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- ???????? ?????? ??? ???? ?????????? ??? ??????? ?????? ???? piper spin, ?????? ??? ???????
- ????? ??? ???????? Piper Spin
- ????????? ?? ????????? ??????
- ???????? ??????????????? ??? Piper Spin
- ?????????? ???????
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???????? ?????? ??? ???? ?????????? ??? ??????? ?????? ???? piper spin, ?????? ??? ???????
? ??????? ??? «piper spin» ???????? ??? ???????? ?????????? ???? ???????? ???????? ???????, ???????????? ???????? ??? ???????? ?? ???????? ?????????. ? ????????? ??????? ??? ????????? ??? ???????, ?? ????????? ?? ??? ???????? ??????????, ????????? ???? ??? ??????? ??????? ??? ??????? ??? ???????? ???????? ??? ?????????????????. ??? ????? ??????????? ??? ????????? ??????, ?? «piper spin» ??????? ?? ???????? ??? ?????????????? ??? ????????.
? ?????????????????? ??? «piper spin» ????????? ???? ???????????? ??? ????????? ???????? ??? ??? ?????????, ???????????? ???? ??? ????? ???????? ?????? ???????????? ??????????? ???????. ? ????????? ??? ??????? ????? ??? ??????? ???? ??? ??????? ????? ?????????? ??? ??? ??????? ???????? ??? ?? ??????????? ????????. ??????????, ? ??????? ??????? ??? ?????????? ??? ? ???????????? ???????? ??? ???????? ????? ???????????? ??? ??? ???????? ??? ?????????? ?????????????.
????? ??? ???????? Piper Spin
? ?????? ???? ??? piper spin ???????? ???? ????????? ?? ????????????? ??? ?????????? ??????????, ? ????? ?????? ??? ???????? ?? ??????????? ??? ?? ??????? ? ?????????? ? ? ???? ???? ????????????. ???? ? ?????????? ??? ????? ????? ??? ?????? ??????, ???? ??? ???????????? ?????????? ??? ????????? ???? ???????? ???????? ?? ???????????? ??????. ? ???????? ???? ???????? ????? ??? ???????? ????? ??????? ??? ??? ???????? ??? ?????????? ???????????. ? ????????? ??? ?????? ?????? ??? ????????, ??? ????? ??? ??? ????????????? ????????? ????? ?????????? ??? ??? ??????? ???????? ??? piper spin.
????????? ?? ????????? ??????
? ??????? ??? piper spin ???? ???? ????????? ?? ????????? ??????, ???? ? ?????????, ? ????????????? ??? ? ???????? ?????????. ??? ?????????, ??????????????? ??? ?? ????????? ??? ?????? ?? ???????? ????????? ???????? ?? ?????????????? ??????. ???? ?????????????, ??????????????? ??? ?? ????????? ??? ???????? ??? ??? ?????????? ??? ??????????. ???? ???????? ?????????, ??????????????? ??? ?? ????????? ??? ?????????, ??? ?????????? ??? ??? ???????? ?????????? ??? ???????. ? ?????????? ??? ???????? ???? ????????????? ?????????? ???? ????? ????? ?????????? ??? ??? ???????? ????????? ?????????????.
| ?????????? | ???? |
|---|---|
| ???? ???????????? | 1.5 kg |
| ?????? ??????????? | 0.2 m |
| ??????????? ?????? | 5 N |
| ??????? ?????????? | 25 rad/s² |
? ???????? ??????? ??????????? ??? ?????????? ??? ?????????? ??? ??????????? ???? ???????? ??? piper spin. ? ??????? ??????? ????? ??? ?????????? ????? ??????? ??? ??? ???????? ??? ?????????? ???????????. ? ????????? ??? ?????? ?????? ????? ??? ?????????? ????? ?????????? ??? ??? ?????????????? ???????? ??? ????????.
???????? ??????????????? ??? Piper Spin
??? ?? ??????????????? ? ??????? ??? piper spin, ????? ????????? ?? ?????????? ???????? ????????. ? ????? ?????????? ??????? ?????? ?? ????????? ??? ???????? ??? ??? ???????? ??? ???????????. ? ????? ?????? ?? ?????? ???? ??? ????? ?????? ?????? ?? ??????? ??? ???????? ??? ?? ??????? ??? ????????. ? ?????????????? ??? ?????????? ??? ???????????? ?????? ?? ????????? ??? ???????? ??? ????? ??? ?? ??????????? ??? ??????????. ? ??????????? ????? ????? ??? ???????? ?????? ?? ???????? ?? ?????????? ?????????? ???? ??????? ??? piper spin.
?????????? ???????
?? ?????????? ??????? ??????? ??????????? ???? ??? ?????????????? ??? ???????? ??? piper spin. ? ????? ?????????? ???????? (P-controllers) ?????? ?? ????????? ??? ???????? ????????? ??? ??????????. ? ????? ???????? PID (Proportional-Integral-Derivative controllers) ?????? ?? ????????? ??? ???????? ??? ?? ??????????? ??? ??????????. ? ????? ?????????????? ???????? ?????? ?? ??????????? ??? ??????????? ??? ??????? ???? ?????????????? ???????? ???????????. ? ??????? ??? ?????????? ?????????? ??????? ????????? ??? ??? ????????????? ?????????? ??? ?????????.
- ???????? ??? ????????? ??? ???????????.
- ?????? ??? ????????? ????????? ??? ??????????.
- ?????? ??? ????????? ??? ??? ???????????.
- ?????????? ???? ?????????????? ???????? ???????????.
?? ???????? ?????? ???????????? ?? ????????????? ??? ?????? ?????????? ??????? ???? ??????? ??? piper spin. ? ?????????? ??????? ??? ??????? ??? ?????????? ??????? ????? ?????????? ??? ??? ???????? ????????? ?????????????.
?????????? ??? ???????????
???? ?? ????? ?????????????, ? ??????? ??? piper spin ????????????? ????????? ?????????? ??? ????????????. ? ???????? ??? ??????????? ?????? ?? ?????????? ??? ??????????? ??????????, ???? ? ????????? ??? ???? ??? ? ?????. ? ???????? ??? ??????????? ?????? ?? ??????????? ??? ??? ???????? ??? ????????????. ? ???????? ??? ???????? ?????? ?? ?????????????, ?????? ?? ????????? ???? ? ?????????? ?????? ?? ?????????? ?????? ? ?????????????. ? ???????????? ????? ??? ?????????? ??????? ?????????? ????????? ??? ????????.
???????????? ??? ??????????
??? ??? ???????????? ??? ?????????? ??? ??????????? ?? ?? piper spin, ??????? ?? ??????????????? ???????? ????????. ? ????? ????????????? ??????? ?????? ?? ??????? ??? ????????? ??? ????. ? ????? ??????? ?????? ?????? ?? ??????? ??? ????????. ? ????? ?????????? ????????? ?????? ?? ????????? ?????????????. ? ????? ????????????? ?????? ?? ???????? ???? ???????? ??? ??? ??????? ???????????. ? ??????????? ????? ????? ??? ???????? ?????? ?? ????????? ??? ???????? ??? ??? ?????????? ??? ????????.
- ????? ????????????? ???????.
- ????? ??????? ??????.
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- ????????? ?????????????.
? ???????? ??? ???????? ??????? ?????? ?? ???????? ???? ?????????????? ???????????? ??? ?????????? ??? ??????????? ?? ??? ??????? ??? piper spin. ? ??????? ?????? ??? ???????? ???? ???????? ????? ?????????? ??? ?? ???????? ??? ???????? ??? ??? ????????? ??? ????????.
????????? ??? ??????????? ??????
? ??????? ??? piper spin ??????????? ??????? ?? ?? ??????? ???? ??????????? ??? ???????. ? ????? ???????? ?????????? ??? ????????? ??????? ?????? ?? ????????? ??? ???????? ??? ??? ????????? ??? ????????. ? ????? ???? ?????? ?? ?????????? ????????? ?????? ?? ??????? ??? ???????? ??? ??? ??????. ? ???????? ???? ?????????? ??????? ?????? ?? ????????? ??? ??????? ??? ??? ????????. ? ?????????? ?????? ?? ???????????? ???? ?????????? ????? ??? ??????????? ??? ?? ?????????? ????? ??? ??????????? ??? ??????????????? ??????????.
????????? ?????? ????????? ??? ?????????? ??????? ???????
? ???????? ??? ????????? ??? «piper spin» ??????? ??? ?????????? ?????????? ??????? ??????? ??? ??? ?????????? ??????????? ??????. ? ????? ?????????? ??????????, ???? ?? Model Predictive Control (MPC), ????????? ??? ???????? ??? ??????????? ???????????? ??? ?????????? ??? ?? ?????????????? ??? ????????. ? ?????????? ?????????? ?????? ?????????, ???? ???????????????? ??? ??????????, ??????? ?????? ???????? ??? ??? ????????? ??? ??????????. ???? ?? ???????? ???????????????? ??? ??? ?????????? ??? ?????????? ??????? ??? ?? ???????? ??? ????????. ??? ???????????? ?????????? ????????? ????? ? ??????? ??? ?????? ???? ????????? ??? ????????, ???? ? ???????? ????? ??????? ??? ?? ?????????? ??? ??????? ??? ??? ?????????? ????????????. ? ????? ??? piper spin, ?? ????????? ?? ??? ?????????? ???????? ???????, ?????? ?? ??????????? ?? ??????????? ??? ??? ???????? ??? ?????? ??? ?????????, ????? ??? ?? ??????? ????????.
? ?????????? ?????? ?? ???????????? ???? ???????? ????? ??? ?????????? ?????????? ??????? ??? ???? ?????????? ???? ???????????, ???? ? ???????? ????????????, ??? ??? ??????? ????? ??? ???????? ???????????. ? ???????? ????????????????? ?????????? ??? ??????? ?? ?????????????? ???? ?????????????? ???????? ??? ?? ?????????????? ?????????? ???????? ?? ????? ??????????? ??? ??? ???????? ??? ??????????? ????????? ??? piper spin.