一种基于改进型S曲线加减速的PVT控制方法.docVIP

%PDF-1.4

%忏嫌

20obj

/Type/XObject/Subtype/Image/Width133/Height133/Length4850/ColorSpace/DeviceRGB/DecodeParms/BitsPerComponent8/Predictor15/Columns133/Colors3/BitsPerComponent8/Filter/FlateDecodestream

x陟� |

Ug捝�4M毝iK)磖

(玕�9瀵(�(.�脯�YD

u=P��

,G

m闄９�9��#M�橧:i

歼g曾2漼缶髜�;S


�4�Mx
��
�����
x
��
��@�鄎�覟7;R铢楝齶筗g腬N挗(憪蝥t

�%yb`俆哝鄓��允藈�6�
�H荀罻翯爜y蛸鉚

��%邷w,踚瞃瘭η[0Y�-[酊敂�$\�%熪b8{泡荑DC
聲�昹炦�豷

洧
}桡辎窂{涌!D �+�t比5栀掲鳂彾石孱檁雔vⅸ絘冗�!J噜瘄�!,瓬级饒]v^w郊請痣�

�;

�J璜峲褿U�G,搏札瘽�缻J�

�+趱妧倐

qnn搠�#:9V銄k瘔6晓礣PA叀K`G

8�肿�
x皶薴欹]u磜

迸酼�

o遊丵3朤赴[|�7潎|�r唟

�+D��/蝖vpaNHH

獓儯斔JXj0齯�

�4遠麯睁y檧G$罥晗�

�:��1莭N�蹼%IN勓K懂EB�2锏Bg鮡�?�#凮�3�#�倓.Ty�*甲tㄑ巤紨Dk

�Z崂lq嶸豗x�`篜閕漾璻!��x�衮�4

Uz険k蝺:/諕裵s

z~吠Z�5�al~v{捀珻�?e逹�0賶鄔索搻墐

覩R蒫�9

5kTM~�4�_詬S╅�/硵榚N鼤�6套U砚Ew攌�tey|膏�C粔蹃D�
7塔宋浦p*徠G�)h�0�?k亥

;�渠J弦杣j�-KHj@?闂彞F綻�谝H$餵�

佔蠡侀uъ蚴湼扏 jM侕�

6o雅冝��ц�忆澌�4?阾u忐U�_龌%prp[讣蠈U1聽��Y竜�2厀=�(螽9\u��

鉡葭$泈5菶ふ/-﨎?霑瑵x��3AD滹鹯蔋迓{

Y^鶃4q啍锍!躐y}nh鷥 箂紥F蜃曬娯OTzf|�/6b煩披RN^q橾Rp临

殱^28渘

r诱?XpUt锃堭-��沺Ｄ愁7

�0鰯告�4:12lR�x噱噎Gm皴膘冀虋嚟湳傯?y賿摙絶W?W蒏懇愜� �6詒

cG彪瑿f�

�#6寕况犜渑錩沓膵菐J鳌*O鐳H`�俁4绕G揷k氱{舍e�4x撣A5

(4埐嬸/k競駅果�嬤筧儑B

哠3�+�诟鐀蓨m糕剼4茉�
墻f@b o鉩�/岂餯/O袜萲矂縙p栔am噏F圑�K磅�#4t陭F蝤�.垢銺��gミ蠍cJM.UC ��;^褊褾/�*`榡�

a鼫煻UkU9埮噄5E艩帢削壽KNx惮B弎妹嶲/煴鈊�1��唃

S抻鏀F72-0瑁爁

掷�1弆∪

繗c緥�6跶挕墋E!y癰宕詏鏳瑳�6k孞)迕�,嫁孫ZT鍭┒苾4�黱v舽a扵C篕V孮s⒂i麿0�=dc鈩

�泓靓B婐R?蘆螴�%Q�液�i}垹爮�(挌:(犸�U-�=韌a鷃{哛-b鴢?�p蟸4i踯屫鸊3

(`X 侭�)オ戝９丵�=銩O鰫Q
�

蝈崦s�设�

凰�n窩鰞狑[-�M�$U+%,

馸潳亳Z讓�俀}}弗n�1[�n8�9�#豽岛砐腫�`2涕敹IY��

r藩j褏粛Q]固�Tdgc2斎�赼9��

虘靭3玾f~ノ孏停袌緓柒 ~h遴鶮x(�:I听��償l艽涧凡7K~穤[簟�?碬瞚憾珰YΛ憁嫴ze0N��雥昋鹄Hj镋Kv�

諞Lw乘踦x钚�
)B(

襇帉�.���筒n忛映v6fi蒳[晸`�7袱T踄禋嫼襚�*蹘趡侍�駓﹌z※�

顼殿$忲�=躚�呒�*滣L\促\杜胳�%2岟妉g隤�0�;o刯��=Wz掄隬2%
�;psVU蹥迚P�

;^8ey怖吹覎�3帯鍼

��？姧蠴�瘖��!Ih�

�3?杓D圙癮�g瓍zo鋨仯T蓂鐦榇懯j;G测oZ樕醋詀�\_柷乑o埰I┛#韊孢�臺�

惂�

~缂袿a塐�5省

巤椵��斗煮麵�%

CDVw-趇M戱檽smU齳敀殃ZWt�

:y蘢g1{冎 �5丆�2醞��紁衪很��嶀B隳 �7^匊gS@

堀ц蘖r憪W昀�

q@s�)邍�肻厲焩Yu�,�uS痶U�cX澞]蠒T栊�)Ar�

�!@ut指�ig酴�*M踗§傷珝啳惶�,d郖