{"id":123774,"date":"2026-11-08T05:09:29","date_gmt":"2026-11-07T21:09:29","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/123774.html"},"modified":"2026-11-08T05:09:29","modified_gmt":"2026-11-07T21:09:29","slug":"go2%e6%8e%a7%e5%88%b6-%e5%85%b3%e8%8a%82%e6%8e%a7%e5%88%b6%e8%ae%a9%e7%8b%97%e7%ab%99%e8%b5%b7%e6%9d%a5","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/123774.html","title":{"rendered":"Go2\u63a7\u5236\u2014\u2014\u5173\u8282\u63a7\u5236\u8ba9\u72d7\u7ad9\u8d77\u6765"},"content":{"rendered":"<p>        \/* MD \/ \u5bcc\u6587\u672c\u4e2d\u7684 .toc\uff08\u542b\u535a\u5ba2\u56ed\u642c\u5bb6\u7b49\u5d4c\u5957\u7ed3\u6784\uff09\uff1b.toc-box \u5728\u4fa7\u680f\uff0c\u4e0d\u53d7\u5f71\u54cd *\/<br \/>\n        #content_views .toc,<br \/>\n        \/* \u7f16\u8f91\u5668\u5e38\u5728\u76ee\u5f55\u524d\u540e\u63d2\u5165\u7a7a p\uff08:empty \u4ecd\u5360 20px\uff09\uff0c\u4e00\u5e76\u53bb\u6389\u907f\u514d\u9876\u7a7a\u9699 *\/<br \/>\n        #content_views.markdown_views &gt; p:empty:has(+ .toc),<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty,<br \/>\n        \/* \u5bcc\u6587\u672c\u65e7\u7248\u76ee\u5f55\u6807\u8bb0 *\/<br \/>\n        #content_views.htmledit_views #main-toc,<br \/>\n        #content_views.htmledit_views #hr-toc,<br \/>\n        #content_views.htmledit_views p[id*=\\&#8221;-toc\\&#8221;] {<br \/>\n          display: none !important;<br \/>\n        }<br \/>\n        \/* \u76ee\u5f55\u53bb\u6389\u540e\uff0c\u7d27\u8ddf\u7684\u9996\u4e2a\u6807\u9898\u4e0d\u518d\u591a\u51fa\u4e00\u5757\u4e0a\u8fb9\u8ddd *\/<br \/>\n        #content_views.markdown_views &gt; .toc + h1,<br \/>\n        #content_views.markdown_views &gt; .toc + h2,<br \/>\n        #content_views.markdown_views &gt; .toc + h3,<br \/>\n        #content_views.markdown_views &gt; .toc + h4,<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty + h1,<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty + h2,<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty + h3,<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty + h4 {<br \/>\n          margin-top: 0 !important;<br \/>\n        }<\/p>\n<h2>Go2\u63a7\u5236\u2014\u2014\u5173\u8282\u63a7\u5236\u8ba9\u72d7\u7ad9\u8d77\u6765<\/h2>\n<p>\u5148\u770b\u4e00\u4e0b\u6211\u4eec\u76f4\u63a5\u52a0\u8f7d\u9ed8\u8ba4\u7684Go2\u6a21\u578b\u540e\u7684\u6548\u679c&#xff0c;\u4ee5\u4e0b\u662fgo2.xml\u4e2d\u5b9a\u4e49\u7684\u521d\u59cb\u72b6\u6001&#xff0c;\u4e3a\u7ad9\u7acb\u72b6\u6001&#xff0c;\u4f46\u662f\u7535\u673a\u7ed9\u4e86\u4e00\u70b9\u70b9\u529b\u77e9&#xff0c;\u8fd9\u91cc\u4e3a\u4ec0\u4e48\u8981\u7ed9\u521d\u59cb\u529b\u77e9\u4e0d\u5f97\u800c\u77e5&#xff0c;\u53ef\u80fd\u662f\u4e3a\u4e86\u62b5\u6d88\u90e8\u5206\u91cd\u529b&#xff0c;\u603b\u4e4b\u72d7\u4f1a\u5728\u91cd\u529b\u7684\u4f5c\u7528\u4e0b\u8db4\u4e0b&#xff0c;\u56e0\u4e3a\u6211\u4eec\u5e76\u6ca1\u6709\u7ed9\u4e00\u4e2a\u53ef\u4ee5\u4f4d\u7f6e\u7ad9\u7acb\u7684\u5408\u7406\u529b\u77e9&#xff0c;\u8fd9\u5c31\u662f\u8fd9\u4e00\u7bc7\u6211\u4eec\u8981\u89e3\u51b3\u7684&#xff0c;\u901a\u8fc7\u63a7\u5236\u5404\u4e2a\u5173\u8282\u7535\u673a&#xff0c;\u6839\u636e\u76ee\u6807\u89d2\u5ea6\u5b9e\u65f6\u8ba1\u7b97\u5173\u673a\u6240\u9700\u7684\u529b\u77e9&#xff0c;\u6700\u7ec8\u8ba9\u5173\u8282\u4fdd\u6301\u5728\u9884\u8bbe\u7684\u89d2\u5ea6&#xff1a;<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>keyframe<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>key<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>home<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">qpos<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n  <span class=\"token attr-name\">ctrl<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>keyframe<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u8fd9\u91cc\u6709\u4e24\u4e2a\u91cd\u8981\u53c2\u6570&#xff1a;<\/p>\n<ul>\n<li>qpos&#xff1a;\u5b9a\u4e49\u673a\u5668\u4eba\u521d\u59cb\u4f4d\u7f6e\u548c\u59ff\u6001&#xff0c;\u5305\u62ec\u673a\u8eab\u4f4d\u7f6e\u3001\u59ff\u6001\u4ee5\u53ca\u5404\u4e2a\u5173\u8282\u7684\u521d\u59cb\u89d2\u5ea6\u3002<\/li>\n<li>ctrl&#xff1a;\u5b9a\u4e49\u5404\u4e2a\u6267\u884c\u5668\u7684\u521d\u59cb\u63a7\u5236\u8f93\u5165&#xff0c;\u5177\u4f53\u4f5c\u7528\u53d6\u51b3\u4e8e\u6267\u884c\u5668\u7684\u914d\u7f6e&#xff0c;\u8fd9\u91cc\u7684\u63a7\u5236\u5668\u662f&#xff0c;\u5bf9\u5e94\u529b\u77e9\u3002<\/li>\n<\/ul>\n<p>\u53ef\u4ee5\u770b\u5230&#xff0c;Go2 \u7684\u521d\u59cb\u5173\u8282\u89d2\u5ea6\u5df2\u7ecf\u88ab\u8bbe\u7f6e\u4e3a\u4e00\u4e2a\u7ad9\u7acb\u59ff\u6001&#xff0c;\u540c\u65f6\u6267\u884c\u5668\u4e5f\u8bbe\u7f6e\u4e86\u5bf9\u5e94\u7684\u521d\u59cb\u63a7\u5236\u8f93\u5165\u3002<\/p>\n<p>\u4f46\u662f&#xff0c;\u8fd9\u5e76\u4e0d\u610f\u5473\u7740\u673a\u5668\u4eba\u5c31\u80fd\u4e00\u76f4\u4fdd\u6301\u7ad9\u7acb\u3002<\/p>\n<p>\u5f53\u4eff\u771f\u5f00\u59cb\u540e&#xff0c;\u91cd\u529b\u4f1a\u6301\u7eed\u4f5c\u7528\u4e8e\u673a\u5668\u4eba\u3002\u5982\u679c\u6267\u884c\u5668\u63d0\u4f9b\u7684\u63a7\u5236\u529b\u77e9\u4e0d\u8db3\u4ee5\u62b5\u6d88\u91cd\u529b\u4ee5\u53ca\u5176\u4ed6\u5173\u8282\u4e4b\u95f4\u7684\u52a8\u529b\u5b66\u4f5c\u7528&#xff0c;\u673a\u5668\u4eba\u5c31\u4f1a\u9010\u6e10\u5931\u53bb\u539f\u6765\u7684\u59ff\u6001&#xff0c;\u6700\u7ec8\u8db4\u5728\u5730\u9762\u4e0a\u3002<\/p>\n<p>\u4e5f\u5c31\u662f\u8bf4&#xff0c;\u8bbe\u7f6e\u4e00\u4e2a\u521d\u59cb\u5173\u8282\u89d2\u5ea6&#xff0c;\u53ea\u662f\u8ba9\u673a\u5668\u4eba\u4ece\u6307\u5b9a\u59ff\u6001\u5f00\u59cb\u8fd0\u52a8&#xff0c;\u5e76\u4e0d\u80fd\u4fdd\u8bc1\u673a\u5668\u4eba\u6301\u7eed\u4fdd\u6301\u8fd9\u4e2a\u59ff\u6001\u3002<\/p>\n<p>\u8fd9\u4e00\u7bc7\u6211\u4eec\u5c31\u6765\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002<\/p>\n<p>\u6211\u4eec\u5c06\u901a\u8fc7 PD \u63a7\u5236\u5668&#xff0c;\u5b9e\u65f6\u8ba1\u7b97\u6bcf\u4e2a\u5173\u8282\u6240\u9700\u8981\u7684\u63a7\u5236\u529b\u77e9&#xff0c;\u8ba9\u5173\u8282\u80fd\u591f\u8ddf\u8e2a\u6307\u5b9a\u7684\u76ee\u6807\u89d2\u5ea6&#xff0c;\u5e76\u5728\u53d7\u5230\u91cd\u529b\u548c\u5916\u90e8\u6270\u52a8\u65f6\u5c3d\u53ef\u80fd\u4fdd\u6301\u76ee\u6807\u4f4d\u7f6e\u3002<\/p>\n<p>\u5148\u4ece\u6700\u57fa\u7840\u7684\u5173\u8282\u4f4d\u7f6e\u63a7\u5236\u5f00\u59cb\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/11\/20261107210925-6aef938560c1c.gif\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>1.PID\u63a7\u5236\u539f\u7406<\/h3>\n<p>PID \u662f\u4e00\u79cd\u7ecf\u5178\u7684\u95ed\u73af\u53cd\u9988\u63a7\u5236\u7b97\u6cd5&#xff0c;\u5728\u5de5\u4e1a\u63a7\u5236\u3001\u7535\u673a\u63a7\u5236\u548c\u673a\u5668\u4eba\u63a7\u5236\u4e2d\u90fd\u6709\u5e7f\u6cdb\u5e94\u7528\u3002<\/p>\n<p>PID \u5206\u522b\u4ee3\u8868&#xff1a;<\/p>\n<ul>\n<li>P&#xff08;Proportional&#xff09;&#xff1a;\u6bd4\u4f8b\u63a7\u5236<\/li>\n<li>I&#xff08;Integral&#xff09;&#xff1a;\u79ef\u5206\u63a7\u5236<\/li>\n<li>D&#xff08;Derivative&#xff09;&#xff1a;\u5fae\u5206\u63a7\u5236<\/li>\n<\/ul>\n<p>\u5b83\u7684\u57fa\u672c\u601d\u60f3\u662f&#xff1a;\u4e0d\u65ad\u6bd4\u8f83\u7cfb\u7edf\u7684\u76ee\u6807\u503c\u4e0e\u5b9e\u9645\u503c&#xff0c;\u6839\u636e\u4e24\u8005\u4e4b\u95f4\u7684\u8bef\u5dee\u8ba1\u7b97\u63a7\u5236\u91cf&#xff0c;\u518d\u901a\u8fc7\u63a7\u5236\u91cf\u8c03\u6574\u7cfb\u7edf\u72b6\u6001&#xff0c;\u4f7f\u5b9e\u9645\u503c\u9010\u6e10\u63a5\u8fd1\u76ee\u6807\u503c\u3002\u5bf9\u4e8e Go2 \u7684\u5173\u8282\u63a7\u5236\u800c\u8a00&#xff1a;<\/p>\n<ul>\n<li>\u76ee\u6807\u503c&#xff1a;\u5173\u8282\u671f\u671b\u8f6c\u52a8\u5230\u7684\u89d2\u5ea6\u3002<\/li>\n<li>\u5b9e\u9645\u503c&#xff1a;\u5173\u8282\u5f53\u524d\u7684\u89d2\u5ea6\u3002<\/li>\n<li>\u63a7\u5236\u91cf&#xff1a;\u65bd\u52a0\u7ed9\u5173\u8282\u7535\u673a\u7684\u63a7\u5236\u529b\u77e9\u3002<\/li>\n<\/ul>\n<h4>1.1 \u6bd4\u4f8b\u63a7\u5236&#xff08;P&#xff09;<\/h4>\n<p>\u6bd4\u4f8b\u63a7\u5236\u6839\u636e\u5f53\u524d\u8bef\u5dee\u7684\u5927\u5c0f&#xff0c;\u76f4\u63a5\u8ba1\u7b97\u5bf9\u5e94\u7684\u63a7\u5236\u91cf\u3002\u5047\u8bbe\u6211\u4eec\u5e0c\u671b\u67d0\u4e2a\u5173\u8282\u8f6c\u52a8\u5230\u76ee\u6807\u89d2\u5ea6 (q_d)&#xff0c;\u5f53\u524d\u5b9e\u9645\u89d2\u5ea6\u4e3a (q)&#xff0c;\u90a3\u4e48\u4f4d\u7f6e\u8bef\u5dee\u4e3a&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">e&#061;qd\u2212qe&#061;q_d-q<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.4306em\"><\/span><span class=\"mord mathnormal\">e<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.7778em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u6bd4\u4f8b\u63a7\u5236\u7684\u8f93\u51fa\u4e3a&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\u03c4P&#061;Kp(qd\u2212q)\\\\tau_P&#061;K_p(q_d-q)<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.5806em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1132em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.1389em\">P<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0361em;vertical-align: -0.2861em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li>(q_d)&#xff1a;\u76ee\u6807\u5173\u8282\u89d2\u5ea6\u3002<\/li>\n<li>(q)&#xff1a;\u5f53\u524d\u5173\u8282\u89d2\u5ea6\u3002<\/li>\n<li>(K_p)&#xff1a;\u6bd4\u4f8b\u589e\u76ca\u3002<\/li>\n<li>(\\\\tau_P)&#xff1a;\u6bd4\u4f8b\u63a7\u5236\u4ea7\u751f\u7684\u529b\u77e9\u3002<\/li>\n<\/ul>\n<p>\u53ef\u4ee5\u770b\u5230&#xff0c;\u5173\u8282\u8ddd\u79bb\u76ee\u6807\u89d2\u5ea6\u8d8a\u8fdc&#xff0c;\u4ea7\u751f\u7684\u63a7\u5236\u529b\u77e9\u5c31\u8d8a\u5927&#xff1b;\u8d8a\u63a5\u8fd1\u76ee\u6807\u89d2\u5ea6&#xff0c;\u63a7\u5236\u529b\u77e9\u5c31\u8d8a\u5c0f\u3002\u4f8b\u5982&#xff0c;\u76ee\u6807\u89d2\u5ea6\u4e3a 0.9 rad&#xff0c;\u5f53\u524d\u89d2\u5ea6\u4e3a 0.5 rad&#xff0c;\u90a3\u4e48\u63a7\u5236\u5668\u5c31\u4f1a\u4ea7\u751f\u4e00\u4e2a\u6b63\u5411\u529b\u77e9&#xff0c;\u8ba9\u5173\u8282\u5411\u76ee\u6807\u89d2\u5ea6\u8fd0\u52a8\u3002\u5982\u679c\u5f53\u524d\u89d2\u5ea6\u8d85\u8fc7\u4e86\u76ee\u6807\u89d2\u5ea6&#xff0c;\u8bef\u5dee\u5c31\u4f1a\u53d8\u6210\u8d1f\u503c&#xff0c;\u63a7\u5236\u5668\u4e5f\u4f1a\u8f93\u51fa\u53cd\u65b9\u5411\u7684\u529b\u77e9\u3002\u56e0\u6b64&#xff0c;P \u63a7\u5236\u80fd\u591f\u8ba9\u5173\u8282\u5411\u76ee\u6807\u4f4d\u7f6e\u9760\u8fd1\u3002\u4e0d\u8fc7&#xff0c;\u4ec5\u9760 P \u63a7\u5236\u901a\u5e38\u4f1a\u4ea7\u751f\u632f\u8361&#xff0c;\u800c\u4e14\u5728\u5b58\u5728\u91cd\u529b\u7b49\u6301\u7eed\u5916\u529b\u7684\u60c5\u51b5\u4e0b&#xff0c;\u53ef\u80fd\u65e0\u6cd5\u51c6\u786e\u4fdd\u6301\u76ee\u6807\u4f4d\u7f6e\u3002<\/p>\n<h4>1.2 \u79ef\u5206\u63a7\u5236&#xff08;I&#xff09;<\/h4>\n<p>\u79ef\u5206\u63a7\u5236\u5173\u6ce8\u7684\u662f\u8bef\u5dee\u968f\u65f6\u95f4\u7684\u7d2f\u79ef\u3002<\/p>\n<p>\u5176\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\u03c4I&#061;Ki\u222b0te(\u03c4)d\u03c4\\\\tau_I&#061;K_i\\\\int_0^t e(\\\\tau)d\\\\tau<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.5806em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1132em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0785em\">I<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.3443em;vertical-align: -0.3558em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mop\"><span class=\"mop op-symbol small-op\" style=\"margin-right: 0.1945em;position: relative;top: -0.0006em\">\u222b<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.9885em\"><span class=\"\" style=\"top: -2.3442em;margin-left: -0.1945em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">0<\/span><\/span><\/span><span class=\"\" style=\"top: -3.2579em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3558em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord mathnormal\">e<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"mclose\">)<\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li>(K_i)&#xff1a;\u79ef\u5206\u589e\u76ca\u3002<\/li>\n<li>(e(\\\\tau))&#xff1a;\u968f\u65f6\u95f4\u53d8\u5316\u7684\u4f4d\u7f6e\u8bef\u5dee\u3002<\/li>\n<\/ul>\n<p>\u5982\u679c\u5173\u8282\u59cb\u7ec8\u5b58\u5728\u4e00\u4e2a\u8f83\u5c0f\u7684\u8bef\u5dee&#xff0c;\u79ef\u5206\u9879\u5c31\u4f1a\u4e0d\u65ad\u7d2f\u79ef&#xff0c;\u9010\u6e10\u589e\u52a0\u63a7\u5236\u8f93\u51fa&#xff0c;\u76f4\u5230\u8bef\u5dee\u5f97\u5230\u6d88\u9664\u3002\u4f8b\u5982&#xff0c;\u5173\u8282\u5728\u91cd\u529b\u4f5c\u7528\u4e0b\u59cb\u7ec8\u65e0\u6cd5\u51c6\u786e\u4fdd\u6301\u76ee\u6807\u89d2\u5ea6&#xff0c;\u5b58\u5728\u4e00\u5b9a\u7684\u9759\u6001\u8bef\u5dee&#xff0c;\u90a3\u4e48\u79ef\u5206\u9879\u5c31\u53ef\u4ee5\u9010\u6e10\u589e\u52a0\u529b\u77e9&#xff0c;\u8865\u507f\u8fd9\u90e8\u5206\u8bef\u5dee\u3002\u4f46\u662f&#xff0c;\u79ef\u5206\u63a7\u5236\u4e5f\u6709\u7f3a\u70b9\u3002\u5982\u679c\u79ef\u5206\u6301\u7eed\u7d2f\u79ef&#xff0c;\u800c\u6267\u884c\u5668\u53c8\u5b58\u5728\u529b\u77e9\u9650\u5236&#xff0c;\u5c31\u53ef\u80fd\u4ea7\u751f\u79ef\u5206\u9971\u548c&#xff0c;\u5bfc\u81f4\u7cfb\u7edf\u54cd\u5e94\u53d8\u6162\u751a\u81f3\u632f\u8361\u3002<\/p>\n<h4>1.3 \u5fae\u5206\u63a7\u5236&#xff08;D&#xff09;<\/h4>\n<p>\u5fae\u5206\u63a7\u5236\u5173\u6ce8\u7684\u662f\u8bef\u5dee\u53d8\u5316\u7684\u901f\u5ea6\u3002\u5176\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\u03c4D&#061;Kddedt\\\\tau_D&#061;K_d\\\\frac{de}{dt}<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.5806em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1132em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">D<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.2251em;vertical-align: -0.345em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8801em\"><span class=\"\" style=\"top: -2.655em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.394em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">e<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.345em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u5728\u76ee\u6807\u89d2\u5ea6\u4fdd\u6301\u4e0d\u53d8\u65f6&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">dedt&#061;\u2212q\u02d9\\\\frac{de}{dt}&#061;-\\\\dot q<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.2251em;vertical-align: -0.345em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8801em\"><span class=\"\" style=\"top: -2.655em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.394em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">e<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.345em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8623em;vertical-align: -0.1944em\"><\/span><span class=\"mord\">\u2212<\/span><span class=\"mord accent\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6679em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><\/span><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.0556em\"><span class=\"mord\">\u02d9<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1944em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u56e0\u6b64&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\u03c4D&#061;\u2212Kdq\u02d9\\\\tau_D&#061;-K_d\\\\dot q<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.5806em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1132em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">D<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8778em;vertical-align: -0.1944em\"><\/span><span class=\"mord\">\u2212<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord accent\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6679em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><\/span><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.0556em\"><span class=\"mord\">\u02d9<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1944em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">KdK_d<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff1a;\u5fae\u5206\u589e\u76ca\u3002<\/li>\n<li><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">q\u02d9\\\\dot q<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8623em;vertical-align: -0.1944em\"><\/span><span class=\"mord accent\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6679em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><\/span><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.0556em\"><span class=\"mord\">\u02d9<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1944em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff1a;\u5173\u8282\u5f53\u524d\u89d2\u901f\u5ea6\u3002<\/li>\n<\/ul>\n<p>D \u63a7\u5236\u53ef\u4ee5\u7406\u89e3\u4e3a\u7ed9\u5173\u8282\u589e\u52a0\u963b\u5c3c\u3002\u5f53\u5173\u8282\u5feb\u901f\u5411\u76ee\u6807\u4f4d\u7f6e\u8fd0\u52a8\u65f6&#xff0c;D \u9879\u4f1a\u4ea7\u751f\u53cd\u5411\u529b\u77e9&#xff0c;\u6291\u5236\u5173\u8282\u8fd0\u52a8\u901f\u5ea6&#xff0c;\u51cf\u5c11\u5230\u8fbe\u76ee\u6807\u4f4d\u7f6e\u65f6\u7684\u8fc7\u51b2\u548c\u632f\u8361\u3002<\/p>\n<h4>1.4 PID \u63a7\u5236\u516c\u5f0f<\/h4>\n<p>\u5c06\u4e09\u4e2a\u90e8\u5206\u7ec4\u5408\u8d77\u6765&#xff0c;\u5c31\u5f97\u5230\u4e86\u5b8c\u6574\u7684 PID \u63a7\u5236\u5668&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\u03c4&#061;Kpe&#043;Ki\u222b0te(\u03c4)d\u03c4&#043;Kddedt\\\\tau&#061;K_p e&#043;K_i\\\\int_0^t e(\\\\tau)d\\\\tau&#043;K_d\\\\frac{de}{dt}<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.4306em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.9694em;vertical-align: -0.2861em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord mathnormal\">e<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.3443em;vertical-align: -0.3558em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mop\"><span class=\"mop op-symbol small-op\" style=\"margin-right: 0.1945em;position: relative;top: -0.0006em\">\u222b<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.9885em\"><span class=\"\" style=\"top: -2.3442em;margin-left: -0.1945em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">0<\/span><\/span><\/span><span class=\"\" style=\"top: -3.2579em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3558em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord mathnormal\">e<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"mclose\">)<\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.2251em;vertical-align: -0.345em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8801em\"><span class=\"\" style=\"top: -2.655em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.394em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">e<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.345em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u5728 Go2 \u7684\u5173\u8282\u4f4d\u7f6e\u63a7\u5236\u4e2d&#xff0c;\u6211\u4eec\u53ef\u4ee5\u6839\u636e\u76ee\u6807\u89d2\u5ea6\u4e0e\u5f53\u524d\u89d2\u5ea6\u7684\u8bef\u5dee&#xff0c;\u8ba1\u7b97\u6bcf\u4e2a\u5173\u8282\u9700\u8981\u7684\u63a7\u5236\u529b\u77e9\u3002\u4e0d\u8fc7&#xff0c;\u5b9e\u9645\u673a\u5668\u4eba\u5173\u8282\u63a7\u5236\u5e76\u4e0d\u4e00\u5b9a\u9700\u8981\u4f7f\u7528\u5b8c\u6574\u7684 PID\u3002\u5bf9\u4e8e\u672c\u7bc7\u7684\u76ee\u6807\u2014\u2014\u8ba9 Go2 \u7684\u5404\u4e2a\u5173\u8282\u8fd0\u52a8\u5230\u6307\u5b9a\u89d2\u5ea6\u5e76\u4fdd\u6301\u4f4d\u7f6e&#xff0c;\u6211\u4eec\u9996\u5148\u4f7f\u7528 PD \u63a7\u5236\u5373\u53ef&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\u03c4&#061;Kp(qd\u2212q)\u2212Kdq\u02d9\\\\boxed{\\\\tau&#061;K_p(q_d-q)-K_d\\\\dot q}<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.7161em;vertical-align: -0.6261em\"><\/span><span class=\"mord\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.09em\"><span class=\"\" style=\"top: -3.7161em\"><span class=\"pstrut\" style=\"height: 3.7161em\"><\/span><span class=\"boxpad\"><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord accent\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6679em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><\/span><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.0556em\"><span class=\"mord\">\u02d9<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1944em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.09em\"><span class=\"pstrut\" style=\"height: 3.7161em\"><\/span><span class=\"stretchy fbox\" style=\"height: 1.7161em;border-style: solid;border-width: 0.04em\"><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6261em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>P \u9879\u8d1f\u8d23\u8ba9\u5173\u8282\u9760\u8fd1\u76ee\u6807\u89d2\u5ea6&#xff0c;D \u9879\u8d1f\u8d23\u6291\u5236\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u7684\u632f\u8361&#xff0c;\u4e24\u8005\u914d\u5408\u5c31\u80fd\u5b9e\u73b0\u57fa\u672c\u7684\u5173\u8282\u4f4d\u7f6e\u63a7\u5236\u3002<\/p>\n<h4>1.5 \u4e3a\u4ec0\u4e48 Go2 \u5173\u8282\u63a7\u5236\u4e0d\u9700\u8981\u79ef\u5206\u9879&#xff1f;<\/h4>\n<p>\u524d\u9762\u4ecb\u7ecd\u4e86 PID \u63a7\u5236\u5668\u7684\u4e09\u4e2a\u7ec4\u6210\u90e8\u5206&#xff0c;\u90a3\u4e48\u5bf9\u4e8e Go2 \u7684\u5173\u8282\u4f4d\u7f6e\u63a7\u5236&#xff0c;\u4e3a\u4ec0\u4e48\u6211\u4eec\u6700\u7ec8\u53ea\u4f7f\u7528 PD&#xff0c;\u800c\u4e0d\u4f7f\u7528\u5b8c\u6574\u7684 PID \u5462&#xff1f;\u9996\u5148&#xff0c;\u6211\u4eec\u9700\u8981\u660e\u786e\u5f53\u524d\u7684\u63a7\u5236\u76ee\u6807&#xff1a;**\u8ba9\u6bcf\u4e2a\u5173\u8282\u80fd\u591f\u8ddf\u8e2a\u6307\u5b9a\u7684\u76ee\u6807\u89d2\u5ea6&#xff0c;\u5e76\u5728\u76ee\u6807\u4f4d\u7f6e\u4fdd\u6301\u7a33\u5b9a\u3002**\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d&#xff0c;P \u9879\u548c D \u9879\u5df2\u7ecf\u80fd\u591f\u5b8c\u6210\u4e3b\u8981\u7684\u63a7\u5236\u4efb\u52a1&#xff1a;<\/p>\n<ul>\n<li>P \u9879\u6839\u636e\u76ee\u6807\u89d2\u5ea6\u4e0e\u5b9e\u9645\u89d2\u5ea6\u4e4b\u95f4\u7684\u8bef\u5dee\u4ea7\u751f\u63a7\u5236\u529b\u77e9&#xff0c;\u8ba9\u5173\u8282\u5411\u76ee\u6807\u4f4d\u7f6e\u8fd0\u52a8\u3002<\/li>\n<li>D \u9879\u6839\u636e\u5173\u8282\u5f53\u524d\u7684\u8fd0\u52a8\u901f\u5ea6\u4ea7\u751f\u53cd\u5411\u963b\u5c3c\u529b\u77e9&#xff0c;\u6291\u5236\u5173\u8282\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u7684\u632f\u8361\u3002<\/li>\n<\/ul>\n<p>\u90a3\u4e48&#xff0c;I \u9879\u8fd8\u6709\u4ec0\u4e48\u4f5c\u7528&#xff1f;\u79ef\u5206\u9879\u4e3b\u8981\u7528\u4e8e\u6d88\u9664\u7cfb\u7edf\u4e2d\u6301\u7eed\u5b58\u5728\u7684\u7a33\u6001\u8bef\u5dee\u3002\u4f8b\u5982&#xff0c;\u4e00\u4e2a\u5173\u8282\u5728\u91cd\u529b\u4f5c\u7528\u4e0b&#xff0c;\u5373\u4f7f\u5df2\u7ecf\u63a5\u8fd1\u76ee\u6807\u89d2\u5ea6&#xff0c;\u4ecd\u7136\u5b58\u5728\u4e00\u5b9a\u7684\u89d2\u5ea6\u504f\u5dee\u3002\u7531\u4e8e P \u9879\u8f93\u51fa\u7684\u529b\u77e9\u4e0e\u8bef\u5dee\u6210\u6b63\u6bd4&#xff0c;\u53ea\u8981\u8bef\u5dee\u5b58\u5728&#xff0c;\u63a7\u5236\u5668\u5c31\u4f1a\u6301\u7eed\u8f93\u51fa\u529b\u77e9&#xff0c;\u4f46\u53ef\u80fd\u65e0\u6cd5\u5b8c\u5168\u6d88\u9664\u8fd9\u4e2a\u504f\u5dee\u3002\u8fd9\u65f6&#xff0c;\u79ef\u5206\u9879\u5c31\u53ef\u4ee5\u4e0d\u65ad\u7d2f\u79ef\u8bef\u5dee&#xff0c;\u9010\u6e10\u589e\u52a0\u63a7\u5236\u8f93\u51fa&#xff0c;\u76f4\u5230\u7a33\u6001\u8bef\u5dee\u5f97\u5230\u6d88\u9664\u3002\u4f46\u662f&#xff0c;\u5bf9\u4e8e Go2 \u8fd9\u6837\u7684\u673a\u5668\u4eba\u5173\u8282&#xff0c;\u6211\u4eec\u8fd8\u9700\u8981\u8003\u8651\u4e00\u4e2a\u95ee\u9898&#xff1a;\u91cd\u529b\u672c\u8eab\u662f\u53ef\u4ee5\u901a\u8fc7\u52a8\u529b\u5b66\u6a21\u578b\u8ba1\u7b97\u548c\u8865\u507f\u7684&#xff0c;\u5e76\u4e0d\u4e00\u5b9a\u9700\u8981\u4f9d\u9760\u79ef\u5206\u9879\u6765\u62b5\u6d88\u3002<\/p>\n<p>\u5728\u5b9e\u9645\u673a\u5668\u4eba\u63a7\u5236\u4e2d&#xff0c;\u53ef\u4ee5\u901a\u8fc7\u91cd\u529b\u8865\u507f&#xff0c;\u6839\u636e\u673a\u5668\u4eba\u5f53\u524d\u59ff\u6001\u8ba1\u7b97\u5404\u4e2a\u5173\u8282\u9700\u8981\u989d\u5916\u63d0\u4f9b\u7684\u529b\u77e9&#xff0c;\u4ece\u800c\u62b5\u6d88\u91cd\u529b\u5bf9\u5173\u8282\u7684\u5f71\u54cd\u3002\u53e6\u5916&#xff0c;Go2 \u7684\u5173\u8282\u6267\u884c\u5668\u672c\u8eab\u901a\u5e38\u4e5f\u5177\u6709\u4e00\u5b9a\u7684\u529b\u77e9\u63a7\u5236\u80fd\u529b&#xff0c;\u80fd\u591f\u6839\u636e\u63a7\u5236\u5668\u8f93\u51fa\u63d0\u4f9b\u76f8\u5e94\u7684\u9a71\u52a8\u529b\u77e9\u3002\u56e0\u6b64&#xff0c;\u5728\u5f53\u524d\u8fd9\u4e2a\u57fa\u7840\u7684\u5173\u8282\u4f4d\u7f6e\u63a7\u5236\u4efb\u52a1\u4e2d&#xff0c;PD \u63a7\u5236\u901a\u5e38\u5df2\u7ecf\u8db3\u591f\u3002\u5f53\u7136&#xff0c;\u8fd9\u5e76\u4e0d\u610f\u5473\u7740\u79ef\u5206\u9879\u5b8c\u5168\u6ca1\u6709\u4ef7\u503c\u3002\u5982\u679c\u7cfb\u7edf\u5b58\u5728\u6301\u7eed\u7684\u5916\u90e8\u8d1f\u8f7d\u3001\u6a21\u578b\u8bef\u5dee\u3001\u6469\u64e6\u529b\u7b49\u56e0\u7d20&#xff0c;\u5bfc\u81f4 PD \u63a7\u5236\u59cb\u7ec8\u5b58\u5728\u7a33\u6001\u8bef\u5dee&#xff0c;\u90a3\u4e48\u79ef\u5206\u9879\u4ecd\u7136\u53ef\u4ee5\u53d1\u6325\u4f5c\u7528\u3002\u4f46\u79ef\u5206\u9879\u4e5f\u6709\u81ea\u5df1\u7684\u95ee\u9898&#xff0c;\u4f8b\u5982\u79ef\u5206\u9971\u548c\u3001\u54cd\u5e94\u53d8\u6162&#xff0c;\u4ee5\u53ca\u5728\u6267\u884c\u5668\u529b\u77e9\u53d7\u5230\u9650\u5236\u65f6\u4ea7\u751f\u989d\u5916\u7684\u63a7\u5236\u95ee\u9898\u3002\u6240\u4ee5&#xff0c;\u5bf9\u4e8e\u5f53\u524d\u7684 Go2 \u5173\u8282\u63a7\u5236&#xff0c;\u6211\u4eec\u5148\u91c7\u7528 PD \u63a7\u5236&#xff1a;<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\u03c4&#061;Kp(qd\u2212q)\u2212Kdq\u02d9\\\\boxed{\\\\tau&#061;K_p(q_d-q)-K_d\\\\dot q}<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.7161em;vertical-align: -0.6261em\"><\/span><span class=\"mord\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.09em\"><span class=\"\" style=\"top: -3.7161em\"><span class=\"pstrut\" style=\"height: 3.7161em\"><\/span><span class=\"boxpad\"><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1132em\">\u03c4<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord accent\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6679em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><\/span><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.0556em\"><span class=\"mord\">\u02d9<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1944em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.09em\"><span class=\"pstrut\" style=\"height: 3.7161em\"><\/span><span class=\"stretchy fbox\" style=\"height: 1.7161em;border-style: solid;border-width: 0.04em\"><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6261em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u5148\u5b9e\u73b012\u4e2a\u5173\u8282\u7684\u89d2\u5ea6\u8ddf\u8e2a\u548c\u7a33\u5b9a\u4fdd\u6301\u3002\u540e\u7eed\u5982\u679c\u6d89\u53ca\u66f4\u590d\u6742\u7684\u52a8\u529b\u5b66\u63a7\u5236&#xff0c;\u518d\u6839\u636e\u5b9e\u9645\u9700\u6c42\u51b3\u5b9a\u662f\u5426\u5f15\u5165\u79ef\u5206\u9879\u6216\u5176\u4ed6\u8865\u507f\u65b9\u6cd5\u3002<\/p>\n<h3>2. \u5173\u8282\u7684PD\u63a7\u5236<\/h3>\n<p>\u673a\u68b0\u72d7\u6216\u8005\u5177\u8eab\u673a\u5668\u4eba\u7684\u5173\u8282\u4e00\u822c\u91c7\u7528PMSM\u6c38\u78c1\u540c\u6b65\u7535\u673a&#043;\u51cf\u901f\u5668\u4f5c\u4e3a\u5173\u8282\u9a71\u52a8\u6a21\u7ec4\u3002\u7535\u673a\u5185\u90e8\u7684\u9a71\u52a8\u5668\u5df2\u7ecf\u5e2e\u6211\u4eec\u5b8c\u6210\u4e86FOC\u63a7\u5236\u7b97\u6cd5&#xff0c;\u56e0\u6b64\u8fd9\u91cc\u7684\u5173\u8282\u63a7\u5236\u5e76\u4e0d\u662f\u7535\u673a\u7684FOC\u63a7\u5236&#xff0c;\u800c\u662f\u66f4\u9ad8\u5c42\u6b21\u7684\u63a7\u5236&#xff0c;\u5373\u7ed9\u7535\u673a\u4e00\u4e2a\u529b\u77e9\u8ba9\u7535\u673a\u8f6c\u8d77\u6765&#xff0c;\u901a\u8fc7\u5b9e\u65f6\u63a7\u5236\u529b\u77e9\u7684\u5927\u5c0f&#xff0c;\u5c31\u53ef\u4ee5\u63a7\u5236\u7535\u673a\u8f6c\u5230\u9884\u5b9a\u7684\u89d2\u5ea6&#xff0c;\u6240\u4ee5\u6211\u4eec\u8fd9\u91cc\u7684\u5173\u8282\u63a7\u5236\u5b9e\u9645\u4e0a\u662f\u7ed9\u5b9a\u4e00\u4e2a\u76ee\u6807\u89d2\u5ea6\/\u89d2\u901f\u5ea6&#xff0c;\u901a\u8fc7PD\u63a7\u5236\u5668\u5b9e\u65f6\u8ba1\u7b97\u63a7\u5236\u529b\u77e9&#xff0c;\u8f93\u5165\u7ed9\u7535\u673a&#xff0c;\u8ba9\u7535\u673a\u9010\u6e10\u903c\u8fd1\u76ee\u6807\u89d2\u5ea6\/\u89d2\u901f\u5ea6\u3002\u5e38\u89c1\u7684\u63a7\u5236\u7b56\u7565\u5982\u4e0b&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/11\/20261107210925-6aef9385cab42.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>2.1 \u6211\u4eec\u7684\u76ee\u6807\u89d2\u5ea6<\/h4>\n<p>\u4e0d\u540c\u5173\u8282\u7684\u89d2\u5ea6\u4e0d\u540c&#xff0c;\u6700\u7ec8\u5c55\u73b0\u51fa\u6765\u7684\u5c31\u662f\u6574\u4e2a\u673a\u68b0\u72d7\u8eab\u4f53\u7684\u59ff\u6001\u6b65\u6001&#xff0c;\u56e0\u6b64\u5728\u5f80\u4e0a\u5c42\u8d70&#xff0c;\u5173\u8282\u76ee\u6807\u89d2\u5ea6\u662f\u6839\u636e\u72d7\u8eab\u4f53\u7684\u6574\u4f53\u59ff\u6001\u4ee5\u53ca\u8981\u5b8c\u6210\u7684\u52a8\u4f5c\u6765\u51b3\u5b9a\u7684&#xff0c;\u751a\u81f3\u8fd8\u9700\u8981IK&#xff08;\u9006\u8fd0\u52a8\u5b66&#xff09;\u6c42\u89e3&#xff0c;\u8fd9\u4e2a\u4e0d\u5728\u5305\u542b\u672c\u7bc7\u5185\u3002\u672c\u7bc7\u6211\u4eec\u53ea\u662f\u624b\u6413\u4e00\u7ec4\u76ee\u6807\u89d2\u5ea6&#xff0c;\u8ba9\u5b83\u80fd\u591f\u7ad9\u8d77\u6765\u5e76\u4e3a\u4e4b\u7ad9\u7acb\u59ff\u52bf\u5c31\u597d\u4e86&#xff0c;\u5f53\u7136\u901a\u8fc7\u5fae\u8c03\u76ee\u6807\u89d2\u5ea6\u53ef\u4ee5\u8c03\u6574\u7ad9\u7acb\u7684\u59ff\u6001\u3002<\/p>\n<p>\u8fd9\u91cc\u6211\u4eec\u5047\u8bbe12\u4e2a\u5173\u8282\u7684\u89d2\u5ea6\u5982\u4e0b&#xff1a;<\/p>\n<table>\n<tr>\u5173\u8282\u4e2d\u6587\u540d\u79f0\u5173\u8282\u82f1\u6587\u540d\u79f0\u76ee\u6807\u89d2\u5ea6&#xff08;rad&#xff09;<\/tr>\n<tbody>\n<tr>\n<td>\u53f3\u524d\u817f\u9acb\u5916\u5c55\/\u5185\u6536\u5173\u8282<\/td>\n<td>FR_hip_joint<\/td>\n<td>0<\/td>\n<\/tr>\n<tr>\n<td>\u53f3\u524d\u817f\u5927\u817f\u5173\u8282<\/td>\n<td>FR_thigh_joint<\/td>\n<td>0.5<\/td>\n<\/tr>\n<tr>\n<td>\u53f3\u524d\u817f\u819d\u5173\u8282<\/td>\n<td>FR_calf_joint<\/td>\n<td>-0.9<\/td>\n<\/tr>\n<tr>\n<td>\u5916\u5c55\/\u5185\u6536\u5173\u8282<\/td>\n<td>FL_hip_joint<\/td>\n<td>0<\/td>\n<\/tr>\n<tr>\n<td>\u5de6\u524d\u817f\u5927\u817f\u5173\u8282<\/td>\n<td>FL_thigh_joint<\/td>\n<td>0.5<\/td>\n<\/tr>\n<tr>\n<td>\u5de6\u524d\u817f\u819d\u5173\u8282<\/td>\n<td>FL_calf_joint<\/td>\n<td>-0.9<\/td>\n<\/tr>\n<tr>\n<td>\u53f3\u540e\u817f\u9acb\u5916\u5c55\/\u5185\u6536\u5173\u8282<\/td>\n<td>RR_hip_joint<\/td>\n<td>0<\/td>\n<\/tr>\n<tr>\n<td>\u53f3\u540e\u817f\u5927\u817f\u5173\u8282<\/td>\n<td>RR_thigh_joint<\/td>\n<td>0.5<\/td>\n<\/tr>\n<tr>\n<td>\u53f3\u540e\u817f\u819d\u5173\u8282<\/td>\n<td>RR_calf_joint<\/td>\n<td>-0.9<\/td>\n<\/tr>\n<tr>\n<td>\u5de6\u540e\u817f\u9acb\u5916\u5c55\/\u5185\u6536\u5173\u8282<\/td>\n<td>RL_hip_joint<\/td>\n<td>0<\/td>\n<\/tr>\n<tr>\n<td>\u5de6\u540e\u817f\u5927\u817f\u5173\u8282<\/td>\n<td>RL_thigh_joint<\/td>\n<td>0.5<\/td>\n<\/tr>\n<tr>\n<td>\u5de6\u540e\u817f\u819d\u5173\u8282<\/td>\n<td>RL_calf_joint<\/td>\n<td>-0.9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>2.2 \u5411\u76ee\u6807\u89d2\u5ea6\u9760\u9f50<\/h4>\n<p>\u73b0\u5728\u6211\u4eec\u7684\u76ee\u6807\u89d2\u5ea6\u6709\u4e86&#xff0c;\u6839\u636ePD\u63a7\u5236\u5668&#xff0c;\u6211\u4eec\u8fd8\u9700\u8981\u5b9e\u65f6\u83b7\u53d6\u5404\u4e2a\u5173\u8282\u5f53\u524d\u7684\u89d2\u5ea6\u548c\u89d2\u901f\u5ea6&#xff0c;\u4ee5\u53ca\u4e3a\u6bcf\u4e2a\u5173\u8282\u7535\u673a\u63a7\u5236\u5668\u8bbe\u7f6eK_p\u548cK_d\u3002\u89d2\u5ea6\u548c\u89d2\u901f\u5ea6\u7684\u83b7\u53d6\u6211\u4eec\u4e4b\u524d\u5df2\u7ecf\u4ea4\u4ee3\u8fc7\u4e86&#xff0c;\u901a\u8fc7data.qpos\u548cdata.qvel\u83b7\u5f97&#xff0c;\u6211\u4eec\u5df2\u7ecf\u5efa\u7acb\u4e86\u7d22\u5f15\u6620\u5c04\u8868&#xff0c;\u901a\u8fc7\u5173\u8282\u540d\u79f0\u540d\u79f0\u521b\u5efaid&#xff0c;\u7136\u540e\u901a\u8fc7id\u8fdb\u884c\u7d22\u5f15&#xff1a;<\/p>\n<p><span class=\"token triple-quoted-string string\">&#034;&#034;&#034;go2_control\/constants.py \u2014 \u5173\u8282\u8bed\u4e49\u6620\u5c04&#xff08;\u7cfb\u5217\u5171\u7528&#xff09;&#034;&#034;&#034;<\/span><br \/>\n<span class=\"token keyword\">import<\/span> mujoco<\/p>\n<p>LEGS <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;FR&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;FL&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;RR&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;RL&#034;<\/span><span class=\"token punctuation\">]<\/span>              <span class=\"token comment\"># \u524d\u53f3\u3001\u524d\u5de6\u3001\u540e\u53f3\u3001\u540e\u5de6<\/span><br \/>\nJOINTS_PER_LEG <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;hip&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;thigh&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;calf&#034;<\/span><span class=\"token punctuation\">]<\/span>    <span class=\"token comment\"># \u6bcf\u6761\u817f\u7684\u4e09\u4e2a\u5173\u8282<\/span><\/p>\n<p><span class=\"token comment\"># \u8bed\u4e49\u987a\u5e8f\u4e0b\u7684\u5173\u8282\u540d\u5217\u8868&#xff0c;\u4f8b\u5982 [&#034;FR_hip_joint&#034;, &#034;FR_thigh_joint&#034;, &#8230;]<\/span><br \/>\nJOINT_NAMES <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;<\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>leg<span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">_<\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>j<span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">_joint&#034;<\/span><\/span> <span class=\"token keyword\">for<\/span> leg <span class=\"token keyword\">in<\/span> LEGS <span class=\"token keyword\">for<\/span> j <span class=\"token keyword\">in<\/span> JOINTS_PER_LEG<span class=\"token punctuation\">]<\/span><br \/>\nACTUATOR_NAMES <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;<\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>leg<span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">_<\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>j<span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">&#034;<\/span><\/span> <span class=\"token keyword\">for<\/span> leg <span class=\"token keyword\">in<\/span> LEGS <span class=\"token keyword\">for<\/span> j <span class=\"token keyword\">in<\/span> JOINTS_PER_LEG<span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">joint_qpos_addr<\/span><span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    jid <span class=\"token operator\">&#061;<\/span> mujoco<span class=\"token punctuation\">.<\/span>mj_name2id<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> mujoco<span class=\"token punctuation\">.<\/span>mjtObj<span class=\"token punctuation\">.<\/span>mjOBJ_JOINT<span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> model<span class=\"token punctuation\">.<\/span>jnt_qposadr<span class=\"token punctuation\">[<\/span>jid<span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">joint_qvel_addr<\/span><span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    jid <span class=\"token operator\">&#061;<\/span> mujoco<span class=\"token punctuation\">.<\/span>mj_name2id<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> mujoco<span class=\"token punctuation\">.<\/span>mjtObj<span class=\"token punctuation\">.<\/span>mjOBJ_JOINT<span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> model<span class=\"token punctuation\">.<\/span>jnt_dofadr<span class=\"token punctuation\">[<\/span>jid<span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">build_joint_map<\/span><span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    m <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> name <span class=\"token keyword\">in<\/span> JOINT_NAMES<span class=\"token punctuation\">:<\/span><br \/>\n        jid <span class=\"token operator\">&#061;<\/span> mujoco<span class=\"token punctuation\">.<\/span>mj_name2id<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> mujoco<span class=\"token punctuation\">.<\/span>mjtObj<span class=\"token punctuation\">.<\/span>mjOBJ_JOINT<span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><br \/>\n        m<span class=\"token punctuation\">[<\/span>name<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">.<\/span>jnt_qposadr<span class=\"token punctuation\">[<\/span>jid<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> model<span class=\"token punctuation\">.<\/span>jnt_dofadr<span class=\"token punctuation\">[<\/span>jid<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> m<\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">actuator_index<\/span><span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> mujoco<span class=\"token punctuation\">.<\/span>mj_name2id<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> mujoco<span class=\"token punctuation\">.<\/span>mjtObj<span class=\"token punctuation\">.<\/span>mjOBJ_ACTUATOR<span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">build_actuator_map<\/span><span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">{<\/span>name<span class=\"token punctuation\">:<\/span> actuator_index<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> name<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">for<\/span> name <span class=\"token keyword\">in<\/span> ACTUATOR_NAMES<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8bfb\u53d6\u4ee3\u7801\u5982\u4e0b&#xff0c;\u9996\u5148\u904d\u5386\u5173\u8282\u548c\u5bf9\u5e94\u6267\u884c\u5668\u7684\u540d\u5b57&#xff0c;\u7136\u540e\u4f9d\u6b21\u5f97\u5230qpos\/qvel\/actuator\u7684id&#xff0c;\u5e76\u5b58\u653e\u5728\u6570\u7ec4\u91cc&#xff0c;\u65b9\u4fbf\u540e\u9762\u6279\u91cf\u8bfb\u53d6\u548c\u63a7\u5236\u63a7\u5236&#xff0c;\u6279\u91cf\u63a7\u5236\u65f6\u6ce8\u610f\u5173\u8282\u540d\u5b57\u548c\u9a71\u52a8\u5668\u7684\u540d\u5b57\u8981\u4e00\u4e00\u5bf9\u5e94&#xff0c;\u5f53\u7136\u4e00\u4e2a\u5173\u8282\u4e00\u4e2a\u5173\u8282\u63a7\u5236\u4e5f\u53ef\u4ee5\u3002<\/p>\n<p><span class=\"token keyword\">import<\/span> common<\/p>\n<p>qpos_ids <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><br \/>\nqvel_ids <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><br \/>\nactuator_ids <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token keyword\">for<\/span> j_name<span class=\"token punctuation\">,<\/span> a_name <span class=\"token keyword\">in<\/span> <span class=\"token builtin\">zip<\/span><span class=\"token punctuation\">(<\/span>common<span class=\"token punctuation\">.<\/span>JOINT_NAMES<span class=\"token punctuation\">,<\/span> common<span class=\"token punctuation\">.<\/span>ACTUATOR_NAMES<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    qpos_ids<span class=\"token punctuation\">.<\/span>append<span class=\"token punctuation\">(<\/span>common<span class=\"token punctuation\">.<\/span>joint_qpos_addr<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> j_name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    qvel_ids<span class=\"token punctuation\">.<\/span>append<span class=\"token punctuation\">(<\/span>common<span class=\"token punctuation\">.<\/span>joint_qvel_addr<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> j_name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    actuator_ids<span class=\"token punctuation\">.<\/span>append<span class=\"token punctuation\">(<\/span>common<span class=\"token punctuation\">.<\/span>actuator_index<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> a_name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>qpos_ids <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>array<span class=\"token punctuation\">(<\/span>qpos_ids<span class=\"token punctuation\">)<\/span><br \/>\nqvel_ids <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>array<span class=\"token punctuation\">(<\/span>qvel_ids<span class=\"token punctuation\">)<\/span><br \/>\nactuator_ids <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>array<span class=\"token punctuation\">(<\/span>actuator_ids<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u8bfb\u53d6\u5f53\u524d12\u4e2a\u5173\u8282\u89d2\u5ea6\u548c\u89d2\u901f\u5ea6<\/span><br \/>\nq <span class=\"token operator\">&#061;<\/span> data<span class=\"token punctuation\">.<\/span>qpos<span class=\"token punctuation\">[<\/span>qpos_ids<span class=\"token punctuation\">]<\/span><br \/>\ndq <span class=\"token operator\">&#061;<\/span> data<span class=\"token punctuation\">.<\/span>qvel<span class=\"token punctuation\">[<\/span>qvel_ids<span class=\"token punctuation\">]<\/span><\/p>\n<p>\u4e0b\u4e00\u6b65\u5c31\u662f\u8bbe\u7f6e\u76ee\u6807\u89d2\u5ea6&#xff0c;\u8fd9\u91cc\u6211\u4eec\u7ed9\u5b9a12\u4e2a\u5173\u8282\u7684\u76ee\u6807\u89d2\u5ea6\u5982\u4e0b&#xff0c;\u4e5f\u662f\u5b9a\u4e49\u5728\u6570\u7ec4\u4e2d&#xff0c;\u4e00\u51714\u6761\u817f&#xff0c;\u6bcf\u6761\u817f\u4e09\u4e2a\u5173\u8282\u5206\u522b\u8bbe\u7f6e\u4e09\u4e2a\u76ee\u6807\u89d2\u5ea6&#xff0c;\u56db\u6761\u817f\u4fdd\u6301\u4e00\u81f4&#xff0c;\u8fd9\u91cc\u662f\u968f\u4fbf\u8bbe\u7f6e&#xff0c;\u53ef\u4ee5\u81ea\u884c\u4fee\u6539\u76ee\u6807\u89d2\u5ea6&#xff0c;\u8ba9\u72d7\u7684\u7ad9\u7acb\u59ff\u6001\u66f4\u4f18\u96c5&#xff0c;\u5f53\u7136\u5982\u679c\u8bbe\u7f6e\u4e0d\u5f53\u53ef\u80fd\u4f1a\u6454\u5012&#xff0c;\u6ce8\u610f\u6211\u4eec\u662f\u8981\u8ba9\u72d7\u9759\u6b62\u7ad9\u7acb&#xff0c;\u6240\u4ee5\u76ee\u6807\u89d2\u901f\u5ea6\u90fd\u662f0&#xff0c;\u5b9e\u9645\u884c\u8d70\u65f6\u53ef\u80fd\u4e0d\u662f0\u54e6&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u6bcf\u6761\u817f&#xff1a;hip&#061;0, thigh&#061;0.5, calf&#061;-0.9<\/span><br \/>\nq_des <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>tile<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">[<\/span><span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.5<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">0.9<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u4e0b\u9762\u91cd\u70b9\u6765\u4e86&#xff0c;\u6211\u4eec\u7684PD\u53c2\u6570&#xff0c;\u6211\u4eec\u4f9d\u7136\u9009\u62e9\u628a\u6240\u6709\u7535\u673a\u7684K_p\u8bbe\u7f6e\u6210\u4e00\u6837&#xff0c;\u800cK_d\u4e5f\u8bbe\u7f6e\u6210\u4e00\u6837&#xff0c;\u53ea\u662f\u4e3a\u4e86\u5077\u61d2&#xff0c;\u8fd9\u4e2a\u53c2\u6570\u5728\u540e\u9762\u901a\u8fc7\u5176\u4ed6\u529e\u6cd5\u5f97\u5230\u3002<\/p>\n<p>kp <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>full<span class=\"token punctuation\">(<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">30.0<\/span><span class=\"token punctuation\">)<\/span><br \/>\nkd <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>full<span class=\"token punctuation\">(<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2.0<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u5b8c\u6574\u7684\u7a0b\u5e8f\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token keyword\">import<\/span> mujoco<br \/>\n<span class=\"token keyword\">import<\/span> mujoco<span class=\"token punctuation\">.<\/span>viewer<br \/>\n<span class=\"token keyword\">import<\/span> numpy <span class=\"token keyword\">as<\/span> np<br \/>\n<span class=\"token keyword\">import<\/span> time<br \/>\n<span class=\"token keyword\">import<\/span> common<\/p>\n<p><span class=\"token comment\"># 1. \u52a0\u8f7d\u6a21\u578b<\/span><br \/>\nmodel <span class=\"token operator\">&#061;<\/span> mujoco<span class=\"token punctuation\">.<\/span>MjModel<span class=\"token punctuation\">.<\/span>from_xml_path<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;unitree_go2\/scene.xml&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\ndata <span class=\"token operator\">&#061;<\/span> mujoco<span class=\"token punctuation\">.<\/span>MjData<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># 2. \u83b7\u53d6\u5173\u8282\u548c\u6267\u884c\u5668\u7d22\u5f15<\/span><br \/>\nqpos_ids <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><br \/>\nqvel_ids <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><br \/>\nactuator_ids <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token keyword\">for<\/span> j_name<span class=\"token punctuation\">,<\/span> a_name <span class=\"token keyword\">in<\/span> <span class=\"token builtin\">zip<\/span><span class=\"token punctuation\">(<\/span>common<span class=\"token punctuation\">.<\/span>JOINT_NAMES<span class=\"token punctuation\">,<\/span> common<span class=\"token punctuation\">.<\/span>ACTUATOR_NAMES<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    qpos_ids<span class=\"token punctuation\">.<\/span>append<span class=\"token punctuation\">(<\/span>common<span class=\"token punctuation\">.<\/span>joint_qpos_addr<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> j_name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    qvel_ids<span class=\"token punctuation\">.<\/span>append<span class=\"token punctuation\">(<\/span>common<span class=\"token punctuation\">.<\/span>joint_qvel_addr<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> j_name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    actuator_ids<span class=\"token punctuation\">.<\/span>append<span class=\"token punctuation\">(<\/span>common<span class=\"token punctuation\">.<\/span>actuator_index<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> a_name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>qpos_ids <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>array<span class=\"token punctuation\">(<\/span>qpos_ids<span class=\"token punctuation\">)<\/span><br \/>\nqvel_ids <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>array<span class=\"token punctuation\">(<\/span>qvel_ids<span class=\"token punctuation\">)<\/span><br \/>\nactuator_ids <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>array<span class=\"token punctuation\">(<\/span>actuator_ids<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># 3. \u8bbe\u7f6e\u76ee\u6807\u5173\u8282\u89d2\u5ea6<\/span><br \/>\n<span class=\"token comment\"># \u6bcf\u6761\u817f&#xff1a;hip&#061;0, thigh&#061;0.5, calf&#061;-0.9<\/span><br \/>\nq_des <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>tile<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">[<\/span><span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.5<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">0.9<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># 4. \u8bbe\u7f6ePD\u53c2\u6570&#xff08;\u5b9e\u9a8c\u521d\u59cb\u503c&#xff0c;\u9700\u8981\u8c03\u8bd5&#xff09;<\/span><br \/>\nkp <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>full<span class=\"token punctuation\">(<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">30.0<\/span><span class=\"token punctuation\">)<\/span><br \/>\nkd <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>full<span class=\"token punctuation\">(<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2.0<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># 5. \u83b7\u53d6\u6bcf\u4e2a\u6267\u884c\u5668\u7684\u63a7\u5236\u8303\u56f4<\/span><br \/>\nctrl_min <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">.<\/span>actuator_ctrlrange<span class=\"token punctuation\">[<\/span>actuator_ids<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><br \/>\nctrl_max <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">.<\/span>actuator_ctrlrange<span class=\"token punctuation\">[<\/span>actuator_ids<span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><\/p>\n<p><span class=\"token comment\"># 6. \u542f\u52a8\u4eff\u771f<\/span><br \/>\nstep_count <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><\/p>\n<p><span class=\"token keyword\">with<\/span> mujoco<span class=\"token punctuation\">.<\/span>viewer<span class=\"token punctuation\">.<\/span>launch_passive<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">as<\/span> viewer<span class=\"token punctuation\">:<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> viewer<span class=\"token punctuation\">.<\/span>is_running<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><\/p>\n<p>        <span class=\"token comment\"># \u8bfb\u53d6\u5f53\u524d12\u4e2a\u5173\u8282\u89d2\u5ea6\u548c\u89d2\u901f\u5ea6<\/span><br \/>\n        q <span class=\"token operator\">&#061;<\/span> data<span class=\"token punctuation\">.<\/span>qpos<span class=\"token punctuation\">[<\/span>qpos_ids<span class=\"token punctuation\">]<\/span><br \/>\n        dq <span class=\"token operator\">&#061;<\/span> data<span class=\"token punctuation\">.<\/span>qvel<span class=\"token punctuation\">[<\/span>qvel_ids<span class=\"token punctuation\">]<\/span><\/p>\n<p>        <span class=\"token comment\"># \u8ba1\u7b9712\u4e2a\u5173\u8282\u7684PD\u63a7\u5236\u529b\u77e9<\/span><br \/>\n        tau <span class=\"token operator\">&#061;<\/span> kp <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>q_des <span class=\"token operator\">&#8211;<\/span> q<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> kd <span class=\"token operator\">*<\/span> dq<\/p>\n<p>        <span class=\"token comment\"># \u529b\u77e9\u9650\u5e45<\/span><br \/>\n        tau <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>clip<span class=\"token punctuation\">(<\/span>tau<span class=\"token punctuation\">,<\/span> ctrl_min<span class=\"token punctuation\">,<\/span> ctrl_max<span class=\"token punctuation\">)<\/span><\/p>\n<p>        <span class=\"token comment\"># \u8f93\u51fa\u523012\u4e2amotor actuator<\/span><br \/>\n        data<span class=\"token punctuation\">.<\/span>ctrl<span class=\"token punctuation\">[<\/span>actuator_ids<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> tau<\/p>\n<p>        <span class=\"token comment\"># \u63a8\u8fdb\u4eff\u771f<\/span><br \/>\n        mujoco<span class=\"token punctuation\">.<\/span>mj_step<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">)<\/span><br \/>\n        viewer<span class=\"token punctuation\">.<\/span>sync<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>        <span class=\"token comment\"># \u6bcf\u9694100\u6b65\u6253\u5370\u4e00\u6b21\u72b6\u6001<\/span><br \/>\n        step_count <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token number\">1<\/span><\/p>\n<p>        <span class=\"token keyword\">if<\/span> step_count <span class=\"token operator\">%<\/span> <span class=\"token number\">100<\/span> <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">:<\/span><br \/>\n            <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u5f53\u524d\u5173\u8282\u89d2\u5ea6:&#034;<\/span><span class=\"token punctuation\">,<\/span> np<span class=\"token punctuation\">.<\/span><span class=\"token builtin\">round<\/span><span class=\"token punctuation\">(<\/span>q<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n            <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u5f53\u524d\u5173\u8282\u529b\u77e9:&#034;<\/span><span class=\"token punctuation\">,<\/span> np<span class=\"token punctuation\">.<\/span><span class=\"token builtin\">round<\/span><span class=\"token punctuation\">(<\/span>tau<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>        time<span class=\"token punctuation\">.<\/span>sleep<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">.<\/span>opt<span class=\"token punctuation\">.<\/span>timestep<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u6548\u679c\u5982\u4e0b&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/11\/20261107210925-6aef9385e8e44.gif\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u6211\u4eec\u628a\u5404\u4e2a\u5173\u8282\u7684\u89d2\u5ea6\u548c\u89d2\u901f\u5ea6\u7ed8\u5236\u51fa\u6765\u770b\u4e00\u4e0b&#xff1a;<\/p>\n<table>\n<tr><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/11\/20261107210926-6aef938686fc2.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/11\/20261107210926-6aef9386e5d64.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/tr>\n<\/table>\n<p>\u4ece\u8fd9\u5f20\u56fe\u4e0a\u770b&#xff0c;\u603b\u611f\u89c9\u6709\u70b9\u95ee\u9898&#xff0c;\u865a\u7ebf\u662f\u6211\u4eec\u7684\u76ee\u6807\u4f4d\u7f6e&#xff0c;\u4f46\u662f\u4e09\u4e2a\u5173\u8282\u7684\u89d2\u5ea6\u4f3c\u4e4e\u90fd\u6ca1\u6709\u9760\u4e0a\u53bb&#xff0c;\u524d\u9762\u6211\u4eec\u8bbe\u7f6e\u7684kp&#061;30,kd&#061;2&#xff0c;\u72d7\u4e0b\u843d\u7684\u7740\u9646\u7684\u65f6\u5019\u611f\u89c9\u6709\u70b9\u8f6f&#xff0c;\u521a\u6027\u4e0d\u591f&#xff0c;\u6240\u4ee5\u5173\u8282\u7684\u8ddf\u8e2a\u6548\u679c\u6bd4\u8f83\u5dee&#xff0c;\u4e0b\u9762\u7ed9\u4e00\u7ec4\u8f83\u5927\u7684kp\u548ckd&#xff0c;\u589e\u52a0kd\u662f\u4e3a\u4e86\u589e\u52a0\u70b9\u963b\u5c3c&#xff0c;\u9632\u6b62\u8fc7\u51b2\u592a\u72e0\u3002\u5f53\u7136kp\u4e5f\u4e0d\u80fd\u592a\u5927&#xff0c;\u63a7\u5236\u529b\u8d85\u51fa\u9a71\u52a8\u5668\u7684\u8f93\u5165\u8303\u56f4\u4e5f\u4e0d\u597d\u3002<\/p>\n<p><span class=\"token comment\"># 4. \u8bbe\u7f6ePD\u53c2\u6570&#xff08;\u5b9e\u9a8c\u521d\u59cb\u503c&#xff0c;\u9700\u8981\u8c03\u8bd5&#xff09;<\/span><br \/>\nkp <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>full<span class=\"token punctuation\">(<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">400.0<\/span><span class=\"token punctuation\">)<\/span><br \/>\nkd <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>full<span class=\"token punctuation\">(<\/span><span class=\"token number\">12<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">20.0<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u53ef\u4ee5\u770b\u5230\u73b0\u5728\u6bd4\u8f83\u597d\u7684\u8d34\u5408\u76ee\u6807\u503c&#xff0c;\u800c\u4e14\u72d7\u4e0b\u843d\u5230\u505c\u6b62&#xff0c;\u5e72\u8106\u5229\u843d&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/11\/20261107210927-6aef93874eab7.gif\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<table>\n<tr><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/11\/20261107210927-6aef9387ad655.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/11\/20261107210928-6aef938816062.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/tr>\n<\/table>\n<p>\u5927\u5bb6\u81ea\u5df1\u5c1d\u8bd5\u4e00\u4e0b\u4e0d\u540c\u7684PD\u53c2\u6570&#xff0c;\u5bf9\u6bd4\u4e00\u4e0b\u4e0d\u540c\u53c2\u6570\u4e0b\u7684\u6548\u679c&#xff0c;kp\u8d8a\u5927&#xff0c;\u5c31\u50cf\u662f\u5f39\u7c27\u8d8a\u786c&#xff0c;\u603c\u4e0a\u53bb\u786c\u90a6\u90a6\u7684&#xff0c;\u4f46\u662f\u8ffd\u8e2a\u6548\u679c\u597d&#xff0c;kd\u8d8a\u5927&#xff0c;\u5c31\u50cf\u662f\u589e\u52a0\u4e86\u4e00\u4e2a\u963b\u5c3c&#xff0c;\u8d8a\u5927\u7f13\u51b2\u6548\u679c\u8d8a\u597d\u3002<\/p>\n<h3>3. \u5c0f\u7ed3<\/h3>\n<p>\u5230\u8fd9\u91cc&#xff0c;\u6211\u4eec\u5df2\u7ecf\u5b8c\u6210\u4e86 Go2 \u7684\u57fa\u7840\u5173\u8282\u4f4d\u7f6e\u63a7\u5236\u3002\u901a\u8fc7\u5b9e\u65f6\u8bfb\u53d612\u4e2a\u5173\u8282\u7684\u89d2\u5ea6\u548c\u89d2\u901f\u5ea6&#xff0c;\u5229\u7528 PD \u63a7\u5236\u5668\u8ba1\u7b97\u5404\u4e2a\u5173\u8282\u6240\u9700\u7684\u63a7\u5236\u529b\u77e9&#xff0c;\u5e76\u5c06\u529b\u77e9\u8f93\u5165\u5bf9\u5e94\u7684\u7535\u673a\u6267\u884c\u5668&#xff0c;\u5b9e\u73b0\u4e8612\u4e2a\u5173\u8282\u5bf9\u6307\u5b9a\u76ee\u6807\u89d2\u5ea6\u7684\u8ddf\u8e2a\u4e0e\u4fdd\u6301\u3002\u672c\u6b21\u5b9e\u9a8c\u8fd8\u5bf9\u6bd4\u4e86\u4e24\u7ec4\u4e0d\u540c\u7684 PD \u53c2\u6570&#xff1a;<\/p>\n<ul>\n<li>\u5f53 Kp&#061;30\u3001Kd&#061;2 \u65f6&#xff0c;\u5173\u8282\u7684\u4f4d\u7f6e\u8ddf\u8e2a\u5b58\u5728\u6bd4\u8f83\u660e\u663e\u7684\u504f\u5dee&#xff0c;\u673a\u5668\u4eba\u843d\u5730\u540e\u7684\u7a33\u5b9a\u8fc7\u7a0b\u4e5f\u76f8\u5bf9\u67d4\u548c\u3002<\/li>\n<li>\u5f53 Kp&#061;400\u3001Kd&#061;20 \u65f6&#xff0c;\u5173\u8282\u80fd\u591f\u66f4\u597d\u5730\u8d34\u8fd1\u76ee\u6807\u89d2\u5ea6&#xff0c;\u843d\u5730\u540e\u4e5f\u80fd\u66f4\u5feb\u5730\u7a33\u5b9a\u4e0b\u6765\u3002<\/li>\n<\/ul>\n<p>\u8fd9\u91cc\u8fd8\u6709\u4e00\u4e2a\u503c\u5f97\u6ce8\u610f\u7684\u5730\u65b9&#xff1a;\u672c\u6b21\u5b9e\u9a8c\u6ca1\u6709\u52a0\u5165\u989d\u5916\u7684\u91cd\u529b\u8865\u507f&#xff0c;\u4ec5\u901a\u8fc7 PD \u63a7\u5236\u5c31\u5b9e\u73b0\u4e86\u57fa\u672c\u7684\u5173\u8282\u4f4d\u7f6e\u4fdd\u6301\u3002 \u4f46\u5728\u91cd\u529b\u8d1f\u8f7d\u4e0b&#xff0c;PD \u63a7\u5236\u9700\u8981\u901a\u8fc7\u4e00\u5b9a\u7684\u4f4d\u7f6e\u8bef\u5dee\u4ea7\u751f\u76f8\u5e94\u7684\u4fdd\u6301\u529b\u77e9&#xff0c;\u56e0\u6b64\u589e\u5927 Kp \u53ef\u4ee5\u51cf\u5c0f\u7a33\u6001\u4f4d\u7f6e\u504f\u5dee&#xff0c;\u4f46\u5e76\u4e0d\u610f\u5473\u7740\u91cd\u529b\u5f71\u54cd\u5df2\u7ecf\u6d88\u5931\u3002\u5f53\u7136&#xff0c;\u76ee\u524d\u6211\u4eec\u53ea\u662f\u7ed912\u4e2a\u5173\u8282\u8bbe\u7f6e\u4e86\u4e00\u7ec4\u76f8\u540c\u7684\u76ee\u6807\u89d2\u5ea6\u548c PD \u53c2\u6570&#xff0c;\u8ba9 Go2 \u80fd\u591f\u7ef4\u6301\u4e00\u4e2a\u57fa\u672c\u7684\u7ad9\u7acb\u59ff\u6001\u3002\u81f3\u4e8e\u8fd9\u4e9b\u76ee\u6807\u89d2\u5ea6\u5e94\u8be5\u5982\u4f55\u786e\u5b9a&#xff0c;\u5982\u4f55\u8ba9\u673a\u5668\u4eba\u6309\u7167\u6307\u5b9a\u8f68\u8ff9\u8fd0\u52a8&#xff0c;\u4ee5\u53ca\u5982\u4f55\u534f\u8c03\u56db\u6761\u817f\u5b8c\u6210\u884c\u8d70&#xff0c;\u90fd\u8fd8\u6ca1\u6709\u6d89\u53ca\u3002\u540e\u7eed\u6211\u4eec\u5c06\u7ee7\u7eed\u56f4\u7ed5 Go2 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