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Цифрові системи регулювання електроприводу з комбінованим керуванням: Автореф. дис… канд. техн. наук / А.М. Мінтус, Донец. держ. техн. ун-т. — Донец

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AeIIAOeUeEEE AeA?AEAAIEE OAOI?*IEE OI?AA?NEOAO

I?ioon Aiae??e Ieeieaeiae/

OAeE: 681.32:62-83

OeEO?IA? NENOAIE ?AAOETHAAIIss AEAEO?II?EAIAeO

C EIIA?IIAAIEI EA?OAAIIssI

Niaoe?aeuei?noue 05.09.03 – Aeaeo?ioaoi?/i? eiiieaene oa nenoaie

Aaoi?aoa?ao aeena?oaoe?? ia caeiaoooy iaoeiaiai nooiaiy

eaiaeeaeaoa oaoi?/ieo iaoe

Aeiiaoeuee-1999

Aeena?oaoe??th ? ?oeiien

?iaioo aeeiiaii a Aeiiaoeueeiio aea?aeaaiiio oaoi?/iiio oi?aa?neoao?

I?i?noa?noaa ina?oe Oe?a?ie.

Iaoeiaee ea??aiee:

aeieoi? oaoi?/ieo iaoe, i?ioani?, Eioeaaoa Iaaei Oa?eoiiiae/,

Aeiiaoeueeee aea?aeaaiee oaoi?/iee oi?aa?neoao, caa?aeoaa/ eaoaae?e

aeaeo?ii?eaiaeo oa aaoiiaoecaoe?? i?iieneiaeo onoaiiaie

Io?oe?ei? iiiiaioe:

1. Aeieoi? oaoi?/ieo iaoe, i?ioani?, Aiae???iei Iao?i Aeieo?iae/,

aee?aeoi? AAO “Oe?a?inueeee iaoeiai-aeine?aeiee ?inoeooo

neeiai? aeaeo?ii?ee “Ia?aoai?thaa/””

2. Eaiaeeaeao oaoi?/ieo iaoe, aeioeaio, Ia?anaaea Na?a?e Ieoaeeiae/,

Iaoe?iiaeueiee oaoi?/iee oi?aa?neoao Oe?a?ie “EI?”, aeioeaio eaoaae?e

aeaeo?ii?eaiaeo oa aaoiiaoecaoe?? i?iieneiaeo onoaiiaie

I?ia?aeia onoaiiaa:

Oa?e?anueeee aea?aeaaiee iie?oaoi?/iee oi?aa?neoao, eaoaae?a aaoiiaoeci-

aai? aeaeo?iiaoai?/i? nenoaie, I?i?noa?noaa ina?oe Oe?a?ie, i. Oa?e?a.

Caoeno a?aeaoaeaoueny “30” aa?aniy 1999 ?. i 1330 aiaeei?.

ia can?aeaii? niaoe?ae?ciaaii? a/aii? ?aaee E11.052.02 o Aeiiaoeueeiio

aea?aeaaiiio oaoi?/iiio oi?aa?neoao? (340000, i. Aeiiaoeuee, aoe.
A?oaia, 58,

1-ee ei?ion AeiiAeOO e.201).

C aeena?oaoe??th iiaeia iciaeiieoenue o a?ae?ioaoe? Aeiiaoeueeiai
aea?aeaaiiai

oaoi?/iiai oi?aa?neoaoo (340000, i. Aeiiaoeuee, aoe. A?oaia,58,

2-ee ei?ion AeiiAeOO).

Aaoi?aoa?ao ?ic?neaiee “19” na?iiy 1999 ?ieo.

A/aiee nae?aoa?

niaoe?ae?ciaaii? a/aii? ?aaee
Ea??i A.I.

eaiaeeaeao oaoi?/ieo iaoe, aeioeaio

CAAAEUeIA OA?AEOA?ENOEEA ?IAIOE

Aeooaeuei?noue oaie.

I?iaeaia i?aeaeuaiiy oaeaeeiae?? aeaeo?ii?eaiaeo, yeee ? aia?aaoe/iith
iniiaith aaoiiaoecaoe?? oaoiieia?/ieo i?ioean?a, ia aeeaey/enue ia
aaeee? aeinyaiaiiy a oe?e aaeoc?, caeeoa?oueny aeooaeueiith, oiio ui
ae??oaiiy caaea/ oaeineiiaeaiiy oaoiieia?? ae?iaieoeoaa oa eiai
?ioaineo?eaoe?? ia iiaeeeaa aac noai?aiiy aaoiiaoeciaaieo
aeaeo?ii?eaiae?a ?c aenieeie aeeiai?/ieie oa aia?aaoe/ieie iieacieeaie.
Aeooaeuei?noue oeueiai iai?yieo iaiaeii?aciai i?aee?anethaaeanue o
aeiiia?aeyo oe?a?inueeeo ?c i?aeia?iaeiith o/anoth eiioa?aioe?e c
i?iaeai aaoiiaoeciaaiiai aeaeo?ii?eaiaeo (Oa?e?a, 1994?-1998?.).

?icaeoie i?e?ii?ioeani?ii? oaoi?ee iaoiiaea noai?aiiy aeaeo?ii?eaiae?a
?c aaciina?aaei?i oeeo?iaei ea?oaaiiyi, /anoea yeeo o caaaeueiiio ianyc?
?aaoeth?ieo i?eaiae?a iano?eiii c?inoa?. Ia?aaaae nenoai
i?aeii?yaeeiaaiiai ?aaoethaaiiy iaoiiaeee ?oi? oe?iea canoinoaaiiy a
??ciiiai?oieo a?o/eciyieo ? caei?aeiiieo ?ic?iaeao oeeo?iaeo nenoai
ea?oaaiiy. I?ioa, ye a?aeiii, oe? no?oeoo?e ia ?aae?cothoue a?aie/ieo
aeeiai?/ieo iiaeeeainoae aeaeo?ii?eaiaeo. Oiio caaea/? iie?ioaiiy
aeeiai?/ieo iieaciee?a ?iaioe aeua iicia/aieo aeaeo?ii?eaiae?a (a naia
oeueiio iai?yieo i?enay/aia aeena?oaoe?eia ?iaioa) ? aeooaeueieie.

Ca’ycie oaie aeena?oaoe?? c ieaiaie ?ia?o oi?aa?neoaoo. ?iaioo aeeiiaii
ca ieaiaie Aeiiaoeueeiai aea?aeaaiiai oaoi?/iiai oi?aa?neoaoo o ?aieao
iaoeiaiai iai?yieo «?ic?iaea oa inai?iiy oaeaeeiae?th/eo
aeaeo?ii?eaiae?a» ca?aeii c eiiieaeniith i?ia?aiith “Iaoeia? iniiae
aeaeo?iaia?aaoeee” (?icae?e 1.9 “O?ceei-oaoi?/i? i?iaeaie aia?aaoeee”,
i?ae?icae?e 1.9.2.5.2.3.3. ” ?ic?iaea oai??? neioaco oa iioei?caoe??
i?e?ii?ioeani?ieo nenoai aaoiiaoe/iiai ea?oaaiiy aaioeeueieie
aeaeo?ii?eaiaeaie iino?eiiai oa ci?iiiai no?oio c iie?ioaieie
aeeiai?/ieie oa noaoe/ieie oa?aeoa?enoeeaie”), yea caoaa?aeaeaia ia
1991-1995 ??. Ath?i a?aeae?eaiiy o?ceei-oaoi?/ieo i?iaeai aia?aaoeee IAI
Oe?a?ie.

Iaoith ?iaioe ? ?ic?iaea oa oai?aoe/ia iaa?oiooaaiiy oeyo?a ?aae?caoe??
eiia?iiaaiiai ea?oaaiiy ca caaeaaaeueiei aieeaii aeey iie?ioaiiy
aeeiai?/ieo aeanoeainoae aeaeo?ii?eaiae?a ?c aaciina?aaei?i oeeo?iaei
ea?oaaiiyi ia canaaeao aeei?enoaiiy iniaeeainoae iiaoaeiae aeene?aoieo
nenoai i?aeii?yaeeiaaiiai ?aaoethaaiiy oa ?ioi?iaoe?? i?i aaaeaio ci?io
?aaoe?aii? eii?aeeiaoe oa ?? iio?aeieo, yea i?noeoueny a oeiiaeo
caaeaaaeueieo i?eno?iyo.

Caaea/? aeine?aeaeaiue:

iaa?oiooaaiiy aeioe?eueiino? aeei?enoaiiy eiia?iiaaiiai ea?oaaiiy;

?ic?iaea caaeaaaeueieo i?eno?i?a (CI), ye? aeicaieythoue ?aae?coaaoe
eiia?iiaaia ea?oaaiiy;

?ic?iaea no?oeoo? oa aecia/aiiy ia?aiao??a ??ciiiai?oieo eiia?iiaaieo
oeeo?iaeo nenoai ?aaoethaaiiy oaeaeeino? (N?O) oa iieiaeaiiy (N?I);

?ic?iaea iaoaiaoe/ii? iiaeae?, yea aeicaieyea a cae?enieoe ia?aa??eo
?acoeueoao?a neioaco oa aiae?c yeino? ?aaoethaaiiy ??ciiiai?oieo
aaaaoie?aoieo oeeo?iaeo nenoai ea?oaaiiy;

i?iaaaeaiiy aiae?co oa aecia/aiiy iaea?eueo aoaeoeaieo no?oeoo?
eiia?iiaaiiai ea?oaaiiy;

i?iaaaeaiiy aenia?eiaioaeueieo aeine?aeaeaiue c iaoith aecia/aiiy
a??ia?aeiino? oai?aoe/ieo iieiaeaiue.

Iaoeia? iieiaeaiiy oa ?acoeueoaoe, ui aeianaii ia caoeno, oa ?o iiaecia.

Oia?oa anoaiiaeaii iiaeeea?noue aeei?enoaiiy ia aoiae? ciai?oiueiai
eiioo?o ?aaoethaaiiy eaiee oeeo?iaiai ona?aaeiaiiy aeey iie?ioaiiy
oaeaeeiae?? eii-a?iiaaieo oeeo?iaeo nenoai ea?oaaiiy i?e ?o iiaoaeia? c
aeei?enoaiiyi aeey cai?ioiiai ca’yceo ?ioi?iaoe?? i?i na?aaei? ca
ia??iae aei??thaaiiy cia/aiiy oaeaeeino?.

Oia?oa ?ic?iaeaii caaeaaaeuei? i?eno?i? oa ia ?o canaaeao eiia?iiaai?
nenoaie ?aaoethaaiiy oaeaeeino? oa iieiaeaiiy aeaeo?ii?eaiae?a ?c
aaciina?aaei?i oeeo?iaei ea?oaaiiyi, oaeaeeiae?th yeeo, iacaeaaeii a?ae
?o iiaoaeiae c iaeii- aai c aeai?aciai?ioaa?oaaeueiei eiioo?aie
?aaoethaaiiy oaeaeeino?, aeiaaaeaii aei ??aiy i?ioean?a e?ioeaai?
o?eaaeino?.

Aeey iaeiie?aoieo oeeo?iaeo anoaoe/ieo ca cao?thaaeueiei aieeaii nenoai
?aaoethaaiiy ciaeoea iiaeaeueoee ?icaeoie iaoiaeeea iie?ioaiiy
aeeiai?/ieo iieaciee?a ?iaioe aeaeo?ii?eaiae?a caniaaie ?iioeuenii?
ei?aeoe?? cai?ciaiiy a eiioo?ao ?aaoethaaiiy oaeaeeino?. Oia?oa io?eiaii
??oaiiy, ye? aeicaieythoue cae?enieoe ?iioeuenio ei?aeoe?th cai?ciaiiy a
eiioo?ao ?aaoethaaiiy oaeaeeino?, ia ii?oooth/e ?o anoaoe/ieo
aeanoeainoae ca iaaaioaaeaiiyi.

A??ia?aei?noue iaoeiaeo ?acoeueoao?a iaoiiaeaia ei?aeoi?noth o?aeooaaiiy
caaea/? oa i?eeiyoeo i?eiouaiue, i?aeoaa?aeaeaia aeei?enoaiiyi aeey
oai?aoe/ieo aeine?aeaeaiue ai?iaiaaieo iieiaeaiue oa iaoiae?a, a oaeiae
noiaeei?noth ?acoeueoao?a iaoaiaoe/iiai iiaeaethaaiiy oa
aenia?eiaioaeueieo aeine?aeaeaiue.

Iaoeiaa cia/aiiy ?iaioe iieyaa? a iaa?oiooaaii? oaoi?/ieo ??oaiue oa
ocaaaeueiaii? io?eiaieo ?acoeueoao?a ii noai?aiith eiia?iiaaiiai
ea?oaaiiy aaaaoie?aoieie oeeo?iaeie nenoaiaie i?aeii?yaeeiaaiiai
?aaoethaaiiy eii?aeeiao oa ii ?aae?caoe?? ?iioeuenii? ei?aeoe??
cai?ciaiiy a anoaoe/ieo ca cao?thaaeueiei aieeaii nenoaiao ?aaoethaaiiy
aeaeo?ii?eaiaeo c aaciina?aaei?i oeeo?iaei ea?oaaiiyi aeey iie?ioaiiy ?o
oaeaeeiae??.

I?aeoe/ia cia/aiiy ?iaioe iieyaa? a ?ic?iaoe? eiiieaeno caoiae?a ii
noai?aiith oaeaeeiae?th/eo aeaeo?ii?eaiae?a ?c aaciina?aaei?i oeeo?iaei
ea?oaaiiyi: aeyaeaii iaea?eueo aoaeoeai? no?oeoo?e eiia?iiaaiiai
ea?oaaiiy aaaaoie?aoieie oeeo?iaeie nenoaiaie ?aaoethaaiiy oa
nenoaiaoeciaai? ?acoeueoaoe ii aeai?o ?o ia?aiao??a (ciaeaeaii ye
aiae?oe/i? ae?ace, oae ? ?o a?ao?/ia oyaeaiiy); ?ic?iaeaii niiniae
oaoi?/ii? ?aae?caoe?? oa ciaeaeaii ia?aaeaaaeuei? ooieoe?? eaiie
?iioeuen-ii? ei?aeoe?? cai?ciaiiy a eiioo?ao ?aaoethaaiiy oaeaeeino?;
?ic?iaeaii iaoaia-oe/io iiaeaeue oa i?ia?aiia caaacia/aiiy, yea
aeicaiey? i?iaiaeeoe aiae?c yeino? ?iaioe cai?iiiiiaaieo nenoai.

Iaoiaee aeine?aeaeaiue. Aeine?aeaeaiiy i?iaiaeeeeny c aeei?enoaiiyi
oai??? aaoiiaoe/iiai ea?oaaiiy, oai??? e?i?eieo ?iioeuenieo nenoai,
aeene?aoiiai ia?aoai?aiiy Eaieanna oa aia?aoa i?inoi?o noai?a.

?aae?caoe?y aeniiae?a oa ?aeiiaiaeaoe?e.

?acoeueoaoe ?iaioe aeei?enoai? eiioea?iii “Aciaiao” i?e aeai?? oa
iaa?oiooaaii? ?aoe?iiaeueii? no?oeoo?e oeeo?iaeo aeaeo?ii?eaiae?a iaoeeo
eiiaa?oi??a ?io?eaeueneiai iaoaeo?a?eiiai caaiaeo (?iae?y). Iniiai?
iieiaeaiiy ?iaioe aeei?enoiaothoueny a iaa/aeueiiio i?ioean? a eo?nao
“Oai??y aaoiiaoe/iiai ea?oaaiiy aeaeo?ii?eaiaeaie”, a eaai?aoi?iiio
i?aeoeeoi?, eo?niaiio oa aeeieiiiiio i?iaeooaaii? i?e i?aeaioiaoe?
niaoe?ae?no?a ca oaoii “Aeaeo?ii?eaiae oa aaoiiaoecaoe?y i?iieneiaeo
onoaiiaie oa oaoiieia?/ieo eiiieaen?a”. ?acoeueoaoe aeine?aeaeaiue
ia?aaeaii ?inoeoooo “Oyaei?iiaeaeo?ii?iaeo” (i. Oa?e?a) aeey ?o
aeei?enoaiiy a oeeo?iaeo i?eaiaeao eaoeeo iiaeeoeue oa iaoeneieo aaeio?a
eenoiaiai noaio aa?y/i? i?ieaoee 1680 eiia?iaoo “Caii??aenoaeue”.

Ai?iaaoe?y ?iaioe.

I?ia?aei? iieiaeaiiy oa ?acoeueoaoe ?iaioe aeieeaaeai? ia i’yoe
oe?a?inueeeo ?c i?aeia?iaeiith o/anoth iaoeiai-oaoi?/ieo eiioa?aioe?yo
“I?iaeaie aaoiiaoeciaaiiai aeaeo?ii?eaiaeo. Oai??y oa i?aeoeea” (i.
Oa?e?a, 1994-1998?.), ia “I-e i?aeia?iaei?e (XII Ananithci?e)
eiioa?aioe?? c aaoiiaoeciaaiiai aeaeo?ii?eaiaeo”

(i. Naieo-Iaoa?ao?a, 1995 ?.), ia eaoaae?? “Aeaeo?ii?eaiae oa
aaoiiaoecaoe?y oaoiieia?/ieo onoaiia” AeiiAeOO.

Ioae?eaoe??. Ca iaoa??aeaie aeena?oaoe?eii? ?iaioe iioae?eiaaii 12
iaoeiaeo i?aoeue, c ieo 8 o i?ia?aeieo aeaeaiiyo.

No?oeoo?a oa ianya aeena?oaoe??. Aeena?oaoe?eia ?iaioa neeaaea?oueny c
anooio, i’youeio ?icae?e?a oa caeeth/aiiy, ye? aeeeaaeaii ia 122
noi??ieao ae?oeiaaiiai oaenoo, ?ethno?iaaieo 87 ?enoieaie oa 15
oaaeeoeyie ia 71 noi??ieao, c ia?ae?eo e?oa?aoo?ieo aeaea?ae ?c 107
iaeiaioaaiue ia 11 noi??ieao oa aeiaeaoe?a ia 36 noi??ieao.

CIINO ?IAIOE

O anooi? aea?oueny caaaeueia oa?aeoa?enoeea ?iaioe, yea iaaaaeaia aeua.

O ia?oiio ?icae?e? i?iaaaeaii iaeyae e?oa?aoo?ieo aeaea?ae, ye?
i?enay/ai? ieoaiiyi i?aeaeuaiiy oaeaeeiae?? aeaeo?ii?eaiae?a.

Iieacaii, ui iaeiei ?c iiaeeeaeo cania?a iie?ioaiiy aeeiai?/ieo
iieaciee?a oa oi/iino? a?aeoai?aiiy aaaeaieo caeii?a ?ooo ? ?aae?caoe?y
eiia?iiaaiiai ea?oaaiiy, aea ii?yae ?c ea?oaaiiyi ca a?aeoeeaiiyi
cae?enith?oueny ?aaoethaaiiy a ?ic?ieiaiiio oeeee? ca caaeaaaeueiei
aieeaii. Oea iieiaeaiiy i?aeoaa?aeaeo?oueny ye caaaeueiith oai???th
eiia?iiaaiiai ea?oaaiiy, oae ? ?iaioaie *a?iaeeoa A.I., Eioeaaoaa I.O.,
O. ?eoaiooaey oa ?ioeo, aea ?icaeyioo? ieoaiiy ?aae?caoe?? eiia?iiaaiiai
ea?oaaiiy a iaia?a?aieo oa oeeo?i-aiaeiaiaeo nenoaiao. Aea ieoaiiy
iiaoaeiae eiia?iiaaieo nenoai ?aaoethaaiiy aeaeo?ii?eaiae?a ?c
aaciina?aaei?i oeeo?iaei ea?oaaiiyi aea/ai? iaaeinoaoiuei, ui e
aecia/eei eiei ieoaiue, ye? ae??oothoueny a aeena?oaoe?ei?e ?iaio?.

Aeaeo?ii?eaiaee c aaciina?aaei?i oeeo?iaei ea?oaaiiyi io?eiaee ?icaeoie
oa ?iciianthaeaeaiiy caaaeyee i?aoeyi Ia?aeueiooa?a A.I., ?aae?iiaa
N.I., Oaeiooaeia A.A., Oaeiooaeia A.A. oa ?ioeo aeine?aeiee?a. O
i?aeoeoe? ?o iiaoaeiae a?aeii? ye iaeiie?aoi?, ui i?aoeththoue c
iaeiaeiaeie ia??iaeaie eaaiooaaiiy a on?o eiioo?ao, oae ? aaaaoie?aoi?
nenoai? i?aeii?yaeeiaaiiai ?aaoethaaiiy, a yeeo ia??iae eaaiooaaiiy
ciai?oi?o eiioo??a a?eueoa oa e?aoiee ia??iaeo aeene?aoiino?
aaioeeueiiai ia?aoai?thaa/a (AI), c yeei i?aoeth? eiioo? ?aaoethaaiiy
no?oio (E?N).

Ia’?eoii aeine?aeaeaiue o aeena?oaoe?ei?e ?iaio? ? oeeo?ia? aaaaoie?aoi?
eiia?iiaai? nenoaie ?aaoethaaiiy. Oaeee i?aeo?ae aeicaiey? io?eiaoe
caaaeuei? caeiiii??iino? oa caeaaeiino?, ye? iiaeia aeei?enoiaoaaoe ?
aeey iaeiie?aoieo nenoai, oiio ui inoaii? ? /anoeiaei aeiaaeeii
aaaaoie?aoieo.

I?e iiaoaeia? iaeiie?aoieo nenoai iiaeeeaa iie?ioaiiy ?o aeeiai?/ieo
iieaciee?a caniaaie ?iioeuenii? ei?aeoe?? cai?ciaiiy a eiioo??
?aaoethaaiiy oaeaeeino? (E?O). Aea a?aeii? ?ic?iaee i?eaiaeyoue aei
ii?ooaiiy anoaoe/ieo aeanoeainoae nenoai ca cao?thaaeueiei aieeaii, ui e
aeaei iiooiao aei iiooeo ??oaiue, ye? ia iaee a oeueiai iaaeie?eo.

Aeey eiiieaeniiai ae??oaiiy ieoaiue ?aae?caoe?? eiia?iiaaiiai ea?oaaiiy
oa aecia/aiiy eiai aoaeoeaiino? o?aaa cae?enieoe neioac oa aiae?c
iaea?eueo ?iciia-nthaeaeaieo ia i?aeoeoe? nenoai ?aaoethaaiiy oaeaeeino?
oa iieiaeaiiy (c iaeii?aciai?ioaa?oaaeueieie oa
aeai?aciai?ioaa?oaaeueieie eiioo?aie ?aaoethaaiiy oaeaeeino? (E?O) ?c
aeaaa/aie ieoo?aiai oa na?aaeiueiai cia/aiiy oaeaeeino? i?e aeei?enoaii?
??ciiiai?oieo aeai?eoi?a oeeo?iaiai ?ioaa?oaaiiy a ?aaoeyoi?ao oa
caaeaaaeueieo i?eno?iyo, ?c eiiiainaoe??th cai?ciaiiy o E?O oa aac ia?).

– o eiioo?? ?aaoethaaiiy oaeaeeino?, aea k-oe?ea /enei. Aeno?aiieyoi?
(A) ioeueiaiai ii?yaeeo ocaiaeaeo? ?iaioo eiioo??a ?aaoethaaiiy no?oio
oa oaeaeeino?. Eiioo? ?aaoethaaiiy no?oio iano?i?ii ca?aeii aei
?aeiiaiaeaoe?e, ye? iaaaaeaii a ?iaioao A.A.Oaeiooaeia, A.A.Oaeiooaeia,
ca oiia, uia ci?ia na?aaeiueiai cia/aiiy no?oio i?e no?eaeo caaaeaiiy ia
eiai aoiae? a?aeaoaaeany ca aeniiiaioe?eiei caeiiii

, (1)

aea

– aaaeaia noaea /ano aeniiiaioe.

i?enei?aiue

(2)

?eaea

, (3)

yeui e ?eaie iio?aao? iaiaaeaiiy.

I?e iioei?caoe?? eiia?iiaaieo nenoai o?aaa aecia/aoe aeae?eueea
ia?aiao??a iaeii/anii, oiio aeei?enoaiiy oiia iioei?caoe?? ca II aeey
aeene?aoii? ia?aaeaaaeueii? ooieoe?? noi?iaiaeaeo?oueny aeinoaoiuei
a?ii?caeeeie ia/eneaiiyie. Aeey iieaaoaiiy neioaco i?iiiio?oueny
i?iaiaeeoe iioei?caoe?th ca ni?iuaiith iaoiaeeeith, yea iieyaa? a
ianooiiiio. C aeei?enoaiiyi a?e?i?eiiai ia?aoai?aiiy aecia/a?oueny
iaia?a?aiee aiaeia aeene?aoii? ia?aaeaaaeueii? ooieoe?? caieiaii?
nenoaie

, (4)

aea?aaeaioia ia?aoiaeo aei iiaiai, aac?ici??iiai /ano, /anoi
aeei?enoiao?oueny a oai??? aaoiiaoe/iiai ea?oaaiiy oa ia iaeeaaea?
i?yeeo iaiaaeaiue ia aeine?aeaeaiiy, ye? aeeiiothoueny.

I?e ?aae?caoe?? eiia?iiaaiiai ea?oaaiiy ?iiae? iiaeeeai io?eiaoe
ia?aaeaaaeueio ooieoe?th nenoaie, yea i?aeeyaa? iioei?caoe??, aeaeo

(5)

i?e iiai?noth ea?iaaieo eiao?oe??ioao /enaeueieea.

Oea aeicaiey? cae?enieoe iioei?caoe?th nenoaie (ciaeoe ia?aiao?e
ei?aeooaaeueieo ca’yce?a) ca oiia caaacia/aiiy ia?ao?aeieo i?ioean?a
e?ioeaai? o?eaaeino?

, (6)

aea i i?eeia? cia/aiiy a?ae 1 aei m.

?icaeyiooi oaeiae i?inoo oa aoaeoeaio iaoiaeeeo aiae?co aaaaoie?aoieo
aeene?aoieo nenoai ia iniia? ?ic?iaeaii? o i?inoi?? noai?a iaoaiaoe/ii?
iiaeae?.

cia/aiiyie oaeaeeino?. Ia ?en.1 iaaaaeaii ?ic?aooieiao no?oeoo?io
noaio aeai?aciai?ioaa?oaaeueii? N?O, ia ye?e eiioo? ?aaoethaaiiy
oaeaeeino? i?aaenoaaeaii aeaiia eiioo?aie: aioo??oi?i- ?c i?iii?oe?eiei
?aaoeyoi?ii oaeaeeino? ?O1

(7)

oa ciai?oi?i- c ?ioaa?aeueiei ?aaoeyoi?ii ?O2

. (8)

– aeaeo?iiaoai?/ia noaea /ano i?eaiaeo.

sseui ?icaeyaeathoueny iaeii?aciai?ioaa?oaaeuei? nenoaie ?aaoethaaiiy
oaeaeeino?, oi c? noaie ia ?en.1 ciai?oi?e eiioo? ?c ?O2 cieea?.

Aeine?aeaeaiiy i?iaaaeaii i?e ??ciiiai?oieo eiia?iaoe?yo o caaeaaaeueieo
i?eno?iyo oa o ?O2 aeai?eoi?a ?ioaa?oaaiiy, yeei a?aeiia?aeathoue
ia?aaeaaaeuei? ooieoe??

; (9)

. (10)

.

A ie?aiiio aeiaaeeo, yeui an? eiioo?e ?aaoethaaiiy i?aoeththoue c
iaeiaeiaith aeene?aoi?noth (k=1), iiaeeeai eiiiainoaaoe cai?ciaiiy ca
aeiiiiiaith ?ioeuen-ii? ei?aeoe?? oaeiae ? o eiioo?? ?aaoethaaiiy
oaeaeeino?. Ia ?en.1 aeeth/aiiy eaiie ?iioeuenii? ei?aeoe?? cai?ciaiiy
iieacaii ia?a?aieie e?i?yie, a ?oi? ia?aaeaaaeuei? ooieoe??
ciaoiaeyoueny c ae?ac?a

; (11)

, (12)

aea

(13)

– ia?aaeaaaeueia ooieoe?y ?ic?ieiaiiai aioo??oiueiai E?O aac iae?eo
cai?ciaiiy.

O ae?ac? (13) acyoi ia oaaao, ui i?e k=1 ia?aaeaaaeueia ooieoe?y
aeno?aiiey-oi?a aei??aith? iaeeieoe?, a

; (14)

, (15)

-aeaeo?iiaai?oia noaea /ano ye??iiai eiea.

ciaoiaeeoueny ca?aeii c (11), ye ? ?ai?oa.

Aeey nenoai ?aaoethaaiiy oaeaeeino? ?ic?iaeai? caaeaaaeuei? i?eno?i?,
ye? aeicaieythoue ?aae?coaaoe eiia?iiaaia ea?oaaiiy. Iai?eeeaae, ia
?en.2,a,a iaaaaeai? caaeaaaeuei? i?eno?i?, ye? ?aae?cothoue eiia?iiaaia
ea?oaaiiy c ii?yaeeii m=2:(a) – aeey iaeii?aciai?ioaa?oaaeueieo N?O c
aeaaa/ai na?aaeiuei? oaeaeeino? oa (a) – aeey aeai?aciai?ioaa?oaaeueieo
N?O i?e aoaeue-yeiio ?c niinia?a oi?ioaaiiy cai?ioiiai ca’yceo ca
oaeaee?noth.sseui nei?enoaoeny i?eeiiii onoaiiaeaiiy ia aoiae?
ciai?oiueiai eiioo?o ?aaoethaaiiy oaeaeeino? eaiee oeeo?iaiai
ona?aaeiaiiy (O) aeey eiiiainaoe?? oi?noth/i? neeaaeiai? caieiaiiai E?O,
yea aecaaia ?ia?oe?ei?noth cai?ioiiai ca’yceo, oa caaanoe ca oeth eaieo
aeiaeaoeiaee ei?aeooaaeueiee ca’ycie, ye oea c?iaeaii o caaeaaaeueiiio
i?eno?i? ia ?en.2,a, oi aeey aeai?aciai?ioaa?oaaeueieo nenoai
?aaoethaaiiy oaeaeeino? ?c aeaaa/aie na?aaeiuei? oaeaeeino? iiaeeeaa
?aae?caoe?y eiia?iiaaiiai ea?oaaiiy c m=3. I?e oeueiio iaiao?aeii, uia o
?O2 ?ioaa?oaaiiy a?aeaoaaeiny ca?aeii c (9).

Aaea ia aoai? neioaco anoaiiaeaii, ui aeeiai?/i? aeanoeaino?
eiia?iiaaieo nenoai ia caeaaeaoue a?ae oeio aeai?eoio ?ioaa?oaaiiy, ui
aeei?enoiao?oueny o caaeaaaeueieo i?eno?iyo. Iieaaeaii oea ia i?eeeaae?
caaeaaaeueiiai i?eno?ith ?en.2,a. Iaia?a?aiee aiaeia eiai aeene?aoii?
ia?aaeaaaeueii? ooieoe?? ciaoiaeeoueny ca ae?acii

, m=2, (16)

i?e aeei?enoaii? ??cieo ia?aaeaaaeueieo ooieoe?e ?ioaa?aoi??a o
oeueiio caaeaaaeueiiio i?eno?i? iaaaaeaii a oaae.1.

o iaia?a?aieo aiaeiaao aeene?aoieo ia?aaeaaaeueieo ooieoe?e
caaeaaaeueieo i?eno?i?a.

Iieacaii, ui a nenoaiao, ye? i?aoeththoue ca a?aeoeeaiiyi, e?aueo
aeeiai?/ieo iieaciee?a aeinyaathoue i?e aeei?enoaii? a caaeaaa/?
?ioaineaiino?, a aeey aeai?aciai?ioaa?oaaeueieo nenoai ?aaoethaaiiy
oaeaeeino? ? o ?O2, ?ioaa?aoi??a c ia?aaeaaaeueiith ooieoe??th (10).
Oiio ioe?iea aoaeoeaiino? eiia?iiaaiiai ea?oaaiiy i?iaiaeeeany a
ii??aiyii? c oaeeie nenoaiaie.

, ui a 3-9 ?ac?a iaioa, i?ae aeey iaeii?aciai?ioaa?oaaeueieo, oa a 7-12
?ac?a iaioa, i?ae aeey aeai?aciai?ioaa?oaaeueieo nenoai ?aaoethaaiiy
oaeaeeino?, ye? i?aoeththoue ca a?aeoeeaiiyi. Oea aeicaiey? io?eiaoe
aea?ao o ?aaoethaaii? ca oaeaee?noth aei 15% a ii??aiyii? c
o?aaeeoe?eieie nenoaiaie i?aeii?yaeeiaaiiai ?aaoethaaiiy. Aeeeaaeai?
aeniiaee /anoeiai i?aeoaa?aeaeothoueny a?ao?eaie ia?ao?aeieo i?ioean?a,
ye? iaaaaeaii a oaae.2.

o aeai?aciai?ioaa?oaaeueieo nenoaiao ?aaoethaaiiy oaeaeeino?, ye?
i?aoeththoue ca a?aeoeeaiiyi, ui i?eaiaeeoue aei i?aeaeuaiiy oaeaeeiae??
ca no?oiii a 1,5-3 ?ace.

Ia ?en.2,a iaaaaeaii caaeaaaeueiee i?eno??e, yeee aeicaiey? ?aae?coaaoe
eiia?iiaaia ea?oaaiiy c m=2 a iaeii?aciai?ioaa?oaaeueieo nenoaiao
?aaoethaaiiy oaeaeeino? c iaiaaeaiiyi ?eaea. Aeey
iaeii?aciai?ioaa?oaaeueieo N?O ?c cai?ioiei ca’yceii ca na?aaei?i
cia/aiiyi oaeaeeino? ii?yaeie eiia?iiaaiiai ea?oaaiiy iiaeia i?aeaeueoe
aei m=3, yeui aeei?enoaoe i?eeii onoaiiaeaiiy eaiee oeeo?iaiai
ona?aaeiaiiy ia aoiae? E?O, a aeey aeai?aciai?ioaa?oaaeueieo N?O – aei
m=3,4, oiio ui iiaeeeai caaanoe ua aeiaeaoeiaee ei?aeooaaeueiee ca’ycie
ca ?ioaa?aeueiee ?aaoeyoi? oaeaeeino? ?O2.

I?e ?aae?caoe?? eiia?iiaaiiai ea?oaaiiy ca caaeaaaeueiith ae??th o
nenoaiao ?aaoethaaiiy oaeaeeino? c iaiaaeaiiyi ?eaea, iacaeaaeii a?ae
no?oeoo?e eiioo?o ?aaoethaaiiy oaeaeeino?, aeai?ii a?aeiia?aeiiai
caaeaaaeueiiai i?eno?ith caaaeaee iiaeia io?eiaoe ia?aaeaaaeueio
ooieoe?th nenoaie (3), yea i?aeeyaa? iioei?caoe??, aeaeyaeo (5).

, (17)

a iio?i aea?aoe caaeaaaeueiee i?eno??e ca?aeii c oiiaith, uia
ia?aaeaaaeueia ooieoe?y

(18)

iaea aeaeyae (5) i?e iiai?noth ea?iaaieo eiao?oe??ioao /enaeueieea. Oea
aeicaiey? cae?enieoe iioei?caoe?th aaciina?aaeiuei ca aeene?aoiith
ia?aaeaaaeueiith ooieoe??th ca?aeii c ??aiyiiyie (6).

ia?aaeaaaeueia ooieoe?y (18), i?e aoaeue-ye?e no?oeoo?? nenoaie
?aaoethaaiiy oaeaeeino?, aoaea iaoe aeaeyae

. (19)

.

C (19) aeaeii, ui ?aae?caoe?y eiia?iiaaiiai ea?oaaiiy o nenoaiao
?aaoethaaiiy oaeaeeino? c iaiaaeaiiyi ?eaea iacaeaaeii a?ae no?oeoo?e
(iaeii- aai aeai?aciai?ioaa?oaaeueiee eiioo? ?aaoethaaiiy oaeaeeino?, ?c
cai?ioi?i ca’yceii ca ieoo?aei aai na?aaei?i cia/aiiyi oaeaeeino?, ?c
a?aooaaiiyi aai eiiiainaoe??th cai?ciaiiy o E?O) caaacia/o? ?eaie i?e
a?aei?aoethaaii? caaeaaaeueiiai aieeao ia ??ai? caaeaiiai oa aeicaiey?
cae?enieoe ia?aaaaeaiiy i?eaiaeo c iaeiiai noaio o ae?oaee c
iaeneiaeueiith i?e caaeaieo iaiaaeaiiyo oaeaeeiae??th.

O /aoaa?oiio ?icae?e? ?icaeyiooi eiia?iiaaia ea?oaaiiy oeeo?iaeie
nenoaiaie i?aeii?yaeeiaaiiai ?aaoethaaiiy iieiaeaiiy. Aiii aeinyaa?oueny
ca aeiiiiiaith caaeaaaeueieo i?eno?i?a, ye? oi?iothoue ia aoiae? eiioo?o
?aaoethaaiiy iieiaeaiiy (E?I) ?c i?iii?oe?eiei (e?i?eiei) ?aaoeyoi?ii
iieiaeaiiy (?I) neaiae, ui a?aeoai?th? caaeaiee (aaaeaiee) caeii ci?ie
?aaoe?aii? eii?aeeiaoe (iieiaeaiiy), oa ei?aeooaaeueieo ca’yce?a.
?icaeyaeathoueny nenoaie a yeeo i?aeii?yaeeiaaiei eiioo?ii ? ye
iaeii?aciai?ioaa?oaaeuei?, oae ? aeai?aciai?ioaa?oaaeuei? eiioo?e
?aaoethaaiiy oaeaeeino? i?e ??cieo niiniaao i?aai?caoe?? cai?ioiiai
ca’yceo ca oaeaee?noth oa i?e aeei?enoaii? ??cieo aeai?eoi?a
?ioaa?oaaiiy o caaeaaaeueieo i?eno?iyo oa o ?O2. Ia ?en.3 iaaaaeaia
e?i?eia /anoeia caaeaaaeueiiai i?eno?ith, yeee aeicaiey? ?aae?coaaoe
eiia?iiaaia ea?oaaiiy c ii?yaeeii m=3 o nenoaiao ?aaoethaaiiy iieiaeaiiy
c iaeii?aciai?ioaa?oaaeueiei eiioo?ii ?aaoethaaiiy oaeaeeino? oa
aeaaa/ai na?aaeiuei? oaeaeeino?. Aeey aiaeia?/ieo nenoai ?c cai?ioi?i
ca’yceii ca ieoo?aei cia/aiiyi oaeaeeino? iiaeia ?aae?coaaoe eiia?iiaaia
ea?oaaiiy eeoa c m=2. A ?ac? iiaoaeiae nenoai ?aaoethaaiiy iieiaeaiiy ?c
aeai?aciai?ioaa?oaaeueiei eiioo?ii ?aaoethaaiiy oaeaeeino? ii?yaeie
eiia?iiaaiiai ea?oaaiiy a?aeiia?aeii c?inoa? ia iaeeieoeth (m=3,4), oiio
ui aeiaea?oueny ei?aeooaaeueiee ca’ycie, yeee iiaeeeai caaanoe ca
?ioaa?aeueiee ?aaoeyoi? ?O2.

, ui a 2-7 ?ac?a iaioa, i?ae o iaeii?aciai?ioaa?oaaeueieo N?O, oa a 3-9
?ac?a iaioa, i?ae aeai?aciai?ioaa?oaaeueieo N?O, ui i?aoeththoue ca
a?aeoeeaiiyi).

sseui ?aae?co?oueny eiia?iiaaia ea?oaaiiy c m=2 oa m=3 a?aeiia?aeii aeey
nenoai ?aaoethaaiiy iieiaeaiiy c iaeii- oa aeai?aciai?ioaa?oaaeueieie
eiioo?aie ?aaoethaaiiy oaeaeeino?, oi aeeiai?/i? aeanoeaino? oaeeo
eiia?iiaaieo N?I, i?e aoaeue-yeiio cai?ioiiio ca’yceo ca oaeaee?noth, ia
a??o?, i?ae aeeiai?/i? iieacieee a?aeiia?aeieo nenoai ?aaoethaaiiy
oaeaeeino?, ui i?aoeththoue ca a?aeoeeaiiyi.

?aae?caoe?y ?iioeuenii? ei?aeoe?? cai?ciaiiy o eiioo?ao ?aaoethaaiiy
oaeaeeino? (yeui k=1) a 1,5-2 ?ace aeicaiey? ciaioeoe /an ia?oiai
ocaiaeaeaiiy ca no?oiii o eiia?iiaaieo nenoaiao ?aaoethaaiiy iieiaeaiiy
c iaeii?aciai?ioaa?oaaeueieie (m=2) oa aeai?aciai?ioaa?oaaeueieie (m=3)
eiioo?aie ?aaoethaaiiy oaeaeeino?. Ne?ae a?aecia/eoe, ui o eiia?iiaaieo
N?I ?c aeai?aciai?ioaa?oaaeueiei eiioo?ii ?aaoethaaiiy oaeaeeino? e?aua
?iioeuenio ei?aeoe?th i?iaiaeeoe ca no?oeoo?ith, eiee cai?ciaiiy
eiiiainiaaii o aioo??oiueiio oa a?aoiao?oueny i?e neioac? ciai?oiueiai
E?O, oiio ui ?? i?aeoe/ia ?aae?caoe?y iio?aao? iaioi? e?eueeino?
?ic?aooieiaeo iia?aoe?e oa aeicaiey? aeinyaoe aeeiai?/ieo iieaciee?a, ye
? a ?ac? iiaii? eiiiainaoe?? cai?ciaiiy o eiioo?? oaeaeeino? oa ??
iae?eo o eiioo?? ?aaoethaaiiy iieiaeaiiy.

a ii??aiyii? c ?acoeueoaoaie ?o iiaeaethaaiiy.

– aeey eiia?iiaaieo N?O c m=3.

Oaaeeoey 2 – Ii??aiyiiy ?acoeueoao?a iiaeaethaaiiy oa aenia?eiaioaeueieo
aeine?aeaeaiue aeai?aciai?ioaa?oaaeueieo nenoai ?aaoethaaiiy oaeaeeino?

.

Aenia?eiaioaeuei? aeine?aeaeaiiy i?aeoaa?aeeee iaai?noue ?ic?iaeaii?
iaoaiaoe/ii? iiaeae? oa i?eeiyoeo i?e aeeiiaii? aeine?aeaeaiue
i?eiouaiue. Oei naiei i?aeoaa?aeaeaii a??i?noue iniiaieo oai?aoe/ieo
iieiaeaiue oa aeniiae?a, ui c?iaeai? ia iniia? ?acoeueoao?a
iiaeaethaaiiy.

Oaaeeoey 3 – A?ao?ee ia?ao?aeieo i?ioean?a a

iaeii?aciai?ioaa?e?oaaeueieo nenoaiao ?aaoethaaiiy oaeaeeino?

AENIIAEE

O aeena?oaoe?? aeaii ?ica’ycaiiy aeooaeueii? iaoeiai? caaea/?, yea
iieyaa? a ?ice?eoo? iniaeeainoae iiaoaeiae eiia?iiaaieo nenoai ea?oaaiiy
aeaeo?ii?eaiaeaie, a iaoeiaiio iaa?oiooaaii? neioaco oeeo nenoai oa
oaoi?/ieo ??oaiue, uiaei iie?ioaiiy aeeiai?/ieo oa?aeoa?enoee
aeaeo?ii?eaiae?a. Iniiai? iaoeia? ?acoeueoaoe, aeniiaee oa
?aeiiaiaeaoe?? iieyaathoue a ianooiiiio:

1. Iaa?oioiaaii aeei?enoaiiy eiia?iiaaiiai ea?oaaiiy aeey iie?ioaiiy
aeeiai?/ieo iieaciee?a ?iaioe aeaeo?ii?eaiae?a ?c aaciina?aaei?i
oeeo?iaei ea?oaaiiyi. Onoaiiaeaii, ui ?aae?caoe?y eiia?iiaaiiai
ea?oaaiiy aeicaiey? i?aeaeueoe oaeaeeiae?th ca no?oiii o aeaa e a?eueoa
?ac?a oa ca oaeaee?noth aei 15%.

2. ?ic?iaeaii iaoiaee/i? iniiae neioaco aaaaoie?aoieo aeene?aoieo
eiia?iiaaieo nenoai. Aeiaaaeaia aeioe?euei?noue aeei?enoaiiy ni?iuaii?
iaoiaeeee neioaco eiia?iiaaieo aeene?aoieo nenoai i?e iaeii/ani?e
iioei?caoe?? ca aaaaoueia ia?aiao?aie, yea iieyaa? a ia?aoiae? a?ae
aeene?aoieo ia?aaeaaaeueieo ooieoe?e aei ?o iaia?a?aieo aiaeia?a ?c
iiaeaeueoei aeei?enoaiiyi oiia iioei?caoe?? ca iiaeoeueiei iioeioiii
uiaei iaia?a?aieo nenoai.

?ic?iaeaii caaeaaaeuei? i?eeaaee, ye? ?icoe?ththoue eiei aeei?enoaiiy

eiia?iiaaiiai ea?oaaiiy uiaei noai?aiiy aoaeoeaieo oeeo?iaeo nenoai
?aaoethaaiiy oaeaeeino? oa iieiaeaiiy. Iieacaii, ui i?e eiia?iiaaiiio
ea?oaaii? ci?ia?oueny i?ioe??//a i?ae e?euee?noth eiioo??a ?aaoethaaiiy
oa oaeaeeiae??th, yea aeiaaaeaia aei ??aiy ae?oaiai eiioo?o, a a ?ac?
aeei?enoaiiy ?ioi?iaoe?? i?i na?aaei? cia/aiiy oaeaeeino? – aei ??aiy
i?ioean?a e?ioeaai? o?eaaeino?. Inoaii? noaa?aeaeaiiy ni?aaaaeeeaa ye
aeey iaeiie?aoieo, oae ? aeey aaaaoie?aoieo oeeo?iaeo nenoai.

Aeiaaaeaii, ui a eiia?iiaaieo nenoaiao ?aaoethaaiiy iieiaeaiiy ye c
iaeii?aciai?ioaa?oaaeueiei, oae ? c aeai?aciai?ioaa?oaaeueiei eiioo?aie
?aaoethaaiiy oaeaeeino? a?ae?iaea caaeaaaeueii? ae?? eaea ia a??oa, a
aeey nenoai ?c cai?ioi?i ca’yceii ca na?aaei?i cia/aiiyi oaeaeeino?
iaa?oue e?aua, i?ae a iaeii?aciai?ioaa?oaaeueieo nenoaiao ?aaoethaaiiy
oaeaeeino?, ui i?aoeththoue ca a?aeoeeaiiyi. ?ic?iaeai? nenoaie
?aaoethaaiiy iieiaeaiiy ia iio?aaothoue ci?ie ia?aiao??a nenoai i?e
a?aei?aoeueiaoaaii? ia?ai?uaiue ?c ??ciei i?enei?aiiyi (niia?eueiaiiyi),
ui iiaea aooe ei?eniei aeey iie?ioaiiy aia?aaoe/ieo iieaciee?a ?iaioe
i?eaiaeo.

5. Aeiaaaeaia aoaeoeai?noue aeei?enoaiiy ?iioeuenii? ei?aeoe??
cai?ciaiiy o eiioo?ao ?aaoethaaiiy oaeaeeino? aeey i?aeaeuaiiy
oaeaeeiae?? iaeiie?aoieo nenoai ?aaoethaaiiy oaeaeeino? oa iieiaeaiiy
i?e ?o ?iaio? ca a?aeoeeaiiyi, a aeey nenoai ?aaoethaaiiy iieiaeaiiy ?
i?e eiia?iiaaiiio ea?oaaii?. Cai?iiiiiaaii niin?a ?aae?caoe??
?iioeuenii? ei?aeoe?? cai?ciaiiy o aeai?aciai?ioaa?oaaeueieo eiioo?ao
?aaoethaaiiy oaeaeeino?, ui aeicaiey? eiiiainoaaoe cai?ciaiiy a eiioo??,
ia ii?oooth/e eiai anoaoe/ieo aeanoeainoae ca cao?thaaeueiei aieeaii.

Anoaiiaeaii, ui ?aae?caoe?y eiia?iiaaiiai ea?oaaiiy a nenoaiao
?aaoethaaiiy oaeaeeino? c iaiaaeaiiyi ?eaea, iacaeaaeii a?ae no?oeoo?ii?
iiaoaeiae eiioo?o ?aaoethaaiiy oaeaeeino?, aeicaiey? cae?enieoe
a?ae?iaeo caaaeaiiy c iaeneiaeueiith i?e caaeaieo iaiaaeaiiyo
oaeaeeiae??th. Aeiaaaeaii, ui i?e cai?iiiiiaai?e iaoiaeeoe? neioaco
ia?ao?aei? i?ioeane an?o ?icaeyiooeo eiia?iiaaieo nenoai aoaeooue
iaeiaeia?, oiio aoaeoeai?noue aeei?enoaiiy eiia?iiaaiiai ea?oaaiiy oei
aeua, /ei a??o? aeeiai?/i? iieacieee a?aeiia?aeieo nenoai ?c
?aaoethaaiiyi ca a?aeoeeaiiyi.

?ica’ycaii ?yae caaea/, ye? iieaaoothoue ?ic?iaeo aeaeo?ii?eaiae?a ?c
eiia?iiaaiei ea?oaaiiyi, ?o aiae?c oa iaa?oiooaaiiy: i?iaaaeaii neioac
oa aiae?c aaeeei? e?eueeino? iiaeeeaeo aa??aio?a iiaoaeiae oeeo?iaeo
nenoai ?aaoethaaiiy oaeaeeino? e iieiaeaiiy c eiia?iiaaiei ea?oaaiiyi;
?ic?iaeaii iaoaiaoe/io iiaeaeue o i?inoi?? noai?a oa i?ia?aiia
caaacia/aiiy aeey aiae?co aaaaoie?aoieo oeeo?iaeo nenoai ?aaoethaaiiy;
iieacaii oi?ioee ca?a ?acoeueoao?a aenia?eiaioaeueieo aeine?aeaeaiue oa
iaoaiaoe/iiai iiaeaethaaiiy.

Iniiai? iieiaeaiiy aeena?oaoe?? aena?oeaii a ?iaioao:

1. Eioeaaoa I.O., Aa?eiaa?a A.A., Ieioon A.I. Neioac
iaeiie?aoiieioaa?e?othuae eiiaeie?iaaiiie oeeo?iaie nenoaiu
iiae/eiaiiiai ?aaoee?iaaiey yeaeo?ii?eaiaea n aeaoiy ia?eiaeaie
eaaioiaaiey // Ecaanoey aocia. Yeaeo?iiaoaieea. -1995. – N5-6.- C.
63-68.

2. Eioeaaoa I.O., Aa?eiaa?a A.A., Ieioon A.I. Neioac
aeaoe?aoiieioaa?e?othueo eiiaeie?iaaiiuo oeeo?iauo nenoai iiae/eiaiiiai
?aaoee?iaaiey yeaeo?ii?eaiaea iinoiyiiiai oiea n aeaoiy ia?eiaeaie
eaaioiaaiey // Eca. aocia. Yeaeo?iiaoaieea. – 1996. – ? 5-6. – N.86-93.

Eioeaaoa I.O., Ieioon A.I. Iniaaiiinoe ?aaeecaoeee eiioeueniie
ei??aeoeee caiacaeuaaiey a oeeo?iauo anoaoe/aneeo ii aiciouathuaio
aicaeaenoaeth nenoaiao ?aaoee?iaaiey nei?inoe. // I?iaeaiu
aaoiiaoece?iaaiiiai yeaeo?ii?eaiaea. Oai?ey e i?aeoeea: Aanoiee OAIO.
Niaoeeaeueiue auione. Oa?ueeia: OAIO. – 1998.- N.73-74.

Eioeaaoa I.O., Ieioon A.I., Ooiyoeeee A.I. Eiiaeie?iaaiiia oi?aaeaiea a
nenoaiao ?aaoee?iaaiey nei?inoe n ia?aie/aieai ia?auo aeaoo i?iecaiaeiuo
?aaoee?oaiie eii?aeeiaou. // I?iaeaiu aaoiiaoece?iaaiiiai
yeaeo?ii?eaiaea. Oai?ey e i?aeoeea: Aanoiee OAIO. Niaoeeaeueiue auione.
Oa?ueeia: OAIO. -1998.- N.115-116.

5. Eaoe A.A., Eioeaaoa I.O., Ieioon A.I. Eiiaeie?iaaiiia oi?aaeaiea
iiiaie?aoiuie oeeo?iauie anoaoe/aneeie ii iaa?ocea nenoaiaie
?aaoee?iaaiey iieiaeaiey. // Ac?uaicaueuaiiia yeaeo?iiai?oaeiaaiea: Ca.
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6. Eioeaaoa I.O., Ieioon A.I. Eiiaeie?iaaiiua aeaoe?aoiieioaa?e?othuea
nenoaiu ?aaoee?iaaiey nei?inoe n o/aoii ia?aie/aiee onei?aiey e ?uaea.
//Iaoeia? i?aoe? Aeiiaoeueeiai aea?aeaaiiai oaoi?/iiai oi?aa?neoaoo.
Na??y: Ia/enethaaeueia oaoi?ea oa aaoiiaoecaoe?y, aeione 3: –
Aeiiaoeuee: AeiiAeOO, 1999. – N.63-71.

7. Eioeaaoa I.O., Aa?eiaa?a A.A., Ieioon A.I. Neioac iiiaie?aoieo
oeeo?iauo nenoai oi?aaeaiey yeaeo?ii?eaiaeaie iinoiyiiiai oiea. //
O?oaeu eiioa?aioeee “I?iaeaiu aaoiiaoece?iaaiiiai yeaeo?ii?eaiaea.
Oai?ey e i?aeoeea”. – Oa?ueeia: Iniiaa. – 1994.- N. 41-45.

8. Eioeaaoa I.O., Ieioon A.I. Neioac oeeo?iauo eiiaeie?iaaiiuo nenoai
iiceoeeiiiiai yeaeo?ii?eaiaea n iaeiie?aoiieioaa?e?othuei eiioo?ii
?aaoee?iaaiey nei?inoe. // O?oaeu eiioa?aioeee “I?iaeaiu
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Iniiaa. – 1995.- C.53-57.

Eioeaaoa I.O., Aa?eiaa?a A.A., Ieioon A.I. Oeeo?iaua eiiaeie?iaaiiua
aeaoe?aoiieioaa?e?othuea nenoaiu ?aaoee?iaaiey nei?inoe i?eaiaea
iinoiyiiiai oiea n o?aiy ei??aeoe?othueie naycyie.// O?oaeu eiioa?aioeee
“I?iaeaiu aaoiiaoece?iaaiiiai yeaeo?ii?eaiaea. Oai?ey e i?aeoeea”. –
Oa?ueeia: Iniiaa. – 1996. – C. 123-127.

Eioeaaoa I.O., Ieioon A.I., Noa?inoei N.N. Yenia?eiaioaeueiua
enneaaeiaaiey eiiaeie?iaaiiuo nenoai ?aaoee?iaaiey nei?inoe
yeaeo?ii?eaiaeia iinoiyiiiai oiea n i?yiui oeeo?iaui oi?aaeaieai. //
O?oaeu eiioa?aioeee “I?iaeaiu aaoiiaoece?iaaiiiai yeaeo?ii?eaiaea.
Oai?ey e i?aeoeea”.-Oa?ueeia: Iniiaa. – 1997.- N. 220-223.

Eioeaaoa I.O., Ieioon A.I., Oiei/ei I.E. Eiiaeie?iaaiiia oi?aaeaiea
oeeo?iauie nenoaiaie ?aaoee?iaaiey nei?inoe n o/aoii ia?aie/aiey
onei?aiey e ?uaea. // Yeaeo?ioaoieea. – 1999. – ?5. N. 33-38.

Ieioon A.I. Ioeaiea aeeyiey eiiiainaoeee caiacaeuaaiey a eiioo?a
?aaoee?iaaiey nei?inoe ia aeeiaie/aneea naienoaa oeeo?iauo
eiiaeie?iaaiiuo nenoai ?aaoee?iaaiey iieiaeaiey.// Nai?iee iao/iuo
o?oaeia AeiiAOO. Na?ey: Yeaeo?ioaoieea e yia?aaoeea, auione 4: Aeiiaoee:
AeiiAOO, 1999. – N. 52-55.

Iniaenoee aianie caeiaoaa/a: On? ?acoeueoaoe, ui noaiiaeyoue iniiaiee
ci?no aeena?oaoe??, aaoi? io?eiaa naiino?eii. O ?iaioao, iaae?oeiaaieo o
ni?aaaoi?noa?, aeena?oaioo iaeaaeeoue: a [1,2,5,7,8,9] c?iaeaii
iioei?caoe?th oa iaea?aeai? ?acoeueoaoe iaoaiaoe/iiai iiaeaethaaiiy
nenoai; a ?iaioao [5,9] aaoi?ii onoaiiaeaii, ui cai?iiiiiaaiee niin?a
?aae?caoe?? eiia?iiaaiiai ea?oaaiiy aoaeoeaiee eeoa i?e aeei?enoaii? a
?aaoeyoi?? oaeaeeino? ?ioaa?oaaiiy ca iaoiaeii o?aiaoe?e; a ?iaio?
[4,6,11] aaoi?ii cai?iiiiiaaia iaoiaeeea neioaco oa ciaeaeaii
?acoeueoaoe iioei?caoe?? ?icaeyiooeo nenoai; a ?iaio? [3] aaoi?ii
cai?iiiiiaaii niin?a ?aae?caoe?? ?iioeuenii? ei?aeoe?? cai?ciaiiy oa
neioaciaai? eaiee, ye? ?? ?aae?cothoue; a ?iaio? [10] aaoi?ii
cai?iiiiiaai? aeai?eoie ?aae?caoe?? oa ciaeaeaii ia?aiao?e eiia?iiaaieo
nenoai, a oaeiae io?eiai? ?acoeueoaoe ?o iaoaiaoe/iiai iiaeaethaaiiy.

AIIOAOe?ss

I?ioon A.I. Oeeo?ia? nenoaie ?aaoethaaiiy aeaeo?ii?eaiaeo c eiia?iiaaiei
ea?oaaiiyi. -?oeiien.

Aeena?oaoe?y ia caeiaoooy iaoeiaiai nooiaiy eaiaeeaeaoa oaoi?/ieo iaoe
ca niaoe?aeuei?noth 05.09.03 – Aeaeo?ioaoi?/i? eiiieaene oa nenoaie. –
Aeiiaoeueeee aea?aeaaiee oaoi?/iee oi?aa?neoao, Aeiiaoeuee, 1999.

Aeena?oaoe?y i?enay/aia ieoaiiyi noai?aiiy oaeaeeiae?th/eo
aeaeo?ii?eaiae?a ?c aaciina?aaei?i oeeo?iaei ea?oaaiiyi. ?ic?iaeaii oa
oai?aoe/ii iaa?oioiaaii caniae oaoi?/ii? ?aae?caoe?? eiia?iiaaieo ca
caaeaaaeueiei aieeaii aaaaoie?aoieo oeeo?iaeo nenoai ?aaoethaaiiy
oaeaeeino? oa iieiaeaiiy, oaeaeeiae?th yeeo aeiaaaeaii aei ??aiy
i?ioean?a e?ioeaai? o?eaaeino?. Cai?iiiiiaaii niin?a eiiiainaoe??
cai?ciaiiy o aeai?aciai?ioaa?oaaeueieo eiioo?ao ?aaoethaaiiy oaeaeeino?
aac ii?ooaiiy anoaoe/ieo aeanoeainoae inoaii?o ca cao?thaaeueiei
aieeaii. Aoaeoeai?noue cai?iiiiiaaieo ??oaiue i?aeoaa?aeaeaii
?acoeueoaoaie iaoaiaoe/iiai iiaeaethaaiiy oa aenia?eiaioaeueieo
aeine?aeaeaiue. Io?eiai? ?acoeueoaoe iiaeooue aeei?enoiaoaaoenue i?e
?ica’ycaii? caaea/ i?aeaeuaiiy aoaeoeaiino? ?iaioe ye ae?th/eo
i?eaiae?a, oae ? oeo, ye? ciia i?iaeoothoue.

Eeth/ia? neiaa: eiia?iiaaia ea?oaaiiy, caaeaaaeueiee aieea, aaaaoie?aoi?
oeeo?ia? nenoaie, aeaeo?ii?eaiae, eiiiainaoe?y cai?ciaiiy.

ABSTRACT

Mintus A.N. Digital systems of electric drives regulation with combined
control. -Manuscript.

Thesis for a candidate of technical science degree by speciality
05.09.03 – Electrotechnical complexes and systems. – Donetsk state
technical university, Donetsk, 1999.

This thesis is dedicated to creation of a fast-acting electric drives
with direct digital control. The theoretical grounds has obtained, and
methods of technical realization of multiple digital combined with
respect to the reference signal systems of speed and position are
developed. The quick-action of such systems has brought to quick-action
of processes with finite duration. The way of lateness compensation is
proposed in double integrate speed regulation loop without violation of
this loop’s astatic behavior. The effectiveness is confirmed with
results of mathematical simulation and experimental investigations.
Results can be used on solving of tasks of effectiveness increasing both
operating and estimated drives in different areas of industry.

KEY WORDS: combined control, reference signal, multiple digital systems,
electric drive, lateness compensation.

AIIIOAOeEss

Ieioon A.I. Oeeo?iaua nenoaiu ?aaoee?iaaiey yeaeo?ii?eaiaea n
eiiaeie?iaaiiui oi?aaeaieai. -?oeiienue.

Aeenna?oaoeey ia nieneaiea o/aiie noaiaie eaiaeeaeaoa oaoie/aneeo iaoe
ii niaoeeaeueiinoe 05.09.03 – Aeaeo?ioaoie/aneea eiiieaenu e nenoaiu. –
Aeiiaoeeee ainoaea?noaaiiue oaoie/aneee oieaa?neoao, Aeiiaoee, 1999.

Aeenna?oaoeey iinayuaia aii?inai ?aaeecaoeee eiiaeie?iaaiiiai oi?aaeaiey
ii caaeathuaio aicaeaenoaeth aeey iiauoaiey auno?iaeaenoaey
yeaeo?ii?eaiaeia n iaiin?aaenoaaiiui oeeo?iaui oi?aaeaieai, ?aaioathueo
ii i?eioeeio iiae/eiaiiiai ?aaoee?iaaiey eii?aeeiao. Ia iniiaa
eniieueciaaiey iniaaiiinoae iino?iaiey aeene?aoiuo nenoai iiae/eiaiiiai
?aaoee?iaaiey e eioi?iaoeee i aeaeaaiii eciaiaiee ?aaoee?oaiie
eii?aeeiaou e aa ?aciinoae, eioi?ay niaea?aeeony a oeiiauo caaeathueo
ono?ienoaao, ?ac?aaioaiu e oai?aoe/anee iainiiaaiu niiniau oaoie/aneie
?aaeecaoeee eiiaeie?iaaiiiai oi?aaeaiey.

Aeieacaia oeaeaniia?aciinoue i?eiaiaiey aeey neioaca eiiaeie?iaaiiuo
aeene?aoiuo nenoai oi?iuaiiie iaoiaeeee iioeiecaoeee, nouiinoue eioi?ie
caeeth/aaony a ia?aoiaea io aeene?aoiuo ia?aaeaoi/iuo ooieoeee nenoai e
eo iai?a?uaiui aiaeiaai n aeaeueiaeoei eniieueciaaieai oneiaee
iioeiecaoeee ii ii-aeoeueiiio iioeioio aeey iai?a?uaiuo nenoai. Oaeie
iiaeoiae iicaieyao eniieueciaaoue aieaa i?inoua aeai?eoiu neioaca, /oi
iniaaiii aaaeii i?e iaeiia?aiaiiie iioeiecaoeee ii ianeieueeei
aa?uee?oaiui ia?aiao?ai, eae yoi aeaeaaony i?e ii?aaeaeaiee
eiyooeoeeaioia ei??aeoe?othueo naycae eiiaeie?iaaiiuo nenoai.

Aeey eiiieaeniiai ?aoaiey aii?inia ?aaeecaoeee eiiaeie?iaaiiiai
oi?aaeaiey e ii?aaeaeaiey aai yooaeoeaiinoe ?ac?aaioaiu caaeathuea
ono?ienoaa e ia eo iniiaa – eiiaeie?iaaiiua nenoaiu ?aaoee?iaaiey
nei?inoe e iieiaeaiey (n iaeiie?aoiieioaa?e?othueie e
aeaoe?aoiieioaa?e?othueie eiioo?aie ?aaoee?iaaiey nei?inoe, n aeao/eeaie
iaiiaaiiiai e n?aaeiaai cia/aiee nei?inoe, n ?acee/iuie aeai?eoiaie
eioaa?e?iaaiey a ?aaoeyoi?ao e CO, n eiiiainaoeeae caiacaeuaaiey a
eiioo?a ?aaoee?iaaiey nei?inoe e aac iaa).

Aeey iiauoaiey yooaeoeaiinoe eiiaeie?iaaiiiai oi?aaeaiey oeeo?iauie
nenoaiaie ?aaoee?iaaiey i?e eo iino?iaiee n eniieueciaaieai a ea/anoaa
ia?aoiie nayce eioi?iaoeee i n?aaeiai ca ia?eiae ecia?aiey cia/aiee
nei?inoe aia?aua onoaiiaeaia aiciiaeiinoue i?eiaiaiey ia aoiaea aiaoiaai
eiioo?a ?aaoee?iaaiey caaia oeeo?iaiai on?aaeiaiey. Yoi iicaieyao
eiiiaine?iaaoue oi?ne?othuoth ninoaaeythuoth a ia?aaeaoi/iie ooieoeee
caieiooie nenoaiu, aucaaiioth eia?-oeeiiiinoueth ia?aoiie nayce ii
nei?inoe, e iiauneoue eiee/anoai ?aaeecoaiuo ia aoiaea nenoaiu
aa?uee?oaiuo ?aciinoae io caaeathuaai aicaeaenoaey iooai aaaaeaiey
aeiiieieoaeueiie ei??aeoe?othuae nayce.

Aeey aieueoae iauiinoe iieo/aiiuo ?acoeueoaoia ?anniio?aiu aii?inu
iino?iaiey iiiaie?aoiuo eiiaeie?iaaiiuo oeeo?iauo nenoai ?aaoee?iaaiey,
a eioi?uo eiioo? ?aaoee?iaaiey oiea ?aaioaao n aeene?aoiinoueth
aaioeeueiiai i?a-ia?aciaaoaey, a ia?eiae eaaioiaaiey aiaoieo eiioo?ia
aieueoa e e?aoai ia?eiaeo eaaioiaaiey, i?eiyoiai a eiioo?a oiea. Oaeie
iiaeoiae iicaieee iieo/eoue iauea caaeneiinoe, eioi?ua i?eiaieiu e aeey
?aaioathueo n iaeeiaeiaie aeene?aoiinoueth ai anao eiioo?ao
?aaoee?iaaiey iaeiie?aoiuo nenoai, iineieueeo iineaaeiea yaeythony
/anoiui neo/aai iiiaie?aoiuo.

A i?aeoeea iinoiaiey iaeiie?aoiuo nenoai ecaanoai niinia iiauoaiey eo
auno?iaeaenoaey n?aaenoaaie eioeueniie ei??aeoeee caiacaeuaaiey a
eiioo?a ?aaoee?iaaiey nei?inoe. Yoi iicaieyao eiiiaine?iaaoue
caiacaeuaaiea a eiioo?a e inouanoaeoue iano?ieeo iineaaeiaai ia aieaa
aunieia auno?iaeaenoaea. A ?aaioa iieo/aiu ?aoaiey, ioee/athueany io
ecaanoiuo oai, /oi iicaieytho inouanoaeoue eiiiainaoeeth caiacaeuaaiey a
aeaoe?aoiieioaa?e?othuai eiioo?a ?aaoee?iaaiey nei?inoe aac ia?ooaiey
aai anoaoe/aneeo naienoa ii aiciouathuaio aic-aeaenoaeth. Iineaaeiaa
aeinoeaaaony ca n/ao iino?iaiey eiioo?a nei?inoe a aeaea aeaoo eiioo?ia
(n i?iii?oeeiiaeueiui e eioaa?aeueiui ?aaoeyoi?aie) e ?aaeecaoeee a
eaaeaeii ec yoeo eiioo?ia eiioeueniie ei??aeoeee caiacaeuaaiey.

Aeey ii?aaeaeaiey yooaeoeaiinoe i?aaeeaaaaiuo ?aoaiee ?ac?aaioaia
iaoaiaoe/aneay iiaeaeue, aeinoiaa?iinoue eioi?ie iiaeoaa?aeaeaia oi?ioae
noiaeeiinoueth ?acoeueoaoia yenia?eiaioaeueiuo enneaaeiaaiee e
iaoaiaoe/aneiai iiaeaee?iaaiey. Aiaeec iieo/aiiuo ?acoeueoaoia
naeaeaoaeuenoaoao ia eneeth/eoaeueiie yooaeoeaiinoe eiiaeie?iaaiiiai
oi?aaeaiey. Aai ?aaeecaoeey eae a nenoaiao ?aaoee?iaaiey nei?inoe, oae e
iieiaeaiey iicaieyao aeiaanoe eo auno?iaeaenoaea aei o?iaiy i?ioeannia
eiia/iie aeeeoaeueiinoe.

?ac?aaioaiiua a aeenna?oaoeeiiiie ?aaioa niiniau oaoie/aneie ?aaeecaoeee
eiiaeie?iaaiiiai oi?aaeaiey ia o?aaotho eciaiaiey no?oeoo?u caieioouo
eiioo?ia ?aaoee?iaaiey e iiaoo auoue eniieueciaaiu i?e ?aoaiee caaea/
iiauoaiey yooaeoeaiinoe ?aaiou eae aeaenoaothueo, oae e aiiaue
i?iaeoe?oaiuo i?eaiaeia ?acee/iuo io?aneae i?iiuoeaiiinoe.

Eeth/aaua neiaa: eiiaeie?iaaiiia oi?aaeaiea, caaeathuaa aicaeaenoaea,
iiiaie?aoiua oeeo?iaua nenoaiu, yeaeo?ii?eaiae, eiiiainaoeey
caiacaeuaaiey.

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