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Системи стабілізації координат в електроприводах з випадковими збуреннями: Автореф. дис… канд. техн. наук / А.В. Маляр, Держ. ун-т ‘Львів. політехні

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AeA?AEAAIEE OI?AA?NEOAO “EUeA?ANUeEA IIE?OAOI?EA”

IAEss?

Aiae??e Aaneeueiae/

OAeE 62-83-52

NENOAIE NOAA?E?CAOe?? EII?AeEIAO A AEAEO?II?EAIAeAO C AEIAAeEIAEIE
CAO?AIIssIE

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

Euea?a – 1998

Aeena?oaoe??th ? ?oeiien.

?iaioa aeeiiaia a Aea?aeaaiiio oi?aa?neoao? “Euea?anueea iie?oaoi?ea”.

Iaoeiaee ea??aiee: aeieoi? oaoi?/ieo iaoe, i?ioani?

Eiceinueeee I?ano THe?aiiae/

AeO “Euea?anueea iie?oaoi?ea”, caa.eaoaae?ith aeaeo?ii?eaiaeo oa
aaoiiaoecaoe?? i?iieneiaeo onoaiiaie

Io?oe?ei? iiiiaioe: aeieoi? oaoi?/ieo iaoe, i?ioani?

Eooee?a Ieeiea Ieoaeeiae/

Oe?a?inueea aeaaeai?y ae?oea?noaa, caa.eaoaae?ith aaoiiaoecaoe??
iie?a?ao?/iiai ae?iaieoeoaa

eaiaeeaeao oaoi?/ieo iaoe, aeioeaio

Aanee?a Ea?e Ieeieaeiae/

Oe?a?inueeee aea?aeaaiee e?nioaoi?/iee oi?aa?neoao, aeioeaio eaoaae?e
ia/enethaaeueii? oaoi?ee ? iiaeaethaaiiy oaoiieia?/ieo i?ioean?a

I?ia?aeia onoaiiaa: Iaoe?iiaeueiee oaoi?/iee oi?aa?neoao Oe?a?ie
“Ee?anueeee iie?oaoi?/iee ?inoeooo”, i.Ee?a.

Caoeno a?aeaoaeaoueny “ 26 “ a?oaeiy 1998 ?. i 14 aiae. 00 oa.
ia can?aeaii? niaoe?ae?ciaaii? a/aii? ?aaee Ae35.052.02 i?e
Aea?aeaaiiio oi?aa?neoao? “Euea?anueea iie?oaoi?ea” (290646, i.Euea?a,
aoe. N.Aaiaea?e, 12)

C aeena?oaoe??th iiaeia iciaeiieoenue a iaoeiai-oaoi?/i?e a?ae?ioaoe?
Aea?aeaaiiai oi?aa?neoaoo “Euea?anueea iie?oaoi?ea” (290646, i.Euea?a,
aoe. I?ioani?nueea, 1)

Aaoi?aoa?ao ?ic?neaiee “ 24 “ eenoiiaaea 1998 ?.

A/aiee nae?aoa? niaoe?ae?ciaaii? ?aaee

eaiaeeaeao oaoi?/ieo iaoe, aeioeaio
Oaaaaeei I.?.

CAAAEUeIA OA?AEOA?ENOEEA ?IAIOE

Aeooaeuei?noue oaie. Oaoi?ei-aeiiii?/i? iieacieee ooieoe?iioaaiiy
neeaaeieo aeaeo?iiaoai?/ieo nenoai a cia/i?e i??? caeaaeaoue a?ae
oi/iino? i?aeo?eiaiiy ?aaoeueiaaii? eii?aeeiaoe ia caaeaiiio ??ai?, aai
a?ae oi/iino? a?aei?aoethaaiiy aieea?a, ye? ae?thoue ia nenoaio.

oa yeino? aea?aaeiii? iane; eieeaaiiy iaaaioaaeaiiy iaa?oiai? ia/?
aeeeeeathoue eieeaaiiy ?? ei?iono oa ooiaeaiaioo, ui i?enei?th?
ni?aoethaaiiy aeaoaeae ? aoce?a e?iaiaoe/ii? noaie i?eaiaeo.

Iaiao?aei?noue oi?ioaaoe ea?oth/? aieeae a oaoi?/ieo nenoaiao, ye? a
nooo?ai iie?aueee iieacieee noaa?e?caoe?? ?aaoeueiaaii? eii?aeeiaoe i?e
ae?? aeiaaeeiaeo cao?aiue, i?eaaea aei canoinoaaiiy i?eioeei?a
noaoenoe/ii? oai??? ea?oaaiiy ? oi?ioaaiiy ea?oth/eo aieea?a o aeaeyae?
iioieo aieea?a. A?aeii? iaoiaee neioaco aaoiiaoe/ieo nenoai ea?oaaiiy
iathoue ?yae iaaeie?e?a, ye? iaiaaeothoue noa?o ?o canoinoaaiiy, cie?aia
a aeaeo?iiaoai?/ieo nenoaiao. Oiio eiaeia iiaa ??oaiiy /e iiaee i?aeo?ae
a iai?yi? neioaco a?aeiia?aeieo iioie?a ea?oth/eo aieea?a ia iniia?
aaeaeaaoiiai iieno ?aaeueieo i?ioean?a a oaeeo nenoaiao ? ia
nueiaiaei?oi?e aeaiue aeooaeueiei.

Ca’ycie ?iaioe c iaoeiaeie i?ia?aiaie, ieaiaie, oaiaie. ?iaioa
aeeiioaaeanue a ?aieao oaiaoe/iiai ieaio iaoeiai-aeine?aeieo ?ia?o
I?i?noa?noaa ina?oe Oe?a?ie ca iaoeiaei iai?yieii “Ia?niaeoeai?
?ioi?iaoe?ei? oaoiieia??, i?eeaaee eiiieaenii? aaoiiaoecaoe??, nenoaie
ca’yceo” ca oaiaie “Iioei?caoe?y oa iiaeaethaaiiy aeaeo?iiaoai?/ieo
nenoai, i?iieneiaeo oa oaoiieia?/ieo ia’?eo?a, ye? ia?aaoaathoue i?ae
ae??th aeiaaeeiaeo cao?aiue, ? neioac aaeoi??a ea?oth/eo aieea?a” (AeA/7
AN, 1994-95??.) oa “Aeaioiaeaiiy aenia?eiaioaeueiiai c?acea
aaoiiaoeciaaiiai aeaeo?ii?eaiaeo ?c noaoenoe/iei iaoiaeii oi?ioaaiiy
neaiaeo ea?oaaiiy aeey ae?iaie/eo iaoai?ci?a oa ia’?eo?a, ui i?aeaeai?
ae?? aeiaaeeiaeo cao?aiue” (AeA/7 “Aaeoi?”, 1996-97??.), aeeiiaieie ia
eaoaae?? aeaeo?ii?eaiaeo AeO “Euea?anueea iie?oaoi?ea”.

Iaoa ? caaea/? aeine?aeaeaiiy. Iaoith aeaii? ?iaioe ? ?ic?iaea
aeai?eoi?a, i?ia?aiieo i?iaeoeo?a ? i?eno?i?a aeey noaa?e?caoe??
eii?aeeiao a aeaeo?ii?eaiaeao c aeiaaeeiaeie cao?aiiyie oeyoii
oi?ioaaiiy iioie?a ea?oth/eo aieea?a oa aeia?eiaioaeueia ia?aa??ea
aoaeoeaiino? noai?aieo cania?a.

Aeey aeinyaiaiiy iinoaaeaii? iaoe iaiao?aeii ?ica’ycaoe ianooii?
caaea/?¦

?ic?iaeoe no?oeoo?o aeaeo?iiaoai?/ii? nenoaie c? noioanoe/iei niiniaii
noaa?e?caoe??;

iaea?aeaoe ae?ac aeenia?n?? aeo?aeii? eii?aeeiaoe ye ooieoe?? a?ae
ia?aiao??a aaeoi?a ea?oth/eo oa cao?thth/eo aieea?a‚ ye? ae?thoue ia
aeaeo?iiaoai?/io nenoaio;

ia iniia? io?eiaii? caeaaeiino? ?ic?iaeoe aeai?eoi oa neeanoe i?ia?aio
iioei?caoe?? no?oeoo?e oa ia?aiao??a noioanoe/ii? nenoaie aaoiiaoe/iiai
ea?oaaiiy a?aeiia?aeii aei aea?aiiai e?eoa??th yeino?;

?ic?iaeoe aeai?eoi ? i?ia?aio neioaco iaia?a?aiiai i?ioeano ea?oth/eo
aieea?a aeaeo?iiaoai?/ii? nenoaie;

noai?eoe oeeo?ia? iiaeae? nenoai noioanoe/ii? noaa?e?caoe?? eii?aeeiao
aeaeo?ii?eaiae?a oaoiieia?/ieo onoaiiaie;

aeine?aeeoe iaoiaeii iaoaiaoe/iiai iiaeaethaaiiy caeaaeiino?
niaeo?aeueieo aonoei ?aaoeueiaaii? eii?aeeiaoe a?ae ia?aiao??a aaeoi?a
ea?oth/eo aieea?a;

noai?eoe o?ce/io iiaeaeue aeaeo?iiaoai?/ii? nenoaie c? noioanoe/iei
niiniaii noaa?e?caoe?? ?aaoeueiaaii? eii?aeeiaoe oa ia?aa??eoe ia i?e
aoaeoeai?noue cai?iiiiiaaieo ??oaiue.

Iaoeiaa iiaecia iaea?aeaieo ?acoeueoao?a:

oia?oa ?ic?iaeaii no?oeoo?o aeaeo?iiaoai?/ii? nenoaie c? noioanoe/iei
niiniaii noaa?e?caoe??;

io?eiaii caeaaei?noue aeenia?n?? ?aaoeueiaaii? eii?aeeiaoe a ooieoe??
ia?aiao??a aaeoi?a ea?oth/eo oa cao?thth/eo aieea?a‚ ye? ae?thoue ia
aeaeo?iiaoai?/io nenoaio;

?ic?iaeaii aeai?eoi iioei?caoe?? no?oeoo?e oa ia?aiao??a noioanoe/ii?
nenoaie aaoiiaoe/iiai ea?oaaiiy;

cai?iiiiiaaii aeai?eoi ?aae?caoe?? oi?ioaaiiy iaia?a?aiiai i?ioeano
ea?oth/eo aieea?a aeaeo?iiaoai?/ii? nenoaie c aeiaaeeiaeie cao?aiiyie.

I?aeoe/ia cia/aiiy iaea?aeaieo ?acoeueoao?a:

?ic?iaeaiee aeai?eoi iioei?caoe?? aeicaiey? ciaeoe no?oeoo?o oa
ia?aiao?e noioanoe/ii? nenoaie aaoiiaoe/iiai ea?oaaiiy, yea caaacia/o?
iio??aia cia/aiiy ?ioaa?aeueiiai e?eoa??y yeino?, a oaeiae ia?
aeanoea?noue aaeaioaoe?? aei ci?ie oa?aeoa?enoee cao?aiue. Aeai?eoi ia?
iiaeoeueio no?oeoo?o, ui ?iaeoue eiai i?inoei a ei?enooaaii?;

noai?aiee aeai?eoi ?aae?caoe?? oi?ioaaiiy iaia?a?aiiai i?ioeano
ea?oth/eo aieea?a iiaea aooe aeei?enoaiee aeey noaa?e?caoe??
?aaoeueiaaii? eii?aeeiaoe a aeaeo?iiaoai?/ieo nenoaiao c aeiaaeeiaeie
cao?aiiyie;

?ic?iaeai? oeeo?ia? iiaeae? nenoai noioanoe/ii? noaa?e?caoe?? oaeaeeino?
aeaeaoia ? aeoeaii? iiooaeiino? aeao?a?i?a aeicaieythoue aeine?aeaeoaaoe
?o iiaaae?ieo o ??cieo ?aaeeiao ?iaioe;

noai?aiee aenia?eiaioaeueiee c?acie aeaeo?iiaoai?/ii? nenoaie c
noioanoe/iei ea?oaaiiyi oaeaee?noth aeaeaoia aeicaiey? aeine?aeaeoaaoe
??ci? ??oaiiy oa i?aeoiaee i?e neioac? iioie?a ea?oth/eo aieea?a ?
aeei?enoiao?oueny o iaa/aeueiiio i?ioean? eaoaae?e aeaeo?ii?eaiaeo AeO
“Euea?anueea iie?oaoi?ea”.

Iniaenoee aianie caeiaoaa/a. An? ?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 [2,3,9,14] – i?iaaaeaiiy
aenia?eiaio?a ia oeeo?ia?e iiaeae? oa ia?iaea ?acoeueoao?a; a [4] –
?ic?iaeaiiy aeai?eoio ciaoiaeaeaiiy iioeiaeueii? no?oeoo?e oa ia?aiao??a
aeieo oi?ioaaiiy ea?oth/eo aieea?a; a [5,8,10,12,15] – noai?aiiy
oeeo?iaeo iiaeaeae aeaeo?iiaoai?/ieo nenoai c? noioanoe/iei i?eioeeiii
ea?oaaiiy oa i?iaaaeaiiy ia ieo aenia?eiaio?a; a [6,7] – ?ic?iaea
no?oeoo?ii? noaie aaoiiaoe/ii? nenoaie ea?oaaiiy aeaeo?iiaoai?/ieie
nenoaiaie, ui i?aeaeai? ae?? aeiaaeeiaeo cao?aiue; a [11] – aiae?c
e?oa?aoo?ieo aeaea?ae oa aeeiiaiiy ?ic?aooie?a.

Ai?iaaoe?y ?acoeueoao?a aeena?oaoe??. Iniiai? ?acoeueoaoe
aeena?oaoe?eii? ?iaioe aeiiia?aeaeenue, iaaiai?thaaeenue oa io?eiaee
iiceoeaiee a?aeaoe ia:

1-o?e I?aeia?iaei?e iaoeiai-oaoi?/i?e eiioa?aioe?? “Iaoaiaoe/ia
iiaeaethaaiiy a aeaeo?ioaoi?oe? oa aeaeo?iaia?aaoeoe?”, Euea?a, 1995.

2-?e Oe?a?inuee?e eiioa?aioe?? c aaoiiaoe/iiai ea?oaaiiy
“Aaoiiaoeea-95”, Euea?a, 1995.

3-?e Oe?a?inuee?e eiioa?aioe?? c aaoiiaoe/iiai ea?oaaiiy
“Aaoiiaoeea-96”, Naaanoiiieue, 1996.

iaoeiai-oaoi?/ieo eiioa?aioe?yo c i?aeia?iaeiith o/anoth “I?iaeaiu
aaoiiaoece?iaaiiiai yeaeo?ii?eaiaea. Oai?ey e i?aeoeea”, E?ei, 1995,
1997??.

iaoeiai-oaoi?/i?e eiioa?aioe?? c i?aeia?iaeiith o/anoth i?ena’y/aia
100-??//th a?ae aeiy ia?iaeaeaiiy Oeoiia Aoaaiea “Aeaeo?iiaoai?ea.
Oai??y ? i?aeoeea”, Euea?a, 1996.

I?aeia?iaei?e iaoeiai-oaoi?/i?e eiioa?aioe?? “1-st International
Modelling School.” Alushta, Ukraine, 1996.

2-?e I?aeia?iaei?e iaoeiai-i?aeoe/i?e eiioa?aioe?? “Oi?aae?iiy
aia?aiaeei?enoaiiyi”, Euea?a, 1997.

nai?ia?? Iaoeiai? ?aaee IAI Oe?a?ie “Iiaeae? oa iaoiaee eiii’thoa?iiai
aiae?co aeaeo?e/ieo e?e oa aeaeo?iiaoai?/ieo nenoai”, Euea?a, 1998.

iaoeiaeo nai?ia?ao eaoaae?e “Aeaeo?ii?ea?ae ? aaoiiaoecaoe?y i?iieneiaeo
onoaiiaie” AeO “Euea?anueea iie?oaoi?ea” a 1994 – 98 ??.

Ioae?eaoe??. Ca ?acoeueoaoaie aeena?oaoe?eii? ?iaioe iioae?eiaaii 10
i?aoeue o oaoiaeo aeo?iaeao oa 5 oac aeiiia?aeae o ca??ieeao
anaoe?a?inueeeo oa i?aeia?iaeieo eiioa?aioe?e.

No?oeoo?a oa ia’?i ?iaioe. Aeena?oaoe?y neeaaea?oueny ?c anooio,
i’youeio ?icae?e?a, aeniiae?a, nieneo aeei?enoaieo aeaea?ae o e?eueeino?
150 iaeiaioaaiue ? oanoe aeiaeaoe?a. Iniiaiee oaeno ?iaioe caeia? 142
noi??iee oa i?noeoue 56 ?enoie?a ia 24 noi??ieao ? iaeio oaaeeoeth.

Iniiaiee ci?no ?iaioe

O anooi? iaa?oioiaaii aeooaeuei?noue oaie, iaoeiao iiaecio oa i?aeoe/io
oe?ii?noue iaea?aeaieo ?acoeueoao?a, noi?ioeueiaaii iaoo oa caaea/?
aeine?aeaeaiue.

O ia?oiio ?icae?e? i?iaiae?ciaaii iaoiaee neioaco aaoiiaoe/ieo nenoai,
ye? caaacia/othoue caaeaia cia/aiiy aea?aiiai e?eoa??y yeino? oa
c?iaeaii iaeyae oaeeo e?eoa???a, i?iaaaeaii ii??aiyeueiee aiae?c
?nioth/eo iaoiae?a ciaoiaeaeaiiy aeno?aioio aea?aiiai e?eoa??y oa
c?iaeaii aeniiaee.

O ae?oaiio ?icae?e? iienai? iaoaiaoe/i? iniiae iaoiaeo noioanoe/ii?
noaa?e?caoe?? eii?aeeiao aeaeo?iiaoai?/ieo nenoai.

. I?ioeane X(t) oa Y(t) ? i?e?inoaie aeo?aeii? eii?aeeiaoe Z(t)‚ ye?
coiiaeai? ae??th a nenoai? cao?aiue Oca(t)‚ oa noi?iiaaiiai
niaoe?aeueiei ea?iaaiei aaia?aoi?ii aeiaaeeiaiai i?ioeano UA(t),
a?aeiia?aeii. *anoioi? niaeo?e oeeo i?ioean?a iiaeii? a?aeiia?aeaoe
iaeei iaeiiio. I?e aeiaeaaaii? oeeo i?ioean?a iaea?aeo?ii noia?iee
i?ioean ci?ie ?aaoeueiaaii? eii?aeeiaoe aeaeo?ii?eaiaeo Z(t)‚ aeenia?n?y
yeiai aecia/a?oueny ca oi?ioeith:

, (1)

– eiao?oe??io ei?aeyoe?? i?ae aeiaaeeiaeie i?ioeanaie X(t) ? Y(t).

. sseui noaoenoe/i? oa?aeoa?enoeee aeacaieo i?ioean?a iaeiaeia?, oi
aeenia?n?th ?aaoeueiaaii? eii?aeeiaoe iiaeia ci?ithaaoe oeyoii /aniaiai
ci?uaiiy ea?oth/iai aieeao UA(t) a?aeiinii neaiaeo cao?aiue Oca(t),
oiaoi ?aae?coaaoe a nenoai? noia?iiceoe?th neaiae?a X(t) ? Y(t)=X(t-t0),
aea t0 – /aniaa ci?uaiiy. O oeueiio aeiaaeeo ae?ac aeey aeenia?n??
?aaoeueiaaii? eii?aeeiaoe caieoaoueny o oaeiio aeaeyae?

(2)

– eaaae?ao iiaeoey ia?aaeaaaeueii? ooieoe?? nenoaie.

?en. SEQ ?en. \* CAPS 1

Inoaii?e ae?ac iieaco?, ui aeey eiaeiiai cia/aiiy aeenia?n?? ?c
caaaeaiiai ae?aiaciio ?nio? a?aeiia?aeia /aniaa ci?uaiiy t0.

Cai?iiiiiaaiee iaoiae ?aae?co?oueny aaaaeaiiyi a ?nioth/o
aeaeo?iiaoai?/io nenoaio c aeiaaeeiaei oa?aeoa?ii cao?aiue aeieo
oi?ioaaiiy ea?oth/eo aieea?a (AOEA). A iueiio oi?io?oueny ea?oth/ee
i?ioean Ue (?en.1), yeee caaacia/o? caaeaiee ??aaiue aeenia?n??
?aaoeueiaaii? eii?aeeiaoe.

Ao?aeiee neaiae AOEA Ua ? aai aeiaaeeiaei i?ioeanii, yeee oi?io?oueny ca
aeiiiiiaith niaoe?aeueiiai aaia?aoi?a aeiaaeeiaeo /enae, aai ?aaeueiei
aeiaaeeiaei i?ioeanii, ui iaea?aeo?oueny c aeaaa/a cao?aiue. A ?icae?e?
iieacaii, ui eiee oaoiieia?/iee i?ioean ia? /?oei ae?aaeai? noaae??,
ne?ae aeei?enoiaoaaoe nenoaie c? noioanoe/iith noaa?e?caoe??th
eii?aeeiao a yeeo ia?aiaeaaiaeaeaiiy ia?aiao??a aeieo oi?ioaaiiy
ea?oth/eo aieea?a cae?enith?oueny o ooieoe?? oa?aeoa?enoee oeeo noaae?e.
A ?ioiio aeiaaeeo iio??aii aeei?enoiaoaaoe nenoaie noioanoe/ii?
noaa?e?caoe?? eii?aeeiao c iia?aoeaiei ia?aiaeaaiaeaeaiiyi ia?aiao??a
aeieo oi?ioaaiiy ea?oth/eo aieea?a.

O o?aoueiio ?icae?e? iieacaii, ui aeey caaacia/aiiy iio??aieo iieaciee?a
yeino? ?aaoethaaiiy aeo?aeii? eii?aeeiaoe o aeiaaeeo oe?ieiai ae?aiaciio
/anoioiiai niaeo?o cao?aiue, iaiao?aeii canoiniaoaaoe i?aeo?ae, yeee
iieyaa? a iiia?aaeiueiio ?iceeaae? i?ioeano ea?oaaiiy ca /anoioaie
niaeo?o ? a?aeiia?aeiiai /aniaiai ci?uaiiy i?ioeano eiaeii? c aeae?eaieo
/anoio. Aeiaaaeaii, ui oaea ?icaeooy caaia?iaaiiai i?ioeano iaee?aua
cae?enieoe ca aeiiiiiaith oeeo?iaeo ia?aeo?neaieo o?eueo??a, ye? iathoue
e?i?eio oaci-/anoioio oa?aeoa?enoeeo. Iienaii canoiniaaiee aeai?eoi
ai?ieneiaoe?? niaeo?aeueieo aonoei cao?aiue ae?iaiai-?aoe?iiaeueiith
ooieoe??th.

Aeey aeiaaeeo, eiee ei?aeoe?y oa ia?aiaeaaiaeaeaiiy eiioo?a oi?ioaaiiy
ea?oth/eo aieea?a cae?enith?oueny iia?aoi?ii, i?iiiio?oueny aaia?oaaoe
iaiao?aeiee ea?oth/ee i?ioean ca aeiiiiiaith cania?a ia/enethaaeueii?
oaoi?ee, aeei?enoiaoth/e oai??th iiaoaeiae oi?ioth/eo o?eueo??a.
Aeiaaaeaii, ui aeey oiai, uia iaea?aeaoe aeiaaeeiaee i?ioean,
niaeo?aeueia aonoeia yeiai ae?aaea?oueny ae?iaiai-?aoe?iiaeueiith
ooieoe??th, iio??aii, caaia?iaaio eiii’thoa?ii iine?aeiai?noue
aeiaaeeiaeo /enae, yea ia? aeanoeaino? a?eiai ooio, i?iionoeoe /a?ac
oi?ioth/ee o?eueo? c ia?aaeaaaeueiith ooieoe??th aeaeo

, (3)

; a0, a1, a2, a3 – eiao?oe??ioe ai?ieneiaoe?eiiai ae?aco niaeo?aeueii?
aonoeie cao?aiue.

?ic?iaeaii no?oeoo?o aeaeo?iiaoai?/ii? nenoaie a ye?e aeei?enoaii iaoiae
noioanoe/ii? noaa?e?caoe?? e iaea?aeaii ae?ac aeenia?n?? aeo?aeii?
eii?aeeiaoe ye ooieoe?? a?ae ia?aiao??a aaeoi?a ea?oth/eo oa cao?thth/eo
aieea?a‚ ye? ae?thoue ia aeaeo?iiaoai?/io nenoaio. I?e oeueiio
a?aoiao?oueny oie oaeo, ui cao?aiiy ? ea?oth/? aieeae a ?aaeueieo
nenoaiao, ye i?aaeei, i?eeeaaeathoueny aei ??cieo oi/ie. No?oeoo?ia
noaia oaei? aeo?iiaoai?/ii? nenoaie cia?aaeaia ia ?en.2.

?en.2.

– n-ee aeaiaio /aniai? cao?eiee; Oca(t) – i?ioean cao?aiue; W1(?) –
ia?aaeaaaeueia ooieoe?y a?ae neaiaeo caaaeaiiy aei oi/ee i?eeeaaeaiiy
cao?aiue a aeaeo?iiaoai?/i?e nenoai?; W2(?) – ia?aaeaaaeueia ooieoe?y
a?ae oi/ee i?eeeaaeaiiy cao?aiue aei aeo?aeiiai neaiaeo; W3(?) –
ia?aaeaaaeueia ooieoe?y eaiaeo cai?ioiueiai ca’yceo; Ue – neaiae
ea?oaaiiy c aeoiaeo AOEA; Oaeo – aeo?aeiee neaiae.

I?aaenoaaeaoe cia/aiiy eii?aeeiao aeieo oi?ioaaiiy ea?oth/eo aieea?a ye
cai?oee a?ae ao?aeieo neaiae?a ? a?aeiia?aeieo ?iioeuenieo ?aaeoe?e, a
oaeiae noi?ioaaaoe ae?ace aeey ei?aeyoe?eieo ooieoe?e ? niaeo?aeueieo
aonoei, i?ney iaoaiaoe/ieo ia?aoai?aiue io?eiaii ocaaaeueiaio oi?ioeo
aeey aeenia?n?? ?aaoeueiaaii? eii?aeeiaoe aeaeo?iiaoai?/ii? nenoaie c
noioanoe/iei niiniaii ea?oaaiiy o aeaeyae?:

, (4)

– oaciai-/anoioi? oa?aeoa?enoeee eaiae?a ia?aaea/; t0i – /ania?
cao?eiee eaiae?a ia?aaea/; n=0, 1, 2, …

I?e oeueiio a?aoiaothoueny aca?ii? aieeae eaiae?a oi?ioaaiiy ye i?ae
niaith, oae ? i?ae neaiaeii cao?aiue a nenoai?. I?i?i?coth/e ieiuo i?ae
e?eaith niaeo?aeueii? aonoeie oeyoii aa??aoe?? e?eueeino? eaiae?a
aaeoi?a ea?oaaiiy, ie oei naiei iiaeaii caaacia/eoe iio??aiee ??aaiue
iieaciee?a noaa?e?caoe?? eii?aeeiaoe aeaeo?iiaoai?/ieo nenoai.

O /aoaa?oiio ?icae?e? iaa?oioiaaii aea?? iaoiaeo iioei?caoe?? no?oeoo?e
oa ia?aiao??a aeieo oi?ioaaiiy ea?oth/eo aieea?a; noai?aii aeai?eoi, ui
aecia/a? iaoiaeii i?iaieo ooieoe?e no?oeoo?o oa ia?aiao?e aeieo
oi?ioaaiiy ea?oth/eo aieea?a a?aeiia?aeii aei oa?aeoa?enoee cao?aiue a
nenoai?. Aeie-noaia aeai?eoio cia?aaeaia ia ?en.3. Aeaiee aeai?eoi
caaacia/o? iiooe no?oeoo?e oa ia?aiao??a aeieo oi?ioaaiiy ea?oth/eo
aieea?a oeyoii iinooiiaiai i?ae’?aeiaiiy a nenoaio /a?aiaiai eaiaeo
ea?oaaiiy oa ia?aa??ee oiiae aeinyaiaiiy caaeaiiai cia/aiiy aeenia?n??
?aaoeueiaaii? eii?aeeiaoe. Iaea?aeai? ?acoeueoaoe, o aeaeyae? e?eueeino?
eaiae?a ea?oaaiiy oa ?o ia?aiao??a, caienothoueny o oaee aeey
iiaeaeueoiai aeei?enoaiiy a i?ioean? iaia?a?aiiai neioaco neaiaeo
ea?oaaiiy aeaeo?iiaoai?/ii? nenoaie.

A ?icae?e? iienaii noai?aiee aeai?eoi neioaco iaia?a?aiiai neaiaeo
ea?oaaiiy aeaeo?iiaoai?/ii? nenoaie i?e noioanoe/i?e noaa?e?caoe??
?aaoeueiaaii? eii?aeeiaoe, aeie-noaia yeiai cia?aaeaia ia ?en.4. Aeaiee
aeai?eoi iiaoaeiaaiee ca ???a?o?/iith no?oeoo?ith. Ia aa?oiueiio ??ai?
???a?o?? ae??oo?oueny caaea/a neioaco iioeiaeueii? no?oeoo?e oa
ia?aiao??a noioanoe/ii? nenoaie aaoiiaoe/iiai ea?oaaiiy a?aeiia?aeii aei
oa?aeoa?enoee aeiaaeeiaeo cao?aiue oa aeiia, ui noaaeyoueny aei i?ioeano
ci?ie aeo?aeii? ?aaoeueiaaii? eii?aeeiaoe aeaeo?iiaoai?/ii? nenoaie. Ia
ieaeiueiio ??ai? aeeiio?oueny ia?aiaeaaiaeaeaiiy oa ?aae?caoe?y
no?oeoo?e noioanoe/ii? nenoaie aaoiiaoe/iiai ea?oaaiiy ca?aeii c
io?eiaieie ia aa?oiueiio ??ai? ?acoeueoao?a oa nai i?ioean neioaco
aaeoi?a ea?oaaiiy, yeee iaea?aeo?oueny oeyoii aeiaeaaaiiy i?ioean?a c
aeoiaeo eiaeiiai aa?ieiaiiai eaiaeo ea?oaaiiy.

?en.3. ?en.4.

O i’yoiio ?icae?e? iienaii noai?aio iaoaiaoe/io iiaeaeue nenoaie
noioanoe/ii? noaa?e?caoe?? aeoeaii? iiooaeiino? aeao?a?i?a, aeie-noaia
yei? cia?aaeaia ia ?en.5.

?en.5.

– cia/aiiy ieoiiiai oeneo cao?aiue, ui ae?thoue ia eai?iue aeao?a?i?a;
?a – aeoeaia iiooaei?noue, yea aeo?a/a?oueny ia aeao?a?oaaiiy; AAe –
aneio?iiiee aeaeaoi.

?ic?iaeaii iaoaiaoe/io oa oeeo?iao iiaeae? nenoaie noioanoe/ii?
noaa?e?caoe?? oaeaeeino? aeaeaoia iino?eiiai no?oio. ?? no?oeoo?ia noaia
i?aaenoaaeaia ia ?en.6.

?en.6.

Ia noai?: Uc – neaiae caaaeaiiy; Ue – neaiae, yeee iinooia? c aeoiaeo
aeieo oi?ioaaiiy ea?oth/eo aieea?a; Ucao? – neaiae cao?aiue a?ae
aaia?aoi?a aeiaaeeiaeo /enae.

Ia ?en.7 iaaaaeaii ?acoeueoaoe i?iaaaeaieo ia eiii’thoa?? aenia?eiaio?a
o aeaeyae? /aniaeo caeaaeiinoae aeoeaii? iiooaeiino? aeao?a?i?a oa
a?ao?e?a niaeo?aeueieo aonoei i?e noioanoe/i?e noaa?e?caoe?? (?en.7a,
7a) oa aac ia? (?en.7a, 7a). E??i oiai, ia ?en.7a oa ?en.7a i?eaaaeaii
cia/aiiy aeenia?n?e aeoeaii? iiooaeiino?.

Ia ?en.8 iieacai? ?acoeueoaoe i?iaaaeaieo ia eiii’thoa?? aenia?eiaio?a o
aeaeyae? /aniaeo caeaaeiinoae oaeaeeino? aeaeaoia oa a?ao?e?a
niaeo?aeueieo aonoei i?e noioanoe/i?e noaa?e?caoe?? (?en.8a, 8a) oa aac
ia? (?en.8a, 8a), ? i?eaaaeaii /eneia? cia/aiiy aeenia?n?e oaeaeeino?
aeaeaoia.

sse aeaeii c ?enoie?a, ca aeiiiiiaith noioanoe/ii? noaa?e?caoe?? i?e
iayaiino? a aeioe? oi?ioaaiiy ea?oth/eo aieea?a aeaio eaiae?a ea?oaaiiy
c oeeo?iaeie o?eueo?aie oa a?aeiia?aeieie /aniaeie cao?eieaie
aeinyaa?oueny aeaie?aoia ciaioaiiy aeenia?n?? ?aaoeueiaaii? eii?aeeiaoe.

a)
a)

a)
a)

?en.7.

a)
a)

a)
a)

?en.8.

O ?icae?e? iienaii noai?aiee aenia?eiaioaeueiee c?acie
aeaeo?iiaoai?/ii? nenoaie c aeiaaeeiaeie cao?aiiyie ia aac? na??eiiai
aeaeo?ii?eaiaeo oeio YOO2-2. Ooieoe?iiaeueia aeie-noaia
aenia?eiaioaeueiiai c?acea iieacaia ia ?en.9, aea aeacai? oi/ee
i?ae’?aeiaiiy noaie aei aoiaeo naiiienoey I336 aeey ?a?no?aoe??
i?ioean?a ci?ie aeaeo?e/ieo ? iaoai?/ieo eii?aeeiao.

?en.9.

Aeine?aeaeaiiy aeaiiai c?acea i?iaiaeeeeny a eaai?aoi?ieo oiiaao.
Aeiaaeeiaa ci?ia iiiaioo iaaaioaaeaiiy aeaeaoia aeinyaaeany oeyoii
iiaeaiiy ia oe?enoi?iee caoaeiee aaia?aoi?a (OCA) neaiaeo c aaia?aoi?a
aeiaaeeiaiai i?ioeano (AAI). *ania? caeaaeiino? oaeaeeino? aeaeaoia
ci?iaeeny i?e aeei?enoaii? noioanoe/ii? noaa?e?caoe?? (?en.10a) oa aac
ia? (?en.10a). Aeey aeaieo caeaaeiinoae iiaoaeiaai? a?ao?ee
niaeo?aeueieo aonoei (?en.10a, 10a) oa i?eaaaeaii /eneia? cia/aiiy
aeenia?n?e oaeaeeino? aeaeaoia.

A aeiaeaoeao i?eaaaeaii oaenoe i?ia?ai, a oaeiae aeo i?i i?iaaaeaiiy
aei?iaiaoaaiue nenoaie noioanoe/ii? noaa?e?caoe?? ia AEeaea/?anueeiio
oeaetheici-iaia?iaiio eiia?iao?.

a)
a)

a)
a)

?en.10.

Aeniiaee

Aeey aiae?co e neioaco nenoai ea?oaaiiy aeaeo?ii?eaiaeaie, ye?
ia?aaoaathoue i?ae ae??th aeiaaeeiaeo cao?aiue, aeioe?eueii
aeei?enoiaoaaoe eiia??i?niee i?aeo?ae. I?e oaeiio i?aeoiae?
caaacia/o?oueny aaeaeaaoia ?aaeoe?y nenoaie aaoiiaoe/iiai ea?oaaiiy ia
i?ioeane, ye? iathoue i?noea a ia’?eo?.

?icaeiooi iaoiae oi?ioaaiiy aeenia?n?? ?aaoeueiaaii? eii?aeeiaoe (iaoiae
noioanoe/ii? noaa?e?caoe??), aeey canoinoaaiiy a caaea/ao noaa?e?caoe??
eii?aeeiao aeaeo?iiaoai?/ieo nenoai c aeiaaeeiaeie cao?aiiyie.

Iieacaii, ui ca aeiiiiiaith iaoiaeo noioanoe/ii? noaa?e?caoe??
eii?aeeiao iiaeia ci?ithaaoe aeenia?n?th ?aaoeueiaaii? eii?aeeiaoe a
oe?ieeo iaaeao ? oei naiei nooo?ai iie?auoaaoe oaoi?ei-aeiiii?/i?
iieacieee ooieoe?iioaaiiy aaaaoueio ae?iaie/eo iaoai?ci?a.

Iieacaii, ui eiee oaoiieia?/iee i?ioean iaoai?cio ia? /?oei ae?aaeai?
noaae??, aeioe?eueii aeei?enoiaoaaoe nenoaie c? noioanoe/iith
noaa?e?caoe??th eii?aeeiao, a yeeo ia?aiaeaaiaeaeaiiy ia?aiao??a aeieo
oi?ioaaiiy ea?oth/eo aieea?a cae?enith?oueny o ooieoe?? ci?ie
oa?aeoa?enoee oeeo noaae?e. A ?ioeo aeiaaeeao iio??aii aeei?enoiaoaaoe
nenoaie noioanoe/ii? noaa?e?caoe?? eii?aeeiao c iia?aoeaiei
ia?aiaeaaiaeaeaiiyi ia?aiao??a aeieo oi?ioaaiiy ea?oth/eo aieea?a.

Iieacaii, ui aeey caaacia/aiiy aeniei? aoaeoeaiino? ?aaoethaaiiy
aeenia?n?? aeo?aeii? eii?aeeiaoe eiee cao?aiiy a nenoai? iathoue oe?ieee
/anoioiee niaeo?, iio??aii iiia?aaeiuei ?iceeanoe ea?oth/ee aieea a?ae
aaia?aoi?a aeiaaeeiaiai i?ioeano ca /anoioaie niaeo?o ? ci?noeoe i?ioean
eiaeii? c aeae?eaieo /anoioieo nioa a /an? ia iaaio aaee/eio.

Aeiaaaeaii, ui iaea?eueo aeioe?eueiei i?e /anoioi?e naeaeoe??
caaia?iaaiiai i?ioeano ? aeei?enoaiiy oeeo?iaeo ia?aeo?neaieo o?eueo??a,
ye?, ia a?aei?io a?ae aiaeiaiaeo, aeathoue ciiao i?ino?oa
ia?aiaeaaiaeaeoaaoe aeie oi?ioaaiiy ea?oth/eo aieea?a oa iathoue e?i?eio
oaci-/anoioio oa?aeoa?enoeeo.

Iieacaii, ui eiee iniiaiee niaeo? /anoio aeo?aeii? eii?aeeiaoe
cina?aaeaeaiee o aocuee?e nioc? /anoio a aeioe? oi?ioaaiiy ea?oth/eo
aieea?a iiaeia aeei?enoaoe /anoioi? o?eueo?e iecueeeo ii?yaee?a.

?ic?iaeaii e ?aae?ciaaii aeai?eoi iioei?caoe?? no?oeoo?e oa ia?aiao??a
noioanoe/ii? nenoaie aaoiiaoe/iiai ea?oaaiiy, yeee aeicaiey? ciaeoe
iioeiaeueio no?oeoo?o oa ia?aiao?e aeieo oi?ioaaiiy ea?oth/eo aieea?a
ca?aeii c aeiiaaie, ui noaaeyoueny aei aeaeo?iiaoai?/ii? nenoaie. A?i
ia? iiaeoeueio no?oeoo?o, ui ?iaeoue eiai i?inoei a ei?enooaaii?.

?ic?iaeaii e ?aae?ciaaii aeai?eoi neioaco iaia?a?aiiai i?ioeano
ea?oth/eo aieea?a aeaeo?iiaoai?/ii? nenoaie, yeee aeicaiey? iia?aoeaii
ia?aiaeaaiaeaeoaaoe noioanoe/io nenoaio aaoiiaoe/iiai ea?oaaiiy ?
io?eioaaoe iaiao?aeiee ea?oth/ee aieea ia aoiae? aeaeo?iiaoai?/ii?
nenoaie o i?ioean? ?iaioe aeaeo?ii?eaiaeo.

Noai?aii oeeo?ia? iiaeae? nenoai noioanoe/ii? noaa?e?caoe?? eii?aeeiao
aeaeo?ii?eaiaeo aeao?a?i?a oa aeaeo?ii?eaiaeo iino?eiiai no?oio
caaaeueiiai i?ecia/aiiy, ye? aeicaieythoue aeine?aeaeoaaoe ??ci? ?aaeeie
?iaioe oeeo aeaeo?iiaoai?/ieo nenoai.

?acoeueoaoe, iaea?aeai? i?e oeeo?iaiio iiaeaethaaii?, e ?acoeueoaoe
aeia?eiaioaeueieo aeine?aeaeaiue i?aeoaa?aeaeothoue aoaeoeai?noue
canoinoaaiiy iaoiaeo noioanoe/ii? noaa?e?caoe??, ui na?ae/eoue i?i
aeioe?euei?noue ai?iaaaeaeaiiy ?ic?iaeaieo a ?iaio? aeai?eoi?a ?
i?eno?i?a a i?aeoeeo aeaeo?ii?eaiae?a c aeiaaeeiaeie cao?aiiyie.
Cie?aia, ca aeiiiiiaith aeaiiai iaoiaeo aaea?oueny aeinyaiooe
aeaie?aoiiai ciaioaiiy aeenia?n?? ?aaoeueiaaii? eii?aeeiaoe a ??cieo
aeaeo?iiaoai?/ieo nenoaiao.

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

Iaey? A.A. Oa?aeoa?enoeea iaoiae?a ? cania?a noaa?e?caoe?? eii?aeeiao
aeaeo?iiaoai?/ieo nenoai c aeiaaeeiaeie cao?aiiyie. //A?niee AeO
“Euea?anueea iie?oaoi?ea” “Aeaeo?iaia?aaoe/i? oa aeaeo?iiaoai?/i?
nenoaie”. -1997. – ? 301. -N.43-48.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. I?i i?i?i?caoe?th
aeenia?n?? aeo?aeii? eii?aeeiaoe aeaeo?iiaoai?/ii? nenoaie, i?aeaeaii?
ae?? aeiaaeeiaeo cao?aiue. //I?aea?aeii/ee a?niee “Aaoiiaoecaoe?y
ae?iaie/eo i?ioean?a o iaoeiiaoaeoaaii? oa i?eeaaeiaoaeoaaii?”. –
Euea?a: A-ai AeO “Euea?anueea iie?oaoi?ea”. – 1995. – ? 32. -N.132-135.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. Nenoaia ?aaoethaaiiy
aeenia?n?? aeo?aeii? eii?aeeiaoe aeaeo?ii?eaiaeo. // I?aea?aeii/ee
a?niee “Aaoiiaoecaoe?y ae?iaie/eo i?ioean?a o iaoeiiaoaeoaaii? oa
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-? 32. -N.141-146.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. ?ic?iaea iaoiaeeee
iioei?caoe?? i?ioeano o?eueo?aoe?? aeiaaeeiaiai neaiaeo a nenoaiao
aaoiiaoe/iiai ea?oaaiiy, ui i?aeaeai? ae?? aeiaaeeiaeo cao?aiue.
//A?niee AeO “Euea?anueea iie?oaoi?ea” “Aeaeo?iaia?aaoe/i? oa
aeaeo?iiaoai?/i? nenoaie”. – 1994. – ? 279. -N.122-128.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. Neioac nioaiaeo o?eueo??a
aeey ?aae?caoe?? ea?oth/eo aieea?a a nenoaiao c aeiaaeeiaeie cao?aiiyie.
// A?niee AeO “Euea?anueea iie?oaoi?ea” “Aeaeo?iaia?aaoe/i? oa
aeaeo?iiaoai?/i? nenoaie”. – 1994. – ? 279. -N.128-133.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. Aaoiiaoe/ia nenoaia
ea?oaaiiy aeaeo?iiaoai?/ieie nenoaiaie, i?aeaeaieie ae?yiiyi aeiaaeeiaeo
cao?aiue. //I?aoe? ?-oi? IIOE “Iaoaiaoe/ia iiaeaethaaiiy a
aeaeo?ioaoi?oe? e aeaeo?iaia?aaoeoe?”. – Oe?a?ia, Euea?a. -1995.
-N.124-125.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. I?i iaeei i?aeo?ae aei
noaa?e?caoe?? eii?aeeiao aeaeo?iiaoai?/ieo nenoai, ye? ia?aaoaathoue
i?ae ae??th aeiaaeeiaeo cao?aiue. //I?aoe? ??-ai? I?aeia?. eiio.
“Aaoiiaoeea-95”. -Oii 1. -Oe?a?ia, Euea?a. -1995. -N.85-86.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. Aeine?aeaeaiiy
aeaeo?iiaoai?/ii? nenoaie, ui ia?aaoaa? i?ae ae??th aeiaaeeiaeo
cao?aiue. // Iaoa?eaeu eiio. n iaaeaeoia?. o/anoeai “I?iaeaiu
aaoiiaoece?iaaiiai yeaeo?ii?eaiaea. Oai?ey e i?aeoeea”. -Oa?ueeia, OAIO.
– 1995. -N.104-107.

Eiceinueeee I.TH., Ia?ai/oe ?.ss., Iaey? A.A. Oeeo?iaee aaia?aoi?
iaia?a?aiiai aeiaaeeiaiai i?ioeano ?c caaeaieie noaoenoe/ieie
oa?aeoa?enoeeaie. //1-st International Modelling School. – Alushta,
Ukraine. -1996. -N.45.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. Iiaeaethaaiiy
aeaeo?iiaoai?/ieo nenoai c noioanoe/iei i?eioeeiii ea?oaaiiy. // I?aoe?
IOE, i?ena’y/aii? 100-??//th a?ae aeiy ia?iaeaeaiiy Oeoiia Aoaaiea.
“Aeaeo?iiaoai?ea. Oai??y ? i?aeoeea”. – Euea?a-Neaanuee. -1996.
-N.127-129.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. Oeeo?iaa nenoaia
oi?ioaaiiy aaeoi?a ea?oaaiiy aeey aeaeo?iiaoai?/ieo nenoai c
aeiaaeeiaeie cao?aiiyie. //I?aoe? ???-? Oe?a?inueei? eiioa?aioe??
“Aaoiiaoeea-96”. -Oii 3. -Naaanoiiieue. -1996. -N.33.

Eiceinueeee I.TH., Ia?ai/oe ss.N., Iaey? A.A. Noaa?e?caoe?y aeo?aeii?
eii?aeeiaoe aeaeo?iiaoai?/ii? nenoaie noioanoe/iei niiniaii ea?oaaiiy ia
i?eeeaae? aeaeo?ii?eaiaeo YOO2-2. //I?aoe? i?aeia?. eiio. “I?iaeaiu
aaoiiaoece?iaaiiiai yeaeo?ii?eaiaea. Oai?ey e i?aeoeea”. – Oa?e?a, OAIO.
-1997. -N.243-244.

Iaey? A.A. Canoinoaaiiy noioanoe/iiai i?eioeeio ea?oaaiiy aeey ciaioaiiy
aia?aicao?ao a aeaeo?ii?eaiaeao iaa?oiaeo ia/ae.//I?aoe? 2-? IIIE
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Eiceinueeee A.I., Iaey? A.A. Noaa?e?caoe?y aeo?aeieo eii?aeeiao
iaoai?ci?a, ui ia?aaoaathoue i?ae ae??th aeiaaeeiaeo cao?aiue. //Aanoiee
OAIO “I?iaeaiu aaoiiaoece?iaaiiiai yeaeo?ii?eaiaea. Oai?ey e
i?eaeoeea.”. -1998. -Niaoe. auione. -N.268-269.

Iaey? A.A., Eooeee A.N. Aeine?aeaeaiiy ?iaioe iaoai?cio aeao?a?i?a
iaoiaeii iaoaiaoe/iiai iiaeaethaaiiy. //Aanoiee OAIO “I?iaeaiu
aaoiiaoece?iaaiiiai yeaeo?ii?eaiaea. Oai?ey e i?eaeoeea”. -1998. -Niaoe.
auione. -N.281-282.

Iaey? A.A. Nenoaie noaa?e?caoe?? eii?aeeiao a aeaeo?ii?eaiaeao c
aeiaaeeiaeie cao?aiiyie. -?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.
Aea?aeaaiee oi?aa?neoao “Euea?anueea iie?oaoi?ea”. Euea?a, 1998.

A aeena?oaoe?? ?icaeiooi iaoiae noioanoe/ii? noaa?e?caoe?? eii?aeeiao a
aeaeo?ii?eaiaeao c aeiaaeeiaeie cao?aiiyie, a oaeiae noai?aii
noioanoe/io nenoaio aaoiiaoe/iiai ea?oaaiiy c iia?aoeaiith aaeaioaoe??th
?? no?oeoo?e oa ia?aiao??a aei ci?ie niaeo?aeueieo oa?aeoa?enoee
cao?aiue. Ca aeiiiiiaith ?ic?iaeaieo iaoaiaoe/ieo iiaeaeae, a oaeiae
noai?aiiai aenia?eiaioaeueiiai c?acea, i?iaaaeaii aeine?aeaeaiiy
i?ioean?a a aeaeo?iiaoai?/ieo nenoaiao c? noioanoe/iith noaa?e?caoe??th
?aaoeueiaaii? eii?aeeiaoe. C?iaeaii aeniiaee ca ?acoeueoaoaie
i?iaaaeaieo aeine?aeaeaiue.

Eeth/ia? neiaa: noioanoe/ia noaa?e?caoe?y, aeaeo?iiaoai?/ia nenoaia,
aeiaaeeia? cao?aiiy, aeenia?n?y, aeaeo?ii?ea?ae, oeeo?iaee o?eueo?,
aeai?eoi.

Iaey? A.A. Nenoaiu noaaeeecaoeee eii?aeeiao a yeaeo?ii?eaiaeao ni
neo/aeiuie aiciouaieyie. -?oeiienue.

Aeenna?oaoeey ia nieneaiea o/aiie noaiaie eaiaeeaeaoa oaoie/aneeo iaoe
ii niaoeeaeueiinoe 05.09.03 – yeaeo?ioaoie/aneea eiiieaenu e nenoaiu.
Ainoaea?noaaiiue oieaa?neoao “Euea?anueea iie?oaoi?ea”. Eueaia, 1998.

A aeenna?oaoeee ?acaeo iaoiae noioanoe/aneie noaaeeecaoeee eii?aeeiao a
yeaeo?ii?eaiaeao ni neo/aeiuie aiciouaieyie, a oaeaea nicaeaia
noioanoe/aneay nenoaia aaoiiaoe/aneiai oi?aaeaiey n iia?aoeaiie
aaeaioaoeeae aa no?oeoo?u e ia?aiao?ia e eciaiaieyi niaeo?aeueiuo
oa?aeoa?enoee aiciouaiee. N iiiiuueth ?ac?aaioaiiuo iaoaiaoe/aneeo
iiaeaeae, a oaeaea nicaeaiiiai yenia?eiaioaeueiiai ia?acoea, i?iaaaeaii
enneaaeiaaiey i?ioeannia a yeaeo?iiaoaie/aneeo nenoaiao n iaoiaeii
noioanoe/aneie noaaeeecaoeee ?aaoee?iaaiiie eii?aeeiaou. Naeaeaiu
aeaiaeu ii ?acoeueoaoai i?iaaaeaiiuo enneaaeiaaiee.

Eeth/aaua neiaa: noioanoe/aneay noaaeeecaoeey, yeaeo?iiaoaie/aneay
nenoaia, neo/aeiua aiciouaiey, aeenia?ney, yeaeo?ii?eaiae, oeeo?iaie
oeeueo?, aeai?eoi.

Malyar A.V. Systems of coordinates’ stabilization in electric drives
with random disturbances. -Manuscript.

Thesis for a degree of the candidate of technical science on the
speciality 05.09.03 – alectro-technical complexes and systems. State
University “Lvivska politechnica”. Lviv, 1998.

The method of stochastic stabilization of coordinates in electric drives
with random disturbances has been developed, and a stochastic control
system with operative adaptation of its structure and parameters to the
change of the spectral characteristics of the disturbances has been
created. The processes in electromechanical systems with the stochastic
stabilization of a regulated coordinate have been studied with the aid
of the developed mathematical models and the created experimental
sample. The conclusions have been drawn from the results of the
research.

Key words: stochastic stabilization, an electromechanical system, random
disturbances, dispersion, an electric drive, a digital filter, an
algorithm.

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