{"id":16214,"date":"2024-01-09T13:58:00","date_gmt":"2024-01-09T10:58:00","guid":{"rendered":"https:\/\/Muhandes.Net\/?p=16214"},"modified":"2024-01-09T12:07:44","modified_gmt":"2024-01-09T09:07:44","slug":"%d8%a7%d9%84%d8%b3%d9%84%d9%88%d9%83-%d8%a7%d9%84%d9%86%d8%b4%d8%b7-%d9%88%d8%a7%d9%84%d8%a7%d8%b6%d8%b7%d8%b1%d8%a7%d8%a8-%d9%84%d9%85%d8%b5%d8%af%d8%b1-%d8%a7%d9%84%d8%ac%d9%87%d8%af-%d8%a7%d9%84","status":"publish","type":"post","link":"https:\/\/Muhandes.Net\/?p=16214","title":{"rendered":"\u0627\u0644\u0633\u0644\u0648\u0643 \u0627\u0644\u0646\u0634\u0637 \u0648\u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628 \u0644\u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a PWM"},"content":{"rendered":"\n<figure class=\"wp-block-image size-medium is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-142-700x437.png\" alt=\"\" class=\"wp-image-16215\" width=\"569\" height=\"355\" srcset=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-142-700x437.png 700w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-142-900x562.png 900w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-142-768x480.png 768w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-142.png 1053w\" sizes=\"(max-width: 569px) 100vw, 569px\" \/><\/figure>\n\n\n\n<p>\u062a\u0645 \u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u0645\u0642\u0648\u0651\u0645 \u062a\u0639\u062f\u064a\u0644 \u201c\u0639\u0631\u0636 \u0627\u0644\u0646\u0628\u0636\u0629\u201d (PWM) \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0623\u0637\u0648\u0627\u0631 \u0639\u0644\u0649 \u0646\u0637\u0627\u0642 \u0648\u0627\u0633\u0639 \u0641\u064a \u0627\u0644\u0639\u062f\u064a\u062f \u0645\u0646 \u0627\u0644\u062a\u0637\u0628\u064a\u0642\u0627\u062a \u0627\u0644\u0635\u0646\u0627\u0639\u064a\u0629\u060c \u0648\u0645\u0646 \u0623\u062c\u0644 \u0627\u0644\u062a\u062d\u0643\u0645 \u0627\u0644\u062a\u0642\u0644\u064a\u062f\u064a \u062b\u0646\u0627\u0626\u064a \u0627\u0644\u062d\u0644\u0642\u0629 (PI) \u0644\u0645\u0639\u062f\u0644 (PWM) \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0637\u0648\u0631 \u0644\u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a\u061b \u0641\u0625\u0646 \u062d\u0644\u0642\u0629 \u0627\u0644\u062c\u0647\u062f \u0648\u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 \u0644\u0647\u0627 \u0623\u062f\u0627\u0621 \u0636\u0639\u064a\u0641 \u0641\u064a \u0631\u0641\u0636 \u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628 \u0648\u0648\u0642\u062a \u0627\u0633\u062a\u062c\u0627\u0628\u0629 \u0637\u0648\u064a\u0644.<\/p>\n\n\n\n<p><strong>\u062a\u062d\u0644\u064a\u0644 \u0627\u0644\u0633\u0644\u0648\u0643 \u0627\u0644\u0646\u0634\u0637 \u0648\u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628 \u0644\u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a PWM<\/strong><\/p>\n\n\n\n<p>\u0643\u0645\u062d\u0648\u0644 \u0637\u0627\u0642\u0629 \u0639\u0627\u0644\u064a \u0627\u0644\u0643\u0641\u0627\u0621\u0629 \u0648\u0645\u0648\u062b\u0648\u0642\u061b \u0641\u0625\u0646 \u0645\u0639\u062f\u0644 \u062a\u0639\u062f\u064a\u0644 \u0639\u0631\u0636 \u0627\u0644\u0646\u0628\u0636 \u0644\u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0623\u0637\u0648\u0627\u0631 (PWM) \u0644\u0647 \u0645\u0632\u0627\u064a\u0627 \u062a\u0634\u063a\u064a\u0644 \u0639\u0627\u0645\u0644 \u0627\u0644\u0637\u0627\u0642\u0629 \u0648\u0627\u0644\u0645\u062d\u062a\u0648\u0649 \u0627\u0644\u062a\u0648\u0627\u0641\u0642\u064a \u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u062f\u062e\u0644 \u0627\u0644\u0645\u0646\u062e\u0641\u0636 \u0648\u0627\u0644\u062c\u0647\u062f \u0627\u0644\u062c\u0627\u0646\u0628\u064a (DC) \u0627\u0644\u0642\u0627\u0628\u0644 \u0644\u0644\u062a\u062d\u0643\u0645\u060c \u0643\u0630\u0644\u0643 \u0627\u0644\u062a\u062f\u0641\u0642 \u062b\u0646\u0627\u0626\u064a \u0627\u0644\u0627\u062a\u062c\u0627\u0647 \u0644\u0644\u0637\u0627\u0642\u0629\u060c \u0623\u064a\u0636\u0627\u064b \u0644\u0642\u062f \u0648\u062c\u062f \u0646\u062c\u0627\u062d\u0627\u064b \u0641\u064a \u0627\u0644\u0639\u062f\u064a\u062f \u0645\u0646 \u0627\u0644\u062a\u0637\u0628\u064a\u0642\u0627\u062a \u0641\u064a \u0645\u062c\u0627\u0644\u0627\u062a \u0645\u062e\u062a\u0644\u0641\u0629 \u0645\u062b\u0644 \u0627\u0644\u0637\u0627\u0642\u0629 \u0627\u0644\u0645\u062a\u062c\u062f\u062f\u0629 \u0648\u0646\u0642\u0644 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u0645\u0628\u0627\u0634\u0631 \u0639\u0627\u0644\u064a \u0627\u0644\u062c\u0647\u062f (HVDC) \u0648\u0645\u0631\u0634\u062d \u0627\u0644\u0637\u0627\u0642\u0629 \u0627\u0644\u0646\u0634\u0637 \u0648\u0645\u0627 \u0625\u0644\u0649 \u0630\u0644\u0643.<\/p>\n\n\n\n<p>\u0648\u0645\u0646 \u0623\u062c\u0644 \u062a\u062d\u0633\u064a\u0646 \u0623\u062f\u0627\u0621 \u0627\u0644\u062a\u062d\u0643\u0645\u060c \u063a\u0627\u0644\u0628\u0627\u064b \u0645\u0627 \u064a\u062a\u0628\u0646\u0649 \u0646\u0638\u0627\u0645 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u0645\u0642\u0648\u0645 (PWM) \u0647\u064a\u0643\u0644 \u062a\u062d\u0643\u0645 \u0645\u0632\u062f\u0648\u062c \u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u0645\u063a\u0644\u0642\u0629 \u064a\u062a\u0643\u0648\u0646 \u0645\u0646 \u062d\u0644\u0642\u0629 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u062e\u0627\u0631\u062c\u064a \u0648\u062d\u0644\u0642\u0629 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u062f\u0627\u062e\u0644\u064a\u060c \u0648\u0644\u0643\u0646 \u062a\u0635\u0645\u064a\u0645 \u0646\u0638\u0627\u0645 \u0627\u0644\u062a\u062d\u0643\u0645 \u063a\u0627\u0644\u0628\u0627\u064b \u0645\u0627 \u064a\u0631\u0643\u0632 \u0639\u0644\u0649 \u0627\u0644\u062c\u0632\u0621 \u0627\u0644\u062f\u0627\u062e\u0644\u064a\u060c \u0648\u0647\u064a \u0645\u0634\u0643\u0644\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629\u060c \u0641\u064a \u062d\u064a\u0646 \u0623\u0646 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u062d\u0644\u0642\u0629 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u062e\u0627\u0631\u062c\u064a \u0644\u0645 \u064a\u062c\u062a\u0630\u0628 \u0628\u0639\u062f \u0627\u0644\u0627\u0646\u062a\u0628\u0627\u0647 \u0627\u0644\u0643\u0627\u0641\u064a.<\/p>\n\n\n\n<p>\u0648\u0639\u0644\u0649 \u0627\u0644\u0631\u063a\u0645 \u0645\u0646 \u0623\u0646 \u0627\u0633\u062a\u0631\u0627\u062a\u064a\u062c\u064a\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a (PI)\u061b \u0641\u0642\u062f \u062a\u0645 \u062a\u0628\u0646\u064a\u0647\u0627 \u062f\u0627\u0626\u0645\u0627\u064b \u0641\u064a \u062d\u0627\u0644\u0629 \u0648\u062d\u062f\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0644\u0645\u0639\u062f\u0644 (PWM)\u061b \u0625\u0644\u0627 \u0623\u0646\u0647 \u0643\u0627\u0646 \u0645\u0646 \u0627\u0644\u0635\u0639\u0628 \u0641\u064a \u0627\u0644\u0648\u0627\u0642\u0639 \u0627\u0644\u0625\u0631\u0636\u0627\u0621 \u0628\u0627\u0633\u062a\u0631\u0627\u062a\u064a\u062c\u064a\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 (PI) \u0644\u0633\u0631\u0639\u0629 \u0627\u0644\u0627\u0633\u062a\u062c\u0627\u0628\u0629 \u0627\u0644\u062f\u064a\u0646\u0627\u0645\u064a\u0643\u064a\u0629 \u0627\u0644\u0628\u0637\u064a\u0626\u0629 \u0648\u062d\u0633\u0627\u0633\u064a\u0629 \u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628\u0627\u062a\u060c \u0644\u0630\u0644\u0643 \u062a\u0645 \u062f\u0641\u0639 \u0627\u0644\u0639\u062f\u064a\u062f \u0645\u0646 \u0627\u0633\u062a\u0631\u0627\u062a\u064a\u062c\u064a\u0627\u062a \u0627\u0644\u062a\u062d\u0643\u0645 \u0627\u0644\u062c\u062f\u064a\u062f\u0629 \u0645\u0646 \u0623\u062c\u0644 \u062a\u062d\u0642\u064a\u0642 \u0623\u062f\u0627\u0621 \u062f\u064a\u0646\u0627\u0645\u064a\u0643\u064a \u0639\u0627\u0644\u064a \u0648\u0631\u0641\u0636 \u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628\u0627\u062a \u0648\u0627\u0644\u0642\u0648\u0629 \u0627\u0644\u0642\u0648\u064a\u0629\u060c \u0648\u0647\u0630\u0647 \u0647\u064a \u0622\u0644\u064a\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u0627\u0644\u0646\u0645\u0648\u0630\u062c \u0627\u0644\u062f\u0627\u062e\u0644\u064a (IMC).<\/p>\n\n\n\n<p><strong>\u0622\u0644\u064a\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a \u0627\u0644\u062d\u0644\u0642\u064a \u0644\u0645\u0642\u0648\u0645 \u0627\u0644\u0640 (PWM)<\/strong><\/p>\n\n\n\n<p>\u062a\u0645 \u062a\u0637\u0628\u064a\u0642 (IMC) \u0639\u0644\u0649 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u201c\u062d\u0644\u0642\u0629 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u062f\u0627\u062e\u0644\u064a\u201d \u0644\u0645\u0642\u0648\u0645 (PWM)\u060c \u0643\u0645\u0627 \u0648\u062a\u0645 \u0627\u0633\u062a\u0628\u062f\u0627\u0644 \u0637\u0631\u064a\u0642\u0629 (PI) \u0627\u0644\u062a\u0642\u0644\u064a\u062f\u064a\u0629 \u0628\u0648\u062d\u062f\u0629 \u062a\u062d\u0643\u0645 \u0627\u0644\u0646\u0645\u0648\u0630\u062c \u0627\u0644\u062f\u0627\u062e\u0644\u064a\u060c \u0643\u0630\u0644\u0643 \u062a\u0645 \u0627\u0642\u062a\u0631\u0627\u062d \u062a\u0635\u0645\u064a\u0645 \u0648\u062d\u062f\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0628\u0646\u0627\u0621\u064b \u0639\u0644\u0649 (IMC) \u0627\u0644\u0645\u0637\u0628\u0642 \u0639\u0644\u0649 \u0639\u0627\u0643\u0633 (PWM) \u0623\u062d\u0627\u062f\u064a \u0627\u0644\u0637\u0648\u0631 \u0627\u0644\u0645\u062a\u0635\u0644 \u0628\u0627\u0644\u0634\u0628\u0643\u0629 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a\u0629\u060c \u0643\u0645\u0627 \u0648\u062a\u0645 \u062a\u0642\u062f\u064a\u0645 \u0648\u062d\u062f\u0629 \u062a\u062d\u0643\u0645 (1-DOF IMC) \u0648\u062a\u0645 \u062a\u062d\u0644\u064a\u0644 \u0641\u0635\u0644 \u062c\u0647\u062f \u0627\u0644\u0634\u0628\u0643\u0629 \u0639\u0646 \u0637\u0631\u064a\u0642 \u0625\u0633\u062a\u0631\u0627\u062a\u064a\u062c\u064a\u0629 \u0627\u0644\u062a\u063a\u0630\u064a\u0629 \u0627\u0644\u0623\u0645\u0627\u0645\u064a\u0629.<\/p>\n\n\n\n<p>\u0623\u064a\u0636\u0627\u064b (IMC) \u0627\u0644\u0645\u0639\u062a\u0645\u062f \u0644\u062f\u064a\u0647 \u0642\u062f\u0631\u0629 \u0642\u0648\u064a\u0629 \u0639\u0644\u0649 \u0645\u0642\u0627\u0648\u0645\u0629 \u0627\u0644\u062a\u062f\u0627\u062e\u0644\u060c \u0648\u0644\u0643\u0646 \u0639\u062f\u0645 \u0627\u0644\u064a\u0642\u064a\u0646 \u0641\u064a \u0627\u0644\u0646\u0645\u0648\u0630\u062c \u0642\u062f \u064a\u0624\u062f\u064a \u0625\u0644\u0649 \u0639\u062f\u0645 \u062a\u0637\u0627\u0628\u0642 \u0627\u0644\u0646\u0645\u0648\u0630\u062c\u060c \u0648\u0641\u064a\u0645\u0627 \u064a\u062a\u0639\u0644\u0642 \u0628\u0625\u0632\u0627\u0644\u0629 \u062e\u0637\u0623 \u0627\u0644\u0645\u062a\u062c\u0647 \u0627\u0644\u062d\u0627\u0644\u064a \u062a\u0645 \u0627\u0642\u062a\u0631\u0627\u062d \u0648\u062d\u062f\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u0627\u0644\u0639\u0644\u0627\u0642\u0627\u062a \u0627\u0644\u0639\u0627\u0645\u0629 \u0627\u0644\u0645\u062d\u0633\u0651\u0646\u0629 \u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u062f\u0627\u062e\u0644\u064a \u0628\u0637\u0631\u064a\u0642\u0629 \u0645\u0637\u0627\u0628\u0642\u0629 \u0627\u0644\u0642\u0637\u0628 \u0627\u0644\u0635\u0641\u0631\u064a \u0644\u062a\u0643\u0648\u064a\u0646 \u0648\u062d\u062f\u0629 \u0627\u0644\u062a\u062d\u0643\u0645\u060c \u0648\u0627\u0644\u062a\u064a \u062a\u062d\u0642\u0642 \u0627\u0644\u062a\u062d\u0643\u0645 \u0627\u0644\u062e\u0627\u0644\u064a \u0645\u0646 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0621 \u0641\u064a \u0627\u0644\u0625\u0634\u0627\u0631\u0629 \u0627\u0644\u062c\u064a\u0628\u064a\u0629 \u0648\u064a\u062d\u0633\u0646 \u0647\u064a\u0643\u0644 \u0627\u0644\u0646\u0638\u0627\u0645\u060c \u0648\u0645\u0639 \u0630\u0644\u0643\u061b \u0641\u0625\u0646 \u062a\u0635\u0645\u064a\u0645 \u0648\u062d\u062f\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0623\u0643\u062b\u0631 \u062a\u0639\u0642\u064a\u062f\u0627\u064b.<\/p>\n\n\n\n<p>\u0644\u0630\u0644\u0643 \u062a\u062d\u0633\u0628 \u0637\u0631\u064a\u0642\u0629 (MPC) \u0627\u0644\u0645\u0642\u062a\u0631\u062d\u0629 \u0644\u0645\u0639\u062f\u0644 (PWM) \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0623\u0637\u0648\u0627\u0631 \u0645\u062a\u062c\u0647 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u0623\u0645\u062b\u0644 \u0645\u0646 \u062e\u0644\u0627\u0644 \u062a\u062d\u0644\u064a\u0644 \u0627\u0644\u0639\u0644\u0627\u0642\u0629 \u0628\u064a\u0646 \u0627\u0644\u062a\u062f\u0641\u0642 \u0627\u0644\u0627\u0641\u062a\u0631\u0627\u0636\u064a \u0648\u0627\u0644\u0637\u0627\u0642\u0629 \u0627\u0644\u0646\u0634\u0637\u0629 \u0648\u062c\u0647\u062f \u0627\u0644\u0645\u062d\u0648\u0644 \u0648\u0645\u0639\u0644\u0645\u0627\u062a \u0627\u0644\u0645\u0631\u0634\u062d\u060c \u0643\u0645\u0627 \u0648\u062a\u062d\u0633\u0628 \u0627\u0644\u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0629 \u0627\u0644\u062a\u0646\u0628\u0624\u064a\u0629 \u0627\u0644\u0637\u0627\u0642\u0629 \u0627\u0644\u062e\u0637\u0623 \u0627\u0644\u062a\u064a \u0633\u062a\u0646\u062a\u062c \u0639\u0646 \u062a\u0637\u0628\u064a\u0642 \u0643\u0644 \u0645\u062a\u062c\u0647 \u0648\u0627\u062e\u062a\u064a\u0627\u0631 \u0627\u0644\u062e\u0637\u0623 \u0627\u0644\u0630\u064a \u064a\u0633\u0627\u0647\u0645 \u0641\u064a \u0627\u0644\u062d\u062f \u0627\u0644\u0623\u062f\u0646\u0649 \u0645\u0646 \u0627\u0644\u062e\u0637\u0623\u060c \u0645\u0645\u0627 \u064a\u062d\u0633\u0646 \u0623\u062f\u0627\u0621 \u0627\u0644\u0645\u0642\u0648\u0645\u060c \u0648\u0645\u0639 \u0630\u0644\u0643 \u064a\u0628\u0642\u0649 \u0645\u0646 \u0627\u0644\u0635\u0639\u0628 \u062a\u0644\u0628\u064a\u0629 \u0645\u062a\u0637\u0644\u0628\u0627\u062a \u0627\u0644\u0648\u0642\u062a \u0627\u0644\u0641\u0639\u0644\u064a \u0627\u0644\u0639\u0627\u0644\u064a\u0629 \u0628\u0627\u0644\u0646\u0638\u0631 \u0625\u0644\u0649 \u0627\u0644\u0639\u062f\u062f \u0627\u0644\u0643\u0628\u064a\u0631 \u0645\u0646 \u0627\u0644\u062d\u0633\u0627\u0628\u0627\u062a \u0627\u0644\u0645\u0639\u0642\u062f\u0629.<\/p>\n\n\n\n<p><strong>\u0627\u0644\u0646\u0645\u0648\u0630\u062c \u0627\u0644\u0631\u064a\u0627\u0636\u064a \u0644\u0645\u0639\u062f\u0644 \u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a PWM<\/strong><\/p>\n\n\n\n<p>\u064a\u0648\u0636\u062d \u0627\u0644\u0634\u0643\u0644 \u0627\u0644\u062a\u0627\u0644\u064a (1) \u062f\u0627\u0631\u0629 \u0645\u0642\u0648\u0645 (PWM) \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0623\u0637\u0648\u0627\u0631\u060c \u062d\u064a\u062b \u064a\u062a\u0635\u0644 \u0627\u0644\u0645\u0639\u062f\u0644 \u0628\u0627\u0644\u0634\u0628\u0643\u0629 \u0645\u0646 \u062e\u0644\u0627\u0644 \u0627\u0644\u0645\u062d\u0627\u062b\u0629 (L) \u0648\u0627\u0644\u0645\u0642\u0627\u0648\u0645\u0629 (R).<\/p>\n\n\n\n<figure class=\"wp-block-image size-medium is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-143-700x369.png\" alt=\"\" class=\"wp-image-16216\" width=\"539\" height=\"284\" srcset=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-143-700x369.png 700w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-143-900x474.png 900w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-143-768x405.png 768w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-143.png 1000w\" sizes=\"(max-width: 539px) 100vw, 539px\" \/><\/figure>\n\n\n\n<p>\u0643\u0645\u0627 \u064a\u0645\u0643\u0646 \u0627\u0644\u062d\u0635\u0648\u0644 \u0639\u0644\u0649 \u0627\u0644\u0646\u0645\u0648\u0630\u062c \u0627\u0644\u0631\u064a\u0627\u0636\u064a \u0644\u0645\u0642\u0648\u0645 (PWM) \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0623\u0637\u0648\u0627\u0631 \u0641\u064a \u0625\u0637\u0627\u0631 \u062b\u0627\u0628\u062a (a-b-c):<\/p>\n\n\n\n<figure class=\"wp-block-image size-medium is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-144-700x429.png\" alt=\"\" class=\"wp-image-16217\" width=\"359\" height=\"220\" srcset=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-144-700x429.png 700w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-144-900x552.png 900w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-144-768x471.png 768w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-144.png 961w\" sizes=\"(max-width: 359px) 100vw, 359px\" \/><\/figure>\n\n\n\n<p>\u062d\u064a\u062b \u0623\u0646:<\/p>\n\n\n\n<p>(ea \u060c eb \u060c ec): \u0627\u0644\u0641\u0648\u0644\u062a\u064a\u0629 \u062b\u0644\u0627\u062b\u064a\u0629 \u0627\u0644\u0637\u0648\u0631 \u0644\u0644\u0634\u0628\u0643\u0629 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a\u0629.<\/p>\n\n\n\n<p>(ia \u060c ib \u060c ic): \u0647\u064a \u062a\u064a\u0627\u0631\u0627\u062a \u062c\u0627\u0646\u0628\u064a\u0629 \u0644\u0644\u0634\u0628\u0643\u0629 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a\u0629.<\/p>\n\n\n\n<p>(L): \u062a\u0634\u064a\u0631 \u0625\u0644\u0649 \u062c\u0627\u0646\u0628 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u0645\u062a\u0631\u062f\u062f.<\/p>\n\n\n\n<p>(R): \u062a\u0634\u064a\u0631 \u0625\u0644\u0649 \u0627\u0644\u0645\u0642\u0627\u0648\u0645\u0629 \u0627\u0644\u062f\u0627\u062e\u0644\u064a\u0629 \u0627\u0644\u0645\u0643\u0627\u0641\u0626\u0629.<\/p>\n\n\n\n<p>(C): \u062a\u0634\u064a\u0631 \u0625\u0644\u0649 \u0645\u0643\u062b\u0641 \u0646\u0627\u0642\u0644 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u0645\u0633\u062a\u0645\u0631.<\/p>\n\n\n\n<p>(Udc): \u062a\u0634\u064a\u0631 \u0625\u0644\u0649 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u0645\u0633\u062a\u0645\u0631 \u062c\u0647\u062f \u0627\u0644\u0646\u0627\u0642\u0644.<\/p>\n\n\n\n<p>(iL): \u064a\u0634\u064a\u0631 \u0625\u0644\u0649 \u062a\u064a\u0627\u0631 \u0627\u0644\u062d\u0645\u0644 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a.<\/p>\n\n\n\n<p>(Sa \u060c Sb \u060c Sc): \u0647\u064a \u0648\u0638\u064a\u0641\u0629 \u0627\u0644\u062a\u0628\u062f\u064a\u0644 \u0639\u0644\u0649 \u0627\u0644\u062a\u0648\u0627\u0644\u064a.<\/p>\n\n\n\n<p>\u0643\u0645\u0627 \u0623\u0646 \u0627\u0644\u062c\u0647\u062f \u0648\u0627\u0644\u062a\u064a\u0627\u0631 \u0641\u064a \u0627\u0644\u0625\u0637\u0627\u0631 \u0627\u0644\u062b\u0627\u0628\u062a (a-b-c) \u0639\u0628\u0627\u0631\u0629 \u0639\u0646 \u0645\u0648\u062c\u0629 \u062c\u064a\u0628\u064a\u0629 \u0645\u062a\u063a\u064a\u0631\u0629 \u0628\u0645\u0631\u0648\u0631 \u0627\u0644\u0648\u0642\u062a\u060c \u0645\u0645\u0627 \u064a\u062c\u0639\u0644 \u0645\u0646 \u0627\u0644\u0635\u0639\u0628 \u062a\u062d\u0644\u064a\u0644\u0647\u0627\u060c \u0644\u0630\u0644\u0643 \u064a\u0645\u0643\u0646 \u0627\u0644\u062d\u0635\u0648\u0644 \u0639\u0644\u0649 \u0645\u062a\u063a\u064a\u0631\u0627\u062a \u0627\u0644\u0645\u062a\u062c\u0647\u0627\u062a \u0641\u064a \u0627\u0644\u0625\u0637\u0627\u0631 \u0627\u0644\u0645\u0631\u062c\u0639\u064a \u0627\u0644\u0645\u062a\u0632\u0627\u0645\u0646 \u0627\u0644\u0645\u062a\u0632\u0627\u0645\u0646 (d-q) \u0645\u0646 \u0627\u0644\u0625\u0637\u0627\u0631 \u0627\u0644\u062b\u0627\u0628\u062a (a-b-c) \u0639\u0646 \u0637\u0631\u064a\u0642 \u062a\u062d\u0648\u064a\u0644 (Clarke) \u0648 (Park)\u060c \u0648\u0627\u0644\u0630\u064a \u064a\u0645\u0643\u0646 \u0627\u0644\u062a\u0639\u0628\u064a\u0631 \u0639\u0646\u0647 \u0639\u0644\u0649 \u0627\u0644\u0646\u062d\u0648 \u0627\u0644\u062a\u0627\u0644\u064a:<\/p>\n\n\n\n<figure class=\"wp-block-image size-medium is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-145-700x417.png\" alt=\"\" class=\"wp-image-16218\" width=\"337\" height=\"201\" srcset=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-145-700x417.png 700w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-145-900x536.png 900w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-145-768x457.png 768w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-145.png 915w\" sizes=\"(max-width: 337px) 100vw, 337px\" \/><\/figure>\n\n\n\n<p>\u062d\u064a\u062b \u0623\u0646:<\/p>\n\n\n\n<p>(\u03c9): \u062a\u0634\u064a\u0631 \u0625\u0644\u0649 \u0627\u0644\u062a\u0631\u062f\u062f \u0627\u0644\u0632\u0627\u0648\u064a \u0644\u062c\u0647\u062f \u0627\u0644\u0634\u0628\u0643\u0629 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a\u0629.<\/p>\n\n\n\n<p>(urd \u060c urq): \u0647\u064a \u0645\u0643\u0648\u0646 (d \u060c q) \u0644\u0644\u062c\u0647\u062f \u0627\u0644\u062c\u0627\u0646\u0628\u064a (AC) \u0644\u0645\u0642\u0648\u0645 (PWM).<\/p>\n\n\n\n<p>(Sd \u060c Sq): \u0647\u064a \u0645\u0643\u0648\u0646\u0627\u062a (d \u060c q) \u0644\u0648\u0638\u064a\u0641\u0629 \u0627\u0644\u062a\u0628\u062f\u064a\u0644 (Sk \u060c ed \u060c eq) \u0647\u0645\u0627 (d \u060c q) \u0645\u0643\u0648\u0646 \u0645\u0646 \u062b\u0644\u0627\u062b \u0645\u0631\u0627\u062d\u0644 \u0644\u062c\u0647\u062f \u0627\u0644\u0634\u0628\u0643\u0629 \u0648\u0627\u0644\u0645\u0639\u0631\u0641 \u0648 (iq) \u0647\u0645\u0627 \u0645\u0643\u0648\u0646\u0627\u0646 (d \u0648 q) \u0644\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u062c\u0627\u0646\u0628\u064a \u0644\u0644\u0634\u0628\u0643\u0629 \u0639\u0644\u0649 \u0627\u0644\u062a\u0648\u0627\u0644\u064a\u060c \u0628\u062d\u064a\u062b \u064a\u0648\u0636\u062d \u0627\u0644\u0634\u0643\u0644 \u0627\u0644\u062a\u0627\u0644\u064a (2) \u0645\u062e\u0637\u0637 \u0647\u064a\u0643\u0644 \u0645\u0642\u0648\u0645 (PWM) \u0641\u064a \u0627\u0644\u0631\u062a\u0644 \u0627\u0644\u0645\u0631\u062c\u0639\u064a (d-q).<\/p>\n\n\n\n<figure class=\"wp-block-image size-medium is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-146-700x375.png\" alt=\"\" class=\"wp-image-16219\" width=\"496\" height=\"266\" srcset=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-146-700x375.png 700w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-146-900x482.png 900w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-146-768x411.png 768w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-146-310x165.png 310w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-146.png 1000w\" sizes=\"(max-width: 496px) 100vw, 496px\" \/><\/figure>\n\n\n\n<p><strong>\u0627\u0633\u062a\u0631\u0627\u062a\u064a\u062c\u064a\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0623\u0637\u0648\u0627\u0631 \u0644\u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f \u0644\u0645\u0639\u062f\u0644 PWM<\/strong><\/p>\n\n\n\n<p>\u0645\u0646 \u0623\u062c\u0644 \u062a\u062d\u0633\u064a\u0646 \u0623\u062f\u0627\u0621 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u0645\u0642\u0648\u0645 (PWM)\u061b \u0641\u0642\u062f \u062a\u0645 \u0627\u0642\u062a\u0631\u0627\u062d \u0645\u062e\u0637\u0637 \u062a\u062d\u0643\u0645 \u0644\u0640 (LADRC) \u0641\u064a \u0647\u0630\u0647 \u0627\u0644\u062f\u0631\u0627\u0633\u0629\u060c \u0628\u062d\u064a\u062b \u064a\u0639\u062a\u0645\u062f \u0645\u062e\u0637\u0637 (LADRC) \u0627\u0644\u0645\u0642\u062a\u0631\u062d \u0647\u064a\u0643\u0644 \u062a\u062d\u0643\u0645 \u0645\u0632\u062f\u0648\u062c \u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u0645\u063a\u0644\u0642\u0629 \u064a\u062a\u0643\u0648\u0646 \u0645\u0646 \u062d\u0644\u0642\u0629 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u062e\u0627\u0631\u062c\u064a \u0648\u062d\u0644\u0642\u0629 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u062f\u0627\u062e\u0644\u064a\u060c \u0643\u0630\u0644\u0643 \u064a\u062a\u0645 \u062a\u062d\u062f\u064a\u062f (id \u060c iq \u060c Udc) \u0643\u0645\u062a\u063a\u064a\u0631\u0627\u062a \u062d\u0627\u0644\u0629 \u0627\u0644\u0646\u0638\u0627\u0645 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a.<\/p>\n\n\n\n<p><strong>\u062a\u0635\u0645\u064a\u0645 \u0645\u062e\u0637\u0637 (LADRC: <\/strong>\u064a\u0638\u0647\u0631 \u0647\u064a\u0643\u0644 (ADRC) \u0641\u064a \u0627\u0644\u0634\u0643\u0644 \u0627\u0644\u062a\u0627\u0644\u064a (3)\u060c \u0643\u0645\u0627 \u0648\u064a\u062a\u0643\u0648\u0646 \u0628\u0634\u0643\u0644 \u0623\u0633\u0627\u0633\u064a \u0645\u0646 \u062b\u0644\u0627\u062b\u0629 \u0623\u062c\u0632\u0627\u0621 \u0648\u062a\u0636\u0645 \u0645\u0641\u0627\u0636\u0644\u0629 \u0627\u0644\u062a\u062a\u0628\u0639 (TD) \u0648\u0645\u0631\u0627\u0642\u0628 \u0627\u0644\u062d\u0627\u0644\u0629 \u0627\u0644\u0645\u0645\u062a\u062f\u0629 (ESO) \u0648\u0631\u062f\u0648\u062f \u0627\u0644\u0641\u0639\u0644 \u0639\u0644\u0649 \u062e\u0637\u0623 \u0627\u0644\u062d\u0627\u0644\u0629 \u063a\u064a\u0631 \u0627\u0644\u062e\u0637\u064a\u0629 (NLSEF)\u060c \u0643\u0645\u0627 \u064a\u062d\u0635\u0644 (ESO) \u0639\u0644\u0649 \u0627\u0644\u0642\u064a\u0645\u0629 \u0627\u0644\u0645\u0642\u062f\u0631\u0629 (z1 \u2212 zn) \u0644\u0645\u062a\u063a\u064a\u0631 \u062d\u0627\u0644\u0629 \u0627\u0644\u0646\u0638\u0627\u0645 \u0648\u0627\u0644\u0642\u064a\u0645\u0629 \u0627\u0644\u0645\u0642\u062f\u0631\u0629 (zn + 1) \u0644\u0644\u0627\u0636\u0637\u0631\u0627\u0628 \u0627\u0644\u0645\u062c\u0645\u0639.<\/p>\n\n\n\n<figure class=\"wp-block-image size-medium is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-147-700x233.png\" alt=\"\" class=\"wp-image-16220\" width=\"499\" height=\"166\" srcset=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-147-700x233.png 700w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-147-900x299.png 900w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-147-768x255.png 768w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-147.png 986w\" sizes=\"(max-width: 499px) 100vw, 499px\" \/><\/figure>\n\n\n\n<p><strong>\u062a\u0635\u0645\u064a\u0645 (LADRC) \u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062c\u0647\u062f \u0641\u064a \u0645\u0642\u0648\u0645 (PWM):<\/strong> \u0628\u064a\u0646\u0645\u0627 \u064a\u062a\u0645 \u0625\u0647\u0645\u0627\u0644 \u0641\u0642\u062f \u0645\u0641\u062a\u0627\u062d \u0645\u0642\u0648\u0645 (PWM)\u061b \u0641\u0625\u0646\u0647 \u064a\u062a\u0645 \u0645\u0648\u0627\u0632\u0646\u0629 \u0627\u0644\u0637\u0627\u0642\u0629 \u0627\u0644\u0646\u0634\u0637\u0629 \u0639\u0644\u0649 \u062c\u0627\u0646\u0628 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u0645\u062a\u0631\u062f\u062f (Pac) \u0645\u0639 \u0627\u0644\u0637\u0627\u0642\u0629 \u0627\u0644\u0646\u0634\u0637\u0629 \u0639\u0644\u0649 \u062c\u0627\u0646\u0628 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u0645\u0633\u062a\u0645\u0631 (Pdc) \u0648\u0627\u0644\u0639\u0644\u0627\u0642\u0629 \u0628\u064a\u0646 (Pac) \u0648 (Pdc) \u0647\u064a \u0627\u0644\u0645\u0633\u0627\u0648\u0627\u0629 \u0628\u0634\u0643\u0644 \u0639\u0627\u0645.<\/p>\n\n\n\n<p><strong>\u062a\u0635\u0645\u064a\u0645 (LADRC) \u0644\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 \u0644\u0645\u062d\u0648\u0631 (D) \u0641\u064a \u0645\u0642\u0648\u0645 (PWM):<\/strong> \u064a\u0645\u0643\u0646 \u0627\u0644\u0625\u0634\u0627\u0631\u0629 \u0625\u0644\u0649 \u0627\u0644\u0646\u0645\u0648\u0630\u062c \u0627\u0644\u0631\u064a\u0627\u0636\u064a \u0644\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 \u0644\u0644\u0645\u062d\u0648\u0631 (d) \u0628\u0627\u0644\u0645\u0639\u0627\u062f\u0644\u0629 \u0627\u0644\u062a\u0627\u0644\u064a\u0629:<\/p>\n\n\n\n<figure class=\"wp-block-image size-medium is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-148-700x450.png\" alt=\"\" class=\"wp-image-16221\" width=\"337\" height=\"217\" srcset=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-148-700x450.png 700w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-148-900x579.png 900w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-148-768x494.png 768w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-148.png 928w\" sizes=\"(max-width: 337px) 100vw, 337px\" \/><\/figure>\n\n\n\n<p><strong>\u062a\u0635\u0645\u064a\u0645 (LADRC) \u0644\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 (Q-Axis) \u0641\u064a \u0645\u0642\u0648\u0645 (PWM): <\/strong>\u064a\u0645\u0643\u0646 \u062a\u0645\u062b\u064a\u0644 \u0627\u0644\u0646\u0645\u0648\u0630\u062c \u0627\u0644\u0631\u064a\u0627\u0636\u064a \u0644\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 (q -axis) \u0639\u0644\u0649 \u0627\u0644\u0646\u062d\u0648 \u0627\u0644\u062a\u0627\u0644\u064a:<\/p>\n\n\n\n<figure class=\"wp-block-image size-medium is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-149-700x444.png\" alt=\"\" class=\"wp-image-16222\" width=\"350\" height=\"222\" srcset=\"https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-149-700x444.png 700w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-149-900x571.png 900w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-149-768x487.png 768w, https:\/\/Muhandes.Net\/wp-content\/uploads\/2024\/01\/image-149.png 950w\" sizes=\"(max-width: 350px) 100vw, 350px\" \/><\/figure>\n\n\n\n<p>\u0648\u0628\u0627\u0644\u0645\u062b\u0644\u060c \u064a\u0648\u062c\u062f \u062d\u062f \u0627\u0642\u062a\u0631\u0627\u0646 (id) \u0648\u0627\u0636\u0637\u0631\u0627\u0628 \u062e\u0627\u0631\u062c\u064a [(eq\u2212 Riq) \/ L] \u0641\u064a [w3 (t)]\u060c \u0644\u0630\u0644\u0643 \u062a\u0633\u062a\u062e\u062f\u0645 \u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 (q -axis) \u0623\u064a\u0636\u0627\u064b (LADRC)\u060c \u0648\u0627\u0644\u0630\u064a \u064a\u0634\u0628\u0647 \u0627\u0644\u062a\u0635\u0645\u064a\u0645 \u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 \u0644\u0644\u0645\u062d\u0648\u0631 (d).<\/p>\n\n\n\n<p>\u0648\u0623\u062e\u064a\u0631\u0627\u064b \u064a\u0642\u062a\u0631\u062d \u0647\u0630\u0627 \u0627\u0644\u0628\u062d\u062b \u0627\u0633\u062a\u0631\u0627\u062a\u064a\u062c\u064a\u0629 \u062a\u062d\u0643\u0645 \u062c\u062f\u064a\u062f\u0629 \u0644\u0645\u0639\u062f\u0644 (PWM) \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0623\u0637\u0648\u0627\u0631 \u0644\u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f\u060c \u0648\u0647\u0648 \u0639\u0628\u0627\u0631\u0629 \u0639\u0646 \u0647\u064a\u0643\u0644 \u0645\u062a\u0633\u0644\u0633\u0644 \u0645\u0632\u062f\u0648\u062c \u0627\u0644\u062d\u0644\u0642\u0629 \u0645\u063a\u0644\u0642 \u064a\u062a\u0643\u0648\u0646 \u0645\u0646 \u062d\u0644\u0642\u0629 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u062e\u0627\u0631\u062c\u064a \u0648\u062d\u0644\u0642\u0629 \u0627\u0644\u062a\u064a\u0627\u0631 \u0627\u0644\u062f\u0627\u062e\u0644\u064a\u060c \u0643\u0645\u0627 \u062a\u0645 \u062a\u0637\u0628\u064a\u0642 \u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0629 \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u0631\u0641\u0636 \u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628 \u0627\u0644\u062e\u0637\u064a \u0627\u0644\u0646\u0634\u0637 \u0639\u0644\u0649 \u062d\u0644\u0642\u0629 \u0627\u0644\u062c\u0647\u062f \u0648\u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 \u0645\u0639 \u0627\u0644\u0623\u062e\u0630 \u0641\u064a \u0627\u0644\u0627\u0639\u062a\u0628\u0627\u0631 \u0623\u062f\u0627\u0621 \u0627\u0644\u062a\u062a\u0628\u0639 \u0627\u0644\u062f\u064a\u0646\u0627\u0645\u064a\u0643\u064a \u0627\u0644\u0623\u0641\u0636\u0644 \u0648\u0631\u0641\u0636 \u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628 \u0648\u0642\u0648\u0629 \u0623\u0642\u0648\u0649.<\/p>\n\n\n\n<p>\u0643\u0630\u0644\u0643 \u062a\u0633\u062a\u062e\u062f\u0645 \u0627\u0644\u0627\u0633\u062a\u0631\u0627\u062a\u064a\u062c\u064a\u0629 \u0627\u0644\u0645\u0642\u062a\u0631\u062d\u0629 (LESO \u060cLSEF)\u060c \u0648\u0627\u0644\u062a\u064a \u062a\u062d\u062a\u0627\u062c \u0625\u0644\u0649 \u0648\u0638\u0627\u0626\u0641 \u063a\u064a\u0631 \u062e\u0637\u064a\u0629 \u0623\u0642\u0644 \u0645\u0646 (ADRC)\u060c \u0628\u062d\u064a\u062b \u062a\u0645 \u0625\u062c\u0631\u0627\u0621 \u0645\u062d\u0627\u0643\u0627\u0629 \u0648\u062a\u062c\u0631\u0628\u0629 \u0645\u0642\u0627\u0631\u0646\u0629 \u0645\u0639 \u062a\u062d\u0643\u0645 (PI) \u0627\u0644\u062a\u0642\u0644\u064a\u062f\u064a \u0648 (ADRC) \u0648\u0627\u0644\u062a\u062d\u0643\u0645 (LADRC) \u0627\u0644\u0645\u0642\u062a\u0631\u062d\u060c \u0643\u0645\u0627 \u0648\u062a\u062d\u0642\u0642 \u0627\u0644\u0646\u062a\u0627\u0626\u062c \u0627\u0644\u062a\u064a \u062a\u0645 \u0627\u0644\u062d\u0635\u0648\u0644 \u0639\u0644\u064a\u0647\u0627 \u0645\u0646 \u0635\u062d\u0629 \u0623\u062f\u0627\u0621 \u0627\u0644\u062d\u0627\u0644\u0629 \u0627\u0644\u0645\u0633\u062a\u0642\u0631\u0629 \u0627\u0644\u0645\u0631\u0636\u064a \u0648\u0627\u0644\u0627\u0633\u062a\u062c\u0627\u0628\u0627\u062a \u0627\u0644\u062f\u064a\u0646\u0627\u0645\u064a\u0643\u064a\u0629 \u0627\u0644\u0633\u0631\u064a\u0639\u0629 \u0645\u0646 \u062e\u0644\u0627\u0644 \u0627\u0644\u062a\u062d\u0643\u0645 (LADRC) \u0627\u0644\u0645\u0642\u062a\u0631\u062d.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u062a\u0645 \u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u0645\u0642\u0648\u0651\u0645 \u062a\u0639\u062f\u064a\u0644 \u201c\u0639\u0631\u0636 \u0627\u0644\u0646\u0628\u0636\u0629\u201d (PWM) \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0623\u0637\u0648\u0627\u0631 \u0639\u0644\u0649 \u0646\u0637\u0627\u0642 \u0648\u0627\u0633\u0639 \u0641\u064a \u0627\u0644\u0639\u062f\u064a\u062f \u0645\u0646 \u0627\u0644\u062a\u0637\u0628\u064a\u0642\u0627\u062a \u0627\u0644\u0635\u0646\u0627\u0639\u064a\u0629\u060c \u0648\u0645\u0646 \u0623\u062c\u0644 \u0627\u0644\u062a\u062d\u0643\u0645 \u0627\u0644\u062a\u0642\u0644\u064a\u062f\u064a \u062b\u0646\u0627\u0626\u064a \u0627\u0644\u062d\u0644\u0642\u0629 (PI) \u0644\u0645\u0639\u062f\u0644 (PWM) \u062b\u0644\u0627\u062b\u064a \u0627\u0644\u0637\u0648\u0631 \u0644\u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a\u061b \u0641\u0625\u0646 \u062d\u0644\u0642\u0629 \u0627\u0644\u062c\u0647\u062f \u0648\u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u062d\u0627\u0644\u064a\u0629 \u0644\u0647\u0627 \u0623\u062f\u0627\u0621 \u0636\u0639\u064a\u0641 \u0641\u064a \u0631\u0641\u0636 \u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628 \u0648\u0648\u0642\u062a \u0627\u0633\u062a\u062c\u0627\u0628\u0629 \u0637\u0648\u064a\u0644. \u062a\u062d\u0644\u064a\u0644 \u0627\u0644\u0633\u0644\u0648\u0643 \u0627\u0644\u0646\u0634\u0637 \u0648\u0627\u0644\u0627\u0636\u0637\u0631\u0627\u0628 \u0644\u0645\u0635\u062f\u0631 \u0627\u0644\u062c\u0647\u062f \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a PWM \u0643\u0645\u062d\u0648\u0644 \u0637\u0627\u0642\u0629 &hellip;<\/p>\n","protected":false},"author":1,"featured_media":16215,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[47],"tags":[],"class_list":["post-16214","post","type-post","status-publish","format-standard","has-post-thumbnail","","category-47"],"_links":{"self":[{"href":"https:\/\/Muhandes.Net\/index.php?rest_route=\/wp\/v2\/posts\/16214"}],"collection":[{"href":"https:\/\/Muhandes.Net\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/Muhandes.Net\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/Muhandes.Net\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/Muhandes.Net\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=16214"}],"version-history":[{"count":1,"href":"https:\/\/Muhandes.Net\/index.php?rest_route=\/wp\/v2\/posts\/16214\/revisions"}],"predecessor-version":[{"id":16223,"href":"https:\/\/Muhandes.Net\/index.php?rest_route=\/wp\/v2\/posts\/16214\/revisions\/16223"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/Muhandes.Net\/index.php?rest_route=\/wp\/v2\/media\/16215"}],"wp:attachment":[{"href":"https:\/\/Muhandes.Net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=16214"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/Muhandes.Net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=16214"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/Muhandes.Net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=16214"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}