865\u507f\u5730\u901f\u7684\u8fd0\u52a8\u3002\u56fe19\u4e3a\u5c06\u76f8\u673a\u5bf9\u51c6\u5929\u7a7a\u56fa\u5b9a\u4e0d\u52a8\u957f\u65f6\u95f4\u4e0d\u65ad\u62cd\u6444\u83b7\u5f97\u7684\u7167\u7247\u53e0\u52a0\u51fa\u7684\u661f\u8f68\u56fe\u7247\uff0c\u53ef\u4ee5\u770b\u51fa\u5730\u7403\u8fd0\u52a8\u5bf9\u89c2\u661f\u7684\u5f71\u54cd\uff0c\u56fe20\u5219\u662f\u7528\u8d64\u9053\u4eea\u7cbe\u786e\u63a7\u5236\u76f8\u673a\u4ee5\u4e0e\u5730\u7403\u8f6c\u52a8\u76f8\u53cd\u65b9\u5411\u4ee5\u5730\u901f\u8f6c\u52a8\u5e76\u957f\u65f6\u95f4\u4e0d\u65ad\u62cd\u6444\uff0c\u7136\u540e\u5c06\u7167\u7247\u8fdb\u884c\u53e0\u52a0\uff0c\u5219\u53ef\u5448\u73b0\u51fa\u8089\u773c\u5f88\u96be\u770b\u5230\u7684\u7f8e\u4e3d\u7684\u4ed9\u5973\u5ea7\u5927\u661f\u7cfb\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe19. \u76f8\u673a\u5bf9\u51c6\u5929\u7a7a\u56fa\u5b9a\u4e0d\u52a8\u957f\u65f6\u95f4\u4e0d\u65ad\u62cd\u6444\u7684\u7167\u7247\u53e0\u52a0\u51fa\u7684\u661f\u8f68\u56fe\u7247<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe20. \u8d64\u9053\u4eea\u7cbe\u786e\u63a7\u5236\u76f8\u673a\u4ee5\u4e0e\u5730\u7403\u8f6c\u52a8\u65b9\u5411\u76f8\u53cd\u4ee5\u5730\u901f\u8f6c\u52a8\u5e76\u957f\u65f6\u95f4\u4e0d\u65ad\u62cd\u6444\uff0c\u7136\u540e\u5c06\u7167\u7247\u8fdb\u884c\u53e0\u52a0\uff0c\u5219\u53ef\u5448\u73b0\u51fa\u8089\u773c\u5f88\u96be\u770b\u5230\u7684\u4ed9\u5973\u5ea7\u5927\u661f\u7cfb<\/span><\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/p>\n


<\/p>\n

\n
\n
\n
\n
\n

<\/section>\n

<\/section>\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n
\n

4. \u53cd\u9988\u7cfb\u7edf\u7a33\u5b9a\u6027\u7684\u7406\u8bba\u7814\u7a76\uff1a<\/strong><\/span><\/strong><\/strong><\/p>\n

\u9ea6\u514b\u65af\u97e6\u300a\u8bba\u8c03\u901f\u5668\u300b\u3001Routh-Hurwitz \u5224\u636e<\/strong><\/span><\/strong><\/strong><\/span><\/p>\n<\/section>\n

\n

<\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n<\/section>\n

\n

1868\u5e74\uff0c\u9ea6\u514b\u65af\u97e6\u7684\u8bba\u6587\u300a\u8bba\u8c03\u901f\u5668\u300b<\/span>\uff08On Governor<\/em>\uff09<\/span>\u7cfb\u7edf\u5730\u5206\u6790\u4e86\u51e0\u7c7b\u8c03\u901f\u5668\u540c\u65f6\u7ed9\u51fa\u4e86\u7a33\u5b9a\u6027\u6761\u4ef6[10]\uff0c\u88ab\u8ba4\u4e3a\u662f\u7b2c\u4e00\u4e2a\u7cfb\u7edf\u5730\u5206\u6790\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u7684\u7406\u8bba\u7814\u7a76[9]\u3002
<\/span><\/p>\n


<\/p>\n

\u4e0a\u9762\u901a\u8fc7\u65b9\u7a0b(1)\uff5e(2)\u5206\u6790\u74e6\u7279\u8c03\u901f\u5668\u5b58\u5728\u7a33\u6001\u504f\u5dee\u7684\u8ba8\u8bba\u5c31\u6765\u81ea\u9ea6\u514b\u65af\u97e6\u7684\u8bba\u6587[10]\uff0c\u5e76\u8fdb\u800c\u5bf9Fleeming Jenkin\u8c03\u901f\u5668\u7684\u52a8\u6001\u8fdb\u884c\u4e86\u5982\u4e0b\u5efa\u6a21\uff1a<\/span><\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n<\/section>\n

\n

\u5176\u4e2dP\uff0cR\uff0cV\uff0cF\uff0c\u7684\u5b9a\u4e49\u540c\uff081\uff09\uff0cG,Y\u4ea6\u4e3a\u589e\u76ca\u7cfb\u6570\uff0cW\u4e3a\u91cd\u7269\u4ea7\u751f\u7684\u529b\u77e9\uff0cy\u4e3a\u91cd\u7269\u7684\u8fd0\u52a8\u3002\u7a33\u6001\u65f6\uff0c\u8c03\u901f\u5668\u7684\u901f\u5ea6\u4e3a\uff1a<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n

\u8bf4\u660e\u7cfb\u7edf\u7684\u7a33\u6001\u503c\u4e0e\u8d1f\u8f7dR<\/span>\uff08\u672a\u77e5\u5916\u6270\uff09<\/span>\u65e0\u5173\u3002\u4f46\u7cfb\u7edf\u7684\u7a33\u5b9a\u662f\u6709\u6761\u4ef6\u7684\uff0c\u53ea\u6709\u5f53<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n

\u5373\u7cfb\u7edf\uff083\uff09\u7684\u7279\u5f81\u65b9\u7a0b
<\/span><\/p>\n


<\/span><\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n

\u7684\u6839\u90fd\u5177\u6709\u8d1f\u5b9e\u90e8\u65f6\uff0c\u7cfb\u7edf\u624d\u80fd\u5230\u8fbe\u7a33\u6001\u3002<\/span><\/p>\n


<\/p>\n

Fuller\u8ba4\u4e3a\u9ea6\u514b\u65af\u97e6\u8fd9\u7bc7\u8bba\u6587\u7684\u4e3b\u8981\u8d21\u732e\u662f[9]\uff1a
<\/span><\/p>\n


<\/p>\n

1. \u7cfb\u7edf\u5730\u7814\u7a76\u52a8\u6001\u63a7\u5236\u7cfb\u7edf\u7684\u7b2c\u4e00\u7bc7\u8bba\u6587\uff1b<\/span><\/p>\n


<\/p>\n

2. \u91c7\u7528\u4e86\u7ebf\u6027\u5316\u6280\u672f\u7814\u7a76\u8fd0\u52a8\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\uff0c\u4ece\u800c\u901a\u8fc7\u7279\u5f81\u65b9\u7a0b\u5224\u65ad\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\uff0c\u5f97\u5230\u4e86\u4e09\u9636\u7cfb\u7edf\u7279\u5f81\u65b9\u7a0b\u7a33\u5b9a\u7684\u5224\u636e\uff1b<\/span><\/p>\n


<\/p>\n

3. \u6587\u4e2d\u4f8b\u5b50\u8bf4\u660e\u53ef\u4ee5\u8bbe\u8ba1\u63a7\u5236\u5668\u65e2\u6d88\u9664\u504f\u5dee\u53c8\u4e0d\u81f4\u5f15\u8d77\u4e0d\u7a33\u5b9a\uff1b<\/span><\/p>\n


<\/p>\n

4. \u63d0\u51fa\u4e86\u5bfb\u627e\u9ad8\u9636\u7cfb\u7edf\u7a33\u5b9a\u6027\u5224\u636e\u7684\u95ee\u9898\u3002<\/span><\/p>\n


<\/span><\/p>\n

1948\u5e74\u7ef4\u7eb3<\/span>\uff08Norbert Wiener\uff0c1894-1964\uff09<\/span>\u4e3a\u4ed6\u7684\u5b66\u8bf4\u53d6\u540d\u63a7\u5236\u8bba<\/span>\uff08Cybernetics\uff09<\/span>\u5c31\u662f\u4e3a\u4e86\u5411\u9ea6\u514b\u65af\u97e6\u7684On Governor<\/em>\u8bba\u6587\u81f4\u656c\uff0c\u56e0\u4e3aCybernetics\u548cGovernor\u7684\u5e0c\u814a\u6587\u540c\u6e90[11]<\/span>\uff08\u89c1\u56fe21\uff09<\/span>\u3002<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n
\u56fe21. 1948\u5e74\u7ef4\u7eb3\u4e3a\u4ed6\u7684\u5b66\u8bf4\u53d6\u540dCybernetics\u5c31\u662f\u4e3a\u4e86\u5411\u9ea6\u514b\u65af\u97e6\u7684 On Governor \u8bba\u6587\u81f4\u656c[11]<\/span><\/section>\n<\/section>\n
\n


<\/p>\n<\/section>\n

\n
\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n

\u5f53\u5e74\u6211\u7b2c\u4e00\u6b21\u4e86\u89e3\u5230\u7b2c\u4e00\u7bc7\u7cfb\u7edf\u5206\u6790\u53cd\u9988\u63a7\u5236\u7cfb\u7edf\u7684\u8bba\u6587\u4f5c\u8005\u662f\u9ea6\u514b\u65af\u97e6\u65f6\u6709\u70b9\u88ab\u60ca\u5230\u4e86\uff0c\u8fd9\u4e2a\u9ea6\u514b\u65af\u97e6\u662f\u90a3\u4e2a\u63d0\u51fa\u8457\u540d\u7684\u7535\u78c1\u9ea6\u514b\u65af\u97e6\u65b9\u7a0b\u7684\u5927\u7269\u7406\u5b66\u5bb6\u9ea6\u514b\u65af\u97e6\u5417\uff1f\u8fdb\u800c\u597d\u5947\u4ed6\u600e\u4e48\u4f1a\u8dd1\u6765\u7814\u7a76\u63a7\u5236\u95ee\u9898\u7684\uff1f\u597d\u50cf\u662f\u6765\u8de8\u754c\u6253\u9171\u6cb9\u7684\uff0c\u8fd8\u7adf\u7136\u4e00\u4e0b\u5c31\u505a\u51fa\u4e2a\u5f00\u521b\u6027\u7684\u5de5\u4f5c\uff0c\u5f04\u4e86\u4e2a\u7b2c\u4e00\u3002\u6839\u636eMayr\u4ecb\u7ecd\uff0c\u5728\u84b8\u6c7d\u673a\u65f6\u4ee3\uff0c\u8c03\u901f\u5668\u7684\u7cbe\u5ea6\u548c\u7a33\u5b9a\u6027\u95ee\u9898\u662f\u4e00\u4e2a\u65f6\u9ae6\u7684\u95ee\u9898\uff0c\u56f0\u6270\u4e86\u5f53\u65f6\u7684\u5f88\u591a\u79d1\u5b66\u5bb6\u548c\u53d1\u660e\u5bb6[11]\uff0c\u597d\u50cf\u9ea6\u514b\u65af\u97e6\u505a\u8fd9\u4e2a\u7814\u7a76\u53ea\u662f\u8ffd\u9010\u4e86\u4e00\u4e0b\u70ed\u70b9\u3002\u4f46\u6211\u89c9\u5f97\u53e6\u5916\u51e0\u4e2a\u539f\u56e0\u66f4\u987a\u7406\u6210\u7ae0\uff1a1863\u5e74\uff0c\u4f5c\u4e3a\u82f1\u56fd\u79d1\u5b66\u4fc3\u8fdb\u534f\u4f1a\u7535\u6c14\u6807\u51c6\u59d4\u5458\u4f1a\uff08British Association for the Advancement of Science Committee on Electrical Standards\uff09\u7684\u6210\u5458\uff0c\u9ea6\u514b\u65af\u97e6\u548cH.C. Fleeming Jenkin\u4e00\u8d77\u8fdb\u884c\u4e86\u786e\u5b9a\u7535\u5b66\u6807\u51c6\u7684\u5b9e\u9a8c\u5de5\u4f5c\uff0c\u5b9e\u9a8c\u4e2d\u9700\u8981\u63a7\u5236\u5176\u4e2d\u7684\u4e00\u4e2a\u5706\u5f62\u7ebf\u5708\u4ee5\u5300\u901f\u8f6c\u52a8\uff0c\u5c31\u7528\u5230\u4e86FleemingJenkin\u8bbe\u8ba1\u7684\u8c03\u901f\u5668\uff0c\u9ea6\u514b\u65af\u97e6\u5bf9\u6b64\u5370\u8c61\u6df1\u523b[7]\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u66f4\u65e9\u7684\u65f6\u5019\uff0c1857\u5e74\uff0c\u9ea6\u514b\u65af\u97e6\u66fe\u4ee5\u201cOn the Stability of the Motion of Saturn’s Rings\u201d\u83b7\u5f97\u8fc7Adams Prize\uff0c\u4ed6\u901a\u8fc7\u628a\u571f\u661f\u73af\u7684\u5fae\u5206\u65b9\u7a0b\u7ebf\u6027\u5316\uff0c\u5f97\u5230\u4e00\u4e2a4\u9636\u7279\u5f81\u65b9\u7a0b\uff0c\u4ece\u800c\u53ef\u4ee5\u5206\u6790\u5176\u7a33\u5b9a\u6027\u3002\u6240\u4ee5\u4ed6\u5bf9\u7a33\u5b9a\u6027\u95ee\u9898\u65e2\u6709\u77e5\u8bc6\u50a8\u5907\u548c\u79ef\u7d2f\uff0c\u53c8\u5bf9\u8c03\u901f\u5668\u6709\u76f4\u63a5\u7684\u4e86\u89e3[9]\u3002<\/span><\/p>\n<\/section>\n<\/section>\n

\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/p>\n

\u9ea6\u514b\u65af\u97e6\u6ca1\u6709\u8fdb\u4e00\u6b65\u5f97\u5230\u66f4\u9ad8\u9636\u7279\u5f81\u65b9\u7a0b\u7684\u6839\u90fd\u5177\u6709\u8d1f\u5b9e\u90e8\u7684\u5145\u8981\u6761\u4ef6\uff0c\u4ed6\u66f4\u5927\u7684\u5174\u8da3\u8fd8\u662f\u5728\u7535\u78c1\u5b66\u65b9\u9762\uff0cFuller\u751a\u81f3\u8ba4\u4e3a\u9ea6\u514b\u65af\u97e6\u5199On Governor<\/em>\u8fd9\u7bc7\u8bba\u6587\u5c31\u662f\u4e3a\u4e86\u53ef\u4ee5\u8ba9\u81ea\u5df1\u4ece\u63a7\u5236\u95ee\u9898\u4e2d\u8131\u8eab\uff0c\u4ece\u800c\u4e13\u5fc3\u4e8e\u7535\u78c1\u5b66\u7684\u5de5\u4f5c[9]\u3002\u4f46\u4ed6\u628a\u786e\u5b9a\u9ad8\u9636\u7279\u5f81\u65b9\u7a0b\u7684\u6839\u90fd\u5177\u6709\u8d1f\u5b9e\u90e8\u7684\u5145\u8981\u6761\u4ef6\u8fd9\u4e00\u95ee\u9898\u660e\u786e\u5730\u63d0\u4e86\u51fa\u6765\uff0c\u5e0c\u671b\u5f97\u5230\u6570\u5b66\u5bb6\u7684\u5173\u6ce8\u3002\u5728\u79d1\u5b66\u7684\u53d1\u5c55\u4e2d\uff0c\u51c6\u786e\u5730\u63d0\u51fa\u95ee\u9898\u548c\u89e3\u51b3\u95ee\u9898\u540c\u6837\u91cd\u8981\u3002<\/span><\/p>\n


<\/p>\n

\u9ea6\u514b\u65af\u97e6\u63d0\u51fa\u7684\u95ee\u9898\u88ab\u4ed6\u5251\u6865\u5927\u5b66\u4e09\u4e00\u5b66\u9662\u7684\u6821\u53cb\u52b3\u65af<\/span>\uff08E.J. Routh\uff0c1831-1907\uff0c\u82f1\u56fd\u6570\u5b66\u5bb6\uff09<\/span>\u89e3\u51b3\u4e86<\/span> (1854\u5e74\uff0c\u52b3\u65af\u4e0e\u9ea6\u514b\u65af\u97e6\u4ee5\u7b2c\u4e00\u548c\u7b2c\u4e8c\u7684\u6210\u7ee9\u6bd5\u4e1a\u4e8e\u5251\u6865\u4e09\u4e00\u5b66\u9662[7]\uff09<\/span>\u3002<\/span><\/p>\n


<\/p>\n

1877\u5e74\uff0c\u52b3\u65af\u5f97\u5230\u7279\u5f81\u65b9\u7a0b\u6240\u6709\u6839\u90fd\u6709\u8d1f\u5b9e\u90e8\u7684\u591a\u9879\u5f0f\u7cfb\u6570\u6761\u4ef6\uff0cAdolf Hurwitz <\/span>(1859-1919\uff0c\u5fb7\u56fd\u548c\u745e\u58eb\u6570\u5b66\u5bb6) <\/span>1895\u5e74\u4e5f\u72ec\u7acb\u5730\u63a8\u51fa\u4e86\u8fd9\u4e2a\u5224\u636e\uff0c\u56e0\u800c\u5b83\u88ab\u79f0\u4e3a Routh-Hurwitz \u5224\u636e\u3002<\/span><\/p>\n


<\/p>\n

1877\u5e74 Adams Prize<\/span>\uff08\u9ea6\u514b\u65af\u97e6\u4e3a\u8bc4\u5956\u59d4\u5458\u4f1a\u59d4\u5458\uff09<\/span>\u7684\u4e3b\u9898\u662f\u52a8\u6001\u7a33\u5b9a\u6027\u7684\u5224\u636e<\/span>\uff08the criterion of dynamical stability\uff09<\/span>\uff0c\u52b3\u65af\u83b7\u5f97\u4e86\u6b64\u5956\uff0c\u4ed6\u89e3\u51b3\u4e86\u9ea6\u514b\u65af\u97e6\u63d0\u51fa\u7684\u5224\u65ad\u6240\u6709\u6839\u90fd\u6709\u8d1f\u5b9e\u90e8\u7684\u591a\u9879\u5f0f\u7cfb\u6570\u6761\u4ef6[12]\u3002<\/span><\/p>\n


<\/p>\n

\u5f53\u65f6\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u7684\u4ee3\u6570\u5de5\u5177\u5df2\u7ecf\u88abAugustin-Louis Cauchy\uff0cCharles Sturm\u548cC.Hermite\u7b49\u4eba\u5efa\u7acb\u8d77\u6765\uff0cRouth\u7efc\u5408\u8fd0\u7528\u8fd9\u4e9b\u7ed3\u679c\u5f97\u5230\u4e86\u52a8\u6001\u7cfb\u7edf\u7a33\u5b9a\u6027\u7406\u8bba[12,13]\u3002<\/span><\/p>\n


<\/p>\n

\u867d\u7136\u9ea6\u514b\u65af\u97e6\u548c\u52b3\u65af\u5bf9\u8c03\u901f\u5668\u7a33\u5b9a\u6027\u5206\u6790\u7684\u7ed3\u679c\u53ef\u80fd\u5e76\u6ca1\u6709\u5bf9\u5177\u4f53\u6539\u8fdb\u79bb\u5fc3\u529b\u8c03\u901f\u5668\u7684\u8bbe\u8ba1\u8d77\u5230\u76f4\u63a5\u4f5c\u7528[11,14]\uff0c\u4f46\u5bf9\u63a7\u5236\u79d1\u5b66\u6709\u5f88\u5927\u8d21\u732e\uff0c\u7ebf\u6027\u5316\u6280\u672f\u4e0e\u7279\u5f81\u65b9\u7a0b\u5206\u6790\u81f3\u4eca\u4ecd\u662f\u63a7\u5236\u7cfb\u7edf\u7a33\u5b9a\u6027\u5206\u6790\u7684\u4e00\u4e2a\u91cd\u8981\u624b\u6bb5\u3002<\/span><\/p>\n


<\/p>\n


<\/p>\n

\n
\n
\n
\n
\n

<\/section>\n

<\/section>\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n
\n

5. \u53cd\u9988\u63a7\u5236\u5668\u7684\u5927\u91cf\u5e94\u7528\uff1a<\/strong><\/span><\/strong><\/strong><\/p>\n

\u8239\u7684\u81ea\u52a8\u9a7e\u9a76\u4eea\u3001PID\u63a7\u5236\u5668\u3001<\/strong><\/span><\/strong><\/strong><\/span><\/p>\n

\u9891\u57df\u65b9\u6cd5\u3001\u9632\u7a7a\u63a7\u5236\u3001\u7ecf\u5178\u63a7\u5236\u7406\u8bba\u7b49<\/strong><\/span><\/strong><\/strong><\/span><\/p>\n<\/section>\n

\n

<\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n

19\u4e16\u7eaa\u540e\u534a\u53f6\u81f320\u4e16\u7eaa\u521d\uff0c\u53cd\u9988\u63a7\u5236\u5668\u88ab\u5927\u91cf\u5e94\u7528\uff0c\u5305\u62ec\u7535\u538b\u3001\u7535\u6d41\u4e0e\u9891\u7387\u7684\u8c03\u8282\u3001\u84b8\u6c7d\u53d1\u7535\u4e2d\u7684\u9505\u7089\u63a7\u5236\u3001\u7535\u673a\u7684\u901f\u5ea6\u63a7\u5236\u3001\u8239\u4e0e\u98de\u884c\u5668\u7684\u9a7e\u9a76\u4e0e\u9547\u5b9a\u3001\u8fc7\u7a0b\u5de5\u4e1a\u4e2d\u7684\u6e29\u5ea6\u3001\u538b\u529b\u4e0e\u6d41\u91cf\u63a7\u5236\u7b49\u7b49[1]\u3002\u968f\u7740\u63a7\u5236\u7cfb\u7edf\u7528\u4e8e\u8bb8\u591a\u4e0d\u540c\u7684\u5de5\u7a0b\u9886\u57df\uff0c\u7279\u522b\u662f\u4e00\u4e9b\u590d\u6742\u7684\u673a\u68b0\u88c5\u7f6e\uff0c\u5982\u8239\u7684\u81ea\u52a8\u8f6c\u5411\u88c5\u7f6e\u548c\u9505\u7089\u63a7\u5236<\/span>\uff08\u6d89\u53ca\u6db2\u9762\u3001\u6c7d\u538b\u7b49\u591a\u53d8\u91cf\u63a7\u5236\u95ee\u9898\uff09<\/span>\uff0c\u63a7\u5236\u8bbe\u8ba1\u95ee\u9898\u53d8\u5f97\u7a81\u51fa\u8d77\u6765\uff0c\u8fd9\u65f6\u5b58\u5728\u7684\u4e3b\u8981\u95ee\u9898\u6709\uff1a\u7f3a\u4e4f\u901a\u7528\u8bed\u8a00\u6765\u4ece\u7406\u8bba\u4e0a\u7406\u89e3\u52a8\u6001\u7cfb\u7edf\u7684\u63a7\u5236\u95ee\u9898\uff0c\u7f3a\u4e4f\u7b80\u5355\u7684\u3001\u5bb9\u6613\u8fd0\u7528\u7684\u5206\u6790\u4e0e\u8bbe\u8ba1\u65b9\u6cd5\u3002\u552f\u4e00\u53ef\u7528\u7684\u5206\u6790\u5de5\u5177\u4f3c\u4e4e\u53ea\u662f\u5fae\u5206\u65b9\u7a0b\u548c\u5f53\u65f6\u8fd8\u4e0d\u592a\u5e7f\u4e3a\u4eba\u77e5\u7684Routh-Hurwitz\u7a33\u5b9a\u6027\u5224\u636e\uff0c\u4f46\u5e94\u7528\u8fd9\u4e2a\u5224\u636e\u9700\u8981\u83b7\u53d6\u7cfb\u7edf\u53c2\u6570\u503c\uff0c\u800c\u4e14\u96be\u4ee5\u5177\u4f53\u6307\u5bfc\u5982\u4f55\u8bbe\u8ba1\u51fa\u4f7f\u7cfb\u7edf\u7a33\u5b9a\u7684\u63a7\u5236\u5668[1]\u3002<\/span>
<\/p>\n


<\/p>\n

\u4e00\u4e9b\u806a\u660e\u7684\u5de5\u7a0b\u5e08\u5982Elmer Sperry<\/span> (1860-1930\uff0c\u7f8e\u56fd\u53d1\u660e\u5bb6\u3001\u4f01\u4e1a\u5bb6\uff09<\/span>\u654f\u9510\u5730\u6ce8\u610f\u5230\u4eba\u8fdb\u884c\u63a7\u5236\u8c03\u6574\u65f6\u4e0d\u662f\u7b80\u5355\u5730\u91c7\u7528\u5f00\u5173\u63a7\u5236<\/span>\uff08On-off Approach\uff09<\/span>\uff0c\u800c\u662f\u7efc\u5408\u8fd0\u7528\u4e86\u9884\u6d4b\u3001\u5f53\u88ab\u63a7\u91cf\u63a5\u8fd1\u76ee\u6807\u503c\u65f6\u64a4\u51fa\u63a7\u5236\u3001\u4ee5\u53ca\u5f53\u5b58\u5728\u6301\u7eed\u7684\u504f\u5dee\u65f6\u8fdb\u884c\u5c0f\u5e45\u5ea6\u7684\u6162\u6162\u8c03\u8282\u7b49\u65b9\u6cd5\uff0c\u4e8e1911\u5e74\u8bbe\u8ba1\u51fa\u7684\u91c7\u7528\u8f83\u4e3a\u590d\u6742\u63a7\u5236\u5f8b\u2014\u2014PID\u63a7\u5236\u7ed3\u5408\u81ea\u52a8\u589e\u76ca\u8c03\u6574\u2014\u2014\u7684\u8239\u8236\u81ea\u52a8\u9a7e\u9a76\u4eea[1]\uff0c\u88ab\u8ba4\u4e3a\u662f\u6700\u65e9\u53d1\u660e\u7684PID\u63a7\u5236\u5668\u3002<\/span><\/p>\n


<\/p>\n

1922\u5e74\uff0cNicholas Minorsky<\/span>\uff081885-1970\uff0c\u4fc4\u56fd\u548c\u7f8e\u56fd\u5de5\u7a0b\u5e08\uff0c\u5e94\u7528\u79d1\u5b66\u5bb6\uff09<\/span>\u4ece\u7406\u8bba\u4e0a\u6e05\u6670\u5730\u5206\u6790\u4e86\u8239\u5728\u5e38\u503c\u6270\u52a8\u4e0b\u7684\u81ea\u52a8\u9a7e\u9a76\u95ee\u9898\uff0c\u63a8\u5bfc\u51fa\u4e86PID\u63a7\u5236\u5668\u5f62\u5f0f[1,15]\u3002<\/span><\/p>\n


<\/p>\n

Minorsky\u5c06\u8239\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u65b9\u5411\u7a33\u5b9a\u6027\u95ee\u9898\u7528\u5982\u4e0b\u52a8\u6001\u6a21\u578b\u63cf\u8ff0[15,45]\uff1a<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n

\u5176\u4e2d\u03b1\u4e3a\u8239\u8236\u4e0e\u6307\u5b9a\u822a\u7ebf\u95f4\u7684\u504f\u5dee\u89d2\uff0cA\u548cB\u5206\u522b\u4e3a\u8f6c\u52a8\u60ef\u91cf\u548c\u963b\u529b\u529b\u77e9\u7cfb\u6570\uff0cD\u4e3a\u5e38\u503c\u6270\u52a8\u529b\u77e9\uff0c\u03c1\u4e3a\u8235\u8f6c\u89d2\uff0c\u662f\u53ef\u4ee5\u8bbe\u8ba1\u7684\u63a7\u5236\u91cf\uff0ck\u4e3a\u8235\u589e\u76ca\u7cfb\u6570\u3002\u56e0\u4e3a\u822a\u5411\u5373\u4f7f\u5b58\u5728\u5f88\u5c0f\u7684\u7a33\u6001\u8bef\u5dee\uff0c\u4e5f\u4f1a\u9020\u6210\u201c\u5931\u4e4b\u6beb\u5398\u8c2c\u4e4b\u5343\u91cc\u201d\u7684\u540e\u679c\uff0c\u56e0\u6b64\uff0cMinorsky\u8003\u8651\u7684\u63a7\u5236\u95ee\u9898\u662f\uff1a\u5f53\u5b58\u5728\u5e38\u503c\u6270\u52a8D\u65f6\uff0c\u5982\u4f55\u6539\u53d8\u8235\u8f6c\u89d2\u03c1\u628a\u822a\u5411\u504f\u5dee\u03b1\u63a7\u5236\u5230\u96f6[45]\u3002\u4ed6\u5206\u6790\u4e865\u79cd\u4e0d\u540c\u7684\u63a7\u5236\u7b56\u7565\uff0c\u7136\u540e\u5f97\u51fa\u5f53\u628a\u8235\u7684\u8f6c\u5411\u901f\u5ea6\u6309\u5982\u4e0b\u65b9\u5f0f\uff1a
<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n

\u6539\u53d8\u65f6\uff0c\u53ef\u4ee5\u5728\u5e38\u503c\u6270\u52a8\u4e0b\uff0c\u5c06\u822a\u5411\u504f\u5dee\u03b1\u7a33\u5b9a\u5730\u63a7\u5236\u5230\u96f6\u3002\u800c\uff088\uff09\u6309\u73b0\u5728\u7684\u8868\u8ff0\u5c31\u662f\uff1a
<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n


<\/p>\n

\u5373\u4e3a\u504f\u5dee\u7684Proportional<\/span>\uff08\u6bd4\u4f8b\uff09<\/span>\u2014Integral<\/span>\uff08\u79ef\u5206\uff09<\/span>\u2014Derivative<\/span>\uff08\u5fae\u5206\uff09\uff08PID\uff09<\/span>\u4e09\u9879\u63a7\u5236\u5f8b<\/span>\uff08\u5982\u56fe22\uff09<\/span>\u3002<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe22. Minorsky\u4ece\u7406\u8bba\u4e0a\u5206\u6790\u4e86\u8239\u8236\u81ea\u52a8\u9a7e\u9a76\u95ee\u9898\uff0c\u63a8\u5bfc\u51fa\u4e86PID\u63a7\u5236\u5f62\u5f0f<\/span><\/p>\n


<\/p>\n

\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n
PID\u662f\u8fc4\u4eca\u4e3a\u6b62\u5e94\u7528\u6700\u5e7f\u6cdb\u7684\u4e00\u79cd\u63a7\u5236\u65b9\u6cd5\uff0c\u76ee\u524d95%\u4ee5\u4e0a\u7684\u8fc7\u7a0b\u63a7\u5236\u56de\u8def\u548c90%\u4ee5\u4e0a\u7684\u822a\u7a7a\u822a\u5929\u63a7\u5236\u56de\u8def\u8fd8\u90fd\u662f\u57fa\u4e8ePID\u63a7\u5236\u30022017\u5e74\u56fd\u9645\u81ea\u52a8\u63a7\u5236\u8054\u5408\u4f1a\uff08International Federation of Automatic Control\uff0cIFAC\uff09\u7684\u5de5\u4e1a\u59d4\u5458\u4f1a\u5bf9\u5de5\u4e1a\u6280\u672f\u73b0\u72b6\u8fdb\u884c\u4e86\u8c03\u67e5\uff0c\u5728\u5341\u51e0\u79cd\u63a7\u5236\u65b9\u6cd5\u4e2d\uff0cPID\u4ee5\u767e\u5206\u4e4b\u767e\u597d\u8bc4\uff08\u96f6\u5dee\u8bc4\uff09\u7684\u7edd\u5bf9\u4f18\u52bf\u5c45\u4e8e\u699c\u9996\uff08\u89c1\u56fe23\uff09[16]\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe23. 2017\u5e74IFAC\u5de5\u4e1a\u59d4\u5458\u4f1a\u5bf9\u5de5\u4e1a\u6280\u672f\u73b0\u72b6\u8fdb\u884c\u4e86\u8c03\u67e5\uff0cPID\u4ee5\u7edd\u5bf9\u4f18\u52bf\u5c45\u4e8e\u699c\u9996[16]<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
\u5176\u5b9ePID\u63a7\u5236\u5668\u7684\u7ed3\u6784\u975e\u5e38\u7b80\u5355\uff0c\u5c31\u662f\u7cfb\u7edf\u504f\u5dee\u7684\u201c\u6bd4\u4f8b-\u79ef\u5206-\u5fae\u5206\u201d\u4e09\u9879\u7ebf\u6027\u53cd\u9988\u7ed3\u6784\u4e4b\u548c (\u5982\u56fe24)\uff0c\u800c\u5b9e\u9645\u7cfb\u7edf\u51e0\u4e4e\u90fd\u662f\u975e\u7ebf\u6027\u7684\uff0c\u800c\u4e14\u4e0d\u786e\u5b9a\u6027\u666e\u904d\u5b58\u5728\u4e8e\u5b9e\u9645\u7cfb\u7edf\u7684\u5efa\u6a21\u4e0e\u8fd0\u884c\u4e4b\u4e2d\uff0c\u90a3\u4e48\u7b80\u5355\u7684\u7ebf\u6027\u7ed3\u6784\u7684PID\u63a7\u5236\u4e3a\u4ec0\u4e48\u80fd\u5728\u5b9e\u9645\u4e2d\u5e7f\u6cdb\u5e94\u7528\u4e8e\u975e\u7ebf\u6027\u4e0d\u786e\u5b9a\u7cfb\u7edf\uff0c\u5b83\u7684\u7406\u8bba\u57fa\u7840\u662f\u4ec0\u4e48\uff1f\u53e6\u867d\u7136PID\u53ea\u6709\u4e09\u4e2a\u53c2\u6570\uff0c\u4f46\u81f3\u4ecaPID\u8c03\u53c2\u65b9\u6cd5\u5df2\u6709\u4e0a\u5343\u79cd\uff0c\u90fd\u662f\u7ecf\u9a8c\u516c\u5f0f\uff0c\u800c\u5de5\u7a0b\u754c\u4f9d\u7136\u8ba4\u4e3a\u5b9e\u9645\u4e2d\u7684\u5927\u90e8\u5206PID\u63a7\u5236\u56de\u8def\u5e76\u6ca1\u6709\u8c03\u6574\u5728\u597d\u7684\u5de5\u4f5c\u72b6\u6001[17,18]\uff0c\u90a3\u4e48\u5982\u4f55\u8c03\u6574\u624d\u80fd\u8fbe\u5230\u4ee4\u4eba\u6ee1\u610f\u7684\u6548\u679c\uff1f\u8fd9\u4e9b\u53ef\u4ee5\u8bf4\u662f\u63a7\u5236\u7406\u8bba\u4e2d\u6700\u57fa\u672c\u7684\u95ee\u9898\uff0c\u4e00\u767e\u591a\u5e74\u6765\u4e00\u76f4\u6ca1\u80fd\u4ece\u7406\u8bba\u4e0a\u7ed9\u4ee5\u5f88\u597d\u56de\u7b54\u3002\u8fd9\u4e00\u95ee\u9898\u8fd1\u5e74\u83b7\u5f97\u4e00\u4e9b\u7a81\u7834\u6027\u8fdb\u5c55\uff0c[19][20]\u5bf9PID\u63a7\u5236\u7684\u5e7f\u6cdb\u6027\u7ed9\u51fa\u4e86\u7406\u8bba\u56de\u7b54\uff0c\u800c\u901a\u8fc7\u7814\u7a76\u67d0\u79cd\u81ea\u6297\u6270\u63a7\u5236\uff08Active Disturbance Rejection Control\uff0cADRC\uff091\u7684\u5177\u4f53\u5f62\u5f0f\u4e0ePID\u63a7\u5236\u7684\u5185\u5728\u8054\u7cfb\uff0c\u4e00\u79cd\u53ef\u4f7fPID\u5177\u6709\u81ea\u6297\u6270\u80fd\u529b\u7684\u65b0\u7684\u5b9a\u91cf\u8c03\u53c2\u65b9\u6cd5\u88ab\u8fdb\u4e00\u6b65\u63d0\u51fa\u6765[21]\uff0c\u65b0\u7684PID\u8c03\u53c2\u65b9\u6cd5\u662f\u7531ADRC\u542f\u53d1\u800c\u6765\uff0c\u5e76\u4e0d\u662f\u76f4\u89c2\u5bb9\u6613\u60f3\u5230\u7684\uff0c\u4f46\u5176\u7269\u7406\u529f\u80fd\u5374\u6bd4\u539fPID\u7684\u4e09\u4e2a\u53c2\u6570\u66f4\u660e\u786e\u800c\u6613\u4e8e\u6574\u5b9a\uff08\u5982\u56fe25\uff09\u3002
<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe24. PID\u63a7\u5236\u5668\uff1a\u7cfb\u7edf\u504f\u5dee\u7684\u201c\u6bd4\u4f8b-\u79ef\u5206-\u5fae\u5206\u201d\u7ebf\u6027\u53cd\u9988\u7ed3\u6784<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n

<\/p>\n

\u56fe25. \u81ea\u6297\u6270\u63a7\u5236\u542f\u53d1PID\u8c03\u53c2\u65b0\u65b9\u6cd5<\/span><\/section>\n<\/section>\n
\n
\n
\n
*1. \u81ea\u6297\u6270\u63a7\u5236\u7531\u4e2d\u56fd\u79d1\u5b66\u9662\u7cfb\u7edf\u79d1\u5b66\u7814\u7a76\u6240\u97e9\u4eac\u6e05\u7814\u7a76\u5458\u4e8e20\u4e16\u7eaa\u5e74\u4ee3\u63d0\u51fa\uff0c\u6b63\u5f0f\u53d1\u8868\u4e8e1998\u5e74\uff0c\u4f5c\u4e3a\u5728PID\u63a7\u5236\u57fa\u7840\u4e0a\u7684\u521b\u65b0\uff0c\u5176\u5f3a\u5927\u7684\u9c81\u68d2\u6027\u548c\u7a81\u51fa\u7684\u77ac\u6001\u54cd\u5e94\u6027\u80fd\uff0c\u5438\u5f15\u7740\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\uff0c\u5df2\u53d1\u5c55\u4e3a\u4e00\u79cd\u53ef\u89e3\u51b3\u5177\u6709\u5927\u8303\u56f4\u53ca\u590d\u6742\u7ed3\u6784\u7684\u4e0d\u786e\u5b9a\u7cfb\u7edf\u63a7\u5236\u95ee\u9898\u7684\u6709\u6548\u65b9\u6cd5[22-24]\u3002<\/span><\/section>\n<\/section>\n<\/blockquote>\n<\/section>\n<\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n


<\/p>\n<\/section>\n

\n
\n
\n
\n
\n
\n
20\u4e16\u7eaa20~40\u5e74\u4ee3\uff0c\u63a7\u5236\u7cfb\u7edf\u5206\u6790\u4e0e\u8bbe\u8ba1\u7684\u7814\u7a76\u5728\u4e0d\u540c\u56fd\u5bb6\u7684\u4e0d\u540c\u5c0f\u7ec4\u72ec\u7acb\u8fdb\u884c\uff0c\u5728\u7f8e\u56fd\uff0c\u6700\u6709\u5f71\u54cd\u7684\u51e0\u9879\u5de5\u4f5c\u4e3b\u8981\u6765\u81ea\u4e8e\u4ee5\u4e0b\u51e0\u4e2a\u7fa4\u4f53[1]\u3002<\/span>
<\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n

<\/section>\n
\u7b2c\u4e00\u4e2a\u7fa4\u4f53\u662f\u8d1d\u5c14\u5b9e\u9a8c\u5ba4<\/span>\uff08AT&T BellLabs\uff09<\/span>\u7684\u5de5\u7a0b\u5e08\u4ee5\u53ca\u79d1\u5b66\u5bb6\uff0c\u53d1\u5c55\u51fa\u63a7\u5236\u7cfb\u7edf\u5206\u6790\u4e0e\u8bbe\u8ba1\u7684\u9891\u57df\u65b9\u6cd5\u3002<\/span><\/section>\n

<\/section>\n
\u6545\u4e8b\u8981\u4ece\u5e03\u83b1\u514b<\/span>\uff08Harold Stephen Black, 1898-1983, \u7f8e\u56fd\u7535\u6c14\u5de5\u7a0b\u5e08\uff09<\/span>\u57281927\u5e74\u53d1\u660e\u8d1f\u53cd\u9988\u653e\u5927\u5668\u8bf4\u8d77<\/span>\uff08\u201c\u53cd\u9988\uff08feedback\uff09\u201d\u4e00\u8bcd\u88ab\u6b63\u5f0f\u4f7f\u7528[7]\uff09<\/span>\u3002<\/span><\/section>\n

<\/section>\n
\u7b2c\u4e00\u6b21\u4e16\u754c\u5927\u6218\u540e\uff0c\u968f\u7740\u7535\u5b50\u653e\u5927\u5668\u7684\u51fa\u73b0\uff0c\u8fdc\u8ddd\u79bb\u901a\u8bdd\u6210\u4e3a\u53ef\u80fd\u3002\u8ddd\u79bb\u589e\u52a0\uff0c\u7535\u80fd\u635f\u8017\u4e5f\u589e\u52a0\u3002\u4e3a\u4e86\u589e\u52a0\u4f20\u8f93\u8ddd\u79bb\uff0c\u9700\u8981\u7528\u76f4\u5f84\u8f83\u5927\u7684\u4f20\u8f93\u7ebf\u6216\u589e\u52a0\u653e\u5927\u5668\u7684\u4e2a\u6570\uff0c\u4f46\u653e\u5927\u5668\u4e2a\u6570\u8d8a\u591a\uff0c\u56e0\u975e\u7ebf\u6027\u4ee5\u53ca\u566a\u58f0\u9020\u6210\u7684\u5931\u771f\u8d8a\u5927\u30021920\u5e74\u524d\u540e\uff0c\u653e\u5927\u95ee\u9898\u5df2\u7ecf\u6210\u4e3a\u5f00\u53d1\u957f\u8ddd\u79bb\u7535\u8bdd\u6280\u672f\u7684\u4e00\u4e2a\u4e25\u91cd\u963b\u788d[1]\u3002<\/span><\/section>\n

<\/section>\n
\u5e03\u83b1\u514b\u5f53\u65f6\u662fAT&T\u7684\u5de5\u7a0b\u5e08\uff0c\u4ed6\u6df1\u5165\u7814\u7a76\u4e86\u8fd9\u4e2a\u95ee\u9898\uff0c\u4ed6\u53d1\u660e\u7684\u8d1f\u53cd\u9988\u653e\u5927\u5668\u901a\u8fc7\u628a\u8f93\u51fa\u7684\u653e\u5927\u4fe1\u53f7\u518d\u53cd\u9988\u56de\u8f93\u5165\u7aef\uff0c\u5c31\u53ef\u4ee5\u51cf\u5c0f\u7531\u4e8e\u566a\u58f0\u548c\u5668\u4ef6\u53c2\u6570\u6f02\u79fb\u9020\u6210\u7684\u5931\u771f[25]<\/span>\uff08\u89c1\u56fe26\uff09<\/span>\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe26. Black \u53d1\u660e\u7684\u8d1f\u53cd\u9988\u653e\u5927\u5668\u6297\u6270\u539f\u7406[25]<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
\u867d\u7136\u53cd\u9988\u7684\u539f\u7406\u5728\u516c\u5143\u524d300\u5e74\u53e4\u5e0c\u814a\u4eba\u548c\u963f\u62c9\u4f2f\u4eba\u53d1\u660e\u7684\u6d6e\u7403\u8c03\u8282\u88c5\u7f6e\u300117\u4e16\u7eaa\u7684\u6e29\u5ea6\u8c03\u8282\u5668\u300118\u4e16\u7eaa\u5de5\u4e1a\u9769\u547d\u7684\u6807\u5fd7\u2014\u2014\u74e6\u7279\u84b8\u6c7d\u673a\u4e2d\u91c7\u7528\u7684\u98de\u7403\u5f0f\u8c03\u901f\u5668\u4e2d\u5c31\u5b58\u5728\uff0c\u4f46\u201c\u53cd\u9988<\/span>\uff08feedback\uff09<\/span>\u201d\u4e00\u8bcd\u88ab\u6b63\u5f0f\u4f7f\u7528\u5219\u662f\u5728\u5e03\u83b1\u514b\u53d1\u660e\u8d1f\u53cd\u9988\u653e\u5927\u5668\u65f6\u3002
<\/span><\/section>\n


<\/p>\n

\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n

\u5173\u4e8e\u5e03\u83b1\u514b\u7684\u8fd9\u4e2a\u53d1\u660e\uff0c\u6709\u4e2a\u88ab\u5927\u5bb6\u6d25\u6d25\u4e50\u9053\u7684\u6545\u4e8b\uff1a1927\u5e748\u67082\u65e5\uff0c\u5e03\u83b1\u514b\u4e0a\u73ed\u9014\u4e2d\uff0c\u5728Hudson\u6cb3\u7684\u6e21\u8239Lack awanna Ferry\u4e0a\u7075\u5149\u4e00\u73b0\uff0c\u60f3\u51fa\u4e86\u5728\u63a7\u5236\u53d1\u5c55\u5386\u53f2\u4e0a\u5177\u6709\u91cd\u8981\u610f\u4e49\u7684\u8d1f\u53cd\u9988\u653e\u5927\u5668\u3002\u7531\u4e8e\u624b\u5934\u6ca1\u6709\u5408\u9002\u7684\u7eb8\u5f20\uff0c\u4ed6\u5c06\u8fd9\u4e2a\u7075\u611f\u8bb0\u5728\u4e86\u4e00\u4efd\u7ebd\u7ea6\u65f6\u62a5\u4e0a\uff0c\u8fd9\u4efd\u62a5\u7eb8\u5df2\u6210\u4e3a\u4e00\u4ef6\u73cd\u8d35\u7684\u6587\u7269\u73cd\u85cf\u5728AT&T\u7684\u6863\u6848\u9986\u4e2d[26,27,28]\u3002\uff08\u6ce8\uff1a\u57288\u67086\u65e5\u5468\u516d\u7684\u4e0a\u73ed\u9014\u4e2d\uff0c\u5e03\u83b1\u514b\u5728\u6e21\u8239\u4e0a\u518d\u6b21\u5728\u5f53\u5929\u7684\u4e00\u4efd\u7ebd\u7ea6\u65f6\u62a5\u4e0a\u5199\u4e86\u66f4\u8be6\u7ec6\u7684\u8fc7\u7a0b\uff08\u89c1\u56fe27\uff09\uff09\u3002<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n
\u56fe 27. Black \u8d1f\u53cd\u9988\u653e\u5927\u5668\u7684\u7075\u611f\u6765\u81ea\u4e8e\u4e0a\u73ed\u9014\u4e2d\u7684\u7075\u5149\u4e00\u73b0\uff0c\u53ea\u80fd\u5c06\u5176\u8bb0\u5f55\u5728\u624b\u5934\u7684\u7ebd\u7ea6\u65f6\u62a5\u4e0a[27]<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
\u4f46\u5176\u5b9e\u4e3a\u4e86\u8fd9\u4e2a\u7075\u5149\u4e00\u73b0\uff0c\u5e03\u83b1\u514b\u6301\u7eed\u4e0d\u65ad\u5730\u52aa\u529b\u4e866\u5e74\u30021921\u5e74\uff0cBlack\u6bd5\u4e1a\u4e8e\u4f0d\u65af\u7279\u7406\u5de5\u5b66\u9662\uff08Worcester Polytechnic Institute\uff09\uff0c\u968f\u540e\u5230\u8d1d\u5c14\u5b9e\u9a8c\u5ba4\u5de5\u4f5c\u3002\u4f5c\u4e3a\u65b0\u4eba\uff0c\u4ed6\u5e0c\u671b\u5c3d\u53ef\u80fd\u591a\u5730\u4e86\u89e3\u516c\u53f8\u7684\u4e1a\u52a1\uff0c\u4e8e\u662f\u67e5\u9605\u4e86\u5927\u91cf\u516c\u53f8\u6587\u6863\uff0c\u53d1\u73b0\u516c\u53f8\u5f53\u524d\u9047\u5230\u7684\u4e3b\u8981\u95ee\u9898\u662f\u5982\u4f55\u4f7f\u653e\u5927\u5668\u53ef\u4ee5\u4e32\u8054\u8d77\u6765\u628a\u4fe1\u53f7\u7a33\u5b9a\u65e0\u5931\u771f\u5730\u4f20\u5230\u5343\u91cc\u4e4b\u5916\u3002\u4e8e\u662f\uff0c\u4ed6\u8981\u6c42\u627f\u62c5\u8fd9\u9879\u5de5\u4f5c\uff0c\u4ed6\u4e0a\u53f8\u8bf4\u201c\u53ef\u4ee5\uff0c\u4f46\u5728\u4e0d\u5f71\u54cd\u5206\u914d\u7ed9\u4f60\u7684\u5176\u4ed6\u5de5\u4f5c\u7684\u524d\u63d0\u4e0b\u201d[26]\u3002\u4e8e\u662f\uff0c\u6700\u521d\u7684\u4e24\u5e74\uff0c\u4ed6\u5229\u7528\u5468\u672b\u548c\u665a\u4e0a\u7684\u65f6\u95f4\u9605\u8bfb\u4e86\u6240\u6709\u80fd\u627e\u5230\u7684\u5173\u4e8e\u975e\u7ebf\u6027\u7535\u8def\u65b9\u9762\u7684\u6750\u6599\u4ee5\u53ca\u516c\u53f8\u7684\u6709\u5173\u6587\u6863\uff0c\u540e4\u5e74\u5219\u51e0\u4e4e\u65e0\u65f6\u65e0\u523b\u4e0d\u5728\u7422\u78e8\u600e\u4e48\u5b9e\u73b0\u4e00\u4e2a\u5177\u6709\u7ebf\u6027\u529f\u80fd\u7684\u653e\u5927\u5668\uff0c\u5728\u5bf9\u653e\u5927\u5668\u95ee\u9898\u8fdb\u884c\u4e86\u51e0\u5e74\u8270\u82e6\u7684\u7814\u7a76\u4e4b\u540e\uff0c\u8fd9\u624d\u6709\u4e861927\u5e748\u67082\u65e5\u4e0a\u73ed\u8def\u4e0a\u7684\u7075\u5149\u4e00\u73b0[26]\u3002<\/span><\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/p>\n<\/section>\n

\n
\u800c\u4ece\u8d1f\u53cd\u9988\u653e\u5927\u5668\u7684\u53d1\u660e\u5230\u5176\u5b9e\u9645\u5e94\u7528\u5219\u53c8\u7ecf\u5386\u4e86\u4e00\u6bb5\u5145\u6ee1\u8346\u68d8\u7684\u6f2b\u957f\u8def\u9014[27]\u3002<\/span><\/section>\n

<\/section>\n
\u4e3a\u4e86\u51cf\u5c0f\u5931\u771f<\/span>\uff08\u8bef\u5dee\uff09<\/span>\u800c\u5f15\u5165\u7684\u53cd\u9988\u88c5\u7f6e\uff0c\u6709\u53ef\u80fd\u4f1a\u4f7f\u5f97\u7cfb\u7edf\u53d1\u51fa\u5c16\u53eb<\/span>\uff08Singing\/Oscillating\uff09<\/span>\u800c\u53d8\u5f97\u4e0d\u7a33\u5b9a[27]<\/span>\uff08\u53cd\u9988\u7684\u4ee3\u4ef7\uff1a\u7cfb\u7edf\u590d\u6742\u4e86\uff0c\u53ef\u80fd\u9020\u6210\u7cfb\u7edf\u4e0d\u7a33\u5b9a\uff09<\/span>\u3002\u8fd9\u53c8\u6d89\u53ca\u5230\u4e86\u9ea6\u514b\u65af\u97e6\u548c\u52b3\u65af\u7814\u7a76\u8fc7\u7684\u7a33\u5b9a\u6027\u95ee\u9898\uff0c\u4f46\u8fd9\u65f6\uff0c\u7cfb\u7edf\u7684\u52a8\u6001\u7279\u6027\u5df2\u7ecf\u5f88\u590d\u6742<\/span>\uff08\u901a\u5e38\u662f\u51e0\u5341\u9636\u7684\u9ad8\u9636\u5fae\u5206\u65b9\u7a0b\uff09<\/span>\uff0cRouth-Hurwitz \u5224\u636e\u5f88\u96be\u518d\u6709\u5e2e\u52a9[5]\u3002\u8d1d\u5c14\u7535\u8bdd\u5b9e\u9a8c\u5ba4\u7684\u901a\u4fe1\u5de5\u7a0b\u5e08\u548c\u79d1\u5b66\u5bb6\u4eec\u5f00\u59cb\u8003\u8651\u7528\u9891\u7387\u54cd\u5e94<\/span>\uff08Frequency Response\uff09<\/span>\u548c\u590d\u53d8\u51fd\u6570\u7406\u8bba\u8fdb\u884c\u5206\u6790\uff0c\u53d1\u5c55\u51fa\u4e86\u63a7\u5236\u7cfb\u7edf\u5206\u6790\u4e0e\u8bbe\u8ba1\u7684\u9891\u57df\u65b9\u6cd5[1,5]\u3002<\/span><\/section>\n

<\/section>\n
\u8d1f\u53cd\u9988\u653e\u5927\u5668\u7684\u53d1\u660e\u53ca\u5176\u53d1\u5c55\u88ab\u8ba4\u4e3a\u662f\u53d1\u660e\u5bb6\u3001\u5de5\u7a0b\u5e08\u4e0e\u53d7\u8fc7\u826f\u597d\u6570\u5b66\u7269\u7406\u8bad\u7ec3\u7684\u7406\u8bba\u7814\u7a76\u56e2\u961f\u6210\u529f\u5408\u4f5c\u7684\u6770\u51fa\u6848\u4f8b[27]\uff0c\u5176\u4e2d\u6709\u4e24\u4e2a\u4ee3\u8868\u6027\u4eba\u7269\uff1a\u54c8\u91cc\u00b7\u5948\u594e\u65af\u7279<\/span>\uff08Harry Nyquist\uff0c1889-1976\uff09<\/span>\u548c\u4ea8\u5fb7\u91cc\u514b\u00b7\u535a\u5fb7<\/span>\uff08Hendrik Bode\uff0c1905-1982\uff09<\/span>\u3002<\/span><\/section>\n

<\/section>\n
Nyquist1917\u5e74\u83b7\u5f97\u8036\u9c81\u5927\u5b66\u7269\u7406\u5b66\u535a\u58eb\u5b66\u4f4d\uff0c1917-1934\u5e74\u5c31\u804c\u4e8eAT&T\u30021928\u5e74\uff0cNyquist\u4e0eAT&T\u7684\u5176\u4ed6\u4e00\u4e9b\u5de5\u7a0b\u5e08\u4e00\u8d77\u4e0e\u5e03\u83b1\u514b\u5546\u8ba8\u5982\u4f55\u5c06\u8d1f\u53cd\u9988\u653e\u5927\u5668\u7528\u4e8e\u4e00\u79cd\u65b0\u7684\u7535\u7f06\u901a\u4fe1\u7cfb\u7edf\u3002\u4ed6\u505a\u4e86\u8d1f\u53cd\u9988\u7cfb\u7edf\u7684\u5206\u6790\uff0c\u5e76\u6700\u7ec8\u5728\u9891\u57df\u4e0a\u5efa\u7acb\u4e86\u4e00\u4e2a\u4e0e\u5df2\u6709\u5de5\u4f5c\u5b8c\u5168\u4e0d\u540c\u7684\u7a33\u5b9a\u6027\u5224\u636e\u2014\u2014Nyquist\u5224\u636e[27]\uff0cNyquist\u5224\u636e\u53ef\u4ee5\u76f4\u63a5\u6307\u5bfc\u5982\u4f55\u8c03\u6574\u63a7\u5236\u5668\u786e\u4fdd\u7cfb\u7edf\u7a33\u5b9a[29]<\/span>\uff08\u89c1\u56fe28\uff09<\/span>\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n

\u56fe 28. Nyquist \u5728\u9891\u57df\u4e0a\u5efa\u7acb\u4e86\u4e00\u4e2a\u4e0e\u5df2\u6709\u5de5\u4f5c\u5b8c\u5168\u4e0d\u540c\u7684\u7a33\u5b9a\u6027\u5224\u636e-Nyquist \u7a33\u5b9a\u5224\u636e<\/span><\/p>\n<\/section>\n

\n

<\/section>\n<\/section>\n
\n
H.Bode 1926\u5e74\u83b7\u5f97\u4fc4\u4ea5\u4fc4\u5dde\u7acb\u5927\u5b66<\/span>\uff08Ohio State University\uff09<\/span>\u6570\u5b66\u7855\u58eb\u5b66\u4f4d\uff0c\u7136\u540e\u5c31\u804c\u4e8e\u8d1d\u5c14\u5b9e\u9a8c\u5ba4\uff0c\u671f\u95f4\u53c8\u4e8e1935\u5e74\u53d6\u5f97\u54e5\u4f26\u6bd4\u4e9a\u5927\u5b66<\/span>\uff08Columbia University\uff09<\/span>\u7269\u7406\u535a\u58eb\u5b66\u4f4d\u30021928\u5e74\uff0c\u5728\u5f00\u53d1\u4e00\u79cd\u65b0\u7684\u540c\u8f74\u7535\u7f06\u901a\u4fe1\u7cfb\u7edf\u65f6\uff0cBode\u5e26\u9886\u4e00\u7ec4\u6570\u5b66\u5bb6\u7814\u7a76\u80fd\u5145\u5206\u5229\u7528Black\u653e\u5927\u5668\u4f18\u70b9\u7684\u7cfb\u7edf\u8bbe\u8ba1\u65b9\u6cd5\u30021940\u5e74\uff0cBode\u5728\u5176\u7ecf\u5178\u8bba\u6587\u201cRelations Between Attenuation and Phase in Feed back Amplifier Design\u201d\u4e2d\u8fdb\u4e00\u6b65\u63d0\u51fa\u4e86\u5229\u7528\u9891\u57df\u7684Bode\u56fe\u3001\u5e45\u503c\u88d5\u5ea6\/\u76f8\u4f4d\u88d5\u5ea6\u7b49\u76f8\u5bf9\u7a33\u5b9a\u6027\u6982\u5ff5\u6765\u8bbe\u8ba1\u8d1f\u53cd\u9988\u653e\u5927\u5668\u7684\u65b9\u6cd5\uff0c\u5e76\u6307\u51fa\u4e86\u7cfb\u7edf\u589e\u76ca\u4e0e\u5e26\u5bbd\u7684\u6781\u9650\u5173\u7cfb[30]<\/span>\uff08\u89c1\u56fe29\uff09<\/span>\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe29. Bode \u56fe\uff1a\u901a\u8fc7\u9891\u57df\u7684\u5e45\u503c\u88d5\u5ea6\/\u76f8\u4f4d\u88d5\u5ea6\u5206\u6790\u7cfb\u7edf\u7a33\u5b9a\u6027<\/span><\/section>\n<\/section>\n
\n


<\/p>\n

\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n

\u4e8c\u6218\u4e2d\uff0cBode\u53c2\u52a0\u4e86\u9ad8\u5c04\u70ae\u63a7\u5236\u7cfb\u7edf\u7684\u7814\u5236\uff0c\u4ed6\u53c2\u4e0e\u7814\u5236\u7684\u9ad8\u5c04\u70ae\u57281944\u5e74\u7684\u5b89\u9f50\u5965\u6218\u5f79\uff08Battleof Anzio\uff09\u548c\u8bfa\u66fc\u5e95\u767b\u9646\u65f6\u90fd\u53d1\u6325\u4e86\u5f88\u5927\u7684\u5a01\u529b\u3002\u4ed6\u7684\u7814\u7a76\u5de5\u4f5c\u4e00\u76f4\u6301\u7eed\u5230\u7f8e\u56fd\u592a\u7a7a\u8ba1\u5212\u65f6\u4ee3\uff0c\u662f\u4e00\u4f4d\u5728\u5b66\u672f\u754c\u5e7f\u53d7\u5c0a\u91cd\u7684\u79d1\u5b66\u5bb6[31]\u3002Bode\u53bb\u4e16\u540e\uff0c1989\u5e74IEEE\u63a7\u5236\u7cfb\u7edf\u534f\u4f1a\uff08IEEE Control System Society\uff0cIEEE CSS\uff09\u8bbe\u7acbBode Lecture Prize\u4ee5\u8868\u5f70\u5bf9\u63a7\u5236\u7cfb\u7edf\u79d1\u5b66\u548c\u5de5\u7a0b\u505a\u51fa\u7a81\u51fa\u8d21\u732e\u7684\u4eba\u30022019\u5e74\u4e2d\u56fd\u79d1\u5b66\u9662\u7cfb\u7edf\u63a7\u5236\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u90ed\u96f7\u9662\u58eb\u201c\u56e0\u5728\u81ea\u9002\u5e94\u63a7\u5236\u3001\u7cfb\u7edf\u8fa8\u8bc6\u3001\u81ea\u9002\u5e94\u4fe1\u53f7\u5904\u7406\u3001\u968f\u673a\u7cfb\u7edf\u53ca\u5e94\u7528\u6570\u5b66\u9886\u57df\u7684\u6839\u672c\u6027\u548c\u5b9e\u9645\u6027\u8d21\u732e\u201d\u88ab\u6388\u4e88Bode Lecture Prize\uff0c\u662f\u8be5\u5956\u8bbe\u7acb30\u5e74\u4ee5\u6765\uff0c\u4e2d\u56fd\u548c\u4e16\u754c\u534e\u4eba\u4e2d\u7b2c\u4e00\u4f4d\u83b7\u6b64\u8363\u8a89\u8005[43]\uff08\u89c1\u56fe30\uff09\u3002
<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n
\u56fe30. 2019 \u5e74\u4e2d\u56fd\u79d1\u5b66\u9662\u7cfb\u7edf\u63a7\u5236\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u90ed\u96f7\u9662\u58eb\u88ab\u6388\u4e88 Bode Lecture Prize\uff0c\u662f\u8be5\u5956\u8bbe\u7acb 30 \u5e74\u4ee5\u6765\uff0c\u4e2d\u56fd\u548c\u4e16\u754c\u534e\u4eba\u4e2d\u7b2c\u4e00\u4f4d\u83b7\u6b64\u8363\u8a89\u8005\uff08\u56fe\u4e2d\u90ed\u96f7\u9662\u58eb\uff0c\u5de6\u4e00\u548c\u53f3\u4e00\u5206\u522b\u4e3a2018\u30012019 IEEECSS \u4e3b\u5e2d Francesco Bullo \u6559\u6388\u548c Robert R. Bitmead \u6559\u6388\uff09<\/span><\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/p>\n<\/section>\n

\n
\u8d1d\u5c14\u5b9e\u9a8c\u5ba4\u7684\u5de5\u7a0b\u5e08\u4ee5\u53ca\u79d1\u5b66\u5bb6\u56e2\u961f\u7684\u8fd9\u4e9b\u5de5\u4f5c\u6700\u7ec8\u53d1\u5c55\u4e3a\u63a7\u5236\u7cfb\u7edf\u5206\u6790\u4e0e\u8bbe\u8ba1\u7684\u9891\u57df\u65b9\u6cd5\u3002
<\/span><\/section>\n

<\/section>\n
\u63a7\u5236\u7cfb\u7edf\u5206\u6790\u4e0e\u8bbe\u8ba1\u7684\u9891\u57df\u65b9\u6cd5\u81f3\u4eca\u8fd8\u662f\u63a7\u5236\u5de5\u7a0b\u5e08\u4eec\u6700\u559c\u6b22\u548c\u4fe1\u8d56\u7684\u4e00\u79cd\u65b9\u6cd5\uff0c\u4ecd\u7136\u5728\u5e7f\u6cdb\u5e94\u7528\u3002\u9891\u57df\u65b9\u6cd5\u53ef\u4ee5\u6446\u8131\u5904\u7406\u5fae\u5206\u65b9\u7a0b\u7684\u56f0\u96be\uff0c\u76f4\u63a5\u901a\u8fc7\u7cfb\u7edf\u9891\u57df\u54cd\u5e94\u7684\u5b9e\u9a8c\u6570\u636e\u8fdb\u884c\u63a7\u5236\u7cfb\u7edf\u7684\u5206\u6790\u4e0e\u8bbe\u8ba1[1]\u3002\u8fd8\u6709\u4e00\u4e2a\u91cd\u8981\u539f\u56e0\u662f\uff0c\u867d\u7136\u7a33\u5b9a\u6027\u662f\u63a7\u5236\u7cfb\u7edf\u8bbe\u8ba1\u4e2d\u9996\u8981\u7684\u95ee\u9898\uff0c\u4f46\u7cfb\u7edf\u4ec5\u6709\u7a33\u5b9a\u6027\u662f\u4e0d\u591f\u7684\uff0c\u4e00\u4e2a\u597d\u7684\u63a7\u5236\u7cfb\u7edf\u9664\u4e86\u9700\u8981\u5177\u6709\u7a33\u5b9a\u6027\u5916\uff0c\u8fd8\u5e94\u517c\u987e\u5feb\u901f\u3001\u51c6\u786e\u6027\u3001\u6297\u6270\u6027\u7b49\u53ef\u80fd\u5f7c\u6b64\u51b2\u7a81\u7684\u6027\u80fd\u6307\u6807\uff0c\u9891\u57df\u8bbe\u8ba1\u53ef\u4ee5\u6bd4\u8f83\u6e05\u695a\u5730\u901a\u8fc7\u7cfb\u7edf\u7684\u9891\u7387\u54cd\u5e94Bode\u56fe\u540c\u65f6\u5728\u4e0d\u540c\u9891\u6bb5\u517c\u987e\u5404\u9879\u6307\u6807\u8fdb\u884c\u8bbe\u8ba1\uff0c\u7b80\u660e\u800c\u76f4\u63a5<\/span>\uff08\u89c1\u56fe31\uff09<\/span>\u3002<\/span><\/section>\n

<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe31. \u63a7\u5236\u7cfb\u7edf\u591a\u9879\u6307\u6807\u53ef\u4ee5\u901a\u8fc7\u9891\u57df\u65b9\u6cd5\u7b80\u660e\u4e14\u76f4\u63a5\u5730\u8fdb\u884c\u5206\u6790\u4e0e\u8bbe\u8ba1<\/span><\/section>\n<\/section>\n
\n

<\/section>\n
\u7b2c\u4e8c\u4e2a\u7fa4\u4f53\u5728\u7f8e\u56fd\u8fc7\u7a0b\u5de5\u4e1a\u9886\u57df\u3002<\/span><\/strong><\/section>\n

<\/section>\n
20\u4e16\u7eaa30-40\u5e74\u4ee3\uff0c\u7f8e\u56fd\u8fc7\u7a0b\u5de5\u4e1a\u4e2d\u7684\u5de5\u7a0b\u5e08\u548c\u79d1\u5b66\u5bb6\u5f00\u59cb\u7cfb\u7edf\u5730\u5efa\u7acb\u548c\u5f00\u53d1\u63a7\u5236\u7cfb\u7edf\u8bbe\u8ba1\u65b9\u6cd5\uff0c\u4e00\u4e2a\u4ee3\u8868\u6027\u5de5\u4f5c\u662fJ.G.Ziegler\u548cN.B.Nichols\u57281942\u5e74\u63d0\u51fa\u7684PI\u53caPID\u63a7\u5236\u7684\u53c2\u6570\u6574\u5b9a\u65b9\u6cd5\uff0c\u540e\u6765\u88ab\u79f0\u4e3aZiegler-Nichols\u8c03\u6574\u6cd5[1]\u3002<\/span><\/section>\n

<\/section>\n
\u7b2c\u4e09\u4e2a\u7fa4\u4f53\u5728\u9ebb\u7701\u7406\u5de5\u5b66\u9662\uff08MIT\uff09\u7684\u7535\u5b50\u5de5\u7a0b\u7cfb\uff0c\u8bbe\u8ba1\u4e86\u5fae\u5206\u65b9\u7a0b\u6a21\u62df\u8ba1\u7b97\u673a\uff0c\u8fdb\u884c\u63a7\u5236\u7cfb\u7edf\u4eff\u771f\u3002<\/span><\/strong><\/section>\n<\/section>\n
\n

<\/section>\n
1930s\uff0cVannevar Bush\u5728MIT\u5e26\u9886Harold Hazen\uff0cGordon Brown\u548cClaude Shannon\u8bbe\u8ba1\u4e86\u5fae\u5206\u65b9\u7a0b\u6a21\u62df\u8ba1\u7b97\u673a<\/span>\uff08the Differential Analyzer\uff09\uff08\u5982\u56fe32\uff09<\/span>\uff0c\u4ece\u800c\u53ef\u4ee5\u8fdb\u884c\u52a8\u6001\u7cfb\u7edf\u4eff\u771f[1]\u3002\u5176\u540e\uff0cHarold Hazen\u548cGordon Brown\u9886\u5bfc\u7684\u5c0f\u7ec4\u5229\u7528\u6a21\u62df\u8ba1\u7b97\u673a\u8fdb\u884c\u4e86\u63a7\u5236\u7cfb\u7edf\u7684\u65f6\u57df\u4eff\u771f[1]\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n

\u56fe32. 1930s, Vannevar Bush \u5728 MIT \u9886\u5bfc\u8bbe\u8ba1\u4e86\u5fae\u5206\u65b9\u7a0b\u6a21\u62df\u8ba1\u7b97\u673a\uff08the differential analyzer\uff09[32]<\/span><\/p>\n


<\/p>\n

\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n

\u5173\u4e8e\u63a7\u5236\u7cfb\u7edf\u7684\u8ba1\u7b97\u673a\u4eff\u771f\u8fd9\u9879\u5de5\u4f5c\u8981\u4e0d\u8981\u5728\u63a7\u5236\u53d1\u5c55\u53f2\u91cc\u4ecb\u7ecd\u6211\u81ea\u5df1\u4e5f\u53cd\u590d\u8fc7\u51e0\u6b21\uff0c\u4e2d\u95f4\u6709\u51e0\u6b21\u4e0a\u8bfe\u6ca1\u6709\u8bb2\u3002\u540e\u6765\uff0c\u53d1\u73b0\u63a7\u5236\u5ba4\u7684\u5b66\u751f\u5927\u591a\u672c\u79d1\u662f\u5b66\u6570\u5b66\u7684\uff0c\u4e0d\u592a\u559c\u6b22\u8ba1\u7b97\u673a\u4eff\u771f\uff0c\u53cd\u800c\u89c9\u5f97\u6709\u5fc5\u8981\u7ed9\u5b66\u751f\u4eec\u5f3a\u8c03\u4e00\u4e0b\u8ba1\u7b97\u673a\u4eff\u771f\u7684\u91cd\u8981\u6027\u3002\u968f\u7740\u8ba1\u7b97\u673a\u6280\u672f\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u8ba1\u7b97\u673a\u4eff\u771f\u5728\u63a7\u5236\u7814\u7a76\u4e2d\u5df2\u7ecf\u53d1\u6325\u7740\u8d8a\u6765\u8d8a\u91cd\u8981\u7684\u4f5c\u7528\uff0c\u4e0d\u4ec5\u4ec5\u662f\u6307\u5b66\u672f\u8bba\u6587\u4e2d\u90a3\u79cd\u7b80\u5355\u7684\u4eff\u771f\uff0c\u867d\u7136\u73b0\u5728\u4eff\u771f\u5df2\u7ecf\u662f\u5927\u90e8\u5206\u8bba\u6587\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u73af\u8282\uff0c\u8ba1\u7b97\u673a\u4eff\u771f\u66f4\u91cd\u8981\u7684\u4ef7\u503c\u8fd8\u5728\u4e8e\uff1a<\/span><\/p>\n

 <\/span><\/p>\n

 \u2022 \u53ef\u4ee5\u76f4\u63a5\u542f\u53d1\u65b0\u7684\u7814\u7a76\u601d\u8def\u548c\u7075\u611f\uff0c\u5f53\u7136\u7531\u4eff\u771f\u542f\u53d1\u7684\u65b0\u65b9\u6cd5\u8fd8\u9700\u8981\u7ecf\u8fc7\u8270\u96be\u7684\u4e25\u683c\u7406\u8bba\u8bba\u8bc1\u548c\u4e25\u82db\u7684\u7269\u7406\u5b9e\u9a8c\u7684\u8003\u9a8c\u3002<\/span><\/p>\n

 <\/span><\/p>\n

 \u2022 \u8bba\u8bc1\u63a7\u5236\u65b9\u6cd5\u7684\u91cd\u8981\u624b\u6bb5\u3002\u5982\u4eca\u63a7\u5236\u95ee\u9898\u53d8\u5f97\u8d8a\u6765\u8d8a\u590d\u6742\uff0c\u9700\u8981\u8003\u8651\u7684\u56e0\u7d20\u8d8a\u6765\u8d8a\u591a\uff0c\u4f20\u7edf\u7684\u7406\u8bba\u5206\u6790\u624b\u6bb5\u96be\u4ee5\u5f7b\u5e95\u89e3\u51b3\u95ee\u9898\u65f6\uff0c\u8be6\u5c3d\u5145\u5206\u7684\u8ba1\u7b97\u673a\u4eff\u771f\u5df2\u6210\u4e3a\u8bba\u8bc1\u63a7\u5236\u65b9\u6cd5\u7684\u91cd\u8981\u624b\u6bb5\u3002\u6bd4\u5982\uff0c\u5728\u822a\u5929\u5de5\u7a0b\u4e2d\u7814\u7a76\u65b0\u7684\u98de\u884c\u65b9\u6848\u65f6\uff0c\u7a33\u5b9a\u88d5\u5ea6\u5206\u6790\u5f80\u5f80\u8fd8\u9700\u8981\u7ed3\u5408\u5927\u91cf\u62c9\u504f\u53c2\u6570\u4ee5\u53ca\u8003\u8651\u5404\u79cd\u7269\u7406\u5668\u4ef6\u7ea6\u675f\u7684\u8ba1\u7b97\u673a\u52a8\u6001\u4eff\u771f\u9a8c\u8bc1\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u4e5f\u8bb8\u5e94\u8be5\u601d\u8003\u7406\u8bba\u5206\u6790\u7684\u5185\u6db5\u662f\u4e0d\u662f\u4e5f\u5e94\u8be5\u4e0e\u65f6\u4ff1\u8fdb\u3002<\/span><\/p>\n<\/section>\n<\/section>\n

\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/p>\n<\/section>\n

\n
\u4e8c\u6218\u540e\uff0c\u7ecf\u5178\u63a7\u5236\u6280\u672f\u57fa\u672c\u5efa\u7acb\u8d77\u6765<\/span><\/strong><\/span><\/section>\n

<\/section>\n
\u4e8c\u6218\u7684\u7206\u53d1\u4f7f\u63a7\u5236\u7cfb\u7edf\u7684\u5de5\u4f5c\u96c6\u4e2d\u5728\u51e0\u4e2a\u7279\u5b9a\u7684\u95ee\u9898\u4e0a\uff0c\u6700\u91cd\u8981\u7684\u4e00\u4e2a\u662f\u9632\u7a7a\u9ad8\u5c04\u70ae\u7784\u51c6\u7cfb\u7edf<\/span>\uff08Aiming of Anti-aircraft Guns\uff09<\/span>\u3002\u8fd9\u662f\u4e00\u4e2a\u590d\u6742\u7684\u95ee\u9898\uff0c\u9700\u8981\u5b8c\u6210\u5feb\u901f\u53d1\u73b0\u98de\u884c\u76ee\u6807\u3001\u51c6\u786e\u9884\u62a5\u98de\u884c\u76ee\u6807\u7684\u4f4d\u7f6e\u3001\u7cbe\u786e\u7784\u51c6\u7b49\u4e00\u7cfb\u5217\u52a8\u4f5c\u3002\u4e3a\u4e86\u5b8c\u6210\u8fd9\u4e2a\u4efb\u52a1\uff0c\u9700\u8981\u5c06\u96f7\u8fbe\u8ddf\u8e2a\u7cfb\u7edf<\/span>\uff08Automatic Tracking Radar System\uff09<\/span>\u76f4\u63a5\u4e0e\u5c04\u51fb\u6307\u6325\u4eea<\/span>\uff08Gun Director\uff09<\/span>\u5e76\u6700\u7ec8\u4e0e\u70ae\u706b\u4f4d\u7f6e\u63a7\u5236\u5668<\/span>\uff08Gun Position Controller\uff09<\/span>\u76f8\u8fde\u3002\u4e3a\u6b64\uff0c\u7f8e\u56fd\u96c6\u4e2d\u4e86\u5f53\u65f6\u673a\u68b0\u3001\u7535\u529b\u7535\u5b50\u3001\u901a\u4fe1\u7b49\u5404\u65b9\u9762\u7684\u5de5\u7a0b\u5e08\u548c\u79d1\u5b66\u5bb6\u901a\u529b\u534f\u4f5c\u6765\u5b8c\u6210\u8fd9\u4e00\u7cfb\u7edf\uff0c\u5982SCR-584\u96f7\u8fbe\u7cfb\u7edf<\/span>\uff08SCR-584 Radar System\uff09<\/span>\u7531MIT\u96f7\u8fbe\u5b9e\u9a8c\u5ba4\u7814\u5236\uff0cM9\u5c04\u51fb\u6307\u6325\u4eea<\/span>\uff08M9 Director\uff09<\/span>\u5219\u7531\u8d1d\u5c14\u5b9e\u9a8c\u5ba4\u96c6\u5408C.A.Lovell, D.B.Parkinson, Bode, R.C.Blackman, Claude Shannon\u7b49\u4eba\u7814\u5236<\/span>\uff08\u89c1\u56fe33\uff09<\/span>\u3002\u8fd9\u662f\u4e00\u6b21\u6210\u529f\u7684\u5408\u4f5c\uff0c\u8fd9\u4e2a\u7cfb\u7edf\u57281944\u5e746\u6708-8\u6708\u82f1\u56fd\u4e1c\u5357\u90e8\u6297\u51fb\u5fb7\u56fdV-1\u706b\u7bad\u7a7a\u88ad\u7684\u6218\u6597\u4e2d\u83b7\u5f97\u4e86\u5f88\u9ad8\u7684\u6210\u529f\u7387\uff0c\u51fb\u843d\u4e86\u4e0a\u5343\u679aV-1\u706b\u7bad[1,33]\u3002<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n

\u56fe33. MIT \u96f7\u8fbe\u5b9e\u9a8c\u5ba4\u7814\u5236\u7684 SCR-584 \u96f7\u8fbe\u7cfb\u7edf\uff08\u4e0a\uff09[34]\uff0cBell \u5b9e\u9a8c\u5ba4\u7814\u5236\u7684 M9 \u6307\u6325\u4eea\uff08\u4e0b\uff09[40]<\/span><\/p>\n<\/section>\n

\n

<\/section>\n
V-1\u706b\u7bad\u88ab\u8ba4\u4e3a\u662f\u7b2c\u4e00\u4e2a\u53ef\u64cd\u4f5c\u7684\u81ea\u52a8\u5316\u673a\u5668\u70b8\u5f392<\/span>\uff08the First Operational Robot Bomb\uff09<\/span>\uff0c\u98de\u884c\u901f\u5ea6\u5feb\u4e14\u9ad8\u5ea6\u4f4e\uff0c\u5bf9\u70ae\u706b\u6709\u5f88\u5f3a\u7684\u62b5\u6297\u529b[33]\u30021944\u5e74\u7684\u4f26\u6566\u7a7a\u6218\u88ab\u8ba4\u4e3a\u662f\u81ea\u52a8\u673a\u6218\u4e89\u7684\u5f00\u7aef<\/span>\uff08the Beginning of the First Battle of the Robots\uff09<\/span>\uff1a\u7531SCR-584\u96f7\u8fbe\u3001M9\u5c04\u51fb\u6307\u6325\u4eea\u3001\u70ae\u53f0\u7ec4\u5408\u6210\u81ea\u52a8\u63a7\u5236\u7cfb\u7edf\u53d1\u5c04\u5e26\u6709\u8fd1\u8eab\u5f15\u4fe1<\/span>\uff08the Proximity Fuze\uff09<\/span>\u7684VT<\/span>\uff08Variable Time\uff09<\/span>robot\u4e0eV-1robot\u7684\u6297\u4e89[33,35]\u3002<\/span><\/section>\n

<\/section>\n
\n
\n
* 2. 2018 \u5e74 7 \u6708\uff0c\u82cf\u5251\u6ce2\u9080\u8bf7\u9ad8\u5fd7\u5f3a\u548c\u6211\u5728\u4e0a\u6d77\u4ea4\u5927\u8bb2\u6388\u4e86\u4e00\u6b21\u201c\u81ea\u6297\u6270\u63a7\u5236\u6280\u672f\u201d\u7684\u6691\u671f\u8bfe\u7a0b\uff0c\u5176\u4e2d\u6709\u4e2a\u5355\u5143\u662f\u82cf\u5251\u6ce2\u8bb2\u673a\u5668\u4eba\uff0c\u4ed6\u7684\u5f00\u573a\u767d\u8ba9\u6211\u5370\u8c61\u6df1\u523b\uff0c\u8bf4\u4ed6\u8bfb\u7855\u58eb\u5b66\u4f4d\u65f6\u66fe\u7ecf\u4e0d\u559c\u6b22\u673a\u5668\u4eba\u8fd9\u4e2a\u65b9\u5411\uff0c\u56e0\u4e3a\u89c9\u5f97\u201c\u90a3\u65f6\u7684 robot \u6839\u672c\u5c31\u6ca1\u4eba\u6837\uff01\u201d\u3002\u8fd9\u91cc\u628a robot \u7ffb\u8bd1\u6210\u673a\u5668\u4eba\u4f3c\u4e4e\u4e5f\u4e0d\u5408\u9002\uff0c\u7ffb\u4e86\u4e0b\u5b57\u5178\uff0crobot \u539f\u6587\u4e3a\u80fd\u81ea\u52a8\u8fd0\u52a8\u7684\u673a\u5668\uff08a mechanism that can move automatically\uff09\u3002<\/span><\/section>\n<\/section>\n<\/blockquote>\n


<\/p>\n

\u6218\u540e\uff0c\u7ecf\u5178\u63a7\u5236\u6280\u672f\u57fa\u672c\u5efa\u7acb\u8d77\u6765\u4e86[1]\uff0c\u662f\u4e00\u79cd\u9488\u5bf9\u5355\u8f93\u5165\u7ebf\u6027\u5b9a\u5e38\u7cfb\u7edf\u7684\u8bbe\u8ba1\u65b9\u6cd5\u3002\u4e3b\u8981\u6709\u4ee5\u5fae\u5206\u65b9\u7a0b\u63cf\u8ff0\u7684\u7cfb\u7edf\u7279\u5f81\u6839\u3001\u4ee5\u53ca\u4e0a\u5347\u65f6\u95f4\u3001\u8d85\u8c03\u3001\u7a33\u6001\u8bef\u5dee\u548c\u963b\u5c3c\u7b49\u6307\u6807\u8868\u8ff0\u7cfb\u7edf\u6027\u80fd\u7684\u65f6\u57df\u65b9\u6cd5\uff0c\u548c\u4ee5\u5e26\u5bbd\u3001\u8c10\u632f\u3001\u5e45\u503c\/\u76f8\u4f4d\u88d5\u5ea6\u4ee5\u53ca\u9891\u57df\u54cd\u5e94\u56fe\u5c55\u793a\u7cfb\u7edf\u884c\u4e3a\u7684\u9891\u57df\u65b9\u6cd5\uff0c\u6709\u4eba\u559c\u6b22\u65f6\u57df\u65b9\u6cd5\uff0c\u56e0\u4e3a\u53ef\u4ee5\u76f4\u89c2\u4e86\u89e3\u7cfb\u7edf\u7684\u5b9e\u65f6\u884c\u4e3a\uff0c\u800c\u4e8c\u6218\u4e2d\u7684\u5de5\u4f5c\u5145\u5206\u663e\u793a\u4e86\u9891\u57df\u54cd\u5e94\u65b9\u6cd5\u5728\u53cd\u9988\u7cfb\u7edf\u8bbe\u8ba1\u4e0a\u7684\u5a01\u529b[1]\u3002<\/span><\/section>\n

<\/section>\n
\u6218\u4e89\u4e2d\u89e3\u51b3\u9632\u7a7a\u63a7\u5236\u95ee\u9898\u7684\u7ecf\u5386\u4e5f\u4f7f\u4eba\u4eec\u8fdb\u4e00\u6b65\u8ba4\u8bc6\u5230[1]\uff1a<\/span><\/section>\n

<\/section>\n
1.\u5c06\u51e0\u79cd\u7531\u4e0d\u540c\u5c0f\u7ec4\u8bbe\u8ba1\u7684\u90e8\u4ef6\u96c6\u6210\u5728\u4e00\u8d77\u5de5\u4f5c\u65f6\uff0c\u6574\u4e2a\u7cfb\u7edf\u7684\u6027\u80fd\u5c31\u4e0d\u90a3\u4e48\u4f9d\u8d56\u5404\u4e2a\u72ec\u7acb\u5355\u5143\u7684\u6027\u80fd\uff0c\u800c\u5728\u4e8e\u5b83\u4eec\u662f\u5426\u80fd\u5f88\u597d\u5730\u534f\u540c\u5de5\u4f5c\u3002<\/span><\/section>\n

<\/section>\n
2.\u65e0\u8bba\u662f\u901a\u4fe1\u5de5\u7a0b\u5e08\u64c5\u957f\u4f7f\u7528\u7684\u9891\u57df\u65b9\u6cd5\u8fd8\u662f\u673a\u68b0\u5de5\u7a0b\u5e08\u559c\u6b22\u7684\u65f6\u57df\u65b9\u6cd5\u90fd\u4e0d\u8db3\u4ee5\u5b8c\u6210\u8bbe\u8ba1\uff0c\u6240\u9700\u8981\u7684\u662f\u80fd\u7efc\u5408\u4e24\u8005\u4f18\u70b9\u7684\u65b9\u6cd5\u3002<\/span><\/section>\n

<\/section>\n
3.\u57fa\u4e8e\u7ebf\u6027\u548c\u786e\u5b9a\u6027\u5047\u8bbe\u8fdb\u884c\u7684\u63a7\u5236\u7cfb\u7edf\u8bbe\u8ba1\u5b58\u5728\u5c40\u9650\uff0c\u56e0\u4e3a\uff0c\u5b9e\u9645\u7cfb\u7edf\u90fd\u662f\u975e\u7ebf\u6027\u7684\uff0c\u6d4b\u91cf\u5305\u542b\u8bef\u5dee\u548c\u566a\u58f0\uff0c\u8fc7\u7a0b\u548c\u73af\u5883\u5b58\u5728\u4e0d\u786e\u5b9a\u6027\uff0c\u5e26\u5bbd\u7684\u7ea6\u675f\u3001\u566a\u58f0\u7684\u5f71\u54cd\u4ee5\u53ca\u975e\u7ebf\u6027\u7279\u6027\u90fd\u4f1a\u7ed9\u7cfb\u7edf\u8bbe\u8ba1\u5e26\u6765\u56f0\u96be\u3002<\/span><\/section>\n

<\/section>\n

<\/section>\n

\n
\n
\n
\n
\n

<\/section>\n

<\/section>\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n
\n

6.  \u9632\u7a7a\u63a7\u5236\u95ee\u9898\u4e0e\u7ef4\u7eb3\u7684\u201cCybernetics\u201d<\/strong><\/span><\/strong><\/strong><\/p>\n

\u548c\u94b1\u5b66\u68ee\u7684\u201cEngineering Cybernetics\u201d<\/strong><\/span><\/strong><\/strong><\/p>\n<\/section>\n

\n

<\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n

1940-1945\u5e745\u5e74\u5185\uff0c\u7f8e\u56fd\u56fd\u9632\u7814\u7a76\u59d4\u5458\u4f1a\u706b\u63a7\u90e8<\/span>\uff08Fire Control Division\uff0cNational Defense Research Committee\uff09<\/span>\u4e00\u5171\u8d44\u52a9\u4e8680\u4e2a\u7814\u7a76\u9879\u76ee\uff0c\u7ecf\u8d39\u6570\u76ee\u6700\u5927\u4e5f\u662f\u6700\u6210\u529f\u7684\u4e00\u4e2a<\/span>\uff08$1.5million\uff09<\/span>\u662f\u8d1d\u5c14\u5b9e\u9a8c\u5ba4\u7684M-9\u5c04\u51fb\u6307\u6325\u4eea\uff0c\u7ecf\u8d39\u6700\u5c11\u7684\u4e00\u4e2a\u9879\u76ee<\/span>\uff08$2325\uff09<\/span>\u662f\u7ed9\u7ef4\u7eb3\u7684\u201c\u9884\u6d4b\u76ee\u6807\u98de\u884c\u6a21\u5f0f<\/span>\uff08How to Predict Flight Patterns\uff09<\/span>\u201d[35]\uff0c\u7ef4\u7eb3\u4ece\u968f\u673a\u7cfb\u7edf\u7684\u89d2\u5ea6\u8fdb\u884c\u7814\u7a76[1]\u3002\u867d\u7136\u7ef4\u7eb3\u7684\u9879\u76ee\u7814\u7a76\u5e76\u672a\u771f\u6b63\u7528\u4e8e\u5b9e\u9645\uff0c\u4f46\u8fd9\u4e2a\u5de5\u4f5c\u4fc3\u4f7f\u4ed6\u8fdb\u4e00\u6b65\u601d\u8003\u6709\u5173\u53cd\u9988\u3001\u4fe1\u606f\u3001\u63a7\u5236\u3001\u8f93\u5165\u3001\u8f93\u51fa\u3001\u81ea\u6211\u5e73\u8861\u3001\u9884\u6d4b\u548c\u6ee4\u6ce2<\/span>\uff08Feedback, Information, Control, Input, Output, Stability, Homeostasis, Prediction, and Filtering\uff09<\/span>\u7b49\u95ee\u9898[41]\uff0c\u5e76\u6700\u7ec8\u521b\u7acbCybernetics<\/span>\uff081948\u5e74\u51fa\u7248\u4e86Cybernetics<\/em>\u8fd9\u672c\u8457\u4f5c[42]\uff08\u89c1\u56fe34\uff09\uff09<\/span>\u3002\u7ef4\u7eb3\u7684 Cybernetics \u5b66\u8bf4\u65e2\u6709\u7406\u6027\u7684\u62bd\u8c61\u6982\u5ff5\u5982\u63a7\u5236\u3001\u53cd\u9988\uff0c\u4e5f\u6709\u4e30\u5bcc\u7684\u60f3\u8c61\u529b\uff0c\u5982\u5728\u4eba\u673a\u5173\u7cfb\u65b9\u9762\uff0c\u4eba\u4e0e\u673a\u5668\u7684\u878d\u5408\uff0c\u5c06\u673a\u5668\u62df\u4eba\u5316\u4ee5\u53ca\u5c06\u4eba\u673a\u68b0\u5316\u3002Cybernetics<\/em>\u53d1\u8868\u540e\uff0c\u9a6c\u4e0a\u88ab\u8ba4\u4e3a\u662f\u4e00\u79cd\u65b0\u601d\u60f3\u751a\u81f3\u65b0\u5174\u5b66\u79d1\uff0c\u800c\u5438\u5f15\u4e86\u5de5\u7a0b\u3001\u6570\u5b66\u3001\u751f\u7269\u3001\u5fc3\u7406\u751a\u81f3\u793e\u4f1a\u3001\u54f2\u5b66\u3001\u653f\u6cbb\u7b49\u4f17\u591a\u9886\u57df\u7684\u6781\u5927\u5173\u6ce8[35]\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe34. \u7ef4\u7eb3\u6240\u8457 Cybernetics<\/em><\/span><\/section>\n<\/section>\n
\n


<\/p>\n

\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n

\u8bb8\u591a\u4eba\u8ba4\u4e3a\u7ef4\u7eb3\u7684<\/span>Cybernetics<\/em>\u4e0d\u5e94\u8be5\u7ffb\u8bd1\u6210\u201c\u63a7\u5236\u8bba\u201d\uff0c\u4ece\u4e66\u540d<\/span>\uff08\u89c1\u56fe34\uff09<\/span>\u5c31\u53ef\u770b\u51faCybernetics\u5177\u6709\u63a7\u5236\u3001\u901a\u4fe1\u4ee5\u53ca\u4eba\u673a\u4ea4\u4e92\u7b49\u591a\u91cd\u542b\u4e49\uff0c\u7ffb\u8bd1\u6210<\/span>\u201c\u63a7\u5236\u8bba\u201d<\/span>\u53ea\u53d6\u4e86\u5176\u4e2d\u63a7\u5236\u7684\u90e8\u5206\u3002\u73b0\u5728\u4eba\u5de5\u667a\u80fd\u53c8\u70ed\u4e86\u8d77\u6765\uff0c\u4e5f\u6709\u4eba\u8ba4\u4e3a\u7ef4\u7eb3\u7684<\/span>Cybernetics<\/em>\u5176\u5b9e\u63cf\u8ff0\u7684\u5c31\u662f\u4eba\u5de5\u667a\u80fd\u3002<\/span><\/p>\n<\/section>\n<\/section>\n

\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/p>\n<\/section>\n

\n
1954\u5e74\uff0c\u94b1\u5b66\u68ee<\/span>\uff081911-2009\uff09<\/span>\u4ee5\u706b\u7bad\u7684\u63a7\u5236\u4e0e\u5236\u5bfc<\/span>\uff08Controland Guidance\uff09<\/span>\u7b49\u76f8\u5173\u5b9e\u9645\u95ee\u9898\u4e3a\u5e94\u7528\u80cc\u666f\uff0c\u5728\u7f8e\u56fd\u53d1\u8868\u4e86\u5177\u6709\u66f4\u591a\u6570\u5b66\u63cf\u8ff0\u7684\u5de5\u7a0b\u63a7\u5236\u8bba<\/span>\uff08Engineering Cybernetics\uff09<\/span>[51,49]<\/span>\uff08\u89c1\u56fe35\uff09<\/span>\u3002\u8be5\u4e66\u662f\u94b1\u5b66\u68ee\u5728\u7f8e\u56fd\u56e0\u653f\u6cbb\u8feb\u5bb3\u800c\u88ab\u5f3a\u8feb\u6ede\u7559\u7f8e\u56fd\u5e76\u90e8\u5206\u5931\u53bb\u81ea\u7531\u7684\u60c5\u51b5\u4e0b\u5b8c\u6210\u7684\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe35. \u94b1\u5b66\u68ee\u6240\u8457 Engineering Cybernetics<\/em><\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
1945\u5e745\u6708\uff0c\u94b1\u5b66\u68ee\u52a0\u5165\u7f8e\u56fd\u7a7a\u519b\u79d1\u5b66\u54a8\u8be2\u56e2\uff0c\u8d74\u6b27\u6d32\u8003\u5bdf\u5fb7\u56fd\u822a\u7a7a\u3001\u706b\u7bad\u6280\u672f\u7684\u53d1\u5c55\u60c5\u51b5\uff0c\u5fb7\u56fd\u4e4b\u884c\u8ba9\u94b1\u5b66\u68ee\u6df1\u523b\u610f\u8bc6\u5230\u63a7\u5236\u4e0e\u5236\u5bfc\u7684\u91cd\u8981\u6027\u30021950\u5e74\u4e4b\u540e\uff0c\u5f53\u4ed6\u56e0\u653f\u6cbb\u8feb\u5bb3\u800c\u65e0\u6cd5\u518d\u7ee7\u7eed\u53c2\u4e0e\u519b\u4e8b\u79d1\u6280\u7814\u7a76\u540e\uff0c\u5373\u5c06\u5b66\u672f\u91cd\u70b9\u8f6c\u79fb\u5230\u8fd9\u4e00\u65b0\u5174\u7684\u7406\u8bba\u9886\u57df\uff0c\u8fdb\u884c\u5de5\u7a0b\u63a7\u5236\u8bba\u7684\u7814\u7a76[50]\u3002
<\/span><\/section>\n

<\/section>\n
\u94b1\u5b66\u68ee\u5728\u5e8f\u8a00\u4e2d\u9610\u660e\u5de5\u7a0b\u63a7\u5236\u8bba\u7684\u76ee\u7684\u662f\u60f3\u5efa\u7acb\u6709\u522b\u4e8e\u5177\u4f53\u201c\u5de5\u7a0b\u5b9e\u8df5<\/span>\uff08Engineering Practice\uff09<\/span>\u201d\u7684\u201c\u5de5\u7a0b\u79d1\u5b66<\/span>\uff08Engineering Science\uff09<\/span>\u201d\uff0c\u4ee5\u4f7f\u6211\u4eec\u53ef\u80fd\u4ee5\u66f4\u5e7f\u9614\u7684\u773c\u754c\u548c\u66f4\u7cfb\u7edf\u7684\u65b9\u5f0f\u89c2\u5bdf\u95ee\u9898\uff0c\u4ece\u800c\u53ef\u80fd\u7ed9\u51fa\u89e3\u51b3\u8001\u95ee\u9898\u7684\u5bcc\u6709\u6210\u6548\u7684\u65b0\u65b9\u6cd5\uff0c\u5e76\u63ed\u793a\u65b0\u7684\u3001\u610f\u60f3\u4e0d\u5230\u7684\u524d\u666f\u3002\u94b1\u5b66\u68ee\u65e2\u5f3a\u8c03\u6570\u5b66\u5bf9\u4e8e\u5de5\u7a0b\u79d1\u5b66\u7814\u7a76\u7684\u91cd\u8981\u6027\uff0c\u53c8\u5f3a\u8c03\u91cd\u5728\u8fd0\u7528\u6070\u5f53\u7684\u6570\u5b66\u5de5\u5177\u7814\u7a76\u89e3\u51b3\u5b9e\u9645\u5de5\u7a0b\u95ee\u9898\u800c\u975e\u56ff\u4e8e\u4e25\u683c\u7cbe\u5de7\u7684\u6570\u5b66\u8bba\u8bc1[46,47,48]\u3002<\/span><\/section>\n

<\/section>\n
1955\u5e74\uff0c\u7ecf\u8fc7\u4e2d\u56fd\u653f\u5e9c\u52aa\u529b\uff0c\u94b1\u5b66\u68ee\u7ec8\u4e8e\u56de\u5230\u7956\u56fd\u3002\u56de\u56fd\u540e\uff0c\u4ed6\u63d0\u8bae\u5e76\u5e26\u9886\u4e86\u4e2d\u56fd\u822a\u5929\u4e8b\u4e1a\u7684\u53d1\u5c55\uff0c\u8fd8\u52aa\u529b\u63a8\u52a8\u63a7\u5236\u79d1\u5b66\u5728\u4e2d\u56fd\u7684\u53d1\u5c55\u30021956\u5e74\uff0c\u94b1\u5b66\u68ee\u4eb2\u81ea\u7ed9\u4e2d\u79d1\u9662\u7684\u4e00\u4e9b\u7814\u7a76\u6240\u4ee5\u53ca\u5317\u4eac\u5927\u5b66\u548c\u6e05\u534e\u5927\u5b66\u7b49\u9ad8\u6821\u6559\u5e08\u548c\u5b66\u751f\u8bb2\u6388\u201c\u5de5\u7a0b\u63a7\u5236\u8bba\u201d[48,49]\u30021962\u5e74\uff0c\u5728\u94b1\u5b66\u68ee\u7684\u5021\u8bae\u4e0b\uff0c\u7ecf\u4e2d\u56fd\u79d1\u5b66\u9662\u4e0e\u56fd\u9632\u90e8\u7b2c\u4e94\u7814\u7a76\u9662\u5546\u5b9a\uff0c\u5728\u4e2d\u79d1\u9662\u6570\u5b66\u7814\u7a76\u6240\u6210\u7acb\u63a7\u5236\u7406\u8bba\u7814\u7a76\u5ba4<\/span>\uff08\u5373\u4e2d\u56fd\u79d1\u5b66\u9662\u7cfb\u7edf\u63a7\u5236\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u524d\u8eab\uff09<\/span>\uff0c\u6570\u5b66\u5bb6\u5173\u8087\u76f4\u548c\u63a7\u5236\u5b66\u5bb6\u5b8b\u5065\u4efb\u9996\u4efb\u6b63\u526f\u4e3b\u4efb\uff0c\u5b8b\u5065\u5e26\u9886\u56fd\u9632\u90e8\u4e94\u9662\u7684\u7814\u7a76\u4eba\u5458\u5230\u7814\u7a76\u5ba4\u5171\u540c\u5de5\u4f5c\u3002\u8fd9\u662f\u6211\u56fd\u6700\u65e9\u4ece\u4e8b\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7814\u7a76\u7684\u5355\u4f4d\uff0c\u81f4\u529b\u4e8e\u4e3a\u6211\u56fd\u7684\u56fd\u9632\u5c16\u7aef\u6280\u672f\u670d\u52a1\u5e76\u5728\u4e2d\u56fd\u63a8\u5e7f\u666e\u53ca\u73b0\u4ee3\u63a7\u5236\u7406\u8bba[52]\u3002<\/span><\/section>\n

<\/section>\n

<\/section>\n

\n
\n
\n
\n
\n

<\/section>\n

<\/section>\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n
\n

7. \u73b0\u4ee3\u63a7\u5236\u7406\u8bba<\/strong><\/span><\/strong><\/strong><\/p>\n<\/section>\n

\n

<\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n

\u8d70\u9a6c\u89c2\u82b1\u6700\u540e\u4e00\u7ad9\uff1a\u9971\u53d7\u4e89\u8bae\u7684\u73b0\u4ee3\u63a7\u5236\u7406\u8bba<\/span><\/strong><\/span><\/section>\n

<\/section>\n
\u6218\u540e\u63a7\u5236\u79d1\u5b66\u7684\u53d1\u5c55\u66f4\u4e3b\u8981\u5730\u53d7\u5230\u4e24\u5927\u56e0\u7d20\u7684\u63a8\u52a8\uff1a\u4e00\u662f\u7f8e\u82cf\u592a\u7a7a\u7ade\u8d5b\uff0c\u4e8c\u662f\u6570\u5b57\u8ba1\u7b97\u673a\u7684\u51fa\u73b0\uff0c\u53ef\u4ee5\u5b8c\u6210\u590d\u6742\u7684\u8ba1\u7b97\u548c\u52a8\u6001\u7cfb\u7edf\u4eff\u771f[1]\u3002\u822a\u5929\u4efb\u52a1\u9700\u8981\u7814\u7a76\u89e3\u51b3\u5bfc\u5f39\u4e0e\u592a\u7a7a\u98de\u884c\u5668\u7684\u53d1\u5c04<\/span>\uff08Launching\uff09<\/span>\u3001\u673a\u52a8<\/span>\uff08Maneuvering\uff09<\/span>\u3001\u5236\u5bfc<\/span>\uff08Guidance\uff09<\/span>\u53ca\u8ddf\u8e2a<\/span>\uff08Tracking\uff09<\/span>\u7b49\u95ee\u9898\uff0c\u8fd9\u4e2a\u95ee\u9898\u7684\u7279\u70b9\u662f\u7269\u7406\u6a21\u578b\u53ef\u4ee5\u7528\u4e00\u7ec4\u4e00\u9636\u5fae\u5206\u65b9\u7a0b<\/span>\uff08\u7ebf\u6027\u6216\u975e\u7ebf\u6027\uff09<\/span>\u63cf\u8ff0\uff0c\u518d\u5c31\u662f\u822a\u5929\u5668\u4e0a\u88c5\u6709\u5177\u5907\u826f\u597d\u7cbe\u5ea6\u7684\u6d4b\u91cf\u88c5\u7f6e<\/span>\uff08\u4f20\u611f\u5668\uff09<\/span>\u7528\u4e8e\u72b6\u6001\u6d4b\u91cf\u3001\u8f68\u8ff9\u89c4\u5212\uff0c\u4e8e\u662f\u53d1\u5c55\u51fa\u72b6\u6001\u7a7a\u95f4\u65b9\u6cd5[1]\u3002<\/span><\/section>\n

<\/section>\n
\u822a\u5929\u63a7\u5236\u7cfb\u7edf\u6bd4\u4ee5\u5f80\u7684\u63a7\u5236\u7cfb\u7edf\u590d\u6742\u591a\u4e86\u3002\u56fe5\u5c55\u793a\u8fc7\u63a7\u5236\u7cfb\u7edf\u7684\u51e0\u4e2a\u57fa\u672c\u7ec4\u6210\uff0c\u5728\u6700\u521d\u7684\u7b80\u5355\u63a7\u5236\u7cfb\u7edf\u91cc\uff0c\u5982\u6c34\u949f\u3001\u98de\u7403\u5f0f\u8c03\u901f\u5668\uff0c\u6d4b\u91cf\u3001\u63a7\u5236\u5668\u3001\u6267\u884c\u673a\u6784\u662f\u4e00\u4f53\u7684\uff0c\u63a7\u5236\u76ee\u6807\u4e5f\u6bd4\u8f83\u7b80\u5355\u3002\u800c\u822a\u5929\u7684\u63a7\u5236\u7cfb\u7edf\u8ddf\u4ee5\u5f80\u63a7\u5236\u7cfb\u7edf\u76f8\u6bd4\u8981\u590d\u6742\u5f97\u591a\uff0c\u98de\u884c\u4efb\u52a1\u5f80\u5f80\u9700\u8981\u5bfc\u822a\u3001\u5236\u5bfc\u548c\u63a7\u5236\u4e09\u90e8\u5206\u534f\u540c\u5b8c\u6210<\/span>\uff08\u89c1\u56fe36\uff09<\/span>\u3002\u5bf9\u5e94\u4e8e\u56fe5\u7684\u63a7\u5236\u7cfb\u7edf\u57fa\u672c\u7ec4\u6210\u6846\u67b6\uff0c\u5bfc\u822a\u7cfb\u7edf\u76f8\u5f53\u4e8e\u6d4b\u91cf\u90e8\u5206\uff0c\u5b8c\u6210\u4f20\u611f\u5668\u6d4b\u91cf\u53ca\u4f20\u611f\u5668\u4fe1\u53f7\u7684\u5904\u7406\uff0c\u4ee5\u5b9e\u65f6\u51c6\u786e\u5730\u63d0\u4f9b\u98de\u884c\u5668\u5728\u98de\u884c\u5f53\u4e2d\u7684\u5404\u79cd\u72b6\u6001<\/span>\uff08\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u59ff\u6001\u3001\u89d2\u901f\u5ea6\u7b49\uff09<\/span>\uff1b\u5236\u5bfc\u7cfb\u7edf\u5bf9\u5e94\u4e8e\u7ed9\u51fa\u9884\u671f\u8fd0\u52a8\u6307\u4ee4\u7684\u90e8\u5206\uff0c\u6839\u636e\u98de\u884c\u6700\u7ec8\u4efb\u52a1\u5b9e\u65f6\u89c4\u5212\u51fa\u5f53\u524d\u98de\u884c\u72b6\u6001\u9700\u8981\u5982\u4f55\u8c03\u6574\u7684\u6307\u4ee4\u503c<\/span>\uff08\u901a\u5e38\u4e3a\u59ff\u6001\u6307\u4ee4\uff09<\/span>\uff0c\u6b64\u65f6\uff0c\u671f\u671b\u8f93\u5165\u662f\u5b9e\u65f6\u751f\u6210\u7684\u800c\u4e0d\u662f\u4e8b\u5148\u786e\u5b9a\u7684\uff1b\u6700\u540e\u7684\u5173\u952e\u5c31\u662f\u63a7\u5236\u7cfb\u7edf\u6839\u636e\u5bfc\u822a\u7cfb\u7edf\u63d0\u4f9b\u7684\u5f53\u524d\u98de\u884c\u72b6\u6001\u548c\u5236\u5bfc\u7cfb\u7edf\u63d0\u51fa\u7684\u8fd0\u52a8\u6307\u4ee4\u5f62\u6210\u63a7\u5236\u91cf\u8c03\u6574\u98de\u884c\u72b6\u6001<\/span>\uff08\u5982\u56fe37\uff09<\/span>\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe36. \u822a\u5929\u98de\u884c\u4efb\u52a1\u5f80\u5f80\u9700\u8981\u5bfc\u822a\u3001\u5236\u5bfc\u548c\u63a7\u5236\u4e09\u90e8\u5206\u5b8c\u6210<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe37. \u5bfc\u822a\u3001\u5236\u5bfc\u548c\u63a7\u5236\u4e0e\u63a7\u5236\u7cfb\u7edf\u5404\u57fa\u672c\u73af\u8282\u7684\u5bf9\u5e94\u5173\u7cfb<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
\u822a\u5929\u4efb\u52a1\u7684\u9700\u6c42\u5f3a\u529b\u63a8\u52a8\u4e86\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7684\u53d1\u5c55\uff0c\u8d1d\u5c14\u66fc\u7684\u52a8\u6001\u89c4\u5212\u3001\u5e9e\u7279\u91cc\u4e9a\u91d1\u7684\u6781\u5927\u503c\u539f\u7406\u548c\u5361\u5c14\u66fc\u6ee4\u6ce2\u88ab\u8ba4\u4e3a\u662f\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7684\u4e09\u4e2a\u4ee3\u8868\u6027\u5de5\u4f5c\u30021948\u5e74-1952\u5e74\uff0c\u8d1d\u5c14\u66fc <\/span>(Richard Bellman, 1920-1984\uff09<\/span>\u5728\u5170\u5fb7\u516c\u53f8<\/span>\uff08Rand Corporation\uff09<\/span>\u6570\u5b66\u90e8\u5de5\u4f5c\uff0c\u4ed6\u5728\u7814\u7a76\u89e3\u51b3\u5bfc\u5f39\u90e8\u7f72\u4ee5\u8fbe\u5230\u6700\u5927\u7834\u574f\u529b\u95ee\u9898\u7684\u8fc7\u7a0b\u4e2d\uff0c\u63d0\u51fa\u4e86\u201c\u6700\u4f18\u6027\u539f\u7406<\/span>\uff08Principle of Optimality\uff09<\/span>\u201d\u548c\u201c\u52a8\u6001\u89c4\u5212<\/span>\uff08Dynamic Programming\uff09<\/span>\u201d[1]\u3002\u5e9e\u7279\u91cc\u4e9a\u91d1<\/span>\uff08Lev Semenovich Pontryagin, 1908-1988\uff09<\/span>\u662f\u82cf\u8054\u6570\u5b66\u5bb6\u3002\u822a\u5929\u98de\u884c\u4efb\u52a1\u9664\u4e86\u843d\u70b9\u7cbe\u5ea6\u7684\u8981\u6c42\u5916\uff0c\u7cfb\u7edf\u6027\u80fd\u8fd8\u6d89\u53ca\u4e00\u4e9b\u5176\u4ed6\u9650\u5236\uff1a\u5982\u65f6\u95f4\u6700\u77ed\u6216\u71c3\u6599\u6d88\u8017\u6700\u5c11\u7b49\uff0cPontryagin 1956\u5e74\u63d0\u51fa\u7684\u6781\u5927\u503c\u539f\u7406\u662f\u5173\u4e8e\u8fd9\u7c7b\u6700\u4f18\u63a7\u5236\u95ee\u9898\u7684\u7406\u8bba\u57fa\u7840[1]\u3002Kalman \u6ee4\u6ce2\u5219\u662f\u4ece\u5e26\u6709\u566a\u58f0\u4ee5\u53ca\u4e0d\u5b8c\u5168\u6d4b\u91cf\u7684\u4fe1\u53f7\u4e2d\u63d0\u53d6\u6240\u9700\u4fe1\u53f7\u7684\u4e00\u79cd\u6570\u5b66\u7b97\u6cd5\uff0cKalman \u6ee4\u6ce2\u521a\u63d0\u51fa\u65f6\u66fe\u53d7\u5230\u5f88\u5927\u8d28\u7591\uff0c\u76f4\u52301960\u5e74\uff0c\u5361\u5c14\u66fc<\/span>\uff08Rudolf Emil Kalman, 1930-2016\uff09<\/span>\u8bbf\u95ee NASA Ames \u7814\u7a76\u4e2d\u5fc3\uff0c\u5176\u540eKalman\u6ee4\u6ce2\u6210\u529f\u5730\u5728\u963f\u6ce2\u7f57\u767b\u6708\u8ba1\u5212\u4e2d\u5f97\u4ee5\u5e94\u7528[36]\u3002
<\/span><\/section>\n

<\/section>\n
\u6587\u732e[1]\u628a\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7684\u8d77\u70b9\u653e\u57281956\u5e74\uff0c\u90a3\u5e74\u5728\u5fb7\u56fd\u6d77\u5fb7\u5821\u53ec\u5f00\u4e86\u4e00\u6b21\u81ea\u52a8\u63a7\u5236\u7684\u56fd\u9645\u4f1a\u8bae\uff0c\u5f88\u591a\u56fd\u5bb6\u7684\u5b66\u672f\u4e0e\u5de5\u4e1a\u754c\u4ee3\u8868\u53c2\u52a0\u4e86\u4f1a\u8bae\u3002\u4f1a\u4e0a\uff0c\u4e00\u4e9b\u4ee3\u8868\u63d0\u8bae\u6210\u7acb\u4e00\u4e2a\u56fd\u9645\u7ec4\u7ec7\u6765\u63a8\u52a8\u81ea\u52a8\u63a7\u5236\u7684\u53d1\u5c55\uff0c\u5c31\u662f1957\u5e749\u6708\u5728\u5df4\u9ece\u6b63\u5f0f\u6210\u7acb\u7684\u56fd\u9645\u81ea\u52a8\u63a7\u5236\u8054\u5408\u4f1a<\/span>\uff08IFAC\uff09<\/span>\uff0c\u524d\u82cf\u8054\u7533\u8bf7\u4e861960\u5e74\u5728\u83ab\u65af\u79d1\u53ec\u5f00\u7b2c\u4e00\u6b21IFAC\u4e16\u754c\u5927\u4f1a\u3002\u56e0\u6b64\uff0c\u4e5f\u6709\u4eba\u628a1960\u5e74\u7b2c\u4e00\u5c4aIFAC\u4e16\u754c\u5927\u4f1a\u7684\u53ec\u5f00\u4f5c\u4e3a\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u8d77\u70b9\u7684\u4e00\u4e2a\u91cd\u8981\u6807\u5fd7\u3002IFAC\u662f\u4e00\u4e2a\u4ee5\u56fd\u5bb6\u7ec4\u7ec7\u4e3a\u5176\u6210\u5458\u7684\u56fd\u9645\u6027\u5b66\u672f\u7ec4\u7ec7\uff0c\u4e2d\u56fd\u4e3a\u5176\u521b\u59cb\u6210\u5458\u56fd\uff0c\u94b1\u5b66\u68ee\u4ee3\u8868\u4e2d\u56fd\u88ab\u63a8\u9009\u4e3a\u7b2c\u4e00\u5c4aIFAC\u7406\u4e8b\u4f1a\u6210\u5458\u3002<\/span><\/section>\n

<\/section>\n
1960\u5e746.27-7.2\uff0c\u7b2c1\u5c4aIFAC\u4e16\u754c\u5927\u4f1a\u5728\u83ab\u65af\u79d1\u53ec\u5f00\uff0c\u7ea61500\u540d\u63a7\u5236\u5de5\u7a0b\u5e08\u548c\u79d1\u5b66\u5bb6\u9f50\u805a\u83ab\u65af\u79d1\uff0c\u4f1a\u4e0a\u6709285\u7bc7\u8bba\u6587\u8fdb\u884c\u4e86\u4ea4\u6d41\uff0c\u4e0d\u4e4f\u7ecf\u5178\u4e4b\u4f5c\uff0c\u5982[37]\uff1a<\/span><\/section>\n

<\/section>\n

\u2022Boltyanski, Gamkrelidze, Mishchenko, and Pontryagin\uff1a\u201cThe Maximum Principle in the Theory of Optimal Processes of Control\u201d<\/span><\/p>\n

\u2022R.Bellman and R.Kalaba\uff1a\u201dDynamic Program and Feed back Control\u201d<\/span><\/p>\n

\u2022R.E.Kalman,\u201cOn the General Theory of Control Systems\u201d<\/span><\/section>\n

<\/section>\n
\u6b64\u540e\uff0cIFAC\u4e16\u754c\u5927\u4f1a\u6bcf3\u5e74\u4e3e\u529e\u4e00\u6b21\uff0c1999\u5e74\u7b2c14\u5c4aIFAC\u4e16\u754c\u5927\u4f1a\u5728\u5317\u4eac\u53ec\u5f00\u3002<\/span><\/section>\n


<\/p>\n

\n
\n
\n
\n

<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n

\u8bfb\u5230\u8fd9\u6bb5\u5386\u53f2\u65f6\uff0c\u6211\u603b\u611f\u89c9\u4ee5\u4e00\u6b21\u4f1a\u8bae\u6216\u7ec4\u7ec7\u7684\u6210\u7acb\u4f5c\u4e3a\u4e00\u4e2a\u5b66\u79d1\u65b0\u9636\u6bb5\u7684\u8d77\u70b9\u4f3c\u4e4e\u7406\u7531\u4e0d\u591f\u5145\u5206\uff0c\u8fd8\u662f\u66f4\u5e94\u8be5\u770b\u6709\u4ec0\u4e48\u65b0\u8fdb\u5c55\u3002\u4e3a\u4ec0\u4e48\u4e0a\u8ff0\u4e09\u9879\u5de5\u4f5c\u88ab\u79f0\u4e3a\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7684\u4ee3\u8868\u6027\u5de5\u4f5c\uff0c\u662f\u6211\u5728\u7814\u7a76\u751f\u521a\u5165\u5b66\u65f6\u5c31\u6709\u7684\u95ee\u9898\uff0c\u51e0\u5341\u5e74\u4e86\uff0c\u800c\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u5728\u8fd9\u51e0\u5341\u5e74\u91cc\u4e5f\u9971\u53d7\u4e0d\u63a5\u5730\u6c14\u7684\u6279\u8bc4\u30022017\u5e74\u63a5\u5230\u7ed9\u5317\u4eac\u4e94\u4e2d\u5b66\u751f\u4ee5\u201c\u6570\u5b66\u4e0e\u822a\u5929\u201d\u4e3a\u9898\u8bb2\u4e00\u6b21\u8bfe\u7684\u4efb\u52a1\uff0c\u82e6\u607c\u4e86\u5f88\u4e45\uff0c\u4e0d\u77e5\u4ece\u54ea\u7834\u9898\uff0c\u82e6\u601d\u51a5\u60f3\u4e2d\uff0c\u5ffd\u7136\u5bf9\u81ea\u5df1\u8fd9\u4e2a\u51e0\u5341\u5e74\u524d\u7684\u95ee\u9898\u6709\u4e86\u4e0d\u540c\u7684\u8ba4\u8bc6\u3002\u8ffd\u6839\u6714\u6e90\uff0cKalman \u6ee4\u6ce2\u6bd4\u8f83\u597d\u5730\u89e3\u51b3\u4e86\u822a\u5929\u5bfc\u822a\u7cfb\u7edf\u91cc\u7684\u4fe1\u606f\u5904\u7406\u95ee\u9898\uff0c\u800c\u6700\u4f18\u63a7\u5236\u5176\u5b9e\u662f\u671f\u671b\u89e3\u51b3\u822a\u5929\u5236\u5bfc\u7cfb\u7edf\u7684\u5b9e\u65f6\u8f68\u7ebf\u89c4\u5212\u95ee\u9898\u3002\u56e0\u6b64\uff0c\u6839\u636e\u56fe35\u4e2d\u5bfc\u822a\u3001\u5236\u5bfc\u4e0e\u63a7\u5236\u7684\u5173\u7cfb\uff0c\u8fd9\u4e09\u4e2a\u4ee3\u8868\u6027\u5de5\u4f5c\u5e76\u4e0d\u662f\u89e3\u51b3\u4f20\u7edf\u610f\u4e49\u4e0a\u7684\u63a7\u5236\u95ee\u9898\uff0c\u800c\u662f\u4f20\u7edf\u63a7\u5236\u4e2d\u6ca1\u6709\u6d89\u53ca\u7684\u90e8\u5206\uff0c\u5373\u72b6\u6001\u4fe1\u606f\u7684\u63d0\u53d6\u548c\u63a7\u5236\u8f93\u5165\u6307\u4ee4\u7684\u89c4\u5212\u3002\u6240\u4ee5\uff0c\u53ef\u4ee5\u8bf4\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u62d3\u5c55\u4e86\u4f20\u7edf\u610f\u4e49\u4e0b\u63a7\u5236\u7814\u7a76\u7684\u8303\u7574\uff0c\u4f46\u5bf9\u89e3\u51b3\u4f20\u7edf\u610f\u4e49\u4e0a\u7684\u63a7\u5236\u95ee\u9898\u6ca1\u6709\u5927\u7684\u63a8\u52a8\uff0c\u4f9d\u7136\u662f\u4ee5PID\u4e3a\u4e3b\u7684\u7ecf\u5178\u63a7\u5236\u6280\u672f\u5360\u4e3b\u5bfc\uff0c\u800c\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u91cc\u90a3\u4e9b\u8bd5\u56fe\u89e3\u51b3\u4f20\u7edf\u610f\u4e49\u4e0a\u63a7\u5236\u95ee\u9898\u7684\u5c1d\u8bd5\u4f3c\u4e4e\u90fd\u4e0d\u592a\u6210\u529f\uff0c\u8fd9\u662f\u9700\u8981\u6211\u4eec\u6df1\u601d\u7684\uff08\u89c1\u56fe38\uff09\u3002\u524d\u9762\u63d0\u5230\u7684\u81ea\u6297\u6270\u63a7\u5236\u5219\u6c72\u53d6\u5e76\u62d3\u5c55\u4e86\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u4fe1\u606f\u5904\u7406\u4e2d\u72b6\u6001\u7684\u6982\u5ff5\u548c\u89c2\u6d4b\u5668\u7684\u65b9\u6cd5\uff0c\u5728\u89e3\u51b3\u4f20\u7edf\u63a7\u5236\u95ee\u9898\u4e0a\u7a81\u7834\u4e86\u73b0\u6709\u7406\u8bba\u548c\u65b9\u6cd5\u7684\u5c40\u9650\u6027\u3002\u4f5c\u4e3a\u5728PID\u63a7\u5236\u57fa\u7840\u4e0a\u7684\u521b\u65b0\uff0c\u81ea\u6297\u6270\u63a7\u5236\u5df2\u7ecf\u5b9e\u9645\u5e94\u7528\u4e8e\u6211\u56fd\u822a\u7a7a\u822a\u5929\u591a\u4e2a\u65b0\u578b\u98de\u884c\u5668\u7684\u98de\u884c\u63a7\u5236\uff0c\u4ee5\u53ca\u6211\u56fd\u4e00\u4e9b\u7535\u5382\u7684\u63a7\u5236\u56de\u8def\u4e2d[24,44]\uff0c\u800c\u5176\u672a\u6765\u7684\u53d1\u5c55\uff0c\u4e5f\u8bb8\u5e94\u8be5\u601d\u8003\u5982\u4f55\u62d3\u5c55\u5230\u66f4\u5e7f\u7684\u9886\u57df\u3002<\/span><\/p>\n


<\/p>\n<\/section>\n

\n

<\/p>\n<\/section>\n

\n

\u56fe38. \u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u62d3\u5c55\u4e86\u4f20\u7edf\u610f\u4e49\u4e0b\u63a7\u5236\u7814\u7a76\u7684\u8303\u7574<\/span><\/p>\n<\/section>\n<\/section>\n<\/section>\n

\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/p>\n


<\/p>\n

\n
\n
\n
\n
\n

<\/section>\n

<\/section>\n
\n
<\/svg><\/section>\n<\/section>\n<\/section>\n
\n

8. \u63a7\u5236\u53d1\u5c55\u5386\u53f2\u7684\u542f\u53d1<\/strong><\/span><\/strong><\/strong><\/p>\n<\/section>\n

\n

<\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n<\/section>\n

\n
\u8d70\u9a6c\u89c2\u82b1\u5730\u56de\u987e\u4e86\u63a7\u5236\u53d1\u5c55\u5386\u7a0b\u4e4b\u540e\uff0c\u5386\u53f2\u7ed9\u6211\u4eec\u54ea\u4e9b\u542f\u53d1\u5462\uff1f\u6211\u81ea\u5df1\u7684\u51e0\u70b9\u611f\u53d7\u662f\uff1a<\/span><\/section>\n

<\/section>\n
1. \u63a7\u5236\u79d1\u5b66\u662f\u5728\u4e0d\u65ad\u89e3\u51b3\u5b9e\u9645\u95ee\u9898\u4e2d\u53d1\u5c55\u7684<\/span><\/strong><\/p>\n

<\/span><\/section>\n

Maxwell \u7cfb\u7edf\u5730\u5206\u6790\u53cd\u9988\u63a7\u5236\u7a33\u5b9a\u6027\u7684\u5de5\u4f5c\u662f\u5177\u4f53\u9488\u5bf9\u5f53\u65f6\u8c03\u901f\u5668\u7684\u7a33\u5b9a\u6027\u95ee\u9898\uff0c\u5f15\u7533\u53d1\u5c55\u51fa\u6765\u7684\uff1bBlack, Nyquist \u548c Bode \u7b49\u4eba\u7684\u9891\u57df\u5206\u6790\u4e0e\u8bbe<\/span>\u8ba1\u65b9\u6cd5\u662f\u4e3a\u5177\u4f53\u89e3\u51b3\u901a\u8baf\u5feb\u901f\u53d1\u5c55\u4e2d\u51fa\u73b0\u7684\u7a33\u5b9a\u6027\u95ee\u9898\u800c\u53d1\u5c55\u8d77\u6765\u7684\uff0c\u751a\u81f3\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u4e5f\u662f\u7531\u4e8e\u592a\u7a7a\u8ba1\u5212\u4e2d\u7684\u4e00\u7cfb\u5217\u96be\u9898\u63a8\u52a8\u7684\u3002\u56e0\u6b64\uff0c\u63a7\u5236\u7684\u7814\u7a76\u8981\u9488\u5bf9\u5b9e\u9645\u95ee\u9898\uff0c\u5bf9\u6240\u7814\u7a76\u7684\u95ee\u9898\u8981\u6709\u900f\u5f7b\u7684\u4e86\u89e3\uff0c\u5728\u521b\u9020\u6027\u5730\u89e3\u51b3\u95ee\u9898\u4e2d\u505a\u51fa\u539f\u521b\u6027\u7684\u5de5\u4f5c\u3002<\/span><\/section>\n

<\/section>\n
2. \u5386\u53f2\u4eba\u7269\u5929\u624d\u5f0f\u8d21\u732e\u7684\u80cc\u540e\u662f\u5bf9\u94bb\u7814\u7684\u70ed\u60c5\u548c\u6301\u7eed\u4e0d\u65ad\u7684\u52aa\u529b<\/span><\/strong><\/section>\n

<\/section>\n
\u8d70\u9a6c\u89c2\u82b1\u4e2d\u6109\u5feb\u5730\u5728\u5386\u53f2\u4eba\u7269\u95f4\u7a7f\u884c\uff0c\u6d41\u8fde\u5fd8\u8fd4<\/span>\uff08\u56fe39\uff09<\/span>\uff0c\u88ab\u4ed6\u4eec\u5e26\u7740\u53bb\u63a2\u7d22\u5404\u79cd\u95ee\u9898\uff0c\u8fd9\u662f\u7279\u522b\u5438\u5f15\u6211\u7684\u90e8\u5206\uff0c\u5e38\u5e38\u4f1a\u6709\u201d\u4ed6\u662f\u600e\u4e48\u60f3\u51fa\u6765\u7684\u201d\u7684\u597d\u5947\uff0c\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\u65e2\u611f\u53f9\u4e8e\u4ed6\u4eec\u7684\u535a\u5b66\u548c\u624d\u534e\uff0c\u4e5f\u88ab\u4ed6\u4eec\u94bb\u7814\u7684\u70ed\u60c5\u548c\u6267\u7740\u6240\u6253\u52a8\uff0c\u4efb\u4f55\u4e00\u70b9\u8fdb\u5c55\u90fd\u4e0d\u662f\u4e00\u8e74\u800c\u5c31\u7684\u3002<\/span><\/section>\n

<\/section>\n<\/section>\n
\n
<\/section>\n<\/section>\n
\n
\u56fe39. \u7a7f\u884c\u5728\u5386\u53f2\u4eba\u7269\u95f4\uff0c\u88ab\u4ed6\u4eec\u5e26\u7740\u53bb\u63a2\u7d22 (\u4eba\u7269\u56fe\u7247\u6765\u81ea\u7f51\u7edc)<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
3. \u63a7\u5236\u7cfb\u7edf\u7684\u7814\u7a76\u901a\u5e38\u5728\u65f6\u57df\/\u590d\u6570\u57df\/\u9891\u57df\u591a\u4e2a\u57df\u4e2d\u5c55\u5f00
<\/span><\/strong><\/section>\n

<\/section>\n
\u65f6\u57df\u7684\u72b6\u6001\u7a7a\u95f4\u548c\u5fae\u5206\u65b9\u7a0b\u5206\u6790\uff0c\u590d\u6570\u57df\u7684\u4f20\u9012\u51fd\u6570\u548c\u96f6\u6781\u70b9\u5206\u6790\uff0c\u4ee5\u53ca\u9891\u7387\u57df\u7684\u5e26\u5bbd\u548c\u5e45\u503c\/\u76f8\u4f4d\u88d5\u5ea6\u5206\u6790\uff0c\u6bcf\u4e00\u79cd\u65b9\u6cd5\u90fd\u6709\u5176\u9002\u7528\u7684\u8303\u56f4\u3001\u4f18\u70b9\u548c\u5c40\u9650\uff0c\u6700\u597d\u80fd\u7efc\u5408\u638c\u63e1\u3001\u7075\u6d3b\u8fd0\u7528\u3002<\/span><\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n
\n
\u56de\u5934\u770b\uff0c\u7cbe\u5f69\u7eb7\u5448\uff0c\u5411\u524d\u671b\uff0c\u9053\u8def\u5bbd\u5e7f\u5374\u5c71\u957f\u6c34\u8fdc\uff0c\u7ee7\u7eed\u4e0a\u8def\u5427\u3002<\/span><\/em><\/section>\n<\/section>\n
\n

<\/section>\n
\n
\n
\u81f4\u8c22\uff1a\u672c\u6587\u521d\u7a3f 2020 \u5e74 4 \u6708\u5728\u516c\u4f17\u53f7\u201c\u81ea\u6297\u6270\u63a7\u5236\u201d\u53d1\u8868\uff0c\u63a5\u53d7\u4e86\u4e00\u6b21\u201c\u4e91\u5ba1\u7a3f\u201d\uff0c\u5f97\u5230\u8bb8\u591a\u9f13\u52b1\u548c\u4e2d\u80af\u7684\u610f\u89c1\uff0c\u7279\u522b\u662f\u90ed\u96f7\u9662\u58eb\u548c\u5317\u4eac\u5927\u5b66\u738b\u9f99\u6559\u6388\u8fd8\u5c31\u4e00\u4e9b\u5185\u5bb9\u7684\u5b8c\u5584\u8fdb\u884c\u4e86\u591a\u6b21\u8ba8\u8bba\uff0c\u7ed9\u51fa\u8bb8\u591a\u5177\u4f53\u5efa\u8bae\uff0c\u5728\u6b64\u8868\u793a\u8877\u5fc3\u611f\u8c22\uff01<\/span><\/section>\n<\/section>\n<\/blockquote>\n<\/section>\n<\/section>\n
\n
\n

<\/section>\n
\n
\n
\u8d70\u9a6c\u89c2\u82b1\u770b\u63a7\u5236\u53d1\u5c55\u7b80\u53f2\u8bfe\u7a0b\u56de\u653e\u94fe\u63a5\uff1ahttps:\/\/campus.swarma.org\/course\/5313<\/span><\/section>\n<\/section>\n<\/blockquote>\n


<\/p>\n


<\/section>\n
\n
\n
\n

\u4f5c\u8005\u7b80\u4ecb<\/strong><\/p>\n<\/section>\n<\/section>\n<\/section>\n

\n
\n
\n
\n
\n
\n
\n
\n
\n

<\/p>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n

\n
\n
\n
\n

\u9ec4\u4e00<\/span><\/strong>\uff0c\u4e2d\u56fd\u79d1\u5b66\u9662\u7cfb\u7edf\u63a7\u5236\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u7814\u7a76\u5458\uff0c\u4e2d\u56fd\u81ea\u52a8\u5316\u5b66\u4f1a\u63a7\u5236\u7406\u8bba\u4e13\u4e1a\u59d4\u5458\u4f1a\u59d4\u5458\u3002\u4e3b\u8981\u7814\u7a76\u9886\u57df\u4e3a\u4e0d\u786e\u5b9a\u7cfb\u7edf\u7684\u4f30\u8ba1\u4e0e\u63a7\u5236\u3002<\/span><\/p>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n


<\/section>\n

<\/section>\n
\n
\n
\n

\u53c2\u8003\u6587\u732e<\/strong><\/p>\n<\/section>\n<\/section>\n<\/section>\n

\n
\n
\n
\n
[1]Stuart Bennett. A brief history of automatic control. IEEE Control Systems, 1996, 16(3): 17-25.<\/span><\/section>\n
[2]Michael K. Masten. President\u2019s Message. IEEE Control System, 1996, 16(3): 4.<\/span><\/section>\n
[3]Richard C Dorf and Robert H Bishop. \u73b0\u4ee3\u63a7\u5236\u7cfb\u7edf<\/span><\/section>\n
\uff08\u7b2c\u516b\u7248\uff09\uff0c\u9ad8\u7b49\u6559\u80b2\u51fa\u7248\u793e, 2001.<\/span><\/section>\n
[4]Mayr O. The Origin of Feedback Control. Cambrige, MA: MIT Press, 1970.<\/span><\/section>\n
[5]Gene F Franklin, J David Powell and Abbas Emami- Naeini. \u52a8\u6001\u7cfb\u7edf\u7684\u53cd\u9988\u63a7\u5236(\u7b2c7\u7248)\uff0c\u673a\u68b0\u5de5\u4e1a\u51fa\u7248\u793e, 2016<\/span><\/section>\n
[6]Fuller A T. The early development of control theory. J Dyn Sys Meas Control, 1976, 98: 109-118.<\/span><\/section>\n
[7]Bennett S. A history of control engineering 1800- 1930, Stevenage: Peter Peregrinus, 1979.<\/span><\/section>\n
[8]\u5f20\u4f1f\u4f1f. \u56fe\u8bf4\u84b8\u6c7d\u673a\u53d1\u5c55\u6f14\u53d8\u7684\u4e09\u4e2a\u9636\u6bb5. \u7cfb\u7edf\u4e0e\u63a7\u5236\u7eb5\u6a2a\uff0c2017, 4(2)\uff1a45-58.<\/span><\/section>\n
[9]Fuller, A.T. The early development of control theory (II). J Dyn Sys Meas Control, 1976, 98: 224-235.<\/span><\/section>\n
[10]Maxwell, J C. On governors. Proceedings of the Royal Society, No 100, 1868.<\/span><\/section>\n
[11]Mayr O. Maxwell and the origins of Cybernetics, Isis,<\/span><\/section>\n
[12]Fuller A T. Editorial of Routh Centenary Issue. Int J Control, 1977, 26: 167-168.<\/span><\/section>\n
[13]\u9ec4\u7433. \u7a33\u5b9a\u6027\u4e0e\u9c81\u68d2\u6027\u7684\u4ee3\u6570\u57fa\u7840. \u79d1\u5b66\u51fa\u7248\u793e\uff0c 2003.<\/span><\/section>\n
[14]Trinks W. Governors and the governing of prime movers. London: Constable and Co., Ltd., 1920<\/span><\/section>\n
[15]Stuart Bennett. Nicolas Minorsky and the automatic steering of ship. IEEE Control Systems, 1984, 4(4): 10- 15.<\/span><\/section>\n
[16]Samad T. A survey on industry impact and challenges thereof. IEEE Control Systems Magazine, 2017, 37(1): 17-18.<\/span><\/section>\n
[17]O’Dwyer A. PI and PID controller tuning rules: an overview and personal perspective. Proceedings of the IET Irish Signals and Systems Conference, pages 161- 166, 2006.<\/span><\/section>\n
[18]\u212bstr\u00f6m K J, H\u00e4gglund T. PID Controllers: Theory,<\/span><\/section>\n
Design and Tuning, 2nd ed. Research Triangle Park: Instrument Society of America, 1995.<\/span><\/section>\n
[19]Zhao C, Guo L. PID controller design for second order nonlinear uncertain systems, Science China, Information Science, 2017, 60(2): 022201:1-022201:13.<\/span><\/section>\n
[20]Zhang J K, Guo L. Theory and Design of PID Controller for Nonlinear Uncertain Systems. IEEE Control Systems Letters, 2019, 3(3): 643-648.<\/span><\/section>\n
[21]Zhong S, Huang Y, Guo L. A Parameter Formula Connecting PID and ADRC. Science China, Information Science, 2020, 63(9): 192-203. https:\/\/doi. org\/10.1007\/s11432-019-2712-7 .<\/span><\/section>\n
[22]\u97e9\u4eac\u6e05. \u81ea\u6297\u6270\u63a7\u5236\u5668\u53ca\u5176\u5e94\u7528. \u63a7\u5236\u4e0e\u51b3\u7b56\uff0c1998, 13(1): 19-23.<\/span><\/section>\n
[23]Han J. From PID to Active Disturbance Rejection Control. IEEE Trans. Ind. Electron., 2009, 56(3): 900- 906.<\/span><\/section>\n
[24]Huang Y, Xue W. Acitve disturbance rejection control: methodology and theoretical analysis. ISA transactions, 2014, 53(4): 963-976.<\/span><\/section>\n
[25]Black H.S. Stabilized feedback amplifiers, Electrical Engineering, 1934, 53: 114-120.<\/span><\/section>\n
[26]Black H.S. Inventing the negative feedback amplifier. IEEE Spectrum, 1977, 14: 54-60.<\/span><\/section>\n
[27]Kline R. Harold Black and the negative-feedback amplifier. IEEE Control Systems Magazine, 1993, 13(4): 82-85.<\/span><\/section>\n
[28]\u738b\u5e86\u6797. \u81ea\u52a8\u63a7\u5236\u7406\u8bba\u7684\u65e9\u671f\u53d1\u5c55\u5386\u53f2. \u81ea\u52a8\u5316\u535a\u89c8,1996, 14(5): 22-25.<\/span><\/section>\n
[29]Nyquist H. Regeneration theory. Bell System Technical Journal, 1932, 11: 126-147.<\/span><\/section>\n
[30]Bode H W. Relations between attenuation and phase in feedback amplifier design. Bell System Technical Journal, 1940, 19: 421-454.<\/span><\/section>\n
[31]https:\/\/en.wanweibaike.com\/wiki-Hendrik%20Bode<\/span><\/section>\n
[32]Bush, V. The differential analyzer. A new machine for solving differential equations. Journal of the Franklin Institute. 1931, 212 (4): 447-488.<\/span><\/section>\n
[33]Mindell David A. Automation’s Finest Hour: Bell Labs and Automatic Control in World War II. IEEE Control Systems Magazine, 1995, 15(6): 72-80.<\/span><\/section>\n
[34]https:\/\/en.wanweibaike.com\/wiki-SCR-584%20radar<\/span><\/section>\n
[35]Thomas Rid. Rise of the machine, a cybernetic history. W.W.Norton & Company, Inc. 2016.<\/span><\/section>\n
[36]https:\/\/en.wanweibaike.com\/wiki-Rudolf_E._Kalman<\/span><\/section>\n
[37]Stephen Kahne. A history of the IFAC congress, IEEE Control Systems, 1996<\/span><\/section>\n
[38]Park P C. A.M.Lyapunov’s stability theory-100 years on, IMA Journal of Mathematical Control & Information, 1992, 9(4): 275-303.<\/span><\/section>\n
[39]https:\/\/en.wanweibaike.com\/wiki-Watt_steam_engine<\/span><\/section>\n
[40]https:\/\/www.computerhistory.org\/revolution\/real-time- computing\/6\/124\/519<\/span><\/section>\n
[41]Hans Freudenthal, Norbert Wiener. Biography in Dictionary of Scientific Biography(Encyclopedia.com), http:\/\/mathshistory.st-andrews.ac.uk\/DSB\/Wiener_Norbert.pdf<\/span><\/section>\n
[42]Norbert Wiener. Cybernetics, or Control and Communication in the Animal and the Machine, John Wiley & Sons, Inc., 1948.<\/span><\/section>\n
[43]http:\/\/ieeecss.org\/awards\/ieee-css-hendrik-w-bode- lecture-prize<\/span><\/section>\n
[44]\u9ec4\u4e00. \u97f3\u5bb9\u72b9\u5728\u2014\u2014\u4e0e\u97e9\u8001\u5e08\u7684\u95f2\u804a. \u7cfb\u7edf\u4e0e\u63a7\u5236\u7eb5\u6a2a\uff0c2019, 6 (2): 24-30.<\/span><\/section>\n
[45]N. Minorsky. Directional stability of automatically steered bodies. J Amer Soc.of Naval Engineers, 1922, 34: 280-309<\/span><\/section>\n
[46]Tsien H S. Engineering Cybernetics. New York: McGraw-Hill, 1954.<\/span><\/section>\n
[47]\u94b1\u5b66\u68ee\u8457\uff0c\u6234\u6c5d\u4e3a\u3001\u4f55\u5584\u5809\u8bd1. \u5de5\u7a0b\u63a7\u5236\u8bba\uff0c\u79d1\u5b66<\/span><\/section>\n
\u51fa\u7248\u793e\uff0c1958.<\/span><\/section>\n
[48]\u9ec4\u7433. \u300a\u5de5\u7a0b\u63a7\u5236\u8bba\u300b\u7684\u610f\u4e49. \u63a7\u5236\u7406\u8bba\u4e0e\u5e94\u7528\uff0c 2014, 31(12).<\/span><\/section>\n
[49]\u6234\u6c5d\u4e3a. \u4ece\u5de5\u7a0b\u63a7\u5236\u8bba\u5230\u4fe1\u606f\u7a7a\u95f4\u7efc\u5408\u96c6\u6210\u7814\u8ba8\u4f53\u7cfb. \u4e0a\u6d77\u7406\u5de5\u5927\u5b66\u5b66\u62a5\uff0c2011, 33(6).<\/span><\/section>\n
[50]\u59dc\u7389\u5e73. \u94b1\u5b66\u68ee\u4e0e\u201c\u5de5\u7a0b\u63a7\u5236\u8bba\u201d\u7684\u521b\u7acb\u53ca\u5176\u542f\u793a. \u79d1\u5b66\u5b66\u7814\u7a76\uff0c2006, 24(4).<\/span><\/section>\n
[51]Murray R M, Astrom K J, Boyd S P, Brockett R W, Stein G. Future directions in control in an information-rich world, IEEE Control Systems Magazine, 2003, 23(2): 20-33.<\/span><\/section>\n
[52]Guo L, Huang L, Jin Y H. Some recent advances of automatic control in China. Proceedings of 14th IFAC World Congress, 1999.<\/span><\/section>\n


<\/span><\/p>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n

\n
\n

(\u53c2\u8003\u6587\u732e\u53ef\u4e0a\u4e0b\u6ed1\u52a8<\/strong>\u67e5\u770b)<\/p>\n<\/section>\n<\/section>\n


<\/section>\n<\/section>\n
\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n

\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5\u7cfb\u5217\u8bfe\u7a0b<\/strong><\/p>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n

\n

<\/section>\n
\u5bf9\u590d\u6742\u52a8\u6001\u7cfb\u7edf\u7684\u5b9a\u91cf\u8ba4\u8bc6\u4e0e\u79d1\u5b66\u8c03\u63a7\uff0c\u7cfb\u7edf\u5b66\u4e0e\u63a7\u5236\u8bba\u662f\u5173\u952e\u57fa\u7840\u3002\u96c6\u667a\u5b66\u56ed\u8054\u5408\u4e2d\u79d1\u9662\u6570\u5b66\u4e0e\u7cfb\u7edf\u79d1\u5b66\u7814\u7a76\u9662\u591a\u4f4d\u63a7\u5236\u79d1\u5b66\u4e0e\u5de5\u7a0b\u9886\u57df\u4e13\u5bb6\u5171\u540c\u5f00\u8bbe\u4e86\u300a\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5\u300b\u7cfb\u5217\u8bfe\u7a0b\uff0c\u4e3a\u9762\u5411\u63a7\u5236\u4e13\u4e1a\u9886\u57df\u5b66\u751f\u4ee5\u53ca\u8de8\u9886\u57df\u7684\u5b66\u4e60\u8005\u505a\u6df1\u5ea6\u79d1\u666e\uff0c\u5e2e\u52a9\u5b66\u4e60\u63a7\u5236\u8bba\u7684\u6838\u5fc3\u601d\u60f3\u3001\u6846\u67b6\u4e0e\u65b9\u6cd5\u3002<\/span>\u901a\u8fc7\u5b66\u4e60\u8fd9\u4e9b\u8bfe\u7a0b\uff0c\u5b66\u751f\u5c06\u4e86\u89e3\u63a7\u5236\u8bba\u7684\u53d1\u5c55\u5386\u7a0b\uff0c\u638c\u63e1\u7ecf\u5178\u548c\u73b0\u4ee3\u63a7\u5236\u65b9\u6cd5\uff0c\u63a2\u7d22\u63a7\u5236\u7cfb\u7edf\u7684\u7f8e\u5999\u4e4b\u5904\u3002\u6b64\u7cfb\u5217\u8bfe\u7a0b\u5171\u8ba110\u8282\uff0c\u4ece2024\u5e744\u67082\u65e5\u8d77\uff0c\u6bcf\u5468\u4e8c\u665a19:00-21:00\u7ebf\u4e0a\u4e0a\u8bfe\u3002\u6b22\u8fce\u611f\u5174\u8da3\u7684\u670b\u53cb\u62a5\u540d\u53c2\u4e0e\uff01<\/span><\/section>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n
<\/span><\/a><\/section>\n


<\/p>\n

\u8be6\u60c5\u8bf7\u89c1\uff1a<\/span><\/p>\n

2024\u5f00\u5e74\u91cd\u78c5\u8bfe\u7a0b\uff1a\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5<\/span><\/a><\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n
\n
\n
\n
\n
\n
\n
\n
\n
\n

<\/span><\/p>\n<\/section>\n


<\/section>\n
\n
\n
\n
\n

\u63a8\u8350\u9605\u8bfb<\/span><\/strong><\/strong><\/p>\n

1. <\/strong>\u90ed\u96f7\u9662\u58eb\uff1a\u7cfb\u7edf\u63a7\u5236\u4e4b\u7f8e\uff5c\u300a\u63a7\u5236\u7406\u8bba\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5\u300b\u7b2c\u4e00\u8bfe<\/a><\/strong><\/span><\/section>\n
2. <\/strong>\u90ed\u96f7\uff1a\u63a7\u5236\u7406\u8bba\u53d1\u5c55\u7684\u5386\u53f2\u542f\u793a<\/a><\/strong><\/span><\/section>\n
3. <\/strong>\u65b0\u5e74\u968f\u7b14\uff1a\u4ece\u300a\u4f60\u4e00\u751f\u7684\u6545\u4e8b\u300b\u5230\u63a7\u5236\u8bba<\/a><\/strong><\/span><\/section>\n
4. <\/strong>\u7ef4\u7eb3\uff0c\u6614\u65e5\u795e\u7ae5\u548c\u6570\u5b66\u5bb6\u4e28\u9648\u5173\u8363<\/a><\/strong><\/span><\/strong><\/span><\/section>\n
5. <\/strong>\u6ce2\u5fb7\uff0c\u4e00\u4f4d\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u5148\u9a71\u4e28\u9648\u5173\u8363<\/a><\/strong><\/span><\/strong><\/span><\/section>\n
6. <\/strong><\/span>\u5f20\u6c5f\uff1a\u7b2c\u4e09\u4ee3\u4eba\u5de5\u667a\u80fd\u6280\u672f\u57fa\u7840\u2014\u2014\u4ece\u53ef\u5fae\u5206\u7f16\u7a0b\u5230\u56e0\u679c\u63a8\u7406 | \u96c6\u667a\u5b66\u56ed\u5168\u65b0\u8bfe\u7a0b<\/a><\/strong><\/strong><\/span><\/section>\n
7.<\/strong> \u9f99\u5e74\u5927\u8fd0\u8d77\uff0c\u5b66\u4e60\u6b63\u5f53\u65f6\uff01\u89e3\u9501\u96c6\u667a\u5168\u7ad9\u5185\u5bb9\uff0c\u5f00\u542f\u65b0\u5e74\u5b66\u4e60\u8ba1\u5212<\/a><\/strong><\/strong><\/strong><\/strong><\/span><\/section>\n
8. <\/strong>\u52a0\u5165\u96c6\u667a\uff0c\u4e00\u8d77\u590d\u6742\uff01<\/strong><\/span><\/a><\/section>\n


<\/p>\n


<\/p>\n<\/section>\n

\u70b9\u51fb\u201c\u9605\u8bfb\u539f\u6587\u201d\uff0c\u62a5\u540d\u8bfe\u7a0b<\/strong><\/span><\/strong><\/span><\/strong><\/p>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n

<\/mp-style-type><\/p>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

\u5bfc\u8bed 2024\u5e744\u67082\u65e5\u9ec4\u4e00\u8001\u5e08\u5728\u96c6\u667a\u5b66\u56ed\u300a\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5\u300b\u7cfb\u5217\u8bfe\u7a0b\u4e2d\u505a\u4e86\u201c\u8d70\u9a6c\u89c2\u82b1\u770b\u63a7\u5236\u53d1\u5c55\u7b80\u53f2\u201d\u7684\u5206\u4eab\uff0c\u8bfe\u7a0b\u4e3b\u8981\u56de\u987e\u4e86\u63a7\u5236\u53d1\u5c55\u7b80\u53f2\uff0c\u4ecb\u7ecd\u63a7\u5236\u8bfe\u7a0b\u91cc\u7684\u4e00\u4e9b\u57fa\u672c\u6982\u5ff5\u4ee5\u53ca\u5224\u636e\u5b9a\u7406\u7b49\u662f\u4e3a\u4e86\u89e3\u51b3\u4ec0\u4e48\u95ee\u9898\u800c\u63d0\u51fa\u548c\u5efa\u7acb\u7684\uff0c\u5e76\u4ea4\u6d41\u5386\u53f2\u7ed9\u4e88\u7684\u542f\u793a\u3002 \u8fd9\u7bc7\u6587\u7ae0\u662f\u9ec4\u4e00\u8001\u5e08\u5728\u300a\u7cfb\u7edf\u4e0e\u63a7\u5236\u7eb5\u6a2a\u300b2021\u5e74\u7b2c1\u671f\u4e0a…<\/p>\n","protected":false},"author":0,"featured_media":49535,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[1],"tags":[],"special":[],"_links":{"self":[{"href":"https:\/\/swarma.org\/index.php?rest_route=\/wp\/v2\/posts\/49594"}],"collection":[{"href":"https:\/\/swarma.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/swarma.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"replies":[{"embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=49594"}],"version-history":[{"count":0,"href":"https:\/\/swarma.org\/index.php?rest_route=\/wp\/v2\/posts\/49594\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=\/wp\/v2\/media\/49535"}],"wp:attachment":[{"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=49594"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=49594"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=49594"},{"taxonomy":"special","embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Fspecial&post=49594"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}