CN109910873A - A kind of vehicle automatic parking Torque Control method based on synovial membrane - Google Patents
A kind of vehicle automatic parking Torque Control method based on synovial membrane Download PDFInfo
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- CN109910873A CN109910873A CN201910272464.0A CN201910272464A CN109910873A CN 109910873 A CN109910873 A CN 109910873A CN 201910272464 A CN201910272464 A CN 201910272464A CN 109910873 A CN109910873 A CN 109910873A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 210000001258 synovial membrane Anatomy 0.000 title claims abstract description 24
- 230000000007 visual effect Effects 0.000 claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims description 46
- 239000011159 matrix material Substances 0.000 claims description 14
- 238000004458 analytical method Methods 0.000 claims description 12
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 16
- 230000001419 dependent effect Effects 0.000 abstract description 3
- 230000002093 peripheral effect Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000005381 potential energy Methods 0.000 description 16
- 230000009471 action Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005094 computer simulation Methods 0.000 description 2
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Abstract
The invention belongs to vehicle automatic parking technical fields, specially a kind of vehicle automatic parking Torque Control method based on synovial membrane solves and is too dependent on traditional vehicle of visual sensor and parks that there are the control problems of vision dead zone etc. for technological means.The method of the invention is designed by system modelling, using the torque controller that global feedback information carries out, system modelling first, realize the description to target parking areas and peripheral obstacle, in turn, the design that torque controller is carried out according to model information, thus drastically reduces the heavy dependence to automatic parking visual sensor.It parks fault so as to avoid vision dead zone bring, accuracy of parking is improved by this method, and this will push the depth for automating technology of parking to change, and then generation information technology, high-end devices is pushed to manufacture developing industry, have good application value.
Description
Technical field
The invention belongs to vehicle automatic parking technical fields, are related to a kind of dynamics and movement based on vehicle
Learn the Torque Control method of feature, specially a kind of vehicle automatic parking Torque Control method based on synovial membrane.
Background technique
Currently, with science and technology advancing by leaps and bounds, visual sensor, laser range finder, balance gyro, ultrasonic radar with
And the location controls such as the sensors such as photoelectric coding and GPS technology increasingly it is mature with it is perfect.Especially these control technologies with instantly
The control theories depth integration such as unmanned, unmanned control technology (including automatic parking technology) has become current automatic
Change one of the hot issue of control theory and scientific practice application.However, at present related unmanned control technology mainly according to
Rely in traditional Trajectory Tracking Control strategy, and automates control technology of parking often all excessively dependent on visual sensing
Device breaks down once vision dead zone either visual sensor occurs in the process of moving in vehicle, and being bound to cause can not retrieve
Loss, to seriously affect its application value.Based on this, it is necessary to a kind of completely new control technology means of parking are invented, with
Solve tradition park control technology means the drawbacks of.
Summary of the invention
It is an object of the invention to solve to be too dependent on traditional vehicle of visual sensor technological means of parking to deposit
Control problem in vision dead zone etc. provides a kind of vehicle automatic parking Torque Control method based on synovial membrane, we
Method only depends on the feedback information of external environment, does not need real-time visual processes technology, and accuracy of parking is higher.
The present invention the technical solution to solve the technical problem is that: a kind of vehicle automatic parking torque control based on synovial membrane
Method processed, comprising the following steps:
1. being identified, being positioned to the barrier in vehicle, target parking areas and target parking areas by GPS
And ranging, obtain the location information x of vehicle, the location information u of barrier0, the target under i-th of constraint condition parks area
The reference point x in domain0i；
2. the location information of the vehicle 1. obtained by mathematical software according to step, barrier and target parking areas
And the shape of target parking areas is modeled, to target parking areas structure realm potential function P, to identified barrier
Avoidance potential function U is constructed, specifically:
Wherein, kiIt is the gain of the target parking areas under adjustable i-th of constraint condition；N is target parking areas
Constraint condition number；fΔi(Δxi) it is one with continuous and derivable scalar function, fΔi(Δxi) indicate under i-th of constraint condition
Target parking areas, Δ xi=x-x0i, the reference point x of the target parking areas under i-th of constraint condition0iIt is constrained for i-th
Under the conditions of target parking areas central point；‖x-u0‖ indicates vehicle at a distance from barrier, and R is with vehicle
Center is the radius of the maximum sensing region in the center of circle, and r is the radius at the center of vehicle and the minimum safe distance of barrier,
R and r is the value artificially set according to actual needs；
3. the region potential function P and avoidance potential function U that are 2. established according to step enter mesh designed for control vehicle
The torque controller of parking areas is marked, specific as follows:
Wherein, q is the vector in the two-dimensional surface of linear velocity and angular speed formation；θ is the course angle of vehicle；K is
Adjustable gain matrix, K are arranged according to actual needs,Estimate for system parameter,By the adaptive rate of system parameterIt pushes away
It obtains, wherein the adaptive rate of system parameterS is synovial membrane variable, s=q-qr,Y is known regression matrix relevant to vehicle dynamics, different type
The expression of the corresponding Y of dynamical structure be different,It is known input transition matrix, different types of power
It is corresponding to learn structureExpression be different,It is target parking areas gradient,It is barrier gradient；Wherein
The dynamics and dynamic model of vehicle are as follows:
Wherein
4. then adjusting the gain k of the target parking areas under i-th of constraint conditioniWith gain matrix K, to vehicle
Automation park torque controller carry out stability analysis.
This method step 1. in by GPS to the barrier in vehicle, target parking areas and target parking areas
It is positioned, obtains the location information x of vehicle, the location information u of barrier0, the target under i-th of constraint condition parks
The reference point x in region0i, target parking areas is identified, analyzed and is measured between vehicle and barrier by GPS
Distance；Then 2. step models identified barrier and target parking areas using mathematical software, the region
The action principle of potential function P is that the potential energy in target parking areas is minimum, all in compared with high potential energy outside target parking areas, is passed through
Gravitational field near arteface target parking areas, vehicle can be moved to low-potential energy from high potential energy along gradient direction
Enter eventually into target parking areas.Step 2. described in avoidance potential function U action principle be potential energy near barrier most
Height, barrier is outer all in compared with low-potential energy, by the repulsion field near arteface barrier, once vehicle enters reprimand
The field of force, vehicle can be moved to low-potential energy from high potential energy along gradient direction and eventually disengage from obstacle environment.Avoidance gesture letter
R is using the center of vehicle as the radius of the maximum sensing region in the center of circle in number U, and r is center and the barrier of vehicle
Minimum safe distance radius, if barrier at a distance from vehicle be greater than R so vehicle will not perceive barrier
Hinder object, if vehicle at a distance from barrier between R and r, vehicle will perceive barrier, thus into
Entering step, 3. vehicle adjustment moment values are changed course avoidance, and R and r are the values artificially set according to actual needs, this makes
The method of the invention uses more convenient and humanized, can be done not according to the case where different target parking areas
Different changes, practicability with higher.Step 3. described in torque controller action principle are as follows: in fact, vehicle
Dynamic property it is not only related with vehicle kinematics relative position, also with the structure type of vehicle, Mass Distribution, hold
The factors such as position, the transmission device of row mechanism are related.Vehicle dynamic property is described by kinetics equation, and dynamics is exactly to examine
Consider above-mentioned factor, studies the dynamic relationship between the movement of vehicle and torque.By modern control theory method, using stability
Analysis theories are asymptotically stabilities by the closed-loop control system that the controller forms, that is, vehicle may finally be entered
Into target parking areas invariant set, target parking areas gradientThe automation that vehicle can be realized is parked.Step
3. being direct torque controller, i.e., the rotating ratio of the invention according to torque controller adjustment two wheel speed of vehicle passes through rotating ratio
To control the direction realization automation avoidance of the steering of wheel and then control vehicle and park.It can by the control of step 3.
Guarantee that distance is greater than r between the barrier in vehicle and target parking areas.Step 3. in vehicle dynamics
With dynamic model be the prior art, be it is known in those skilled in the art, the present invention in this will not be described in detail.Step
In 4., the gain k of the target parking areas under i-th of the constraint condition of continuous adjustment region potential function P is needediWith torque control
The gain matrix K of device τ processed ensure that the stabilization of region potential function P and torque controller τ can guarantee the stabilization of whole system
Property.The method of the invention is designed by system modelling, using the torque controller that global feedback information carries out, first system
Modeling, realizes the description to target parking areas and peripheral obstacle, in turn, carries out torque controller according to model information
Design, thus drastically reduce the heavy dependence to automatic parking visual sensor.
Preferably, by step 3. in torque controller adjust vehicle enter target parking areas and then
Posture of the vehicle in target parking areas, the attitude controller are as follows: ω=- α are adjusted by pose adjustment device
tanh(θ-θd), α is pose adjustment rate adjustable parameter, θdIt is a desired posture of the vehicle in target parking areas,
θdIt is the value artificially set according to actual needs.The action principle of the attitude controller is to be answered by modern control theory method
It is also asymptotically stability, θ-θ by the closed-loop control system that the controller forms with stability analysis theoryd=0, it realizes any
The adjusting of posture.
Preferably, step 4. in stability analysis use Lyapunov theory and Barbalat theorem.In stability
Lyapunov theory and Barbalat theorem are used simultaneously in analytic process, the two theories meet the present invention to entire system
The requirement of system stability analysis.
Preferably, 1. step can also be identified by shape of the visual sensor to target parking areas, 1. step is gone back
The distance between the barrier that vehicle and target parking areas can be measured by range unit, directly uses visual sensor
The information of needs can be more convenient and directly obtained with range unit.
Compared with prior art, the beneficial effects of the present invention are: the method for the invention does not need real-time visual processes
Technology drastically reduces the heavy dependence to automatic parking visual sensor, parks so as to avoid vision dead zone bring
Fault, the automatic parking being further applicable under vision dead zone and visual sensor failure conditions are improved by this method
Accuracy of parking, so that automatic parking technology obtains better adaptability and integrality, and this will push automation to moor
The depth of driving skills art is changed, and then has pushed generation information technology, high-end devices manufacture developing industry, has good application
Value.
Detailed description of the invention
Fig. 1 is the schematic diagram that present invention automation is parked.
Specific embodiment
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to skill of the invention
Art scheme is described in detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than all real
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art without making creative work gained
The every other embodiment arrived belongs to the range that the present invention is protected.
Referring to attached drawing 1, now to a kind of vehicle automatic parking Torque Control method based on synovial membrane provided by the invention
It is illustrated.
A kind of vehicle automatic parking Torque Control method based on synovial membrane, comprising the following steps:
1. being identified, being positioned to the barrier in vehicle, target parking areas and target parking areas by GPS
And ranging, obtain the location information x of vehicle, the location information u of barrier0, the target under i-th of constraint condition parks area
The reference point x in domain0i；
2. the location information of the vehicle 1. obtained by mathematical software according to step, barrier and target parking areas
And the shape of target parking areas is modeled, to target parking areas structure realm potential function P, to identified barrier
Avoidance potential function U is constructed, specifically:
Wherein, kiIt is the gain of the target parking areas under adjustable i-th of constraint condition；N is target parking areas
Constraint condition number, the irregular shape in usual target parking areas, is made of the intersection of multiple regions, by region
Potential function P can be seen that the target parking areas is the intersection in n region, so n is target parking areas constraint condition number
Mesh；fΔi(Δxi) it is one with continuous and derivable scalar function, fΔi(Δxi) indicate that the target under i-th of constraint condition is parked
Region, Δ xi=x-x0i, the reference point x of the target parking areas under i-th of constraint condition0iFor the mesh under i-th of constraint condition
Mark the central point of parking areas；‖x-u0‖ indicates vehicle at a distance from barrier, and R is using the center of vehicle as the center of circle
Maximum sensing region radius, r is the radius at the center of vehicle and the minimum safe distance of barrier, and R and r are people
For the value set according to actual demand；Such as target parking areas is only simple border circular areas, then n=1, i.e. target are moored
The constraint condition number in vehicle region is 1, at this timeΔ x=x-x0, x0 here indicate it is single about
The reference point of target parking areas under the conditions of beam, the as center of circle of border circular areas, if the radius of the border circular areas is 1, fΔ
(Δ x)=Δ x2- 1 < 0, fΔ(Δ x) expression is exactly the border circular areas that radius is 1 using x0 as the center of circle；
3. the region potential function P and avoidance potential function U that are 2. established according to step enter mesh designed for control vehicle
The torque controller of parking areas is marked, specific as follows:
Wherein, q is the vector in the two-dimensional surface of linear velocity and angular speed formation；θ is the course angle of vehicle；K is can
The gain matrix of tune, K are arranged according to actual needs,Estimate for system parameter,By the adaptive rate of system parameterIt pushes away,
The adaptive rate of middle system parameterS is synovial membrane variable, s=q-qr,Y
It is known regression matrix relevant to vehicle dynamics, the different types of corresponding Y's of dynamical structure embodies
Formula is different,It is known input transition matrix, different types of dynamical structure is correspondingExpression be not
With,It is target parking areas gradient,It is barrier gradient；The wherein dynamics and dynamic model of vehicle are as follows:
Wherein
4. then adjusting the gain k of the target parking areas under i-th of constraint conditioniWith gain matrix K, to vehicle
Automation park torque controller carry out stability analysis.
This method step 1. in by GPS to the barrier in vehicle, target parking areas and target parking areas
It is positioned, obtains the location information x of vehicle, the location information u of barrier0, the target under i-th of constraint condition parks
The reference point x in region0i, target parking areas is identified, analyzed and is measured between vehicle and barrier by GPS
Distance；Then 2. step models identified barrier and target parking areas using mathematical software, the region
The action principle of potential function P is that the potential energy in target parking areas is minimum, all in compared with high potential energy outside target parking areas, is passed through
Gravitational field near arteface target parking areas, vehicle can be moved to low-potential energy from high potential energy along gradient direction
Enter eventually into target parking areas.Step 2. described in avoidance potential function U action principle be potential energy near barrier most
Height, barrier is outer all in compared with low-potential energy, by the repulsion field near arteface barrier, once vehicle enters reprimand
The field of force, vehicle can be moved to low-potential energy from high potential energy along gradient direction and eventually disengage from obstacle environment.Avoidance gesture letter
R is using the center of vehicle as the radius of the maximum sensing region in the center of circle in number U, and r is center and the barrier of vehicle
Minimum safe distance radius, if barrier at a distance from vehicle be greater than R so vehicle will not perceive barrier
Hinder object, if vehicle at a distance from barrier between R and r, vehicle will perceive barrier, thus into
Entering step, 3. vehicle adjustment moment values are changed course avoidance, and R and r are the values artificially set according to actual needs, this makes
The method of the invention uses more convenient and humanized, can be done not according to the case where different target parking areas
Different changes, practicability with higher.Step 3. described in torque controller action principle are as follows: in fact, vehicle
Dynamic property it is not only related with vehicle kinematics relative position, also with the structure type of vehicle, Mass Distribution, hold
The factors such as position, the transmission device of row mechanism are related.Vehicle dynamic property is described by kinetics equation, and dynamics is exactly to examine
Consider above-mentioned factor, studies the dynamic relationship between the movement of vehicle and torque.By modern control theory method, using stability
Analysis theories are asymptotically stabilities by the closed-loop control system that the controller forms, that is, vehicle may finally be entered
Into target parking areas invariant set, target parking areas gradientThe automation that vehicle can be realized is parked.Step
3. being direct torque controller, i.e., the rotating ratio of the invention according to torque controller adjustment two wheel speed of vehicle passes through rotating ratio
To control the direction realization automation avoidance of the steering of wheel and then control vehicle and park.It can by the control of step 3.
Guarantee that distance is greater than r between the barrier in vehicle and target parking areas.Step 3. in vehicle dynamics
With dynamic model be the prior art, be it is known in those skilled in the art, the present invention in this will not be described in detail.Step
In 4., the gain k of the target parking areas under i-th of the constraint condition of continuous adjustment region potential function P is needediWith torque control
The gain matrix K of device τ processed ensure that the stabilization of region potential function P and torque controller τ can guarantee the stabilization of whole system
Property.The method of the invention is designed by system modelling, using the torque controller that global feedback information carries out, first system
Modeling, realizes the description to target parking areas and peripheral obstacle, in turn, carries out torque controller according to model information
Design, thus drastically reduce the heavy dependence to automatic parking visual sensor.
Further, as a kind of vehicle automatic parking Torque Control method based on synovial membrane of the present invention
A kind of specific embodiment, by step 3. in torque controller adjust after vehicle enters target parking areas,
Posture of the vehicle in target parking areas, the attitude controller are adjusted by pose adjustment device again are as follows: ω=-
atanh(θ-θd), α is pose adjustment rate adjustable parameter, θdIt is a desired appearance of the vehicle in target parking areas
State, θdIt is the value artificially set according to actual needs.The action principle of the attitude controller be by modern control theory method,
It is also asymptotically stability, θ-θ by the closed-loop control system that the controller forms using stability analysis theoryd=0, it realizes and appoints
The adjusting for posture of anticipating.
Further, as a kind of vehicle automatic parking Torque Control method based on synovial membrane of the present invention
A kind of specific embodiment, step 4. in stability analysis use Lyapunov theory and Barbalat theorem.In stabilization
Property analytic process in simultaneously used Lyapunov theory and Barbalat theorem, the two theories meet the present invention to entire
The requirement of system stability analysis.
Further, as a kind of vehicle automatic parking Torque Control method based on synovial membrane of the present invention
1. a kind of specific embodiment, step can also identify that step is 1. by shape of the visual sensor to target parking areas
The distance between the barrier that vehicle and target parking areas can also be measured by range unit, directly uses visual sensing
Device and range unit can be more convenient and directly obtain the information of needs.
Further, as a kind of vehicle automatic parking Torque Control method based on synovial membrane of the present invention
A kind of specific embodiment, the visual sensor and infrared distance sensor are mounted on vehicle.By visual sensor
The shape and unmanned vehicle that can quickly and conveniently obtain target parking areas is mounted on vehicle with infrared distance sensor
The distance between with barrier.
Further, as a kind of vehicle automatic parking Torque Control method based on synovial membrane of the present invention
A kind of specific embodiment, step 2. in mathematical software be Matlab, Mathematics or Python.This method is mainly
The method emulated by mathematical software, above-mentioned mathematical software can be met the requirements.
Further, in a specific embodiment, numerical simulation is carried out to the method for the invention using Matlab, it can
Realize that the automation of vehicle is parked, specifically, initial value is randomly selected using the ode45 algorithm in Matlab, to entire system
The model and torque controller of system carry out Numerical Validation.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (8)
1. a kind of vehicle automatic parking Torque Control method based on synovial membrane, which comprises the following steps:
1. the barrier in vehicle, target parking areas and target parking areas is identified, positioned and is surveyed by GPS
Away from obtaining the location information x of vehicle, the location information u of barrier0, target parking areas under i-th of constraint condition
Reference point x0i；
2. the vehicle 1. obtained according to step by mathematical software, barrier and target parking areas location information and
The shape of target parking areas is modeled, and to target parking areas structure realm potential function P, is constructed to identified barrier
Avoidance potential function U, specifically:
Wherein, kiIt is the gain of the target parking areas under adjustable i-th of constraint condition；N is target parking areas constraint item
Number of packages mesh；fΔi(Δxi) it is one with continuous and derivable scalar function, fΔi(Δxi) indicate i-th of constraint condition under target
Parking areas, Δ xi=x-x0i, the reference point x of the target parking areas under i-th of constraint condition0iFor under i-th of constraint condition
Target parking areas central point；‖x-u0‖ indicates vehicle at a distance from barrier, and R is to be with the center of vehicle
The radius of the maximum sensing region in the center of circle, r are the radiuses at the center of vehicle and the minimum safe distance of barrier, and R and r are equal
It is the value artificially set according to actual needs；
3. the region potential function P and avoidance potential function U that are 2. established according to step enter target pool designed for control vehicle
The torque controller in vehicle region, specific as follows:
Wherein, q is the vector in the two-dimensional surface of linear velocity and angular speed formation；θ is the course angle of vehicle；K is adjustable
Gain matrix, K is arranged according to actual needs,Estimate for system parameter,By the adaptive rate of system parameterIt pushes away,
The adaptive rate of middle system parameterS is synovial membrane variable, s=q-qr,
Y is known regression matrix relevant to vehicle dynamics, and the different types of corresponding Y's of dynamical structure embodies
Formula is different,It is known input transition matrix, different types of dynamical structure is correspondingExpression be not
With,It is target parking areas gradient,It is barrier gradient；The wherein dynamics and dynamic model of vehicle are as follows:
Wherein
4. then adjusting the gain k of the target parking areas under i-th of constraint conditioniWith gain matrix K, to vehicle from
Dynamicization park torque controller carry out stability analysis.
2. a kind of vehicle automatic parking Torque Control method based on synovial membrane according to claim 1, feature exist
In: by step 3. in torque controller adjust vehicle and enter target parking areas and then pass through pose adjustment
Device adjusts posture of the vehicle in target parking areas, the attitude controller are as follows: ω=- α tanh (θ-θd), α is
Pose adjustment rate adjustable parameter, θdIt is a desired posture of the vehicle in target parking areas, θdIt is artificially according to reality
The value of border demand setting.
3. a kind of vehicle automatic parking Torque Control method based on synovial membrane according to claim 1 or 2, feature
Be: step 4. in stability analysis use Lyapunov theory and Barbalat theorem.
4. a kind of vehicle automatic parking Torque Control method based on synovial membrane according to claim 3, feature exist
In: 1. step can also be identified by shape of the visual sensor to target parking areas.
5. a kind of vehicle automatic parking Torque Control method based on synovial membrane according to claim 4, feature exist
In: 1. step can also measure the distance between the barrier of vehicle and target parking areas by range unit.
6. a kind of vehicle automatic parking Torque Control method based on synovial membrane according to claim 5, feature exist
In: the range unit is infrared distance sensor.
7. a kind of vehicle automatic parking Torque Control method based on synovial membrane according to claim 6, feature exist
In: the visual sensor and infrared distance sensor are mounted on vehicle.
8. a kind of vehicle automatic parking Torque Control method based on synovial membrane according to claim 7, feature exist
In: step 2. in mathematical software be Matlab, Mathematics or Python.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1506862A (en) * | 2002-12-11 | 2004-06-23 | 中国科学院自动化研究所 | Autonomous mobile robot platform based on multi-DSP parallel processing |
| CN105955268A (en) * | 2016-05-12 | 2016-09-21 | 哈尔滨工程大学 | Local obstacle avoidance considering UUV moving object sliding mode tracking control method |
| CN107544500A (en) * | 2017-09-18 | 2018-01-05 | 哈尔滨工程大学 | A kind of unmanned boat berthing action trail planing method for considering constraint |
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2019
- 2019-04-04 CN CN201910272464.0A patent/CN109910873B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1506862A (en) * | 2002-12-11 | 2004-06-23 | 中国科学院自动化研究所 | Autonomous mobile robot platform based on multi-DSP parallel processing |
| CN105955268A (en) * | 2016-05-12 | 2016-09-21 | 哈尔滨工程大学 | Local obstacle avoidance considering UUV moving object sliding mode tracking control method |
| CN107544500A (en) * | 2017-09-18 | 2018-01-05 | 哈尔滨工程大学 | A kind of unmanned boat berthing action trail planing method for considering constraint |
Non-Patent Citations (1)
| Title |
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| 陈东: "智能车辆局部避障路径规划及横向运动控制研究", 《中国优秀硕士学位论文全文数据库（电子期刊）工程科技II辑》 * |
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