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93

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09-08-07047

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V.G. Viskub
V.l. Siryamkin
V.S. Shidlovskiy

HIGH-PRECISION DEVICES AND

SYSTEMS OF AUTOMATIC CONTROL

Tom sk state university publishing house

2009

UDC 681.5
LBC 32.965; 32.815
V93

This edition is realized with the

finance support o f Russian founda
tion fo r basic research on the project
09-08-07047

Reviewers:
Doctor of technical scince, the professor, the honored scientist
RF, member of the Academy HSIAS V.S.Titov (director of de
partment computer technology of Kursk polytechnic university);
Dr.Sci.Tech., Doctor of Economics, the professor Y.M. Osipov
(director of department UNESCO of Tomsk state university of
control systems and radioelectronics).

V93

Viskub V.G., Siryamkin V.I., Shidlovskiy V.S.

High-precision devices and systems o f automatic control.
Tomsk: Tomsk state university publishing house, 2009. 308 p.
ISBN 978-5-7511-1926-3

In the monography theoretical bases are stated and practical rec

ommendations for creation of elements and control devices of highprecision systems of automatic control are given.
For specialists in the field of control systems, it can be useful to
students, post-graduate students, engineers and scientific workers,
which concerned with subject of automatic control.
UDC 681.5
LBC 32.965; 32.815

ISBN 978-5-7511-1926-3

V.G. Viskub, V.I.Siryamkin,

V.S. Shidlovskiy, 2009


...............................................................................................................12
1. -
.................................................................................................................13
1.1. .................................................................................... 13
1.2. -
............................................................................ 14
1.3. .................22
1.4. -

................................................ 31
1.5. ..................................................................................................... 42
....................................................................................................... 44
2. -
..........................................................................................................46
2.1. ............................46
2.2. .......................................................... 53
2.3.
......................................................60
2.4. ..................................................................................................... 68
........................................................................................................68
3. -
69
3.1.

.................................................................................................. 69
3.2.
...............................................................74
3.3.
- ........................81
3.4.
............................................................................ 100
3.5. ............................................ 108
3.6. ....................................................................................................123
......................................................................................................124
4.
.....................................................................126

4.1. .......................... 126

4.2.
...........................................................................................136
4.3. ......................................................................... 144
4.4. .......................................................................149
4.5. .........................................................157
4.6. ....................................................................................................163
...................................................................................................... 164
5.
.......................166
5.1. ..................................................................................166
5.2. ...................................................... 167
5.3. ............................................. 172
5.3.1. ............................................................................. 172
5.3.2. ...............................................................................176
5.4. ........................................................................181
5.4.1. - .......................................................................................181
5.4.2. - M atLab.............................183
5.4.3. -.................................... 185
5.4.4. -...................................................................................... 192
5.4.5. -.............................................................. 194
5.5.
........................................................................... 196
5.6. ( )............................................ 199
5.6.1. ........................................................................... 199
5.6.2. ........................... 200
5.6.3. ..................................... 202
5.6.4. ...................................... 203
5.6.5.
.................................................................. 205
5.6.6. ..................................... 206
5.6.7.
( 74ALS 157/ 157)............................ 209
5.7. ( )............................. 210
5.7.1.
..................................................................... 210
5.7.2. ..................................214

5.8. -
............................................................................215
5.9. ................................................................................................... 220

......................................................................................... 220
6.
,
............................................................................. 222
6.1. -
222
6.1.1. .........................................................................222
6.1.2.

......................................................223
6.1.3.
.................................................................... 229
6.1.4. -

231
6.1.5. .......................................................234
6.1.6. ..............................................236
6.1.7. .........................................................................237
6.2.
-
.............................................241
6.3.

.............................................................................................264
6.3.1. .........................................................................264
6.3.2.
.......................................................... 266
6.4.

...................................... 273
6.4.1. .........................................................................273
6.4.2.
.............................. 274
6.4.3. ........................................................... 276
6.4.4.
- ......................................................... 278

6.4.5. ........................................................285
6.5.
.............................................. 288
6.5.1.
, ,
........................... 288
6.5.2, ..................................297
6.6. ....................................................................................................299
...................................................................................................... 301
....................................................................................................... 304

CONTENTS
Introduction ............................................................................................................ 3
Chapter 1. Precision optics-mechanical scanning sy stem s......................... 4
1.1
...................................
introduction c o n c ep t............................................................................................ 4
1.2. features o f precision optics-mechanical scanning systems ................. 5
1.3. the comparative analysis of various types o f scanning unit .............. 13
1.4. optics-mechanical scanning unit with a magneto electric drive and
high-precision measure of moving and scanning systems on their basis .22
1.5. conclusions.................................................................................................33
L iterature............................................................................................................. 35
Chapter 2. The mathematical description of optics-mechanical
scan ators.................................................................................................................36
2.1. Mathematical model o f bidimentional scanning unit .......................... 36
2.2. Calculation o f elastic connections o f scanning unit ............................ 43
2.3. Dynamic characteristics o f scanning uint with a magneto electric
drive.......................................................................................................................50
2.4. Conclusions .................................................................................................58
L iteratu re............................................................................................................. 58
Chapter 3. Control of optics-mechanical scanning unit ........................... 60
3.1. Basic features o f control high-precision optics-mechanical scanning
unit with magneto electric d riv e ......................................................................60
3.2. Linearized control system o f scanning unit and influence nonlinearity its e le m e n t........................................................................................... 65
3.3. Application o f methods o f optimization and adaptation in control
systems o f scanning u n its ................................................................................. 72
3.4. Application o f compensatory methods in control systems
o f scanning units ................................................................................................91
3.5. Multidimensional scanning sy stem s....................................................... 99
3.6. C onclusions...............................................................................................114
L iteratu re........................................................................................................... 115
Chapter 4. Hardwired realization of control systems o f opticsmechanical scanning units .............................................................................. 116
4.1. Interferenced measure o f m o v in g .......................................................... 116
4.2. Digital devices o f comparison o f control system o f the scanning
units.................................................................................................................... 126
4.3. Devices o f correction .............................................................................. 134
4.4. Devices o f control ....................................................................................138

4.5. IBM in the scanning systems ................................................................. 146

4.6. C onclusions............................................................................................... 152
L iterature............................................................................................................153
C h ap ter 5. Synthesis controlling and com puting devices for system s of
autom atic c o n tr o l............................................................................................... 155
5.1. Introduction co n cep t.................................................................................155
5.2. Generalized conceptions o f automatic d ev ice s....................................156
5.3. Classical abstract automatic devices .....................................................161
5.3.1. Automatic device o f Mili .................................................................. 161
5.3.2. Automatic device o f Mur .................................................................. 165
5.4. Structural automatic devices .......-...........................................................170
5.4.1. T-automatic d e v ic e ............................................................................. 170
5.4.2. Realization o f the / -automatic device in MatLab system ........... 172
5.4.3. Programm realization o f the -automatic device ..........................174
5.4.4. Af-automatic d e v ic e ............................................................................ 181
5.4.5. Realization o f the M-automatic d e v ic e ............................................183
5.5. Operations o f a capture o f derivatives and integration from boolean
fu n ctio n s.............................................................................................................185
5.6. The multiplexer (selectors o f datas) ......................................................188
5.6.1. The general co n c ep ts.......................................................................... 188
5.6.2. The base multiplexer with two inputs .............................................189
5.6.3. Multiplexer with four inputs .............................................................191
5.6.4. Multiplexer with eight inputs ............................................................198
5.6.5. Transformation o f a parallel code in a successive.........................194
5.6.6. Forming o f logical function...............................................................195
5.6.7. Example o f employment o f four multiplexers with two inputs
(IS 74ALS157/HC157) ................................................................................... 198
5.7. Demultiplexers (allocators o f d a ta s)......................................................199
5.7.1. Demultiplexer with one input and eight o u tp u t............................. 199
5.7.2. Synchronizable dem ultiplexer.......................................................... 203
5.8. Binary structurally-reconsructed control sy ste m ................................ 204
5.9. C onclusions............................................................................................... 209
L iteratu re........................................................................................................... 209
C h ap ter 6. A pplication of high-precision algorithm s of control in
navigation systems, m echatronic and diagnostic of the loaded
m a th e r ia ls .............................................................................................................210
6.1. Extremal correlation navigation systems ..........................................210
6.1.1. Introduction co n c ep t...........................................................................210
6.1.2. Generalized iterative scheme o f correlation algorithm o f images
comparison different dimensions and chromaticity .................................. 211
6.1.3. Correlation comparison o f three-dimension stereo images .........217

10

6.1.4. Employment in CENS structurally-reconfigurable adaptive

algorithms based on boolean m athem atics................................................. 219
6.1.5. Bases o f metrology o f CENS............................................................ 222
6.1.6. Bases o f designing of CENS............................................................. 224
6.1.7. Application o f CENS..........................................................................225
6.2. Correlation systems of technical sight o f analog and analog-digital
types of bidimentional images comparison ................................................ 229
6.3. Method o f measuring of relief surface for research processes of
deformation and valuation of loaded materials condition..........................253
6.3.1. Introduction concept........................................................................... 253
6.3.2. Automated system for measuring relief surfaceo f materials
253
6.4. Employment of spectral analysis o f surface images for investigate
processes o f fatigue failure on mesoscale level........................................... 262
6.4.1. Introduction concept........................................................................... 262
6.4.2. Optical methods o f research o f fatigue failure
on mesoscale level............................................................................................263
6.4.3. Technique o f researches..................................................................... 265
6.4.4. Results o f researches o f normalized energy
of Fourier-spectrum o f capacity..................................................................... 267
6.4.5. Discussion o f results........................................................................... 274
6.5. Intellectual medical systems for diagnostic and treatment o f man. ..277
6.5.1. Processing of color images in optics-television systems of
recognition, navigation, technical and medical diagnostics...................... 277
6.5.2. Automation o f infusion techniques.................................................. 287
6.6. Conclusions............................................................................................... 289
Literature............................................................................................................291
Conclusion............................................................................................................ 292

11


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29. Davies D.J.M., Frish O.R., Street G.S.B. Sweepnic: A Fast Semi
automatic Track Measurements Machine // NIM. 1972. No 82. P.54-60.
30. Patent specification N 1324241. London. Otto Robert Frisch, Graham
Stewart, Brandon Street. Recording information on a recording medium
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31 .The HRD-P. Laser display/Plotter.-Laser Scan Limited. Cambridg,
CB4, 4BH, England.
32. Kim Y.H., Lee H. W., Cha S.N. et al. Full color laser projection display
using Kr-Ar laser (white laser) beam scanning technology // SPIE. 1997.
Vol. 3131. P. 2-10.

45

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ixo = iyo >

2J
> = ------- -+ --------J
2 -/ z r / P 9 x (P J
J

J X

mgl(px
J

, J zo (4 x ) 2 4 y

= wBSu ix; = L

48

at

m s l(? y

>

+ /;

di
M y = w BSn iy ; y -q<py = L + iy RH .
,
.

2 { J xo - J z o ) 4 x % V y

( J xo - d 20

)( * f <py

---------------------------- , ----------------------------- d xo d HK
J xo
.
.
.

tO

m gkVx

>

+ J HK

J XQ + J HK

_ My

mgltyy

Jyg

jy Q

M x = wBSn ix ; x -qq>x = L ^ - + ixRH;

at
di
M y = w B S u iy \ -qcpy = L + iyRH .


,
.
,
.
, ,
. .

.


[1].
J z
0 (. 2.2)
z, .

49

. 2.2.

, , ,, z t , , z
. = 1,
= 0. z ,
l m=lyi= 0. z
N Az = N Bz = 0 .

N Ax+ N B x= I(q>)2 + P co& y,

/ -^ ;

N Av + n Bv =
8
-

- N Axa + N Bxa = 0 ;
N Aya - N Bya = 0 .
N Bx = N Ax\ N A y = N By

N Bx = ~

^()2

2g L

8 c s! j N B = - (/ + g sin tp ).
J

2g

= - / .

50

()2

PI

COS(D + C ,

Jz

.
1
t = 0 = (0, ( = 0 , = cos 0 .
^2

2 P I,
() = ~ ( - ).
^Z

N Bx = Z T T \( 2 P l2 + g J z ) cos - 2P I 2 cos 01;
2gJz L
J
( p / 2 - g J z )sin ;
2gJ2

By

N Ax = Z T T \ (2P1 2 + gJz ) cos - 2 P I 1 cos 01;

2 gJz L
J
N Ay

J z ) sin(P ,

2g j z

,
,

.

[2].


. .

.

.

,
,

.

, , , ,
51

, , ,
.

.
,
,
,
.
,

.

.
-
( ),
. , , .

, .
-

52

 ,
, ,

.
. 2.3. ,
;
^ , ,
; g x = g y = m gl.

2.2.

O'' (. 2.4).
. 2.4 .
, 0 2 -
. J 3 -
- O '; J p -
; 9, -
.
( ) ,

(3 + ? 2 ) + //0 cos(9 <) - mpalQ( 9 ) sin(0 ()

- 1 /0 (0 - ) + (w3gS + tnpga) sin <j>- c(0 - ) = >;
( / p + wp/ 2)0 + // cos(0 - ) - /(0 - ) sin(0 - ) +
+/ /0 8(0 - ) + mpgl sin 0 + (0 - ) = Q0,

. 2.4.

53

 Qy, Qg - ,
, 0 ,

= 5 + d,

~ EJ

, J - ).
,
,
- .
, 0, , , ~ 0,

+ 2 ^ty + mpalQ + (m-3g8 + mpg a ^ { p - c ( Q - t y ) = 0 ;
(J p + // 2 ) + mplaip + mpglQ 4- (0 - ) = Qe .
, [5],

+ 120 + + 120 - 0;
21 + 22 + 21 + 22 = > ,

= J 3 + 2; = mpal\ a 2l = m pal\ a 2 2 = J p + m pl 2;
\ i m2g b + mpga + ; c12= -c ; c21 = - ; c22= m pgl + c.

(11 22- 12)^ ~ ( 1122+ 2211- 21212). + ( 2212 )= 0
X - .
8 = d ~ 0 12, 21 .

+ + 120 = 0; 220 + 21 + 220 = 0 .

* 22 ~

220 + ( 0 - ) = 0; + ( - 0 ) = 0 ,
= J 3; 22 = J p + 12 .


,
+ an Q+ cn g>+ cn Q+

54

=0;

21 + 220 + 2| + 22 + 2 = ,

s - , .

+ )*(22. t 2, + 22) (^12^ ~^^12) =
-
.
, 12 = 21 = 0,
+ Sjcp + c(tp - 0) = 0 ;

220 + + ( _ ) =

,
, ,
,

J , S 2<|>CT = 2 [6(S) -

]-

;
[ 0 ( ) - ( )] ,

BSn
o L

uL

( 5 ) ,0 ( 5 ) -
; J 2, J\ -

; U(S) -
; g u g 2 -
; S -
.

55


. 2.5.

wBS1

g \Ru

W (S ) = -

c-4 , qwBSn J x | (g-, + g 2)L J2 | JjL

LJ\J2 v 5 ,
* ,* A

8 l 2RH

g \ 82 RH

S 3+

g \RH

1.5
g \Rh
( g l + 82)^2 1 J\ s 2 + i.g\+ g 2 ) 4 wBSn | L s + 1

L g \g 2
g\ \
RH
L j Rx( ,
->

W (S ) =

wBSn B 2
.//_. B||.V ,/|

j .S' vvB.Sn g 2

+[^2 (^1

+ qw BS{, (, + 2 )s + l 2^H

as 4 + bs3 + cs2 + rfs +

+ o s, + p j ( s 2 + .? + ) ,
= ; + = ; p + 8 + a y = ; a + = .

. ,
,


W {S) =

()
u (s)

.
|Vj2S 2 + 2 ^ 115' + l ] [ r 225'2 + 2 \{T 2S + l ]

56

^
w B Sn
=

I ---- ,
{giiJx+Ji)

I _ w BSn 4
gi . t
1 2, V J , + J 2 2

w BS^qJ^
2 Rn g 2 (Jj + 2) V

g 2 ( J i + J 2)
/ 2

-
.


.
,

.
,
,
, .

[4]:
W{S) = ()
U{S)
( r 3' ) V + 2 ^ 5 + 1]
\ j 2S 2 + 2 ^ T XS + 1] \ t 2 S 2 + 2 ^ 2 T2S + 1] [ t 2S 2 + 2 ^ T 3S + 1



( ,
) .



(J x + J 2) S 2<p(S) =

U( S)

q S ^ (S )

SL +

SL ~/^|_j

wBSn

dj2"'
_ u
y _
uwBSn
nryuun
= = 0;
= g<P
d t2
dt

Rv

57

 ,
.

W( S) = (^)

*
T 2S 2 + T ? S 2 +T3S +

U( s )

_ (J, + J 2) - L r _ q - w - B - S n + g - L
T'

S R

* *

w * *Sf j m ^

t/] + J

L /R H (~ 10 5 ),
, ,
.
W( S) =

(5) _

TfS2 + 2 ^ 5 4 1

U(S)

/ i + J 2 . t
1 4wBSn
g
wBSn
--------- > s i - - ------ - .
, - - -
8
2 g /? H \j -f\ + -^2

Wn 1 g
J\ + ^2

0= '

51 = 07 [

,
.
1 qwBSn
-----= -------------------

.
, -

58


( V( S)= 6 TX2 S 2 (/, + ^ 2) ' s 2 '

g 0.
W( S) - (5)
U( S)
S(T S + 1)

; - & 4 > & .

wBSn q

:
(5 ) = ^
= -;
I(S)
S
- tV^ 11 ,
i/j 1/2

/ ( 5 ) -

.
,
,
.
.

-
.

.
,
,
.

.

4(4) + (3) + 2(2> + 1(1) + = 0

59

(0) = ; (3) () = (2)() = (1) (0) = ;

<() ^() = ^() = ^() = ^() = 0.

.

[3],

(2) + 6[(1) +&0 = 0

,
:

1~~

{2 - 4)
2
'2.@yCi2 ci3 2*.ciy @4

2 0~

0(32 - , 4)
2
2
2.ciyci2 ci3 ^tciy 4 c[qCi3

2.3.



,
.


A ( p M t ) = U(t ) ,
( ) - , ,
; = - ;
dt
< , - .

. ,
,

(2 2 + 2^ + 1) (0 = u ( t ) .
() = U0 costot

60

(0 =

^ o 6 ^ 0 cosM + V)

\j/ - (/).


. ,

.

,
- R
(. 2.6),
J q. J q, ,
,
, ,
.
, ,
,

j ; Sc .
J
5

- .

B jScn R 2 /2

0 .

61

. 2.6.

R, J0, Sc, , j , ,
. 2.7.

. 2.7. -

J 0 =

62

 R,
Sc, .. ,
.
R
, ,

,
R , J n ,
Sc. Sc, ..
, .

Sc
)
, ,

.
.
( )
,
, .
,
,
. ,

63

 ,
,
,
BjSeitR2

2 ( 0 + 55/3/ 2 )
,
,
15 5

1

W nSc

_ 20
53
= ^
R
R q,

Sco
__^ _

'
/fo


S,

2 '

nR^p

S eo/ S c 2.

2 Bj
Bj
=
= '

2 R
4/3, ..

64

 4/3
.
7/?3 _
Sc J 0 -<-< .
= 3L
R
/ = I -5.
/ = 2

4Jo
I
5

_ 2Jo /
=

.. _ 2 Bj

..

15

Bj

R'

_ >
5pR '
,
_^ = 4 / 3 . = 2 _

.
.
pi 2,
2 /,
Sl} vr. ,
,
~

Pi w ; N 2 = j \ s l p 2 ~ w

,
,

65

.


dt = cmd 9 + c S Q d t,
- ; -
; - ; 0 -
; -
; S - .
-

/

.
/

_=_L
A
OSJnn rJ>
B
uw
2 \

; 5 ;
w - ; J
; / -
.


-
:
1.
, ,
,
.
, , , .
.

66

2.
, ,
.
.
3. .
, .

, , ..

, .

,
,

.
4. .
5.

,
,
.
6.

L / Rn .
7.

.
8. ,
.

.

.

, ,
.
,
,

.

67

 ,
.

2.4.


,
.
, .
,
, ,
, ,
, -
, , ,
, ,
.

-
,
,
.

1. .., .., B.C.

. .: , 1972. 342 .
2. / .. , .. , .,
; . .. . .: . ., 1988. 431 .
3. ..
. .: , 1970. 63 .
4. / .. , ..
, .. . .: , 1980. 198 .
5. .., .. . .2:
. .: . . . ., 1954. 595 .

68

 3. -

3.1.
-

-

(10 3%) ,
.

.
-
- .

,
-, , ,
.

.
, ..
.
-
,

,
,
( 5 . ) [4].

,


.

:

.

,
. ,

69


.
,
.

.

.
,
.
,
,

.
,
, .. ,

, ,
>.
.
,
.
( )
, , .. ,
.
, ,
, .

, ,
. ,

,
. ,
,
.


.

, .

70

 ,
,
-
.

,
, , ,
, , ,
, , ..,
.

,
, (),

.


. ,
,
,
, , ,

.
, -
,
,
. ,
,
.
,
.
,
,
,
,
, .


: , , .

71



,
.


.

, ,
.
,
.

.

,
, .

, ,
, - .

,
.
,
.
,
,
,
.
, ,
,
- - - ,

. ,
,

.

. 3.1.

72

. 3.1.

: (), (),
(), ()
().
,
.
.

, - .

.
- - ,
- - ,
- .
, .
g(t) , -
. g(t)=
= , , -
g(t) = vt, - .

, .
,
,
.


.
, [3].

,
:

73

<p(5)
U (S )
0.069 /

[(0.07)25 2 + 2 0.07 OAS + 1] [(0.0005)2S 2 + 2 0.0005 0. IS + 1]

(5)
(5 )

0.069 .

[(0.07)2S 2 +2- 0.07 0.45 + 1]

4>(S)

Q-069pa%

U (S)

[(0.07)25 2] '

3.2.




,
.
(. 3.2)
,
.

. 3.2.

74

^, (S) = ----------------
S 1 + 2 ^2T2S + T22S 2

- .
- ,
,

= .
,
,
-
, ,
, .
, KQ,
).


.

,
.


.

. , 28
,
.
.

75


, .
,
, , .
. ,
.
,
.


. ,

.

1

-
.
,

,
( T 2S 2 + 2 +1 )(T2S 2 + 1%2T2S +1) + K yK ^ K cS

toa

, -

. / . .. . .: .
, 1972. 4.2. 432 .

76

q(A) =

(2 + 22 + 45& 7;2) ^ - < 22 -1

g(t) = vt, - , ..
.
-

.

T 2S 2 + l ^ S + \

W3(S) = - ^ ----------- -------------,
1 + T 2S 2 + 2 ^ 5 + 1

= 6 ;
2 t J >+ K K ueK c

=-

2 T ^ \ +K m

7 f ^ i + 2 ^ J 3^ + cp = ^ 3 d t2
dt
1 + ff

vt .

(0 =

\ + .

2^ cos

t 2 ^ T 3 +

- ,+ 2 j |r 3 sin V TTj

<

77

1 + ^

- .

= .

W\(S)
,
.
,
.
.

.
[1].

, .
-

.
- . 3.3.

. 3.3.

Wk(S)
.

78

T X 2S 4
<=

+ 2 ^ )S> +(2+2+ 4 ^ 2T J 2) S 2 +

7 f r 22S 4 + { 2 ^ T X + 2 ^ T j t ) 5 +(12+7722+ 4 ^ 27;2) S 2 +

? +(2 + 2422 )S +1 + K 0K CS - K QWk (5)

+(2^7; + 2^22)S + l + K qK qS + 0
Wt(S) . ,
Wk (S) - Kk . , 1- 0 = 0 ,
.
Wk(S) = [ + K k2S . ], 1

1- 0 1 = 0;

2^,7; + 2422 + 0 - 0 2 = 0 .

1, 2
. ,

Wk(S)
k l + TS
^ ~
\ = K \
+ l.
(S)
(T 2S 2 + 2 ^ {T^S + l)(T2 S 2 + 2 ^ + l)(TS +1) +
+K0K CS(TS +1) - K 0K klS T - K 0K ki - KQK k2S.
, Wk(S)
1- 0 1 = 0; 24,7; + 24 22 + + 0 - 0 - 2=

.
,
,
.
.
, ,
. 3.3,
, g(t) = vt, v - .
Wk (S) = K kv + 0.

.

79


[1]:

W^ S ) - T 2S 2 + 2 ^ T S ~ l '
, g(t) = vt
,
+ 2^ + = v

(
() =

v
\
-4
-* - - 2 ^ \ + ,co s - t , 2 - +2sin ^1 - 7*
/

- .

e(f) = g (? )- (7) ,
d&/dt = 0.
j,e2 ,
(. 3.4).

, / , 2 /
.

.
. ,
, .
.
,
.
, :
.

80

t
. 3.4.

-


,
.

3.3.
-

- .
1,

, c o s ^ T + S ^ + Cj cos( cq2t + 82) = 0 ,
5 ,,5 2, , , 2- , ; ;

,, 2 -

1 - ., .
. // II
. .: , 1965.
. 140-154.

81

 ,

.
,
,
.

, .

,

.
,

[11].
g(t) = /

\]'2(.')

'

1 - , .
tn ()

2(1 + /2)

max = -----------2

_ 1/2

J, emax

82

 , . 2,
, . ,
80 2.2-10 5 -2
= 0.4 .
0.1 '. -
0.1 . ,
- 200
[4].

tn -
; 0 -
; tp .
1(3 2.5 .
3.1 -1 ,
6.2 .

- , -


,
[5].
.
/ :
tn 1:
t p = t n +

t = min(/;i + *-)


.
. 3.5.

83

. 3.5.

-
,
.

, 3.2.


.

g
.
,
, .


, Um.

,
. ,

.

Um ,
, .
\Jm

84

 , ,
.

,
. ,
, .

. ,
, -
,
.
( ), , ,
.
,
, .
. 3.6, 3.7
(
()), - (-) (
Wx( S ) ) () (
W3(S)) Um = 20
Um = 10 .
(20 ).

. -
.
( Um = 2 0 )
.
- .
- Um = 20

. , Um =10
.
, , - .
. 3.8
-
W ^S)
(2 = 0.0001 ) Um = 20 .

85

................

I ................ "......
5000

?
lsUMHI

............... I
2<1

2>

( )

,------

()

. 3.6.
(Um = 20 ): - ; - - -; -

m-[H-4 iut MiH ( )

; ------------- -;

. 3.7. (U = 10 )
( U - 20 ): - ; - - -; -

86

0,02S

(MW5
I '---------------- ,---------------- 1
<1

> 1

'

i
lflH IU

-"I-.

'

"t

2 <HHH)

<* K ll l ji l o r c M flil)

. 3.8. -

, -

.
- .
,
, ,
, .

,
,
, (
). ,
,
. ,
, ,
.

,

.

. ,

87


,
.
(218
),
, .
.

.
, , , ,
-
.
t?
,
.
, ,
,
,
.

.
,

,
.

(. 3.9).
().

:
^

s>0

<0;

> 0

>0;

= 0
8<0

>0;

8<0

<0.

. 3.10.

. , ,
,


, .

,
,
8.
,
. .
, ,


q (A) = ^ f - - ( 1 + ) /4 2 - 1 + ( 1 - ) / 2 5 - 8 2 ,
|_2
Umw = t/max; -
.

\ ) =

2U

^ -( 1 - ) ( -5 -0 .5 ).

8 ,
2U
2U
q(A) = (l + a ) ; q \ A ) = ^ ( 1 - ) .

. 3.9.

89

. 3.10.

J(A) = 2 ^ ^ / ( 1 + 2)

, ,
* = arctg

1-
1+

5 2^

1+ +

+ 1= 0 .

,
:
Re (*)(! - ) + Im Wo6(j<o)(l + ) = 0 ;

90

 Im W* ( j a ) ( l - a ) -

Re W'* U<o)(l + a ) = A ,

Re Wa6 ( /), Im Wo5(/to)

= 2UmmK yK A .


0 90
1 - 1 ,
1 0
\J (A )I = 4 ^_ 0 \j{A)\
= 2 7 2 - ^ ^ - , I

1
lmm

0 -1 |>/(-^)|

.
Um /,
.
Umm
. /
.
,
A(Umin),
A U min)
.
. ,
t/ = 0.1
Umin = 0.06 ,

(t4iax =0.001 ) Um\ = 0.0006 .
/min= otf/max
(7max = 0.2 0.4 . 3.11.
= 0.4.
, .
{ 2 Umm = 0.23 i/max
4-5 . 3.12.
,
0.0001
.

91

. 3.11. = t/max/^min

1*1
. 3.12. UmsK

v -
g(t) = vt .
{/ ; = a t/max.

( )
(5) - Umm Tk,S + 1

92

<p{S) = KyK ^ K m

2 T 2S2

(7> U mm t
tM,
. ,
,
' = Cy[lFmax U

- .

,
[4, 15].

:

^''

> 0;

>0;

> 0;

<0;

= 0;

6 < 0;

<0;

< 0;

>0.

- ^

. 3.13, 3.14
.
,
, /,
Umm, .
.

.
. 3.15

(

^ ( 5 ) , UW
SK = 0 .1 5 , Umin = 0.05 ) (" =0.01,

= 12) . , 200
. ,

43

. 3.13. :
g(t) - ; <() -

. 3.14. :
g(t) - ; (^) -

94

 ( )
. 3.15. ()
()

,

.
- , ,
, ,
, ,
, , .
.
,

,
. , ,

- ,
, ,
, .
,
,

,
.

.

95


,
.

, ,
. ,

.
, [12].
,
.
,
.
,
. ,
-
,
.
,
.
.

,
. ,
.

~ \
=

' 0

XI

0
0

g\ = [1000] .

_~ 0

- .

**

1
0
0

0
1
0

0
0
1

~" ~0 '
+ 0
0

-^ -? -?

'Si = [ ]

1
1

1
1

0
0
0

96

 ,
.
,
,
.

= +

(|,2?
\

' 0
n "1
I /

g -B z,

z - ; - [000&].


J = ,

= ; > 0; + = - Q ,
Q - .

,
0

-0

-a f

-*?

I Pis P ia

\4

- ?

- ?

= -Q -

Q .
, ,


[12]:
z - - sign ,

97

 h .

.
.

,
.

z = - / sig n
- \
= - ,
X - .


h .
. 3.16.

,

.

. ,


.

, ,
, .

98

|
. 3.16.

99

3.4.


,
.
<(?) u(t) (?)
.
A Jl &J2 . , 2.3,


(J 1+ A J1){J2 + A J2)Ra S \ x (S) + (, + /, )qwBSn S \ (5) +
+[(/[ +

+ g 2) + 8 2 ( + ^1)]^2(^) +

+qwBSa (g { + g 2)S<9x (S) + g lg 2Rnq x {S) = wBSng ,U x(S).

* .
,
. = + ,
J lJ 2RuS 4(px (S ) + J^qwBS^S2 (S)+ \ J 2RU(g[ + g 2) +
+g2^H-/ l ] 5'29 T (S') + ^ w5S'n te l+ ^ 2 )S,9A'(S')+ g ri^2^H9A'(-S') +
+(A JtJ 2+AJ2J, +AJ lAJ1 ) RnS \ x (S ) + A JiqwBSn S \ x (S) +
+ [AJ2R h (gl +g2 )+A.Jlg 2Rll ] S 2=wBSn g 2Ux (S)+wBSng 2A U x (S).

[(AJ, J 2 + A J2J , + AJ,AJ2)R hS 4 + AJ.qw B SnS2 +
+ [?2 + ,)* + /, 2 ]5 2] ^ ( ) = wBSng 2AU x {S).
AU X {S)

100

 / . / 3 + /\/,/| * /| / 2 j /^||' + /V/ r/utf.V, j'

w BSn g 2
+ [ /2 ( , + g 2) + A y,g2J?H]5

^(5) = /*(S).

BSug 2

, ,
,


. ,
.

.
,
+ J 2)RH<px ( t ) Ux (t)w BSn qg>x (t)w BSn g(px (t)RH,

AJRH -x{t)
(0 = wBSn

.
A J (>;) .

= kBip .
, ,

(/| + J 2 )^ ( 0 =
= [ (0 + ] wBSn -g<py (t)N B S n + - gg>x (t)RH.
:

wBSn

wBSn

-
.

101

 -


[6]. ,
,
.

,

.
-

,
- :
W (S) = ------ --------------.
S(T2 S + 2 ^ 2T2S + 1)

- :
Wk(S) = 2 ,
.
Tk2S 2 + 2 + 1

(. 3.17)

_ E (S )
G(S)

[Tk2S 2 + 2$kTkS + l - K k][T 22S 3 + 2 ^ T 2S 2 + S

\ 28 + 2'%2T2S 2 + S + K~](T2S 2 + 2 ^ kTkS + \)

E(S), G(S) -
.
(5)
, ( (t))
. . 1-
2 K ( \ - K k fc 2T2+(Kk- \ ) + 2 K K kTk
v * ----------------- g (t)+...
(0 = ^ - g{t)+---- ^------

,

.

W](S) (. . 3.17)

102

 ( * = 0.4)
g(t) - 4000; (. 3.18).
, 2.
,
.

. 3.17.

()
. 3.18.

(. 3.19).
N N ^,
- ^ .

, [10]:
=

= I t g 2 = ( L g / c o s l y j t g l q ) , ,

103

 L() - ; L
.
( = 0 . 0 ,
( ,
.

Jo
0 - ( = 0).
,
,

=>. + =

2( + ,)

cos 2

tg2(yy + y k ) * 2 ( y y +<pk).
N

. 3.19.

104

. 3.20.

>2 ( + *)

cos 2(

= )2

* = 9 ,( c o s 2 < p ,-l).


. 3.20.


:
dx

2d<px

L0

dt

dt

(2;[)2

<pt .

.

105


(. 3. 21) [4].

. 3.21.

,
.

.

,
.
,
.


[ ( ^ S 2+ 2

+ l ) ( r 22S 2 + 1%2T2S + 1) +

+Kx K yK o6K m ] y ( t) = Up.

[(7;22 + 21 + 1)(222 + 2 +1) + ] ) =
= K o6K 3CK yg (t) + K rK o6Wk(S)g(t).

. 3.22.

106

. 3.22.

W{( S ) ,

=0.005, = 12. , Wk(S) - 0

K kS

,
1 TS

. j 2
Uf ,

g(t) = v t (v =10000 ) ,
. UP = 0.4
9 . ,

18
. ( U ? )

W2(S)
/
,
.
.

107

3.5.

,
, , z
|, . 3.23.
1.4.

.

.

[13].
(. 3.23)

Wgx, Woy , ;
W0Z,W0] ~
;
Wpx,Wpy,Wpz
, , z;

Wi h , WUy -
;
, , , ~ .
]( ),\ ( ) -

, .
F2x , Fly ,
-
. / 2, /

.

108

2
&

d>

2
&
2

4)
&

..

>>

109


& x = g x - *;

= Fu

= [Wpxxn + F2x (, , [ )]Wox; Xi = Wnxx ;

.Vi = wn ;

= g y - y> e y n = F \y ( ); = [ W p y Eyn + ^

(*1, \ W a y \

Z z = g z ~ Z z = K z Wp z^z+f z\ = ^ (1+) + / ; =

(x,y).

,

e x = g x ~ x - , X = w pxw m e x ;

Z y = g y - y > y = WpyW0yZy
X = g x ~ Z> Z = WpZWOZEZ; = K ^ g n

+ WpxWm )x = WfaWmg x ;
(1 + fVpyfVoy)y = WpyWoygy(1 +WpzW02)z = Wp7Wozg 2; = 10^ .
-
[Q
V + W W )

o'

0 +^ )

(1 + WpzWOI)

W
W

W W

Wpz WOZ

W\

,

,
. ,

110

 ()
.
,

, .
,
,
.
,
.

, , .

,

.

.

.

= - a ix b]x + ; = - - 2 + .

F\ = (*,>0 = 0 .
, ,
V:
V = x 2 + y 2 =F2( x ,y ) .

.

, .

. ,
, .

. ,
.
, ,
.

111

 ,
.

, ..
, ,
.

, .
,
-
.
,
.

( ) F(x,y) = 0
, :
x = x(t); y = y ( t ) ,
t .

- ,
.

.
.

,
,
.

, .. .

,
,
,
,
. , [2]

.

.

112

 .

V.

v ^ = v c o s a ; Vj, = v s i n a .
^ ,

v co sa
.

v s in a
S = -

, - .
( )

- s cos a - s* sin a ,

-sin 2 a .
2 K xKy
,
. =
,
.
[14] R

2
V ( z >

= R 1 - ,11 + 2( sin + cos ?) + 1 1 +

R
R
kR )
[R J
2

+
z k () ~ sin t + z y cos oof --------- .
2R
,

.


[8]:

113

f
f
Q1T19fY
e*(0 = v \ h x( t ) d t - ] h y {t)dt ,
_0

v - ; hx(t), hv(t)
; - .

( C y )
sin^2

= V<CX-

, -
.


.
, .. ,
.
,
2 vb
v2. ,
, .
,

= v2 cos 2 - Vj cos a , ; k v y = v2 sin a 2 - vx sin a , .
,

. , .
, = v(cos a 2 - cos );
,, = v(sin 2 - sin a,). ,

. [2],

,
.
,

, , , ,
,
.

114

, .. .

, , , ..
, .
.
.

,
,
.
.

. 3.24. -

-
g(t) . 3.24, V3 - ; -
; - .
g(t) = kt
. , g(t) = 10000?
Wj(S)
30 , 0.035 . -
60
17 . 0.083 . ,
.
.

115

 ,

.



.

. 3.25.

,
/
,
. [8]

. (. 3.25)

5 = sin ,

5 ,
.

. 8
,
, ,

116

 .
.
, ,
,
,
.
,
,
. ,
= (tg )- ,
r| = x c o s a + y s in a .

= cos a + sin a ,

- x s i n a - y c o s a .

= = 0 ,

= = 0 .


. ,
,
.
[9]

.
,

:

. .

,
= - a lx - c lx + blux ;
y = - a 2y - c 2y + b2uy ,
-

117

1
2

-
0

0
2.

- ,

0 ' xi
2
0

~2 2

+ .1

0
_
0

0
0

b2.

Xj
0

1.

X,

w=

1 0

..

w - .
- x tga ,


. = * + Bg,
. - ; g(t) -
;
=

"0

" "
_

0 .

= x s i n a - y c o s a = [sin a O -c o sa O ]

r| = x c o s a + y s i n a = [cosaO sinaO]
,
.

118

*1
sin a

-c o s a

*2

sin a

-c o s a

cos a

_2 _

__

sin a

sin a

cos a

1
.

ei

sin a

-c o s a

X,

sin a

-c o s a

*2

=
1

cos a

sin a

cos a

sin a

X,

= A-

x2

det4 0,
sin a
( A '):

sin a

-c o s a

cos a
0

sin a

-c o s a

cos a

sin a

JV

A_

,2
( - q sin*1 2 cos2 )

6, sin

( - , sin2 - 2 cos2 )
1s

- b 2 c o sa ^ . V

(q cos a sin + 2 cos a sin a )

(q cos a sin + 2 cos a sin )

119

sin a

cos

cos

sin

^2

^2

"0 \
" 0 0' Hi
+
+
-2_
q _2_
sin

cos

bx sin

-cos

- 2cos

sin

7.

, .
= ~ - 22 ~ \ ~2 >

= 2 ;
2 = ( - ) + ( 2)2 .
/,,
.
(
)
=

= 00

bx cos

, = 2 = 0 ,

+
?

0 1

+
./ L _2.

sin

cos

-c o s

sin

b2 sin

120

\ = / + + .

= \ - | .

= b0g + k3Af] + 4 ,

Aii = ( / - ) . Ar\ + (L - 4)].
3, ,
.
. 3.26.
,
.
,
.
,
.


.
g(t) .
,
, .


,
,
.
,
.

121

122
. 3.26.

3.6.
- :
- (10'3 %) ,

,
;
- ;
-
;
- .

.

,

.
-


,
.


,
,
, .


, .
,
, ,
,

,
.

,

.

123




.
,
,
.

1.

-
/ .. , .. , .. , ..
// . : . 1981. 9. . 29-35.
2. ..
. .: , 1964. 366 .
3. -
/ .. , B.J1. , .. , .. .
// . : . 1979. 2. . 77-81.
4. .., .., ..
. .: , 1984.
135 .
5. .., .., ..
// .
: . 1981. 12. . 14-20.
6. .., .., ..
//
. .: , 1981. . 117-118.
7. .. .
.: , 1976. 183 .
8. ..
//
. : ,
1963.. 148-161.
9. .
. JL: , 1990. 128 .
10. .. -
. JL: , 1977. 600 .
11. .. ,
.: , 1966. 390 .
12. .., ..
. .: , 1984. 64 .

124

13. / .. , .. , JI.A.
. // II
. -, 1978. . 260, 261.
14. / .. ., .. ,
.. ., .. . .: , 1985. 206 .
15. Patent specification N 1324241. Otto Robert Frisch, G raham Stewart,
Brandon Street. Recording information on a recording medium by
means o f a steered light beam. P. 1-5.

125

 4.
-

4.1.


( )
. 4.1 [17].
-

. 4.1.

.
-,
. -
,
, .
.
- ,

.


.

126



- Su + 5 1+

^ >

5 - ,

; 8 - ,

; , 2 -
();
. - .
[17],
5 = 4 |r ,

2| s in ,

\, 2 .
,
g

11------- .

= a rc s in

4 (,+ 2)
,

, (
)
=

a rc s in

16(, + 2)
, , . = 0.6328 ,
\ = 2 = 40 ,

0.1 . .

-

.


:
2nAf

127

 -
; f - ; ;
- .

- -

,
.


1{) = /, + 12 + 2/ / , / 2 cos 0 ( ),
0() =

- ; - X
; X - ; I \ , h -
.

,

/ = /s in 2 n :(v //)^ = / s i n to ? ,
I - ; v -
,
; / -
; -
.
2

. 4.2.

,

.
.


,

.
,

128


.
,

.

. 4.2.

t /!

'

U nop
U (i>m

"

'-

,|'' 1 1
| \ 1 / i\i 1 1 1

U nop

~ U i

11 11

11 11 1

l - l + l

'a V

1 '

. 4.3.

. 4.3
,
, 1
.

129

 ,
- .


.

, /2:
, = ^4sin(2jur//); 2 = ^ c o s ( 2 x x // ) ,
.
,

.
/ 2
- [20].

, ,
-. . 4.4
d
,
. ,
= (1 + ik) ( -
, -
), ,
. d

2 = ( 1 - ) 0 + (1 + / ) ,
- ; -
; 2 ,
, .
,
,
.
,

N .

\. 1
,
130

, 1.
1
/ 2 .
1

. 4.4.

:
- ;
,
; - .
[ 19] ,
-
30",
5
-1 0 . -
30'.


() -
(. 4.5):

- ; - ; -
; - .

- .

 ,
.

. 4.5.
-

. 4.6.

-
-
. , -
, ,

132

 . ,

,
, .
.

,
(. 4.6).
,
, ,

.

. 4.6 [16]

1-2

.2

R - ; -.

,
, .
,
[9]

=1.000294
0 760 . .; - ; t
.


.
,
,
.

, ,

133

 , ,
.

, , ,
.
.
, ,
,
.

,

/. ,
,
.
,
,
.
,
,
.
.
.
.

( )

[18].

,
, ,
.

-
[7] . 4.7.
,

.

-
. ,

134

 , ,
,

.
,
.
,
.
, ,
.

0 |1*

J.IV M t-lll 1,1

.11,|
[' ioiui I . ,
---

jop

I ii-.Htlili.
cm- t'untii
I

i o j. u k i p i r u 'c k 'i i l i

iipcipi'ppiuniui ir. II.

. 4.7.

135

 ], 2 - ; 2 / ; .
,
4/ ., .
= ( N + A N ) k / 2 , N -
, .. ,
. A N
.



.
[18]
. ,
.

. ,
,
45.
,
.

.

4.2.


- ,
- .

,
, .

.

-
. ,

136


( ), (
),

.


, ,

. ,
,
.
.



.
,
.
.
1
,
(. 4.8).

, .

2,
.
2,
- .
2,
- , ,
,
1,
( 1)
.

1 .. 525056 , . . G 05 19/18. /
.. , .. , .. ().-2040477/24; 03.07.74;
. 15.08.76. . 30. 3 .
137

 l lH >4

II O IIIIK M It

1 0 4

. 4.8.

I'l l ltlM lt

138

 ,

,

.
.
, .
,
, , ,
1 .
,
, 10... 0, 1
.


+U, 0, -U ,
.
,
,
, .


1. 2
, .


,
. 2
,

.
2.
-

2 .

, -
1.

, 2

139

,
,
,
.

2.
,
, ..
.

,
.
.
-
[12].
, .

.
.
.

.
. 4.9
.
.
.
,
.

,

, .

.

140

141

. 4.9.


. , -
. 6 4- .
8 .
.
8- 4-
. 12-
6- .
8- 12- 6-
.
.

.

.
, . 4.10, [4].
,
.

0 , ().
,
. ,

0 , ,
.
-
() .


,
0.
.
, ,
, .


- ,
- .

142

. 4.10.

, ,
.
1 . 4.11.

. 4.11.

1 .., .., .
. .: , 1970. 424 .
143


,
, .. ,
.
i j . .

, .
,
2 > , .

3,
5 < 3 < 2 - | - 4 +5,
4 - , 5 -
.

.
,
,

.

4.3.


.


, ,

.

= sin a t,
- ; - ,
.
u(t), d u / d t = cos t, ..
,
, .

144

 ,
, ,
.

. .


.

, .
. 4.12 [21].
4
- 4 - = A T /2co(sin (at)2 + AT772co(cos to?)2 = K T I2a>,
T - ; -
.

. 4.12.

145

 ,
.


. ,

-

dy 1 .
dy2 .
signy2 signp,
at
at

= /oasin oof sign ( sin oof) + /cocos cof sign (cos oof).

, .
.


.
, ( 32%).


,
.

,
/
.

-
.

.
, ,

, .
.

, .

146


- . -
.
,
,
.
, (1 ),
,
. ,
,
.
,
[3],

. ,

, - , - [15].

2 3- .
RC .
(. 4.13) ,
,
.
.

. 4.13.

147

 ,
,
.
.

.


,
.
,
, ,
.
,
,
.

.
,
,
. t =
( - 1 ) :
Vf[nT] = f [ n T ] - f [ { n - l ) T ] ,
- .


V 2f [ n T ] = V f [ n T ] - V f [ ( n - l ) T y f [ n T ] - 2 f [ ( n - l ) T ] + f [ ( n - 2 ) T ] .

.
.
[10]
t =

g [ n T ] = S7g[nT] +
v

V 2g[ nT]

v 3g [ r ]
3

148

 , , ,

.
.

.

4.4.
,
.
, ,
. 4.14. : -
; - ; - ; ; X - .

0, /, / .
-
,
.

. 4.15. ,
+ - . R-S
, +
. R-S
> 0 . , +,
- ,
.
< 0 .
.

,
.

. 4.14.
1
&

&

Sgn 8

. 4.15.

150

 Umax Um\B
,
.
,
. 4.16 [6]. ,
,
,
.
( )
,
. .
,

.
.
,

. 4.16.

151

 ,
.
. ,
,
,
,
.

.
,
. ,
.

,

. ,
. 4.17 [5],
.

. 4.17.

152


, .
( ', ")
, ,

. ,
,
.

.
.

.
. 4.18 [1].
:
.

,
- .
,
,
.

.
,
.

.
,
.
,

,
,
.

, ..
.

153

. 4.18.

.
,
. ,
,
, -
. ,
,
.
,
,
.
,
. ,

. ,
,
, ,
154

 ,
.
, ) ,

.
.

,
.
,

. ,

.
.
,
,
, .. ,


.

- ,
, , ,
[8]. . 4.19.
-
.

,
.
,
, .
, :
90 90.
,
.

155

. 4.19.

,
,
, .
,
.
,
,
.
,


.
.

.



.

,
.

.

156



, 4

.


.
[2].

4.5.

,
.
.
,
,

,
.
,
,
.
.

.

.
,
.

,
, , ,
. ,

,
.

,
. -
, - .

157

 -
,
, ,

. - ,

.
, , ,
.

(
)
,
.

,
.. , ,
,
.

.
, -
,
. ,
,
.
, ,

, , ,
,

.


, .
, .. ,

.
, , [13],
,
.

158

 ,
.

,
,

.


,
.
,

.
,
, ..

,
. , [13]
,
,

. ,
.
-
.

.
:
,
,
. ,

T = T o + Z ( A^ tg a ) ra.
0 - ; - 0 . \ . . .
, ,
;
tg
.

159


, -
.
, ,

,
..

,
, ,
. ,
, ,
.
, ,
.

.
, ,
.. ,
. .

.
,
,
.
.

.
,
.
, . ,
,
.
,
.

.
, ,
.
,
, .

160


, ,

.

.
. 4.20.
WH(S)
,
(T3S + \)J(T4S + 1 ), .

( Z- )
_ X(Z) _
G( Z)

^) ( Z) W( Z)
1+ ^ ( Z ) wH( z y

(S)

W +1)

S 2(T4S + l)(T22S 2 + 2$2T2S ) + i y

W dS)

. 4.20.

\
K ^ / T ^ S 2 .

,

161

.
, ..
. [10]

,


/: (1 + s)
7 = 1 _________

WH(S) =

5 2 (1 + 7;5)

7}, ,
.
X, ,
,
+ j x. X)
7= 1

W <JX ) = -

d -A f).
(jxf +
1=1
g - , .
, ,

0 7 ,.

W(jk) = -

1 -
2

1 + '.

T = t r < .
*+1

[10]:
m 1
I.

7=1

1
'LirZK

,=1 7]

1
---- (- ^ < -----------2 ,=g+i
+1

- 1.5.
:

162

0
^ 1 ](-1)
/ 1 ]

^
- r + H Ti ^ JL : ; ; < _ ; =
2
0
+1
/ + 1

( 1/7) - .
, 0,
,
, :
, = 0 .0 4 1 0 ,^ = 0.15, 2 = 0.00013 , ^2 = 0.07, = 0.0033 , 4 = 0.0005 ,
50 .

. , ..
, ,

,
. ,


. ,
,
[14].

4.6.


.


, ,
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163



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1. .. 862154 , . . G 06 15/14.
/ .. , .. ,
.. , .. (). 2873212/18-24; . 05.12.79;
. 07.09.81. . 33. 3 .
2. .. 1005106 , . . G 06 15/22.
/ .. , .. ,
.. , .. (). 3320286/18-24; . 27.07.81;
. 15.03.82. . 10. 4 .
3. .. 450108 , . . G 01 23/00.
1 .. , .. , B.J1. ,
.. , .. , .. , .. ().
1879416/18-10; .05.02.73;. 15.11.74. . 4 2 .3 .
4. .. 541165 , . . G 06F 7/04.
/ .. , B.JI. , .. ().
1968751/24; . 29.10.73; . 30.12.76. . 48. 2 .
5. .. 625220 , . . G 06 11/00.
/ .. , .. , .. , B.J1. ,
.. .. , . , .. ().
2483268/18-24; . 10.05.77; . 25.09.78. . 35. 3 .
6. .. 686045 , . . G 06 15/22.
/ .. , .. , ..
, .. , .. (). 2604740/18-24; .
17.04.78; . 15.09.79. . 4. 2 .

164

7. .. 794644 , . Kji. CJ 06 15/22.

/
.. , .. , . . , .. , .. (). 2706581/18-24; . 04.01.79; . 07.01.81.
. 1. 3 .
8. .. 898472 , . K j i . G 06 15/22.
/ .. , .. ,
B.. , .. , (). 2933423/18-24; . 30.05.80;
. 15.01.82. . 2. 3 .
9. .. . .: - , 1966. 210 .
10. .. . .: ,
1976. 575 .
11. .., .., ..
// . 1975.
5 . . 90-91.
12. .. . .: , 1967. 81 .
13. / .. , .. , .. . // . 1991. 1.
C. 68-74.
14. - / .. , B.J1. , .. , ..
// . : . 1979. 2. . 77-81.
15. .., ..
. .: , 1973.
16. .., .., ..

// . 1982. 6. . 151.
17. / .. , ..
, .. .; . .. . .:
, 1980. 198 .
18. .., ..
// . 1998. 6. . 65-84.
19. .., ..
// . 1976. 1. . 227-229.
20. 90
/ .. , .. , .. .
// . 1977. 4 . . 210,211.
21. .
1229326, 1967.

165

 5.

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5.1.

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[4].
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166

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167


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{X} { } .
L = 1.
- ,
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{X,.} { i'}, L > 1.
X
D6 c { X } x { Z } Z \c i{ X } x { Z } -
( ),
8 ^ )
D & D x , (-).

168

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169

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170

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171

5.3.
5.3.1.

A = { X , Y , Q, q ( t ) , y ( t )},

(5.1)

X - ; Y -
; Q ; y(t)
; q(t) .

? 0 ) = /[? (* -1 ) * (0 ].

(5.2)

t - (1 = 0, 1,2, ...),
, , ,
; q{t) (.. ),
t; q(t 1) -
; x(t) - t.

y(t) = q>[q(t-l), (1)].

(5.3)

.
:
= {,...,}.

(5.4)

= {1,..., }.

(5.5)

(5.3). ,

.
(. 5.1) [7].
t -

(5.4); Q , ^-
; q ^- ,
Q; y t - . t
/- (5.5).

172

. 5.1. : X t -

Q.
, Q,
y t .
, , ,
, Q,
xt , -
.


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Q, ,
: 0 1.

Y
. 5.2.

.
\ 2,
(
).

173

 .
.
( Y)
Q = 0, . . . = 011011,6 = 000111.
\ = 2 = \ , , X - 0,
= 1. = 1 ( - ), Q
.
Xi = 2 = 1, Q = 1, X = 1, = 0, = 1, - = 0, 2 = 1,
= 1, = 0 , = 1 , = 1 . .
(. . 5.2) ,
, \
2, Q - (5.6), . .
, ,
.
= X xX 2Q + X xX 2Q + X xX 2Q + X xX 2Q =

J-K
Flip-Flop

. 5.3. MatLab

. 5.3-5.5
MatLab.

174

175

. 5.4.
b

. 5.5 . (SM )

5.3.2.
,
, (5.1).
y(t).
y(t) (5.3),

y( t ) = q> [q(t-1)],

(5.7)

.. y(t)
[7].
,
. 5.6. I ,

. JK Q ( -
).
. , , D, ,
,
Q.
Q Y .
x t . ,
, \ Q.

176

 2. ] + 2.
Q.
2, Q
\ \ + 2 + |, - | \ + 2 + 3 1+

. .

. 5.6.

:
/ i = l, </< 18;
f 2 = 1, 8 < q < 23;

(5.8)

./ = 1 , 12 < q < 27,

q - , Q.
,
.
, ,
. . 5.7-5.9
MatLab.

177

178

. 5.7. MatLab

"> .

&
a.

Li_

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~ Air

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if

0 .

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f T

0 -

179

. 5.8. , JK -

t ft

i i

. 5.9.

03
0 3 0 0 0 =
i i

180

i
T
^

5.4.
5.4.1. -
,
.

. ,
- [8].
- z , , z2 z3; -, \ ,
- /, / 2 :
\ f i ~ y \z\z2 + (>'i + zi + z 2)x z 3;

(5.9)

I/2 = y & z 2 + ( y l + z l + z 2) y 2.
-
(. 5.10),

f:

. 5.10. ,

/\ = 1 + ( 1+ 0 + 0)1 = 1,
= r i0 0 + ( y , + l + 0 ) y 2 = 2;

f\ = 110 + (| + 0 + 0 ) 0 = 0,
/ 2 = , 00 + (, +1 + 0 ) 2 = 2;

181

 ) , -

= > ' | 1 + (

[ =

) 0 1 1-

+ 0 + 1) Jcl = >'i +

^ 0 1 + U +1 + 1)

= 2;

=
[ = ^ l0 1+ (+l + 1+ I)j2 = 2

) 1 0 0- * = 1 0 0 + ( 1 +1 + 0 ) 1 =
| / 2 = j 'l i o + ^ i + o + o ) ^ = 3 w
) 10 1- \ ^ = ^ 00 +

+1 + 0) -^ = ,

1 = ^ + {1+0 + 0 ) 2 = 1 2;
) 1 1 0: - * 0 + 1 + ')*1 = *.
( = + + + = 1 + 2
) 1 1 1-

= ^ + ( ' + i + i)* o = >

1 = ^ + ^ + + = y t + 2- ,
. 5.11.

182

-1

-3

. 5.11. -

5.4.2. - MatLab

, .

[10].
-
Cell System,
Sim ulink (. 5.12)

183

File

Edit

View

Simulation

cS

Format

Tools

5 ._

Normal

D isp la yl

R unning

100%

in

T = 173842.001 VariableStepDiscrete

. 5.12. 7-

. 5.13. T-struck

184

<>

 -
MatLab.
.
T-struck,
1, 2 ; z
fl f2. Constant
.
, - .
Display. . 5.13
T-struck.

5.4.3. -

,
[5].
-
,
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then, else ( goto ) ,
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. switch

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switch, -,
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Zj, z2 z3 0

185

1. - .
,
. 5.14-5.21.
{, z, z2 .
{.
- 1, 1. ,
0, - z , .
Z, 0, 1,
z2 ,

1 .

. 5.14.

. 5.15.

. 5.16.

. 5.17.

186

. 5.19.

. 5.18.

. 5.21.

-,
f x / 2 .
, -, 5.1.
5.1. -.
#include <stdio.h>
#include <conio.h>

\\
\\

.......

//
int , 1 ,y2 ,fl ,f2 ;
int z 1 ,z2,z3;
int i;

\\
\\

//---------------------------------------------------------------------------------------void aut(int x,int y l,in t y2,int z l,in t z2,int z3) \\ ,

{
\\
in tsl,s2 ,s3 ;
\\
sw itch(yl)
W
{
\\ 1
case 0:

187

sw itch(zl)
\\
{
\\ z l
case 0:
switch(z2)
\\
{
\\ z2
case 0:sl= 0;break;
case l:sl= l;b re ak ;
}
break;
case l:sl= l;b re ak ;
}
break;
case l:sl= l;b re ak ;
}

//-------------------------------sw itch(sl)
{
case 0:s2=0;break;
case 1 :
switch(x)
{

\\
\\

\\
\\

case 0:s2=0;break;
case 1 :
\\
switch(z3)
\\ z3
{
case 0:s2 =l;break;
case l:s2 =0;break;
}
break;
}
break;
}
sw itch(yl)
{
case 0:s3=0;break;
case 1 :
sw itch(zl)
{
case 0:

\\
\\ 1

\\
\\ z l

188

switch(z2 )
\\
{
\\ z2
case 0:s3=0;break;
case l:s3= l;break;
}
break;
case l:s3=0;break;
}
break;
}

//-------------------------------switch(s2)
{
case 0:
switch(s3)
{
case 0:fl= 0;break;
case l:fl= l;b re a k ;

\\
\\
\\
\\

}
break;
case l:fl= l;b re a k ;
}

//

-----------------------

sw itch(yl)
\\
{
case 0:
sw itch(zl)
{
\\
case 0:sl= l;b reak ;
case 1 :
switch(z2 )
\\
{
\\
case 0:s l= 0;break;
case l:sl= l;b re a k ;

\\ 1
\\
z l

z2

}
break;
}
break;
case l:s l= l;b re a k ;
}

//--------------------------------

189

sw itch(sl)
{
case 0:s2=0;break;
case 1 :
switch(y2 )
{
case 0:s2=0;break;
case l:s2=l;break;

\\
\\

\\
\\

break;
// ...............................
sw itch(yl)
{
case 0:s3=0;break;
case 1 :
sw itch(zl)
{
case 0:s3=0;break;
case 1 :
switch(z2)

\\
\\ y l

\\
\\ z l

\\
\\ z2
case 0:s3=0;break;
case l:s3=l;break;

}
break;
break;

//-------------------------------switch(s2)
{
case 0:
switch(s3)
{
case 0:f2 =0;break;
case l:f2 =l;break;

\\
\\
\\
\\

break;
case 1 :f2=l;break;

190

printf(%2d ,fl);
printf(%d,f2 );

\\ fl
\\ f2

//--------------------------//
void main()

\\

{
clrscr();
x| 0 |
0I 0I 1 1 1
printf(
y l| 0
printf(
0|
1 1 1
1 1
printf(
01 1
y2 | 0
printf( ======
fl ,f2
|\n);
printf(zl,z2,z3|
printf(:
\\
for(int z l= 0;z l< 2 ;zl++)
\\
for(int z2=0;z2<2 ;z2 ++)
for(int z3=0;z3<2;z3++)
{
\\
printf(% 3d,zl)
\\
printf(%2d,z2)
printf(%2d,z3);printf( |);
\\
for(x=0 ;x<2 ;x++)
\\ , 1 ,2
for(y 1 =0;y 1 <2 ;y 1 ++)
for(y 2=0 ;y2 < 2 ;y2++) {
\\ , ,
aut(x,y 1 ,y2 ,z 1 ,z2,z3);
\\
printf( I); }
\\
printf(\n);
}
p rint f( = = = = = = |======
getch();

= = = = = = = = = = = = = = = = = = = = = = = = = = = = I\ ) ;

191

X
yl

z l

22
0
0
0
0
1
1
1
1

:
:
:

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0

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S
!

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01

. 5.22.

, 5.1,
. 5.22.

5.4.4. -

, (
) h ,
, .
cell-
:
= (A Z2 v z3)(z, v z2 v z3) v O, v z, v z2)xz3 v y 2z, z2z3;
/2 = (Plzl v *z,z3)z2 (z, V z2 V z3) V
v[y, V (Zj V z2 )(z, V z2 v z3)](y3 V z,z2z3),
x, y u y 2 - ; z h z 2, Z3 - ;
f u f i ~ .
:
1) Z] = 0, z2 = , Z3 = 0 (. 5.23, )

\ f 2 = 21
2) Z] = 0, z2 = 0, z3 = 1 (. 5.23, )

192

[ . / ; = . vp

=;
3) z\ = 0, z2 = 1, z3 = (. 5.23, )
[/I =

1 =;
4) Z] = , z2 = 1, z3 = 1 (. 5.23, )
\ f ~ 2

1 = ;
\

5) zi = 1, z2 = , z3 = (. 5.23, )
[ =*
\/= \*
6) Z] = 1, z2 = , z3 = 1 (. 5.23, )

f/i
1

>

= y , y 2i

7) z\ = 1, z2 = 1, z3 = (. 5.23, )

=,

1 = vj 2;
8) , = 1, z2 = 1, z3 = 1 (. 5.23, )
j / i = 3 ,i.

1 =>'. v^z,
&

J' i

&

. 5.23. ,

193

5.4.5. -
. 5.4.3
SW ITH-
.

(,
. programmable logic device, PLD),
,
.
,
().
,

.
[2]:
- CPLD (. complex programmable logic device -
)
- (.
macrocells),
;
- FPGA (. field-programmable gate array)
- (DSP),
, ( ,
( )) .
FPGA ,
, CPLD.
,
, VHDL (Very high speed
integrated circuits Hardware Description Language) [2].
,
.
,
, ,
.
- VHDL. (or), (and), (not),
VHDL (Gate)
:
, , .

194

. and o r
. , and :
and <nam e><list o f arguments>
and myand(out, in i, in2, in3);
// and ,
// myand
and (out. In i, in2);
// and .
,
VHDL,
,
.
n o t .
- , ..
, :
not (out, in);

VHDL- ,
.
VHDL, -, 5.1.
5.2. , -
LIBRARY ieee;
USE ieee.std_logic_l 164.all;

\\
\\ ,
\\

ENTITY m_aut IS
\\ m-aut
PORT( x, y l, y2: IN S T D L O G IC ; V
z l, z2, z3: IN STD LOGIC;
f l , f 2 : OUT STD LOGIC);
END m a u t;
ARCHITECTURE m -struct OF m aut IS
\\ VHDL m-struct m aut
BEGIN
PROCESS

195

SIGNAL s 1,s2,s3,s4,s5,s6,s7,s8
: STD_LOGIC;
SIGNAL vl,v2,v3,v4,v5,v6,v7,v8,v9,vl0: STD_LOGIC;
SIGNAL zl ,z2_,z3_
: STD LOGIC;
BEGIN
OR o l(s l,z l,y l,z 2 );
N O T (z3 ,z3 J;
AND al(s2,sl,x,z3_);
AND a2(s3,yl,zl_,z2);
AND a3(s4,z3,yl);
OR o2(s6,s3,s4);
NOT(z2,z2_);
OR o3(s5,z3_,z2_,zl);
AND a4(s8,s6,s5);
N O T ( z l,z lJ ;
AND al0(v6,z3,z2,zl_);
AND a5(s7,y2,v6);
OR o8(fl,s2,s8,s7);
AND a6 (v l,z2 ,zl,y l);
AND a7(v2,x,z3,z2,zl_);
OR o4(v3,vl ,v2);
AND a8(v4,v3,s5);
OR o5(v5,z2,zl_);
AND a9(v7,s5,v5);
OR o6(v9,v7,yl);
OR o7(v8,v6,y2);
AND al I(vl0,v9,v8);
OR o9(f2,v4,vl0);
END PROCESS;
END m-struct;

5.5.

,
,
. ,

,

,
.

196

 / (jc,,

..., xn)

[ 1] / ,-
=
,

, 2, . _ , , 1, ..., ) / ( , , 2, . _ , , 0

/ ( , , 2, , 1,

/ ( , , 2, , 0,

, ),

) - ; -

.
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,. , ,2,

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xit

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^ :
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# . ,Z
j,
Z
i* j , i* S , j * s

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d kf
f
... dxjdxj dxs
dxj1 12 ... ,

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/
. 5.24
.
1

. 5.24.

197

 1 , 2 -
, ;
3 ; 4 - ; 5
, ; - ; 7 ; 8
.
[1] J{x),
/( )/ , = g ( x ) , g(x)
:
f ( x ) = \g {x )d x v

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,
,
m- .
g(x) /-
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(. ,..., , .
, ,
:
d g (x ) d g (x ) ^
,I

d g (x ) _ Q

,<2

, g(x)
, :
J g {x)d xii = . g ( x ) h l (x).
/,()/,. = 0 ,
,

,()
,.

'2

/,()

v . . . v -----------= 0.

'

h\{x) ,
.

198

J J g ( x ) d x tidxh = Xhx h g ( x ) 0 x(i A, ( x ) h 2(x)

d h 2(x) / dxi2 = 0.
,
f

(. ,

( h t(x))
J ...J J g { x ) d x i dxh ...dxim = ,. x h ...x,._g ( x ) 0 x,2...x,._ A ,(x) 0 . . . 0
, W A .W ,
Jf I (.
....1 ') l i ,..., lm
V
<1
x t
x 2 - ( x i

f / (11. . . )

( . 2 ~

,..., ) /

1 .

5.6. ( )
5.6.1.
5.5,
.

Cell System
.
, ,
,
, .

(SELECT),
(ADDRESS). . 5.25,
.
; ,
.

. ,

199

 ,
, . ,
, Z
, / 0 (..
Z ); , Z
.. , ,
N
. .

. (DEMUX)
:
.

. 5.25. :
- ; 6 -

. 5.25,6
. ,

. , , ,
. ,
,
1 N , ..
.

5.6.2.
. 5.26
/ 0 1, S. -

200

 , S, ,
,
Z . ,
:

I QS

I XS.

(5.10)

S = 0 (5.10)

Z = / 01+ / , 0 = / 0 ( ),
.. Z / 0, ,
, ,
. 5 = 1, (5.10)
:

= / 00 + /,1 = / 1 ( ),

.. Z /

s

. 5.26.

,
: ( , , 10 )
(, 4.77 )
. ,
. 5.26,
10 /, 4.77 1\.

(SELECT), .. ,
Z, -
.

201

5.6.3.

,
. 5.27. ,

,
S\ S0.
.
, / 0 S {S 2 , ..
Z ,
5[ = 0 S0 = 0. . 5.1 ,
.
5.1.

S1

5,

0
0
1
1

0
1
0
1

Z = I0
Z = I\
Z=h
Z=h

so

. 5.27.

; , -

202

.
,
.

5.6.4.
. 5.28
74ALS151 (74151).

. 0 ,
S2, S 1 S0 , ( / 0 / 7)
Z. = 1,
Z = 0
.

203

20 4
. 5.28. 74ALS151

5 .6.5.

( ),
.
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205


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5.6.6.

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).
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.

206

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5.2.

,
.

207

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(, 74151)
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s2

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So

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208

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. 5.31. 74ALS157

5.4.

Za

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209

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210

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211

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0.

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.

212

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213

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. 5.34.

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214

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. 5.35. : J14 - ; - (
); - ; - ;
A j - (/ = 1,2,...,)

215

.
(. 5.35)
, = 2,

> ai > 0 ( = 1, 2) ,

(5.12)

' = / 1 + / 2, ; [ 0 >1] (/ = 1, 2),

2 - ; , - ;
- .
f 0, 1
(. 5.36)
x x(f) (1) x 2(t)

h2h4 = 0 (. 5.36, )

h2h4 = 1 (. 5.36, )

= h lh i v h2h4, b = h2h 3 v h xh A\
h x = sgn(sgn(x,) - 1), h 2 = sgn(sgn(x,) + 1);
h3 = sgn(sgn(.v) - 1), h 4 = sgn(sgn(.v) + 1);
s = x 2(t) + x x( t ) ,

216

(5.13)

. 5.36. -
( )

hj (j = 1, 2,
4) ; s -
; sgn(yl) - ,
:
1 > ,
sg n (^) =

- ,
- 1 < 0.

s > 0, Xj > 0,

[(3 s < 0.

(5.14)

JI4 ,
,
, (5.12)

2
( - (a2ty V +

2 (*F, 0 = (- 2 / ) * 2 (4, 0) +

217

( (-2^)' - 'F ) ^ ,

(5.15)

(5.16)

 (5.15) (5.16),

= , < (. 5.37, ) = , > 0 (. 5.37, ).
l 2
1

t t t t t t t t t t t t t t t t
t t t t t t t t t t t t t t t t

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1

um urn

. 5.37.

. 5.38. , )

218

'

 (5.11) = 9 7 .7 .
\ = 2 = 1/97.7.
g 1. ,
= 0.7 flicp = 7
.
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= ) ,
7 S,
tg(c) .
, 01 = <*> *[0..7] (. 5.38), ,
= 0 .7 = 7 = 2.91.

. 5.39. :
- ; -
( 1 - s , 2 - ds/dt); -
( / - , 2 - )

(5.16) jc2(T , ()| = = -0.201.

^ ( , 0)|/ = = 2('1/, ?)[^ = (3:

219

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2)2, 0)|=

~ >
1

.. < -1 3 .5 5 .
= -13.6.

/ = 7 = 0.7,
: = 2.91, = 13.6.

. 5.39.
, ,
,

,
.

5.9.
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.
1. ,

.
2.
.
3.
.
4. ,



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.

1. ., X. / .
. .: , 1986. 400 .

220

2. .., .., .., ..

. -/: , 2008. 398 .
3. .., .., ..
. .: , 1985. 320 .
4. .. . .: -
. .. , 2005. 512 .
5. .. SW ITCH-.
. .: , 1998. 628 .
6. ..
:
. ... . . . ., 2004. 195 .
7. ., . : , 1998. 4.1.
114 .
8. .. 1476456 . . . G06F7/00. /
.. , B.C. (). 4124982/24-24; .
26.09.86; . 30.04.89. . 34. 8 .
9. .. .
. :
, 2007. 192 .
10. .. .
. : , 2006. 288 .

221

 6.

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6.1. -

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()
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[18].


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R ; Ft - ; F2( ) - .
. 6.1.

222

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: -
; -
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; -
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6.1.2.


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223

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.

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s

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; 5- ; I ,
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224

 ,
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A S > A S ;
4- ,
, ,
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;
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225


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226

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[14].
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228

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229

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. 6.3 , ,
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,
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J ( p ) ,
.
J ( p )
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230

 F{ ( , ) , F2 (2, 2, )

; ,

J { p ) .
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231


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233

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234

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= lx ~ 1

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, 8 - ; \\ix ,

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235

6.1.6.

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21
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20 = cx trA (a 2) ,
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(2) = (2) + (2) =

236

 ( 2) , (2) -
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+ 1 2 4> .

N K- ; jV3-
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237

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238

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, ;

0.1 R 0.5

239

 20 . .
6.4, 6.5 , ,
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t Ny

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0,285

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240

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(6.3)
= cos a + ), sin a ; 13 = %, sin a + rij cos a .
(6.3) ,
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, (6.2)

(6 .4 )

,
241

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* , Y?

, X \ ,

;0 0, , 0,

(6.5)

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,,, rjj,

(6.3).
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(6.7)

(6.1 ).
,

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(6.8) ,

, /2.
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(6.9)
(6.8), (6.9)
, /2,

8^, = |; $ = (6. 10)
(6.10) :
|,
,

5 ^ ,, 5 ,

242


, \ Z4, ,
.
,
(6.1), (6.3), (6.7).

[7, 8],
. 6.6.

. 6.6. ,

. 6.7. - ,

243

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244

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245

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246

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247

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248

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250

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251

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252

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253

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255

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, [14].
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256

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257

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VISKUB
V iktor G avrilovich
Doctor o f technical sciences. Professor, director o f department
o f Institute o f the government, right and innovative
technologies (Moscow). Author more than 100 scientific
works.

305



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SIR Y A M K IN
V lad im ir Ivanovich
Doctor o f technical sciences, professor o f Tomsk state
university, member o f the Russian Academy o f Natural
Science. Director o f interuniversity educational research and
production center Technological management o f Tomsk
State University. The Professor o f Tomsk polytechnic
university. Author more than 300 scientific works and 60
inventions.

306

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S H ID IO V S K IY
V iktor Stanislavovich
Candidate o f technical sciences, reader o f Tomsk state
university o f control systems and radioelectronics department
o f automation and management electronic system. Author
more than 50 scientific works.

307

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