weseuinee norerreat $elelltalta dab 04. Sia srejonne Ia Gaara socal (4 ) rie amide ‘Zag; Metodom Laplace-ove transformecijerjetiti | $1.1: diferencia jednodba £2045 804 siyat aprtane mice HO) =0,541) =~2 - Skicirati x) i odrediti x{c0). Ky=50N/pm,B=1A0 Mas 100g Pretpostaviti da je lauost ristala moog veéa od Ieruosti oproge koje petite inerefjskn masu ma kris. ‘Zad,4; U sustava preasa blot shout ns Sl. 4 odredit Gf) tako, da odziv sustava C(s) we zavsi 0 Gf). Da {je utom shutaj staconaraiodziv c(o) na skokovitu pobuda rf) = Sf) konatan, ao je povratn vezs ‘proporcionan bran odziva, = 2D ihejn staan Sh stay ate? Zad. 5: Sustavsjodinitom povrotoom vezom ima | SLS: Pecos ike die ge = Type Gay ONE to de List 0d?BOA Reet, @ cut +3 se) e2xet — xleO; Mile-o {> : Shonati Xt) ¢ ockeelits 200) Je). 3 dx. axdjet ot 3 BH. adet /o Sx(3) - Sxlo)-(-2) 4 3(Sx18)-o}+ xs} = 4 Mxls]42 7 33x) + 2 xs) - A(3) (st 38+ 2) = f-2 XG) (S*3s+9) = pues © As)2 422s" sd s*§ Bye sAssr2-0 S*(s%3s+2) st(se)(o-2) Sia. -3t [aoe etl 2 2 Siet Sued Xsjo Cul, Gan Se s sf S+4 ste ae ee = €fss(st8sr2)-(-eseM(esr3) nds sr 3si2} | OS ste 3se2 (s%3s+2)° So = (4.03042) --9.0+)26+3) _ _ -3 O (o% 3022)" 4 Cre fee 220% 41 o(s*3s+2) OFsor2 2 sce C2(Seq) _a-es* [- Se - ate Sse Ye) A: (-442) : Cy < (5x8) ta 2s% {= 4-8 tyre Poe SSt)(sB) J, 4-2-4) “4 + 4 4. Z Abje-2- 4+ 4-£-15-+¥ op+ at xile-$ + 4e-€ +ze xloj=-a + Lo-e 2 7° ye t =-34+G-41rz i 5 Xlojes edivage x(o2}: Xo) = hm §- ses x(e0) 2 linn ee n2se4 = a0 S*(s*% 3512) shea x}, eo Moe Settee Wendt Cree / Mee ace : ore CE +62) Ze at 7 im xtlicwLee 44 et® Kej= G4 Laer 4c? re q ton get at => x(q) =-2 x(s) 2-047 Ree Sea cet Set ese! O(a%32-642) 2 ©pryenasha fnkeily Ws) 22 a SeO , paerdaug je 3 R--3 OQe-24 Ran144 Q,2-2- 5 Be-1-4 Wis) = (s-On)-(S-Qe) " _ (s+2-g)(S+2+d) (SP)(S-R)(s-B) (s+) (set-4) (st7q) = 5525 +8(+2s th Y-of-pf-g* otras thot 2 StH 4545 O (sr 3)(s% Se S64 1G -f-d-¢) (Se3)(Se 254401) (s43)(s% 2542) WijeA- StrhseS a (s13)(S425-+2) B=A: OHh4GrS (0+3)(o%20+2) Strts +S ' (sx3)(s%.25+2) Wisj- A- Sehs+S (s3)(s428+2) Wis) 18 (s%ésr5) S(s+3)(s$2s+2) aes ES lz shke se vid & su su) pele; supesheur (yevo Of tompleksne ravine, Pree Teme mozrno Btjudit’ da ge sustey stab by |Gils) =6 ce by = Sct Je C=. Ga «fell og £ delle E- ®-8B Be O goe-ne cece Rew He B® = A HG@.24 oe o Cat O at “ H 4elm 42 4 cu ehe scale tee deol fe gece Gaw)22? me Ye kenacan Sstey cbrivelentan In tergrovenyrene Nyquis-ov degra, ised odg Fe ae", so MBet2s stust® 1S. 2004, Yay VA, ele 32. 3c SSer2s sh Sst 2s \ eu: S2hinyeo Ba 443) Sa Raw 4 ele its, - (2 + oe : Sm4y Sot ) . . - Crs Gorey) 3. is tah Ga he wv | =a 4 W eee oT 4 git Ce ze Hés./Le 1 te" aa f (pe ey 2 ars ) efx oO Wien ott eat seme i ¥y, alta) eer et awe e*) sG-1) 2 (eo cosGt-a6') s(t) = (OY sing a(4e)) (4-4) HG,= S22 Rhy » “thes Be 202, Re 2-2; Sobers 2 ui e W824, 2 s-2-2y 5-22] Geared cy -(e22-2]) 2 | _ get - ae faa Beale ea) l Be f a 2 ve a(e*eos 204)) «tH te b= hi We (2!? sn eat) alta) +( “cos 2H) tt) abe u sua) Sustay gi restabjem yer se sur pelev) polviayan, |@ a SO. 1, LL 2 sy oe dt 6 yx by st) £4 x Ge 4 es) 4s yl) = £ 4802 2.004. PO yo). LY). - ye) = HEL. -g Yale (8) (A545) — V3) (458"r45} c 4 yj- —S = ae wens S(SS*4) ; vo \y Gith ad oO Sof sa-4 SiarG seibiet 5-6, 528 wey yl) = Sul, Gia Ce Ss ss sot > Gyn Sf 4 ( 2k tS etl sy exe) eee | 7 eos Cord)? ‘So eee car SEE Haste ee eee eee oO (= +4) a Gas 4 [. |. +7 (Sr) yy ee F * Heh) 4 [2 &- 4 4.26 CsSsr4) os a 2 $ pant 7) : Sbbheowt ¥Go - 4-4 4+ 6 1 fy meted 7 = ae /¢ beo In ad va) [eee £ er Ty ie * Ret B ak stv ye rebne stolokaiy telolan sey se tt sui posi naloce Neves ne nnaginam 7 eohele ag x : 36 7 oe sol serHsrs] cols) sheet) [s(ori)(¥2) 2] © s(seienjio “Ws)e 3, 2 yls) = X(s)- Us) og Zoe Els)= ae tee 44. G4 s(sef}r3) re ling Js Sea)e ba & EG) = [Is slet\eajre S 4 te ebeg fogs eo) wore restaty) s)=2 22 ~ Hae ak freee Xs73] Ssx) 22 20 Ws) = ie i ao ~ st) s eS 7 aa ‘ (stt)(543) 44 seep Zs eres) So SH 3 x). sal St) Sls [s43)r10 oO sise)(593) Se OB tere fon BM ng ae 3(st4 ‘aloxt) 0 lolouttor3+to) a(o-t) °°] - I<] © Sar y(ssros SieuS Ie] of te Rpt x wore oobeolt onuler alickha prove yo itexpaby4 pisMBNtasert Datum: 2001-02-22. ST4O2 Omoye antoimaiskereguliclé. File: ST402103 Z + a ad. 2: Ocredite potetna vaijednost odziva sustava ako | S12: Pigs ecient soso ine + | Be? 4-45 412 Popes OTe +4) ai, 3 Ta sustay povezanih spremnika tekutine prema 3 maple sustav jednadi koje danjem podiracu (G-podnuge) opisyju razine w spremnicims, Hs), fig(s)u fumkcifi wlamog provcka Q,¢s). Pretpastaiti ents potene uvjte 14(0),#g(0). Proto 4croz suzenja cjevovods je proparcionalan razlich hdrostaiskh lakove na sunju, a cbenata je propercionalm oipora srujanfa (R, Ra). Tak na ialam jednak je amnosferskomn taku. 6), Xx) peikazanog.ma SI. 4, ioe & | 4 avy Ped cans sie) a0) Zad. 5; Zareguladijc sustav jainitnom powramom vvezom, cpisan prijenosnom funkeljom zatvorene petje a) Ket) regalacje 22).-— EE#9 gard FG) FacK-psak posiruije wrijednosti parametra K za koje je sustav sabilan, Vives) t : List rod?146.2005, @. Sud. xe moey / 70 0, jcisasaceet anetter we ok Bty(s) + x(3\= oat sy : 1 : (sb) < = 2 b= Ge wale Reg Brey Set Bead ; i, ¢ Renny Yisle Gu. Se + Gt 4 Ge sy (owt sy ar oat 4. ot eel. -F oO Bier = EP ay oe lqu|= fom ep or dpe t t Georchy % aw Gat 9) Gra (Gt wt | pref eet i Beate? Cw, fag 7 : eagle ft 6 oe oe L Drege 7 * e{) ley)? i * Ila GPSS ee ( pee iota O Onl cage * ary Wye te!™ 4 tf ase mentee a (eg aq RF = F&F /* (35 ot we € 7 x(+) =, [ee é i et Ate Pea eis ite i ne ipedtnd geal), tt(e of} ay x(t) « [£ eoslt-se) - Lt cost] st) i -[Asme - dt cost] oY - ote 44 Re ee ee ED,@. Yoja Bstrbsst2 We? Mh to, 2088, (s%4) 2 lim 3 -Y) 2 ms BSE ff? my _sshrbeere We Woes Ws sasha) 7 seer “a0 a*e4) 7 aly AesrnS) 2 fn Senge oe seer 2s(s04) see afer g) “iy MtB) 2 SB | score yg 2 er alles 2) alan #,) 2(179) ALxe)” Year> Be EF Ge OG - 2 GR = Gi GAG o* Or - GEG, > GA GF,% A(1-UG. GG) = GG- a GE Ge Gl X-%2 GG, A- 6G, GG, oe FG, + 4G,- GG, %* 4G,- 6G.GL | bs XaG,- GaGa Gy Xa GG, GG, bo 6U1- GGGGle 2G,-GG.G,4 OO b~ G44 G66 4-GiA.GyG, Ys) = _Gulxy = Xe Gi) 4 Glva-4 GG. 4- GROG, Yb)=_ 4Gi- Gr G.Gy Ha Gu + ¥y 4- GGA G, Ga %1 GiGnGy +4. G., “XCF, Gag A-QGGG, KGa hCG)» ka Gel 4 = Gy Ae Gy GG O,Gy, oe neniSaif soopesa 402 Osnaveauiomatshe re Fle Zak: Ocreait original funkoje 10 MO" Te ad) Zad.2: Kerabteristiona jednadzba P2-tlanaw | SL2: s-podrudiu glasi: s* +0,6s +9 =0. Za pobudu {lona jadinignim skokom oxreiti parametre ‘ormiranag odziva a} nepriguéenu viasttu frekvenciiu by) stupan| prigutenis €)prigusenu viastiu frekvencju | 1) vremensku konsiantu prigusenja } posioinu veltiny najveceg prebataja )_tenutak pojave ngjveceg prebataja Zad. di Za susan s prijanosaom funkcijom | | ee tee | G+i)-+) i snallzom poloisja polova prenssne funkaje Jatvocene pete odeects vajednost paremetra K | za koje je {2} sustav nubno stabilan |b) sustov kro priguden ‘¢) sustay oscilatoran s prebatajem MM <10% cewvorene pete G(s)H(s) [Zag a susta = prjenosnom fankcon | everene potie Gis) H(S) = slp easvis) | ereci maksimain vijadnost Ttakoa suse | use jos taman rubno statlan ad. Sustay s jediniénom povratnom vezom ima eke on) | | pilencsne funkeju stare" G(s) = | deed parametarK tako da ustallena pogreska | regulacile za pobudu (1) = (-S() bude 0,1 | Koliko je za takvu vrfjednost K fazno osigurdinje sabilnost sustava ? | | ease uKasoen sen De san: 4 y 44Bat A F@)- —2 — (s+"(s% 282) ar1310 Sine -f Fly @ Gt, & sot (Sr 4)% Cn Leaf } Srt-g Segr7 Feel = ©-10(2s+2) , 2-20 -@ Se-4 (S*22072)4 oO oo fo il 7 « ~7o 4-242 Ge (sx) 40 10 is te (orerty ory) Pet png Te eet sor -% | les| = forse © fade 2 90° - O.sel =; : Cys 62 i Oo ato, 4 ~Se" +s Fis\ +40 ae Se ay © one poo Aye gay (ages c. vw 2 te “] st) Ful. vat. e+ sfe = 7 wesor4] Ly fsoat) , wub-eage [e . e" (st) Fat = [eot gh lo’ & cos (s0+4)] stt) = woe (t - sut) s(t) aoe 43,@ Karathrreheng poche PL cbrg Ay 6s A+B sh one Und= o/ ~ sh i Ste aeee Rosey . £4 8e.41-9 9) veprqusena viastts febsnep Aete wir= Ss bat Wv=3 reds Pot allonia veshte Felvages > Wp = [wi-d* Gre Fwy = Ot. 3< 03 Ube = | wager G™ =288s" 9) Betefine vehang veyeceg oe ys at, n- . ie 4-Ot Toe oO Nod. b) Stupay prqusey9 28 28 a S_ Wwas ~ 298 ay” 3 28 «ea Seo J eens konetouts prpuiyg t fen ates = 2Bs a 2 OB" 92 4 Fl Fewtek pane vapeder prbacays Fe Wola ge Tp 408s te 3 fr-ar 46Mls) a6) |” = Gis! (3) 2 : AG Get) (sr6) Gls)-H/s) 2 —€ (stt\(s+8) Ws Gs) - os - GO (aiYsrs) | Stllsrg) Gls AnGH * Hee (se(5)rK Ser 884k Ws) = Govls+s) Gb) sréstSark © a) sustw whe sfabiln | @} susty csuihian s probecyk SYSs1S1kK=D : Maton e zy fae She “Y(srk) -6T f6-20-K ite Bea eee eee eee ee SE lus ne : Sti _(ad* Cd Fr a er Ril mel = ‘ tree Prose Be 16-ke I g20g L O ~kKt® g.%. £ : i wy fuss o* b) tavhene pnguies ; O6 = (fies a. 7$E leew. z feu 2 » Hele PEP Ee ~GK ents be G Glhe S2uy.S Gsa 2-suwS Stk alae oe k= Unt-S ee an kez G0S-5 it lay = b-268s wa SORPete Rok 24 paar coimecne 5D Velecliste v Kartoreu PISMENTISPIT Studi stojarsiva 'ST402 Osnove aulomatske reguiscje , File: ST4C2105, Zaid: Prinjonom Leplaco-ove Wansfornacie E ‘eblcterencjatjednedzbu: ae 20, WN) =-8-c05(3-) w0=2, YO. at 48 ©2.204G ad. B; da wconizam pcan na 82 ood oer tes Ft ret pamete iv: {1-2 pood prigutonog ara, te Belarnmnerenaaeise P(t)= P, -S(t). Zadane: K = 100/Nimm, amas Olas ne ara Bem 2. at ronan ta 20. siotenog | ‘aloes povratoo vezom, pekazsoog na SL 3. ad A Oar vod aalava prhazanog va LL ‘Zad.5: Susie 3 jedniénom powrsinom vezoni |g). i funkejom fovea: Wis), Nyquist ovog kiterja anatzat stabinot sustava, Dstt odd'@ a +YH}a-Seos ltl) yel-2 SHO y O40? Jee. RCt2cas, aye o¥i = -Beos BUH) fy : Syls)- syle) le) +Yls)« -8 = S*Y5)-S-2-Ci]t Vole -8 a5 YO (1) = -B eee + 254 Yolo -@ Sy st (4 3st1) S44 shed a Rev) st age sade oe Rag Baap Rng Rand YGle patie een ethno 5-34 St s-$ std ar: ~&s yg a a See, ie ST “) (@letey) eZ : Onan £ : Gu =8s » ho. he HBMSqsy) { ep ASS) y)) a q oO GaGa 4 _4 4 4 44 Sec Vo)=(4 we 72 aye Bee ae VAG ar hl yan fees 2b (Lele Le) Zane - sue] a) = (03 3t - cost+ 2oext— sit) 5) VA) = (cos3t.7 Cost— suit) s(t)7.2001. AGIOS, Be xG,- AGH Ae xGr- AGH Ar+AGih= XG, A(1+Gult] = XGy Ve AtB Y= XCar AGH + xG,-AG,H ye xGs- Xr Gu t xG2- xQy GH ar Galt 44Guh = <(a42G) - 2Gt Hat Ge] AGH = XG) (trGutl) - XG (@rG.) Gut * 1(611Ga) x X(GeGSTsG - GEG TG.) 4+ GH yor. <(arG.) AtG,H y&) | _GarGs x(3) A+ Gag Hd 10 -2-O Welle G-H= seer). B (s2)(s+3 ~ ks pfs+2)(s+3) . ststt) L(s2je9 Ls multi wot sestva | a 01.03.2004, 1301. 2005, 24Al er TE Rytnaasna funkop zaloreng sete A3.01.20GS_ 4.97, 2004, Wis) 2 A E Srsha4 Ws. —G5)_ s Glsle ‘ ewe s Glsle is}+ Wi Ges 4 Gol- WGL Say tl t (Wi) steseacy * SBS” Si(sea) S84 544 Giw\ = —_4 4 : —*A__ le jw Jeli) wljure4) (eu) ceo) ene oO Rehuj-—4+_ =o | Way rome ee 4 wheay 7 Oa ntug Asimptote Wee E ines Deatieny = ben Re Feadul] ~ jis tn [Sul] E was tne wee Ie ref [a(w)} tet iat 4 wes Wit) oe bes [lw] - I, —t Sk - eels wae WU 7 wee i “ee Glue tm 1.41.0 B (ed) = weer wt(yew) oe lm bw [Gfuff. bus t+ 2-0 we terse UACtteUt) OPKutevt ws i - +» fo woe (ui (jwet] wt wa - l ead ate bead we wh jas % wees [We (wrt) wl o[t[ejece y -— i -e[-tft]o se ” L ‘ust & shiloh, oO Ld200A~ ttt Datum: 2005-01-13 Sluai stojarstva ‘$1402 Osnove automalske reguiacje File: ST4024 =a racic Eo les 87402108 Veleusitse u Karioveu PISMENI SPIT Zad._1; Ocredi odziv sustava koji je opisan SL ‘iferenclainom jednadzbom: 220 ser; x 20.-0 Ee Rug @N Zad.2; Odredi potetnu vijednost odziva sustava koje pobuden jdm skokom, a sustav Je ‘pian pjenosnom funkesem: Zad.8: Na Si 3 je pakazan iemjerenl odaiv Servo-motora na pobudu Jedinizn ‘kokom. lzmjereni odziv jo obfka priguene ‘sinusalie s prebatajom M = 16.7% kof nostupa u ltenutku Tp 1,05. Modell servo-motor P2 San, te odredit karakterstcnu jednad2bu ana ‘donjem podcutu. Zad, 4: Za sustav s prjencanom funkcjom avorene | Sar Qe" : pete SOHO ay otro ‘maksimalnu vjleqnost ¥ take da sustav bude jos taman rubno stabllan, pan opie fut: WG) Nyquistovog kitetia anslisat stabilnost eta, unkeliorn zatverehe petjo imjerion “Zid. &: Susie Bjadhiénom povratnomvezom —] SLE > rarageimmmat? | Boke OA SESS eet ea 2 cer@ Noazco, FYW) ent yle}= YE) 2 oe ot J. sink Jt /x 2 4 Sys) =r ee 7 eZ ys! Fis) Sas Steg Sat ; Retg set aay ysl ~Gt_, Sn, Ss S 3 * S se] J ’ he eas Jef —t Hey tel. ons 4) I ds Sq Gea aay Feo LG $GaAy? Cine & |- ae ey Cy = (. ERE HE Syentigeee. a e aay ” sia | ay Gg Bt Rew lel -lear-[eP = 4 Rect, be Eo aoe Pe t (tae aa od seed + “€24) yo oe 4p [Baur - [ower + £ Passi St bag = = 80 7 ce Gn Fe 15Ye dr $e tee oe wo en “) 5." ) yy) et ye) 2(t 4 L(e" + ol) af) [gO welts eee YU {b+ £2- cos(2ox8)) sty Yil- (44 coe (so+4)) ott) VWe(b- swt) stOD pls) Wtrtsrth =s(s+3) | Yee ae bseta i 'S(sty) i yes bs SY) Ey ylo=2 ates ge Betebente aad 3s(s+4) o et a che f(as+y+ @) ON dah 8g oe 3x(4+ 5) atte aw 2 3Q . Nat82 01167 Toa 108 / 4iracer. He) = 2 : ei as - aS &, 7 Hee Te |s Hs) « = dase wat tent Me = GS fp fos / WMC) <7 S/* W(t $4) = 725" B= (1 EH) = WM oO #4 » ass = OS a) £9495 Pein + hqiez To» 0 ow. ~B . Hizey Ow [ange lng tO logs Hs) —1 | Sy 344s 183, £“4 es ebeerers repulagisko odstupanje sat ne piso ale\sbrg % + ‘tem cetntpate: = 1 ie rea smi, ee nt skatnanrkinsjom, 2ai.s: dea tenisnctintegy AD eg ay it Tey? Sete suspen 9.8. Pelupa Image | r i : | See , Geir] oe see mcrae Tae Deed iene ly aaa bE ee X65, 60), ee nee | he ae " razon Zaku da je sustay- Petters”Syl}, 3S yi) i och 2202, ® 2: ytd) 3d vil) « ay) 4 2 Oylo) « y(a-4 ot 2 Vas ad y+ 2yW= GEV + 2 dyed) let /oh £y[s) - Syd) - Yio) + 2(syid- Yo) » 2903) -£ SYs|-s-1 > 3 syls)-3 + Lylsleox Yis)(s%1 3s 2) © t +Seh f yls)2 S*5t# 2 _testess oO Sr3a4 2 S(s*3s+9) é od S29 Sy30d SF BSt20S sa. 2 iss, 22 z 2 Bert S32 Ys) - _4+S*+4s stsri}ist2) Yole Gy a, & : O Sty St2 ae x tee fe L Ssuif(s+2) 7 seo 2 (34) Sraset |, teert a fee 2 “cette | , -t (-442) 4-2 1 S+(5F Sthsed 4-B+74 ee -3 Ets sles) | C2)(-2+4) 2 2 Ram LoO ey CoCy [Xi «% 1022262, Gls) 28 Hls) #02 4+ 0033 s popacle > gdincins oolebacing Grkoyas xls)24 EL Bl yes) Lae ETe) « x(3}— ys) His} o yly= Els) als) E26) - HS HG) 2s) + EG) (G6) HS) = C8) Els)(1+ Gls) H(s))< X63) ts} as 4 uv Els) - 08 ee ic . Z E : 4+G(s-HG) 47 gs 98 + 28 120,0357225 uid 1708335 A*O0335 = _4+60335 S(GOBS + | oO (OBS +935) he) Ine S El) = Im f 1200S. 41 -40B-0 S20 sso (eps +235) 3033-04255 . he ows 2S oo) TK} * 4,25 %@ ansen. xy Xa. ae Gm YG Gg KG, a-O-~fas] apy” x ‘, “YGi-xe, Y= XQ G,G,- YG GG yt%G,G,- Gs oO Yt YQG,. G+ Gs = X1GGG,+ %a& ¥ (4% GG.Ggt Ga) 2 XG GG + GG, yo Gsx- GG: "AG.Gyr G i\Veleuéitate u Kariovou PISMENI [SPIT Studi strojarstva ‘87402 Osnove automatske regulaciie Datum: 2002-04-18 Fie: $1402108.00C. Zad_1:; Metodom Laplace-ove transformacijeriesiti | SL 4: @Pxtt) , 5 det) irene ftnatoa P43. 20 42. xym0 24 poteme uvjete 2(0)= 0,80) =—2 Scien L Siredith (2). Zad, 2; Odziv sustava na pobudu jedinidnim skokom | SL 2: ‘opisan je diferencljainom jednadzbom: 2 16-20 4.90. 50), roset wt: 30-2020, Ore oda sustava ). Zaft ‘o stabilnosti sustava { objasnidl zakljutak. ‘Zid. i Za sustav povecanih spremnika tkudine rema ‘SL. 3 napitesustay joinadi koje u denjem podragju ( pode) opiujrezne u spremnicima, i (@),Hfa(¢)u funk ulamog protaka Os). Pretpostaviti opte potetne wee /(0),hy(0). Prtok senor sutenja evovods je proporcionaisa racist ‘ldrostatsth tlakova na suze, a obeauto je ‘proporcionalan otporu sajna (RR). Tak nails Jeduakje atmosferskom tak. Zed, 4 Za sustays pjenosnom fankeijom oworene | SL 4: De is) = oreditt ale GH) = ES aaa smaloimaln vjdnest Tak da sista bude jo taman rulno sablan ‘Zad, 5; Susiav jedinitnom povratnom vezom opisaa je | SI 6; ‘Prijenosnom fankeljom zatvorene petije regulacije; 1 (8) =~ Primjenom Nyquis-ovog siest4l Aiterijaanaliitaistabilnostsustava. Tet Toa2@ a +3 ae + Dt) 4 18.2002, alas x{qe-2 Fe os del, oye oe . de ) ia PAS)+ 2+ Bale [s), 2x9 + a Suls}tBexl)~ouje Ae 2 (5) (s%. Bsra) = te A(sj= f22s* 2.0 aye oeifS-e _ oes (sssasra)s pil 7 sae Ba-4 Berd We fe» & 2 ao 1g su Saar Gy od es ho adel. Hsrsrsora) -Castalases) SS Asraer2) | yon Gessu2F = G4 0)6*, 3040) ~(-2-0r4/(2-043) 3] (CR 3-042) + Cnet p21 cadet gL Prast)| otser2 % so S, oO 3 else) o2F 1 ne oer Sener)! atta 4 G o(syfj Ao28 [- AB -2-F steed) | ear) 2 t “ x3) = “Boge £ = i st sak x # eS a(-aeht-ee #e x4) (2+£e e+ Ze 35CbieBwage 04+ X02 her 8. x(9 seo Xoo) 2 linn 8 Ants 20H 2 Loe Pagsr2) YORRG2) © so Skies x(+} ae +fe ae SHA rw wa Bole 36.«gl 4 OY. sty y=? A420, BAO. 1 LW) 4 dyty im dt y JK 16S y(8) + 4s V0) = g YAS 45) 2 ss Ys iA eats H*iss+4) fee, Reo Bag Wr a eg = Sy 4 Gee Ast _ 7 Rey (EL laste) Se Ss 63464 (exe = Ly (yactenesea Wengen oy Ssbu gle stibllen yor yma pobve & vall'fe ha chesney Bx) rani polo Veg.Kal), hile PO. Gal~ Malte bolt) ; z bare 3 ayln- aft)= Ae “dal Ue Be Ae ae Lu 34) 3 “gly ~ hil-hl 2 a, lat 34 nie A, i @) Wild bolt) nH) lat aa SY alt) = Qis\- Hels) + Hs) a 2 SALE, GI - SAy-halo) XG) = bys) &) wel A Hit 2s AAG. As hilo) Ra Be pela as. de Hy) 2-5 Ar ule Gls) + (£)- ha) (Br BM) = 5-Ay bel Guls) mS) Wis) | He = SALI) 2 =5-Aa- hale) lo | * & ye) ($)- Hag (% ¢ i sta] 2-3 Aa bal) a3Veleutiligte u Kattoveu: PISMENIISPIT Den Loader 44 : ‘Studi strojerstva ‘Téd-oorore autometske regiace Fie StH70 16g) Zadk Oar inpilen eae hi wisave as ‘pisaneg prijenosnem furtcom: ket 4 a? Fo: <2. patjetm sation On grt Paaece ONO sustay 7 Na bsnovu Bega zahjuujeeo sation ’ ‘usta ? ; -+r| Za. 2; Odredite poteinu vijednosl odziva susiava | S12 ako je Laplace-ov transformat odziva jednak: td Tey Dele +4) 2 i Za. Size susie» pilenosnom funkaljom overene | SLE : 5 k : etfe G(s)Mis)= treba petje GLH s)= Ca tbe anazon : pootela polova prienosne funkele zatvorene pete ‘ i ‘dred vijednosti parametra K za koe fe i 2) sustevirubno stabllan | i ') sustay keno priguéen | ©) sustev oscilatoran s prebatajem MY <10% Fok ty ‘ i Zag. 4; Ocreait red sustava prikazanag na Si 4 Zad_E, Scrat Nyquistov prikax pjenoone funkole obvorene pete requaclskog sustava s Jexinitnon povrtnam vazom Ea je prienocna funkelja 2atvorene petije regulaciie odredena: 3 erazom S244 7a je su Fant carey Zanlust date syst stablion© pee 3e5_, so S Bar lS sShystB 198 2002, a’ 4 é hy 2383 3 .e* 2 etkitos 82 ory SL gsrt5 ” Feest2S eeallsces fant Hele Ge S-4-y Su hry Z Os (4G) 3 fe og Se ately toe eae | ape eri Bs a-se ae % pen Hy) & ae Gn het te be SL) ote sey 72 ey oO -& ete birt 4 oe ot sGi~t) “eco fe” e*) sG-4) 4. a 2G caslst- 90) Slt) ty = CM snj3(t i) slr) Hohe S-2_ 4 Roy ~ elton Faavay Raza © S®4s18 2 v Ho. 4. _S& S23 ay G-(@§) _s2 %*2 2 L GaGed oO Ga ys-21y) aaa Zz GrGrg Pasty WG £4, 4 e a 2 “s-24a; Js ateat at-ojt bil, (cosa @Q) se) Wl) Why ably = (ef si 3(4-4))-sC2—4) + Ce“oos 2tt SCH) Sates fe resteabery PP & su poy nah UL estou, belo paraunn.,@ Yl = 3str4 gtl2 ylo<% 25( sly) WOE fiw Fy I ow 7 ais Haseh+ . Brryre) 2°? 29 smi) “Aleenay sew gG8+ 4) sree) | 3 em Dl do te 2(4+9 zZ i 1) 24 TCE, 2222, (ate) | SHH). 6+) Wise Gls). HG) 2 as(st) a Dieta (se) (53 fayey S st2) (53) Wily set) . S(s2}(s+3) Pe 4L =oI esti: ©. -PISMENIISETT Datum: 2002-07-01 ‘Stud strojarstva, ST402 Osnove automatskereguladle, File: $T402110.D0¢ ‘Zaid. 1; Odpfilodely sustava kt je opisan Sit dierent oda: Zad.4; Odrediti pogresica ustaljenog iustaljenu ee atcvata aca pknen ta 4 a ul ‘jelaje pobuda ‘it =e ).8¢). Daltste pogresiu ) [eeft 9) tel GA me oes! ANY. ml? ik ae 4 / sys) - 2 ye) - yle} = ‘ Stn yis)- —~L_ s{ +t)OQ Ms 47% 29167 Ts 4085 His} ees ty Hee Ff A= ha eT IWM= 2 Ze Wee a ars /" pepe BT hoe) = oH Oo ge et, Oe? 2 GUS @ §<9,93S Te tity T bPater tee, awe Eo. a -$ BIGS (e ESee 344 HG} « 4 Sh H4s4 48S oO ator 1ece,xls) 4-4 C5) sisvt ] ' athe") peg jee io [= ee eld rove s(s73) NOW. Gy | ger sy eta, oS * ies (S49 OS+3) Ss Soert 3) CoH JES) Ler lssg O VWdax6~ Wy) - - 2S(sr3) sa so S(S3) srtles3) He. SE SHY S43) +79) ele hin DS-y6y a fim 3s [# so ~~. @ Barsky nodes oobiedliA Uictey Siekhe Gre gr ge O latogretos + te eheg toga eee morg restty > | BG) - 2) ew ey i AGH Slei(91O ~ slop fSB+O xerill =) og : : aéset) 7], 730-4) | “f° Cre)e BS ED = tee Ds BEE “Sayeme 1 46 wieNOR Pox B only. 1 Veleuciliste u Kariovéu PIsMeNtisPrt Daim: 2009-04-20 ‘Studij ST180; MT180 Osnove automatske reguiacije File: ST402111 Zag. Hee Sa credit original furkoije ‘ S342: s)= S(8 +1)-(8? 41) (9242842) a a2 | Ocredtprienosnu funkcj sustaveopisanog. (x4) _s® seo, tae 6 Ase Nfsreq(stvevae) | Cul) ma) 7 se -4- QZ = ss 2sve) | Wher(ag : Sy eee ieee CO 44) (-2j “4ryj) = £-Grg we , 3644 SyeQatCs= (sy) - Se 3bsr2 : meee ". s(at-g) 42. Sfsa)(s*14)(se4-|)(syt%4] gente Chali ceeds j = Aetpedrd+3fr 2 Sri | S+57 2 SS. 2G | Gpapeil-2) EM 4-ay) qaheriae GD DG ap HI = 120740 5 Lj A bod ly, <4 ms erate {Cs aie WM MER BT -83 463" . Cee YB" ut GeAndis wees fe 7 oO Y[s) > + Gee oo, eg Peete 3 are Sy 8tq way StHt-j ia a4 at, yo gt [A-3e costs 42-2 (ee, ef etl] ott] oO = [41-36% costly a2h fae (34) sl 99© Prgrcsna oe. 3 AY. oyu x) + lxtt) ce se ae Yo syrtys xX /Lg SYl3) + Ssyls) + 2 yl) « xs) pas) Yes)» (9%435+2) = x(s)(445) Wb) yi), At x(3) Sm 3542 °O20.04.2004 | stale % @ fae | Cho) -(pepeela | a ae stoop. = cee (1 j Ke bred x at” feu} O Ab) = x5) - visit nnn othe oe 2 3.2. (9) Gls)-He) ' 72+. € sos 3 Els) = x(s} - EE) + E19 GHG = XC) EO) 44 ils) = X66) Els) = oe A+ Gls) KS} (Srallsicss}_ SL stone] 1o Stsrh)4 FXs4u) Fs) Slo] 2 nw Fs. Bb] = in KRU ve) ge 4o “wo 2E*@ tye] soo Cloo) = 24Veteueiste u Kaoven PisweNisert Datu: 2908-120 FSTte0 MT Conover autores alse ie: rena Zod, t at ‘Odetitiimpplsnd edly, A) sustava opisanog _ptjesosnont funkejjom: ‘ 7 } gt. Cs | Po tag Pleo ton antes isa Tn css alate ot “hy “hE. 7 Say Zeta: Odrediti es WY @) sastavas jednotn acm enn Gui‘) een ate Wet apne tc pacer oe Ea cmt a polove. Da tije sustavetabilan ? a ‘Ne, 3 Jeprikazan tamjetent oii Kidenalitkog serve ‘motors ta pobudu: zmjereai adi prigufenesinaboid sprebazalom M= 16796 ka imap ac = ee neat onjem podritjy. eee See omic reper eeliectere pei Sustaya'sjetinénom povramom ‘ezom ge preci funk avert pete ulate otedens tort EB 92s! +2504” ‘Zaki Uf Sosev stab, PAT Sustay s jediniénom povatiom vezam ima prijenosm ‘fonkeiju “stare” G(s) = in - Ddrediti parameter K tako da peoetin Tegulacile ta pobudu. 7G) =F S(O) bude0,1, Kailkeje'za takvn weijedaist K ‘kno osiguranjé stbilvosttsustana 7 EEE Ustt edd-s O2A2ATCA, e ole 32, Sh . SBsttS P-hsrd é \ Ne By AesHee Hee S-Be2S Loi, +e z [co 2 4ty fo hd) ~3 Hae 4, ce uy * Flo5 Cre (p4-R) £ ) 3 | 2 ft A creg ap (sel G(s ry) | Gaegray) 2 wy] a-he'” 2 "4 ste “L oe ) (7) fa" “(Let ge” et) eS sete 7 she # ty coslst -25) fod whee (oY. son att) ste) Ke) Sn, Rion 2 42 fee Aer © 46, (46%, Rx2-4 Aye Hg O he Ss oe Ges (s-2%y) Bie hed pou) |” Pe yk maar a), ¢ 24% - e* cos 2G} sty i's ipa udd. aCe? on, 36-9) + (e%ces2 i) st] Sustav & WStabibn R? S sur pole,’ vakze 4 ok Shey polaravinny@ 22. 2008 : Bald Rateg Rea3 Oxe-2 44 On -2-4 Sw pebvi su Snyesienne eve ool nenerg inca OS) PAR ebay ga sustay shliyby. MS Lolis-Ge) . (si2allsiay) ° (SRY(S-AYSR) (styler) Ls) » SDs fee el g aiey | Shes eS [S6S-3f4 Su yg ogei](s3) (te asra(sea) Wo}a x. SPrist5 (H2suQ(595) RHX Seese5 x & sco (eS g 0s) 7 zi AB Ore: We) 48. Sets +S (3442s 92)s+3)@ Hat6,3 = EF Ta = 4,08 2.2008, He eee /In Inte - eS wae /N bH Ry = -78/* Wit (1- 5%) = 7S aodaea IM WM Ve 7 PL (Fale) bit Ostet. tga . one -2 F-94985 UT boise ty ~7%- = : & wl Ai Gre bie ieclaee : Hos)» 1 : | SF 3445 7148S@ Oo HatG,d te = QF Tex 18s wi > To -;4—- /—4t— = qss2 Hc Te oS Finn” [Gee ares” © 7 5 Ten ay He ae OuTas Blea yes Jcqaee™ 100428 ae ot * =e 84545)" S(s18 —2E sh, sa er took 3%, SOst (cok usc KERe y [omarion ~0 2 2SCC 40K =O -409& 2-2500 ba 628 a vequlaeyehe cdlstypave usta 2a fers | bags lecg aig EG)- PE) C3] Hols) = Ris} —ERSIG py /s) 4+ KHL Gls) - Hels}CXS) = RO(1- __ elas) Hels) \ ArEHAIC IS) » US)GKS) S(srao) + (7K 33s S$ (4-_ afar | 3(s+20) EG) 2 £(4 - Beas) > £( S20se rook Sh 208% 160k + 3Qy s S24 56. = St Sas S{ 5% SSs+ 100k) oO SCle-)= him SECs) 2 GY __ SSos S=2c S20 Bs* SOsrtock) Za K-25 Slaspe od Be kiG25 efee)- oO03.02.2010, © Wels) = #2 gee = S(A4024)(44G.5) Hele etal eau fone) (rrogpa)(tro4qu) C4 (4-O12ag) (4-Shyw) = healliontul(ton tw), tala: tags -2eie- 8 wl er coruil(trctou) ul rraobu(rr gfe} ar 108 ~ 60. -Bu*) i. wf 140904054 (149/607) = Sow = jisoe-e0w') wo MACH PY 406 15 Ww) Rel Heyu}] = = 600u, — Os oO WLArQOtA sa 16u2) ~ 14 M4 +, 160") (nell = hoe -eou4) WH A+ 0,04 4 144 ofsw*) Astinstoke CocHquil T -[( se (ah 4-020" i 2 + uh« A 7 } Hees antes Caen as ie > 4e Eau eae ase (4-02 wf (ow ropvirwl™ (oem ude 1.cyury Ww)” (6,040 406 u3+u) OC 17 tHe hentai | gomtute (outed (40m us*~ gehadwl* ~ (acugSe 40h Seu)™ ‘ po Gehube Haha ed EH (6, 24eF gouu®sw](g hus behest) ja ~ 20h Aeohiey 4 t W(Acinte Aor UP rao A yorateu) — eulacherFAicha*s 4) wloorw*r Gohats ws) <4 WA othe 4cyur Ay <4 Hae wre (ohu*) a4 Uutst 65E( dt 40ye)e4 t+ 404d seat E- 1-8 ta. wuafiae _ 2 Be 2,08 208 tee APIS. 613.2 2,08 ureé ; Wire tera = S078 amojtse i A- O2w igt- tn Llwrorel . goiet ola 2 2 Col wore] ow eu FOr wy to = 4-22-0608 : 8782 SO 42.038 a36 FO.= AY = so 43.198" Fo = see" Fro.’ Fo- YY “Fo.ts agag- 10.603 = 26247 Yo 43a30" aM 2 = 99383 oe Po- 43,179" Guz Win CE - 24s] Gu « Q32-0,24 = 01872 y00) 4 fi. BS 94972 = 40,603" aw ' Li fu her? | 66@ set +Vihe =8 cost) ylel #2 : 16.02. 220 AU yy « - ces (x4) ge + cos (4) fg SY6|— syle)- y(o}+\isle -B- =r SY6)~ 8-2 -(Hr ye). - S Sg Vis) (S844) 2 -&- A + 28-4 s)- - 8.8 s- + ane (S37) * Ser” 4 Rlvi stqce Stag 9 Ay Rey Rag Bad Ys)= i, G2 + Gi, Ss TS a ere iin eo +(s7Q). = 8s 2 epg at BS Saleem | ule @ieasy iz aed i a-e@9 78s /- 282 — - ee et ° eae | Guglg-d) (4X) 2 Oea--£ : 4 s— - —t V9-($ toh A 2 ael, ae at Lets sey + 2cos€-smt] st) afos 3é- cos tr Qeast- sé] sf} Y(t} 2(cos 36+cost-sint ) sé#)¥) Gols 30 ce sés+2) Gy = _se4 63)" Wels) = Gls) - GS» (ose ~ 80st) M542) (S*4Ss aq) wm Wels) = fim __30Cs+4) gs 3, ian Mike S20 3(s+2)(st+8's+9) a : 3 5 Kye lim S Wh) 2 fa, 3'_ BOCs) 2ae0 3 See s20 Ms12)(S6s43) Kina bw SW) 2 Ing SX _326844) -2-¢@ ce sso (s42)(s%a3+8)45.22.2010, axe yy fe] = Ys) -FLR 6), es] ab + i 7. BA-YADsYC i | Re tAr ors pee 18 Y=RB~2AR+ YARD -Y¥ac © YrYARO+ eC = BRR AB Y(4~ ABD+BC) =~ RB - RAB Y= _ R980) - 23) Ads) BCs), 4 ~ Als) Gis) Ds) 4 Bes} Cs) oO foVeleuéiliste u Karloveu PISMENI SPIT Datum: 2010-07-02 Stud ST, wT Osnive auiomalske regutadje File: ST402115 Za 1 on al Za sustay gibanja terete du2 kranske siaze prema tex B 5.1 napisalijednadzbu gibanja, Trenje zmedu F oN / kranske staze i kolica je viskaeno | proporcionalno bran ganja kolea (Peta) PSH gilt { Keawrer (| sreea Zad. 2; ef SL2 Funkeiju F(s)=30(s+1)/is(s+3)(s*+6s+10)) rastaviti na parcijaine razlomke. i Zed. 3: i Za sustav opisan blok-djagramom nia SI.3 odrediti Gets) prijenosnu funkciju C(s/Rs). cee) Gls) Zed. 4; ska Odreaiti podrueje vrjednosti parametra K za koje je sustay povratnom vezom, opisan pcjenestom funkeijom otvorene pete Wols)=(K( 145°)" stabilan, Skicirati Nyguistov djagram, kes ey Zag. 5: 7 ‘Amplitudna frekvencijska karakteristka P, dlana prikazana je na S15. Odrediti ampitudu i trenutak Prvog prebataja odziva P; Clana na jedinignu ‘odskotnu pobudu S(t Uist Tod 2© Fos ws) 02.27.2010. a (slo3)(s%eso10)) ao f yas Shossia > weg [ete pee = e824 a Ra-34q ee Ba -3-4 Y=Qy + B+ SS Srrg SHB | a | ~ ~22 24 (593)(5%6r40)) oe RO 0 a 96 cel | fe 20(-3e1) (s(s6i's%05 140) peg 3 (Q-ev10) G= (334). solsey) | 308M) =Bt5G) (s(s3's2qy)(s 4)) Beta eeneee aaa t ay = OS | ewe 7280*189)-1a9 222387) bog o-4 so 2-105 A as EF arc fa tee 8 2 [Gs = [-es** 48 oF Yo - Re A : ae 7 = Os on sas e ee ah Cys -1as- 48) 2 : o G00 oft 8) : qise-e) sy 4 106 Pas altel, jet tet, ase - saqG7 *™ vl 8 st3 ‘ ate eeVga ba tee igs OTE fn agg A Eat 23 S34 ee BE eee eee eer cee rere ena cree wat aleo-g) Cay yt a8e-e) Ca, ; fi.(1 + 908 + 106¢e ee 4 168 cc) 3) ey as 48: Ry Gt ay one alis20c* eet oto CM, ec We } sa) vat aye 7 a(l+ 200", 1962" 2 “2 casfat€)) st) = (t+ 208°. a2 € cost ~84)} st)@ ie a, | RG Cae [a a i C= RGI-CHGI-RG, C+CHGt = RGI-RG, C(+GH} = Oc. R 2(Gi-G) Gi-Ga ArGull A.A, Rg #42008 legkp = 29 A ken log,” kalo C207 200. lew B dln a we zg lis +t. s® Wy ay dant ys) « xts}- Als} > st) es xls) L Ss yis) =Po + | é ‘Yelousiiste u Kertoven PISMENLISPIT Datum: 2041-02-18 Studi: STMT Osricvie automatske regulacie File: ST40216° + i Primjenom L-transtormacie feat st jlnu jednadzbu 220 #29 8D sayy asin Uz sve potetne ute jednake mi, a a wae Prema Si.2 tr rolora éumedusotino toaijskim oprugama it at ae priguéenia | + | oo ‘Odreditl koeficijente pogreske reguiaclie Ky, Ky IK, L ad. Sustav &Jediniénom powratnom vezom ima | SLA: L prfenosnu funkol direktne grane E < 1 |= Ter OED ‘ustaljeno: ijsko ‘odstupanje za pobudu r(¢) = 10¢-S(¢)uz Ka 05K ad. &; Sustav s povratnom vezomima prienosna | SL 5. Det unkelu otvorene petile WO=T ‘Odredit en jednost Tux28 rubnu stabilndst. Nacriat! Newel sgen Tat odeGW. 3 SE 2H onty, Buse (ae s?yls]+ BeOo{ heyy day(s) AT VO9(s84 35% 4542) = ead NG dee eee (S701) (S43s4r 472) fog Par (stl S*r2sr2) Yas athe a my at Rat Batepy Pansy y6le 4+ @ ,.@~ , GG , @ oO S44 srtey slay sq say Ge Sf) _4__| = ¢ aoe Boilers) | OrWrnana) * G » (S34) 4 |- 7 : ference Caja tage 71) ~ — 4 t tae, are, ote (1a) y 24 “etag) agp ay rete 28 + lal T= apap gate, Yor 2 Be oe O Che Q224 efere) ¥ R co) Gecary of f = &P CART og ie aya) © alge SSaapoa) tS - Sol. er leP al “Ray ney ey = at 2 ers) arog ci che Pee Ca = QISS-@ (120% 45) Pats Cs 2G(s- ehsoa.) (ree) slic © ya< btw ames PSY aed — ; a stg a-q eter = [0 4 c (sea) & yay afrde% carulelorn g cee of i oat) aud Aly + GSS te yleart 4s@ weeTaams Te (EO MOY agian (AF 4) oy -£e- O24 Paseo Kart) — ass -2 osa(ts-t). sf) ya = [b e obb Be cos(esrt) - Oa ces(45-4)) s(t) ze@ ABO2_ £644, mae 48 ot i JOD 60=>-6 OY aK Be R #4 a 1 $e He MOL Weal 8, Bf) ba W4- 6 Deiy tare. ey ag ty) oS ty ke Lyne Cl -b, W- & L Ge)@ Oo ROR 2011. Gls. Alert) s(sv\] (s+3}] [se 2s+10) pe -lne d2lsoh . Biles sce SleHtVos[S2m00) ~~ Kyw tn € j2lsrd) se we eB Bae # (Sr1\(s93)(S42. 5410) sare eS Kalin # alse © Se MeN [shies ~ Go 77 hye La 7 te 9 obec ) aE ere 2 a. ee 4 4 j-t-Lis ron fequlgeyshe soldtipag ve Ieamy pobudg s Gc) = L > é Doe equlayske coletipere a wechaty pobudy 80| Bk | i a & 13-09-09 Veleudtiste u Karloveu .__ PISMENUSPIT Datum: 2012-06-21 : | Studi ST, MT Osnove automatske regulacle File: ST402117 “wr Zed. 4, Odredil ofiginal funkeje tt Fg astaer One (s+) 7 at to) =[$e Bee ee Beet] HO 2 Zag, 2: Napisalldiferencijaine jednadabe ‘SLE ro ‘mehani¢kog sustava prema slic, te ih transformirati Ldonle podrutje wz sve potetne wvjetejednake By KY Fe matt TT Ke, K. fish Bz Peet 7 7 +, Zad. 3: Odredit zlaznd funkeiju ¥(6) sustava SL x = “ | prikazanog biok-shemom na slici. the y mb rie BS te : tee. Pr, ae Peery atest ay . : Ha Ha ee, Xe. : + | ad. 4: Za susiew na sci odreditl pogreske ‘S14 E ustaljenog stanja polodaja, brzine i ubrzanja, te - nihhove odgoversjuée koeficjente. X_*b Ue k x 5 teow eae 0 ea see IStsH eee eqert t ferg Cine Stablingst sustava prikazanog sikom. * = 4 ce! s Ste esF: Zad.5: Pornoéu Nyquistovog kriterija ispitati SS: r x Uist od@ ony Fumkeye atti Fls)= at ostt (s-2}(s+4]* Ca Cat Con Cuts Fis)= 5 Bae se” Gr (sof ateasel | od ashdsef , Gsit2se) * Guth (seas) (ED) Guts § (eek | as “Get (set? said if Poe aise) A (ara \o2nl= (21424) 2120-1 (sath Gant? ag ee a at az @ O Sab sitet |, siaealalet «Bir ~% Pe Godilsetpel ca ssi2exl ets! geraelleral achaniliall Care L(x shv2se' a gsrbstl . gstits ee as! (s len a S38 (s—2 (se2}* _ (Galls-ofe-(ssrr2o+1) a(s-a-4 ~ (gsatetal(o-aedla kta) (3-2) ; 1-2) 4-3 Boe) 2-3 2-€ - Ga)" a Ljeof-t]-4 2 3-244 2 E Gar woh wast |. sedvol-tlat Bat. 2 aa Gare Cita] ‘ 3 5 2 eee a SaF sa (sed / -[getsatdt aa ate] x) FU [g¢ +£ 2©. ACEI. : tm Zale File ke (at) nN eg lB, wh Yrs g- Ba atl KL A) -allll - Mays) 2 FS) Ke Deals Xals)[- eeerld- Boy's) beSMelie Bas xls). KO (sl- vals)]© —S se wy 23 Gull # VHA, fal bs EL 2 ie i: | Gy 4 xGubiry Gabel Hee — | Ha th Gale me Xie, Xa0 Ye, Bes Y= Gg KOE 1X GH + YB HI Y= iG HM, = Xe Gar AGG, + Gy ON Ys) = XI) GGr BG SOGGM Oo 1- BG byl 21062 1012, y=?2108, 212. + Gis Gis) = 8. A - eaters) UL S(sti(ss4) Keaton Glia hy #72] 2. &, © seo 222 s(set)(s14) ° hye In SO = mw H Hew) = Bao ae sso Afstt) (st) Kx Im 82 Gls)= hu s¥-4S4) 2 OL sto sso Msr)(sti) 4 e(s}s_t . 4 Lo O ce. fet ews. L. 4.0 BR gRok 4% B20 cogs Veleusiiste u Karioveu PISMENI SPIT Datum: 2012-07-04 ‘Studij ST, MT Osnove automaiske regulacje File: ST402118 2241: Odreditidfefendijanu jednedzbu koja” | SLE rise sustaydetanpeneanon fake H(s)=(2s+4) /(s%+s#1) Za. 2; Nacrat! Bodeov dijagram funkele obvorene | S12: feat patie Za reguiacjski sustav pricazan blok-shemom Chosriy* ha slic. Odrectti amplitudno osiguranje. é Zadang: To=1 8, Tar5 s Zad.3: Za mehanikisustav prikazan sikom ‘odredit prienosne funkoje Y,(s) / F(s) i Ys(s) / Fs) E és Zed. 4: credit analtith obikprjenosne funk Zalvorene pete sustava s jedinitnom povramom Yez0m 2a Koj Je Nyquistev diagram pijenosne funkcje otvorene petje prikazan slikom. 23, 8: Za sustav s jedinignom powratnam vezom kojlima nestabitnu direktnu granu opisany Defencsriom funkcijom G(s)=K(1+sT,)/[a(sTy-1)] Odrediti podrudje vrijednosti K 2a koje ée sustay bit Statilan, Necrtati Nyquistov djagram ina djagremu O28 I84 Ioy Vora rezultal za Zadano: T= 10s, Te 58 a : D.e. list ToreoO @ Dif. Yeh = H(s) < as+4 (st s+4) ‘Yls)(sas+1) = 45) (25+4) S*yls) « syls) + y(s) « 2 sx(s)e X(S) fy). drt) dxtt Set. yell 2- A» x8) oFprespoiste sq yealnom os{ : =O Tm |H(w)l-0 = Tifle (Taste) ye Walrom ex preyjeciste SA imagivarnem os/: Re [H(w}[-o -T “ tl —.c 2» ne geonstg Teal eee —-TeO = wistine w=2 / moramo olebyt 4 (shea) a a Deg T-2T Tyo 1) 4 eee Teg (Tut 4) 2H wot [uth Aya (Tu) -Qe-(sTP ued wed Be TG Ad 16 Tr: 4 ; > Tt 4 1 Ptr cieetsttpe : as 1 He > ca fo(ises) FS OE Wels) = Wits) = We ae J 4-vels) Wels) Wels)- Wes} = Wis) 8 Wels) = Wks) (4-+ Wels) wis) = Wels) ae * gayera) Sea)” SCer5) A+ We(s) nema prespeciste sg & " SGre) & bees eee &+ s(st2)® I 497, 2018 ; Chegam fi polak oyagramy Gi lang bay ima pryeresnu fenkeyu- a T-s(Ts44) fis2o sew Aw) « 4 Hust 2 Tw=4 woe clad Tegel Tye +4) Tysnt Tyr (-T2w% 4) w Tw (- Tita) - wtt de ree a Tea (-Twit) ~Gu(T ty 4) Gul T*u+1) O A(w) = =Teed . Te es Mw 4 Tw (Tut) TA Tu) d Tru Tak 4) eee eae teu Te (Ta) TulTat, 4) a R ed ln lim Hjem =TO yt = Te fa 20 Wee T( Tio} TulTrurt) (To) Toto+y) ee ret eee E qo aed oO —Te-2 eo eshte» Ded 7 T Jom (ys) = hve 4 etm 4 dk 2 ly Wo woo We (Tues) usc Ge d wae Fiw = lim tim -§ tal - 0" wee : ~The WG ue > 22 wee, tocke CO Inn Hoe) Ihe 4 Mis to 2 iy 1 Were mae Tey (Tywweg) ware TO wince <7 Tet elim -4t— +» but 180° wae Tust olje - Sas Sr igcdneies ai = Kn 54) s(40s*—4) Sao G(jw) Kans) de Kl-d+ Sy” qe ltofi®4) “4 w-ouwA) Gli) - ea «jl 5-4) 4 w(-40ur~4) wetow4) Rel) - KS fe (ue) = ye) = eta) =D { eee ce Boge Astiuptote, weo Im BLA +O use Sut “sab | = de bo fowl -bs Steen | Were ho, & [Glul] =o faa bom Coalull- tien tun [lsh |. Tm ut Sk: wes WT-10W— w Crou*1) Kulevi yagk 2 dé EO 0. 30° Inn BRuim dF ae@ => $2 -90' was W(-ouF- 4) o wa Skuty-pk _ wee 84) ie oe we? ul-towA) wrtow- 4) ACAD, 5 kau - _ Hu * o(-10u*- 4 ” Coe = Rist) 2g w(4ouF~1) Sure “iE “eer” =s fe-80sucky 4 sbloylanbe ely. / Lok 4 wis buy 2 col, Meleutte ur ‘Karlene PISMEN! ISPIT Datum:2012-00-20 ‘Stu ST, MT ‘Gsnove aulomatske regulactle File: ST40219 Za: Prnjeron Wiestamenfe coat ops] SL eran 28 sk {yW@de, ase fe ¥Q) odalv bloka ‘efiniranog prijenosnam funkeljom pabuith Es pss ste area Teri = ei 44) Jeragunal srednju velednost yf) prekoinervala a > repr]. Ae Zasano: nisin) Zad, 2: Odreditl funkeju Hi meer element ually (S}=XlRl5) f | 22g.8; Odrediti Lapeer Y(SUX(s) ‘sustava prkazanog blok-shemom nia slic. tz polos ia une tvoren pte w ompleksnoj ravni! odeédt ted sustava. ‘Zad, 4: Za sustav prikazan sikom nacrtati Nyquist ‘ov-dijagram prijenosne funkcije otvorene pete, te ‘fa agnovu dijagrama:odrediti podruje-vrijednosti a koje je sustav slabilan. Zad.& Sustay iniénim skokom im: SLB: a ‘odziv y() uz en nua. Odrediti a funkoju sustava, Zadons 300=1~Fo" ade? Let ttedd6 20.0%, Le, Gl) Anse: (are)(115% 8 5 eset) St )s+E/sit) 3 (ester) Gre) seq pee See tere XQ) (3% S-rt] (saz) + Flax)2 k er Gt S**S)-S (s+?) su) 3(#+ 33% 3542) Re sustad > nef Poo: Ws) = Kise S(s* S44} (sa) Bi g tee ne oa 2 esr) z ECse4) (s34S*+ )(s+2) Rao-2 = As ~ 17 fy SO) Rent a04,2042, (oe St Wilde &- Ge K- a Welw) < K- twat . junto 8 que dunt Ke Ute duw4 wed Whljw) = | kK ete Ky 2 ae aA Asimptote: wee liv We (jw) = fan Ke at +k ee ak ot .gK2e «= wee wee ont om =a Kk wares = lima St (K*#5-6 be & je 2 hiss Wotan) oe Bue = ob) Med ok B+ Jk 2 KE RE At # 7 wag we et knvule wee wet hi ah 2 Im - vi Weljuu) ce le rT oe Es ie kK Aue) =F (480 SJ-K weer Ince We (ye) = Ie wet 2 he ee alm Et clek are qe unwe NY wer 1 “user Qlrsce) = O° K — 95Respciete 34 ralnom es] Lu | Wolpe}| <9 kb aw 6 Det 2kw=- 0 ted enema pregpersia 3 yealuam oS! Pegerste Sq MEEAHOm AS! RB {WeQull=o z, Kee -o keu*- KG kwre Ke wr 7 we [a Weha)) 2k Bw - fe BL - wl el) wt t 444 FE ieqetta suster ¢ sfolilan az KSA OoOs(sei)(sa}(st4) = (650 e,6a+8)= 41 sree +8) + @s(s1)(s+2 Kr) 6M ace rhs 1 OS ence Oe BUS — 112 37 VE HES 388 Oo 6s(st4)(s+2)(s+4) Vs} ~ #(s+8) S(t) (S42) (s+5! Roudg edendnin, skeke, a x(sl= ft PS UES eS ST fee se ee Hi xis) Als (sraj(s +2 FrS+4) Oo a 37Rol. 10 ' Po 2044 ASAD / — Veleueiliste u Karloveu PISMENI SPIT Datum: 2013-01-24 Stuglj ST, MT Osnove automatske regulacie File: ST402120,docx Zad. 1: Odrediti imputsni odziv sustava koji je ‘opisan prijenosnom funkcjom Hs) ‘SLA wear Zed_2: Kut zakreta osovine istosmjernog SL2: elektromotora y(t) opisan je jednadsbom 152-4 8% = Ki(t).terabunali breinu ‘motora (okr./min) v 20-1oj sekundi nakon prikjucenja motora na konstantnu struju i(t) = J, te konaénu brzinu nakon zavréetka zaleta motora, Zadano: J= 10 kgm’, B= 0,5 Nms, K=5 Nava, b= 104, Zad.3: Reguiacjsti sustav je opisan prijenosnom | SL: : funkcijom otvorene peti H(s) = K. Nacctati Nyauist-ov dijagram H(s) | odredit granice Wilednosti K za koje je sustav stabilan, Zad_4: Odredit parametre PID regulatora (proporcinaino pojaéanje, vremenske konstante integralnog i derivaciiskog djelovania) koji ée ‘egulaciski sustav s jediniénom povratnom vezom, piikazan Bode-ovim dijagramom prijenosne funkcle ‘otvorene pete (bez PID regulatora) prema slic, giniti apsolutno stabiinim bez obzira na iznos pojatanja K, te iz prtenosne funkcije ukloniti polove 1a a, i ws . Skicirati Nyquist-ov diagram sai bez PID reguiatora Zadano: a= 10 $", w2= 31,68", os 10087 Zad, 8: Ze regulacjski sustav opisan Bode-ovim prikazom prijenosne funkcie otvorene pelle prema stil izragunai fazno osiguranje, Skicirati Nyquist-ov diagram pijenosne funkcile otvorene petfe ina dijagramu grafck provjertiizracunatu vrjednost faznog osiguranja Zadano: K= 20 dB, w= 10s", a= 31,68" Ust Todrecht. A HIS) “OL (s+a}* Ra srt-O (seeheo Rect Bas Rae 2 H(s)2 Go 4 Ge an svt S42 (s+2)* Gels) > ]._ 4. 5 ) eter | en os C142) 7 7 eee 2 Sst) - fot)’ 5 5 a oe (sed) (sof | eae Send as (sof —S___ ca |* as 4 Hs) - 5 + (-5) an /« bi) = (se se“ st é") a(t)gicheot : M124 BEterd Wen Je 46 kg Re 08 Nns k= Bim /A T<40A dé gedredela kute brzive vrlae jgud + Bul) = kit) KY Jsxls)+ Buls) ~ KIs) © xs) (ase B) = KI) ls) ge Es) ds+B id= Ze odzy by2line -Ba wl) = Zn (re ) O being mobra « 90. setunct 8 ease seh 75°°) . 63,21 rad/s /- 3 Ma) S40 (4. 68%) « 26 alls | 3 = 603.6 okt/un > tovedva bema “28 we Wise) « S10 (1-€ * ) «1 rad/s se et ow Ss 954,93 ofr fay = 460ht SC. 2ed3. Hise K- A= SU Hijo) ke. ewe Aogwe east Apel nage ipa WEF = Ker wt wt] kt yk SE An wre ary © fw). aur Ime FHS]. _Oyw't Arare* CO J Asmplote ze dwg lite Ee (jul) = fom Re LM eal] + | hig Len LH ue)] lis SLiGl] = ne KSEE Lg wee pruht aS fn FH) = (hie uth ig woe rea” QO Ywoe i dry HEQw§) = te R LAG] = tn ts [HCl] lsc tune ae ie wth ve) 2 KE Kew Ck | KE Hk a arses lap er tae Ee Stn Cee ]= fim Suet wo gt ore | é woe 49a woe w( Lou) we2 teu 2q Wee Inn Kt gute 2. e. feo Wee 4m gue Zo Wee Ea lie Krewte iw &. wwe 1k = kK ew" ware Ange ene a Po 180" 3 Respersk Se, R-os/ In LHyell«b atte : Peete eee Oo 2uXkro b Reseest s¢ Im-os oO RTH wleo Ke CCE. Kut Vkeo ae ee hath Ur O24 O -K Sf ked Susty ge stiboby ake ge ed 401Veteusiite u Karoveu PISMENI ISPIT ‘Stig ST, MT Osnove automatske regulaaje Datum: 2013.06-19 Fite: ST402121,D0CX Za i; Pinjonom Laansionrosie inte Taveras cond st ‘sutava opisanag cfernojainam jednadbom Sepang) 290808 Lene Taytarry ted ‘SLi tgx © Stax Wx Zad, 2; Za Hdraultekl ektuatorprikazan stkorn ‘apis dferencjainu Jednadibu gibanja mase mu ‘Smeru os! x. Cllindar je potpuno tekucinom specifitne gustote p. Masu Kipa ‘Zanematit. Kojem standardnom tlanu je" ekvivalentan oval aktuator? Odredili vremensku ‘konstantu | pojatanje Giana. Zatanc: p= 0,9 koi", Ry= 100 me, Bez 200 ms, A= Oth, m= 100kg * | Zed. 3; Za blok-shemu prema sil odredil raze za C(s), Eis) iMis}u: avis o Fs) D(3). (Zed. 4; Sustav stabilizache broda prov batnag ‘valjanja prixazan je blok-shemor nario. Uslfed Soule brariona emirate crises p- ai (tranzijentni odziv, empltudno i t faze okey to Gye SOP 5 ee. 5 akav fe bl inato povetanfe Kp na vijednost oi anne 3 Gat Sean Perel Projeltal PD regulator (odredil Ke, Ro) | SLE ‘koji 69 2a sustav peikazan siikom osigurali: a osigural sedate by Super petena 07 cor 9) Pogreba usafenad em za = S19 Kola de uz tako odretene paramte enost ce) Wet edear NYGE. SCA, 4 Asal RE ze ect & , _G sn” Say sy G= (sr) t | 1 Z Ct) (244) le wy . 08 Tegeg [et ee BOSD I brie) ~ aap yk i ! Ty ieeseaice Ose t [6] = Rsie of kf -qass wo af weet ths ¢. Ga ox : Qu -t-dy 2 G-and 4S (480%)4 Ps glcors) 4 gl Bok 4 GPS i 4 ages -< 9 4 se “41 dL e* ow eo at ( “d fa +9 quseng. z 24 We z iF =} =(£ & 03683 sf (aan fn" 54) & = ( < - Qed eas (aSrt)}-s(4) oOEls) = Rls}~ C(s) HS)= E FIP - crery C)= NF3- Des Ht) = EG) Fir2 ~ CHORE ° 2 -o)ir2 ~(MF3- Fs) Fors PRPS - CAFR - HP or ary — pp Deery 7 RPIFQ -(ME3- De RerD _ MNFQF SEL + DFIFSFR “RE HR- MIP F382 DPo eg MELE 3F4 + DROEREL MAMPIFQES + HPOP RPL 2 2FIFDY OFIFEF ar ORFS M4 FIRES POP SE 4)» REIL. OFC F2ES +DF2F3F4 Hs) = QP?» DFPIF3+ DEZ Fare : 44 FAF2ER 4 FORRES cls)» HF3- pF3 = PALER + DFS « oped. 53 OFS- OF ars £3 ~ OFOF 3G - £3 4+ FT f253- FLIES 5% os) = Bh) Fyrae3 ~ F30IS) A+ FAP LFS 4 $QFRFL | Els) Ris)-c¢s) Ry SS)ERFS ~F306)_ gy eeory SREP SFY AG THEI At TFS +2 Pry AtTHELES + FOFB FA = Bsl + Rls) F2FSF} - F3 OS 4+ TAF 273+ FQF3Fhoss § <0;707 AOE. 2B_ (Gerkes)._1 & e Ar(kpr kos) Eaaae 8045") + kjow Kay S(ts9) a Kies ‘i S45) a Ker Kos H Set os te Hees Sar Eps Kos fs sorter” 4+ ord Joy 4 ost Kp Fe Aer a A - fe NE Ete Fee oa ford 39> Kem oft te-3- 2-47-98: 6-3 e Kor BZ (Koos) fos tp:s on srs) tr (Ke ko) ot Sys) + Ket Ko-3 * s+) 5) 1 | 3 tas ae Siow Kos Ee —tettes __ et Kes pansy "insereresseeeneny tr Fee Sp +S Ep Fe 48% 35+ ker Kos as SC Ke) Ko elms F bie = E -t}e + eb) = Yee)" Ce} == (-4) < 407J \leueilte u Karoveu PISMENI SPIT RL GC Datum: 2014.08.28 Sua: ST, MT Osnove automatske regulacje File: 87402122 DOOX | Za 4; Odtedit orginal tunkaje x(s) = | SLE Zad.2. Za mehanidki sustav na S12 odreditt Pfjenosnu funkciju omjera ubrzanja u tockama AB. iy (a(3) = $82, Skicirati ampltudny prienosnu {funkciju u Bode-ovor prikazu, te odrediti prigusenu io vlasitu frekvenciju i stupanj priguSenia (¢) sustava. | (€) et | te) HEI | Ustallenu vrjednost odziva sustava na SL3 ako na ulaz djeluje pobuda x(t) = (1 ~ e*)S(0). Zed. 3: Odrediti pogresku ustaljenog stanja i SL3: Be we) Zac_4: Odrediti ¥(s) sustava s dva ulaza X(6)1 (5) prikazanog blok-shemom na SI. ‘pisan je prijenosnom funkcjom zatvorene petlie regulaciie W(s) = 4 . Primjenom Nyquist-ovog keiterija analizirati stabiinost sustava, Zad. 5: Sustav s jediniénom povratnom vezom 5 list 1 042403, 2046 yu ff se3-g 2 xl) S” Sn s(st3) As+3) Whi Hel Ge) ae + MEE. aolsey x0) Gents 4 Toa Selee® “venir ve Oo (slss9fsr3)) Ms+i(e+s) exls) Wa) 2 Sis) Yo i Sis+3) S(stisra)g70 SL se4fsr3) 00] Ebl< 2 prs) 4° GGIM(s} j Oe tee | 14 GlsiHls) SSD (313) 1 SEN(543) 410 SStH (54 >» Cue TRit Cs $2 on go | yey bs 16) peer SBGrNisa)ena] | 70 sales GIs) «hm fs _2faes so 1 ©. slow) -2-¢9 series} | “aS Nowayo Seq bh 403® : 4.0.204, : ; [oo at ere ys) = YE) + Ysfs) Vib} < Eb). Gt 2 GAY. AGS QO = 4G1~ GG4G3 Bs) = 4Gt- GIG3GL x. + GIGIG3GL ys) WAI(1- G1G2G3GH) = XAG YGMG3E4 Yl) 2 AG Xe GIGY 4~ GIGZG3GY + \al§-2 Bis) - Gy = %4Gh- G2GAY _oO hGy - G, G2G4 Els) | » 2%Gy -GIGZGIY + GIGZGSG4 Y2 yl) 04- G2G3Gh] -~ Gae- GiG2GLx, GLX, - GIG2G4 xt \is}= 1- Q1GIG3GY Yls) « Wlsl# els) = MGt=X2G1GIGH + ve Gt - 1GIG2 GF -GIGZG3GY = Zi (at(raeal) = BE. GG9) 1- GIG2ZG3G4Veleutiliste u Karlovcu PISMENI ISPIT Datum: 2014-09-22 Studi: ST, MT Osnove automatske regulacije File: ST402123 DOCK Zag. Odrediti impulsni odziv sustava koj je sud opisan prijenosnom funkeljom H(s) = Soe 4 Zag. 2 Za hidrauligk aktuator prikazan na S12 napisati normiranu diferencijainu jednadzbu gibanja mase m u smeru osi x. Cilindar je potouno ispunjen fekutinom specifiéne gustote p. Kojem standardnom élanu je ekvivalentan aktuator? \zraéunati vrijednosti karakteristcnih parametara ekvivaleninog éiana. C Zadano: p= 0,9 kg/m®, Ry= 100 ms", R.= 200 ms", A= 0,1 m’, m= 100 kg, M= 20 kg Zad. 3: Za blok-shemu prema S13 odrediti izraze za Os), E(s) Mig} u zavisnostio R(s) i D(s). Zad_ 4; Odrediti parametre PID reguiatora {proporcionalno pojatanje, vremensku konstantu integralnog djelovania i vemensku konstantu « derivacijskog djelovanja) Koji Ge regulaciisk! sustav prikazan Bode-ovim dijagramom prijenosne funkcije ‘otvorene petlie (bez PID reguiatora) na Si.4 udiniti apsolutno stabilnim bez obzira na iznos istosmjerog pojatania K. Skicirati Nyquist-ov dljagram We(s) sa | bez PID regulatora Zadano: o;= 10s", o2= 31,6s", o3= 100s", Hi(s)= 1 Zad, 5: Za regulaciiski sustav opisan Bode-ovim prikazom prijenosne funkcije otvorene petiie prema 81.5 izraéunati fazno osiguranje. Skicirati Nyquist-ov dijagram prijenosne funkclje otvorene petie ina dijagramu grafiéki provjerit izraéunatu vrijednost. Zadano: K= 204B, «y= 108", 2 31,68" Lst Tod 2 46g Als)= 7 inpulsiui odew 2364, 204, a st)" dae SG) /hot yl) = His) - x(s) vs} <4 s “25 PEEP EEEEE 7 st yis) = & nt @ aisah ok fee tll > (si _ 5 _@ yu) - f(e-T : (svt) (S02)? Ye) < FEY) hea it dco so 3 : (su (sx2 yy - F(t-2) Cue Co ot ae) es Ofe: See (s72)* Ce ss i f. s 2s pair | To set Capaid. SZ. (sed)* —s . sisd- sisetl fest te . (s11) (s+t}* (sf = | S22 5 zi “4 Sut (s+a} (sa [es oy p~_ ot Ws (Be se _ ste [sy YA) = f (4-2) vy = Ceol. sé sis) aec ch eR -CFL OH 25.0%. 2044 Cl) Els) MCs) E13) = Rls) - cls) Ns)= EGAE2 - CHEZ ds) = NF3— Dis) F3 dQ > Els)FiF2 - CF2FS = (Rls)-cls)) -F1F2 - (HFS - DIs)F3) FIFS REAL - CHIF2 - APOF3FS + DF 2F3F4 = REAP 2~ (Hes DPSAFZ — eer, + DY2FBFS + RVIF2- APPLES +DPIV2ES - MP2ESEy +DF2F3ry ee FAPQES + F2P3P4) = bor BEF 2» DEIFIF3 + OFZE RF a+ F4P2P3, FOPSEY REI? » OF/F2PS + DIESEL 4 C(s)= HFB- OFS _ SEIZES > OFZES-£3 + DIZ SFL FS ~ OFS -OF IG FS - DBA | Moe MEN QES1MP2FSPY = OIIFZ + DMIF 273+ DFE, | | Av FIEZES + F2FBEY Cs) - AY PIFYB - £3 DO) ma AXFAFLV3 + FOP REG Els) = Rls) - <(s) = Ry) - AYEIEFS- OFS 2 Bel yD Romery - Ry) LE B-ne Av FAFZFS tPF 2p styEG) = Us)-x els\popsye - F3 Os) 7 | An FAP LES + POF SES oO 414 | {