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(190) baHWR^_WFVyN^9NZzQà. QÓzWX?TN4T^_Wa²N VyN^9NZzQÂß zWXa²N4\SYN4QX¥bgXRUW¹Yb`£WY|QPgN^b` Ò VyNOXN4TezQT^2bhNZY Te]UQ NZR^_WX/£WR^_Q W` Ò VWY^]^!^_Q×bRgbY|Q\Qbi]UWY)Y|QÂVyNO]RgbXdWe^_W`bR^9N4PgNZzgb^XN4P W~Ã. å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð.
(191) .
(192) °
(193) µUêì*!èí4 !)è¥ê-"&, æ$! êd$ KvÖYÀXdW \QSYb^_QXdW. ' $ 9. 021. TNÀz] Q» Ò NZaz~N4W \bgXdW¸NZRMbY ^_WXRgb^9N£b bY. ' $. ¸zWX=NITN4T^_Wa²NOVyN. ^9NZzQwßäWäzgXdW T[WR^2bwNZY¡£bR^2bU\\N4QwVyN?P QSRUT[WR^9NZXdW¸QSY ^XdWMbw]RgbÔ]UQSRgbzgXdQSR^_W fµfbMVyN XN4TezQT^2b ¸xbRUP¦UW¢]R}WXXdQXdWÑT^2b^9N4P Q R]Y)Y|QiÃ. vÖY½XdW \QSYb^_QXdWbw^XNZzYN4P WÔbUfN4QSRUWW¿ Ò zWX/^2bR^_Q. NZY;z~NÖ] Ò \WRUWX¥bY|W~hT[P W \SYN4WRUVQQSzzQX-. ^]RgbaHWR^_WÓND£bY|QXNIVWgND^XdWzgbgX¥baHWe^XNDP¦UWRUWP
(194) bgX¥b^!^_WXN4fµfbRUQºNZY¡P QSazQX/^2baHWR^_Q VyNZRgba²N4P Q TN zQT[T[QSRUQºNZR
(195) ³b^!^9NØQg^!^_WRUWXdW¸ P QSaHW¹P
(196) bUTN zgbgX/^9N4P QSYbgXN¸Y|W¢bUfN4QSR~NOVyNx^]^!^9NN ^9NZz~NVyNOXdW \QSYb^_QXNDzgXdW P W VWR^_WaHWR^_WczgXdW TNØNZRW TbaHW~Ã. å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð.
(197) .
(198) °
(199) µUêì*!èí4 !)è¥ê-"&, æ$! êd$. 021.
(200)
(201)
(202)
(203)
(204)
(205)
(206) . . QSY ^9NNZRUVi]UT^XN¤bYNW T ÃP¦~NZa²N4PgNGWwzWe^XdQSY|P¦~NZa²N4PgN#¶T[QSRUQ»P
(207) bgX¥b^!^_WXN4fµfb^9N?VbaHQVWY)YN. ³¥QX/^_WaHWR^_W7RUQSRYNZRUW
(208) bgXNÖÃvÖRi]UW T^9N?P
(209) bUTNYbMT[P WY ^2bMVWgNzgbgX¥baHWe^XNVWgNXdW \QSYb^_QXN?TN WµÆ¡We^!^]gb¢NZR×aHQSY ^9NP
(210) bUTNP QSRaHWe^_QVyNT[Wa²N4Waz~NZXN4PgNÖÃ. . yÞ«iUÉw~Û«. S¨ÀÁ·Á. . QXR~N4T[P W»N £bY|QXNVyN zgXNZaHQ»^_WR^2b^9N£QVWgN zgbgX¥baHWe^XN VWY XdW \QSYb^_QXdW»NZRº³%]RUfN4QSRUW. VyN bY|P]R~NzgbgX¥baHWe^XNGVWY)YbXN4TezQT^2bäbYG\SX¥bUVyNZRUQTezW T[T[QbzWXN4QVyN4P
(211) b¶}VWYGTN4T^_WaFb P QSR^XdQSY)Yb^_QiÃ. vÖYTN4T^_WaFb {STN4P Qz] QF Ò W T[T[WXdW;bzzgXdQT! TNZaFb^_QäP QSR»]RTN4T^_WaFbMVWYzgXNZaHQ QXdVyNZRUW~h. . pmlngo.
(212) s -. . :. n. v£bY|QXNVWgNyzgbgX¥baHWe^XNgP
(213) bgX¥b^!^_WXN4T^9N4PgNTNXN4P
(214) b£bRUQVbY)YbHP]X/£bFVyNSXN4TezQT^2bÑbYg\SX¥bUVyNZRUQ. . RUWYØz]R^_QÂVyN SW T[T[Qih. ?h . :. . . . . ^_WazQcVyNOXN^2bgXdVQy§. hP QT^2bR^_WFVyN^_WazQy§.
(215) 2 : 2 k ?h½X¥bzzQX/^_QÂVyNOXN^2bgXdVQy§ Ò VyNDXN4TezQT^2b § k 2 : h £WY|QPgN^b² Ò YZÕ)baz~N4W fµfb`VWY\SX¥bUVyNZRUQbzzYN4P
(216) b^_Q ¶Ã k 2 h\S]gbUVbU\SRUQ×T^2b^9N4P QÓ W¢ å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð.
(217) .
(218) °
(219) µUêì*!èí4 !)è¥ê-"&, æ$! êd$. 0. 2. . 021. . lngo
(220) lngo ¸²N£bY|QXNVWgNAzgbgX¥baHWe^XNP QSRUTN4\SYN¤b^9NJVb p lngo N4P¦UQSY|Tµ¸aHQVyN|{SP
(221) b^9NVb IQS¦UWR}W IQQSR ¸ØT[QSRUQih ÄyQT^_Q. ). st0 * st0 * k.
(222) :&<!=E. 0. . ?N4W \SY|WX²W.
(223) $ s
(224) E L GKI .
(225) :&<!=E "!
(226) < $ s "!
(227) E$# L GKI&% ' st0 * ( 8
(228) :&<!=FE)
(229) GKI "!G < $s
(230) E *L ,+ I "! E + I G G.I&- / st0 * 10
(231) :&<!=E
(232) : GKI 32 <!= $s
(233) E L % I 4 32 E 4 x - # -5- I 6 st0 * ( 70
(234) :&<!=E
(235) GKI "!G < I 32 < $s
(236) E *L #o I8 "! E - I 4 32 E # # G I 9 G,GI:- <; . S¨ÀÁ·Ái««©ª©DÁ©¿gJgÐS©D«Á=JiÁ«©OÐS. . bgbRUVbzgXdQSzQXdfN4QSRgbY|WÂVyNGzWRUVQSYbUfN4QSRUWmW¢ Ò VWµ{DR~N^2bP QSaHWmNZYi£bY|QXdW¢VWY)YbgbRUVb. zgXdQSzQXdfN4QSRgbY|W. 2 . . P¦UW¸ NZRäbUT[T[WRUfbÓVWY)Y|WMbUfN4QSR~NNZR^_W \SX¥bY|W W VWXN£b^9N£b ¸½zQX/^2b. -. NZY TN4T^_WaFbÓVyNXdW \QSYbUfN4QSRUWäNZRP QSRUVyN4fN4QSRUWMVyNGT^2b~NZYN^bÔ Ò YNZa²N^_W¸PgN4Q Wº Ò NZRQT[PgNZY)YbUfN4QSRUW zWXaFbRUWR^_W~ÃmvÖRÂ^2bY|WcP QSRUVyN4fN4QSRUWÂTNOVWe^_WXa²NZRgbÓNZY?zWXN4QVQMVyNDQT[PgNZY)YbUfN4QSRUW. =. bzzYN4P
(237) bRUQMY|WFT[W \S]UWR^9N³¥QXa]Y|W¸z]XdWÑVQg£ ]^_Wb. ). ) ) > ) àÃ. IQSR^XdQSY)Y|Q. '. h. '. Ã. IQSR^XdQSY)Y|Q. Ã. IQSR^XdQSY)Y|Q. ' $. Ã. IQSR^XdQSY)Y|Q. 9. 9. ' $. -. . h. / -. h. §. -. -. / -. h. 2 @ 2 ? @ 2 @ . -. /. ¸ : I. -. /. @. ¸ :7;. -. µ¸ : ;. å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð. 2 @ @ 2 . :. :. ÑWcTN. §. §. :. @. )N4P¦UQSY|T h. ?N4W \SY|WXGW. :. ¸ :#I. . @. :. Ã.
(238) .
(239) °
(240) µUêì*!èí4 !)è¥ê-"&, æ$! êd$. . +) * K. 021. # ÃLONP QSRUTN4VWXNØNZYT[W \S]UWR^_W`VyN¤bU\SX¥baaFbÑVyN()*i]~N4T^µÃ nyquist diagram 0. 18. 15 12 −0.1. 10. A 8.2. −0.2. −0.3. 6.8. −0.4. −0.5. −0.6. −0.7. B −0.8. . −0.9 −1.2. −1.1. −1. bY|P QSYbgXdW¹NØzgbgX¥baHWe^XN. . −0.9. 3. W. −0.8. VbÑzQX/^2bgXdW. NZYz]R^_Q. 0 à Õ)baz~N4W fµfb 7 -cWAYb ³bUT[W XdW=VWY)YbA³%]RUfN4QSRUW VWY)YbÂz]Y|TbUfN4QSRUW. / . lngo. #. NZR. ¸~PgN4Q W Ò. . . VyNXN4TezQT^2bHbgXaHQSR~N4P
(241) b. 0 . . −0.5. −0.4. −0.3. −0.2. 3 n. . −0.1. 3. Vb. . ¶. NZazQXXdW=bYTN4T^_WaFbHXdW. NZRAP QXXN4TezQSRUVWRUfb. -¡s 8 :. VWY)Yb`z]Y|TbUfN4QSRUW. TN Qg^!^_WRU\QSRUQHVbY VyN¤bU\SX¥baaFbAzQSYb . &% 0 o . pml. 0. n. NZRÑaHQVQ. ? 2@! ,<-cVWYz]R^_Q #. ^XdQbUfN4QSRgb^_QNZYaFbgXd\NZRUW½VyN³bUT[W. K. −0.6. VyNO]Rgb×XdWe^_W²bR^9N4PgNZzgb^XN4P W¹. :. NZRFaHQVQ. −0.7. NZR. P QXXN4TezQSRUVWRUfb. h. - B 5 5 65 ,<- 57698 5 > 65 3 - 5 C? 3 - 43 3 ! >=@? !. å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð.
(242) .
(243) °
(244) µUêì*!èí4 !)è¥ê-"&, æ$! êd$ KwvÖY\S]gbUVbU\SRUQ. . 10 . z]Y|TbUfN4QSRUW. . E. - . 021. ?,P¦UW¢YbÂXdWe^_W²bR^9N4PgNZzgb^XN4P WFVWe£WcNZR^XdQVi]XXdW²bY)Yb. WcYZÕ)bR^9N4PgNZzQ. . #. zWXzQX/^2bgXdWcNZYxz]R^_Q. 5 . . /. NZR. T[QSRUQih. 32 ! 3 >=@? ! !. , , E 3 ,<- .
(245) H5. KMLSQT^9N^]UWRUVQÂi]UW T^9N £bY|QXNORUWY)Y|WF³¥QXa]Y|WÑVyNØNZR£WXdTN4QSRUW`TNOXN4P
(246) b£b. 3 8.- : !
(247) H5 3 . 0: / > ! C? @ zWXGP]~NOYbÂXdWe^_W²bR^9N4PgNZzgb^XN4P WFP WXdP
(248) b^2b¹W Ò. . 3. ! C? . n. TN4T^_WaFbÑP QSazWRUTb^_Q. . ! 3 :0/ >. 3. . n. n n Õ)bRUVbaHWR^_QVWYxVyN¤bU\SX¥baaFb}VyN )* i]~N4T^AVWYiTN4T^_WaFb¹QXN4\NZRgbgXN4Q :. K. 8.- :. :. lngo. pmlngo. WVWY. lngo2pmlngo à diagramma di Nyquist. 1. 0.5. 0 10 8.2 6.8. 22 12 15 33 22 18 15 12. −0.5. 10. 5.6 8.2 4.7 6.8. −1. 5.6. −1.5. 3.9. 4.7. −2 −3. −2.5. −2. å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð. −1.5. −1. −0.5. 0. 0.5. 1.
(249) .
(250) °
(251) µUêì*!èí4 !)è¥ê-"&, æ$! êd$. . 021.
(252)
(253) . ( . . K. IQSRUTN4VWXN¤baHQÓYb`³%]RUfN4QSRUW`VyN^X¥bUT_³¥WXNZaHWR^_Qih p. K. . 3 lngo. 2 yl. nln. %N¤bU\SX¥baaFbÑVyN )*i]~N4T^µh. 3Ëngo. o. . diagramma di Nyquist 1.5. 1. 0.5 15 18 22. 12. 33 47 82 180. 10 8.2. 0. 6.8 5.6. −0.5. 4.7. 3.9. −1 3.3. −1.5 −2. K. −1.5. −1. −0.5. 0. 0.5. 1. 1.5. 2. %N¤bU\SX¥baaFbÑVyN )N4P¦UQSY|T h diagramma di Nichols 80. 0.0022 0.0033 0.0047 0.0068 0.01 0.015 0.022 0.033 0.047 0.068 0.1 0.15 0.22 0.33 0.47 0.68. 60. 40. 20 1 1.5 2.2. 0 27. 22. 18 15. 12 10. 5.6 4.7 8.2 6.8. 3.3. 39. −20. −40 −300. 56 82 120 180. −250. å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð. −200. −150. −100. −50.
(254) .
(255) °
(256) µUêì*!èí4 !)è¥ê-"&, æ$! êd$. 021. KwÄ?XdQ\We^!^_Q¢P QSR}TezW PgN|{SP
(257) bTe]YØaFbgXd\NZRUWFVyNybaz~N4W fµfb¢[z~N¤bRUQ×VyN. 3. . )*i]~N4T^¶h. diagramma di Nyquist 1.5. 1. 0.5 15 18 22. 12 10 8.2. 0. 3.3. 6.8. 33 47 82 8.2 18180 4.7. 2.7 2.2. 5.6 1.8. −0.5. 4.7 1.5 3.9. −1 3.3. −1.5 −2. K. −1.5. −1. %We^_WXa²NZRgbUfN4QSRUWFVWYØz]R^_Q /. −0.5. . 1. 1.5. 2. /. 4. . - <. E # h. . 2. , E 43 . !. # o 4 # o 4 3 2 3 3 u - l
(258)
(259) = 7- - u - 5 ? ? 5 Vi ,<- b^2bR u - #3 C ? 5 ! b×XdWe^_WcXN^2bgXdVb^XN4P WÑP¦UWÔ¯2zQX/^2b
(260) ´NZYØz]R^_Q # RUWYOz]R^_Q / XN4P¦~N4W T^_QmW² Ò P
(261) bgX¥b^% 0 . K. 0.5. h. DWe^_W¹XN^2bgXdVb^XN4P W~hT[P WY ^2b²VWYØz]R^_Q K. 0. l. ^_WXN4fµfb^2bÑi]~NZRUVyNyVbh. FE. 7- . = , , E 3 , - 43 !.
(262) . 3 .8 - :
(263) l , o 3 0 0: / ?> l , o ? 2 .8 -
(264) : l , o/3 0 0: / ?> l , o
(265) . å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð.
(266) .
(267) °
(268) µUêì*!èí4 !)è¥ê-"&, æ$! êd$. 021. 3!3. (). KwÄ?XdQ\We^!^_Q¢P QSR}TezW PgN|{SP
(269) bTe]YØaFbgXd\NZRUWFVyN³bUT[Wc[z~N¤bRUQÂVyN N4P¦UQSY|T'¶h diagramma di Nichols 10 1.2 1.8. 8 2.2 1.5. 6. 2.7 1.8 3.3. 4 3.9. 2.2. 4.7. 2. 2.7. 5.6. 0. 6.8. 3.3. 8.2. −2. 3.9. 10 4.7 12. 5.6. −4 15. −6. 6.8 8.2. 18 10. 22. −8. 12 27. −10. 15. −260. −240. −220. %We^_WXa²NZRgbUfN4QSRUWFVWYØz]R^_Q / K. !. −200. 0 . /. 4.
(270) . - <. l. −160. −140. −120. −100. h. DWe^_W¹XN^2bgXdVb^XN4P W~hT[P WY ^2b²VWYØz]R^_Q K. −180. #. , E 43 2 ! . FE . h. # o 4 3 2
(271) . u. - l # o 4 3 3 =. Vi - . ? 5 5 ? , - 43 ! C? 5 b×XdWe^_WcXN^2bgXdVb^XN4P WÑP¦UWÔ¯2zQX/^2b
(272) ´NZYØz]R^_Q # RUWYOz]R^_Q /. K. ^_WXN4fµfb^2bÑi]~NZRUVyNyVbh. . E. - . XN4P¦~N4W T^_QmW² Ò P
(273) bgX¥b^%. 2 . , , E 3 ,<- 43 !
(274) . 3 8.- :
(275) l , o 0 2 2 3
(276) 0: / ? > l, o 2 .8 -
(277) : l , o/3 0 0: / ?> l , o 2 ? ? å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð.
(278) .
(279) °
(280) µUêì*!èí4 !)è¥ê-"&, æ$! êd$ KwÄ?XdQ\We^!^_Q¢P QSR}TezW PgN|{SP
(281) b¯2a²N4T^2b
(282) ´ [z~N¤bRUQ×VyN. 021. 3. )*i]~N4T^¶h. diagramma di Nyquist 1.5. 1. 0.5 12. 15 18 22 33 47 82 12 27 180 6.8. 10 8.2. 0. 6.8. 4.7 3.3 2.7. 5.6 2.2. −0.5. 4.7. 1.8 1.5. 3.9. −1. −1.5 −2. 1. −1.5. −1. −0.5. %We^_WXa²NZRgbUfN4QSRUWFVWYØz]R^_Q / K. /. K. . 0. 0.5. 1. 1.5. 2. h. 2. FE . DWe^_W¹XN^2bgXdVb^XN4P W~hT[P WY ^2b²VWYØz]R^_Q. - <. #. , E 43 ! h. # o 4 # o 4 3 2 3 3 u - l
(283)
(284) = 7- - u - 5 ? ? 5 Vi ,<- b^2bR u - #3 C ? 5 ! b×XdWe^_WcXN^2bgXdVb^XN4P WÑP¦UWÔ¯2zQX/^2b
(285) ´NZYØz]R^_Q # RUWYOz]R^_Q / XN4P¦~N4W T^_QmW² Ò P
(286) bgX¥b^% 0 . K. 1.2 3.3. l. ^_WXN4fµfb^2bÑi]~NZRUVyNyVbh. . E. - . =. , , E 3 ,<- 43 !
(287) . 3 .8 - :
(288) l , o 3 0 0: / ?> l , o 2 .8 -
(289) : l , o/3 0 0: / ?> l , o ? å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð.
(290) .
(291) °
(292) µUêì*!èí4 !)è¥ê-"&, æ$! êd$. 021.
(293)
(294) . 3. ( . . K. IQSRUTN4VWXN¤baHQÓYb`³%]RUfN4QSRUW`VyN^X¥bUT_³¥WXNZaHWR^_Qih p. K. 2Sln o nln 2o . . lngo. %N¤bU\SX¥baaFbÑVyN )*i]~N4T^µh. diagramma di Nyquist 1.5. 1. 0.5. 0. 8.2 10 12 18. 6.8 5.6. 4.7. −0.5. 3.9. −1. −1.5 −2. K. −1.5. −1. −0.5. 0. 0.5. 1. 1.5. 2. %N¤bU\SX¥baaFbÑVyN )N4P¦UQSY|T h diagramma di Nichols 80 0.0027 0.0047 0.0082 0.015 0.027 0.047 0.082 0.15 0.27 0.47. 60. 40. 20. 1. 0 6.8. 8.2. 4.7. 5.6. 3.9. 3.3. 2.7. 2.2. 0.82. 1.5. 1.8. 10. −20. −40. 12 15 18 22 27 33 47 68. −60. 100 150 220. −80. 330 470 680. −100 −200. −180. −160. å æ[ &ç"' è!é*-ê¥)èiëèæ2¤êìèí|í|"'yî)èïØ !#"¤+-"ð%ññ/ò_ñ¥ð. −140. −120. −100. −80.
(295) .
(296) °
(297) µUêì*!èí4 !)è¥ê-"&, æ$! êd$. 021. KwÄ?XdQ\We^!^_Q¢P QSR}TezW PgN|{SP
(298) bTe]YØaFbgXd\NZRUWFVyNybaz~N4W fµfb¢[z~N¤bRUQ×VyN. 3. )*i]~N4T^¶h. diagramma di Nyquist 1.5. 1. 0.5. 0. 10. 12 15 22. 8.2 6.8. −0.5 5.6. −1. 4.7. −1.5 −2. K. K. −1. %We^_WXa²NZRgbUfN4QSRUWFVWYØz]R^_Q /. −0.5. 0. 0.5. 1. 1.5. 2. h. /. E 2 , E 43 ! DWe^_W`bR^9N4PgNZzgb^XN4P W~hT[P WY ^2b²VWYØz]R^_Q # h 0 - <l # o 43 " l # o u - ? ? 7- - u - " 43 ? Vi ,<- b^2bR u - = 5 ! bÝXdWe^_W¿bR^9N4PgNZzgb^XN4P WP¦UW®¯2zQX/^2b
(299) ´ÌNZYHz]R^_Q # RUWY z]R^_Q / XN4P¦~N4W T^_Q. K. −1.5. . 4. P
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