{"id":653,"date":"2026-06-05T11:36:30","date_gmt":"2026-06-05T02:36:30","guid":{"rendered":"https:\/\/wuhanqing.cn\/wordpress\/?p=653"},"modified":"2026-06-05T12:10:35","modified_gmt":"2026-06-05T03:10:35","slug":"%e6%9c%9f%e6%9c%ab%e8%ae%be%e8%ae%a1-%e5%9f%ba%e4%ba%8elego-ev3%e7%9a%84%e5%b7%a1%e7%ba%bf%e5%8f%8a%e7%89%a9%e6%96%99%e6%90%ac%e8%bf%90%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%b3%bb%e7%bb%9f%e8%ae%be%e8%ae%a1","status":"publish","type":"post","link":"https:\/\/wuhanqing.cn\/wordpress\/2026\/06\/05\/%e6%9c%9f%e6%9c%ab%e8%ae%be%e8%ae%a1-%e5%9f%ba%e4%ba%8elego-ev3%e7%9a%84%e5%b7%a1%e7%ba%bf%e5%8f%8a%e7%89%a9%e6%96%99%e6%90%ac%e8%bf%90%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%b3%bb%e7%bb%9f%e8%ae%be%e8%ae%a1\/","title":{"rendered":"[\u671f\u672b\u8bbe\u8ba1] \u57fa\u4e8eLEGO EV3\u7684\u5de1\u7ebf\u53ca\u7269\u6599\u642c\u8fd0\u673a\u5668\u4eba\u7cfb\u7edf\u8bbe\u8ba1\u4e0e\u5b9e\u73b0"},"content":{"rendered":"

# [\u671f\u672b\u8bbe\u8ba1] \u57fa\u4e8eLEGO EV3\u7684\u5de1\u7ebf\u53ca\u7269\u6599\u642c\u8fd0\u673a\u5668\u4eba\u7cfb\u7edf\u8bbe\u8ba1\u4e0e\u5b9e\u73b0<\/p>\n

## \u6458\u8981<\/p>\n

\u672c\u9879\u76ee\u8bbe\u8ba1\u5e76\u5b9e\u73b0\u4e86\u4e00\u6b3e\u57fa\u4e8eLEGO MINDSTORMS EV3\u5e73\u53f0\u7684\u667a\u80fd\u5bfb\u8ff9\u4e0e\u7269\u6599\u642c\u8fd0\u673a\u5668\u4eba\u3002\u9488\u5bf9\u590d\u6742\u8d5b\u9053\u4e2d\u7684\u591a\u5c94\u8def\u53e3\u8bc6\u522b\u3001\u52a8\u6001\u5bfb\u8ff9\u4ee5\u53ca\u7279\u5b9a\u7269\u6599\u7684\u6293\u53d6\u9700\u6c42\uff0c\u672c\u7cfb\u7edf\u5728\u5e95\u5c42\u8fd0\u52a8\u63a7\u5236\u4e2d\u5f15\u5165\u4e86\u57fa\u4e8e\u79bb\u6563\u65f6\u95f4\u7cfb\u7edf\u7684\u6539\u8fdb\u578b\u6bd4\u4f8b-\u5fae\u5206\uff08PD\uff09\u63a7\u5236\u7b97\u6cd5\uff0c\u7ed3\u5408\u5dee\u901f\u9a71\u52a8\u8fd0\u52a8\u5b66\u6a21\u578b\uff0c\u5b9e\u73b0\u4e86\u673a\u5668\u4eba\u5e73\u6ed1\u4e14\u81ea\u9002\u5e94\u7684\u8f68\u8ff9\u8ddf\u8e2a\u3002\u5728\u5b8f\u89c2\u8def\u5f84\u89c4\u5212\u4e0e\u4efb\u52a1\u6267\u884c\u4e2d\uff0c\u6784\u5efa\u4e86\u57fa\u4e8e\u5e03\u5c14\u903b\u8f91\u4e0e\u6709\u9650\u72b6\u6001\u673a\uff08FSM\uff09\u7684\u786e\u5b9a\u6027\u51b3\u7b56\u6811\u6a21\u578b\uff0c\u89e3\u51b3\u4e86\"\u4f20\u611f\u5668\u81f4\u76f2\"\u3001\"\u8def\u53e3\u8bef\u5224\"\u4ee5\u53ca\"\u5047\u9633\u6027\u7ec8\u70b9\"\u7b49\u5178\u578b\u5de5\u7a0b\u96be\u9898\u3002\u672c\u6587\u8be6\u7ec6\u9610\u8ff0\u4e86\u8be5\u7cfb\u7edf\u7684\u63a7\u5236\u7406\u8bba\u57fa\u7840\u3001\u7b97\u6cd5\u6570\u5b66\u63a8\u5bfc\u3001\u8f6f\u786c\u4ef6\u534f\u540c\u8bbe\u8ba1\uff0c\u5e76\u7ed3\u5408\u63a7\u5236\u8bba\u5386\u53f2\u4e0e\u76f8\u5173\u5b9e\u8bc1\u7814\u7a76\uff0c\u5bf9\u6bd4\u4e86\u4e0d\u540c\u63a7\u5236\u5668\u5728\u76f4\u7ebf\u3001\u692d\u5706\u4ee5\u53ca8\u5b57\u5f62\u590d\u6742\u8f68\u8ff9\u4e0b\u7684\u6027\u80fd\u8868\u73b0\u3002\u540c\u65f6\uff0c\u9488\u5bf9\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7269\u7406\u7279\u6027\uff08\u5982CPU\u9965\u997f\u3001PWM\u63a7\u5236\u54cd\u5e94\uff09\u63d0\u51fa\u4e86\u5e95\u5c42\u7b97\u529b\u4f18\u5316\u65b9\u6848$^{[1]}$\u3002<\/p>\n

## 1. \u5f15\u8a00<\/p>\n

\u5728\u79fb\u52a8\u673a\u5668\u4eba\u9886\u57df\uff0c\u8def\u5f84\u8ddf\u8e2a\uff08Line Tracking\uff09\u4e0e\u81ea\u4e3b\u5bfc\u822a\u662f\u5b9e\u73b0\u590d\u6742\u4efb\u52a1\u7684\u57fa\u7840\uff0c\u5176\u6838\u5fc3\u5728\u4e8e\u8bbe\u8ba1\u4e00\u79cd\u80fd\u591f\u5e94\u5bf9\u52a8\u6001\u73af\u5883\u4e0e\u786c\u4ef6\u7ea6\u675f\u7684\u53ef\u9760\u63a7\u5236\u5668\u3002\u5728\u65e9\u671f\u7684\u81ea\u52a8\u63a7\u5236\u53d1\u5c55\u4e2d\uff0c\u7b80\u5355\u7684\u5f00\u5173\u63a7\u5236\uff08Bang-Bang\u6216ON-OFF\u63a7\u5236\uff09\u5e38\u88ab\u91c7\u7528\uff0c\u4f46\u8fd9\u79cd\"\u975e\u9ed1\u5373\u767d\"\u7684\u63a7\u5236\u903b\u8f91\u5f80\u5f80\u5bfc\u81f4\u673a\u5668\u4eba\u8fd0\u884c\u8f68\u8ff9\u9707\u8361\u4e25\u91cd\u3001\u673a\u68b0\u635f\u8017\u5927\u4e14\u6781\u6613\u5728\u9ad8\u901f\u4e0b\u8131\u8f68\u3002\u7531\u4e8e\u53cc\u8f6e\u5dee\u901f\u673a\u5668\u4eba\u5c5e\u4e8e\u5178\u578b\u7684\u975e\u5b8c\u6574\u7ea6\u675f\uff08Non-holonomic constraint\uff09\u7cfb\u7edf\uff0c\u5176\u6a2a\u5411\u901f\u5ea6\u6052\u4e3a\u96f6\uff0c\u53ea\u80fd\u901a\u8fc7\u504f\u822a\u89d2\u901f\u5ea6\u6765\u8c03\u6574\u6a2a\u5411\u504f\u5dee\uff0c\u56e0\u6b64\u5bf9\u8f6c\u5411\u6307\u4ee4\u7684\u5e73\u6ed1\u5ea6\u4e0e\u7cbe\u786e\u5ea6\u63d0\u51fa\u4e86\u6781\u9ad8\u8981\u6c42$^{[1]}$\u3002<\/p>\n

\u4e3a\u63d0\u5347\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u4e0e\u52a8\u6001\u54cd\u5e94\u80fd\u529b\uff0c\u672c\u9879\u76ee\u5f15\u5165\u4e86\u5de5\u4e1a\u754c\u5e7f\u6cdb\u5e94\u7528\u7684PID\uff08Proportional-Integral-Derivative\uff09\u95ed\u73af\u63a7\u5236\u7b97\u6cd5$^{[2]}$\u3002PID\u63a7\u5236\u7406\u8bba\u7684\u5386\u53f2\u53ef\u4ee5\u8ffd\u6eaf\u52301890\u5e74\u4ee3\u7684\u8c03\u901f\u5668\u8bbe\u8ba1\uff0c\u5e76\u57281922\u5e74\u7531\u4fc4\u88d4\u7f8e\u56fd\u5de5\u7a0b\u5e08\u5c3c\u53e4\u62c9\u65af\u00b7\u7c73\u8bfa\u5c14\u65af\u57fa\uff08Nicolas Minorsky\uff09\u5728\u4e3a\u7f8e\u56fd\u6d77\u519b\u8bbe\u8ba1\u8239\u8236\u81ea\u52a8\u8f6c\u5411\u7cfb\u7edf\u65f6\u9996\u6b21\u8fdb\u884c\u4e86\u4e25\u683c\u7684\u6570\u5b66\u7406\u8bba\u5206\u6790$^{[2]}$\u3002\u7c73\u8bfa\u5c14\u65af\u57fa\u901a\u8fc7\u89c2\u5bdf\u8235\u624b\u7684\u52a8\u4f5c\uff0c\u53d1\u73b0\u4f18\u79c0\u7684\u63a7\u5236\u4e0d\u4ec5\u9700\u8981\u4f9d\u636e\u5f53\u524d\u7684\u8bef\u5dee\uff0c\u8fd8\u5fc5\u987b\u8003\u8651\u8fc7\u53bb\u7684\u7d2f\u8ba1\u8bef\u5dee\u4ee5\u53ca\u8bef\u5dee\u7684\u53d8\u5316\u8d8b\u52bf$^{[2]}$\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u672c\u7814\u7a76\u7ed3\u5408LEGO EV3\u7684\u591a\u5149\u7535\u4f20\u611f\u5668\u878d\u5408\u6280\u672f\uff0c\u5bf9\u4f20\u7edfPID\u8fdb\u884c\u79bb\u6563\u5316\u4e0e\u964d\u7ef4\u6539\u826f\uff0c\u5b9e\u73b0\u4e86\u5bf9\u5f15\u5bfc\u7ebf\u7684\u81ea\u9002\u5e94\u8ddf\u8e2a\u3002\u76f8\u5173\u5b9e\u8bc1\u7814\u7a76\u8868\u660e\uff0c\u5728LEGO EV3\u673a\u5668\u4eba\u4e0a\u90e8\u7f72PID\u63a7\u5236\u5668\uff0c\u80fd\u591f\u6709\u6548\u6d88\u9664\u5e95\u76d8\u7684\u9ad8\u9891\u9707\u8361\uff0c\u63d0\u5347\u590d\u6742\u8d5b\u9053\u4e0b\u7684\u5bfb\u8ff9\u6548\u7387\u4e0e\u7a33\u5b9a\u6027$^{[1]}$\u3002<\/p>\n

LEGO MINDSTORMS EV3\u662fLEGO\u516c\u53f8\u63a8\u51fa\u7684\u7b2c\u4e09\u4ee3\u673a\u5668\u4eba\u5957\u4ef6\uff0c\u5176\u6838\u5fc3\u53ef\u7f16\u7a0b\u7816\u642d\u8f7d\u4e86ARM9\u67b6\u6784\u7684TI Sitara AM1808\u5904\u7406\u5668\uff0c\u4e3b\u9891300 MHz\uff0c\u8fd0\u884c\u8f7b\u91cf\u7ea7Linux\u64cd\u4f5c\u7cfb\u7edf$^{[3]}$\u3002EV3\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\uff08\u989c\u8272\u4f20\u611f\u5668\u3001\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u3001\u9640\u87ba\u4eea\u7b49\uff09\u548c\u4f3a\u670d\u7535\u673a\uff0c\u5e76\u901a\u8fc7LabVIEW\u56fe\u5f62\u5316\u7f16\u7a0b\u73af\u5883\u6216MicroPython\u7b49\u9ad8\u7ea7\u8bed\u8a00\u8fdb\u884c\u7f16\u7a0b$^{[3]}$\u3002\u8fd9\u4e9b\u786c\u4ef6\u7279\u6027\u4e3a\u90e8\u7f72\u63a7\u5236\u7b97\u6cd5\u63d0\u4f9b\u4e86\u57fa\u7840\u3002<\/p>\n

## 2. \u6838\u5fc3\u5e95\u5c42\u7b97\u6cd5\uff1a\u5dee\u901f\u8fd0\u52a8\u5b66\u4e0e\u6539\u8fdb\u578bPD\u63a7\u5236<\/p>\n

\u5bfb\u8ff9\u63a7\u5236\u7684\u6838\u5fc3\u5728\u4e8e\u901a\u8fc7\u989c\u8272\u4f20\u611f\u5668\u7684\u5149\u901a\u91cf\u53cd\u9988\uff0c\u5b9e\u65f6\u8ba1\u7b97\u8f66\u4f53\u504f\u79bb\u5f15\u5bfc\u7ebf\u7684\u8bef\u5dee\uff0c\u5e76\u5c06\u5176\u8f6c\u5316\u4e3a\u5de6\u53f3\u9a71\u52a8\u8f6e\u7684\u52a8\u6001\u5dee\u901f\uff0c\u4ece\u800c\u4ea7\u751f\u7ea0\u504f\u529b\u77e9\u3002\u672c\u9879\u76ee\u91c7\u7528\u4e86\u53cc\u989c\u8272\u4f20\u611f\u5668\u8de8\u7ebf\u884c\u8d70\u7684\u786c\u4ef6\u5e03\u5c40\uff0c\u5e76\u6784\u5efa\u4e86\u6570\u5b57\u5316\u7684PD\u63a7\u5236\u5668\u4ee5\u9002\u5e94\u5d4c\u5165\u5f0f\u5fae\u5904\u7406\u5668\u7684\u91c7\u6837\u7279\u6027\u3002<\/p>\n

### 2.1 \u5dee\u901f\u9a71\u52a8\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u5b66\u6a21\u578b<\/p>\n

\u5728\u5efa\u7acb\u63a7\u5236\u7b97\u6cd5\u524d\uff0c\u5fc5\u987b\u660e\u786e\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u5b66\u5e95\u76d8\u7279\u6027\uff0c\u4ee5\u6b64\u4f5c\u4e3a\u63a7\u5236\u91cf\u8f93\u51fa\u7684\u7269\u7406\u57fa\u7840\u3002\u8bbe\u5de6\u53f3\u9a71\u52a8\u8f6e\u7684\u7ebf\u901f\u5ea6\u5206\u522b\u4e3a $V_L$ \u548c $V_R$\uff0c\u4e24\u8f6e\u4e2d\u5fc3\u95f4\u8ddd\uff08\u8f6e\u8ddd\uff09\u4e3a $d$\uff0c\u9a71\u52a8\u8f6e\u534a\u5f84\u4e3a $r$\u3002\u6839\u636e\u8f6e\u5f0f\u79fb\u52a8\u673a\u5668\u4eba\uff08Wheeled Mobile Robot\uff09\u7684\u975e\u5b8c\u6574\u8fd0\u52a8\u5b66\u6a21\u578b\uff0c\u673a\u5668\u4eba\u8d28\u5fc3\u7684\u6574\u4f53\u7ebf\u901f\u5ea6 $V$ \u548c\u504f\u822a\u89d2\u901f\u5ea6 $\\omega$ \u53ef\u7531\u4ee5\u4e0b\u65b9\u7a0b\u63a8\u5bfc\u5f97\u51fa$^{[2]}$\uff1a<\/p>\n

$$V(t) = \\frac{V_R(t) + V_L(t)}{2}$$<\/p>\n

$$\\omega(t) = \\frac{V_L(t) - V_R(t)}{d}$$<\/p>\n

\u7531\u6b64\u6570\u5b66\u6a21\u578b\u53ef\u77e5\uff0c\u901a\u8fc7\u5bf9\u5de6\u53f3\u8f6e\u65bd\u52a0\u5927\u5c0f\u76f8\u7b49\u3001\u65b9\u5411\u76f8\u53cd\u7684\u5dee\u901f\u8865\u507f\u91cf\uff08\u5373\u6539\u53d8 $V_L$ \u548c $V_R$ \u7684\u76f8\u5bf9\u5927\u5c0f\uff09\uff0c\u5373\u53ef\u7ebf\u6027\u5730\u63a7\u5236\u673a\u5668\u4eba\u7684\u504f\u822a\u89d2\u901f\u5ea6 $\\omega$\u3002\u8fd9\u79cd\u5dee\u901f\u8865\u507f\u5373\u4e3a\u7cfb\u7edf\u6240\u9700\u7684\u8f6c\u5411\u529b\u77e9\uff0c\u662f\u5b9e\u73b0\u673a\u5668\u4eba\u59ff\u6001\u7ea0\u504f\u7684\u52a8\u529b\u5b66\u57fa\u7840\u3002<\/p>\n

### 2.2 \u79bb\u6563\u65f6\u95f4PID\u63a7\u5236\u7b97\u6cd5\u7684\u6570\u5b66\u63a8\u5bfc<\/p>\n

\u8fde\u7eed\u65f6\u95f4\u57df\u5185\u7684\u7ecf\u5178PID\u63a7\u5236\u65b9\u7a0b\u65e8\u5728\u901a\u8fc7\u5bf9\u8bef\u5dee\u7684\u6bd4\u4f8b\u3001\u79ef\u5206\u548c\u5fae\u5206\u8fd0\u7b97\u6765\u8ba1\u7b97\u63a7\u5236\u8f93\u51fa\uff0c\u5176\u6807\u51c6\u516c\u5f0f\u8868\u793a\u4e3a$^{[2]}$\uff1a<\/p>\n

$$u(t) = K_p e(t) + K_i \\int_{0}^{t} e(\\tau) d\\tau + K_d \\frac{de(t)}{dt}$$<\/p>\n

\u5176\u4e2d $K_p, K_i, K_d$ \u5206\u522b\u4e3a\u6bd4\u4f8b\u589e\u76ca\u3001\u79ef\u5206\u589e\u76ca\u548c\u5fae\u5206\u589e\u76ca\uff0c\u800c $e(t)$ \u4e3a\u7cfb\u7edf\u8bbe\u5b9a\u503c\u4e0e\u53cd\u9988\u503c\u7684\u8bef\u5dee$^{[2]}$\u3002<\/p>\n

\u7136\u800c\uff0cEV3\u7684\u4e3b\u63a7\u5904\u7406\u5668\uff08ARM9\uff09\u662f\u4e00\u4e2a\u57fa\u4e8e\u79bb\u6563\u65f6\u95f4\u91c7\u6837\u7684\u6570\u5b57\u5d4c\u5165\u5f0f\u7cfb\u7edf\uff0c\u65e0\u6cd5\u76f4\u63a5\u5904\u7406\u8fde\u7eed\u5fae\u79ef\u5206\u8fd0\u7b97\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u9700\u8981\u5229\u7528\u6709\u9650\u5dee\u5206\u6cd5\u5c06\u4e0a\u8ff0\u8fde\u7eed\u65b9\u7a0b\u8fdb\u884c\u79bb\u6563\u5316\u3002\u5047\u8bbe\u5fae\u5904\u7406\u5668\u7684\u6052\u5b9a\u91c7\u6837\u5468\u671f\u4e3a $\\Delta t$\uff0c\u7b2c $k$ \u6b21\u91c7\u6837\u7684\u8bef\u5dee\u4e3a $E(k)$\uff0c\u6839\u636e\u540e\u5411\u6709\u9650\u5dee\u5206\u539f\u7406\uff0c\u4e00\u9636\u5fae\u5206\u53ef\u8fd1\u4f3c\u4e3a\u5dee\u5206\u65b9\u7a0b $\\frac{E(k) - E(k-1)}{\\Delta t}$\uff0c\u79ef\u5206\u9879\u53ef\u8fd1\u4f3c\u4e3a\u79bb\u6563\u7d2f\u52a0\u548c $\\sum_{j=0}^{k} E(j) \\Delta t$\u3002\u7531\u6b64\u5f97\u5230\u4f4d\u7f6e\u5f0f\u6570\u5b57PID\u65b9\u7a0b$^{[2]}$\uff1a<\/p>\n

$$U(k) = K_p E(k) + K_i \\sum_{j=0}^{k} E(j) \\Delta t + K_d \\frac{E(k) - E(k-1)}{\\Delta t}$$<\/p>\n

\u5728\u5bf9\u79f0\u53cc\u5149\u7535\u4f20\u611f\u5668\u7684\u5bfb\u8ff9\u573a\u666f\u4e2d\uff0c\u5f15\u5bfc\u7ebf\u7684\u66f2\u7387\u53d8\u5316\u8f83\u4e3a\u8fc5\u901f\u3002\u5982\u679c\u4fdd\u7559\u79ef\u5206\u9879 $I$\uff0c\u5f53\u8bbe\u5b9a\u503c\u53d1\u751f\u8f83\u5927\u53d8\u52a8\uff08\u5982\u5927\u66f2\u7387\u8fc7\u5f2f\uff09\u65f6\uff0c\u79ef\u5206\u5668\u4f1a\u7d2f\u79ef\u8fc7\u5927\u7684\u8bef\u5dee\u3002\u8fd9\u53ef\u80fd\u5bfc\u81f4\u63a7\u5236\u8f93\u51fa\u91cf\u88ab\u4e0a\u4e0b\u9650\u622a\u65ad\u800c\u53d1\u751f\"\u79ef\u5206\u9971\u548c\uff08Integral Windup\uff09\"\u73b0\u8c61\uff0c\u8868\u73b0\u4e3a\u7cfb\u7edf\u8f93\u51fa\u7ef4\u6301\u5728\u9971\u548c\u4e0a\u9650\uff0c\u5373\u4f7f\u8bef\u5dee\u91cf\u7b26\u53f7\u6539\u53d8\uff0c\u8f93\u51fa\u4ecd\u65e0\u6cd5\u53ca\u65f6\u54cd\u5e94\uff0c\u6700\u7ec8\u5bfc\u81f4\u8f66\u4f53\u8d85\u8c03\u6216\u51b2\u51fa\u8d5b\u9053\u3002\u56e0\u6b64\uff0c\u672c\u9879\u76ee\u5bf9\u4f20\u7edf\u6a21\u578b\u8fdb\u884c\u964d\u7ef4\u4f18\u5316\uff0c\u820d\u5f03\u4e86\u79ef\u5206\u9879\uff0c\u5e76\u5c06\u6052\u5b9a\u7684\u91c7\u6837\u5468\u671f $\\Delta t$ \u9690\u5f0f\u5e76\u5165\u7cfb\u6570\u4e2d\uff0c\u5f97\u5230\u79bb\u6563\u6570\u5b57PD\u63a7\u5236\u5668$^{[2]}$\uff1a<\/p>\n

$$U(k) = K_p \\cdot E(k) + K_d \\cdot [E(k) - E(k-1)]$$<\/p>\n

### 2.3 \u8f6c\u5411\u8865\u507f\u7b97\u6cd5\u7684\u7cfb\u7edf\u7ea7\u6620\u5c04\u4e0e\u53c2\u6570\u89e3\u6790<\/p>\n

\u5728\u9879\u76ee\u7684\u5b9e\u9645\u8f6f\u4ef6\u4ee3\u7801\u4e2d\uff0c\u901a\u8fc7\u5d4c\u5957\u7684\u9ad8\u7ea7\u6570\u5b66\u6a21\u5757\u5b9e\u73b0\u4e86\u4ee5\u4e0b\u8f6c\u5411\u8865\u507f\uff08Turn\uff09\u8fd0\u7b97\u65b9\u7a0b\uff1a<\/p>\n

$$Turn = (a-b) \\times 0.8 + ((a-b)-c) \\times 0.6$$<\/p>\n

\u8be5\u65b9\u7a0b\u4e0e\u4e0a\u8ff0\u63a8\u5bfc\u7684\u79bb\u6563\u6570\u5b57PD\u65b9\u7a0b\u5b58\u5728\u5bf9\u5e94\u5173\u7cfb\u3002\u9996\u5148\uff0c\u5728\u8bef\u5dee\u4fe1\u53f7\u7684\u83b7\u53d6\u4e0a\uff0c$a$ \u4ee3\u8868\u5de6\u4fa7\u4f20\u611f\u5668\u53cd\u5c04\u5149\u5f3a\u5ea6\u6570\u5b57\u91cf\uff0c$b$ \u4ee3\u8868\u53f3\u4fa7\u4f20\u611f\u5668\u3002\u57fa\u4e8e\u5149\u5b66\u7684\u6f2b\u53cd\u5c04\u539f\u7406\uff0c\u5f53\u524d\u8bef\u5dee\u4fe1\u53f7 $E(k) = a - b$\u3002\u5f53\u8f66\u4f53\u5c45\u4e2d\u65f6\uff0c\u5de6\u53f3\u4f20\u611f\u5668\u5904\u4e8e\u9ed1\u767d\u4ea4\u754c\u5904\uff0c\u5149\u5438\u6536\u7387\u76f8\u8fd1\uff0c\u4f7f\u5f97 $a-b \\approx 0$\u3002\u82e5\u8f66\u4f53\u5411\u53f3\u504f\u79bb\uff0c\u5de6\u4fa7\u4f20\u611f\u5668\u8fdb\u5165\u767d\u8272\u9ad8\u53cd\u5149\u533a\uff0c\u53f3\u4fa7\u8fdb\u5165\u9ed1\u8272\u4f4e\u53cd\u5149\u533a\uff0c\u4ea7\u751f\u6b63\u5411\u8bef\u5dee\u4fe1\u53f7\u3002<\/p>\n

\u5176\u6b21\uff0c\u65b9\u7a0b\u4e2d\u7684 $(a-b) \\times 0.8$ \u5bf9\u5e94\u6bd4\u4f8b\u63a7\u5236\u9879\uff08Proportional Term\uff09\u3002\u6bd4\u4f8b\u63a7\u5236\u4ec5\u8003\u8651\u5f53\u524d\u8bef\u5dee\uff0c\u4ea7\u751f\u4e0e\u5f53\u524d\u504f\u5dee\u6210\u6b63\u6bd4\u7684\u6062\u590d\u529b\u77e9\u3002\u6bd4\u4f8b\u589e\u76ca $K_p = 0.8$ \u51b3\u5b9a\u4e86\u7cfb\u7edf\u62b5\u6297\u6270\u52a8\u7684\u54cd\u5e94\u5f3a\u5ea6\uff0c\u504f\u5dee\u8d8a\u5927\uff0c\u8f93\u51fa\u7ea0\u504f\u529b\u77e9\u8d8a\u5f3a\u3002<\/p>\n

\u6700\u540e\uff0c\u65b9\u7a0b\u4e2d\u7684 $((a-b)-c) \\times 0.6$ \u6620\u5c04\u4e86\u5fae\u5206\u63a7\u5236\u9879\uff08Derivative Term\uff09\uff0c\u5176\u4e2d $c$ \u4ee3\u8868\u901a\u8fc7\u5bc4\u5b58\u5668\u5b58\u50a8\u7684\u4e0a\u4e00\u5468\u671f\u5386\u53f2\u8bef\u5dee $E(k-1)$\u3002\u5fae\u5206\u63a7\u5236\u9879\u76f8\u5f53\u4e8e\u7cfb\u7edf\u7684\u963b\u5c3c\u5668\uff0c\u5b83\u8ba1\u7b97\u8bef\u5dee\u7684\u4e00\u9636\u5bfc\u6570\u4ee5\u9884\u6d4b\u672a\u6765\u8d8b\u52bf\u3002\u5f53\u8f66\u4f53\u5728\u6bd4\u4f8b\u63a7\u5236\u4f5c\u7528\u4e0b\u5411\u4e2d\u5fc3\u7ebf\u9760\u62e2\u65f6\uff0c\u867d\u7136\u5f53\u524d\u4f4d\u7f6e\u8bef\u5dee $E(k)$ \u4ecd\u5927\u4e8e0\uff0c\u4f46\u5176\u53d8\u5316\u7387 $\\Delta E(k)$ \u5df2\u53d8\u4e3a\u8d1f\u6570\u3002\u6b64\u65f6\u5fae\u5206\u9879\u4f1a\u63d0\u524d\u4ea7\u751f\u4e00\u4e2a\u53cd\u5411\u7684\u5236\u52a8\u529b\u77e9\uff0c\u524a\u5f31\u603b\u63a7\u5236\u91cf\uff0c\u4ece\u800c\u6291\u5236\u6b20\u963b\u5c3c\u7cfb\u7edf\u7684\u8d85\u8c03\uff08Overshoot\uff09\u4e0e\u9707\u8361\u73b0\u8c61\u3002$K_d = 0.6$ \u5373\u4e3a\u7cfb\u7edf\u6574\u5b9a\u540e\u7684\u5fae\u5206\u963b\u5c3c\u7cfb\u6570\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u7406\u60f3\u5fae\u5206\u5668\u5bf9\u9ad8\u9891\u566a\u58f0\u8f83\u4e3a\u654f\u611f\uff0c\u4f46\u7531\u4e8e\u672c\u7cfb\u7edf\u91c7\u6837\u9891\u7387\u8f83\u9ad8\u4e14\u8bef\u5dee\u6e90\u4ec5\u4e3a\u4e24\u8def\u5149\u901a\u91cf\u5dee\u503c\uff0c\u56e0\u6b64\u672a\u989d\u5916\u52a0\u5165\u4f4e\u901a\u6ee4\u6ce2\u5668\u3002<\/p>\n

### 2.4 \u52a8\u6001\u81ea\u9002\u5e94\u57fa\u7840\u901f\u5ea6\uff08Base Speed\uff09\u975e\u7ebf\u6027\u6a21\u578b<\/p>\n

\u4f20\u7edf\u5bfb\u8ff9\u673a\u5668\u4eba\u591a\u91c7\u7528\u6052\u5b9a\u57fa\u7840\u901f\u5ea6\uff0c\u4f46\u5728\u5305\u542b\u76f4\u9053\u4e0e\u5f2f\u9053\u7684\u590d\u5408\u8d5b\u9053\u4e2d\uff0c\u57fa\u7840\u901f\u5ea6\u9700\u8981\u6839\u636e\u8def\u5f84\u66f2\u7387\u52a8\u6001\u8c03\u6574\u3002\u672c\u9879\u76ee\u5f15\u5165\u4e86\u57fa\u4e8e\u8bef\u5dee\u7edd\u5bf9\u503c\u7684\u81ea\u9002\u5e94\u901f\u5ea6\u53cd\u9988\u8c03\u8282\u6a21\u578b\uff1a<\/p>\n

$$BaseSpeed = 100 - |a-b| \\times 0.6$$<\/p>\n

\u8be5\u65b9\u7a0b\u5efa\u7acb\u4e86\u4e00\u4e2a\u975e\u7ebf\u6027\u8d1f\u53cd\u9988\u6620\u5c04\u51fd\u6570 $f(|e|)$\u3002\u5e38\u6570 $100$ \u4e3a\u5e95\u76d8\u7535\u673a\u5728\u5f53\u524d\u4f9b\u7535\u7535\u538b\u4e0b\u5141\u8bb8\u7684\u6700\u9ad8PWM\u5360\u7a7a\u6bd4\u3002\u5f53\u5904\u4e8e\u76f4\u9053\u7a33\u6001\u65f6\uff0c\u8f66\u4f53\u5c45\u4e2d\u5bfc\u81f4\u4f4d\u7f6e\u8bef\u5dee\u8f83\u5c0f\uff08$|a-b| \\approx 0$\uff09\uff0c\u57fa\u7840\u901f\u5ea6\u63a5\u8fd1\u4e0a\u9650 $100$\uff0c\u5b9e\u73b0\u5feb\u901f\u76f4\u7ebf\u884c\u8fdb\u3002\u5f53\u906d\u9047\u5f2f\u9053\u65f6\uff0c\u8bef\u5dee\u7edd\u5bf9\u503c\u589e\u5927\uff0c\u7cfb\u7edf\u901a\u8fc7\u8d1f\u53cd\u9988\u81ea\u52a8\u964d\u4f4e\u57fa\u7840\u901f\u5ea6\uff0c\u51cf\u5c0f\u4e86\u8f6c\u5f2f\u6240\u9700\u7684\u5411\u5fc3\u529b\uff0c\u964d\u4f4e\u4e86\u4fa7\u6ed1\u98ce\u9669\u3002<\/p>\n

\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u8be5\u516c\u5f0f\u4e2d\u7684\u5e38\u6570\u9879\uff08100\uff09\u4e0e\u65e9\u671f\u7248\u672c\u4e2d\u7684\u5e38\u6570\uff0880\uff09\u6709\u6240\u4e0d\u540c\u3002\u7ecf\u8fc7\u591a\u8f6e\u5b9e\u5730\u6d4b\u8bd5\u4e0e\u53c2\u6570\u6574\u5b9a\uff0c\u5c06\u57fa\u7840\u901f\u5ea6\u4e0a\u9650\u63d0\u5347\u81f3100\u80fd\u591f\u5728\u4e0d\u727a\u7272\u5f2f\u9053\u7a33\u5b9a\u6027\u7684\u524d\u63d0\u4e0b\uff0c\u63d0\u5347\u76f4\u9053\u6bb5\u7684\u5e73\u5747\u884c\u8fdb\u901f\u5ea6\u3002\u8bef\u5dee\u8870\u51cf\u7cfb\u6570 $0.6$ \u7ecf\u8fc7\u8c03\u6821\uff0c\u5e73\u8861\u4e86\u901f\u5ea6\u964d\u5e45\u4e0e\u8f6c\u5411\u9700\u6c42\u3002<\/p>\n

### 2.5 \u5b8c\u6574\u63a7\u5236\u5f8b\u7684\u6570\u5b66\u7edf\u4e00\u8868\u8fbe\u4e0ePython\u4eff\u771f\u9a8c\u8bc1<\/p>\n

\u5c06\u4e0a\u8ff0\u4e24\u4e2a\u6838\u5fc3\u516c\u5f0f\u8054\u7acb\uff0c\u5373\u53ef\u5f97\u5230\u672c\u9879\u76ee\u6240\u4f7f\u7528\u7684\u5b8c\u6574\u79bb\u6563\u65f6\u95f4PD\u63a7\u5236\u5f8b\uff1a<\/p>\n

$$\\begin{aligned}
\nBaseSpeed(k) &= 100 - |E(k)| \\times 0.6 \\\\
\nTurn(k) &= E(k) \\times 0.8 + [E(k) - E(k-1)] \\times 0.6 \\\\
\nLeftPWM(k) &= BaseSpeed(k) - Turn(k) \\\\
\nRightPWM(k) &= BaseSpeed(k) + Turn(k)
\n\\end{aligned}$$<\/p>\n

\u5176\u4e2d $E(k) = a(k) - b(k)$ \u4e3a\u5f53\u524d\u91c7\u6837\u5468\u671f\u7684\u8bef\u5dee\u4fe1\u53f7\uff0c$E(k-1)$ \u4e3a\u4e0a\u4e00\u5468\u671f\u7684\u5386\u53f2\u8bef\u5dee\u3002\u5de6\u53f3\u8f6ePWM\u6307\u4ee4\u901a\u8fc7\u57fa\u7840\u901f\u5ea6\u4e0e\u8f6c\u5411\u8865\u507f\u7684\u7ebf\u6027\u7ec4\u5408\u5f97\u5230\uff0c\u5f53 $Turn > 0$ \u65f6\u5de6\u8f6e\u51cf\u901f\u3001\u53f3\u8f6e\u52a0\u901f\uff0c\u5b9e\u73b0\u5411\u5de6\u8f6c\u5411\uff1b\u53cd\u4e4b\u5219\u5411\u53f3\u8f6c\u5411\u3002<\/p>\n

\u4e3a\u9a8c\u8bc1\u8be5\u63a7\u5236\u5f8b\u7684\u6536\u655b\u7279\u6027\uff0c\u6211\u4eec\u57fa\u4e8ePython\u6784\u5efa\u4e86\u4e00\u5957\u79bb\u6563\u65f6\u95f4\u4eff\u771f\u7cfb\u7edf\u3002\u8be5\u4eff\u771f\u7cfb\u7edf\u5efa\u6a21\u4e86\u4ee5\u4e0b\u7269\u7406\u8981\u7d20\uff1a<\/p>\n

1. **\u5706\u5f62\u4f20\u611f\u5668\u63a2\u6d4b\u6a21\u578b**\uff1a\u6bcf\u4e2a\u989c\u8272\u4f20\u611f\u5668\u7684\u63a2\u6d4b\u533a\u57df\u88ab\u5efa\u6a21\u4e3a\u76f4\u5f841.5 cm\u7684\u5706\u5f62\u533a\u57df\uff0c\u901a\u8fc7\u6570\u503c\u79ef\u5206\u8ba1\u7b97\u8be5\u5706\u5f62\u533a\u57df\u4e0e\u9ed1\u8272\u5f15\u5bfc\u7ebf\uff08\u5bbd\u5ea62.0 cm\uff09\u7684\u91cd\u53e0\u9762\u79ef\uff0c\u4ece\u800c\u7cbe\u786e\u8ba1\u7b97\u53cd\u5c04\u5149\u5f3a\u5ea6\u8bfb\u6570$^{[1]}$\u3002
\n2. **\u5dee\u901f\u9a71\u52a8\u8fd0\u52a8\u5b66**\uff1a\u57fa\u4e8eEV3\u6807\u51c6\u8f66\u8f6e\u51e0\u4f55\u53c2\u6570\uff08\u8f6e\u8ddd12.0 cm\uff0c\u8f66\u8f6e\u534a\u5f842.8 cm\uff09\uff0c\u5c06PWM\u6307\u4ee4\u6620\u5c04\u4e3a\u524d\u5411\u901f\u5ea6\u4e0e\u504f\u822a\u89d2\u901f\u5ea6\u3002
\n3. **\u62d6\u5c3e\u5f0f\u4f20\u611f\u5668\u5e03\u5c40**\uff1a\u4f20\u611f\u5668\u8f74\u4f4d\u4e8e\u9a71\u52a8\u8f6e\u8f74\u524d\u65b910.0 cm\u5904\uff0c\u8fd9\u79cd\"\u62d6\u5c3e\"\u6784\u578b\u5f15\u5165\u4e86\u6760\u6746\u81c2\u6548\u5e94\uff0c\u662f\u4ea7\u751f\u9707\u8361\u52a8\u529b\u5b66\u884c\u4e3a\u7684\u539f\u56e0\u4e4b\u4e00\u3002
\n4. **\u9ad8\u65af\u6d4b\u91cf\u566a\u58f0**\uff1a\u5728\u4f20\u611f\u5668\u8bfb\u6570\u4e0a\u53e0\u52a0\u6807\u51c6\u5dee\u4e3a0.3\u7684\u9ad8\u65af\u767d\u566a\u58f0\uff0c\u4ee5\u6a21\u62df\u771f\u5b9e\u73af\u5883\u4e2d\u7684\u5149\u5b66\u5e72\u6270\u3002<\/p>\n

\u4eff\u771f\u521d\u59cb\u6761\u4ef6\u8bbe\u5b9a\u4e3a\uff1a\u8f66\u4f53\u521d\u59cb\u504f\u822a\u89d2 $+10^\\circ$\uff08\u5411\u53f3\u504f\u659c\uff09\uff0c\u5de6\u4fa7\u4f20\u611f\u5668\u8bfb\u6570 $a=10$\uff08\u5b8c\u5168\u8986\u76d6\u5728\u9ed1\u7ebf\u4e0a\u65b9\uff09\uff0c\u53f3\u4fa7\u4f20\u611f\u5668\u8bfb\u6570 $b=50$\uff08\u534a\u8986\u76d6\u5728\u9ed1\u7ebf\u8fb9\u7f18\uff09\u3002\u4eff\u771f\u65f6\u95f4\u6b65\u957f $\\Delta t = 0.1$ s\uff0c\u521d\u59cb\u504f\u822a\u89d2 $+10^\\circ$\uff0c\u521d\u59cb\u4f20\u611f\u5668\u8bfb\u6570 $a=10, b=50$\u3002<\/p>\n

\n\t\"EV3\n<\/div>\n

**\u56fe1\uff1aEV3\u5bfb\u8ff9\u673a\u5668\u4eba\u79bb\u6563\u65f6\u95f4PD\u63a7\u5236\u4eff\u771f\u7ed3\u679c**<\/p>\n

\u56fe1\u5c55\u793a\u4e86\u56db\u7ec4\u5173\u952e\u7269\u7406\u91cf\u7684\u65f6\u57df\u6f14\u5316\u66f2\u7ebf\uff1a<\/p>\n

**\u9762\u677f(a) \u2014 \u4f20\u611f\u5668\u53cd\u5c04\u7387\u4e0e\u8bef\u5dee\u4fe1\u53f7**\uff1a\u5de6\u4f20\u611f\u5668 $a(t)$\uff08\u7ea2\u8272\uff09\u4e0e\u53f3\u4f20\u611f\u5668 $b(t)$\uff08\u84dd\u8272\uff09\u7684\u8bfb\u6570\u968f\u65f6\u95f4\u53d8\u5316\u3002\u521d\u59cb\u65f6\u523b $a=10$\uff08\u5168\u9ed1\uff09\u3001$b=50$\uff08\u534a\u9ed1\u534a\u767d\uff09\uff0c\u8bef\u5dee $e(t)=a-b=-40$\u3002\u968f\u7740PD\u63a7\u5236\u5668\u4ecb\u5165\uff0c\u8bef\u5dee\u4fe1\u53f7\u5728\u7ea65\u79d2\u5185\u5feb\u901f\u6536\u655b\u81f3\u96f6\u9644\u8fd1\uff0c\u968f\u540e\u5728\u96f6\u503c\u9644\u8fd1\u505a\u5c0f\u5e45\u6ce2\u52a8\u3002\u8fd9\u79cd\u6536\u655b\u884c\u4e3a\u9a8c\u8bc1\u4e86PD\u63a7\u5236\u5f8b\u7684\u7a33\u6001\u8ddf\u8e2a\u80fd\u529b\u3002<\/p>\n

**\u9762\u677f(b) \u2014 PD\u63a7\u5236\u4fe1\u53f7**\uff1a\u57fa\u7840\u901f\u5ea6 $BaseSpeed(t)$\uff08\u7eff\u8272\uff09\u4e0e\u8f6c\u5411\u8865\u507f $Turn(t)$\uff08\u7ea2\u8272\uff09\u7684\u65f6\u57df\u66f2\u7ebf\u3002\u521d\u59cb\u5927\u8bef\u5dee\u5bfc\u81f4\u57fa\u7840\u901f\u5ea6\u964d\u81f3 $100 - 40 \\times 0.6 = 76$\uff0c\u540c\u65f6\u8f6c\u5411\u8865\u507f\u4ea7\u751f\u8f83\u5927\u8d1f\u503c\uff08$Turn \\approx -40 \\times 0.8 + (-40-0) \\times 0.6 = -56$\uff09\uff0c\u9a71\u52a8\u53f3\u8f6e\u52a0\u901f\u3001\u5de6\u8f6e\u51cf\u901f\uff0c\u4ea7\u751f\u5411\u5de6\u7ea0\u504f\u529b\u77e9\u3002\u968f\u7740\u8bef\u5dee\u6536\u655b\uff0c\u57fa\u7840\u901f\u5ea6\u56de\u5347\u81f3\u63a5\u8fd1100\uff0c\u8f6c\u5411\u8865\u507f\u8d8b\u4e8e\u96f6\uff0c\u7cfb\u7edf\u8fdb\u5165\u7a33\u6001\u76f4\u884c\u6a21\u5f0f\u3002<\/p>\n

**\u9762\u677f(c) \u2014 \u673a\u5668\u4eba\u4f4d\u59ff\u4e0e\u9707\u8361\u6536\u655b**\uff1a\u504f\u822a\u89d2 $\\theta(t)$\uff08\u6a59\u8272\uff09\u3001\u6a2a\u5411\u504f\u79fb $y(t)$\uff08\u7d2b\u8272\uff09\u548c\u504f\u822a\u89d2\u901f\u5ea6 $\\omega(t)$\uff08\u84dd\u8272\uff09\u7684\u65f6\u57df\u66f2\u7ebf\u3002\u8fd9\u662f\u9a8c\u8bc1PD\u63a7\u5236\u5668\u963b\u5c3c\u7279\u6027\u7684\u6838\u5fc3\u9762\u677f\u3002\u521d\u59cb $+10^\\circ$ \u7684\u504f\u822a\u89d2\u5728PD\u63a7\u5236\u4e0b\u5448\u73b0\u5178\u578b\u7684\u6b20\u963b\u5c3c\u4e8c\u9636\u7cfb\u7edf\u54cd\u5e94\u7279\u5f81\u2014\u2014\u7ecf\u8fc7\u7ea62-3\u6b21\u8870\u51cf\u9707\u8361\u540e\u6536\u655b\u81f3\u96f6\u3002\u6a2a\u5411\u504f\u79fb $y(t)$ \u540c\u6837\u5448\u73b0\u9707\u8361\u6536\u655b\u8d8b\u52bf\uff0c\u6700\u7ec8\u7a33\u5b9a\u5728\u5f15\u5bfc\u7ebf\u4e2d\u5fc3\u9644\u8fd1\u3002\u504f\u822a\u89d2\u901f\u5ea6 $\\omega(t)$ \u7684\u5e45\u503c\u968f\u65f6\u95f4\u9012\u51cf\uff0c\u8868\u660e\u7cfb\u7edf\u52a8\u80fd\u88ab\u5fae\u5206\u963b\u5c3c\u9879\u6709\u6548\u8017\u6563\u3002<\/p>\n

**\u9762\u677f(d) \u2014 \u504f\u822a\u89d2\u9707\u8361\u653e\u5927\u89c6\u56fe\uff08\u524d10\u79d2\uff09**\uff1a\u8be5\u9762\u677f\u4ee5\u6563\u70b9\u56fe\u5f62\u5f0f\u6807\u6ce8\u4e86\u6bcf\u4e2a\u79bb\u6563\u91c7\u6837\u65f6\u523b\u7684\u504f\u822a\u89d2\uff0c\u6e05\u6670\u5c55\u793a\u4e86PD\u63a7\u5236\u5668\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u957f\u5185\u7684\u9010\u6b65\u7ea0\u504f\u8fc7\u7a0b\u3002\u8fd9\u79cd\"\u6b65\u8fdb\u5f0f\"\u7684\u4fee\u6b63\u8f68\u8ff9\u6b63\u662f\u79bb\u6563\u65f6\u95f4\u63a7\u5236\u7cfb\u7edf\u7684\u5178\u578b\u7279\u5f81\u2014\u2014\u63a7\u5236\u5668\u5728\u6bcf\u4e2a\u91c7\u6837\u5468\u671f\u5185\u6839\u636e\u5f53\u524d\u8bef\u5dee\u8ba1\u7b97\u65b0\u7684PWM\u6307\u4ee4\uff0c\u9a71\u52a8\u8f66\u4f53\u59ff\u6001\u9010\u6b65\u903c\u8fd1\u76ee\u6807\u3002<\/p>\n

**\u9762\u677f(e) \u2014 \u4fef\u89c6\u8f68\u8ff9**\uff1a\u8f66\u8f6e\u8f74\u5fc3\u5728\u4e8c\u7ef4\u5e73\u9762\u4e0a\u7684\u8fd0\u52a8\u8f68\u8ff9\u3002\u9ed1\u8272\u534a\u900f\u660e\u6761\u5e26\u4ee3\u8868\u5bbd\u5ea62.0 cm\u7684\u5f15\u5bfc\u7ebf\u3002\u8f68\u8ff9\u66f2\u7ebf\u663e\u793a\u673a\u5668\u4eba\u4ece\u8d77\u70b9\uff08\u7eff\u8272\u65b9\u5757\uff09\u51fa\u53d1\u540e\uff0c\u7ecf\u8fc7\u4e00\u6bb5S\u5f62\u8def\u5f84\u8fc5\u901f\u6536\u655b\u81f3\u5f15\u5bfc\u7ebf\uff0c\u968f\u540e\u6cbf\u76f4\u7ebf\u7a33\u5b9a\u524d\u8fdb\u81f3\u7ec8\u70b9\uff08\u7ea2\u8272\u65b9\u5757\uff09\u3002\u8f68\u8ff9\u7684\u5e73\u6ed1\u5ea6\u76f4\u89c2\u53cd\u6620\u4e86PD\u63a7\u5236\u5668\u7684\u8ddf\u8e2a\u7cbe\u5ea6\u3002<\/p>\n

\u8be5\u4eff\u771f\u7ed3\u679c\u4ece\u7406\u8bba\u4e0a\u9a8c\u8bc1\u4e86\u672c\u9879\u76ee\u7684PD\u63a7\u5236\u5f8b\u80fd\u591f\u5728\u7ea65\u79d2\u5185\u5c06\u521d\u59cb $+10^\\circ$ \u7684\u504f\u822a\u89d2\u8bef\u5dee\u6536\u655b\u81f3\u96f6\uff0c\u4e14\u7a33\u6001\u8bef\u5dee\u63a7\u5236\u5728 $\\pm 0.5^\\circ$ \u4ee5\u5185\u3002\u8fd9\u4e00\u6536\u655b\u901f\u5ea6\u4e0e\u7cbe\u5ea6\u4e3a\u540e\u7eed\u7684\u5b9e\u5730\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u7406\u8bba\u4f9d\u636e\u3002<\/p>\n

## 3. \u5b8f\u89c2\u8def\u5f84\u89c4\u5212\uff1a\u6709\u9650\u72b6\u6001\u673a\u4e0e\u51b3\u7b56\u6811\u7b97\u6cd5<\/p>\n

\u5728\u673a\u5668\u5b66\u4e60\u4e0e\u51b3\u7b56\u5206\u6790\u7406\u8bba\u4e2d\uff0c\u51b3\u7b56\u6811\uff08Decision Tree\uff09\u662f\u4e00\u79cd\u7279\u6b8a\u7684\u6811\u578b\u7ed3\u6784\u9884\u6d4b\u6a21\u578b\uff0c\u5b83\u4ee3\u8868\u5bf9\u8c61\u5c5e\u6027\u4e0e\u5bf9\u8c61\u503c\u4e4b\u95f4\u7684\u6620\u5c04\u5173\u7cfb\uff0c\u901a\u8fc7\u8ba1\u7b97\u6761\u4ef6\u6982\u7387\u6216\u8bbe\u5b9a\u5224\u5b9a\u6cd5\u5219\u6765\u521b\u5efa\u5230\u8fbe\u76ee\u6807\u7684\u6700\u4f73\u89c4\u5212$^{[4]}$\u3002\u5728\u5e95\u5c42PD\u7b97\u6cd5\u4fdd\u8bc1\u57fa\u672c\u8f68\u8ff9\u8fde\u7eed\u6027\u7684\u57fa\u7840\u4e0a\uff0c\u673a\u5668\u4eba\u5fc5\u987b\u5177\u5907\u5904\u7406\u590d\u6742\u8ff7\u5bab\u62d3\u6251\u53ca\u7279\u5b9a\u4ea4\u4e92\u4efb\u52a1\u7684\u9ad8\u7ea7\u903b\u8f91\u80fd\u529b\u3002\u672c\u9879\u76ee\u5229\u7528\u5d4c\u5957\u5206\u652f\uff08Nested Switches\uff09\u6784\u5efa\u4e86\u57fa\u4e8e\u72b6\u6001\u8f6c\u79fb\u7684\u786e\u5b9a\u6027\u51b3\u7b56\u6811\uff0c\u786e\u4fdd\u903b\u8f91\u7684\u4e25\u5bc6\u6027\u4e0e\u9c81\u68d2\u6027\u3002<\/p>\n

\u4e3a\u4e86\u660e\u786e\u5b9e\u9a8c\u4e2d\u4e0e\u7269\u6599\u5904\u7406\u76f8\u5173\u7684\u7b56\u7565\uff0c\u7a0b\u5e8f\u5728\u521d\u59cb\u5316\u9636\u6bb5\u5f15\u5165\u4e86\u7b80\u5355\u7684\u968f\u673a\u5316\u4e0e\u8ba1\u6570\u53d8\u91cf\uff1a\u5171\u653e\u7f6e\u4e24\u4e2a\u6876\uff0c\u6876\u7684\u4f4d\u7f6e\u5728\u56db\u4e2a\u5019\u9009\u4f4d\u70b9\u4e2d\u7f16\u53f7\u4e3a 1\u30012\u30013\u30014\uff1b\u521d\u59cb\u5316\u65f6\u5206\u522b\u4ece\u96c6\u5408 {1,2} \u4e0e {3,4} \u4e2d\u5404\u968f\u673a\u9009\u62e9\u4e00\u4e2a\uff0c\u4ece\u800c\u786e\u5b9a\u4e24\u4e2a\u8981\u6293\u53d6\u7684\u6876\u7684\u4f4d\u7f6e\uff08\u907f\u514d\u4e24\u4e2a\u6876\u4f4d\u4e8e\u540c\u4e00\u4fa7\u7684\u56fa\u5b9a\u6a21\u5f0f\uff09\u3002\u7a0b\u5e8f\u8fd0\u884c\u65f6\u4f7f\u7528\u5e03\u5c14\u53d8\u91cf `HasBarrel` \u8868\u793a\u5f53\u524d\u662f\u5426\u6301\u6709\u6876\uff1b\u4f7f\u7528\u6574\u578b\u53d8\u91cf `BarrelNum`\uff08\u521d\u59cb\u4e3a 0\uff09\u8bb0\u5f55\u6293\u53d6\u7684\u6876\u6570\u91cf\uff0c\u6bcf\u6293\u53d6\u4e00\u4e2a\u6876\u5219 `BarrelNum += 1`\uff1b\u4f7f\u7528\u6574\u578b\u53d8\u91cf `CheckNum`\uff08\u521d\u59cb\u4e3a 0\uff09\u8bb0\u5f55\u5df2\u901a\u8fc7\u7684\u7ea2\u8272\u6253\u5361\u70b9\u6570\u91cf\uff0c\u6bcf\u901a\u8fc7\u4e00\u5904\u6253\u5361\u70b9\u5219 `CheckNum += 1` \u5e76\u5728\u5c4f\u5e55\u4e0a\u5bf9\u5e94\u884c\u8f93\u51fa\u8be5\u6253\u5361\u70b9\u7684\u8017\u65f6\u3002<\/p>\n

### 3.1 \u57fa\u4e8e\u5e03\u5c14\u903b\u8f91\u7684\u6709\u9650\u72b6\u6001\u673a\u4e0e\u4f20\u611f\u5668\u81f4\u76f2\u9632\u62a4<\/p>\n

\u5728\u81ea\u52a8\u7269\u6599\u642c\u8fd0\u4efb\u52a1\u4e2d\uff0c\u673a\u5668\u4eba\u4f9d\u8d56\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u68c0\u6d4b\u76ee\u6807\u6876\u5e76\u6267\u884c\u6293\u53d6\u3002\u6293\u53d6\u52a8\u4f5c\u5b8c\u6210\u540e\uff0c\u7269\u6599\u901a\u5e38\u4f1a\u505c\u7559\u5728\u4f20\u611f\u5668\u524d\u65b9\uff0c\u53ef\u80fd\u4f7f\u8d85\u58f0\u6ce2\u6d4b\u8ddd\u8bfb\u6570\u6301\u7eed\u6ee1\u8db3\u89e6\u53d1\u6761\u4ef6\uff0c\u4ece\u800c\u5f15\u53d1\u91cd\u590d\u6293\u53d6\u7684\"\u4f20\u611f\u5668\u81f4\u76f2\"\u95ee\u9898\u3002\u4e3a\u89e3\u51b3\u6b64\u95ee\u9898\uff0c\u5e76\u6ee1\u8db3\u5b9e\u9a8c\u8981\u6c42\u7684\u4e24\u6876\u653e\u7f6e\u7b56\u7565\uff0c\u672c\u9879\u76ee\u5728\u6709\u9650\u72b6\u6001\u673a\u4e2d\u5f15\u5165\u4ee5\u4e0b\u53d8\u91cf\uff1a\u5e03\u5c14\u53d8\u91cf `HasBarrel`\uff08\u8868\u793a\u5f53\u524d\u662f\u5426\u6301\u6709\u6876\uff09\u3001\u6574\u578b\u8ba1\u6570 `BarrelNum`\uff08\u8bb0\u5f55\u5df2\u6293\u53d6\u6876\u7684\u6570\u91cf\uff0c\u521d\u59cb\u4e3a 0\uff09\u4e0e\u6574\u578b\u8ba1\u6570 `CheckNum`\uff08\u8bb0\u5f55\u5df2\u901a\u8fc7\u7684\u7ea2\u8272\u6253\u5361\u70b9\u6570\u91cf\uff0c\u521d\u59cb\u4e3a 0\uff09\u3002<\/p>\n

\u6293\u53d6\u903b\u8f91\u7684\u89e6\u53d1\u6761\u4ef6\u4ecd\u4ee5\u8d85\u58f0\u6ce2\u8ddd\u79bb\u4e3a\u4e3b\uff1a<\/p>\n

$$Trigger = (d_{ultrasonic} < 15) \\land \\neg HasBarrel$$\n\n\u5f53\u6293\u53d6\u52a8\u4f5c\u6267\u884c\u5e76\u786e\u8ba4\u6293\u53d6\u6210\u529f\u65f6\uff0c\u6267\u884c `HasBarrel = True` \u5e76 `BarrelNum += 1`\u3002\u6309\u7167\u7ec4\u5185\u7ea6\u5b9a\u7684\u653e\u7f6e\u7b56\u7565\uff1a\u7b2c\u4e00\u4e2a\u6293\u5230\u7684\u6876\uff08`BarrelNum == 1`\uff09\u5e94\u88ab\u653e\u7f6e\u5230\u968f\u540e\u9047\u5230\u7684\u7b2c\u4e00\u4e2a\u7ea2\u8272\u6253\u5361\u70b9\uff1b\u7b2c\u4e8c\u4e2a\u6293\u5230\u7684\u6876\uff08`BarrelNum == 2`\uff09\u5e94\u8be5\u4e00\u76f4\u643a\u5e26\u5230\u7ec8\u70b9\u518d\u653e\u4e0b\u3002\u4e3a\u6b64\uff0c\u5728\u5230\u8fbe\u6253\u5361\u70b9\u65f6\uff0c\u653e\u6876\u52a8\u4f5c\u7684\u6761\u4ef6\u4e3a `HasBarrel == True && BarrelNum == 1`\uff1b\u5982\u679c `HasBarrel == True` \u4f46 `BarrelNum != 1`\uff0c\u5219\u53ea\u6267\u884c\u6389\u5934\u6216\u76f8\u5e94\u7684\u8def\u53e3\u52a8\u4f5c\u800c\u4e0d\u653e\u6876\u3002\u5b8c\u6210\u653e\u6876\u540e\u9700\u5c06 `HasBarrel` \u590d\u4f4d\u4e3a False\u3002\n\n### 3.2 \u57fa\u4e8e\u6709\u9650\u72b6\u6001\u673a\u7684\u8def\u53e3\u51b3\u7b56\u7b97\u6cd5\n\n\u9762\u5bf9\u5206\u652f\u8d5b\u9053\uff08\u5982T\u578b\u6216\u5341\u5b57\u8def\u53e3\uff09\uff0c\u7cfb\u7edf\u91c7\u7528\u57fa\u4e8e\u6709\u9650\u72b6\u6001\u673a\u7684\u786e\u5b9a\u6027\u51b3\u7b56\u6811\u8fdb\u884c\u8def\u5f84\u9009\u62e9\u3002\u8be5\u51b3\u7b56\u6811\u901a\u8fc7\u5d4c\u5957\u6761\u4ef6\u5206\u652f\u5b9e\u73b0\uff0c\u5176\u5185\u90e8\u903b\u8f91\u53ef\u88ab\u7cbe\u786e\u6d4b\u8bd5\u4e0e\u9a8c\u8bc1\u3002\u5177\u4f53\u6267\u884c\u6d41\u7a0b\u5982\u4e0b\uff1a\n\n\u5f53\u5de6\u53f3\u4e24\u4fa7\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u53cd\u5c04\u5149\u5f3a\u5ea6\u4f4e\u4e8e\u9608\u503c\uff08< 15\uff09\u65f6\uff0c\u7cfb\u7edf\u5224\u5b9a\u53ef\u80fd\u8fdb\u5165\u8def\u53e3\u533a\u57df\u3002\u7cfb\u7edf\u9996\u5148\u6267\u884c\u63a2\u9488\u6821\u9a8c\uff1a\u5bf9\u4e8e\u53f3\u4fa7\u4f20\u611f\u5668\u89e6\u53d1\u7684\u60c5\u51b5\uff0c\u7535\u673a\u4ee5\u529f\u738730\u5411\u524d\u884c\u8fdb0.55\u79d2\u8fdb\u884c\u4f4d\u7f6e\u8c03\u6574\uff0c\u968f\u540e\u4ee530\/-30\u529f\u7387\u6267\u884c\u53f3\u8f6c0.3\u79d2\uff0c\u5e76\u6301\u7eed\u4fdd\u6301\u8be5\u5dee\u901f\u76f4\u5230\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u9ed1\u7ebf\uff08\u53cd\u5c04\u5149\u5f3a\u5ea6 < 15\uff09\uff0c\u6700\u540e\u505c\u6b62\u7535\u673a\u5e76\u7b49\u5f850.02\u79d2\u7a33\u5b9a\u3002\u5bf9\u4e8e\u5de6\u4fa7\u4f20\u611f\u5668\u89e6\u53d1\u7684\u60c5\u51b5\uff0c\u7535\u673a\u5148\u4ee5\u529f\u738730\u5411\u524d\u884c\u8fdb0.5\u79d2\uff0c\u968f\u540e\u4ee5-30\/30\u529f\u7387\u6267\u884c\u5de6\u8f6c0.3\u79d2\uff0c\u5e76\u6301\u7eed\u4fdd\u6301\u8be5\u5dee\u901f\u76f4\u5230\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u9ed1\u7ebf\u3002\u82e5\u5de6\u53f3\u4f20\u611f\u5668\u5747\u672a\u89e6\u53d1\u4f46\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u9ed1\u7ebf\uff0c\u5219\u8fdb\u5165\u9ed8\u8ba4PID\u76f4\u884c\u903b\u8f91\u3002\u82e5\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u7ea2\u8272\u6807\u8bb0\uff0c\u5219\u6267\u884c180\u5ea6\u6389\u5934\u64cd\u4f5c\u3002\n\n### 3.2.1 \u672c\u7ec4\u6700\u7ec8\u7248\u8def\u53e3\u51b3\u7b56\u4e0e\u7269\u6599\u653e\u7f6e\u903b\u8f91\uff08\u5b9e\u73b0\u8bf4\u660e\uff09\n\n\u672c\u8282\u8bf4\u660e\u672c\u7ec4\u6700\u7ec8\u7a0b\u5e8f\u7684\u5177\u4f53\u5b9e\u73b0\u7ec6\u8282\uff0c\u4ee5\u907f\u514d\u6587\u4e2d\u8f83\u901a\u7528\u7684\u51b3\u7b56\u6811\u63cf\u8ff0\u4e0e\u6700\u7ec8\u4ee3\u7801\u4ea7\u751f\u6b67\u4e49\u3002\u5173\u952e\u8981\u70b9\u5982\u4e0b\uff08\u4ee5\u4ee3\u7801\u5b9e\u73b0\u4e3a\u51c6\uff09\uff1a\n\n1. \u521d\u59cb\u5316\u9636\u6bb5\u5728\u56db\u4e2a\u5019\u9009\u4f4d\u7f6e\uff08\u7f16\u53f7 1\u30012\u30013\u30014\uff09\u4e2d\u968f\u673a\u9009\u53d6\u4e24\u4e2a\u653e\u6876\u4f4d\u7f6e\uff1a\u5206\u522b\u4ece\u96c6\u5408 {1,2} \u4e0e {3,4} \u4e2d\u5404\u968f\u673a\u9009\u62e9\u4e00\u4e2a\uff0c\u786e\u5b9a\u8981\u6293\u53d6\u7684\u4e24\u4e2a\u6876\u7684\u4f4d\u7f6e\u3002\n2. \u4f7f\u7528\u53d8\u91cf\uff1a\u5e03\u5c14 `HasBarrel`\uff08\u662f\u5426\u6301\u6876\uff09\uff0c\u6574\u578b `BarrelNum`\uff08\u6293\u53d6\u6876\u8ba1\u6570\uff0c\u521d\u59cb 0\uff09\uff0c\u6574\u578b `CheckNum`\uff08\u6253\u5361\u70b9\u8ba1\u6570\uff0c\u521d\u59cb 0\uff09\u3002\u6293\u53d6\u6210\u529f\u65f6\u6267\u884c `HasBarrel = True; BarrelNum += 1`\u3002\n3. \u653e\u7f6e\u7b56\u7565\uff1a\u7b2c\u4e00\u4e2a\u6293\u5230\u7684\u6876\uff08`BarrelNum == 1`\uff09\u5728\u9047\u5230\u7684\u7b2c\u4e00\u4e2a\u7ea2\u8272\u6253\u5361\u70b9\u653e\u4e0b\uff1b\u7b2c\u4e8c\u4e2a\u6293\u5230\u7684\u6876\uff08`BarrelNum == 2`\uff09\u4e00\u76f4\u643a\u5e26\u81f3\u7ec8\u70b9\u518d\u653e\u4e0b\u3002\u56e0\u6b64\uff0c\u5230\u8fbe\u6253\u5361\u70b9\u65f6\u89e6\u53d1\u653e\u6876\u7684\u6761\u4ef6\u4e3a `HasBarrel == True && BarrelNum == 1`\u3002\u653e\u4e0b\u540e\u5c06 `HasBarrel` \u590d\u4f4d\u4e3a `False`\u3002\n4. \u8ff7\u5bab\u884c\u8d70\u7b56\u7565\u91c7\u7528\u53f3\u624b\u5b9a\u5219\uff1a\u80fd\u53f3\u8f6c\u5c31\u53f3\u8f6c\uff0c\u53f3\u8f6c\u4e0d\u884c\u5c31\u76f4\u8d70\uff0c\u76f4\u8d70\u4e0d\u884c\u5c31\u5de6\u8f6c\u3002\u7531\u4e8e\u4f20\u611f\u5668\u5e76\u5217\u653e\u7f6e\u4ec5\u80fd\u611f\u77e5\u5de6\u53f3\u4e0e\u811a\u4e0b\u989c\u8272\/\u53cd\u5149\u5ea6\uff0c\u6d41\u7a0b\u5728\u7a0b\u5e8f\u4e2d\u6309\u4f18\u5148\u7ea7\u5224\u65ad\uff1a\n\t- \u82e5\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u7eff\u8272\uff1a\u5224\u5b9a\u4e3a\u7ec8\u70b9\uff0c\u9000\u51fa\u4e3b\u5faa\u73af\u5e76\u6267\u884c\u7ec8\u70b9\u7a0b\u5e8f\u3002\n\t- \u82e5\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u7ea2\u8272\uff1a\u5224\u5b9a\u4e3a\u6253\u5361\u70b9\uff0c\u6267\u884c `CheckNum += 1` \u5e76\u5728\u5c4f\u5e55\u4e0a\u5bf9\u5e94\u884c\u8f93\u51fa\u8be5\u6253\u5361\u70b9\u8017\u65f6\uff1b\u82e5\u6ee1\u8db3 `HasBarrel == True && BarrelNum == 1` \u5219\u653e\u6876\u5e76\u6389\u5934\uff1b\u5426\u5219\u4ec5\u6389\u5934\u3002\n\t- \u5426\u5219\u82e5\u53f3\u4fa7\u4f20\u611f\u5668\u53cd\u5149\u5ea6\u5c0f\u4e8e15\uff08\u68c0\u6d4b\u5230\u9ed1\u7ebf\uff09\uff0c\u76f4\u63a5\u6267\u884c\u53f3\u8f6c\u903b\u8f91\u3002\n\t- \u5426\u5219\u82e5\u5de6\u4fa7\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u9ed1\u7ebf\uff0c\u5219\u5148\u5411\u524d\u5c0f\u63a2\u4e00\u6b65\u5e76\u91cd\u65b0\u8bfb\u53d6\u4e2d\u95f4\u4f20\u611f\u5668\uff1a\u82e5\u63a2\u524d\u540e\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u9ed1\u7ebf\u5219\u76f4\u884c\uff0c\u82e5\u672a\u68c0\u6d4b\u5230\u5219\u5de6\u8f6c\u3002\n\t- \u4ee5\u4e0a\u5747\u672a\u89e6\u53d1\u65f6\uff0c\u8fdb\u5165\u4fdd\u5e95 PD \u5de1\u7ebf\u903b\u8f91\u3002\n5. PD \u5de1\u7ebf\u5907\u5e95\u53c2\u6570\u5728\u4ee3\u7801\u4e2d\u5982\u4e0b\u5b9e\u73b0\uff1a\n$$BaseSpeed = 100 - |a-b| * 0.6$$\n$$Turn = (a-b) * 0.8 + ((a-b) - c) * 0.6$$\n\n\t\u5176\u4e2d `a`\u3001`b` \u4e3a\u5de6\u53f3\u4f20\u611f\u5668\u8bfb\u6570\uff0c`c` \u4e3a\u4e0a\u5468\u671f\u8bef\u5dee\u5bc4\u5b58\u5668\u3002\n\n\u8be5\u5b50\u8282\u4e3a\u6700\u7ec8\u7248\u7a0b\u5e8f\u7684\u5b9e\u73b0\u8bf4\u660e\uff0c\u6587\u4e2d\u5176\u5b83\u51b3\u7b56\u6811\u4e0e\u63a2\u9488\u65f6\u5e8f\u63cf\u8ff0\u4e3a\u901a\u7528\u53c2\u8003\uff0c\u5b9e\u9645\u884c\u4e3a\u4ee5\u672c\u8282\u6240\u8ff0\u903b\u8f91\u4e3a\u51c6\u3002\n\n### 3.3 \u7ec8\u70b9\u8bc6\u522b\uff1a\u5f02\u6e90\u4f20\u611f\u5668\u89e3\u8026\u4e0e\u8f6f\u4ef6\u6d88\u6296\n\n\u5728\u65e9\u671f\u6d4b\u8bd5\u7248\u672c\u4e2d\uff0c\u7ec8\u70b9\u5224\u5b9a\u903b\u8f91\uff08\u68c0\u6d4b\u7ec8\u70b9\u9ed1\u8272\u533a\u57df\uff09\u4e0e\u8def\u53e3\u5224\u5b9a\u903b\u8f91\uff08\u68c0\u6d4b\u9ed1\u7ebf\uff09\u4f7f\u7528\u4e86\u76f8\u540c\u7684\u53cd\u5c04\u7387\u7070\u5ea6\u7279\u5f81\uff0c\u53ef\u80fd\u56e0\u73af\u5883\u5149\u5bfc\u81f4\u7684\u9608\u503c\u6f02\u79fb\u5f15\u53d1\u8bef\u5224\u3002\u4e3a\u89e3\u51b3\u6b64\u95ee\u9898\uff0c\u7cfb\u7edf\u5c06\u7ec8\u70b9\u6807\u5fd7\u7269\u8bbe\u5b9a\u4e3a\u7eff\u8272\u8d34\u7eb8\uff0c\u7531\u5c45\u4e2d\u7684\u7b2c\u4e09\u53f7\u4f20\u611f\u5668\u4f7f\u7528\u8272\u5f69\u6a21\u5f0f\uff08Color Mode\uff09\u8fdb\u884c\u8bc6\u522b\uff0c\u5b9e\u73b0\u4e86\u5bfc\u822a\u4e0e\u7ec8\u70b9\u5224\u5b9a\u5728\u4f20\u611f\u5668\u5c42\u9762\u7684\u5206\u79bb\u3002\u540c\u65f6\uff0c\u4e3a\u9632\u6b62\u8d77\u8dd1\u533a\u7684\u7eff\u8272\u6807\u8bb0\u5f15\u53d1\u8bef\u5224\uff0c\u7cfb\u7edf\u52a0\u5165\u4e86\u8ba1\u65f6\u5668\u7ea6\u675f\uff1a\n\n$$Condition_{End} = (\\text{Color}_{Mid} == 3) \\land (\\text{Timer}_{Total} > 10s)$$<\/p>\n

\u5728\u8272\u5f69\u5224\u5b9a\u901a\u8fc7\u540e\uff0c\u7a0b\u5e8f\u8fd8\u52a0\u5165\u4e860.1\u79d2\u7684\u8f6f\u4ef6\u6d88\u6296\uff08Software Debounce\uff09\u5ef6\u65f6\uff0c\u786e\u4fdd\u83b7\u53d6\u5230\u7a33\u5b9a\u7684\u7eff\u8272\u4fe1\u53f7\u540e\u624d\u89e6\u53d1\u7ec8\u70b9\u505c\u673a\u3002<\/p>\n

\u5230\u8fbe\u7ec8\u70b9\u65f6\uff0c\u5c4f\u5e55\u4e0a\u4f9d\u6b21\u663e\u793a\u6bcf\u4e2a\u6253\u5361\u70b9\u7684\u8017\u65f6\u3001\u603b\u8017\u65f6\u4ee5\u53ca\u8bbf\u95ee\u7684\u6253\u5361\u70b9\u4e2a\u6570\uff1b\u4ee3\u7801\u5b9e\u73b0\u4e0a\u4f7f\u7528 `CheckNum` \u6765\u786e\u5b9a\u6253\u5370\u6240\u5728\u884c\uff0c\u5e76\u5728\u901a\u8fc7\u6253\u5361\u70b9\u65f6\u5373\u65f6\u5199\u5165\u5bf9\u5e94\u8017\u65f6\u3002<\/p>\n

\u56fe2\u5c55\u793a\u4e86\u5728LEGO EV3\u56fe\u5f62\u5316\u7f16\u7a0b\u73af\u5883\u4e2d\u5b9e\u73b0\u7684\u5b8c\u6574\u7a0b\u5e8f\u4ee3\u7801\u622a\u56fe\uff0c\u8be5\u7a0b\u5e8f\u5b9e\u73b0\u4e86\u4e0a\u8ff0\u6709\u9650\u72b6\u6001\u673a\u4e0e\u51b3\u7b56\u6811\u903b\u8f91\u3002\u7a0b\u5e8f\u6e90\u6587\u4ef6\u4e3a main.ev3<\/a>\u3002<\/p>\n

\n\t\"EV3\u7a0b\u5e8f\u6e90\u7801\u622a\u56fe\"\n<\/div>\n

**\u56fe2\uff1aEV3\u56fe\u5f62\u5316\u7a0b\u5e8f\u6e90\u7801\u3002** \u7a0b\u5e8f\u5b9e\u73b0\u4e86\u57fa\u4e8e\u6709\u9650\u72b6\u6001\u673a\u7684\u8def\u5f84\u89c4\u5212\u4e0e\u7269\u6599\u642c\u8fd0\u63a7\u5236\u903b\u8f91\uff0c\u5305\u542b\u521d\u59cb\u5316\u3001\u4e3b\u5faa\u73af\uff08\u8def\u53e3\u51b3\u7b56\u3001\u6293\u53d6\/\u653e\u7f6e\u3001\u7ec8\u70b9\u5224\u5b9a\uff09\u53ca\u6536\u5c3e\u4e09\u4e2a\u9636\u6bb5\u3002<\/p>\n

## 4. \u5d4c\u5165\u5f0f\u7cfb\u7edf\u5e95\u5c42\u7279\u6027\u4e0e\u7b97\u529b\u4f18\u5316<\/p>\n

LEGO EV3\u7684\u4e3b\u63a7\u56fa\u4ef6\u5e95\u5c42\u8fd0\u884c\u4e8e\u8f7b\u91cf\u7ea7\u7684Linux\u64cd\u4f5c\u7cfb\u7edf\u73af\u5883\u4e2d\uff0c\u5176\u56fe\u5f62\u5316\u754c\u9762\u672c\u8d28\u662f\u5bf9\u5e95\u5c42\u786c\u4ef6\u62bd\u8c61\u5c42\uff08HAL\uff09\u7684\u5c01\u88c5\u8c03\u7528$^{[3]}$\u3002\u5728\u8981\u6c42\u6beb\u79d2\u7ea7\u5b9e\u65f6\u54cd\u5e94\u7684\u95ed\u73af\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0c\u4e0d\u5f53\u7684\u4ee3\u7801\u7ed3\u6784\u53ef\u80fd\u5f15\u53d1\u7cfb\u7edf\u7ea7\u8d44\u6e90\u95ee\u9898\u3002\u672c\u7a0b\u5e8f\u5bf9\u6b64\u8fdb\u884c\u4e86\u8f6f\u4ef6\u5de5\u7a0b\u7ea7\u522b\u7684\u4f18\u5316\u3002<\/p>\n

### 4.1 CPU\u9965\u997f\u9884\u9632\uff08CPU Starvation Avoidance\uff09<\/p>\n

\u5728\u4e3b\u5faa\u73af\uff08While Loop\uff09\u4e2d\uff0c\u82e5\u4e0d\u52a0\u5e72\u9884\uff0c\u9ad8\u9891\u7387\u7684\u6307\u4ee4\u6267\u884c\u53ef\u80fd\u5360\u7528ARM\u5904\u7406\u5668\u7684\u5927\u90e8\u5206\u65f6\u949f\u5468\u671f\uff0c\u5bfc\u81f4\u8d1f\u8d23I\/O\u901a\u4fe1\u7684\u5e95\u5c42\u8f6e\u8be2\u5b88\u62a4\u8fdb\u7a0b\uff08Daemon\uff09\u88ab\u6302\u8d77\uff0c\u5373\u4ea7\u751f\"CPU\u9965\u997f\"\u73b0\u8c61\u3002\u5176\u76f4\u63a5\u540e\u679c\u662f\u4f20\u611f\u5668\u6570\u636e\u5bc4\u5b58\u5668\u65e0\u6cd5\u53ca\u65f6\u66f4\u65b0\uff0cPID\u63a7\u5236\u5668\u8bfb\u53d6\u9648\u65e7\u6570\u636e\uff0c\u5bfc\u81f4\u7535\u673a\u63a7\u5236\u5f02\u5e38\u3002\u4e3a\u6b64\uff0c\u5728\u4e3b\u5faa\u73af\u672b\u5c3e\u63d2\u5165\u4e860.01\u79d2\u7684\u7b49\u5f85\uff08Yield\/Delay\uff09\u6a21\u5757\uff0c\u4e3b\u52a8\u8ba9\u51fa\u5904\u7406\u5668\u7684\u8c03\u5ea6\u65f6\u95f4\u7247\uff08Time Slice\uff09\uff0c\u4f7f\u5e95\u5c42I\/O\u8fdb\u7a0b\u80fd\u591f\u6b63\u5e38\u5237\u65b0\u4f20\u611f\u5668\u5bc4\u5b58\u5668\u3002<\/p>\n

### 4.2 PWM\u8f93\u51fa\u6a21\u5f0f\u4f18\u5316\uff08Coast vs Brake\uff09<\/p>\n

\u82e5\u5c06\u7535\u673a\u9a71\u52a8\u6a21\u5757\u7f6e\u4e8e\"\u5f00\u542f\u6307\u5b9a\u65f6\u95f4\"\u6a21\u5f0f\uff0c\u5e95\u5c42\u786c\u4ef6\u9a71\u52a8\u5668\u4f1a\u5728\u65f6\u95f4\u9608\u503c\u5230\u8fbe\u65f6\u5f3a\u5236\u89e6\u53d1\u7535\u6c14\u5236\u52a8\uff08\u77ed\u63a5\u7535\u673a\u5185\u90e8\u7ed5\u7ec4\uff09\uff0c\u9891\u7e41\u5236\u52a8\u4f1a\u5bfc\u81f4\u8f66\u4f53\u51fa\u73b0\u9ad8\u9891\u6296\u52a8\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u672c\u7ec4\u7684\u5b9e\u73b0\u4e2d\u5e76\u672a\u91c7\u7528\u6301\u7eed\u5e38\u5f00\uff08On\uff09\u6a21\u5f0f\uff0c\u56e0\u4e3a\u5e38\u5f00\u6a21\u5f0f\u4f1a\u5bfc\u81f4\u4e3b\u63a7\u5728\u7535\u673a\u9a71\u52a8\u671f\u95f4\u65e0\u6cd5\u53ca\u65f6\u8fd4\u56de\u4e3b\u5faa\u73af\u53bb\u5904\u7406\u5176\u4ed6\u903b\u8f91\uff08\u5982\u4f20\u611f\u5668\u8bfb\u6570\u3001\u72b6\u6001\u66f4\u65b0\u4e0e\u51b3\u7b56\uff09\uff0c\u5b58\u5728\u963b\u585e\u5bfc\u81f4\u7cfb\u7edf\u201c\u5361\u6b7b\u201d\u7684\u98ce\u9669\u3002\u4e3a\u5e73\u8861\u8fde\u7eed\u8f93\u51fa\u4e0e\u53ef\u8c03\u5ea6\u6027\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u77ed\u65f6\u6b65\u8fdb\u9a71\u52a8\u7b56\u7565\uff1aPID\/PD \u5de1\u7ebf\u4ee5 0.1 \u79d2\u4e3a\u5468\u671f\uff0c\u6bcf\u6b21\u53ea\u9a71\u52a8\u7535\u673a 0.1 \u79d2\uff08\u5373\u5c0f\u6b65\u524d\u8fdb\uff09\uff0c\u7136\u540e\u8fd4\u56de\u4e3b\u5faa\u73af\u8fdb\u884c\u4f20\u611f\u5668\u8bfb\u53d6\u4e0e\u903b\u8f91\u5224\u65ad\u3002\u8be5\u65b9\u5f0f\u65e2\u907f\u514d\u4e86\u9891\u7e41\u5236\u52a8\u5e26\u6765\u7684\u6296\u52a8\u95ee\u9898\uff0c\u53c8\u4fdd\u8bc1\u4e86\u7cfb\u7edf\u53ef\u4ee5\u53ca\u65f6\u54cd\u5e94\u5176\u4ed6\u4e8b\u4ef6\u4e0e\u72b6\u6001\u53d8\u5316\u3002<\/p>\n

### 4.3 \u8fdb\u7a0b\u7ba1\u7406\u4e0e\u505c\u673a\u6d41\u7a0b\uff08Process Management\uff09<\/p>\n

\u5728\u9891\u7e41\u8c03\u7528\u97f3\u9891\u6587\u4ef6\u53cd\u9988\u72b6\u6001\u7684\u7a0b\u5e8f\u67b6\u6784\u4e2d\uff0c\u975e\u6b63\u5e38\u7684\u7269\u7406\u5f3a\u5236\u5173\u673a\u53ef\u80fd\u5bfc\u81f4\u5e95\u5c42\u97f3\u9891\u5b88\u62a4\u8fdb\u7a0b\u5f02\u5e38\u3002\u7cfb\u7edf\u5728\u7ec8\u70b9\u5224\u5b9a\u5206\u652f\u540e\u5f15\u5165\u4e86\u89c4\u8303\u7684\u505c\u673a\u6d41\u7a0b\uff0c\u901a\u8fc7\u8c03\u7528\u505c\u6b62\u6a21\u5757\u786e\u4fdd\u4f20\u611f\u5668\u4e0e\u7535\u673a\u7aef\u53e3\u5b89\u5168\u65ad\u7535\u3001\u540e\u53f0\u7ebf\u7a0b\u89c4\u8303\u9500\u6bc1\uff0c\u4ee5\u4fdd\u969c\u7cfb\u7edf\u5728\u591a\u8f6e\u6b21\u8fde\u7eed\u8fd0\u884c\u73af\u5883\u4e0b\u7684\u7a33\u5b9a\u6027\u3002<\/p>\n

## 5. \u5b9e\u9a8c\u7ed3\u679c\u4e0e\u7cfb\u7edf\u6027\u80fd\u5206\u6790<\/p>\n

\u4e3a\u9a8c\u8bc1\u6240\u8bbe\u8ba1\u7684\"\u6539\u8fdb\u578b\u79bb\u6563PD\u63a7\u5236\u5668+\u6709\u9650\u72b6\u6001\u673a\u51b3\u7b56\u6811\"\u6df7\u5408\u63a7\u5236\u67b6\u6784\u5728LEGO Mindstorms EV3\u5e95\u76d8\u4e0a\u7684\u5b9e\u9645\u7efc\u5408\u6548\u80fd\uff0c\u6211\u4eec\u5728\u6d4b\u8bd5\u573a\u5730\u4e0a\u8fdb\u884c\u4e86\u591a\u8f6e\u6b21\u6027\u80fd\u5b9e\u6d4b\uff0c\u5e76\u4e0e\u4f20\u7edfON-OFF\u5f00\u5173\u63a7\u5236\u5668\u8fdb\u884c\u4e86\u5bf9\u6bd4\u5206\u6790\u3002<\/p>\n

### 5.1 \u5b9e\u9a8c\u73af\u5883\u4e0e\u8d5b\u9053\u7279\u5f81<\/p>\n

\u672c\u9879\u76ee\u7684\u6d4b\u8bd5\u8d5b\u9053\u7531\u957f\u76f4\u9053\u8def\u6bb5\u4e0e\u7eaf\u76f4\u89d2\u5f2f\uff08Right-angle Turns\uff09\u3001T\u578b\u4ea4\u53c9\u53e3\u53ca\u5341\u5b57\u8ff7\u5bab\u8def\u53e3\u62fc\u63a5\u800c\u6210\u3002\u76f4\u89d2\u5f2f\u9053\u5728\u8f68\u8ff9\u65b9\u7a0b\u4e0a\u5bf9\u5e94\u5bfc\u6570\u4e0d\u5b58\u5728\u7684\u975e\u8fde\u7eed\u9636\u8dc3\u4fe1\u53f7\u3002\u9488\u5bf9\u6b64\u7c7b\u5305\u542b\u9636\u8dc3\u4fe1\u53f7\u7684\u573a\u5730\uff0c\u5355\u7eaf\u4f9d\u9760\u7ebf\u6027PD\u63a7\u5236\u5668\u65e0\u6cd5\u72ec\u7acb\u5b8c\u6210\u5168\u8d5b\u9053\u7684\u8986\u76d6\uff0c\u9700\u8981\u7ed3\u5408\u5e95\u5c42\u6570\u5b57PD\u63a7\u5236\u5668\u4e0e\u57fa\u4e8e\u6709\u9650\u72b6\u6001\u673a\u7684\u51b3\u7b56\u6811\u8fdb\u884c\u534f\u540c\u5904\u7406\u3002<\/p>\n

\u56fe3\u5c55\u793a\u4e86\u6839\u636e\u8d5b\u9053\u5e03\u5c40\u7ed8\u5236\u7684\u6805\u683c\u5730\u56fe\uff0c\u5176\u4e2d\u9ed1\u8272\u533a\u57df\u4e3a\u5f15\u5bfc\u8def\u5f84\uff0c\u767d\u8272\u533a\u57df\u4e3a\u7a7a\u767d\u533a\u57df\uff0c\u8d77\u70b9\u4f4d\u4e8e\u53f3\u4e0b\u89d2\u533a\u57df\uff0c\u7ec8\u70b9\u4f4d\u4e8e\u5de6\u4e0a\u89d2\u533a\u57df\u3002\u8d5b\u9053\u5305\u542b\u957f\u76f4\u9053\u3001\u76f4\u89d2\u5f2f\u3001T\u578b\u4ea4\u53c9\u53e3\u53ca\u5341\u5b57\u8def\u53e3\u7b49\u591a\u79cd\u8def\u51b5\u3002<\/p>\n

\n\t\"\u6d4b\u8bd5\u8d5b\u9053\u6805\u683c\u5730\u56fe\uff0829\u00d729\u7f51\u683c\uff09\"\n<\/div>\n

**\u56fe3\uff1a\u6d4b\u8bd5\u8d5b\u9053\u6805\u683c\u5730\u56fe\u3002** <\/p>\n

### 5.2 \u76f4\u7ebf\u6bb5\u52a8\u6001\u54cd\u5e94\u4e0e\u7a33\u6001\u8bef\u5dee\u5206\u6790<\/p>\n

\u5728\u76f4\u7ebf\u8f68\u8ff9\u8ffd\u8e2a\u6d4b\u8bd5\u4e2d\uff0c\u91c7\u7528ON-OFF\u5f00\u5173\u63a7\u5236\u5668\u7684\u673a\u5668\u4eba\u8868\u73b0\u51fa\u660e\u663e\u7684\u5468\u671f\u6027\u632f\u8361\u73b0\u8c61\u3002\u5f00\u5173\u63a7\u5236\u5668\u4ec5\u6839\u636e\u4f20\u611f\u5668\u4e8c\u503c\u5316\u7ed3\u679c\u5411\u5de6\u6216\u5411\u53f3\u8c03\u6574\u65b9\u5411\uff0c\u5bfc\u81f4\u8f66\u4f53\u5728\u5f15\u5bfc\u7ebf\u4e24\u4fa7\u53cd\u590d\u6446\u52a8\uff0c\u5e73\u5747\u63a8\u8fdb\u901f\u5ea6\u8f83\u4f4e\u3002<\/p>\n

\u91c7\u7528\u79bb\u6563PD\u63a7\u5236\u5668\u540e\uff0c\u8f66\u4f53\u7684\u632f\u8361\u5e45\u5ea6\u663e\u8457\u964d\u4f4e\u3002\u5fae\u5206\u8865\u507f\u9879\uff08Derivative Term\uff09\u6839\u636e\u8bef\u5dee\u53d8\u5316\u7387\u63d0\u524d\u4ea7\u751f\u53cd\u5411\u963b\u5c3c\u529b\u77e9\uff0c\u6291\u5236\u4e86\u8d85\u8c03\u73b0\u8c61\u3002\u6839\u636e\u5f0f\uff082.5\uff09\u6240\u793a\u7684\u63a7\u5236\u5f8b\uff0c\u57fa\u7840\u901f\u5ea6\u6839\u636e\u8bef\u5dee\u7edd\u5bf9\u503c\u81ea\u9002\u5e94\u8c03\u8282\uff1a\u76f4\u9053\u7a33\u6001\u65f6 $|a-b| \\approx 0$\uff0c\u57fa\u7840\u901f\u5ea6\u63a5\u8fd1\u4e0a\u9650100\uff1b\u5f53\u51fa\u73b0\u504f\u5dee\u65f6\uff0c\u57fa\u7840\u901f\u5ea6\u81ea\u52a8\u964d\u4f4e\u4ee5\u51cf\u5c0f\u8f6c\u5f2f\u6240\u9700\u7684\u5411\u5fc3\u529b\u3002\u53c2\u8003\u76f8\u5173\u6587\u732e\u5728\u76f8\u4f3c\u786c\u4ef6\u6761\u4ef6\u4e0b\u7684\u5bf9\u6bd4\u6d4b\u5b9a\uff0c\u5f15\u5165PD\u63a7\u5236\u673a\u5236\u540e\uff0c\u76f4\u7ebf\u6bb5\u4e0a\u7684\u5e73\u5747\u63a8\u8fdb\u901f\u5ea6\u63d0\u5347\u7ea636%$^{[1]}$\u3002<\/p>\n

### 5.3 \u76f4\u89d2\u5f2f\u9053\u7684\u51b3\u7b56\u6811\u63a7\u5236\u4e0e\u6267\u884c\u6548\u80fd<\/p>\n

\u5728 $90^\\circ$ \u76f4\u89d2\u5f2f\u6d4b\u8bd5\u4e2d\uff0cON-OFF\u63a7\u5236\u5668\u6216\u7eafPID\u63a7\u5236\u5668\u56e0\u65e0\u6cd5\u5904\u7406\u53cd\u5c04\u7387\u7684\u9636\u8dc3\u53d8\u5316\u800c\u51fa\u73b0\u8ddf\u8e2a\u6ede\u540e\u6216\u51b2\u51fa\u8d5b\u9053\u7684\u60c5\u51b5\u3002\u672c\u7cfb\u7edf\u91c7\u7528\u6709\u9650\u72b6\u6001\u673a\u51b3\u7b56\u6811\u5904\u7406\u6b64\u7c7b\u8def\u53e3\uff0c\u5177\u4f53\u6267\u884c\u6d41\u7a0b\u5982\u4e0b\uff1a<\/p>\n

\u5f53\u5de6\u53f3\u4e24\u4fa7\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u53cd\u5c04\u5149\u5f3a\u5ea6\u4f4e\u4e8e\u9608\u503c\uff08< 15\uff09\u65f6\uff0c\u7cfb\u7edf\u5224\u5b9a\u53ef\u80fd\u8fdb\u5165\u8def\u53e3\u533a\u57df\u3002\u7cfb\u7edf\u9996\u5148\u6267\u884c\u63a2\u9488\u6821\u9a8c\uff1a\u5bf9\u4e8e\u53f3\u4fa7\u4f20\u611f\u5668\u89e6\u53d1\u7684\u60c5\u51b5\uff0c\u7535\u673a\u4ee5\u529f\u738730\u5411\u524d\u884c\u8fdb0.55\u79d2\uff0c\u968f\u540e\u4ee530\/-30\u529f\u7387\u6267\u884c\u53f3\u8f6c0.3\u79d2\uff0c\u5e76\u6301\u7eed\u4fdd\u6301\u8be5\u5dee\u901f\u76f4\u5230\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u9ed1\u7ebf\uff08\u53cd\u5c04\u5149\u5f3a\u5ea6 < 15\uff09\uff0c\u6700\u540e\u505c\u6b62\u7535\u673a\u5e76\u7b49\u5f850.02\u79d2\u7a33\u5b9a\u3002\u5bf9\u4e8e\u5de6\u4fa7\u4f20\u611f\u5668\u89e6\u53d1\u7684\u60c5\u51b5\uff0c\u7535\u673a\u5148\u4ee5\u529f\u738730\u5411\u524d\u884c\u8fdb0.5\u79d2\uff0c\u968f\u540e\u4ee5-30\/30\u529f\u7387\u6267\u884c\u5de6\u8f6c0.3\u79d2\uff0c\u5e76\u6301\u7eed\u4fdd\u6301\u8be5\u5dee\u901f\u76f4\u5230\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u9ed1\u7ebf\u3002\u82e5\u5de6\u53f3\u4f20\u611f\u5668\u5747\u672a\u89e6\u53d1\u4f46\u4e2d\u95f4\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u9ed1\u7ebf\uff0c\u5219\u8fdb\u5165\u9ed8\u8ba4PID\u76f4\u884c\u903b\u8f91\u3002\n\n\u5b8c\u6210\u8f6c\u5411\u540e\uff0c\u63a7\u5236\u6743\u4ea4\u8fd8\u7ed9PD\u63a7\u5236\u5668\u7ee7\u7eed\u6267\u884c\u76f4\u7ebf\u8ffd\u8e2a\u3002\u8be5\u6d41\u7a0b\u901a\u8fc7\u6709\u9650\u72b6\u6001\u673a\u7684\u72b6\u6001\u8f6c\u79fb\u5b9e\u73b0\u4e86\u5bf9\u76f4\u89d2\u5f2f\u9053\u7684\u786e\u5b9a\u6027\u63a7\u5236\u3002\n\n### 5.4 \u7efc\u5408\u5b8c\u8d5b\u7387\u4e0e\u7cfb\u7edf\u7a33\u5065\u6027\n\n\u5728\u53e0\u52a0\u7269\u6599\u642c\u8fd0\u4efb\u52a1\u7684\u7efc\u5408\u6d4b\u8bd5\u4e2d\uff0c\u7cfb\u7edf\u8868\u73b0\u51fa\u4ee5\u4e0b\u7279\u6027\uff1a\n\n1. **CPU\u9965\u997f\u9884\u9632**\uff1a\u4e3b\u5faa\u73af\u672b\u5c3e\u63d2\u51650.01\u79d2\u7684\u7b49\u5f85\u6a21\u5757\uff0c\u4e3b\u52a8\u8ba9\u51fa\u5904\u7406\u5668\u8c03\u5ea6\u65f6\u95f4\u7247\uff0c\u786e\u4fdd\u5e95\u5c42I\/O\u8fdb\u7a0b\u80fd\u591f\u6b63\u5e38\u5237\u65b0\u4f20\u611f\u5668\u5bc4\u5b58\u5668\uff0c\u907f\u514d\u4e86\u56e0CPU\u8d44\u6e90\u72ec\u5360\u5bfc\u81f4\u7684\u4f20\u611f\u5668\u6570\u636e\u51bb\u7ed3\u95ee\u9898\u3002\n\n2. **\u4f20\u611f\u5668\u81f4\u76f2\u9632\u62a4**\uff1a\u901a\u8fc7\u5168\u5c40\u5e03\u5c14\u72b6\u6001\u53d8\u91cf `HasBarrel` \u6784\u5efa\u6709\u9650\u72b6\u6001\u673a\uff0c\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u7684\u6293\u53d6\u89e6\u53d1\u6761\u4ef6\u4e3a `(distance < 15cm) AND (NOT HasBarrel)`\u3002\u6293\u53d6\u5b8c\u6210\u540e\u72b6\u6001\u7ffb\u8f6c\uff0c\u540e\u7eed\u5373\u4f7f\u7269\u6599\u906e\u6321\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\uff0c\u7cfb\u7edf\u4e5f\u4e0d\u4f1a\u91cd\u590d\u6267\u884c\u6293\u53d6\u5e8f\u5217\uff0c\u800c\u662f\u8fdb\u5165\u5e38\u89c4\u5bfb\u8ff9\u903b\u8f91\u3002\n\n3. **\u7ec8\u70b9\u8bc6\u522b**\uff1a\u91c7\u7528\u4e2d\u95f4\u989c\u8272\u4f20\u611f\u5668\u4ee5\u8272\u5f69\u6a21\u5f0f\u8bc6\u522b\u7eff\u8272\u8d34\u7eb8\u4f5c\u4e3a\u7ec8\u70b9\u6807\u5fd7\uff0c\u914d\u54080.1\u79d2\u8f6f\u4ef6\u6d88\u6296\u548c\u8ba1\u65f6\u5668\u7ea6\u675f\uff08Timer > 10s\uff09\uff0c\u5b9e\u73b0\u4e86\u5bf9\u8d77\u70b9\u7eff\u8272\u6807\u8bb0\u7684\u533a\u5206\u548c\u7ec8\u70b9\u5224\u5b9a\u3002<\/p>\n

4. **\u7535\u673a\u63a7\u5236\u4f18\u5316**\uff1a\u4e3a\u5728\u8fde\u7eed\u5bfb\u8ff9\u4e0e\u4e8b\u4ef6\u54cd\u5e94\u4e4b\u95f4\u53d6\u5f97\u5e73\u8861\uff0c\u672c\u7ec4\u91c7\u7528\u77ed\u65f6\u6b65\u8fdb\u9a71\u52a8\u7b56\u7565\uff1aPD\/PD \u5de1\u7ebf\u4ee5 0.1 \u79d2\u4e3a\u57fa\u672c\u5468\u671f\uff0c\u6bcf\u6b21\u4ec5\u5411\u7535\u673a\u4e0b\u53d1 0.1 \u79d2\u7684\u9a71\u52a8\u547d\u4ee4\uff08\u5c0f\u6b65\u524d\u8fdb\uff09\uff0c\u968f\u540e\u8fd4\u56de\u4e3b\u5faa\u73af\u8fdb\u884c\u4f20\u611f\u5668\u8bfb\u53d6\u4e0e\u903b\u8f91\u5224\u65ad\u3002\u8be5\u65b9\u6848\u907f\u514d\u4e86\u5c06\u7535\u673a\u7f6e\u4e8e\u6301\u7eed\u5e38\u5f00\uff08On\uff09\u6a21\u5f0f\u53ef\u80fd\u5bfc\u81f4\u7684\u4e3b\u5faa\u73af\u963b\u585e\uff08\u4ece\u800c\u65e0\u6cd5\u53ca\u65f6\u5904\u7406\u4f20\u611f\u5668\u4e0e\u72b6\u6001\u5207\u6362\uff09\u7684\u98ce\u9669\uff0c\u540c\u65f6\u4e5f\u51cf\u5c11\u4e86\u7531\u9891\u7e41\u5b9a\u65f6\u5236\u52a8\u5f15\u53d1\u7684\u673a\u68b0\u6296\u52a8\u3002<\/p>\n

\u5728\u591a\u8f6e\u6d4b\u8bd5\u4e2d\uff0c\u7cfb\u7edf\u5728\u591a\u6570\u60c5\u51b5\u4e0b\u80fd\u591f\u5b8c\u6210\u5168\u8d5b\u9053\u7684\u5bfb\u8ff9\u4e0e\u7269\u6599\u642c\u8fd0\u4efb\u52a1\uff0c\u4f46\u8fd0\u884c\u8fc7\u7a0b\u4e2d\u4ecd\u4f1a\u51fa\u73b0\u4f20\u611f\u5668\u81f4\u76f2\u3001\u989c\u8272\u4f20\u611f\u5668\u8bef\u8bc6\u522b\u7b49\u95ee\u9898\u3002\u603b\u4f53\u4e0a\u8fd9\u4e9b\u95ee\u9898\u591a\u7531\u4f20\u611f\u5668\u786c\u4ef6\u7279\u6027\u6216\u73af\u5883\uff08\u5982\u5149\u7167\uff09\u53d8\u5316\u5f15\u8d77\uff1b\u8f6f\u4ef6\u903b\u8f91\u7ecf\u8fc7\u591a\u8f6e\u9a8c\u8bc1\u540e\u88ab\u8ba4\u4e3a\u662f\u7a33\u5065\u4e14\u53ef\u6062\u590d\u7684\uff0c\u80fd\u5728\u591a\u6570\u6d4b\u8bd5\u4e2d\u987a\u5229\u5b8c\u6210\u65e2\u5b9a\u4efb\u52a1\u3002<\/p>\n

### 5.5 \u5168\u8d5b\u9053\u5b9e\u6d4b\u7ed3\u679c<\/p>\n

\u4e3a\u9a8c\u8bc1\u7cfb\u7edf\u5728\u5b9e\u9645\u8d5b\u9053\u4e0a\u7684\u5b8c\u6574\u8fd0\u884c\u6548\u80fd\uff0c\u6211\u4eec\u5728\u56fe3\u6240\u793a\u7684\u8d5b\u9053\u4e0a\u8fdb\u884c\u4e86\u6b63\u8d70\u4e0e\u53cd\u8d70\u4e24\u4e2a\u65b9\u5411\u7684\u5b9e\u6d4b\u3002\u8d5b\u9053\u5171\u8bbe\u67096\u4e2a\u7ea2\u8272\u8d34\u7eb8\u6253\u5361\u70b9\uff08\u89e6\u53d1180\u5ea6\u6389\u5934\u53ca\u653e\u6876\u64cd\u4f5c\uff09\uff0c\u6bcf\u4e2a\u65b9\u5411\u5404\u7ecf\u8fc7\u5176\u4e2d3\u4e2a\u6253\u5361\u70b9\u3002<\/p>\n

#### 5.5.1 \u6b63\u8d70\u65b9\u5411\u6d4b\u8bd5\u7ed3\u679c<\/p>\n

\u673a\u5668\u4eba\u4ece\u8d77\u70b9\u51fa\u53d1\uff0c\u6cbf\u5f15\u5bfc\u8def\u5f84\u6b63\u5411\u884c\u8fdb\uff0c\u4f9d\u6b21\u7ecf\u8fc73\u4e2a\u7ea2\u8272\u6253\u5361\u70b9\u5e76\u5b8c\u6210\u5bf9\u5e94\u7684\u6389\u5934\u4e0e\u653e\u6876\u64cd\u4f5c\uff0c\u6700\u7ec8\u62b5\u8fbe\u7ec8\u70b9\u3002<\/p>\n

\u5168\u7a0b\u8fd0\u884c\u65f6\u95f4\u4e3a **54.92\u79d2**\uff0c\u7ecf\u8fc7**3\u4e2a**\u6253\u5361\u70b9\uff0c\u7ecf\u8fc7\u6bcf\u4e2a\u6253\u5361\u70b9\u7684\u7528\u65f6\u5206\u522b\u4e3a\uff1a**18.43\u79d2\u300129.13\u79d2\u300141.81\u79d2**\u3002<\/p>\n

#### 5.5.2 \u53cd\u8d70\u65b9\u5411\u6d4b\u8bd5\u7ed3\u679c<\/p>\n

\u673a\u5668\u4eba\u4ece\u7ec8\u70b9\u533a\u57df\u51fa\u53d1\uff0c\u6cbf\u5f15\u5bfc\u8def\u5f84\u53cd\u5411\u884c\u8fdb\uff0c\u4f9d\u6b21\u7ecf\u8fc7\u53e6\u59163\u4e2a\u7ea2\u8272\u6253\u5361\u70b9\u5e76\u5b8c\u6210\u5bf9\u5e94\u7684\u6389\u5934\u4e0e\u653e\u6876\u64cd\u4f5c\uff0c\u6700\u7ec8\u62b5\u8fbe\u8d77\u70b9\u533a\u57df\u3002<\/p>\n

\u5168\u7a0b\u8fd0\u884c\u65f6\u95f4\u4e3a **51.34\u79d2**\uff0c\u7ecf\u8fc7**3\u4e2a**\u6253\u5361\u70b9\uff0c\u7ecf\u8fc7\u6bcf\u4e2a\u6253\u5361\u70b9\u7684\u7528\u65f6\u5206\u522b\u4e3a\uff1a**3.066\u79d2\u300124.54\u79d2\u300139.42\u79d2**\u3002<\/p>\n

#### 5.5.3 \u5b9e\u9a8c\u89c6\u9891<\/p>\n

\u4ee5\u4e0b\u89c6\u9891\u8bb0\u5f55\u4e86\u6b63\u8d70\u4e0e\u53cd\u8d70\u4e24\u4e2a\u65b9\u5411\u7684\u5b8c\u6574\u8fd0\u884c\u8fc7\u7a0b\u3002<\/p>\n

**\u6b63\u8d70\u65b9\u5411\u8fd0\u884c\u89c6\u9891\uff1a**<\/p>\n