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softwareApplieation.5,。3MAllAB,,iSmuhnk,,。,4x4A,4x2B,2x2C,2x2D,u,x,Y。(A,B,c),。2,,T=9550,,np、vNI;、、,、。,,;,y(y,y)。。,,、。,AB,A,B,。。,K,。,PwM=anglexkl+angle-klk4(19)5:,eror--ra,titrnaglP=(8+l6xj816xj1020),MLBplaee、reg、acker,K=acker(A,B,P)=()。simuilnk6。6,。6,O。,K,。pZ=(2xj24xj1020)p3=(4+sxj4sxj1020)。,:,K,,,“”,,,。4,114〔eetr。ni。ehn。ogy&software〔ngineering·113.SoftwaerAppiaetionERp/,ERP,,,,。ERP,。[]ERP、。,ERP。ERP,、,。,ERP。ERP,ERP,1。,ERPERP。1.2ERP。ERp1.1ERPERP。ERPMRPll、、,、(、、);、,;、、;、、、;,、;、Wb/InternetjlntranetIExtranet、(Ecommerce、Ebuisness)、(EDI);()。,、。,ERP,ERP,,。ERP,,ERP113,Z。,,。,;,()。,,,,p、vNI:PWm=(anglerangexO.OS)xkl+angle_dotxkZ+rangexk3+wheelpeedxk4(20),,LabiVew。LabiVewG,,,。LabiVew,。,,。。5,。,K,,LabiVew。,,,、、。Aululon,。【1].PIDLQR[D].,2012.【2].aLbv1EwD[].,20n.【3」RenTJ,ChenTC,ChenCJ.MotioneontrolforatwowheeledvehieleusingaselftuningPIDeontroller【J」.ControlEngineeringPraetiee,2008,16(3):365375.(1993),,,。。。。210016114.EleetronieeTehnology&software〔ngineering