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Cooyoc execx cpec, ox a poecc, ec oemo ynpaeu. Cooyoc cpec ypae oea opaye cucmey ynpaeu.

Ccea, oopo ce paoe oepa oepa ypae o aoaece ycpoca, aaec amoamueco. Ccea, oopo aoapoaa oo ac oepa, pya e x ac coxpaec a , aaec amoamuupoao (acmuo amoamueco).

ac cyae ypae ec peypoae. p peypoa oopa poecca (aee, eepaypa, pacxo, ooee p.) oepac a aao ae c oo ceax ycpoc aoaecx peyopo. Cooyoc peypyeoo oea aoaecoo peyopa opaye cucmey amoamuecoo peyupoau. Oe peypoa ypae o coe eco ppoe eca paoopa, o p ocpoe cce ypae eo x cceoa o e e.

aoo cxeaecoo opae cce aoaecoo ypae (peypoa) coy cpyype cxe, oopx oee ee cce opaac e poyoo, a c ey eea co cpea, oaa apaee epea caa (pc. 1.1).

a) ) Oe 1 2 Pc. 1.1 pep cpyypx cxe:

a o ee cce; ecoo eeo cce Oco eea cce aoaecoo peypoa c oe peypyee ycpoco (peyop).

) a) u(t) u1(t) un(t)...

x1(t) y1(t) y(t) x(t) Oe Oe xl(t) ym(t) Pc. 1.2 pep opae oeo c xo xo caa:

a ooc xapaepyec ae eopo, ex o oo oopae; ooc xapaepyec eco aoca oopaa o ee cce xapaepyec xoo oopao (cao) x(t) xoo oopao y(t), oopa ac o xooo caa. B co oepe xoa oopaa oe oc oya ypa (peypy) xapaep.

Boyaee oece (oyee) x(t) ae ooee ypaeo (peypyeo) oopa o aaoo ae. paee u(t) (peypyee xp(t)) oece cy oepa ypaeo (peypyeo) oopa y(t) cooec c eoop aoo ypae (oepa peypyeo oopa a aao ypoe) (pc. 1.2).

Oea ypae c poeccax xeco exoo exa, a aapa, oopx poea exooece poecc (eee, epeeae, pcaa, cya p.); pooca cepo co, aoox ..; pep ao, ap ee opac xeca, eeepepaaaa ..

1.3 PH PEPOBAH ep poe peyop, a ye oopoc paee, opee 1765 . .

oyo coao apoo a. paa cxea peyopa peea a pc. 1.3.

aae peypoa ec oepae apoo oe ocooo ypo.

Peyop pecae coo oao 1, ca cceo pao c peypye acoo 2. p yee ypo oao oaec epx, peyae eo acoa oycaec, epepa pyopoo yea oay o oe. p yee ypo oao oycaec, o po yee oa o , ceoaeo, oe ypo.

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G G H Pc. 1.3 Peyop oyoa paec oopeeo c . oyo 1784 . ec a cocpypoa epoe peyop ca oopoo aa apoo a (pc. 1.4.) n G Pc. 1.4 Peyop aa p ee ca oopoo aa py 1 o ece epoeo c e coe ooee, o po epeee peypyeo opaa 2 ee oa apa. o co oepe ae eee ca oopoo aa, o apae, pooooo cxooy.

Cpae aa paccopex peyopo oaae, o oa o ocpoe o eoy py, oop ao poec a cpyypo cxee, pecaeo a pc. 1.x a) x ) G H G n Oe Oe (xp) (y) (xp) (y) Peyop Peyop Pc. 1.5 Cpyype cxe cce peypoa:

a oyoa; aa B paccapaex pepax oco eea cce aoaecoo peypoa c: oe apoo oe apoa aa; peypyee ycpoco oao epoea ya c peypy acoa, cooeceo, peyopax oyoa aa.

Bxoe oopa, o e peypyee epeee ypoe H co oopoo n; peypye epeee oaa o apoo oe G pacxo apa apoy ay G, oyae oec aee apa oe, pacxo oa, eo eoopa cocooc epo cyae o opo apya a ay apoo a, aee apa pyopooe.

p, o oopoy ocpoe peyop oyoa aa, coco o, o peyop ee peypyee oece p ooe peypyeo epeeo o aaoo ae eaco o p, ax o ooee. Ta opao, acoc o ae xooo caa oea peyop ee eo xoo ca.

peaa aopa peypoa ocpy cce oc c, oya aae opao c, ooy o o e pocxo epeaa caa c xoa oea a eo xo o apae, opaoy apae epea ocooo oec a oe. Oe peyop opay ayy ccey, aaey aoaeco cceo peypoa (ACP). Ec ca opao c caaec c oco cao, o c aaec nooumeo, ec aec ompuameo. B aoaecx cceax ypae c cea opaea.

Cxe c opao c ocyec ynpaeue no omoeu (pc. 1.6) oaae poecca xoo oopa y(t) o aaoo ae ya; y = y(t) ya aaec omoeue ouo ypae.

y x Oe y ya Peyop Pc. 1.6 Cpyypa cxea peypoa o ooe Paccopea ccea ypae c opao c oocc accy cce amoamuecoo peyupoau no omoeu.

Ta opao, aoaeco cceo peypoa o ooe aa ccey, oopo epec ooee peypyeo e o aaoo ae acoc o epeoo ooe oaec aoe oece a peypy opa, oopoe yeae ey ooe a, o y 0 p t.

poe peypoa o ooe ooe pyo coco peypoa o peypoae o oye oeca oye. Bo cyae peypyee oece paaaec peyopo acoc o e oye. Cce peypoa o oye c paoy ccea, a a x ocycye opaa c (pc. 1.7). e oo cocoa aaec o, o, ec coe oecpoa ce oye ccee, o peypyea ea e ye ooc o aaoo ae. Ceye ae, o oeca ocaec oo o epe oye.

Paccapae p peypoa epe peoe 1830 .

payc eepo . ocee p papaoe eop epoex peyopo xoa a o apye a ay a, ec o ocox oye oee, o peaoa coe peoee a pae ey e yaoc, a a aece coca a e oyca eocpeceoo cooa pa oeca.

x Peyop xp y x Oe Pc. 1.7 Cpyypa cxea peypoa o oye B 1940 . peoe p apaoc ocee eacoc ypaeo oopa o oye, paeca peaa oopoo a oyea oo 50-e o.

Heocao cce, ocpoex o py oeca oye oee.

oecpoa ce ooe oye oee yaec pae peo, a ae ax oye a oeae coco aocep, capee aaaopa, ooee coe aapae, .e. poooe eee coc oea, ooe e oe oeca.

Hapep, oacoc cooa pa ocee p peypoa ypo oc eoc, oa po oc cooocc c ee pacxoo, aaec o, o cece ee pacxox xapaepc ee a poe pacxoe, cape oc, ee peaa .., eoc oe epeoc, o oyce.

Peypoae o ooe eo oo eocaa, ec oeca ooe peypyeo oopa o aao pocxo eaco o oo, a pa ao o ooee, o o oopeeo yco ooc cpoec pyo. aco oee ooc cpoec cce po ee epaoococooc.

Haoee e ccea peypoa c opoae ACP, coeae oa paccapaex pa (pc. 1.8).

B x cceax aoee ce oye oecpyc cea peyopo, a oyp peypoa o opao c ycpae ooe peypyeo oopa, ae py oye.

Ta opao, ocoe ocpoe cce aoaecoo peypoa ea oe yaeae p peypoa, opeee, a opao ocyecec oepae peypyeo e a aao ypoe cooec c pa, a ee ooee o oo ypo. B acoee pe eco x Peyop xp y x Oe ya Peyop Pc. 1.8 Cpyypa cxea opoao ACP coy a yaeax pa peypoa: npuun peyupoau no omoeu npuun peyupoau no oyeu.

1.4 PMEP CCTEM ABTOMATECOO PEPOBAH BXMECO TEXHOO pep 1 Peypoae eepayp poya oyxopyao eooee.

oaaee eoc peypoa ec oepae eepayp poya a xoe eooea a aao ypoe.

B paccapaeo pepe eepaypa poya ec xoo peypyeo oopao. Caa eepayp eo ocyec, coy aece xooo peypyeo oec pacxo opeo eooce G. (pc. 1.9). Aa oea oaae, o ycpa oy ac oyax oec eooo. B c c peaaec ccea peypoa o ooe eepayp poya ye ee pacxoa opeo eooce.

poy a) Teooce coe exa Tepoapa Peyop Teooce poy ) T G. Oe Ta Peyop Pc. 1.9 Ccea peypoa eepayp poya eooee:

a exooeca cxea; cpyypa cxea pep 2 Peypoae ae epxe ac peaoo oo.

ap a) Boyx Peyop ae c G P ) Oe Pa Peyop Pc. 1.10 Ccea peypoa ae epxe ac oo:

a exooeca cxea; cpyypa cxea B ayyx peaox ooax aee (papee) oo peypyec eee oa oyxa epoo aa ey eeaopo apo (o) eopo (pc. 1.10). ec peypyeo eo ec papee, a peypye pacxo oyxa.

B paccopex cyax cpyype cxe cce aoaecoo peypoa oc ypoe xapaep. B o peao ACP oo e ceye cocae ee: oe peypoa, yce ee (apep, epoapa), yceo-peopaoaeoe ycpoco, peyop, coe exa (apep, epa coe exa), peypy opa (apep, acoa). oa cpyypa cxea opaea a pc. 1.11.

x y x Oe Peypy- a yce ee opa copeopaoe ae exa Peyop aa Pc. 1.11 Cpyypa cxea ACP B aee coyc oo ypoee cxe, ycoo ooc a (yceo ee), peopaoae, coe exa, peypy opa oey. oooe ypoee ocec e, o xapaepc aa peypyeo opaa c coe exao, ycaaaex eocpeceo a oee, e ec poecce cyaa cce yac p poepoa ACP ece c xapaepca oea.

1.5 ACCA CCTEM ABTOMATECOO PABEH Bce cce aoaecoo ypae peypoa ec o pa paa a ceye ocoe acc.

1 o oco a ypae a poecco ypae:

a) ee cce;

) eee cce.

2 B acoc o oeo ypae a ypae a ee, a eee cce opaec a:

a) cce, ocaee ooe epea ypae c oco oea;

) cce, ocaee ooe epea ypae c epee oea;

) cce, ocaee ypae acx poox;

) cce c aaae, ocaee ypae c aaa apyeo.

3 o xapaepy pecae cao paa:

a) epepe cce;

) cpee cce, cpe oopx e yce, peee, poe.

4 o xapaepy poecco ypae:

a) eeppoae cce cce c opeee epee poecca;

) coxacece cce cce co cya epee poecca.

5 o xapaepy yopoa.

B acoc o oo, o aoy aoy eec aaoe aee peypyeo e, cce aoaecoo ypae opaec a:

a) cce caa, oepae ococo peypyeo e, .e.

ya(t) = const;

) cce popaoo peypoa, oopx aaoe aee peypyeo e eec o opeeeo apaee peeo popae;

) cee cce, oopx aaoe aee peypyeo e eec cooec c cocoe eoopoo aaoo eopa epeex o pee;

) cce oaoo ypae, oopx oaae eoc ac e oo o eyx ae oopa, a cpeao peypoa, o ae o xapaepa x ee poo, acoe yye, paaec eoop yoao. Haxoee oaoo ypae peoaae peee ocaoo coo aeaeco aa cooecy eoa, poe oo opaeco cocao ac cce ec oep;

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