{"id":49887,"date":"2024-04-20T15:47:38","date_gmt":"2024-04-20T07:47:38","guid":{"rendered":"https:\/\/swarma.org\/?p=49887"},"modified":"2024-04-20T15:47:38","modified_gmt":"2024-04-20T07:47:38","slug":"%e9%bb%84%e4%b8%80%ef%bc%9a%e8%87%aa%e6%8a%97%e6%89%b0%e6%8e%a7%e5%88%b6%e7%9a%84%e6%80%9d%e6%83%b3%e3%80%81%e5%ae%9e%e8%b7%b5%e4%b8%8e%e7%90%86%e8%ae%ba%e5%88%86%e6%9e%90-%e5%91%a8%e4%ba%8c","status":"publish","type":"post","link":"https:\/\/swarma.org\/?p=49887","title":{"rendered":"\u9ec4\u4e00\uff1a\u81ea\u6297\u6270\u63a7\u5236\u7684\u601d\u60f3\u3001\u5b9e\u8df5\u4e0e\u7406\u8bba\u5206\u6790 | \u5468\u4e8c\u76f4\u64ad\u00b7\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5\u7cfb\u5217\u8bfe\u7a0b"},"content":{"rendered":"
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\u7b80\u4ecb\uff1a<\/strong><\/span>\u81ea\u6297\u6270\u63a7\u5236 (Active Disturbance Rejection Control\uff0cADRC) \u7684\u601d\u60f3\u548c\u65b9\u6cd5\u7531\u4e2d\u56fd\u79d1\u5b66\u9662\u7cfb\u7edf\u63a7\u5236\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u7684\u97e9\u4eac\u6e05\u7814\u7a76\u5458\u572820\u4e16\u7eaa80-90\u5e74\u4ee3\u63d0\u51fa\uff0c1998\u5e74\u6b63\u5f0f\u4ee5\u201c\u81ea\u6297\u6270\u63a7\u5236\u5668\u201d\u4e4b\u540d\u53d1\u8868\u3002<\/span><\/section>\n

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ADRC \u521b\u9020\u6027\u5730\u63d0\u51fa\u4e86\u201c\u603b\u6270\u52a8\u201d\u8fd9\u4e00\u65b0\u6982\u5ff5\u548c\u6269\u5f20\u72b6\u6001\u89c2\u6d4b\u5668\uff08ESO\uff09\u8fd9\u4e00\u4f30\u8ba1\u201c\u603b\u6270\u52a8\u201d\u7684\u65b0\u65b9\u6cd5\uff0c\u201c\u603b\u6270\u52a8\u201d\u548c\u4f20\u7edf\u7684\u6270\u52a8\u6982\u5ff5\u4e0d\u540c\uff0c\u4e0d\u4f46\u5305\u542b\u5916\u6270\u4e5f\u5305\u542b\u7cfb\u7edf\u4e2d\u5404\u5904\u5b58\u5728\u7684\u53c2\u6570\u6216\u6a21\u578b\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u5b9e\u73b0\u4e86\u7cfb\u7edf\u5185\u90e8\u3001\u5916\u90e8\u4e0d\u786e\u5b9a\u6027\u63cf\u8ff0\u7684\u6709\u673a\u7edf\u4e00\uff0c\u628a\u63a7\u5236\u95ee\u9898\u7684\u6838\u5fc3\u5f52\u7ed3\u4e3a\u6297\u6270\u63a7\u5236\u95ee\u9898\u3002ADRC\u7814\u7a76\u7684\u6807\u51c6\u6001\u2014\u2014\u88ab\u63a7\u91cf\u7684\u94fe\u5f0f\u79ef\u5206\u6a21\u578b\u7cbe\u51c6\u5730\u62bd\u8c61\u51fa\u4e86\u8fd0\u52a8\u63a7\u5236\u7cfb\u7edf\u7684\u672c\u8d28\u7279\u5f81\u3002\u81ea\u6297\u6270\u63a7\u5236\u5df2\u5728\u822a\u7a7a\u822a\u5929\u3001\u4f3a\u670d\u8ddf\u8e2a\u3001\u673a\u5668\u4eba\u8fd0\u63a7\u3001\u80fd\u6e90\u52a8\u529b\u3001\u8fc7\u7a0b\u63a7\u5236\u7b49\u8bf8\u591a\u63a7\u5236\u9886\u57df\u5f97\u5230\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9645\u5e94\u7528\u3002\u672c\u8bfe\u7a0b\u5c06\u4ece\u81ea\u6297\u6270\u63a7\u5236\u7684\u6838\u5fc3\u601d\u60f3\u3001\u5e94\u7528\u7814\u7a76\u53ca\u7406\u8bba\u5206\u6790\u7b49\u65b9\u9762\u8fdb\u884c\u4ecb\u7ecd\u3002<\/span><\/section>\n

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1. \u97e9\u4eac\u6e05.\u81ea\u6297\u6270\u63a7\u5236\u6280\u672f. \u5317\u4eac: \u56fd\u9632\u5de5\u4e1a\u51fa\u7248\u793e, 2008.<\/span><\/p>\n

2. Huang Y, Xue W. Active disturbance rejection control: methodology and theoretical analysis. ISA Transactions,2014,53:963-976.<\/span><\/section>\n


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\u8bfe\u7a0b\u94fe\u63a5\uff1a<\/span><\/strong>https:\/\/campus.swarma.org\/course\/5314<\/span><\/section>\n

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    \u81ea\u6297\u6270\u63a7\u5236\uff08Active Disturbance Rejection Control, ADRC\uff09\u7531\u4e2d\u56fd\u79d1\u5b66\u9662\u97e9\u4eac\u6e05\u8001\u5e08\u63d0\u51fa\u3002\u97e9\u8001\u5e08\u8ba4\u4e3a\u63a7\u5236\u79d1\u5b66\u7684\u95ee\u9898\u662f\u5982\u4f55\u201d\u6839\u636e\u7cfb\u7edf\u5bf9\u4fe1\u53f7\u7684\u67d0\u4e9b\u54cd\u5e94\u7279\u5f81\u6216\u8fc7\u7a0b\u7684\u67d0\u4e9b\u5b9e\u65f6\u4fe1\u606f\u6765\u786e\u5b9a\u63a7\u5236\u597d\u4e00\u4e2a\u8fc7\u7a0b\u7684\u63a7\u5236\u5f8b\u201c\uff0c\u800c\u4e0d\u662f\u201c\u9760\u7cfb\u7edf\u7684\u6570\u5b66\u6a21\u578b\u53bb\u627e\u63a7\u5236\u5f8b\u201d\u3002\u800c\u8fd9\u4e9b\u4fe1\u606f\u7684\u63d0\u53d6\uff0c\u6216\u8005\u8bf4\u53cd\u9988\u201c\u662f\u7531\u7cfb\u7edf\u7684\u67d0\u4e9b\u5b9e\u65f6\u53d8\u91cf\u548c\u7531\u5b83\u4eec\u4f5c\u51fa\u7684\u67d0\u4e9b\u53d8\u91cf\u7684\u4f30\u8ba1\u503c\u7684\u7ec4\u5408\u6765\u5b9e\u73b0\u201d\u7684\u3002\u8fd9\u79cd\u601d\u60f3\u6700\u7ec8\u843d\u5b9e\u5728\u4e86ADRC\u6846\u67b6\u7684\u8bbe\u8ba1\u4e0a\u3002<\/span><\/section>\n

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    \u97e9\u4eac\u6e05\u591a\u5e74\u4ece\u4e8b\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7814\u7a76\uff0c\u5e76\u53d6\u5f97\u7a81\u51fa\u6210\u7ee9\u3002\u4ece20\u4e16\u7eaa80\u5e74\u4ee3\u5f00\u59cb\u53cd\u601d\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7684\u53d1\u5c55\u73b0\u72b6\uff0c\u5bf9\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7684\u7814\u7a76\u65b9\u6cd5\u63d0\u51fa\u4e86\u4e00\u7cfb\u5217\u89e6\u53ca\u672c\u8d28\u7684\u8d28\u7591\uff0c\u5e76\u514b\u670d\u91cd\u91cd\u56f0\u96be\uff0c\u52aa\u529b\u5f00\u521b\u5b9e\u7528\u63a7\u5236\u65b9\u6cd5\u3002\u7279\u522b\u662f\u5728\u4ed6\u751f\u547d\u7684\u6700\u540e\u5341\u4f59\u5e74\u91cc\uff0c\u521b\u65b0\u6027\u5730\u63d0\u51fa\u4e86\u81ea\u6297\u6270\u63a7\u5236\uff08ADRC\uff09\u7406\u5ff5\u548c\u65b9\u6cd5\uff0c\u5e76\u79ef\u6781\u63a8\u5e7fADRC\u6280\u672f\uff0c\u4f7f\u5176\u6210\u4e3a\u63a7\u5236\u6280\u672f\u4e0e\u7406\u8bba\u53d1\u5c55\u7684\u65b0\u52a8\u529b\u3002\u73b0\u5728\uff0cADRC\u7814\u7a76\u5df2\u7ecf\u679d\u7e41\u53f6\u8302\uff0c\u7279\u522b\u662f\u8fd1\u4e9b\u5e74\u6765\uff0c\u632f\u594b\u4eba\u5fc3\u7684\u5e94\u7528\u6210\u679c\u4e0d\u65ad\u51fa\u73b0\u3002<\/span><\/section>\n

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    \u514b\u5229\u592b\u5170\u5dde\u7acb\u5927\u5b66\u9ad8\u5fd7\u5f3a\u81f4\u529b\u4e8e\u63a8\u8fdbADRC\u5728\u5de5\u4e1a\u4e0a\u7684\u5e94\u7528\uff0c\u5728\u7f8e\u56fd\u6210\u529f\u5b9e\u73b0\u4e86ADRC\u4ece\u5b66\u672f\u5230\u5de5\u4e1a\u7684\u8de8\u8d8a\uff0c2010\u5e74\u7f8e\u56fdParker Hannifin\u6324\u538b\u673a\u5de5\u5382\u768410\u6761\u751f\u4ea7\u7ebf\u91c7\u7528\u4e86ADRC\uff0c\u5b9e\u73b0\u4e86\u8282\u80fd57%\u7684\u6548\u679c; 2011\u5e74\u7f8e\u56fd\u56fd\u5bb6\u8d85\u5bfc\u56de\u65cb\u52a0\u901f\u5668\u5b9e\u9a8c\u5ba4\u7684\u9ad8\u80fd\u7c92\u5b50\u52a0\u901f\u5668\u91c7\u7528\u4e86ADRC\uff0c\u6709\u6548\u63d0\u9ad8\u4e86\u5bf9\u5e45\u503c\u548c\u76f8\u4f4d\u7684\u63a7\u5236\uff1b2013\u5e74\u7f8e\u56fd\u5fb7\u5dde\u4eea\u5668\u516c\u53f8\u63a8\u51fa\u4e86\u4e00\u7cfb\u5217\u88c5\u6709ADRC\u7b97\u6cd5\u7684\u8fd0\u52a8\u63a7\u5236\u82af\u7247\u3002<\/span><\/section>\n

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

    1999\u5e74\u97e9\u4eac\u6e05\u5e26\u9886\u63a7\u5236\u5ba4\u8bb8\u53ef\u5eb7\u3001\u9ec4\u4e00\u5b8c\u6210\u7b2c\u4e00\u4e2a\u822a\u5929\u59ff\u6001\u63a7\u5236\u8bfe\u9898,\u63d0\u51fa\u57fa\u4e8eADRC\u7684\u98de\u884c\u63a7\u5236\u65b9\u6cd5\u3002\u7ecf\u8fc720\u591a\u5e74\u7684\u53d1\u5c55\uff0c\u76ee\u524d\u5df2\u7ecf\u5f62\u6210\u539f\u521b\u6027\u7684\u4ee5ADRC\u4e3a\u6838\u5fc3\u7684\u98de\u884c\u5668\u63a7\u5236\u8bbe\u8ba1\u65b0\u65b9\u6cd5\u548c\u65b0\u7406\u8bba\uff0c\u653b\u514b\u4e86\u591a\u9879\u65b0\u578b\u98de\u884c\u5668\u7814\u5236\u4e2d\u7684\u6280\u672f\u58c1\u5792\uff0c\u5e26\u6765\u4e86\u4e00\u7cfb\u5217\u822a\u5929\u822a\u7a7a\u9ad8\u6027\u80fd\u98de\u884c\u5668\u63a7\u5236\u7cfb\u7edf\u6838\u5fc3\u6280\u672f\u521b\u65b0\uff0c\u5e76\u5df2\u5b9e\u9645\u5e94\u7528\u4e8e\u6211\u56fd\u822a\u5929\u822a\u7a7a\u591a\u4e2a\u65b0\u578b\u98de\u884c\u5668\u7684\u98de\u884c\u63a7\u5236\u4e2d\u3002<\/span><\/p>\n


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

    ADRC\u5728\u4e2d\u56fd\u591a\u4e2a\u91cd\u8981\u5de5\u4e1a\u9886\u57df\u5f97\u5230\u8d8a\u6765\u8d8a\u5e7f\u6cdb\u548c\u6df1\u5165\u7684\u5b9e\u9645\u5e94\u7528\uff0c\u5982\u9ad8\u6027\u80fd\u591a\u7528\u9014\u670d\u52a1\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u89c4\u5212\u548c\u907f\u969c\u63a7\u5236\u3001\u65e0\u4eba\u78be\u538b\u673a\u7684\u81ea\u52a8\u9a7e\u9a76\u3001\u7535\u5382\u7684\u4f4e\u538b\u52a0\u70ed\u5668\u6c34\u4f4d\u63a7\u5236\u3001\u78e8\u7164\u673a\u98ce\u6e29\u63a7\u5236\u548c\u8fc7\u70ed\u6c7d\u6df7\u63a7\u5236\u4ee5\u53ca\u5faa\u73af\u6d41\u5316\u5e8a\u673a\u7ec4\u534f\u8c03\u63a7\u5236\u7b49\u7b49\u3002<\/span><\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n


    <\/p>\n


    <\/p>\n

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

    \u300a\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5\u300b\u7cfb\u5217\u8bfe\u7a0b<\/strong><\/p>\n

    \u7b49\u4f60\u52a0\u5165
    <\/strong><\/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
    \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><\/section>\n

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

    <\/span><\/section>\n
    \u7cfb\u5217\u8bfe\u7a0b\u8be6\u7ec6\u4fe1\u606f\uff1a2024\u5f00\u5e74\u91cd\u78c5\u8bfe\u7a0b\uff1a\u63a7\u5236\u79d1\u5b66\u524d\u6cbf\u7406\u8bba\u4e0e\u65b9\u6cd5<\/a><\/span><\/section>\n

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


    <\/h2>\n

    <\/section>\n

    \u76f8\u5173\u63a8\u8350<\/strong><\/span><\/h2>\n

    1. \u90ed\u96f7\uff1a\u7cfb\u7edf\u63a7\u5236\u4e4b\u7f8e<\/a><\/span><\/p>\n

    2. <\/span>\u9ec4\u4e00\uff1a\u8d70\u9a6c\u89c2\u82b1\u770b\u63a7\u5236\u53d1\u5c55\u7b80\u53f2<\/a><\/p>\n

    3. \u4e00\u4f4d\u8d70\u5728\u65f6\u4ee3\u524d\u5217\u7684\u5b66\u8005\uff1a\u7eaa\u5ff5\u97e9\u4eac\u6e05\u6559\u6388\u901d\u4e16\u5341\u5468\u5e74<\/a><\/span><\/p>\n

    4. \u81ea\u6297\u6270\u63a7\u5236: \u5de5\u7a0b\u63a7\u5236\u7684\u4e2d\u56fd\u5b66\u6d3e<\/a><\/span><\/p>\n

    5. \u91cd\u6e29\u7ecf\u5178\uff1a\u6a21\u578b\u8bba\u4e0e\u63a7\u5236\u8bba\u4e4b\u8fa8<\/a><\/span><\/p>\n

    6. \u5b66\u4e60\u7ecf\u9a8c\uff1a\u81ea\u6297\u6270\u4e00\u70b9\u5165\u95e8\u7ecf\u9a8c\u5206\u4eab<\/a><\/span><\/p>\n

    7. \u5de5\u7a0b\u5e94\u7528\uff1a\u5f53ADRC\u78b0\u649e\u4e0aFPGA\u7684\u601d\u7ef4\u706b\u82b1<\/a><\/span><\/p>\n

    8. \u63a8\u8350\u5173\u6ce8\u516c\u4f17\u53f7\uff1a\u81ea\u6297\u6270\u63a7\u5236\u3002\u81ea\u6297\u6270\u63a7\u5236\u516c\u4f17\u53f7\u7531\u7f8e\u56fd\u4fc4\u4ea5\u4fc4\u5dde\u514b\u5229\u592b\u5170\u5dde\u7acb\u5927\u5b66\u9ad8\u5fd7\u5f3a\u521b\u5efa\u3002\u501f\u52a9\u516c\u4f17\u53f7\u5e73\u53f0\u6765\u7545\u8c08\u81ea\u6297\u6270\u548c\u5de5\u7a0b\u63a7\u5236\uff1a\u68b3\u7406\u57fa\u672c\u6982\u5ff5\uff0c\u6f84\u6e05\u8bbe\u8ba1\u539f\u7406\uff0c\u628a\u63e1\u95ee\u9898\u7684\u672c\u8d28\uff0c\u63a2\u7d22\u7814\u7a76\u65b9\u5411\u548c\u6218\u7565\u3002\u4ece\u5b9e\u9645\u51fa\u53d1\uff0c\u5bf9\u5de5\u7a0b\u63a7\u5236\u63d0\u7eb2\u6308\u9886\u5f0f\u5730\u6574\u4f53\u601d\u8003\uff0c\u4e3a\u540e\u7eed\u5de5\u4f5c\u6784\u5efa\u6846\u67b6\u3002<\/span><\/p>\n

    9. MATLAB\u81ea\u6297\u6270\u63a7\u5236\u5de5\u5177\u5305\uff1ahttps:\/\/ww2.mathworks.cn\/help\/slcontrol\/ug\/active-disturbance-rejection-control.html<\/span><\/p>\n

    10. Github ADRC\u7684\u4e00\u4e2a\u6c47\u603b\u96c6\uff0cGithub\u4e0a\u6709\u66f4\u591a\u76f8\u5173\u9886\u57df\u7684\u6750\u6599\uff0c\u53ef\u6839\u636e\u9700\u6c42\u81ea\u884c\u63a2\u7d22\uff1ahttps:\/\/github.com\/TianfaYao\/ADRC\/blob\/master\/%E8%87%AA%E6%8A%97%E6%89%B0%E6%8E%A7%E5%88%B6%E6%8A%80%E6%9C%AF.pdf<\/span><\/section>\n

    <\/section>\n

    <\/section>\n

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

    <\/mp-style-type><\/p>\n

    \n

    \u672c\u7bc7\u6587\u7ae0\u6765\u6e90\u4e8e\u5fae\u4fe1\u516c\u4f17\u53f7: \u96c6\u667a\u4ff1\u4e50\u90e8 <\/p>\n<\/blockquote>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

    \u7b2c\u56db\u8bfe\u8bfe\u7a0b\u7b80\u4ecb   \u4e3b\u9898\uff1a\u81ea\u6297\u6270\u63a7\u5236\uff1a\u601d\u60f3\u3001\u5b9e\u8df5\u4e0e\u7406\u8bba\u5206\u6790 \u7b80\u4ecb\uff1a\u81ea\u6297\u6270\u63a7\u5236 (Active Disturbance Rejection Control\uff0cADRC) \u7684\u601d\u60f3\u548c\u65b9\u6cd5\u7531\u4e2d\u56fd\u79d1\u5b66\u9662\u7cfb\u7edf\u63a7\u5236\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u7684\u97e9\u4eac\u6e05\u7814\u7a76\u5458\u572820\u4e16\u7eaa80-90\u5e74\u4ee3\u63d0\u51fa\uff0c1998\u5e74\u6b63\u5f0f\u4ee5\u201c\u81ea\u6297\u6270\u63a7\u5236\u5668\u201d\u4e4b\u540d\u53d1…<\/p>\n","protected":false},"author":1,"featured_media":49753,"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\/49887"}],"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"}],"author":[{"embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=49887"}],"version-history":[{"count":0,"href":"https:\/\/swarma.org\/index.php?rest_route=\/wp\/v2\/posts\/49887\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=\/wp\/v2\/media\/49753"}],"wp:attachment":[{"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=49887"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=49887"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=49887"},{"taxonomy":"special","embeddable":true,"href":"https:\/\/swarma.org\/index.php?rest_route=%2Fwp%2Fv2%2Fspecial&post=49887"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}