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2858273714838570871K)s(U)s(Uoi=TS1)s(U)s(Uoi=TS1K)s(U)s(Uoi+=)TS1(K)s(U)s(Uoi+=1TSK)s(U)s(Uoi+=STST1Kp)s(U)s(Uodii++=234501RR01RRtT1601RRtT1021RRR+2121RRCRR+021RRR+3021RRRR-t/R3CPRo1RI2021CRRRtT1IRoRR21+1221RoCCRtRoC1+1CRCR2211−R3C27)1ST(SK)1ST(SK1+=+τ11τ1K112121TKST1STKKSSTK)S(R)S(C++=++=)S(R)S(Cn2n2n2S2Sω+ξω+ω111TKTKτ=1KT2111KT21τ821τ11T/K1K1011TK21τ11K2K1021ξ−21ξ−2n1ξ−ωπn4ξω921)1S1.0(SK1+)1S1.0(SRK100+11K2K101K1010)2ST)(1ST(SK21++R510112112131440S2S402++1S05.01S5.0++15)20S(S400)1S05.0(S20+=+400215ξ−π1617)j(E)j(B/|)j(E)j(B|)j(E)j(Bωωωω=ωω)j(E)j(Bωω)j(E)j(Bωω1819)1TS(SK+)1S01.0(S4+100120212223Rf0RKf30R22430R2fiCC·RoRf2512302R×301012302×R1101011RRCC0ff1=•=•2627C&&C&ce&&−=ee&&&+ee&&&+ee&&&+e&&e&deed&e&e&α+−5.01Me&α+5.01M28e&101.01ee−=−=&29mcc=+&&&0mee=++&&&00ee&&&+0ee&&&+0ee&&&+01,2e&15.0M+α−0e&15.0M+α030e&e&e&3132)X(N1)X(N1XM4π)X(N1M4Xπ)X(N1−33)X(N12AA5.015.1ω−ω2A1)22(21252++35)X(N1M4Xπ7472)X(N14Xπ35π320234)X(N12)x1(1)x1()x/1(arcSin2−+π−)X(N1)X(N135e&e&36**T2πmaxωπ37seTs−−1)15.0()1(252+−−sseTs)2(22+ss3825.05.012++−sssTezzzzzTz225.015.0)1(−−+−−−))(1()21(]12[5.122222TTTTezzTeezeT−−−−−−−−++−)Te2e1(5.12z]e1T2[5.12ez)e1(z)]Te2e1(z)e1T2[(5.12)z(R)z(CT2T2T2T2T22T2T2T2−−−−−−−−−−++−+++−−−++−=)Te25e5.115.12(z)e5.115.13T25(z)]Te2e1(z)e1T2[(5.12)z(R)z(CT2T2T22T2T2T2−−−−−−−−++−+−−++−=3940411CS)RR(1CSRRR21102+++•1S51S68.0++4243x&x&1S05.01+S1x&x&x&4421ξ−ξπ2n1ξ−ωπ21ξ−x&451XRK200X186.10K2002XRK200X286.5K20012−ξ4647CSWR4814154141164916501313518255AB8253(2#5ms)IRQ782598255BAD0809IN6CH=06HBL=40HY7NIN6BL=40HCH=06HCH=06LF398PUOUINAD0809DA832IN7BL=80HCH=07H111112111213151315155253INTTk-1TkTk=0?YNA/DD/ATk825582538259Tk-1TkTk=0?ND/AA/DD/ATkY151541515551522F60HTkG=F00011E5U13IN7U15OUT5657581211DDXPXPXTTXTT−κκ−κκ−=−3D2D1DDXT6TXT2TXT2TXT6T−κ−κ−κκ−−+KK-1K-2K59825582538259AA1YXKXK+A3XK-2AXK-3YXKXK-1-A3XK-2AXK-3AYY1-aXP1XK-1K-1D156015TTD611515K13151S1+τ62kkK-1τTYK=A1XK+A2XK-1+A3XK-2+A4XK-3(=1)∑=41iiA636465dt)t(deT)t(eT1Dt1I+∫TT)i(ETTDK1iI+∑=·TTKp)i(ETTKpDK1iI•+•∑=··∑=K1iEi66I51IITTKp•6167ITTKp•TTKDP•68825382558259AB43·EEE·E·EEEKP·EE·E69TK2F60HEI2F00HKPKIKD70)Z(E)Z(U3322113322110ZPZPZP1ZKZKZKK−−−−−−++++++71K0K1K-12K-231K-12K-23K-3KK-3KK-37201.01)s(01.0)s(T=73D(Z)·5.2Z15.21=−−11Z717.01Z2.05435.0−−+−741111Z4176.01)Z3679.01(583.1Z47.01Z5824.05830.1−−−−+−=+−K15751Sers+τ−3322113322110ZPZPZP1ZKZKZKK)Z(E)Z(U−−−−−−++++++=76UK=K0EK+K1EK-1+K2EK-2+K3EK-3-P1UK-1-P2UK-2-P3UK-3(3)T825310msTT=TK10ms77D(Z)78az1−211Z865.0Z135.01Z3936.048.0−−−−−−)Z865.01)(Z1(Z3936.048.0111−−−+−−11Z1Z211.02574.0−−−−3132Z1825.0Z8736.048.0Z1825.0Z2223.0−−−−−−−132132Z15.2Z1825.0Z6159.0Z8736.048.0Z1825.0Z2223.0−−−−−−−×−+−−1az−7932132Z1825.0Z6159.0Z8736.048.0Z1825.0Z2223.0−−−−−−+−−32132Z3802.0Z2831.1Z82.11Z3802.0Z4631.0−−−−−−+−−80T81PIDK82558253825982KTPKTIIIIIIVP∫todt)t(eiT1dt)t(de83∑=k1ii)i(ETTTTD·∑=•k1iiP)i(ETTKTTKDP•K·K··E∑=k1iEiK-EK-1T84KTi8586⎥⎦⎤⎢⎣⎡22211211DDDD22ij11ij22ij11ijijoZPZP1ZKZKK−−−−++++87E1U1E2U2⎥⎦⎤⎢⎣⎡21UU=⎥⎦⎤⎢⎣⎡22211211DDDD⎥⎦⎤⎢⎣⎡21EEU1=D11E1+D12E2U2=D21E1+D22E21S51+1S5.01+8889825582538259D(Z)110220D11D12D21D229091TKTCYKPIDPWMYKCK=0NMARK=0IRQ6VADDVADDYMARK=1IRQ7N=1IRETPWMTC=TC+1IRQ6N92939495NNYKIRQ7A/DMARK=1IIRETIRQ6TC=TC+1TKMARK=1TKIRET96497981DC12V12345678543218255BPB13PB12PB11PB10B1000101H2001103H3001002H4011006H5010004H611000CH7100008H8100109H(99100101102103104105106