{"id":67720,"date":"2026-01-29T04:05:01","date_gmt":"2026-01-28T20:05:01","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/67720.html"},"modified":"2026-01-29T04:05:01","modified_gmt":"2026-01-28T20:05:01","slug":"%e3%80%90%e6%99%ba%e8%83%bd%e8%bd%a6%e3%80%91%e7%94%b5%e7%a3%81%e7%bb%84%e8%bf%9b%e9%98%b6%e4%b9%8b%e8%b7%af%ef%bc%88%e4%b8%80%ef%bc%89%ef%bc%9aadc-%e4%bf%a1%e5%8f%b7%e5%a4%84%e7%90%86%e3%80%81","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/67720.html","title":{"rendered":"\u3010\u667a\u80fd\u8f66\u3011\u7535\u78c1\u7ec4\u8fdb\u9636\u4e4b\u8def\uff08\u4e00\uff09\uff1aADC \u4fe1\u53f7\u5904\u7406\u3001\u5dee\u6bd4\u548c\u5dee\u7b97\u6cd5\u4e0e\u4e22\u7ebf\u4fdd\u62a4"},"content":{"rendered":"<p>\u524d\u8a00<\/p>\n<p>\u2003\u2003\u5728\u667a\u80fd\u8f66\u7ade\u8d5b\u4e2d&#xff0c;\u201c\u770b\u4e0d\u89c1\u7684\u4fe1\u53f7\u201d\u5f80\u5f80\u662f\u6700\u81f4\u547d\u7684\u3002\u5f88\u591a\u65f6\u5019\u5c0f\u8f66\u51b2\u51fa\u8d5b\u9053&#xff0c;\u5e76\u4e0d\u662f\u7b97\u6cd5\u5199\u9519\u4e86&#xff0c;\u800c\u662f\u7531\u4e8e\u786c\u4ef6\u8bef\u5dee\u6216\u73af\u5883\u5e72\u6270\u5bfc\u81f4\u7684\u903b\u8f91\u8bef\u5224\u3002<\/p>\n<p>\u2003\u2003\u672c\u6587\u5c06\u4ece\u4fe1\u53f7\u91c7\u96c6\u3001\u6ee4\u6ce2\u7b97\u6cd5\u3001\u5f52\u4e00\u5316\u5904\u7406\u3001\u6838\u5fc3\u5faa\u8ff9\u7b97\u6cd5&#xff08;\u5dee\u6bd4\u548c\u5dee&#xff09;\u4ee5\u53ca\u786c\u4ef6\u4f18\u5316\u4e94\u4e2a\u7ef4\u5ea6&#xff0c;\u5206\u4eab\u6211\u4eec\u5982\u4f55\u8ba9\u7535\u78c1\u8f66\u4ece\u201c\u86c7\u5f62\u6e38\u8d70\u201d\u505a\u5230\u201c\u8d34\u7ebf\u75be\u9a70\u201d\u3002<\/p>\n<hr \/>\n<h2>&#x1f4e1; \u4fe1\u53f7\u7684\u6536\u96c6<\/h2>\n<p>\u5728\u5f00\u59cb\u7b97\u6cd5\u4e4b\u524d&#xff0c;\u9996\u5148\u8981\u4e86\u89e3\u6211\u4eec\u5904\u7406\u7684\u662f\u4ec0\u4e48\u91cf\u7ea7\u7684\u6570\u636e\u3002\u6211\u4eec\u7684\u4e3b\u63a7 RT1064 \u5f00\u542f\u4e86 12 \u4f4d ADC \u91c7\u6837&#xff0c;\u8fd9\u610f\u5473\u7740\u539f\u59cb\u6570\u503c\u8303\u56f4\u662f <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">0\u223c40960 \\\\sim 4096<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">0<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u223c<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">4096<\/span><\/span><\/span><\/span><\/span> \u3002<\/p>\n<p>\u5728\u6b63\u5e38\u8d5b\u9053\u4e4b\u4e0a&#xff0c;\u7535\u611f\u611f\u5e94\u5230\u7684\u6709\u6548\u503c\u5927\u7ea6\u5728 1000 ~ 3500 \u5de6\u53f3\u3002\u8fd9\u4e2a\u91cf\u7ea7\u4e0b&#xff0c;\u73af\u5883\u4e2d\u7684\u566a\u58f0\u5bfc\u81f4\u4fe1\u53f7\u8df3\u52a8&#xff0c;\u4ea4\u7ed9 PID \u8ba1\u7b97\u7684\u65f6\u5019\u5c0f\u8f66\u4f1a\u4ea7\u751f\u83ab\u540d\u7684\u6296\u52a8\u3002\u4e3a\u4e86\u83b7\u5f97\u5e73\u6ed1\u7684\u4fe1\u53f7&#xff0c;\u6211\u4eec\u91c7\u7528\u4e86\u6b7b\u533a\u5904\u7406\u548c N \u9636\u53bb\u6781\u503c\u5e73\u5747\u6ee4\u6ce2 \u3002<\/p>\n<h3>(1) \u91c7\u6837\u9636\u6bb5&#xff1a;\u591a\u901a\u9053\u540c\u6b65\u83b7\u53d6<\/h3>\n<p>\u6211\u4eec\u9996\u5148\u5728\u4e00\u4e2a\u63a7\u5236\u5468\u671f\u5185\u5bf9 4 \u8def\u5173\u952e\u4f20\u611f\u5668\u8fdb\u884c\u8fde\u7eed 5 \u6b21\u9ad8\u901f\u91c7\u6837&#xff0c;\u5b58\u5165\u7f13\u51b2\u533a &#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ \u91c7\u6837\u793a\u4f8b&#xff1a;\u5728\u4e00\u4e2a\u5468\u671f\u5185\u8fde\u7eed\u83b7\u53d6\u591a\u7ec4\u6570\u636e<\/span><br \/>\n<span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    filter_buf_L<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span>  <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">adc_convert<\/span><span class=\"token punctuation\">(<\/span>Left_ADC_Pin<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u5de6\u4fa7\u6a2a\u5411<\/span><br \/>\n    filter_buf_LS<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">adc_convert<\/span><span class=\"token punctuation\">(<\/span>Left_Shu_Pin<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u5de6\u4fa7\u7eb5\u5411<\/span><br \/>\n    filter_buf_RS<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">adc_convert<\/span><span class=\"token punctuation\">(<\/span>Right_Shu_Pin<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u53f3\u4fa7\u7eb5\u5411<\/span><br \/>\n    filter_buf_R<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span>  <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">adc_convert<\/span><span class=\"token punctuation\">(<\/span>Right_ADC_Pin<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u53f3\u4fa7\u6a2a\u5411<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h3>(2) &#x1f9f9; \u6b7b\u533a\u5904\u7406&#xff1a;\u63d0\u51fa\u5fae\u5f31\u566a\u58f0<\/h3>\n<p>\u5728\u5b9e\u9645\u4e2d\u53d1\u73b0&#xff0c;\u91c7\u96c6\u5230\u7684\u51e0\u767e\u4e2a\u5355\u4f4d\u7684\u6570\u503c\u51e0\u4e4e\u5168\u662f\u73af\u5883\u4e2d\u7684\u6742\u6563\u78c1\u573a\u5e72\u6270\u6216\u7535\u8def\u672c\u8eab\u7684\u96f6\u6f02 \u3002<\/p>\n<p><span class=\"token comment\">\/\/ \u53bb\u9664\u5fae\u5f31\u4fe1\u53f7&#xff1a;<\/span><br \/>\n<span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>filter_buf_L<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">240<\/span><span class=\"token punctuation\">)<\/span>  filter_buf_L<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>filter_buf_LS<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">500<\/span><span class=\"token punctuation\">)<\/span> filter_buf_LS<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>filter_buf_RS<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">500<\/span><span class=\"token punctuation\">)<\/span> filter_buf_RS<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>filter_buf_R<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">240<\/span><span class=\"token punctuation\">)<\/span>  filter_buf_R<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <\/p>\n<p>&#x1f4a1; \u6ce8&#xff1a;\u4e3a\u4f55\u6a2a\u5411\u7535\u611f\u53bb\u9664\u7684\u662f\u5c0f\u4e8e 240 \u7684\u4fe1\u53f7&#xff0c;\u800c\u7ad6\u5411\u7535\u611f\u53bb\u9664\u7684\u662f\u5c0f\u4e8e 500 \u7684\u4fe1\u53f7&#xff1f;<\/p>\n<p>&#x1f4dd; \u5177\u4f53\u7684\u53c2\u6570\u8bbe\u5b9a\u903b\u8f91\u53ca\u539f\u56e0&#xff0c;\u5c06\u5728\u540e\u7eed\u6587\u7ae0\u4e2d\u8be6\u7ec6\u63d0\u53ca\u3002<\/p>\n<h3>(3)\u7b97\u6cd5\u5b9e\u73b0&#xff1a;\u5254\u9664\u5f02\u5e38\u503c<\/h3>\n<p>\u666e\u901a\u7684\u5747\u503c\u6ee4\u6ce2\u5bb9\u6613\u88ab\u4e00\u4e2a\u201c\u6781\u5927\u201d\u6216\u201c\u6781\u5c0f\u201d\u7684\u5f02\u5e38\u8109\u51b2\u62c9\u4f4e\u6574\u4f53\u7cbe\u5ea6\u3002<br \/>\n\u6211\u4eec\u7684\u65b9\u6848\u662f&#xff1a;\u53bb\u6389\u4e00\u4e2a\u6700\u9ad8\u503c&#xff0c;\u53bb\u6389\u4e00\u4e2a\u6700\u4f4e\u503c&#xff0c;\u5269\u4e0b\u7684\u6c42\u5e73\u5747\u3002\u8fd9\u6837\u53ef\u4ee5\u6781\u5927\u5730\u589e\u5f3a\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/p>\n<p>\u26a0\ufe0f \u91cd\u8981\u63d0\u793a&#xff1a;\u5fc5\u987b\u5148\u8fdb\u884c\u6b7b\u533a\u5904\u7406\u518d\u8fdb\u884c\u6ee4\u6ce2\u8ba1\u7b97&#xff0c;\u5426\u5219\u5fae\u5f31\u7684\u5e72\u6270\u4fe1\u53f7\u4f1a\u88ab\u5e73\u5747\u5230\u6ee4\u6ce2\u7ed3\u679c\u4e2d \u3002<\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;brief  N\u9636\u53bb\u6781\u503c\u5e73\u5747\u6ee4\u6ce2<br \/>\n * &#064;param  ADC: \u6307\u5411\u91c7\u6837\u7f13\u51b2\u533a\u7684\u6307\u9488<br \/>\n * &#064;return \u8fc7\u6ee4\u540e\u7684\u5e73\u6ed1\u5e73\u5747\u503c<br \/>\n *\/<\/span><br \/>\n<span class=\"token keyword\">float<\/span> <span class=\"token function\">ADC_Del_MaxMin_Average_Filter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span> <span class=\"token operator\">*<\/span>ADC<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    uint16 max <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u8bb0\u5f55\u6700\u5927\u503c<\/span><br \/>\n    uint16 min <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0xFFFF<\/span><span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u8bb0\u5f55\u6700\u5c0f\u503c<\/span><br \/>\n    uint32 sum <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u7d2f\u52a0\u603b\u548c&#xff08;\u6ce8\u610f\u7528uint32\u9632\u6b62\u6ea2\u51fa&#xff09;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> average <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">int<\/span> i<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>max <span class=\"token operator\">&lt;<\/span> ADC<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> max <span class=\"token operator\">&#061;<\/span> ADC<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u66f4\u65b0\u6700\u5927\u503c<\/span><br \/>\n        <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>min <span class=\"token operator\">&gt;<\/span> ADC<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> min <span class=\"token operator\">&#061;<\/span> ADC<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u66f4\u65b0\u6700\u5c0f\u503c<\/span><br \/>\n        sum <span class=\"token operator\">&#043;&#061;<\/span> ADC<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>                  <span class=\"token comment\">\/\/ \u7d2f\u52a0<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8ba1\u7b97\u5e73\u5747\u503c<\/span><br \/>\n    average <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>sum <span class=\"token operator\">&#8211;<\/span> max <span class=\"token operator\">&#8211;<\/span> min<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">5<\/span> <span class=\"token operator\">&#8211;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> average<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h5>&#x1f4a1; \u5173\u4e8e\u6570\u636e\u7c7b\u578b\u7684\u5173\u952e\u7ec6\u8282<\/h5>\n<p>\u9700\u8981\u7279\u522b\u5f3a\u8c03\u7684\u662f uint32 sum \u7684\u6570\u636e\u7c7b\u578b&#xff1a;<\/p>\n<ul>\n<li>&#x1f522; \u8ba1\u7b97\u80cc\u666f&#xff1a;\n<ul>\n<li>12 \u4f4d ADC&#xff0c;\u6700\u5927\u503c\u4e3a 4096\u3002<\/li>\n<li>5 \u6b21\u7d2f\u52a0\u6700\u5927\u7ea6\u4e3a <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">4096\u00d75&#061;204804096 \\\\times 5 &#061; 20480<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7278em;vertical-align: -0.0833em\"><\/span><span class=\"mord\">4096<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">5<\/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: 0.6444em\"><\/span><span class=\"mord\">20480<\/span><\/span><\/span><\/span><\/span>\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\u26a0\ufe0f \u6ea2\u51fa\u98ce\u9669&#xff1a;\n<ul>\n<li>\u867d\u7136 uint16&#xff08;\u6700\u5927 65535&#xff09;\u76ee\u524d\u80fd\u5b58\u4e0b\u3002<\/li>\n<li>\u4f46\u5982\u679c\u4f60\u4ee5\u540e\u589e\u52a0\u91c7\u6837\u6b21\u6570&#xff08;\u5982 16 \u6b21\u4ee5\u4e0a&#xff09;&#xff0c;uint16 \u5c31\u4f1a\u53d1\u751f\u6ea2\u51fa\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>(4)\u5f52\u4e00\u5316\u5904\u7406&#xff1a;\u4ece\u201c\u7edd\u5bf9\u503c\u201d\u5230\u201c\u767e\u5206\u6bd4\u201d<\/h3>\n<p>\u5f52\u4e00\u5316\u7684\u672c\u8d28\u662f\u5c06 12 \u4f4d ADC \u7684\u539f\u59cb\u91cf\u7a0b&#xff08;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">0\u223c40950 \\\\sim 4095<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">0<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u223c<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">4095<\/span><\/span><\/span><\/span><\/span>&#xff09;\u6620\u5c04\u5230\u7edf\u4e00\u7684 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">0\u223c1000 \\\\sim 100<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">0<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u223c<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">100<\/span><\/span><\/span><\/span><\/span> \u3002<\/p>\n<ul>\n<li>\u903b\u8f91\u4e00\u81f4\u6027&#xff1a;\u8fd9\u6837&#xff0c;\u540e\u7eed\u6240\u6709\u7684\u63a7\u5236\u903b\u8f91&#xff08;\u5982\u5dee\u6bd4\u548c\u5dee\u3001PID&#xff09;\u5904\u7406\u7684\u90fd\u662f\u6bd4\u4f8b\u5173\u7cfb&#xff0c;\u800c\u4e0d\u662f\u4e0d\u7a33\u5b9a\u7684\u7edd\u5bf9\u6570\u503c\u3002<\/li>\n<li>\u4ee3\u7801\u590d\u7528\u6027&#xff1a;\u5373\u4fbf\u5207\u6362\u4e86\u4e0d\u540c\u6027\u80fd\u7684\u7535\u673a\u6216\u8235\u673a&#xff0c;\u4f60\u7684\u63a7\u5236\u7b97\u6cd5\u5728\u903b\u8f91\u5c42\u662f\u4e0d\u9700\u8981\u5927\u89c4\u6a21\u91cd\u5199\u7684&#xff0c;\u8fd8\u53ef\u4ee5\u7167\u642c\u5230\u522b\u7684\u5de5\u7a0b\u4e4b\u4e2d&#xff0c;\u590d\u7528\u5f88\u65b9\u4fbf \u3002<\/li>\n<\/ul>\n<p><span class=\"token comment\">\/* \u6838\u5fc3\u4ee3\u7801&#xff1a;\u5f52\u4e00\u5316\u6620\u5c04 *\/<\/span><br \/>\n<span class=\"token comment\">\/\/ \u5c06\u6ee4\u6ce2\u540e\u7684 ADC \u503c&#xff08;adc_deal_1&#xff09;\u6620\u5c04\u5230 0-100 \u8303\u56f4<\/span><\/p>\n<p>left_adc     <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">100.0<\/span> <span class=\"token operator\">*<\/span> adc_deal_1<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">4096<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ 12\u4f4d ADC_MAX&#061;4096<\/span><br \/>\nleftshu_adc  <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">100.0<\/span> <span class=\"token operator\">*<\/span> adc_deal_1<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">4096<\/span><span class=\"token punctuation\">;<\/span><br \/>\nrightshu_adc <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">100.0<\/span> <span class=\"token operator\">*<\/span> adc_deal_1<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">4096<\/span><span class=\"token punctuation\">;<\/span><br \/>\nright_adc    <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">100.0<\/span> <span class=\"token operator\">*<\/span> adc_deal_1<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">4096<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<h3>(5)\u907f\u5751\u4e0e\u8c03\u4f18\u5fc3\u5f97<\/h3>\n<p>\u53d6\u6837\u6b21\u6570\u7684\u53d6\u503c&#xff1a;<br \/>\n\u5728\u6211\u4eec\u7684\u9879\u76ee\u4e2d&#xff0c;\u91c7\u6837\u6b21\u6570\u53d6\u503c\u4e3a 5&#xff0c;\u901a\u5e38\u53ef\u4ee5\u9009\u53d6 5-7\u3002<\/p>\n<ul>\n<li>&#x1f4c8; \u5e73\u6ed1\u5ea6 vs \u5ef6\u8fdf&#xff1a;<br \/>\n\u53d6\u503c\u8d8a\u5927&#xff0c;\u4fe1\u53f7\u8d8a\u5e73\u6ed1&#xff0c;\u4f46\u5ef6\u8fdf\u4e5f\u4f1a\u968f\u4e4b\u589e\u52a0 \u3002<\/li>\n<li>\u26a0\ufe0f \u98ce\u9669\u63d0\u793a&#xff1a;<br \/>\n\u5982\u679c\u6ee4\u6ce2\u592a\u91cd&#xff08;\u53d6\u503c\u8fc7\u5927&#xff09;&#xff0c;\u8f66\u5b50\u5728\u8fc7\u6025\u5f2f\u65f6\u611f\u77e5\u4f1a\u4ea7\u751f\u6ede\u540e&#xff0c;\u5bfc\u81f4\u8fc7\u5f2f\u65f6\u8235\u673a\u201c\u665a\u6253\u201d\u4ece\u800c\u51b2\u51fa\u8d5b\u9053 \u3002<\/li>\n<\/ul>\n<h2>\u4fe1\u53f7\u7684\u5904\u7406<\/h2>\n<h3>(1)\u57fa\u7840\u7248&#xff1a;\u5dee\u6bd4\u548c\u7b97\u6cd5<\/h3>\n<p>\u8be5\u7b97\u6cd5\u901a\u8fc7\u5206\u522b\u8ba1\u7b97\u6a2a\u5411\u504f\u5dee\u548c\u7eb5\u5411\u504f\u5dee&#xff0c;\u7136\u540e\u8fdb\u884c\u52a0\u6743\u6c42\u548c&#xff08;\u8fd9\u91cc\u5404\u5360 50% \u6743\u91cd&#xff09;\u3002<\/p>\n<p><span class=\"token comment\">\/\/ \u6a2a\u5411\u504f\u5dee &#061; (\u5de6\u6a2a &#8211; \u53f3\u6a2a) \/ (\u5de6\u6a2a &#043; \u53f3\u6a2a)<\/span><br \/>\n<span class=\"token comment\">\/\/ \u7eb5\u5411\u504f\u5dee &#061; (\u5de6\u7eb5 &#8211; \u53f3\u7eb5) \/ (\u5de6\u7eb5 &#043; \u53f3\u7eb5)<\/span><\/p>\n<p>AD_Bias <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">10.0<\/span> <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span><br \/>\n    <span class=\"token number\">0.5<\/span> <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>left_adc <span class=\"token operator\">&#8211;<\/span> right_adc<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token punctuation\">(<\/span>left_adc <span class=\"token operator\">&#043;<\/span> right_adc<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span><br \/>\n    <span class=\"token number\">0.5<\/span> <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>leftshu_adc <span class=\"token operator\">&#8211;<\/span> rightshu_adc<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token punctuation\">(<\/span>leftshu_adc <span class=\"token operator\">&#043;<\/span> rightshu_adc<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<h4>&#x1f4d0; \u7b97\u6cd5\u516c\u5f0f\u5316\u8868\u8fbe<\/h4>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\">AD_Bias&#061;10\u00d7(0.5\u22c5L\u2212RL&#043;R&#043;0.5\u22c5Lshu\u2212RshuLshu&#043;Rshu)AD\\\\_Bias &#061; 10 \\\\times \\\\left( 0.5 \\\\cdot \\\\frac{L &#8211; R}{L &#043; R} &#043; 0.5 \\\\cdot \\\\frac{L_{shu} &#8211; R_{shu}}{L_{shu} &#043; R_{shu}} \\\\right)<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.9933em;vertical-align: -0.31em\"><\/span><span class=\"mord mathnormal\">A<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">D<\/span><span class=\"mord\" style=\"margin-right: 0.0278em\">_<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mord mathnormal\">ia<\/span><span class=\"mord mathnormal\">s<\/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: 0.7278em;vertical-align: -0.0833em\"><\/span><span class=\"mord\">10<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 2.4em;vertical-align: -0.95em\"><\/span><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top: 0em\"><span class=\"delimsizing size3\">(<\/span><\/span><span class=\"mord\">0.5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/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: 1.3603em\"><span class=\"\" style=\"top: -2.314em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">L<\/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 class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/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: -3.677em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">L<\/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: 0.0077em\">R<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7693em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/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 class=\"mord\">0.5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/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: 1.3603em\"><span class=\"\" style=\"top: -2.314em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\">L<\/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: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">s<\/span><span class=\"mord mathnormal mtight\">h<\/span><span class=\"mord mathnormal mtight\">u<\/span><\/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\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/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: -0.0077em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">s<\/span><span class=\"mord mathnormal mtight\">h<\/span><span class=\"mord mathnormal mtight\">u<\/span><\/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 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: -3.677em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\">L<\/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: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">s<\/span><span class=\"mord mathnormal mtight\">h<\/span><span class=\"mord mathnormal mtight\">u<\/span><\/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\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/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: -0.0077em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">s<\/span><span class=\"mord mathnormal mtight\">h<\/span><span class=\"mord mathnormal mtight\">u<\/span><\/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 class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.836em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mclose delimcenter\" style=\"top: 0em\"><span class=\"delimsizing size3\">)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u6838\u5fc3\u539f\u7406&#xff1a;<\/p>\n<ul>\n<li>\u601d\u60f3&#xff1a;\u5229\u7528 \u5dee\u6bd4\u548c (Difference-Ratio-Sum) \u7684\u601d\u60f3&#xff0c;\u5c06\u4f20\u611f\u5668\u91c7\u96c6\u7684\u201c\u7edd\u5bf9\u6570\u503c\u201d\u8f6c\u5316\u4e3a\u201c\u76f8\u5bf9\u6bd4\u4f8b\u201d\u3002<\/li>\n<li>\u516c\u5f0f\u62c6\u89e3&#xff1a;\n<ul>\n<li><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">L\u2212RL &#8211; R<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7667em;vertical-align: -0.0833em\"><\/span><span class=\"mord mathnormal\">L<\/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: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><\/span> (\u5dee)&#xff1a;\u53cd\u6620\u504f\u5dee\u65b9\u5411&#xff08;\u8f66\u5934\u504f\u5de6\u8fd8\u662f\u504f\u53f3&#xff09;\u3002<\/li>\n<li><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">L&#043;RL &#043; R<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7667em;vertical-align: -0.0833em\"><\/span><span class=\"mord mathnormal\">L<\/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: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><\/span> (\u548c)&#xff1a;\u7528\u4e8e\u5f52\u4e00\u5316&#xff0c;\u6d88\u9664\u56e0\u8d5b\u9053\u78c1\u573a\u5f3a\u5ea6\u4e0d\u540c\u6216\u7535\u6c60\u7535\u538b\u6ce2\u52a8\u5bfc\u81f4\u7684\u4fe1\u53f7\u6574\u4f53\u5f3a\u5f31\u5dee\u5f02\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>(2) \u8fdb\u9636\u7248&#xff1a;\u5dee\u6bd4\u548c\u5dee\u7b97\u6cd5<\/h3>\n<p>\u6b64\u7b97\u6cd5\u7684\u6838\u5fc3\u5728\u4e8e\u5206\u6bcd\u5f15\u5165\u963b\u5c3c\u9879&#xff0c;\u89e3\u51b3\u4e86\u4f20\u7edf\u5dee\u6bd4\u548c\u7b97\u6cd5\u5728\u4e22\u7ebf\u8fb9\u7f18\u5206\u6bcd\u8d8b\u8fd1\u4e8e 0 \u5bfc\u81f4\u6570\u503c\u53d1\u6563\u7684\u95ee\u9898\u3002<\/p>\n<p><span class=\"token comment\">\/* \u6838\u5fc3\u53c2\u6570&#xff1a;<br \/>\n * ALPHA (\u6a2a\u5411\u6743\u91cd)<br \/>\n * BETA  (\u7eb5\u5411\u6743\u91cd)<br \/>\n * OMEGA (\u963b\u5c3c\u7cfb\u6570)<br \/>\n *\/<\/span><br \/>\n<span class=\"token comment\">\/\/ 1. \u5206\u5b50&#xff1a;\u6a2a\u5411\u4e0e\u7eb5\u5411\u5dee\u503c\u7684\u52a0\u6743\u548c&#xff0c;\u51b3\u5b9a\u504f\u5dee\u65b9\u5411<\/span><br \/>\n<span class=\"token keyword\">float<\/span> fenzi <span class=\"token operator\">&#061;<\/span> ALPHA <span class=\"token operator\">*<\/span><br \/>\n <span class=\"token punctuation\">(<\/span>left_adc <span class=\"token operator\">&#8211;<\/span> right_adc<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span><br \/>\n      BETA <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>leftshu_adc <span class=\"token operator\">&#8211;<\/span> rightshu_adc<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token comment\">\/\/ 2. \u5206\u6bcd&#xff1a;\u5728\u6a2a\u5411\u4e4b\u548c\u7684\u57fa\u7840\u4e0a&#xff0c;\u5f15\u5165\u7eb5\u5411\u5dee\u503c\u7684\u7edd\u5bf9\u503c\u4f5c\u4e3a\u201c\u963b\u5c3c\u201d\u8865\u507f<\/span><br \/>\n<span class=\"token comment\">\/\/ \u4f7f\u7528 fabs() \u53d6\u7edd\u5bf9\u503c&#xff0c;\u9632\u6b62\u5206\u6bcd\u8fc7\u5c0f\u5bfc\u81f4\u504f\u5dee\u53d1\u6563<\/span><br \/>\n<span class=\"token keyword\">float<\/span> fenmu <span class=\"token operator\">&#061;<\/span> ALPHA <span class=\"token operator\">*<\/span><br \/>\n <span class=\"token punctuation\">(<\/span>left_adc <span class=\"token operator\">&#043;<\/span> right_adc<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span><br \/>\n OMEGA <span class=\"token operator\">*<\/span> <span class=\"token function\">fabs<\/span><span class=\"token punctuation\">(<\/span>leftshu_adc <span class=\"token operator\">&#8211;<\/span> rightshu_adc<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ 3. \u8ba1\u7b97\u6700\u7ec8\u504f\u5dee\u503c<\/span><br \/>\nAD_Bias <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">10.0<\/span> <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>fenzi <span class=\"token operator\">\/<\/span> fenmu<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<h4>&#x1f4d0; \u7b97\u6cd5\u516c\u5f0f\u5316\u8868\u8fbe<\/h4>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\">AD_Bias&#061;10\u00d7\u03b1\u22c5(L\u2212R)&#043;\u03b2\u22c5(Lshu\u2212Rshu)\u03b1\u22c5(L&#043;R)&#043;\u03a9\u22c5\u2223Lshu\u2212Rshu\u2223AD\\\\_Bias &#061; 10 \\\\times \\\\frac{\\\\alpha \\\\cdot (L &#8211; R) &#043; \\\\beta \\\\cdot (L_{shu} &#8211; R_{shu})}{\\\\alpha \\\\cdot (L &#043; R) &#043; \\\\Omega \\\\cdot |L_{shu} &#8211; R_{shu}|}<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.9933em;vertical-align: -0.31em\"><\/span><span class=\"mord mathnormal\">A<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">D<\/span><span class=\"mord\" style=\"margin-right: 0.0278em\">_<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mord mathnormal\">ia<\/span><span class=\"mord mathnormal\">s<\/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: 0.7278em;vertical-align: -0.0833em\"><\/span><span class=\"mord\">10<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 2.363em;vertical-align: -0.936em\"><\/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: 1.427em\"><span class=\"\" style=\"top: -2.314em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0037em\">\u03b1<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">L<\/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 class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/span><span class=\"mclose\">)<\/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 class=\"mord\">\u03a9<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mord\">\u2223<\/span><span class=\"mord\"><span class=\"mord mathnormal\">L<\/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: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">s<\/span><span class=\"mord mathnormal mtight\">h<\/span><span class=\"mord mathnormal mtight\">u<\/span><\/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\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/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: -0.0077em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">s<\/span><span class=\"mord mathnormal mtight\">h<\/span><span class=\"mord mathnormal mtight\">u<\/span><\/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\">\u2223<\/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: -3.677em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0037em\">\u03b1<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">L<\/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: 0.0077em\">R<\/span><span class=\"mclose\">)<\/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 class=\"mord mathnormal\" style=\"margin-right: 0.0528em\">\u03b2<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">L<\/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: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">s<\/span><span class=\"mord mathnormal mtight\">h<\/span><span class=\"mord mathnormal mtight\">u<\/span><\/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\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/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: -0.0077em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">s<\/span><span class=\"mord mathnormal mtight\">h<\/span><span class=\"mord mathnormal mtight\">u<\/span><\/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=\"mclose\">)<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.936em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<ul>\n<li>\u5206\u5b50&#xff1a;\n<ul>\n<li>\u4e3b\u8981\u51b3\u5b9a\u504f\u5dee\u7684\u65b9\u5411&#xff08;\u5de6\u8f6c\u8fd8\u662f\u53f3\u8f6c&#xff09;\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\u5206\u6bcd&#xff1a;\n<ul>\n<li>\u5f15\u5165 fabs() \u7edd\u5bf9\u503c\u9879\u4f5c\u4e3a\u963b\u5c3c\u3002<\/li>\n<li>\u6838\u5fc3\u4f5c\u7528&#xff1a;\u5373\u4f7f <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">L&#043;RL&#043;R<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7667em;vertical-align: -0.0833em\"><\/span><span class=\"mord mathnormal\">L<\/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: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><\/span>&#xff08;\u6a2a\u5411\u7535\u611f\u4e4b\u548c&#xff09;\u6781\u5c0f&#xff0c;\u5206\u6bcd\u4f9d\u7136\u6709\u7eb5\u5411\u5dee\u503c\u7684\u7edd\u5bf9\u503c\u201c\u6491\u7740\u201d&#xff0c;\u4ece\u800c\u4fdd\u8bc1\u5206\u6bcd\u4e0d\u4f1a\u53d8\u6210 0&#xff0c;\u9632\u6b62\u8ba1\u7b97\u7ed3\u679c\u53d1\u6563\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>(3)\u2694\ufe0f \u4e24\u79cd\u7b97\u6cd5\u5bf9\u6bd4<\/h3>\n<h4>&#x1f91d; \u5171\u540c\u4f18\u52bf<\/h4>\n<ul>\n<li>\n<p>&#x1f50b; \u81ea\u9002\u5e94\u80fd\u529b\u5f3a<\/p>\n<ul>\n<li>\u5f53\u7535\u6c60\u7535\u538b\u53d1\u751f\u53d8\u5316&#xff08;\u5982\u4ece 8.4V \u6389\u5230 7.4V&#xff09;&#xff0c;\u6216\u6362\u4e86\u4fe1\u53f7\u6e90\u529f\u7387\u4e0d\u540c\u7684\u8d5b\u9053\u65f6&#xff0c;\u56db\u4e2a\u7535\u611f\u6570\u636e\u90fd\u4f1a\u5448\u6bd4\u4f8b\u4e0a\u5347\u6216\u4e0b\u964d\u3002<\/li>\n<li>\u539f\u7406&#xff1a;\u76f8\u5f53\u4e8e\u7ed9\u6bcf\u4e2a\u6570\u636e\u4e58\u4e0a\u4e00\u4e2a\u6bd4\u4f8b\u7cfb\u6570 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">kk<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><\/span><\/span><\/span><\/span>\u3002\u7531\u4e8e\u8ba1\u7b97\u516c\u5f0f\u4e2d\u5206\u5b50\u5206\u6bcd\u540c\u65f6\u542b\u6709\u8be5\u7cfb\u6570&#xff08;\u4e14 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">k1&#061;k2k_1&#061;k_2<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8444em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0315em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">1<\/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: 0.8444em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0315em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/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>&#xff09;&#xff0c;\u7cfb\u6570\u76f4\u63a5\u7ea6\u6389&#xff0c;\u8ba1\u7b97\u7ed3\u679c\u4fdd\u6301\u4e0d\u53d8\u3002<\/li>\n<li>\u6548\u679c&#xff1a;\u786e\u4fdd\u5c0f\u8f66\u4e0d\u4f1a\u56e0\u4e3a\u7535\u91cf\u4e0d\u540c\u3001\u573a\u5730\u4e0d\u540c&#xff0c;\u800c\u51fa\u73b0\u4ece\u201c\u731b\u864e\u201d\u53d8\u201c\u732b\u54aa\u201d\u7684\u5c34\u5c2c\u60c5\u51b5 \u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>&#x1f4cf; \u5f52\u4e00\u5316\u53cb\u597d<\/p>\n<ul>\n<li>\u5b83\u4eec\u90fd\u975e\u5e38\u5951\u5408\u5f52\u4e00\u5316\u5904\u7406\u540e\u7684\u6570\u636e&#xff08;0-100&#xff09;\u3002<\/li>\n<li>\u8ba1\u7b97\u51fa\u7684\u504f\u5dee\u503c (Error) \u8303\u56f4\u4e3a [-10, 10]&#xff08;\u4ee3\u7801\u4e2d\u4e58\u4e0a\u7cfb\u6570 10&#xff0c;\u5426\u5219\u4e3a [-1, 1]&#xff09;&#xff0c;\u8fd9\u5bf9\u4e8e PID \u8c03\u53c2\u7684\u5e2e\u52a9\u975e\u5e38\u4e4b\u5927\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr \/>\n<h4>\u2696\ufe0f \u5404\u81ea\u4f18\u52a3\u52bf\u6df1\u5ea6\u89e3\u6790<\/h4>\n<h5>A. \u5dee\u6bd4\u548c\u7b97\u6cd5 (Basic Version)<\/h5>\n<table>\n<tr>\u7ef4\u5ea6\u8be6\u60c5<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u2705 \u4f18\u52bf<\/td>\n<td align=\"left\">\u7b80\u5355\u7701\u5fc3\u3002\u51e0\u4e4e\u4e0d\u9700\u8981\u8c03\u53c2&#xff0c;\u53ef\u4ee5\u8c03\u6574\u7684\u53ea\u6709\u4e00\u4e2a\u7cfb\u6570&#xff0c;\u4e14\u4e00\u822c\u60c5\u51b5\u4e0b\u4e0d\u9700\u8981\u4fee\u6539 \u3002<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u274c \u52a3\u52bf<\/td>\n<td align=\"left\">1. \u8fb9\u7f18\u53d1\u6563&#xff08;\u81f4\u547d\u4f24&#xff09;&#xff1a;\u5f53\u5c0f\u8f66\u4e25\u91cd\u504f\u79bb\u5904\u4e8e\u4e22\u7ebf\u8fb9\u7f18\u65f6&#xff0c;\u5206\u6bcd&#xff08;\u4e24\u8def\u7535\u611f\u4e4b\u548c&#xff09;\u8d8b\u8fd1\u4e8e 0\u3002\u6b64\u65f6\u5fae\u5f31\u566a\u58f0\u4f1a\u5bfc\u81f4\u8f93\u51fa\u503c\u53d1\u6563\u7206\u8868&#xff0c;\u5f15\u53d1\u8235\u673a\u6253\u6b7b\u6216\u8f66\u5934\u5de6\u53f3\u62bd\u6410\u30022. \u76f4\u9053\u6296\u52a8&#xff1a;\u8d70\u76f4\u7ebf\u65f6\u7eb5\u5411\u7535\u611f\u8f83\u5c0f&#xff0c;\u4f20\u7edf\u6743\u91cd\u5206\u914d&#xff08;\u6a2a 0.7 \/ \u7eb5 0.3&#xff09;\u53ef\u80fd\u5bfc\u81f4\u76f4\u9053\u6296\u52a8\u4e25\u91cd\u30023. \u5f2f\u9053\u8fdf\u949d&#xff1a;\u9762\u5bf9\u5927\u5f2f\u9053\u6216\u6025\u5f2f\u65f6&#xff0c;\u4fe1\u53f7\u611f\u77e5\u7684\u7075\u654f\u5ea6\u5f80\u5f80\u4e0d\u8db3\u3002<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h5>B. \u5dee\u6bd4\u548c\u5dee\u7b97\u6cd5 (Advanced Version)<\/h5>\n<table>\n<tr>\u7ef4\u5ea6\u8be6\u60c5<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u2705 \u4f18\u52bf<\/td>\n<td align=\"left\">1. \u7a33\u5b9a\u6027\u5f3a&#xff1a;\u901a\u8fc7\u5728\u5206\u6bcd\u4e2d\u5f15\u5165\u963b\u5c3c\u9879 fabs()&#xff0c;\u5373\u4fbf\u6a2a\u5411\u4fe1\u53f7\u5168\u65e0&#xff0c;\u5206\u6bcd\u4e5f\u80fd\u88ab\u7eb5\u5411\u5dee\u503c\u7684\u7edd\u5bf9\u503c\u201c\u6491\u4f4f\u201d&#xff0c;\u4f7f\u504f\u5dee\u8f93\u51fa\u5e73\u6ed1\u8fde\u7eed&#xff0c;\u6709\u6548\u9632\u6b62\u7ed3\u679c\u53d1\u6563\u7206\u8868\u30022.\u9ad8\u7ebf\u6027\u5ea6&#xff1a;\u901a\u8fc7 ALPHA \u4e0e BETA \u7684\u6743\u91cd\u5e73\u8861&#xff0c;\u8ba9\u7eb5\u5411\u7535\u611f\u5728\u5927\u5f2f\u9053\u65f6\u63d0\u4f9b\u989d\u5916\u7684\u589e\u76ca&#xff0c;\u8d4b\u4e88\u7cfb\u7edf\u66f4\u9ad8\u7684\u7ebf\u6027\u5ea6\u3002<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u274c \u52a3\u52bf<\/td>\n<td align=\"left\">\u8c03\u53c2\u96be\u5ea6\u9ad8\u3002\u9700\u8981\u5f00\u53d1\u8005\u53cd\u590d\u8dd1\u8d5b\u9053\u6765\u786e\u5b9a\u4e09\u4e2a\u5173\u952e\u53c2\u6570&#xff08;ALPHA, BETA, OMEGA&#xff09;\u7684\u6700\u4f73\u6bd4\u4f8b\u3002\u751a\u81f3\u5728\u76f4\u9053\u3001\u5927\u5f2f\u3001\u5c0f\u5f2f\u53ef\u80fd\u9700\u8981\u4e0d\u540c\u7684\u6bd4\u4f8b&#xff0c;\u6d4b\u8bd5\u5de5\u4f5c\u91cf\u5927 \u3002<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>(4)&#x1f4c9; \u6700\u540e\u7684\u5e73\u6ed1\u5c4f\u969c&#xff1a;\u4e00\u9636\u4f4e\u901a\u6ee4\u6ce2<\/h3>\n<p>\u5728\u901a\u8fc7\u201c\u53bb\u6781\u503c\u5e73\u5747\u6ee4\u6ce2\u201d\u5904\u7406\u5b8c\u539f\u59cb ADC \u91c7\u6837\u540e&#xff0c;\u6211\u4eec\u5f97\u5230\u4e86\u5e73\u6ed1\u7684\u8f93\u5165\u3002\u4f46\u5728\u5b9e\u9645\u9ad8\u901f\u884c\u9a76\u4e2d&#xff0c;\u5373\u4fbf\u8f93\u5165\u662f\u5e73\u6ed1\u7684&#xff0c;\u7531\u4e8e\u8d5b\u9053\u7ec6\u5fae\u8d77\u4f0f\u6216\u8f66\u4f53\u59ff\u6001\u6296\u52a8&#xff0c;\u8ba1\u7b97\u51fa\u6765\u7684\u504f\u5dee\u503c AD_Bias \u4ecd\u53ef\u80fd\u5b58\u5728\u9ad8\u9891\u7ec6\u5fae\u8df3\u53d8 \u3002<\/p>\n<p><span class=\"token comment\">\/\/ \u4ee5\u76f4\u9053\u4e3a\u4f8b&#xff1a;\u8ffd\u6c42\u6781\u81f4\u5e73\u6ed1<\/span><br \/>\n<span class=\"token comment\">\/\/ current_AD_Bias \u662f\u672c\u6b21\u8ba1\u7b97\u7684\u539f\u59cb\u503c&#xff0c;last_valid_bias \u662f\u6ee4\u6ce2\u540e\u7684\u7ed3\u679c<\/span><br \/>\nlast_valid_bias <span class=\"token operator\">&#061;<\/span><br \/>\nlast_valid_bias <span class=\"token operator\">&#043;<\/span><br \/>\n<span class=\"token number\">0.8f<\/span> <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>current_AD_Bias <span class=\"token operator\">&#8211;<\/span> last_valid_bias<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token comment\">\/\/\u5373last_valid_bias &#061;(1-0.8) last_valid_bias &#043; 0.8f * current_AD_Bias ;<\/span><\/p>\n<h4>&#x1f9ee; \u7b97\u6cd5\u539f\u7406<\/h4>\n<p>\u6838\u5fc3\u516c\u5f0f&#xff1a;<br \/>\n<span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\">y(n)&#061;(1\u2212\u03b1)\u00d7y(n\u22121)&#043;\u03b1\u00d7x(n)y(n) &#061; (1 &#8211; \\\\alpha) \\\\times y(n-1) &#043; \\\\alpha \\\\times x(n)<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">n<\/span><span class=\"mclose\">)<\/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: 1em;vertical-align: -0.25em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord\">1<\/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: 0.0037em\">\u03b1<\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/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\">y<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">n<\/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\">1<\/span><span class=\"mclose\">)<\/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: 0.6667em;vertical-align: -0.0833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0037em\">\u03b1<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/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\">x<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">n<\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u4e3e\u4e2a\u6817\u5b50 &#x1f330;&#xff1a;<br \/>\n\u5047\u8bbe last_valid_bias &#061; 2&#xff0c;current_AD_Bias &#061; 10&#xff0c;\u7cfb\u6570 alpha &#061; 0.8&#xff1a;<br \/>\n<span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\">0.2\u00d72&#043;0.8\u00d710&#061;8.20.2 \\\\times 2 &#043; 0.8 \\\\times 10 &#061; 8.2<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7278em;vertical-align: -0.0833em\"><\/span><span class=\"mord\">0.2<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.7278em;vertical-align: -0.0833em\"><\/span><span class=\"mord\">2<\/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: 0.7278em;vertical-align: -0.0833em\"><\/span><span class=\"mord\">0.8<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">10<\/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: 0.6444em\"><\/span><span class=\"mord\">8.2<\/span><\/span><\/span><\/span><\/span><\/span><br \/>\n\u53ef\u4ee5\u770b\u5230&#xff0c;\u6570\u636e\u6ca1\u6709\u76f4\u63a5\u8df3\u5230 10&#xff0c;\u800c\u662f\u5e73\u6ed1\u8fc7\u6e21\u5230\u4e86 8.2\u3002<\/p>\n<h4>&#x1f39b;\ufe0f Alpha \u7cfb\u6570\u8c03\u53c2\u6307\u5357<\/h4>\n<p>\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u8c03\u6574\u7cfb\u6570 alpha \u6765\u8c03\u8282\u6027\u80fd &#xff1a;<\/p>\n<table>\n<tr>Alpha \u503c\u7279\u70b9\u7f3a\u70b9\u9002\u7528\u573a\u666f<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u8d8a\u5927 (\u63a5\u8fd1 1)<\/td>\n<td align=\"left\">\u26a1 \u54cd\u5e94\u975e\u5e38\u5feb&#xff0c;\u80fd\u8fc5\u901f\u8ddf\u4e0a\u4fe1\u53f7\u7684\u53d8\u5316\u3002<\/td>\n<td align=\"left\">\u8fc7\u6ee4\u9ad8\u9891\u6296\u52a8\u7684\u6548\u679c\u5dee&#xff0c;\u4fe1\u53f7\u5bb9\u6613\u9707\u8361\u3002<\/td>\n<td align=\"left\">\u8d5b\u9053\u975e\u5e38\u5e73\u6574&#xff0c;\u8ffd\u6c42\u6781\u81f4\u7684\u8f6c\u5f2f\u7075\u654f\u5ea6\u3002<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u8d8a\u5c0f (\u63a5\u8fd1 0)<\/td>\n<td align=\"left\">&#x1f30a; \u8f93\u51fa\u6781\u5176\u5e73\u6ed1&#xff0c;\u80fd\u8fc7\u6ee4\u6389\u5f88\u5f3a\u5e72\u6270\u3002<\/td>\n<td align=\"left\">\u4ea7\u751f\u4e25\u91cd\u7684\u201c\u76f8\u4f4d\u6ede\u540e\u201d&#xff08;\u5373\u8f66\u5df2\u7ecf\u53d8\u5411\u4e86&#xff0c;\u8ba1\u7b97\u51fa\u7684\u504f\u5dee\u503c\u8fd8\u6ca1\u53cd\u5e94\u8fc7\u6765&#xff09;\u3002<\/td>\n<td align=\"left\">\u8d5b\u9053\u8d77\u4f0f\u5927&#xff0c;\u4f20\u611f\u5668\u566a\u58f0\u5f88\u5f3a&#xff0c;\u9700\u8981\u727a\u7272\u54cd\u5e94\u901f\u5ea6\u6362\u53d6\u7a33\u5b9a\u3002<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h3>(5)&#x1f4a1; \u5b9e\u6218\u5fc3\u5f97\u4f53\u4f1a<\/h3>\n<p>\u9879\u76ee\u521d\u671f\u8c03\u8bd5\u7684\u65f6\u5019\u8f66\u901f\u6bd4\u8f83\u6162&#xff0c;\u5dee\u6bd4\u548c\u7b97\u6cd5\u8fd8\u662f\u5f88\u597d\u7528\u7684&#xff0c;\u903b\u8f91\u7b80\u6d01\u597d\u8c03\u6574\u3002\u4f46\u662f\u968f\u7740\u6211\u4eec\u5bf9\u901f\u5ea6\u8981\u6c42\u63d0\u9ad8&#xff0c;\u7b97\u6cd5\u7684\u7f3a\u9677\u5c31\u66b4\u9732\u4e86\u3002<\/p>\n<h4>&#x1f6ab; \u9ad8\u901f\u4e0b\u7684\u201c\u62bd\u6410\u201d\u4e0e\u5931\u63a7<\/h4>\n<p>\u5f53\u6211\u4eec\u5c1d\u8bd5\u63d0\u901f\u7684\u65f6\u5019&#xff0c;\u53d1\u73b0\u5f88\u96be\u63a7\u5236\u8f66\u4f53\u59cb\u7ec8\u4fdd\u6301\u5728\u8d5b\u9053\u7684\u7edd\u5bf9\u4e2d\u592e\u3002<\/p>\n<ul>\n<li>\u73b0\u8c61&#xff1a;\u5728\u9ad8\u901f\u51b2\u5165\u6025\u5f2f\u6216\u7531\u4e8e\u60ef\u6027\u4ea7\u751f\u5c0f\u5e45\u5ea6\u504f\u79fb\u65f6&#xff0c;\u5dee\u6bd4\u548c\u7b97\u6cd5\u7684\u52a3\u52bf\u975e\u5e38\u660e\u663e\u3002<\/li>\n<li>\u540e\u679c&#xff1a;\u4e22\u7ebf\u8fb9\u7f18\u65f6&#xff0c;\u5dee\u6bd4\u548c\u7b97\u51fa\u5de8\u5927\u7684\u8df3\u53d8\u503c\u53cd\u9988\u7ed9\u8235\u673a&#xff0c;\u8ba9\u8235\u673a\u201c\u62bd\u6410\u201d&#xff0c;\u5bfc\u81f4\u5c0f\u8f66\u7ecf\u5e38\u5728\u6025\u5f2f\u5904\u56e0\u6253\u89d2\u8fc7\u5ea6\u6216\u4e0d\u8db3\u800c\u76f4\u63a5\u51b2\u51fa\u8d5b\u9053 \u3002<\/li>\n<\/ul>\n<h4>&#x1f504; \u4ece\u201c\u6df7\u5408\u4f7f\u7528\u201d\u5230\u201c\u5168\u7ebf\u5207\u6362\u201d<\/h4>\n<p>\u4e2d\u671f\u5c1d\u8bd5&#xff1a;\u6211\u4eec\u5c1d\u8bd5\u8fc7\u6298\u4e2d\u65b9\u6848\u2014\u2014\u5728\u76f4\u9053\u548c\u666e\u901a\u5f2f\u9053\u4f7f\u7528\u5dee\u6bd4\u548c\u5dee&#xff0c;\u800c\u5728\u73af\u5c9b\u903b\u8f91\u4e2d\u4fdd\u7559\u5dee\u6bd4\u548c\u3002<\/p>\n<p>\u274c \u7ed3\u679c&#xff1a;\u5b9e\u6d4b\u8bc1\u660e&#xff0c;\u5f53\u73af\u5c9b\u7684\u5165\u73af\u901f\u5ea6\u63d0\u4e0a\u53bb\u540e&#xff0c;\u57fa\u7840\u7b97\u6cd5\u4f9d\u7136\u65e0\u6cd5\u652f\u6491\u9ad8\u52a8\u6001\u4e0b\u7684\u7a33\u5b9a\u6027 \u3002<\/p>\n<p>\u6700\u7ec8\u51b3\u7b56&#xff1a;\u6211\u4eec\u51b3\u5b9a\u5168\u8d5b\u9053\u7edf\u4e00\u91c7\u7528\u5dee\u6bd4\u548c\u5dee\u7b97\u6cd5\u3002<br \/>\n\u8fd9\u4e00\u8f6c\u53d8\u4e5f\u5f97\u76ca\u4e8e\u6211\u4eec\u540e\u671f\u8c03\u8bd5\u624b\u6bb5\u7684\u4e30\u5bcc\u2014\u2014\u901a\u8fc7 TFT180 \u5c4f\u5e55\u3001\u6709\u7ebf\u53ca\u65e0\u7ebf UART \u4e32\u53e3\u5b9e\u65f6\u6536\u96c6\u6ce2\u5f62\u6570\u636e&#xff0c;\u539f\u672c\u590d\u6742\u7684 ALPHA\u3001BETA\u3001OMEGA \u7b49\u53c2\u6570\u76f8\u5bf9\u6765\u8bf4\u597d\u8c03\u4e00\u70b9\u3002<\/p>\n<p>\u6210\u6548&#xff1a;<\/p>\n<li>\u9ad8\u7ebf\u6027\u5ea6&#xff1a;\u5373\u4f7f\u5728\u9ad8\u901f\u884c\u9a76\u4e14\u504f\u79bb\u4e2d\u5fc3\u7ebf\u8f83\u8fdc\u7684\u60c5\u51b5\u4e0b&#xff0c;\u5dee\u6bd4\u548c\u5dee\u8ba1\u7b97\u51fa\u7684 Error \u4f9d\u7136\u80fd\u4fdd\u6301\u6781\u9ad8\u7684\u7ebf\u6027\u5ea6&#xff0c;\u675c\u7edd\u4e86\u6570\u636e\u7a81\u53d8\u3002<\/li>\n<li>\u5e73\u7a33\u91cd\u6355&#xff1a;\u8be5\u7b97\u6cd5\u8ba9\u8235\u673a\u5373\u4fbf\u5728\u6781\u9650\u4e22\u7ebf\u7684\u8fb9\u7f18&#xff0c;\u4e5f\u80fd\u901a\u8fc7\u5e73\u7a33\u7684\u6253\u89d2\u52a8\u4f5c\u5c1d\u8bd5\u201c\u91cd\u6355\u201d\u4fe1\u53f7&#xff0c;\u800c\u4e0d\u662f\u76f2\u76ee\u6253\u6b7b\u65b9\u5411\u3002<\/li>\n<li>\u63d0\u901f\u57fa\u7840&#xff1a;\u8fd9\u79cd\u7b97\u6cd5\u4e0a\u5e26\u6765\u7684\u7a33\u5b9a\u6027&#xff0c;\u4e3a\u6211\u4eec\u540e\u7eed\u5b9e\u65bd\u66f4\u6fc0\u8fdb\u7684\u901f\u5ea6\u7b56\u7565\u63d0\u4f9b\u4e86\u575a\u5b9e\u57fa\u7840\u3002<\/li>\n<h3>&#x1f6e1;\ufe0f \u8865\u5145\u5185\u5bb9&#xff1a;\u4e22\u7ebf\u4fdd\u62a4\u7b56\u7565<\/h3>\n<p>\u5728\u4fe1\u53f7\u5904\u7406\u7684\u6700\u540e\u73af\u8282&#xff0c;\u6211\u4eec\u9700\u8981\u52a0\u5165\u6700\u5bb9\u6613\u88ab\u5ffd\u7565\u4f46\u6700\u5173\u952e\u7684\u4e00\u73af\u2014\u2014\u4fdd\u62a4\u673a\u5236\u3002\u6bd5\u7adf\u8f66\u4e22\u7ebf\u540e\u5230\u5904\u4e71\u649e\u7684\u4ee3\u4ef7\u592a\u5927\u4e86&#xff1a;<\/p>\n<ul>\n<li>&#x1f4a5; \u786c\u4ef6\u635f\u8017&#xff1a;\u9ad8\u901f\u649e\u51fb\u4f1a\u5bfc\u81f4\u78b3\u7ea4\u652f\u67b6\u65ad\u88c2\u3001\u7535\u673a\u8f74\u5f2f\u66f2&#xff0c;\u751a\u81f3\u70e7\u6bc1\u6602\u8d35\u7684\u8235\u673a\u3002<\/li>\n<li>&#x1f4c9; \u53c2\u6570\u5931\u6548&#xff1a;\u78b0\u649e\u4f1a\u6539\u53d8\u7535\u611f\u7684\u524d\u77bb\u4f4d\u7f6e\u548c\u503e\u659c\u89d2\u5ea6&#xff0c;\u5bfc\u81f4\u4f60\u8f9b\u82e6\u8c03\u6821\u51fa\u7684 ADC \u57fa\u51c6\u6570\u636e\u77ac\u95f4\u4f5c\u5e9f\u3002\n<p>&#x1fa78; \u8fd9\u662f\u771f\u7684\u201c\u8840\u7684\u6559\u8bad\u201d&#xff0c;\u4e00\u5b9a\u8981\u4fdd\u62a4\u597d\u4f60\u7684\u786c\u4ef6&#xff01;<\/p>\n<\/li>\n<li>&#x1f4b8; \u610f\u5916\u8d54\u507f&#xff1a;\u8d5b\u9053\u8c03\u8bd5\u73b0\u573a\u5f80\u5f80\u8f66\u6ee1\u4e3a\u60a3&#xff0c;\u5931\u63a7\u7684\u5c0f\u8f66\u53ef\u80fd\u649e\u5230\u4ed6\u4eba\u7684\u8f66\u5b50\u6216\u7535\u8111&#xff0c;\u9020\u6210\u4e0d\u5fc5\u8981\u7684\u8d54\u507f\u635f\u5931\u3002<\/li>\n<li>&#x1f50d; \u8c03\u8bd5\u8f85\u52a9&#xff1a;\u5982\u679c\u8f66\u4e00\u4e22\u7ebf\u5c31\u4e3b\u52a8\u5239\u505c\u5728\u539f\u5730&#xff0c;\u4f60\u53ef\u4ee5\u7acb\u523b\u89c2\u5bdf\u5230\u5b83\u662f\u4ece\u54ea\u4e2a\u4f4d\u7f6e\u3001\u4ee5\u4ec0\u4e48\u59ff\u6001\u51b2\u51fa\u53bb\u7684&#xff0c;\u800c\u4e0d\u662f\u53bb\u8fdc\u5904\u7684\u5899\u89d2\u6361\u8f66\u3002<\/li>\n<\/ul>\n<p><span class=\"token comment\">\/\/ \u4e22\u7ebf\u5224\u5b9a\u903b\u8f91\u793a\u4f8b<\/span><br \/>\n<span class=\"token comment\">\/\/ \u5b9a\u4e49\u4e00\u4e2a\u5168\u5c40\u6216\u9759\u6001\u53d8\u91cf\u8bb0\u5f55\u72b6\u6001<\/span><br \/>\nbool is_lost <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token comment\">\/\/ \u9608\u503c\u5224\u5b9a&#xff1a;\u5f53\u56db\u8def\u7535\u611f\u603b\u548c\u6781\u5c0f\u65f6&#xff08;\u4f8b\u5982 &lt;&#061; 15&#xff09;&#xff0c;\u89c6\u4e3a\u4e22\u7ebf<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>left_adc <span class=\"token operator\">&#043;<\/span> leftshu_adc <span class=\"token operator\">&#043;<\/span> rightshu_adc <span class=\"token operator\">&#043;<\/span> right_adc<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&lt;&#061;<\/span> <span class=\"token number\">15<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    is_lost <span class=\"token operator\">&#061;<\/span> true<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    is_lost <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token comment\">\/\/ \u6267\u884c\u5b89\u5168\u4fdd\u62a4<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>is_lost<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ 1. \u7acb\u5373\u505c\u6b62\u7535\u673a\u8f93\u51fa (Duty &#061; 0)<\/span><br \/>\n    <span class=\"token comment\">\/\/ 2. \u8fdb\u9636&#xff1a;\u6267\u884c\u201c\u4e3b\u52a8\u53cd\u5411\u5236\u52a8\u201d <\/span><br \/>\n    <span class=\"token function\">set_motor_pwm<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">200<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u7ed9\u4e00\u4e2a\u77ed\u6682\u7684\u53cd\u5411\u529b&#xff0c;\u8fc5\u901f\u628a\u901f\u964d\u4e0b\u6765  <\/span><br \/>\n    <span class=\"token comment\">\/\/ 3. \u8235\u673a\u56de\u6b63&#xff0c;\u9632\u6b62\u4fa7\u7ffb\u6216\u5835\u8f6c<\/span><br \/>\n    <span class=\"token function\">set_servo_pwm<\/span><span class=\"token punctuation\">(<\/span>SERVO_MID<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h2>&#x1f3ce;\ufe0f \u5b9e\u6218\u7ecf\u9a8c\u603b\u7ed3&#xff1a;\u90a3\u4e9b\u4ee3\u7801\u4e4b\u5916\u7684\u201c\u5236\u80dc\u5173\u952e\u201d<\/h2>\n<p>\u5f88\u591a\u540c\u5b66\u5728\u8c03\u8f66\u65f6\u4f1a\u9677\u5165\u201c\u7b97\u6cd5\u51b3\u5b9a\u4e00\u5207\u201d\u7684\u8bef\u533a&#xff0c;\u4f46\u4f5c\u4e3a\u4ece\u201c\u5c0f\u767d\u201d\u8d70\u8fc7\u6765\u7684\u53c2\u8d5b\u8005&#xff0c;\u6211\u4eec\u6df1\u523b\u4f53\u4f1a\u5230&#xff1a;\u5de5\u7a0b\u7ec6\u8282\u5f80\u5f80\u6bd4\u7b97\u6cd5\u903b\u8f91\u66f4\u80fd\u51b3\u5b9a\u6210\u8d25\u3002<\/p>\n<hr \/>\n<h3>(1)&#x1f6e0;\ufe0f \u786c\u4ef6\u51b3\u5b9a\u4e0a\u9650&#xff1a;\u522b\u8ba9\u786c\u4ef6\u6bc1\u4e86\u4f60\u7684\u7b97\u6cd5<\/h3>\n<p>\u6211\u4eec\u66fe\u82e6\u82e6\u8c03\u4ee3\u7801\u3001\u8c03\u53c2\u6570&#xff0c;\u8bd5\u56fe\u6d88\u9664\u5c0f\u8f66\u83ab\u540d\u7684\u6296\u52a8&#xff0c;\u6700\u540e\u5374\u53d1\u73b0&#xff1a;\u7535\u611f\u652f\u67b6\u7684\u521a\u6027\u4e0d\u8db3\u624d\u662f\u7f6a\u9b41\u7978\u9996\u2014\u2014\u652f\u67b6\u6296\u5f97\u6bd4\u8f66\u8fd8\u5389\u5bb3\u3002<\/p>\n<h4>\u7b97\u6cd5\u6ee4\u6ce2\u6253\u4e0d\u8fc7\u6643\u52a8\u6536\u96c6\u5230\u7684\u590d\u6742\u6570\u636e<\/h4>\n<p>&#x1f4a1; \u6838\u5fc3\u89c2\u70b9&#xff1a;\u5982\u679c\u652f\u67b6\u6643\u5f97\u6bd4\u8f66\u8fd8\u5389\u5bb3&#xff0c;\u7535\u611f\u6355\u6349\u5230\u7684\u78c1\u573a\u53d8\u5316\u5c31\u4f1a\u5305\u542b\u5927\u91cf\u7684\u7269\u7406\u566a\u58f0&#xff0c;\u975e\u5e38\u590d\u6742&#xff0c;\u8fd9\u662f\u4efb\u4f55\u8f6f\u4ef6\u7b97\u6cd5\u90fd\u96be\u4ee5\u5b8c\u7f8e\u5f25\u8865\u7684\u3002<\/p>\n<p>\u7ed3\u8bba&#xff1a;\u52a0\u56fa\u652f\u67b6\u540e&#xff0c;\u4e5f\u8bb8\u539f\u672c\u7684\u4ee3\u7801\u5c31\u5df2\u7ecf\u80fd\u8ba9\u8f66\u8dd1\u5f97\u5f88\u7a33\u5b9a\u4e86\u3002<\/p>\n<h4>\u201c\u63a7\u5236\u53d8\u91cf\u201d\u662f\u8c03\u8bd5\u7684\u524d\u63d0<\/h4>\n<p>\u7535\u78c1\u6a21\u5757\u7684\u5b89\u88c5\u4f4d\u7f6e\u3001\u524d\u63a2\u8ddd\u79bb\u3001\u751a\u81f3\u662f\u503e\u659c\u89d2\u5ea6&#xff0c;\u90fd\u4f1a\u76f4\u63a5\u6539\u53d8 ADC \u7684\u57fa\u51c6\u8bfb\u6570\u3002<\/p>\n<ul>\n<li>\u56fa\u5b9a\u7262\u56fa&#xff1a;\u4e00\u5b9a\u8981\u4fdd\u8bc1\u6a21\u5757\u56fa\u5b9a\u7262\u56fa\u3002<\/li>\n<li>\u5b9a\u671f\u68c0\u67e5&#xff1a;\u78b0\u649e\u540e\u652f\u67b6\u53ef\u80fd\u4f1a\u6b6a&#xff0c;\u8bb0\u5f97\u624b\u52a8\u6821\u6b63\u89d2\u5ea6&#xff0c;\u5426\u5219\u4f60\u4f1a\u53d1\u73b0\u539f\u672c\u8c03\u597d\u7684\u53c2\u6570\u7a81\u7136\u5c31\u201c\u5931\u6548\u201d\u4e86\u3002<\/li>\n<\/ul>\n<h4>\u4fdd\u62a4\u5c0f\u7ec6\u8282<\/h4>\n<ul>\n<li>&#x1f6e1;\ufe0f \u52a0\u56fa\u5f15\u811a&#xff1a;\u5efa\u8bae\u4f7f\u7528\u70ed\u7194\u80f6\u52a0\u56fa\u7535\u611f\u5f15\u811a&#xff0c;\u9632\u6b62\u5728\u9891\u7e41\u7684\u78b0\u649e\u548c\u632f\u52a8\u4e2d\u4ea7\u751f\u865a\u63a5\u6216\u65ad\u88c2\u3002<\/li>\n<\/ul>\n<hr \/>\n<h3>(2)&#x1f4c8; \u9636\u6bb5\u5316\u5f00\u53d1&#xff1a;\u4ece\u201c\u8dd1\u8d77\u6765\u201d\u5230\u201c\u8dd1\u5f97\u7a33\u201d<\/h3>\n<p>\u667a\u80fd\u8f66\u7ade\u8d5b\u662f\u4e00\u4e2a\u5c42\u5c42\u9012\u8fdb\u7684\u8fc7\u7a0b&#xff08;\u4e2d\u671f\u68c0\u67e5 -&gt; \u9884\u8d5b -&gt; \u51b3\u8d5b&#xff09;&#xff0c;\u6211\u4eec\u7684\u7b56\u7565\u662f&#xff1a;<\/p>\n<ul>\n<li>&#x1f7e2; \u524d\u671f&#xff08;\u63a2\u7d22\u9636\u6bb5&#xff09;\n<ul>\n<li>\u7b56\u7565&#xff1a;\u91c7\u7528\u5dee\u6bd4\u548c\u7b97\u6cd5\u3002<\/li>\n<li>\u7406\u7531&#xff1a;\u903b\u8f91\u76f4\u89c2\u3001\u6613\u4e8e\u90e8\u7f72&#xff0c;\u80fd\u8ba9\u4f60\u5feb\u901f\u770b\u5230\u53cd\u9988&#xff0c;\u5efa\u7acb\u4fe1\u5fc3\u3002<\/li>\n<\/ul>\n<\/li>\n<li>&#x1f534; 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