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1004-132X.
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/Tpwm
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t
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150kN,
2~10s 200kN,
10~12s 150kN,
3.
2
6 3
:
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0
1m,
,,
,,
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2833
23 23 2012 12
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PWM
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(
100kN),
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11
12]
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PID
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[
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[
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2007,
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,,
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[
7] , . AMES
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[
J]. ,
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82
84.
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[
J]. ,
2006(
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29
31.
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9] . [
D].
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2004.
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10] , . [
J].
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143.
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11] .
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2003.
,,
230009
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TP273DOI:
10.
3969/
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s
sn.
1004-132X.
2012.
23.
013
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