diseño e implementacion de un controlador PID difuso en motor DC

½ \EOQLRZOM \EOQLRZOMIM IM HI_KR HI_KR ML ZIE IEMRLZ AIJ\N] IJ\N]IM ML OEDLEOLR½ OI ½ OEDLEOLR½ OI LNLJ]R LNLJ]RKEOJI

˞ L OHSNLHLE]IJOKE ML \E MOZLEK JKE]RKNIMKR SOM MOA\ZK

SRK_L SR K_LJ]K J]K AOEIN

LZ]\MOIE]L6 Fks½l Lmuirmk Lmuir mk Niruti Nirut i Lsplfk Lsp lfk HI]LROI6 Oetlnodlejoi Irto﬉join  L]E 9393 MKJLE]L6 Oed% Hoduln Sij`ljk

92 ml mojolhbrl ml 2392

Mosl˞ ek l Ohpnlhletijo½ ek ke ml ue Jketrknimkr ke SOM Moausk 9: ml mojolhbrl ml 2392 Rlsuhle

Ln prlsletl tribifk oetleti lxpnkrir jkejlptks y ipnojijokels ml ni n½kdoji moausi le sostlhis ml jketrkn. rlinoziemk ln mosl˞ ek ek l ohpnlhletijo½ ke hlmoietl sohunijoke ke ml ue sostlhi ml jketrkn moausk topk SOM ipnojimk i ue hktkr MJ%

9%

Ietl Ietljl jlml mle etls tls

Nks sostlhis ml jketrkn ske y `ie somk ue jihpk ml lstumok huy ihpnok pkr sus oehlesis ipnojijokels. ni tlkroi qul ekrhinhletl sl ibkrmi `ibni ml jketrkn jn½ isojk isojk y jketrkn jketrkn hkmlrek. plrk untohihletl u½ntohihletl sl `i oetrkmujomk jkejlptks ml movlrsis irlis i½rlis jkhk slr rlmls elurkeinls elurk einls.. tlkr tlk r½Ĺi mln ml n jiks jik s k n½ kdoji moausi ohpnlhletimi le sostlhis ml jketrkn% Slsl kdoji i qul ls ue tlhi bole jkekjomk. le ln ihbotk i½hbotk eijokein. eijokein. sl rlinozirke rlinozirke pkjis oevlstodij oevlstodijokels okels skbrl nis ipnojijokels. vletifis y mlsvletifis ml nks jketrknimkrls moausks. pkr nk qul bisirlhks lstl l stl tribifk tri bifk le bobnokdria½Ĺi Ĺi ml tlxtk bole b ole rlalrlejoimi% rlalrl ejoimi%

2%

Fusto usto﬉ ﬉jijo½ ijo½ ke ke

Le ni ijtuinomim. ni hiykroi ml nks sostlhis ml jketrkn le ni oemustroi ske mln topk SOM jket½ jket½Ĺeuks k mosjrltks. sotuijo½ k e qul ek jihboi pkr ni vlrsitonomim ml lstl topk ml ke jketrknimkrls y nis huj`is vletifis qul ske bole jkekjomis le ln jihpk mln jketrkn ml prkjlsks jketoeuks% Slrk sl vl qul huj`ks prkjlsks tolele uei moe½ihoji ihoji eknoelin qul ue SOM jn½isojk isojk ek pulml hielfir k sotuijokels le nis qul su rkbustlz sl mljrlhleti. lstl topk ml ainnis k nohotijokels ml nks sostlhis noelinls ml jketrkn jkhk ln SOM jnisojk pulmle kjisokeir juietoksis p½lrmomis lrmomis le indueks jisks% Le vortum i sknujokeir lstl prkbnlhi sl oetleti busjir eulvis intlreitovis qul slie tietk k h½is i s biritis y l﬉jijls qul ln SOM jn½ isojk% Zl lejketrirke huj`is intlreitovis. isojk% jimi uei ml lnnis jke prks y jketris Ls hlelstlr. broemir uei `lrriholeti. iprkvlj`iemk nks iviejls le jkhputijoke y le ln jihpk ml ni oetlnodlejoi irto﬉join piri hlfkrir ln rlemoholetk ml sostlhis ml jketrkn ipnojimks le ni oemustroi y ktrks jihpks%

9

:% :%9% :%9%

Kbflt bfltovks Kbflto Kbfltov vk Dlel Dlelri rinn

Mosl˞ e ir y sohunir ue sostlhi ml jketrkn moausk topk SOM piri ue sostlhi noelin l eir oeviroietl le ln tolhpk%

:%2%

Kbfltovks Kb fltovks Lsplj½ Lsplj½Ĺ﬉jks Lstumoir t½kpojks kpojks auemihletinls ijlrji ml sostlhis ml jketrkn jketoeuks% Lstumoir jkejlptks b½ isojks isojks ml n½kdoji kdoji moausi y jketrkn moausk% Mosl˞ eir nis auejokels ml plrtlelejoi y ni bisl ml rldnis mln sostlhi moausk ml ijulrmk eir in prkbnlhi% Srkbir ln sostlhi pnietlimk hlmoietl ue skatwirl ml sohunijo½ ke% ke% Jkhpirir ln auejokeiholetk ml ue jketrkn SOM jn½isojk isojk jketri ln intlreitovk moausk%

=% =%9% =%9%

½ HIRJK ]LKROJK Jke Jketrkn trkn SOM SOM

\e SOM ls ue hljieoshk ml jketrkn pkr rlinohletijo½ ke qul jinjuni ni mlsvoijo½ke ke ke k lrrkr letrl ue vinkr hlmomk y ln vinkr qul sl quolrl kbtlelr. piri ipnojir uei ijjo½ ke ke jkrrljtk jkrrljtkri ri qul ifustl ln prkjlsk% prkjlsk% Ln indkrot indkrothk hk ml j½injunk injunk mln jketrkn jketrkn SOM sl mi le trls pir½ihltrks ihltrks mostoetks6 ln prkpkrjokein. ln oetldrin. y ln mlrovitovk% Ln vinkr Srkpkrjokein mltlrhoei ni rlijjo½ ke mln lrrkr ijtuin% Ln Oetldrin dlelri uei jkrrljjo½ ke ke ke prkpkrjokein i ni oetldrin mln lrrkr. lstk eks islduri qul ipnojiemk ue lsaulrzk ml jketrkn su﬉joletl. ln lrrkr ml slduoholetk sl rlmujl i jlrk% Ln Mlrovitovk mltlrhoei ni rlijjo½ke ke mln tolhpk le ln qul ln lrrkr sl prkmujl% Ni suhi ml lstis trls ijjokels ls usimi piri ifustir in prkjlsk v½Ĺi ue lnlhletk ml jketrkn jkhk ni pksojo½ ke ke ml uei v½invuni invuni ml jketrkn k ni lelrd½ lelrd½Ĺi suhoeostrimi i ue jinletimkr. pkr lflhpnk% Ifustiemk lstis trls viroibnls le ln indkrothk ml jketrkn mln SOM. ln jketrknimkr pulml prkvllr ue jketrkn mosl˞ eimk piri nk qul rlquolri ln prkjlsk eimk i rlinozir% rlinozir% Ni rlspulsti rlspulsti mln jketrknimkr jketrknimkr pulml slr mlsjroti mlsjroti le t½lrhoeks lrhoeks ml rlspulsti rlspulsti mln jketrkn ietl ue lrrkr. ln drimk ln juin ln jketrknimkr nnldi in „slt pkoet‘. y ln drimk ml ksjonijo½ke ke mln sostlhi% E½ktlsl ktlsl qul ln usk mln SOM piri jketrkn ek dirietozi jketrkn kptohk ½ mln sostlhi k ni lstibonomim mln hoshk% Indueis ipnojijokels pulmle sknk rlqulror ml uek k mks hkmks ml nks qul prkvll lstl sostlhi ml jketrkn% \e jketrknimkr SOM pulml slr nnihimk nnihimk tihbo½ tihbo½le le SO. SM. S k O le ni iuslejoi ml nis ijjokels ml jketrkn jketrkn rlspljtovis% rlspljtovis% Nks jketrknimkrls SO ske pirtojunirhletl jkhuels. yi qul ni ijjo½ ke mlrovitovi ls huy slesobnl ke in ruomk. y ni iuslejoi mln prkjlsk oetldrin pulml lvotir qul sl injiejl in vinkr mlslimk mlbomk i ni ijjo½ke ke ml jketrkn%

2

Aoduri Aodur i 96 9 6 Jketrknmi Jk etrknmimkr mkr SOM t½Ĺpojk

=%2% =%2%9% =%2%9%

Nkdoji ½ kdoji moausi Jkefue Jkefuetks tks Moaus Moausks ks

\e jkefuetk moausk I le \  lst½i jirijtlrozimk pkr uei auejo½ ke ke ml plrtlelejoi ¼I (x/ qul tkhi vinkrls le ln oetlrvink 3. 9 % Lsti auejo½ke ke mltlrhoei ln drimk ml plrtlelejo p lrtlelejoii ml ue lnlhletk x ∀ \ % Ml lsti hielri. ln jkefuetk jkefuetk moausk pulml slr rlprlsletimk rlprlsletimk pk p k ue jkefuetk jkefuetk ml pirls krmleimks ml ue lnlhletk dle½ dl e½lroj lr ojkk x ∀ \  y su drimk ml plrtlelejoi ¼I(x/7 ls mljor6 I 8 {(x. ¼I (x//7 x ∀ \ }

(9/

Letkejls. le n½kdoji kdoji moausi. nks lnlhletks ek sknihletl pulmle plrtleljlr k ek i ue jolrtk jkefuetk. so ek qul nk `ijle jke ue eovln hlmomk. qul le lstl jisk ls ln drimk ml plrtlelejoi mimk pkr ni auejo½ ke ke ml plrtlelejoi ¼I mln jkefuetk i% Skmlhks vlr ue lflhpnk ml ue jkefuetk moausk nnihimk „inrlmlmkr ml <‘ 6

Aoduri 26 Auejo½ke ke ml plrtlelejoi mln jkefuetk moausk „inrlmlmkr ml <‘ tin jkhk vlhks le ni ﬉duri(2/ nks e½ uhlrks uhlrks h½is i s jlrjieks in < tolele ue eovln ml :

plrtlelejoi h½ is is intk pkr qul lstie h½ is jlrjieks. solemk ln vinkr h½ is ixohk ixohk injiezimk pkr ln hoshk e½uhlrk uhlrk joejk jke ue eovln eovln ml 9 k le tkmk jisk. jisk. ue 933 , ml plrtlelejo plrtlelejoi% i% =%2%2% =%2%2%

Kplrij Kplrijoke okels ls jke jkef jkefue uetks tks moaus moausks ks

Ml﬉eohks : kplrijokels b½ isojis jke nis qul tribifirlhks le lstl prkyljtk y sus ml isojis sjropjokels h½ is is slejonnis y ijlptimis6 i mimk pkr6 jW¼I (x/X 8 9 − ¼I (x/% piri ue jkefuetk moausk I Jkhpnlhletk% Lst½ ml﬉eomk pkr su auejo½ke ke ml plrtlelejoi ¼I (x/ \eo½ ke% ke% Zlie I y B mks jkefuetks moausks y ¼I (x/ y ¼B (x/ sus rlspljtovis auejokels ml plrtlelejoi. Ln jkefuetk \eo½ ke ke letrl lstks mks lst½ i mimk pkr6 sW¼I (x/. ¼b (x/X 8 hix(¼I (x/. ¼b (x//% Oetlrsljjo½ ke% ke% Zlie I y B mks jkefuetks moausks y ¼I (x/ y ¼B (x/ sus rlspljtovis

auejokels ml plrtlelejoi. Ln jkefuetk Oetlrsljjo½ ke ke letrl lstks mks lst½ i mimk pkr6 sW¼I (x/. ¼b (x/X 8 hoe(¼I (x/. ¼b (x//%

=%:% =%:%

Jke Jketrkn trknim imkr krls ls SOM SOM moau moausk skss

\e jketrknimkr SOM jkevlejokein. plsl i qul ls uek ml nks indkrothks h½ is is utonozimks (ml `lj`k. ln h½ is utonozimk/ le ni oemustroi ijtuin ek solhprl ls slejonnk ml mosl˞ is eir e ir k jirljl ml utonomim piri indueks jisks pr½ ijtojks y su eiturinlzi noelin nohoti huj`k sus ijtojks arketlris ml ijjo½ ke% \e jketrknimkr SOM moausk ek rlquolrl huj`k jkekjoholetk ml ni ke% tlkr½ tlkr½Ĺi ml jketrkn y jkestruornk ls rlnitovihletl rlnitovihletl slejonnk W;X%

Aoduri :6 Lstrujturi L strujturi t½Ĺpoji ml ue jketrknimkr moausk Ni akrhi le qul ni n½kdoji kdoji moausi hielfi ni oeakrhijo½ ke ke ls huj`k h½ is is slejonni ml modlror qul ljuijokels hitlh½ itojis itojis y dr½ i﬉jis i﬉jis oeletlemobnls. oeletlemobnls. ls pkr p kr lsk qul ue jketrknimkr jketrknimkr moausk. le indueks jisks ls huj`k h½ is is slejonnk ml mosl˞ eir% eir% =

nis viroibnls ml lstimk mln jketrknimkr rlprlsletie ln jketleomk ml ni pirtl ietljlmletl ml nis rldnis moausis y dlelrinhletl ske nis soduoletls6 Zl˞ein ein ml lrrkr l% Jihbok mln lrrkr ∁l Oetldrin Oetldrin k ijuhunijo½ ijuhunijo½ ke ke mln lrrkr



l

_ ni sinomi kbvoihletl ls ni sinomi ml jketrkn% Ek sl rljkholemi mlhisoimk utonozir ni letrimi ml jketrkn ml ni oetldrin mln lrrkr pkr tritirsl ml uei viroibnl qul pulml oejrlhletirsl huy r½ ipomk. le nudir ml lsk. sl prkjlml ipomk. ml mostoeti hielri le nis sl˞ einls ml letrimi y ml sinomi mln jketrknimkr moausk utonoziemk einls ml oduin hielri ue jketrknimkr topk SM plrk jke ni sinomi mlrovimi W;X% =%:%9% =%:%9%

Jketrk Jketrknim nimkr kr moau moausk sk topk topk SM SM

Rljkrmiemk Rljkr miemk tlkr½Ĺi Ĺi ml jketrkn jketrk n jn½ jnisojk. i½sojk. pkmlhks mlektir ln indkrothk ml ue jketrknimkr SM jkevlejokein jke ni soduoletl lxprlso½ ke6 ke6 u(t/ 8 G  p l(t/ ' G m

ml(t/ t

(2/

mkeml G  p y G M ske nis dieiejois prkpkrjokein y mlrovitovi mln jketrknimkr% Ml lsti hielri. ln jketrknimkr SM jinjuni ni sl˞ ein ml jketrkn hlmoietl ni suhi ml uei ijjo½ ein ke ke prkpkrjokein y uei mlrovitovi qul ijt½ uie uie skbrl ln lrrkr l% \e jketrknimkr moausk mln topk SM tolel jkhk letrimis ni sl˞ ein ein ml lrrkr y ln jihbok ml lrrkr% Jke nis viroibnls noedu½ noedu½Ĺstojis bole ml﬉eomis. sl pulml prkjlmlr i mosl˞ mosleir ˞ ue jkefuetk ml rldnis qul oe﬉lrie ni sinomi ml ijulrmk i vinkrls moausks%

Aoduri =6 \ei tibni ml rldnis moausis jke letrimis x y y y uei sinomi

<

=%:%2% =%:%2%

Mlauzz Mlauzzy﬉j y﬉jijo ijo½ ½ ke ke

\ei vlz vlz oealrom oealromis is nis rldnis. rldnis. ½lstis lstis eks irrkfie vinkrls inkrls moausks moausks y piri qul eu eulstr lstrkk jketrknimkr tledi laljtk le ln huemk rlin. ln juin sl mostoedul pkr sl˞ einls jrosp y ek moausis. moausis. ls eljlsirok eljlsirok ml﬉eor ue h½ltkmk ltkmk qul nnlvl nnlvl eulstrks eulstrks e½ uhlrks moausks le e½ uhlrks uhlrks rlinls k sl˞ einls jrosp qul pulmie ipnojirsl i ni pnieti% einls Zl ieinozi i einozi ln l n h½ltkmk ltkmk mln jletrk ml drivlmim (JKD/ pkr sus sodnis le oedn½ls ls qul ls uek ue k ml nks h½ltkmks ltk mks h½is is utonozimks le ni ijtuinomim. ln soduoletl dr½ i﬉jk i﬉jk hulstri j½ khk khk auejokei lstl lst l h½ltkmk ltk mk ml mlauzz mla uzzy﬉j y﬉jijo ijo½½ke6 ke6

Aoduri <6 Zinomi Jrosp lejketrimi piri ue jkefuetk ml rldnis qul sl mospirie Lstk supkeolemk qul sl mospirie virois rldnis qul dlelrie jkefuetks moausks mostoetks qul sl suplrpkelel piri akrhir uei ﬉duri dlkh½ltroji. ltroji. juyi sinomi pkemlrimi slr½ i ni prkyljjo½ ke le ln lfl x mln jletrk ml drivlmim ml ni hoshi% ke

<% <%9% <%9% <%9%9% <%9%9%

½ HIRJK SRIJ]OJK Mlsj Mlsjro ropjo pjo½ ke ½ ke ml ni pnieti Ljuijo Ljuijokel kelss hlj½ hlj½ ieojis ieojis y ln½ ljtrojis ljtrojis noelinls ml ue hktkr MJ

I pirtor mln lsqulhi lnljtrkhlj½ ieojk ml ue hktkr MJ hkstrimk le ni ﬉duri(1/. pkml ieojk hks lxtrilr nis soduoletls ljuijokels moalrlejoinls noelinls6 mo(t/ ' Ro(t/ ' lb (t/ mt m2 ΰh (t/ ' ύ n (t/ ' ύ a a (t/ ύ h (t/ 8 F  mt2 u(t/ 8 N

(:/ (= /

mkeml u(t/ ls ni tleso½ke ke ipnojimi in hktkr. o(t/ ls ni jkrroletl. ΰh ls ni pksojo½ke ke iedunir mln lfl mln hktkr. lb (t/ ls ni aulrzi jketrilnljtrkhktroz. ύ h ln pir mln hktkr. ke% k e% Nks pir½ ihltrks ihltrks ύ n (t/ ln pir vostk mlsml ln lfl mln hktkr. y ύ a a (t/ ls ln pir ml arojjo½ (N.R.F/ rlprlsletie ni oemujtijoi. ni rlsostlejoi ln½ljtroji ljtroji y ln hkhletk ml oelrjoi mln rktkr. rlspljtovihletl. y nks jkesomlrirlhks jkestietls% Lsti jnisl ml hktkr imlh½ is is sitosaijl nis ljuijokels ml ijkpnk lnljtrkhlj½ ieojk6 ieojk6

1

ύ h (t/ 8 G h o(t/

(< /

lb (t/ 8 gb ΰ˟h (t/

mkeml gh ls ni jkestietl mln pir y gb ni jkestietl ml ni aulrzi jketrilnljtrkhktroz%

Aoduri 16 Lsqulhi lnljtrkhlj½ ieojk ieojk ml ue hktkr MJ Hlmoietl ue prkjlsk ml hkmlnimk qul ek tritirlhks le lstl tribifk. nnldihks i nis ljuijokels ﬉einls mln hkmlnk ml eulstrk hktkr. le auejo½ ke k e ml nks pir½ihltrk ihl trkss ln½ljtroj ljt rojks. ks. jkhk sl hulstri i jketoeuijo½ ke6 ke6 mo(t/ mΰh (t/ ' Ro(t/ ' gb mt mt 2 m ΰ h ( t/ mΰh (t/ ' ' ύ j (t/ gh o(t/ 8 F  B mt2 mt u(t/ 8 N

<%9%2% <%9%2%

(1/ (4 /

Auejokels uejokels ml triesalrl triesalrlejoi ejoi

Zo ipnojihks ni triesakrhimi ml Nipnijl i nis ljuijokels lnljtrkhlj½ lnljtrkhlj½ ieojis l ohpkeole mk jkemojokels oeojoinls oduin i jlrk kbtlelhks6 \ (s/ 8 (Ns ' R/] (s/ ' gb ΐh (s/ gh O (s/ 8 s(F s ' B /ΐh (s/ ' ] j (s/

Ml nis ietlrokrls ljuijokels pkmlhks kbtlelr nis 2 auejokels ml triesalrlejoi mln hktkr le pksojo½ke6 ke6 ΐu (s/ gh 8 \ (s/ s((Ns ' r/(F s ' B / ' gb gh / ΐ]  (s/ Ns ' R 8− D]  (s/ 8 ] j (s/ s((Ns ' R/(F s ' B / ' gh gb / Du (s/ 8

j

j

(0/ (?/

_ pkr ln proejopok ml suplrpksojo½ ke ke pkmlhks mljor qul6 ΰh (t/ 8 ΰu (t/ ' ΰ]  (t/ j

4

(93/

Aoduri 46 Lsqulhi ml eulstrk hktkr MJ

Aoduri 06 Rlspulsti in lsjin½ ke ke ueotirok mln hktkr y ﬉einhletl ln moidrihi ml bnkquls jke nis auejokels ml triesalrlejoi ls ln soduoletl6 Hkstrihks su rlspulsti tlhpkrin piri laljtks ml ie½ inosos6 inosos6 ]in jkhk vlhks le ni ﬉duri(0/. eulstrk sostlhi pksll uei rlspulsti nleti y lrrkr le lstimk lstijokeirok mostoetk ml jlrk. i`kri prkjlmlhks jke ln mosl˞ ek ml nks sostlhis ml jketrkn%

0

<%2% <%2%

Jketrk Jketrknn SOM jkev jkevlejoke lejokein in

Siri tritir lstl prkbnlhi pnietlirlhks le prohlr nudir ln mosl˞ ek ek ml ue jketrknimkr SOM jkevlejokein y prkbirlhks ln hoshk jketrknimkr piri ni pnieti% Zl soetkeoz½k ue jketrknimkr SOM mkeml nks rlsuntimks ml nis jkestietls ske6 G p 8 90 G o 8 1.9? G m 8 9.2<

Ni rlspulsti tlhpkrin mln sostlhi ijtuimks pkr ln jketrknimkr sl hulstri i jketoe uijo½ke6 ke6

Aoduri ?6 Rlspulsti tlhpkrin jke ln jketrknimkr SOM

1% 1%9% 1%9%

˞ MLN JKE]RKNIMKR MOZLEK Qiroibn iroibnls ls noeduo noeduosto stoji jiss

]ribifirlhks jke ue jketrknimkr topk SM moausk le jkefuejoke jke ue lnlhletk oetl drin piri akrhir ue u e jketrknimkr `½Ĺbromk. nis viroibnls noeduostojis ml letrimi ske ln lrrkr y ln jihbok ml lrrkr. y sknihletl pksll uei sinomi% Eulstris viroibnls noedu½Ĺstojis Ĺstojis pkslle p kslle 4 vinkrls moausks ml﬉eomks ml﬉eomk s ml ni soduoletl hielri6 DE 8 Drieml Elditovk% ?

HE 8 Hlmoiek Elditovk% SE 8 Slqul˞ ek ek Elditovk% Elditovk% V 8 Jlrjiek i Jlrk% SS 8 Slqul˞ ek ek Sksotovk% HS 8 Hlmoiek Sksotovk% DS 8 Drieml Sksotovk% Ni riz½ ke pkr ni qul sl lsjkdolrke 4 vinkrls moausks ls pkr qul ln ueovlrsk ml mosjurks ke qulmi hlfkr ml﬉eomk y < y 4 vinkrls ske ln lst½iemir iemir le ni hiykr½ hiykr½Ĺi ml nks jketrknimkrls moausks jkhlrjoinls le ni ijtuinomim%

Aoduri 936 Qinkrls moausks ml ni viroibnl lrrkr

Aoduri 996 Qinkrls moausks ml ni viroibnl jihbok lrrkr E½ktlsl ktlsl qul ni mostrobujo½ ke ke ml nis auejokels ml plrtlelejoi `i somk hkmo﬉jimi busjiemk ue hlfkr mlslhpl˞ ek. ek. so bole W;X sudolrl jknkjir uei mostrobujo½ ke ke noelin. noeli n. ½lsti lsti ls sknihletl sknihl etl uei sudlrlejoi piri jkhlezir jke ln mosl˞ ek% ek%

93

Aoduri 926 Qinkrls moausks ml ni viroibnl mln jketrkn Juimrk 96 ]ibni ml rldnis  @   @   @   @  ml  @  mt  @ 

l

DE HE SE V SS HS DS

DE

HE

SE

V

SS

HS DS DS

DE DE DE DE DE DE HE DE DE DE HE SE DE DE SE SE SE V DE HE SE V HS HE SE V HS HS SE V SS H S D S V S S H S HS D S

SE V V SS DS DS HS DS DS DS DS DS DS DS

Aoduri 9:6 Zuplr﬉jol ml jketrkn

1%2% 1%2%

Bisl Bisl ml Rldn Rldni is

Nis rldnis aulrke imiptimis ml ni mlsjropjo½ ke ke ml W;X piri `ijlr ni rlspulsti mln jketrk nimkr ue pkjk h½ is idrlsovi. ni tibni y suplr﬉jol ml jketrkn sl hulstrie i jketoeuijo½ is ke6 ke6 nuldk tlelhks ni suplr﬉jol ml jketrkn6 y ﬉einhletl ln lsqulhi piri ni sohunijoke le Zohunoeg oejnuylemk ni jkhpkeletl oetldrin oetldri n piri pi ri ln l n jketrknim jk etrknimkr kr `½Ĺbromk6 Ĺbromk 6 99

Aoduri 9=6 Lsqulhi le Zohunoeg Nuldk ml ml﬉eor nks pirihltrks prkjlmlhks i vlr nks rlsuntimks ml sohunijoke%

92

4%

½ RLZ\N RLZ\N] ]IMKZ IMKZ ML ZOH\NI ZOH\NIJO JOKE

Qlhks nis dri﬉jis ml ni rlspulsti in pisk ueotirok ml nks trls sostlhis ipnojiemk ln jketrkn SOM y ln jketrknimkr `½Ĺbromk6

Aoduri 9<6 Rlspulsti in Sisk jke ihbks jketrknimkrls

Aoduri 916 lsaulrzk mln jketrknimkr Nuldk mln ie½ inosos inosos prlvok tihbo½ le le pkmlhks p kmlhks kbslrvir ln jkhpkrtiholetk j khpkrtiholetk mln sostlhi i plrturbijokels ml jirdi. qul volele mimis pkr ni letrimi in sostlhi ύ j (t/%

9:

Aoduri 946 sl˞ einls ml lrrkr y jihbok ml lrrkr einls

Aoduri 906 Laljtk ml uei plrturbijo½ ke ke ml jirdi le t8=s

0%

JKEJ JKEJN\ N\ZO ZOKE KELZ LZ

Zl `i nkdrimk mosl˞ eir eir l ohpnlhletir jke ½lxotk lxotk ue jketrknimkr @obromk moausk piri pi ri ue hktkr MJ% Ln hkmlnk rlspkeml sitosaijtkroihletl i nis lspljtitovis% Ohpnlhletihks ue jketrknimkr SOM jkevlejokein piri laljtks ml ie½ inosos inosos y. laljtovi hletl. pumohks jkhprkbir ni suplrokromim mln jketrknimkr moausk kbslrviemk uei rlspuls ti h½is is r½ipomi ipomi y soe skbrlsintk tin jkhk sl kbslrvi le ni ﬉duri(9
9=

jke su lquovinletl moausk. pkmlhks jkejnuor le qul. plsl i qul ln indkrothk SOM jkevle jokein ls huj`k h½ is is slejonnk y jkrtk ml ohpnlhletir ohpnlhletir qul uek moausk. ln jrljoletl mlsirrknnk mlsirrknnk le ni tljeknkd½ tljeknkd½Ĺi `ijl `ij l qul lsti brlj`i br lj`i sli jimi vlz h½ is jkrti. pkr tietk. lstl topk ml jke trknimkrls ls l﬉jiz y ipnojibnl%

9<

Rlalrlejois W9X Fie Fietzle.„Akuemitok Fietzle.„Akuemitokes es ka Auzzy Jketrkn‘. Tonly % W2X @ued ]% Eduyle. „I Aorst Jkursl oe Auzzy iem Elurin Jketrkn‘ W:X Vmlegk Gkvijoj.„ Gkvijoj.„ Auzzy Auzzy Jketrknnlr Mlsode6 ]`lkry iem Ippnojitokes (Iutkhitoke iem Jketrkn Ledoellroed/‘. tkprke % W=X A% Hkeistlrok@ulnoe. „Hkmlnk noelin ml ue hktkr ml jkrroletl jketoeui‘

91