{"id":54,"date":"2014-04-17T19:25:20","date_gmt":"2014-04-17T11:25:20","guid":{"rendered":"https:\/\/emt.bjtu.edu.cn\/cn\/?p=54"},"modified":"2025-05-19T21:21:45","modified_gmt":"2025-05-19T13:21:45","slug":"pid-controller","status":"publish","type":"post","link":"https:\/\/emt.bjtu.edu.cn\/cn\/pid-controller\/","title":{"rendered":"PID\u63a7\u5236\u5668\u7684C++\u7a0b\u5e8f\u8bbe\u8ba1"},"content":{"rendered":"\n<p>Simulation of PID OOP Cascade System with Visual C++.<\/p>\n\n\n\n<p>\u8be5\u7a0b\u5e8f\u5df2\u7ecf\u66f4\u65b0\u4e86\u591a\u4e2a\u7248\u672c\uff0c\u6700\u65b0\u7248\u53c2\u9605\uff1a<\/p>\n\n\n\n<p><blockquote class=\"wp-embedded-content\" data-secret=\"MeziItIem4\"><a href=\"http:\/\/emt.bjtu.edu.cn\/pid-control-programming\/\">PID Control C++ Programming<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"&#8220;PID Control C++ Programming&#8221; &#8212; Magtomo Lab\" src=\"http:\/\/emt.bjtu.edu.cn\/pid-control-programming\/embed\/#?secret=zFM9LQ4pKN#?secret=MeziItIem4\" data-secret=\"MeziItIem4\" width=\"600\" height=\"338\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter\"><a href=\"http:\/\/emt.bjtu.edu.cn\/wp-content\/uploads\/2014\/04\/Control_Structure_640.png\"><img decoding=\"async\" src=\"http:\/\/emt.bjtu.edu.cn\/wp-content\/uploads\/2014\/04\/Control_Structure_640.png\" alt=\"Control_Structure_640\" class=\"wp-image-363\"\/><\/a><\/figure>\n<\/div>\n\n\n<p>Full Program Download:<\/p>\n\n\n\n<p><a href=\"http:\/\/emt.bjtu.edu.cn\/download\/678\/\">PID control source code (Visual C++ 6 Version)<\/a><\/p>\n\n\n\n<p><a href=\"http:\/\/emt.bjtu.edu.cn\/download\/1645\/\">PID control source code (Visual Studio Version)<\/a><\/p>\n\n\n\n<p>Design Introduction: &nbsp;<a href=\"http:\/\/emt.bjtu.edu.cn\/download\/680\/\">PPT instruction download<\/a><\/p>\n\n\n\n<p>Part of programs is as follows:<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro padding-bottom-disabled cbp-has-line-numbers\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;--cbp-line-number-color:#D4D4D4;--cbp-line-number-width:calc(2 * 0.6 * .875rem);line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" style=\"color:#D4D4D4;display:none\" aria-label=\"\u590d\u5236\" class=\"code-block-pro-copy-button\"><textarea class=\"code-block-pro-copy-button-textarea\" aria-hidden=\"true\" readonly>\/\/ PID_OOP.cpp : PID control program MAIN.\n\/\/ Designed by Students and Teacher\n\/\/ in the class of Intelligent Instrument Design\n\/\/ Date: 2014-03-28\n\/\/ MagtomoLab: http:\/\/emt.bjtu.edu.cn\n\/\/ BJTU: http:\/\/www.bjtu.edu.cn\n\/\/ &#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8211;\n#include &#8220;stdafx.h&#8221;\n#include &#8220;PID_Controller.h&#8221;\n#include &#8220;RC_Object.h&#8221;\nint main(int argc, char* argv[])\n{\n\tFILE *fp;\n\tdouble sp=2.5;\n\tPID_Controller con1,con2;\n\tRC_Object obj1,obj2;\n\t\/\/ Initialize\n\tcon1.Initialization();\n\tobj1.Initialization();\n\tcon2.Initialization();\n\tobj2.Initialization();\n\t\/\/ Customized Setting\n\tcon1.kp=2.0;\n\tcon1.ki=1;\n\tcon2.ki=1.2;\n\t\/\/ Connection\n\tcon2.pointer_sp=&sp;\n\tcon1.pointer_sp=&amp;con2.cv;\n\tobj1.pointer_cv=&amp;con1.cv;\n\tobj2.pointer_cv=&amp;obj1.pv;\n\tcon2.pointer_pv=&amp;obj2.pv;\n\tcon1.pointer_pv=&amp;obj1.pv;\n\t\/\/ Run\n\tfp=fopen(&#8220;Record.csv&#8221;,&#8221;wt&#8221;);\n\tfprintf(fp, &#8220;pv\\n&#8221;);\n\tfor (int k=0;k&lt;100;k++)\n\t{\t\/\/Print result\n\t\tfprintf(fp, &#8220;%f\\n&#8221;, obj2.pv);\n\t\tcon2.Calculate();\n\t\tcon1.Calculate();\n\t\tobj1.Calculate();\n\t\tobj2.Calculate();\n\t}\n\tfclose(fp);\n\tprintf(&#8220;Finished!\\n&#8221;);\n\treturn 0;\n}<\/textarea><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\">\/\/ PID_OOP.cpp : PID control program MAIN.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ Designed by Students and Teacher<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ in the class of Intelligent Instrument Design<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ Date: 2014-03-28<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ MagtomoLab: http:\/\/emt.bjtu.edu.cn<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ BJTU: http:\/\/www.bjtu.edu.cn<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ -----------------------------------------------<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#include<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #CE9178\">&quot;stdafx.h&quot;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#include<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #CE9178\">&quot;PID_Controller.h&quot;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#include<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #CE9178\">&quot;RC_Object.h&quot;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">int<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #DCDCAA\">main<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #569CD6\">int<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #9CDCFE\">argc<\/span><span style=\"color: #D4D4D4\">, <\/span><span style=\"color: #569CD6\">char*<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #9CDCFE\">argv<\/span><span style=\"color: #D4D4D4\">[])<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">{<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\tFILE *fp;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #569CD6\">double<\/span><span style=\"color: #D4D4D4\"> sp=<\/span><span style=\"color: #B5CEA8\">2.5<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\tPID_Controller con1,con2;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\tRC_Object obj1,obj2;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\t\/\/ Initialize<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Initialization<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">obj1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Initialization<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Initialization<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">obj2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Initialization<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\t\/\/ Customized Setting<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">kp<\/span><span style=\"color: #D4D4D4\">=<\/span><span style=\"color: #B5CEA8\">2.0<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">ki<\/span><span style=\"color: #D4D4D4\">=<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">ki<\/span><span style=\"color: #D4D4D4\">=<\/span><span style=\"color: #B5CEA8\">1.2<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\t\/\/ Connection<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pointer_sp<\/span><span style=\"color: #D4D4D4\">=&amp;sp;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pointer_sp<\/span><span style=\"color: #D4D4D4\">=&amp;<\/span><span style=\"color: #9CDCFE\">con2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">cv<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">obj1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pointer_cv<\/span><span style=\"color: #D4D4D4\">=&amp;<\/span><span style=\"color: #9CDCFE\">con1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">cv<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">obj2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pointer_cv<\/span><span style=\"color: #D4D4D4\">=&amp;<\/span><span style=\"color: #9CDCFE\">obj1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pv<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pointer_pv<\/span><span style=\"color: #D4D4D4\">=&amp;<\/span><span style=\"color: #9CDCFE\">obj2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pv<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #9CDCFE\">con1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pointer_pv<\/span><span style=\"color: #D4D4D4\">=&amp;<\/span><span style=\"color: #9CDCFE\">obj1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pv<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\t\/\/ Run<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\tfp=<\/span><span style=\"color: #DCDCAA\">fopen<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #CE9178\">&quot;Record.csv&quot;<\/span><span style=\"color: #D4D4D4\">,<\/span><span style=\"color: #CE9178\">&quot;wt&quot;<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #DCDCAA\">fprintf<\/span><span style=\"color: #D4D4D4\">(fp, <\/span><span style=\"color: #CE9178\">&quot;pv<\/span><span style=\"color: #D7BA7D\">\\n<\/span><span style=\"color: #CE9178\">&quot;<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #C586C0\">for<\/span><span style=\"color: #D4D4D4\"> (<\/span><span style=\"color: #569CD6\">int<\/span><span style=\"color: #D4D4D4\"> k=<\/span><span style=\"color: #B5CEA8\">0<\/span><span style=\"color: #D4D4D4\">;k&lt;<\/span><span style=\"color: #B5CEA8\">100<\/span><span style=\"color: #D4D4D4\">;k++)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t{<\/span><span style=\"color: #6A9955\">\t\/\/Print result<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t\t<\/span><span style=\"color: #DCDCAA\">fprintf<\/span><span style=\"color: #D4D4D4\">(fp, <\/span><span style=\"color: #CE9178\">&quot;<\/span><span style=\"color: #9CDCFE\">%f<\/span><span style=\"color: #D7BA7D\">\\n<\/span><span style=\"color: #CE9178\">&quot;<\/span><span style=\"color: #D4D4D4\">, <\/span><span style=\"color: #9CDCFE\">obj2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">pv<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t\t<\/span><span style=\"color: #9CDCFE\">con2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Calculate<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t\t<\/span><span style=\"color: #9CDCFE\">con1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Calculate<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t\t<\/span><span style=\"color: #9CDCFE\">obj1<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Calculate<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t\t<\/span><span style=\"color: #9CDCFE\">obj2<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Calculate<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t}<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #DCDCAA\">fclose<\/span><span style=\"color: #D4D4D4\">(fp);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #DCDCAA\">printf<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #CE9178\">&quot;Finished!<\/span><span style=\"color: #D7BA7D\">\\n<\/span><span style=\"color: #CE9178\">&quot;<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">\t<\/span><span style=\"color: #C586C0\">return<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #B5CEA8\">0<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">}<\/span><\/span><\/code><\/pre><span style=\"display:flex;align-items:flex-end;padding:10px;width:100%;justify-content:flex-end;background-color:#1E1E1E;color:#c7c7c7;font-size:12px;line-height:1;position:relative\">C++<\/span><\/div>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Simulation of PID OOP Cascade System with Visual C++. \u8be5&hellip;&nbsp;<a href=\"https:\/\/emt.bjtu.edu.cn\/cn\/pid-controller\/\" rel=\"bookmark\">\u9605\u8bfb\u66f4\u591a &raquo;<span class=\"screen-reader-text\">PID\u63a7\u5236\u5668\u7684C++\u7a0b\u5e8f\u8bbe\u8ba1<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":3360,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"off","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"[\"title\",\"meta\",\"content\",\"tags\",\"comments\",\"post-navigation\"]","neve_meta_disable_header":"","neve_meta_disable_footer":"","neve_meta_disable_title":"","footnotes":""},"categories":[7,6],"tags":[],"class_list":["post-54","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-teaching","category-research"],"_links":{"self":[{"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/posts\/54","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/comments?post=54"}],"version-history":[{"count":14,"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/posts\/54\/revisions"}],"predecessor-version":[{"id":4893,"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/posts\/54\/revisions\/4893"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/media\/3360"}],"wp:attachment":[{"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/media?parent=54"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/categories?post=54"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/emt.bjtu.edu.cn\/cn\/wp-json\/wp\/v2\/tags?post=54"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}