{"id":83942,"date":"2020-06-04T07:42:41","date_gmt":"2020-06-04T05:42:41","guid":{"rendered":"https:\/\/prohoster.info\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami"},"modified":"2020-06-04T07:42:41","modified_gmt":"2020-06-04T05:42:41","slug":"vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami","status":"publish","type":"post","link":"https:\/\/prohoster.info\/sq\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami","title":{"rendered":"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike","gt_translate_keys":[{"key":"rendered","format":"text"}]},"content":{"rendered":"<p>Po publikoj kapitullin e par\u00eb t\u00eb leksioneve mbi teorin\u00eb e kontrollit automatik, pas t\u00eb cilave jeta juaj nuk do t\u00eb jet\u00eb m\u00eb kurr\u00eb si m\u00eb par\u00eb. <\/p>\n<p><\/p>\n<p>Leksionet e kursit \u00abKontrolli i Sistemeve Teknike\u00bb mbahen nga Oleg Stepanovi\u00e7 Kozlov n\u00eb katedr\u00ebn \u00abReaktor\u00ebt b\u00ebrthamor\u00eb dhe impiantet energjetike\u00bb t\u00eb fakultetit \u00abInxhinieria e makinerive energjetike\u00bb t\u00eb MGTU-s\u00eb me emrin N.E. Bauman. P\u00ebr k\u00ebt\u00eb i takon nj\u00eb fal\u00ebnderim i madh. <\/p>\n<p><\/p>\n<p>K\u00ebto leksione jan\u00eb ende n\u00eb p\u00ebrgatitje p\u00ebr botim n\u00eb form\u00eb libri, dhe duke qen\u00eb se k\u00ebtu ka specialist\u00eb t\u00eb TAU, student\u00eb dhe thjesht t\u00eb interesuar p\u00ebr k\u00ebt\u00eb fush\u00eb, \u00e7do kritik\u00eb \u00ebsht\u00eb e mir\u00ebpritur. <\/p>\n<p>\n<img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/51ec35e261067ae210b961e3a4259d87.jpg\" style=\"display:block;margin: 0 auto;\" \/><noindex><a rel=\"nofollow\" name=\"habracut\"><\/a><\/noindex><\/p>\n<h1>1. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike<\/h1>\n<p><\/p>\n<h2>1.1. Q\u00ebllimet, parimet e kontrollit, llojet e sistemeve t\u00eb kontrollit, p\u00ebrkufizimet baz\u00eb, shembuj<\/h2>\n<p><\/p>\n<p>Zhvillimi dhe p\u00ebrmir\u00ebsimi i prodhimit industrial (energjis\u00eb, transportit, nd\u00ebrtimit t\u00eb makinerive, teknologjis\u00eb hap\u00ebsinore etj.) k\u00ebrkon rritje t\u00eb vazhdueshme t\u00eb produktivitetit t\u00eb makinave dhe agregateve, p\u00ebrmir\u00ebsim t\u00eb cil\u00ebsis\u00eb s\u00eb produkteve, ulje t\u00eb kostos dhe, ve\u00e7an\u00ebrisht n\u00eb energjetik\u00ebn b\u00ebrthamore, rritje t\u00eb ndjeshme t\u00eb siguris\u00eb s\u00eb funksionimit t\u00eb centraleve b\u00ebrthamore dhe instalimeve b\u00ebrthamore (siguria b\u00ebrthamore, rrezatimore etj.).<\/p>\n<p><\/p>\n<p>Realizimi i k\u00ebtyre objektivave \u00ebsht\u00eb i pamundur pa zbatimin e sistemeve moderne t\u00eb kontrollit, duke p\u00ebrfshir\u00eb si sistemet e automatizuara (me pjes\u00ebmarrjen e operatorit njer\u00ebzor), ashtu edhe sistemet automatike t\u00eb kontrollit (pa pjes\u00ebmarrjen e operatorit njer\u00ebzor) (SU).<\/p>\n<p><\/p>\n<p><b>P\u00ebrkufizim: <\/b><i>Kontrolli \u00ebsht\u00eb nj\u00eb organizim i till\u00eb i nj\u00eb procesi teknologjik t\u00eb caktuar, q\u00eb siguron arritjen e q\u00ebllimit t\u00eb vendosur.<\/i><\/p>\n<p><\/p>\n<p><i>Teoria e kontrollit<\/i> \u00ebsht\u00eb nj\u00eb deg\u00eb e shkenc\u00ebs dhe teknik\u00ebs moderne. Ajo mb\u00ebshtetet si n\u00eb disiplinat themelore (t\u00eb p\u00ebrgjithshme shkencore) (p\u00ebr shembull, matematika, fizika, kimia etj.), ashtu edhe n\u00eb disiplinat e aplikuara (elektronika, teknika e mikroprocesor\u00ebve, programimi etj.).<\/p>\n<p><\/p>\n<p>\u00c7do proces kontrolli (automatik) p\u00ebrb\u00ebhet nga fazat (elementet) kryesore t\u00eb m\u00ebposhtme:<\/p>\n<p><\/p>\n<ul>\n<li> marrja e informacionit p\u00ebr detyr\u00ebn e kontrollit;<\/li>\n<li> marrja e informacionit p\u00ebr rezultatin e kontrollit;<\/li>\n<li> analiza e informacionit t\u00eb marr\u00eb;<\/li>\n<li> zbatimi i vendimit (veprimi mbi objektin e kontrollit). <\/li>\n<\/ul>\n<p><\/p>\n<p>P\u00ebr realizimin e Procesit t\u00eb Kontrollit, sistemi i kontrollit (SU) duhet t\u00eb ket\u00eb:<\/p>\n<p><\/p>\n<ul>\n<li> burimet e informacionit p\u00ebr detyr\u00ebn e kontrollit;<\/li>\n<li> burimet e informacionit p\u00ebr rezultatet e kontrollit (sensor\u00eb t\u00eb ndrysh\u00ebm, pajisje mat\u00ebse, detektor\u00eb etj.);<\/li>\n<li> pajisje p\u00ebr analizimin e informacionit t\u00eb marr\u00eb dhe marrjen e vendimit;<\/li>\n<li> pajisje ekzekutive q\u00eb veprojn\u00eb mbi Objektin e Kontrollit, duke p\u00ebrfshir\u00eb: rregullatorin, motor\u00ebt, pajisjet p\u00ebrforcuese-shnd\u00ebrruese etj.<\/li>\n<\/ul>\n<p><\/p>\n<p><b>P\u00ebrkufizim:<\/b><i> N\u00ebse sistemi i kontrollit (SK) p\u00ebrmban t\u00eb gjitha pjes\u00ebt e listuara m\u00eb sip\u00ebr, at\u00ebher\u00eb ai \u00ebsht\u00eb i mbyllur.<\/i><\/p>\n<p><\/p>\n<p><b>P\u00ebrkufizim:<\/b> <i>Kontrolli i nj\u00eb objekti teknik duke p\u00ebrdorur informacionin p\u00ebr rezultatet e kontrollit quhet parimi i lidhjes s\u00eb kund\u00ebrt.<\/i><\/p>\n<p><\/p>\n<p>Skematikisht, nj\u00eb sistem i till\u00eb kontrolli mund t\u00eb paraqitet n\u00eb form\u00ebn e m\u00ebposhtme:<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/8c48f4621773bbe8620934de7b1c2e16.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.1.1 \u2014 Struktura e sistemit t\u00eb kontrollit (SK) <\/i><\/p>\n<p><\/p>\n<p> N\u00ebse sistemi i kontrollit (SK) ka nj\u00eb skem\u00eb strukturore, pamja e s\u00eb cil\u00ebs p\u00ebrputhet me fig. 1.1.1, dhe funksionon (punon) pa pjes\u00ebmarrjen e njeriut (operatorit), at\u00ebher\u00eb ai quhet <u>sistem i kontrollit automatik (SKA)<\/u>.<\/p>\n<p><\/p>\n<p> N\u00ebse SK funksionon me pjes\u00ebmarrjen e njeriut (operatorit), at\u00ebher\u00eb ai quhet <u>SK i automatizuar<\/u>.<\/p>\n<p><\/p>\n<p> N\u00ebse kontrolli siguron ligjin e caktuar t\u00eb ndryshimit t\u00eb objektit n\u00eb koh\u00eb, pavar\u00ebsisht nga rezultatet e kontrollit, at\u00ebher\u00eb nj\u00eb kontroll i till\u00eb kryhet me cik\u00ebl t\u00eb hapur, nd\u00ebrsa vet\u00eb kontrolli quhet <u>kontroll programor<\/u>.<\/p>\n<p><\/p>\n<p> Sistemeve q\u00eb punojn\u00eb me cik\u00ebl t\u00eb hapur u p\u00ebrkasin automatet industriale (linjat e konvejerit, linjat rrotulluese etj.), makinat me komand\u00eb numerike kompjuterike (CNC): shih shembullin n\u00eb fig. 1.1.2.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/20c14fed7423b8be82da94b8e0eceae7.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig.1.1.2 \u2014 Shembull i kontrollit programor<\/i><\/p>\n<p><\/p>\n<p>Pajisja komanduese mund t\u00eb jet\u00eb, p\u00ebr shembull, edhe nj\u00eb \u201ckopjues\u201d.<\/p>\n<p><\/p>\n<p>Meqen\u00ebse n\u00eb k\u00ebt\u00eb shembull nuk ka sensor\u00eb (mat\u00ebs) q\u00eb kontrollojn\u00eb pjes\u00ebn q\u00eb prodhohet, at\u00ebher\u00eb n\u00ebse, p\u00ebr shembull, vegla prer\u00ebse \u00ebsht\u00eb vendosur gabim ose \u00ebsht\u00eb thyer, q\u00ebllimi i vendosur (prodhimi i pjes\u00ebs) nuk mund t\u00eb arrihet (realizohet). Zakonisht, n\u00eb sisteme t\u00eb k\u00ebtij tipi nevojitet kontrolli n\u00eb dalje, i cili vet\u00ebm do t\u00eb konstatoj\u00eb devijimin e p\u00ebrmasave dhe form\u00ebs s\u00eb pjes\u00ebs nga ato t\u00eb d\u00ebshiruara.<\/p>\n<p><\/p>\n<p> Sistemet automatike t\u00eb kontrollit ndahen n\u00eb 3 lloje: <\/p>\n<p><\/p>\n<ul>\n<li> sisteme t\u00eb kontrollit automatik (SKA); <\/li>\n<li> sisteme t\u00eb rregullimit automatik (SRA);<\/li>\n<li> sisteme ndjek\u00ebse (SN). <\/li>\n<\/ul>\n<p><\/p>\n<p>SRA dhe SN jan\u00eb n\u00ebnkategori t\u00eb SKA ==&gt; <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/21f340c84febe0f6ab25cc5c9256dfb1.jpg\" style=\"display:block;margin: 0 auto;\" \/>.<\/p>\n<p><\/p>\n<p>P\u00ebrkufizim: Nj\u00eb sistem automatik kontrolli q\u00eb siguron ruajtjen e nj\u00eb madh\u00ebsie fizike t\u00eb caktuar (ose nj\u00eb grupi madh\u00ebsish) n\u00eb objektin e kontrollit quhet sistem i rregullimit automatik (SAR).<\/p>\n<p><\/p>\n<p> Sistemet e rregullimit automatik (SAR) jan\u00eb lloji m\u00eb i p\u00ebrhapur i sistemeve t\u00eb kontrollit automatik.<\/p>\n<p><\/p>\n<p> Rregullatori i par\u00eb automatik n\u00eb bot\u00eb (shekulli XVIII) ishte rregullatori i Watt-it. Kjo skem\u00eb (shih fig. 1.1.3) u zbatua nga Watt n\u00eb Angli p\u00ebr t\u00eb ruajtur shpejt\u00ebsin\u00eb konstante t\u00eb rrotullimit t\u00eb rrot\u00ebs s\u00eb makin\u00ebs me avull dhe, p\u00ebr rrjedhoj\u00eb, p\u00ebr t\u00eb mbajtur t\u00eb pandryshuar shpejt\u00ebsin\u00eb e rrotullimit (l\u00ebvizjes) s\u00eb rrotull\u00ebs (rripit) t\u00eb transmisionit.<\/p>\n<p><\/p>\n<p> N\u00eb k\u00ebt\u00eb skem\u00eb <i>elementet e ndjeshme<\/i> (sensor\u00ebt mat\u00ebs) jan\u00eb \u201cpeshat\u201d (sferat). \u201cPeshat\u201d (sferat) gjithashtu \u201cb\u00ebjn\u00eb\u201d q\u00eb t\u00eb l\u00ebviz\u00eb leva dhe m\u00eb pas valvula. Prandaj, ky sistem mund t\u00eb klasifikohet si sistem i rregullimit t\u00eb drejtp\u00ebrdrejt\u00eb, nd\u00ebrsa rregullatori si <u>rregullator me veprim t\u00eb drejtp\u00ebrdrejt\u00eb<\/u>, pasi ai nj\u00ebkoh\u00ebsisht kryen funksionet e \u201cmat\u00ebsit\u201d dhe t\u00eb \u201crregullatorit\u201d. <\/p>\n<p>\nN\u00eb rregullator\u00ebt me veprim t\u00eb drejtp\u00ebrdrejt\u00eb <i>burim shtes\u00eb<\/i> energjie p\u00ebr t\u00eb l\u00ebvizur organin rregullues nuk k\u00ebrkohet. <\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/95d2c1901c2cc5e962a5c5c23643f155.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.1.3 \u2014 Skema e rregullatorit automatik t\u00eb Watt-it<\/i><\/p>\n<p>N\u00eb sistemet e rregullimit jo t\u00eb drejtp\u00ebrdrejt\u00eb \u00ebsht\u00eb i nevojsh\u00ebm prania e nj\u00eb p\u00ebrforcuesi (p\u00ebr shembull, fuqie), si edhe e nj\u00eb mekanizmi shtes\u00eb ekzekutiv q\u00eb p\u00ebrmban, p\u00ebr shembull, motor elektrik, servomotor, transmetim hidraulik etj.<\/p>\n<p><\/p>\n<p> Si shembull i SAU (sistemit t\u00eb kontrollit automatik), n\u00eb kuptimin e plot\u00eb t\u00eb k\u00ebtij p\u00ebrkufizimi, mund t\u00eb sh\u00ebrbej\u00eb nj\u00eb sistem kontrolli q\u00eb siguron vendosjen e raket\u00ebs n\u00eb orbit\u00eb, ku madh\u00ebsia e kontrolluar mund t\u00eb jet\u00eb, p\u00ebr shembull, k\u00ebndi nd\u00ebrmjet boshtit t\u00eb raket\u00ebs dhe normales ndaj Tok\u00ebs ==&gt; shih fig. 1.1.4.a dhe fig. 1.1.4.b <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/e524a79caac45ea0e624938463f7b48e.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.1.4 (a)<\/i><br \/>\n<img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/a1f4ec58f29971dc866627f3cd5f8f44.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.1.4 (b)<\/i><\/p>\n<p><\/p>\n<h2>1.2. Struktura e sistemeve t\u00eb kontrollit: sisteme t\u00eb thjeshta dhe shum\u00ebdimensionale<\/h2>\n<p><\/p>\n<p>N\u00eb teorin\u00eb e Kontrollit t\u00eb Sistemeve Teknike, \u00e7do sistem zakonisht ndahet n\u00eb nj\u00eb grup hallkash t\u00eb lidhura n\u00eb struktura rrjetore. N\u00eb rastin m\u00eb t\u00eb thjesht\u00eb, sistemi p\u00ebrmban nj\u00eb hallk\u00eb t\u00eb vetme, n\u00eb hyrjen e s\u00eb cil\u00ebs jepet veprimi hyr\u00ebs (hyrja), nd\u00ebrsa n\u00eb dalje merret p\u00ebrgjigjja e sistemit (dalja).<\/p>\n<p><\/p>\n<p>N\u00eb teorin\u00eb e Kontrollit t\u00eb Sistemeve Teknike p\u00ebrdoren 2 m\u00ebnyra kryesore p\u00ebr paraqitjen e hallkave t\u00eb sistemeve t\u00eb kontrollit:<\/p>\n<p><\/p>\n<p> \u2014 n\u00eb variablat \u201chyrje-dalje\u201d;<\/p>\n<p><\/p>\n<p> \u2014 n\u00eb variablat e gjendjes (p\u00ebr m\u00eb shum\u00eb holl\u00ebsi, shihni seksionet 6\u20267). <\/p>\n<p><\/p>\n<p>Paraqitja me variablat \u201chyrje-dalje\u201d zakonisht p\u00ebrdoret p\u00ebr t\u00eb p\u00ebrshkruar sisteme relativisht t\u00eb thjeshta, q\u00eb kan\u00eb nj\u00eb \u201chyrje\u201d (nj\u00eb veprim komandues) dhe nj\u00eb \u201cdalje\u201d (nj\u00eb madh\u00ebsi t\u00eb rregulluar, shih figur\u00ebn 1.2.1).<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/5771bf37f683d56890681a739ec80416.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.2.1 \u2013 Paraqitje skematike e nj\u00eb sistemi t\u00eb thjesht\u00eb t\u00eb kontrollit<\/i><\/p>\n<p><\/p>\n<p>Zakonisht, ky p\u00ebrshkrim p\u00ebrdoret p\u00ebr SAU teknikisht jo shum\u00eb t\u00eb nd\u00ebrlikuara (sisteme t\u00eb kontrollit automatik).<\/p>\n<p><\/p>\n<p>Koh\u00ebt e fundit, paraqitja me variablat e gjendjes po p\u00ebrdoret gjer\u00ebsisht, ve\u00e7an\u00ebrisht p\u00ebr sistemet teknikisht t\u00eb nd\u00ebrlikuara, p\u00ebrfshir\u00eb edhe SAU shum\u00ebdimensionale. N\u00eb fig. 1.2.2 paraqitet skema e nj\u00eb sistemi shum\u00ebdimensional t\u00eb kontrollit automatik, ku <b><i>u1(t)\u2026um(t)<\/i><\/b> \u2014 veprimet komanduese (vektori i kontrollit), <i><b>y1(t)\u2026yp(t)<\/b><\/i> \u2014 parametrat e rregulluar t\u00eb SAU (vektori i daljes). <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/d0025fbc783222e6f87a5a9f56945785.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.2.2 \u2014 Paraqitje skematike e nj\u00eb sistemi shum\u00ebdimensional t\u00eb kontrollit<\/i><\/p>\n<p>Le t\u00eb shqyrtojm\u00eb m\u00eb n\u00eb holl\u00ebsi struktur\u00ebn e SAU, t\u00eb paraqitur me variablat \u201chyrje-dalje\u201d dhe me nj\u00eb hyrje (veprim hyr\u00ebs, referues ose komandues) dhe nj\u00eb dalje (veprim dal\u00ebs ose variab\u00ebl e kontrolluar (ose e rregulluar)).<\/p>\n<p><\/p>\n<p>T\u00eb supozojm\u00eb se skema strukturore e nj\u00eb SAU t\u00eb till\u00eb p\u00ebrb\u00ebhet nga nj\u00eb num\u00ebr i caktuar elementesh (hallkash). Duke i grupuar hallkat sipas parimit funksional (\u00e7far\u00eb b\u00ebjn\u00eb hallkat), skema strukturore e SAU mund t\u00eb sillet n\u00eb k\u00ebt\u00eb form\u00eb tipike: <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/21b4fe1c08c1a168d1d68c0f47c3c186.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.2.3 \u2014 Skema strukturore e sistemit t\u00eb kontrollit automatik<\/i><\/p>\n<p><\/p>\n<p>Me simbolin <b><i>\u03b5(t)<\/i><\/b> ose me variabl\u00ebn<b> <i>\u03b5(t)<\/i><\/b> sh\u00ebnohet mosp\u00ebrputhja (gabimi) n\u00eb daljen e pajisjes krahasuese, e cila mund t\u00eb \u201cpunoj\u00eb\u201d si n\u00eb regjimin e veprimeve t\u00eb thjeshta krahasuese aritmetike (m\u00eb shpesh zbritje, m\u00eb rrall\u00eb mbledhje), ashtu edhe n\u00eb regjimin e veprimeve (procedurave) krahasuese m\u00eb t\u00eb nd\u00ebrlikuara.<\/p>\n<p><\/p>\n<p>Meqen\u00ebse<i> <b>y1(t) = y(t)*k1<\/b><\/i>index <i><b>k1<\/b><\/i> \u2014 koeficienti i p\u00ebrforcimit, at\u00ebher\u00eb ==&gt; <br \/>\n<b><i>\u03b5(t) = x(t) \u2014 y1(t) = x(t) \u2014 k1*y(t)<\/i><\/b><\/p>\n<p><\/p>\n<p>Detyra e sistemit t\u00eb kontrollit \u00ebsht\u00eb (n\u00ebse ai \u00ebsht\u00eb i q\u00ebndruesh\u00ebm) t\u00eb \u201cpunoj\u00eb\u201d p\u00ebr eliminimin e mosp\u00ebrputhjes (gabimit) <b><i>\u03b5(t)<\/i><\/b>, dometh\u00ebn\u00eb ==&gt;<b> <i>\u03b5(t) \u2192 0<\/i><\/b>.<\/p>\n<p><\/p>\n<p>Duhet theksuar se mbi sistemin e kontrollit veprojn\u00eb si ndikime t\u00eb jashtme (komandues, shqet\u00ebsues, nd\u00ebrhyrje), ashtu edhe nd\u00ebrhyrje t\u00eb brendshme. Nd\u00ebrhyrja dallohet nga ndikimi p\u00ebr shkak t\u00eb natyr\u00ebs stokastike (rast\u00ebsore) t\u00eb ekzistenc\u00ebs s\u00eb saj, nd\u00ebrsa ndikimi pothuajse gjithmon\u00eb \u00ebsht\u00eb i determinuar.<\/p>\n<p><\/p>\n<p>P\u00ebr t\u00eb sh\u00ebnuar sinjalin komandues (sinjalin referenc\u00eb) do t\u00eb p\u00ebrdorim ose<i><b> x(t)<\/b><\/i>, ose <i><b>u(t)<\/b><\/i>.<\/p>\n<p><\/p>\n<h2>1.3. Ligjet themelore t\u00eb kontrollit<\/h2>\n<p><\/p>\n<p>N\u00ebse kthehemi te figura e fundit (skema strukturore e SAU n\u00eb fig. 1.2.3), at\u00ebher\u00eb \u00ebsht\u00eb e nevojshme t\u00eb \u201cshpjegohet\u201d roli q\u00eb luan pajisja p\u00ebrforcuese-shnd\u00ebrruese (\u00e7far\u00eb funksionesh kryen ajo).<\/p>\n<p><\/p>\n<p>N\u00ebse pajisja p\u00ebrforcuese-shnd\u00ebrruese (UPU) kryen vet\u00ebm p\u00ebrforcimin (ose dob\u00ebsimin) e sinjalit t\u00eb mosp\u00ebrputhjes \u03b5(t), p\u00ebrkat\u00ebsisht: <b><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/0c09aa2ad2d14cb6d2f5666e33441afa.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/b>index <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/be9dd549e8715f43c40c581217f29e3b.jpg\" style=\"display:block;margin: 0 auto;\" \/>\u2013 koeficienti i proporcionalitetit (n\u00eb rastin e ve\u00e7ant\u00eb <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/e16fccbb0217b69120081cd963525f6e.jpg\" style=\"display:block;margin: 0 auto;\" \/> = Const), at\u00ebher\u00eb ky regjim i kontrollit t\u00eb SAU t\u00eb mbyllur quhet regjim i <u>kontrollit proporcional <\/u>(P-kontroll).<\/p>\n<p><\/p>\n<p>N\u00ebse UPU formon sinjalin dal\u00ebs \u03b51(t), proporcional me gabimin \u03b5(t) dhe integralin e \u03b5(t), d.m.th. <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/6e6dbb0b4de0d9aaa3f6f788e61a3830.jpg\" style=\"display:block;margin: 0 auto;\" \/>, at\u00ebher\u00eb ky regjim kontrolli quhet <u>proporcional-integrues<\/u> (PI-kontroll). ==&gt; <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/9dd1d2b339c33e975225d3438d39bc6c.jpg\" style=\"display:block;margin: 0 auto;\" \/>index <i>b<\/i> \u2013 koeficienti i proporcionalitetit (n\u00eb rastin e ve\u00e7ant\u00eb <i>b = Const<\/i>). \n <\/p>\n<p><\/p>\n<p>Zakonisht PI-kontrolli p\u00ebrdoret p\u00ebr t\u00eb rritur sakt\u00ebsin\u00eb e kontrollit (rregullimit).<\/p>\n<p><\/p>\n<p>N\u00ebse UPU formon sinjalin dal\u00ebs \u03b51(t), proporcional me gabimin \u03b5(t) dhe derivatin e tij, at\u00ebher\u00eb ky regjim quhet<u> proporcional-diferencues<\/u> (PD-kontroll): ==&gt; <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/53491162f89bb3eb6d3afe53f8499ef7.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Zakonisht p\u00ebrdorimi i PD-kontrollit rrit shpejt\u00ebsin\u00eb e reagimit t\u00eb SAU<\/p>\n<p><\/p>\n<p>N\u00ebse UPU formon sinjalin dal\u00ebs \u03b51(t), proporcional me gabimin \u03b5(t), derivatin e tij dhe integralin e gabimit ==&gt; <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/8ebae93d72b03b5c107a1246c077c348.jpg\" style=\"display:block;margin: 0 auto;\" \/>, at\u00ebher\u00eb ky regjim quhet, pra ky regjim kontrolli quhet <u>regjim kontrolli proporcional-integral-diferencues<\/u> (PID-kontroll).<\/p>\n<p><\/p>\n<p>PID-kontrolli shpesh b\u00ebn t\u00eb mundur sigurimin e nj\u00eb sakt\u00ebsie \u201ct\u00eb mir\u00eb\u201d kontrolli me nj\u00eb shpejt\u00ebsi reagimi \u201ct\u00eb mir\u00eb\u201d <\/p>\n<p><\/p>\n<h2>1.4. Klasifikimi i sistemeve t\u00eb kontrollit automatik <\/h2>\n<p><\/p>\n<h3>1.4.1. Klasifikimi sipas llojit t\u00eb p\u00ebrshkrimit matematikor<\/h3>\n<p><\/p>\n<p>Sipas llojit t\u00eb p\u00ebrshkrimit matematikor (ekuacionet e dinamik\u00ebs dhe statik\u00ebs), sistemet e kontrollit automatik (SAU) ndahen n\u00eb <u>lineare<\/u> dhe <u>jolineare<\/u> sisteme (SAU ose SAR). <\/p>\n<p><\/p>\n<p>\u00c7do \u201cn\u00ebnklas\u00eb\u201d (linear dhe jolinear) ndahet m\u00eb tej n\u00eb nj\u00eb s\u00ebr\u00eb \u201cn\u00ebnklasash\u201d t\u00eb tjera. P\u00ebr shembull, SAU-t lineare (SAR) dallohen sipas llojit t\u00eb p\u00ebrshkrimit matematikor. <br \/>\nMeqen\u00ebse n\u00eb k\u00ebt\u00eb semest\u00ebr do t\u00eb shqyrtohen vet\u00ebm vetit\u00eb dinamike t\u00eb sistemeve lineare t\u00eb kontrollit automatik (rregullimit), m\u00eb posht\u00eb po japim klasifikimin sipas llojit t\u00eb p\u00ebrshkrimit matematikor p\u00ebr SAU-t lineare (SAR): <\/p>\n<p><\/p>\n<p>1) Sisteme lineare t\u00eb kontrollit automatik, t\u00eb p\u00ebrshkruara n\u00eb ndryshoret \u00abhyrje-dalje\u00bb me ekuacione diferenciale t\u00eb zakonshme lineare (EDZ) me <u>konstant <\/u>koeficient\u00eb:<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/cb3af3b0b89fc1e74c2b8d6d2d7fdb22.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/58090b17da60d2b517d3c94501cd59a2.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p>\nku <i>x(t)<\/i> \u2013 veprimi hyr\u00ebs; <i>y(t)<\/i> \u2013 veprimi dal\u00ebs (madh\u00ebsia e rregulluar). <\/p>\n<p>N\u00ebse p\u00ebrdoret forma operatoriale (\u00abkompakte\u00bb) e shkrimit t\u00eb nj\u00eb EDZ lineare, at\u00ebher\u00eb ekuacioni (1.4.1) mund t\u00eb paraqitet n\u00eb form\u00ebn vijuese: \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/b1c5ee221af3668d5f176a70ed14418f.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> ku, <i>p = d\/dt<\/i> \u2014 operatori i diferencimit; <i>L(p), N(p)<\/i> \u2014 operator\u00ebt p\u00ebrkat\u00ebs diferencial\u00eb linear\u00eb, t\u00eb cil\u00ebt jan\u00eb t\u00eb barabart\u00eb me:<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/d43a08bffa114c25041a2f0980042c51.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/42636426b82dce860e9e17987f50c057.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>2) Sisteme lineare t\u00eb kontrollit automatik, t\u00eb p\u00ebrshkruara me ekuacione diferenciale t\u00eb zakonshme lineare (EDZ) me <u>t\u00eb ndryshuesh\u00ebm <\/u>koeficient\u00eb (n\u00eb koh\u00eb): \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/6dbc99fe9b268fe6f6ff996975637e1c.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/829ce6f7e73bfb06b4b76d0d4eeeef34.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>N\u00eb rastin e p\u00ebrgjithsh\u00ebm, sisteme t\u00eb tilla mund t\u00eb p\u00ebrfshihen edhe n\u00eb klas\u00ebn e SAU-ve jolineare (SAR).<\/p>\n<p><\/p>\n<p>3) Sisteme lineare t\u00eb kontrollit automatik, t\u00eb p\u00ebrshkruara me ekuacione lineare me diferenca: <\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/3ff7a042761c218b77ac2263e548642c.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/1adb8b5de9da0717c1d8af58023709db.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> ku <i>f(\u2026)<\/i> \u2013 funksion linear i argumenteve;<i> k = 1, 2, 3\u2026<\/i> \u2014 numra t\u00eb plot\u00eb; <i>\u0394t<\/i> \u2013 intervali i kuantizimit (intervali i diskretizimit). <\/p>\n<p>Ekuacioni (1.4.4) mund t\u00eb paraqitet n\u00eb form\u00eb \u00abkompakte\u00bb:\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/3a555933ea0689d2adee3746d6ddeaad.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Zakonisht, ky p\u00ebrshkrim i SAU-ve lineare (SAR) p\u00ebrdoret n\u00eb sistemet digjitale t\u00eb kontrollit (me p\u00ebrdorimin e kompjuterit). <\/p>\n<p><\/p>\n<p>4) Sisteme lineare t\u00eb kontrollit automatik me vones\u00eb:\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/7feca1e387cb0c6a1689e22d95e28a63.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p>\nku <i>L(p), N(p)<\/i> \u2014 operator\u00eb diferencial\u00eb linear\u00eb; <i>\u03c4<\/i> \u2014 koha e vones\u00ebs ose konstanta e vones\u00ebs. <\/p>\n<p>N\u00ebse operator\u00ebt <i>L(p)<\/i> dhe <i>N(p)<\/i> degjenerohen (<i>L(p) = 1; N(p) = 1<\/i>), at\u00ebher\u00eb ekuacioni (1.4.6) i korrespondon p\u00ebrshkrimit matematikor t\u00eb dinamik\u00ebs s\u00eb hallk\u00ebs s\u00eb vones\u00ebs ideale: \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/f3906140de2cd69b5ececf8b527a11e7.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> nd\u00ebrsa ilustrimi grafik i vetive t\u00eb saj \u00ebsht\u00eb paraqitur n\u00eb fig. 1.4.1<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/862f0d412914840cf9f0722087ccfb50.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.1 \u2014 Grafik\u00ebt e hyrjes dhe daljes s\u00eb hallk\u00ebs s\u00eb vones\u00ebs ideale<\/i><\/p>\n<p>5) Sisteme lineare t\u00eb kontrollit automatik, t\u00eb p\u00ebrshkruara me ekuacione diferenciale lineare me <i>derivate t\u00eb pjesshme<\/i>. Shpesh, SAU t\u00eb tilla quhen <u>t\u00eb shp\u00ebrndara<\/u> sisteme kontrolli. ==&gt; Shembull \u00ababstrakt\u00bb i nj\u00eb p\u00ebrshkrimi t\u00eb till\u00eb:<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/669b5c3c53ba7845842b18e5928ce839.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Sistemi i ekuacioneve (1.4.7) p\u00ebrshkruan dinamik\u00ebn e nj\u00eb SAU-je t\u00eb shp\u00ebrndar\u00eb n\u00eb m\u00ebnyr\u00eb lineare, dometh\u00ebn\u00eb madh\u00ebsia e rregulluar varet jo vet\u00ebm nga koha, por edhe nga nj\u00eb koordinat\u00eb hap\u00ebsinore. <br \/>\nN\u00ebse sistemi i kontrollit p\u00ebrfaq\u00ebson nj\u00eb objekt \u00abhap\u00ebsinor\u00bb, at\u00ebher\u00eb ==&gt;<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/3448a365047c1bab4de5e8f25546f50e.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>ku <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/f9ff2f7da6ef14612bc7debb1a6b13df.jpg\" style=\"display:block;margin: 0 auto;\" \/> varet nga koha dhe koordinatat hap\u00ebsinore, t\u00eb p\u00ebrcaktuara nga vektori i rrezes <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/779241bc6119457bd084ae3b359be126.jpg\" style=\"display:block;margin: 0 auto;\" \/>\n<\/p>\n<p>6) SAU t\u00eb p\u00ebrshkruara <u>me sisteme<\/u> ODE, ose me sisteme ekuacionesh me diferenca, ose me sisteme ekuacionesh me derivate t\u00eb pjesshme ==&gt; e k\u00ebshtu me radh\u00eb\u2026<\/p>\n<p><\/p>\n<p>Nj\u00eb klasifikim i ngjash\u00ebm mund t\u00eb propozohet edhe p\u00ebr SAU-t\u00eb (SAR-t\u00eb) jolineare\u2026<\/p>\n<p><\/p>\n<p>P\u00ebr sistemet lineare plot\u00ebsohen k\u00ebrkesat e m\u00ebposhtme:<\/p>\n<ul>\n<li> lineariteti i karakteristik\u00ebs statike t\u00eb SAU-s\u00eb; <\/li>\n<li> lineariteti i ekuacionit t\u00eb dinamik\u00ebs, dometh\u00ebn\u00eb ndryshoret n\u00eb ekuacionin e dinamik\u00ebs hyjn\u00eb <u>vet\u00ebm n\u00eb kombinim linear.<\/u> <\/li>\n<\/ul>\n<p><\/p>\n<p>Karakteristik\u00eb statike quhet var\u00ebsia e daljes nga madh\u00ebsia e veprimit hyr\u00ebs n\u00eb regjim t\u00eb q\u00ebndruesh\u00ebm (kur t\u00eb gjitha proceset kalimtare jan\u00eb shuar). <\/p>\n<p><\/p>\n<p>P\u00ebr sistemet e p\u00ebrshkruara me ekuacione diferenciale t\u00eb zakonshme lineare me koeficient\u00eb konstant\u00eb, karakteristika statike merret nga ekuacioni i dinamik\u00ebs (1.4.1) duke barazuar me zero t\u00eb gjith\u00eb an\u00ebtar\u00ebt jostacionar\u00eb ==&gt;\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/bf0c596f0264b56e910f26fb3572d495.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>N\u00eb fig. 1.4.2 paraqiten shembuj t\u00eb karakteristikave statike lineare dhe jolineare t\u00eb sistemeve t\u00eb kontrollit automatik (rregullimit). <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/492e67e54fc30c8ffc81dbd922d44d69.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.2 \u2014 Shembuj t\u00eb karakteristikave statike lineare dhe jolineare<\/i><\/p>\n<p>Jolineariteti i an\u00ebtar\u00ebve q\u00eb p\u00ebrmbajn\u00eb derivate sipas koh\u00ebs n\u00eb ekuacionet e dinamik\u00ebs mund t\u00eb shfaqet gjat\u00eb p\u00ebrdorimit t\u00eb operacioneve matematikore jolineare (*, \\\/, <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/2cb392451693aaecdf1b0b3c9d893b64.jpg\" style=\"display:block;margin: 0 auto;\" \/>, <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/9b1e329d4a85a2633bbbc4f4ab024200.jpg\" style=\"display:block;margin: 0 auto;\" \/>, sin, ln etj.). P\u00ebr shembull, duke shqyrtuar ekuacionin e dinamik\u00ebs s\u00eb nj\u00eb SAU-je \u00ababstrakte\u00bb<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/dae16ed9af4777cc0574d633840de24b.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>v\u00ebrejm\u00eb se n\u00eb k\u00ebt\u00eb ekuacion, me karakteristik\u00eb statike lineare <img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/ef499e876cf4b9835a61605b9155144c.jpg\" style=\"display:block;margin: 0 auto;\" \/> an\u00ebtari i dyt\u00eb dhe i tret\u00eb (an\u00ebtar\u00ebt dinamik\u00eb) n\u00eb an\u00ebn e majt\u00eb t\u00eb ekuacionit \u2014 <u>jolineare<\/u>prandaj SAU-ja e p\u00ebrshkruar nga nj\u00eb ekuacion i till\u00eb \u00ebsht\u00eb <u>jolineare n\u00eb <i>aspektin<\/i> dinamik<\/u>.<\/p>\n<p><\/p>\n<h3>1.4.2. Klasifikimi sipas natyr\u00ebs s\u00eb sinjaleve t\u00eb transmetuara<\/h3>\n<p><\/p>\n<p>Sipas natyr\u00ebs s\u00eb sinjaleve t\u00eb transmetuara, sistemet e kontrollit automatik (ose t\u00eb rregullimit) ndahen n\u00eb: <\/p>\n<ul>\n<li> sisteme t\u00eb vazhdueshme (sisteme me veprim t\u00eb vazhduesh\u00ebm);<\/li>\n<li> sisteme rele (sisteme me veprim rele);<\/li>\n<li> sisteme me veprim diskret (impulsive dhe dixhitale).<\/li>\n<\/ul>\n<p><\/p>\n<p>Sistem <u>t\u00eb vazhduesh\u00ebm<\/u> veprimit quhet nj\u00eb sistem i till\u00eb i automatizuar i kontrollit, n\u00eb secil\u00ebn hallk\u00eb t\u00eb t\u00eb cilit <u>t\u00eb vazhduesh\u00ebm<\/u> ndryshimit t\u00eb sinjalit hyr\u00ebs n\u00eb koh\u00eb <u>i korrespondon nj\u00eb<\/u> ndryshim i vazhduesh\u00ebm i sinjalit dal\u00ebs, nd\u00ebrsa ligji i ndryshimit t\u00eb sinjalit dal\u00ebs mund t\u00eb jet\u00eb arbitrar. Q\u00eb SAK t\u00eb jet\u00eb i vazhduesh\u00ebm, \u00ebsht\u00eb e nevojshme q\u00eb karakteristikat statike t\u00eb t\u00eb gjitha <u>hallkave t\u00eb jen\u00eb t\u00eb vazhdueshme.<\/u><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/73b156157b5a43c62fdc848170722c2d.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.3 \u2014 Shembull i nj\u00eb sistemi t\u00eb vazhduesh\u00ebm<\/i><\/p>\n<p>Sistem <u>rele<\/u> veprimit quhet SAK, n\u00eb t\u00eb cilin t\u00eb pakt\u00ebn n\u00eb nj\u00eb hallk\u00eb, gjat\u00eb ndryshimit t\u00eb vazhduesh\u00ebm t\u00eb madh\u00ebsis\u00eb hyr\u00ebse, madh\u00ebsia dal\u00ebse n\u00eb disa momente t\u00eb procesit t\u00eb kontrollit ndryshon \u201cme k\u00ebrcim\u201d n\u00eb var\u00ebsi t\u00eb madh\u00ebsis\u00eb s\u00eb sinjalit hyr\u00ebs. Karakteristika statike e nj\u00eb hallke t\u00eb till\u00eb ka <u>pika nd\u00ebrprerjeje<\/u> ose <u>thyerje me nd\u00ebrprerje<\/u>.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/edfc6a65398bb0f409297d40a3aee0e2.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.4 \u2014 Shembuj t\u00eb karakteristikave statike rele<\/i><\/p>\n<p>Sistem <u>diskret<\/u> veprimit quhet sistem q\u00eb, t\u00eb pakt\u00ebn n\u00eb nj\u00eb hallk\u00eb, gjat\u00eb ndryshimit t\u00eb vazhduesh\u00ebm t\u00eb madh\u00ebsis\u00eb hyr\u00ebse, madh\u00ebsia dal\u00ebse ka <u>form\u00ebn e impulseve t\u00eb ve\u00e7uara<\/u>, t\u00eb cilat shfaqen pas nj\u00eb intervali t\u00eb caktuar kohor. <\/p>\n<p><\/p>\n<p>Hallka q\u00eb shnd\u00ebrron sinjalin e vazhduesh\u00ebm n\u00eb sinjal diskret quhet impulsive. Ky lloj sinjalesh t\u00eb transmetuara p\u00ebrdoret n\u00eb SAK me kompjuter ose kontrollues. <\/p>\n<p><\/p>\n<p>M\u00eb shpesh zbatohen metodat (algoritmet) e m\u00ebposhtme t\u00eb shnd\u00ebrrimit t\u00eb sinjalit hyr\u00ebs t\u00eb vazhduesh\u00ebm n\u00eb sinjal dal\u00ebs impulsiv: <\/p>\n<ul>\n<li> modulim amplitud\u00eb-impuls (AIM); <\/li>\n<li> modulim gjer\u00ebsi-impuls (ShIM). <\/li>\n<\/ul>\n<p><\/p>\n<p>N\u00eb fig. 1.4.5 paraqitet ilustrimi grafik i algoritmit t\u00eb modulimit amplitud\u00eb-impuls (AIM). N\u00eb pjes\u00ebn e sip\u00ebrme t\u00eb fig. paraqitet var\u00ebsia kohore <i>x(t)<\/i> \u2014 e sinjalit <u>n\u00eb hyrje<\/u> t\u00eb hallk\u00ebs impulsive. Sinjali dal\u00ebs i bllokut (hallk\u00ebs) impulsiv <i>y(t)<\/i> \u2013 nj\u00eb sekuenc\u00eb impulsesh drejtk\u00ebndore, q\u00eb shfaqen me <u>t\u00eb pandryshueshme<\/u> periudh\u00eb kuantizimi \u0394t (shih pjes\u00ebn e poshtme t\u00eb fig.). Koh\u00ebzgjatja e impulseve \u00ebsht\u00eb e nj\u00ebjt\u00eb dhe e barabart\u00eb me \u0394. Amplituda e impulsit n\u00eb daljen e bllokut \u00ebsht\u00eb proporcionale me vler\u00ebn p\u00ebrkat\u00ebse t\u00eb sinjalit t\u00eb vazhduesh\u00ebm x(t) n\u00eb hyrje t\u00eb k\u00ebtij blloku. <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/c9a3c132c1ad71a56582f30d6d11f847.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.5 \u2014 Zbatimi i modulimit amplitud\u00eb-impuls<\/i><\/p>\n<p>Kjo metod\u00eb e modulimit impulsiv ka qen\u00eb shum\u00eb e p\u00ebrhapur n\u00eb pajisjet elektronike mat\u00ebse t\u00eb sistemeve t\u00eb kontrollit dhe mbrojtjes (SUZ) t\u00eb centraleve b\u00ebrthamore energjetike (YaEU) n\u00eb vitet 70\u202680 t\u00eb shekullit t\u00eb kaluar. <\/p>\n<p><\/p>\n<p>N\u00eb fig. 1.4.6 paraqitet nj\u00eb ilustrim grafik i algoritmit t\u00eb modulimit me gjer\u00ebsi impulsi (PWM). N\u00eb pjes\u00ebn e sip\u00ebrme t\u00eb fig. 1.14 paraqitet var\u00ebsia kohore <i>x(t)<\/i> \u2013 e sinjalit n\u00eb hyrje t\u00eb bllokut impulsiv. Sinjali n\u00eb dalje i bllokut impulsiv (hallk\u00ebs) <i>y(t)<\/i> \u2013 \u00ebsht\u00eb nj\u00eb sekuenc\u00eb impulsesh drejtk\u00ebndore, q\u00eb shfaqen me nj\u00eb periudh\u00eb konstante t\u00eb kuantizimit <i>\u0394t <\/i>(shih pjes\u00ebn e poshtme t\u00eb fig. 1.14). Amplituda e t\u00eb gjitha impulseve \u00ebsht\u00eb e nj\u00ebjt\u00eb. Koh\u00ebzgjatja e impulsit <i>\u0394t<\/i> n\u00eb dalje t\u00eb bllokut \u00ebsht\u00eb proporcionale me vler\u00ebn p\u00ebrkat\u00ebse t\u00eb sinjalit t\u00eb vazhduesh\u00ebm <i>x(t)<\/i> n\u00eb hyrje t\u00eb bllokut impulsiv.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/e9375a87c49f84b4b20891b024160264.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.6 \u2014 Realizimi i modulimit me gjer\u00ebsi impulsi<\/i><\/p>\n<p>Kjo metod\u00eb e modulimit impulsiv aktualisht \u00ebsht\u00eb m\u00eb e p\u00ebrdorura n\u00eb pajisjet elektronike mat\u00ebse t\u00eb sistemeve t\u00eb kontrollit dhe mbrojtjes (SUZ) t\u00eb centraleve b\u00ebrthamore energjetike (YaEU), si dhe n\u00eb ACS t\u00eb sistemeve t\u00eb tjera teknike.<\/p>\n<p><\/p>\n<p>N\u00eb p\u00ebrfundim t\u00eb k\u00ebtij n\u00ebnseksioni, duhet theksuar se n\u00ebse konstantet karakteristike t\u00eb koh\u00ebs n\u00eb hallkat e tjera t\u00eb ACS (SAR) <u>jan\u00eb duksh\u00ebm m\u00eb t\u00eb m\u00ebdha<\/u> se \u0394t (me rend madh\u00ebsie), at\u00ebher\u00eb sistemi impulsiv <u>mund t\u00eb konsiderohet si nj\u00eb sistem i vazhduesh\u00ebm i kontrollit automatik (gjat\u00eb p\u00ebrdorimit t\u00eb<\/u> si AIM, ashtu edhe PWM). <\/p>\n<p><\/p>\n<h3>1.4.3. Klasifikimi sipas karakterit t\u00eb kontrollit<\/h3>\n<p><\/p>\n<p>Sipas karakterit t\u00eb proceseve t\u00eb kontrollit, sistemet e kontrollit automatik ndahen n\u00eb k\u00ebto lloje: <\/p>\n<ul>\n<li> ACS deterministe, n\u00eb t\u00eb cilat sinjalit hyr\u00ebs mund t\u2019i korrespondoj\u00eb n\u00eb m\u00ebnyr\u00eb t\u00eb nj\u00ebkuptimt\u00eb nj\u00eb sinjal dal\u00ebs (dhe anasjelltas);<\/li>\n<li> ACS stokastike (statistikore, probabilistike), n\u00eb t\u00eb cilat ndaj nj\u00eb sinjali t\u00eb caktuar hyr\u00ebs ACS \u201cp\u00ebrgjigjet\u201d <u>me nj\u00eb<\/u> sinjal dal\u00ebs t\u00eb rast\u00ebsish\u00ebm (stokastik). <\/li>\n<\/ul>\n<p><\/p>\n<p>Sinjali stokastik n\u00eb dalje karakterizohet nga: <\/p>\n<ul>\n<li>ligji i shp\u00ebrndarjes; <\/li>\n<li>pritja matematike (vlera mesatare); <\/li>\n<li>varianca (devijimi standard).<\/li>\n<\/ul>\n<p>\nKarakteri stokastik i procesit t\u00eb kontrollit zakonisht v\u00ebrehet n\u00eb <u>SAR duksh\u00ebm jolineare<\/u> si nga pik\u00ebpamja e karakteristik\u00ebs statike, ashtu edhe nga pik\u00ebpamja (madje n\u00eb nj\u00eb mas\u00eb edhe m\u00eb t\u00eb madhe) e jolinearitetit t\u00eb termave dinamik\u00eb n\u00eb ekuacionet e dinamik\u00ebs.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrje n\u00eb teorin\u00eb e kontrollit automatik. Konceptet baz\u00eb t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/30bfdc2e2b7df726f11ebfb859c8f094.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.7 \u2014 Shp\u00ebrndarja e madh\u00ebsis\u00eb dal\u00ebse t\u00eb nj\u00eb ACS stokastike<\/i><\/p>\n<p>P\u00ebrve\u00e7 llojeve kryesore t\u00eb klasifikimit t\u00eb sistemeve t\u00eb kontrollit t\u00eb paraqitura m\u00eb sip\u00ebr, ekzistojn\u00eb edhe klasifikime t\u00eb tjera. P\u00ebr shembull, klasifikimi mund t\u00eb b\u00ebhet sipas metod\u00ebs s\u00eb kontrollit dhe t\u00eb bazohet n\u00eb nd\u00ebrveprimin me mjedisin e jasht\u00ebm si dhe n\u00eb mund\u00ebsin\u00eb e p\u00ebrshtatjes s\u00eb SAU ndaj ndryshimit t\u00eb parametrave t\u00eb mjedisit. Sistemet ndahen n\u00eb dy klasa t\u00eb m\u00ebdha:<\/p>\n<p><\/p>\n<p>1) SU t\u00eb zakonshme (jo vet\u00ebrregulluese) pa adaptim; k\u00ebto sisteme i p\u00ebrkasin kategoris\u00eb s\u00eb thjesht\u00eb, q\u00eb nuk e ndryshojn\u00eb struktur\u00ebn e tyre gjat\u00eb procesit t\u00eb kontrollit. Ato jan\u00eb m\u00eb t\u00eb zhvilluara dhe p\u00ebrdoren gjer\u00ebsisht. SU-t\u00eb e zakonshme ndahen n\u00eb tre n\u00ebnklasa: sisteme kontrolli me qark t\u00eb hapur, me qark t\u00eb mbyllur dhe t\u00eb kombinuara.<\/p>\n<p><\/p>\n<p>2) SU vet\u00ebrregulluese (adaptive). N\u00eb k\u00ebto sisteme, kur ndryshojn\u00eb kushtet e jashtme ose karakteristikat e objektit t\u00eb rregullimit, ndodh nj\u00eb ndryshim automatik (i pap\u00ebrcaktuar paraprakisht) i parametrave t\u00eb pajisjes s\u00eb kontrollit p\u00ebrmes ndryshimit t\u00eb koeficient\u00ebve t\u00eb SU, struktur\u00ebs s\u00eb SU ose edhe p\u00ebrmes shtimit t\u00eb elementeve t\u00eb reja.<\/p>\n<p><\/p>\n<p>Nj\u00eb shembull tjet\u00ebr i klasifikimit: sipas kriterit hierarkik (me nj\u00eb nivel, me dy nivele, me shum\u00eb nivele). <\/p>\n<p class=\"for_users_only_msg\">Vet\u00ebm p\u00ebrdoruesit e regjistruar mund t\u00eb marrin pjes\u00eb n\u00eb anket\u00eb. <noindex><a rel=\"nofollow\" href=\"https:\/\/habr.com\/ru\/auth\/login\/\">Hyni<\/a><\/noindex>, ju lutem.<\/p>\n<h2 class=\"default-block__polling-title\">T\u00eb vazhdohet publikimi i leksioneve p\u00ebr UTS?<\/h2>\n<ul class=\"poll-result\">\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent  poll-result__data-percent_winner\">88,7%<\/strong>Po118<\/p>\n<\/li>\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent\">7,5%<\/strong>Jo10<\/p>\n<\/li>\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent\">3,8%<\/strong>Nuk e di5<\/p>\n<\/li>\n<\/ul>\n<p>    Kan\u00eb votuar 133 p\u00ebrdorues. 10 p\u00ebrdorues abstenuan.<br \/>\n<br \/>Burimi: <a content=\"nofollow\" rel=\"nofollow\" href=\"https:\/\/habr.com\/ru\/post\/503820\/\">habr.com<\/a> <\/p>","protected":false,"gt_translate_keys":[{"key":"rendered","format":"html"}]},"excerpt":{"rendered":"<p>\u041f\u0443\u0431\u043b\u0438\u043a\u0443\u044e \u043f\u0435\u0440\u0432\u0443\u044e \u0433\u043b\u0430\u0432\u0443 \u043b\u0435\u043a\u0446\u0438\u0439 \u043f\u043e \u0442\u0435\u043e\u0440\u0438\u0438 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u043f\u043e\u0441\u043b\u0435 \u043a\u043e\u0442\u043e\u0440\u044b\u0445 \u0432\u0430\u0448\u0430 \u0436\u0438\u0437\u043d\u044c \u0443\u0436\u0435 \u043d\u0438\u043a\u043e\u0433\u0434\u0430 \u043d\u0435 \u0431\u0443\u0434\u0435\u0442 \u043f\u0440\u0435\u0436\u043d\u0435\u0439. \u041b\u0435\u043a\u0446\u0438\u0438 \u043f\u043e \u043a\u0443\u0440\u0441\u0443 \u00ab\u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0422\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c\u0438 \u0421\u0438\u0441\u0442\u0435\u043c\u0430\u043c\u0438\u00bb, \u0447\u0438\u0442\u0430\u0435\u0442 \u041a\u043e\u0437\u043b\u043e\u0432 \u041e\u043b\u0435\u0433 \u0421\u0442\u0435\u043f\u0430\u043d\u043e\u0432\u0438\u0447 \u043d\u0430 \u043a\u0430\u0444\u0435\u0434\u0440\u0435 \u00ab\u042f\u0434\u0435\u0440\u043d\u044b\u0435 \u0440\u0435\u0430\u043a\u0442\u043e\u0440\u044b \u0438 \u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0438\u00bb, \u0444\u0430\u043a\u0443\u043b\u044c\u0442\u0435\u0442\u0430 \u00ab\u042d\u043d\u0435\u0440\u0433\u043e\u043c\u0430\u0448\u0438\u043d\u043e\u0441\u0442\u0440\u043e\u0435\u043d\u0438\u044f\u00bb \u041c\u0413\u0422\u0423 \u0438\u043c. \u041d.\u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430. \u0417\u0430 \u0447\u0442\u043e \u0435\u043c\u0443 \u043e\u0433\u0440\u043e\u043c\u043d\u0430\u044f \u0431\u043b\u0430\u0433\u043e\u0434\u0430\u0440\u043d\u043e\u0441\u0442\u044c. \u0414\u0430\u043d\u043d\u044b\u0435 \u043b\u0435\u043a\u0446\u0438\u0438 \u0442\u043e\u043b\u044c\u043a\u043e \u0433\u043e\u0442\u043e\u0432\u044f\u0442\u0441\u044f \u043a \u043f\u0443\u0431\u043b\u0438\u043a\u0430\u0446\u0438\u0438 \u0432 \u0432\u0438\u0434\u0435 \u043a\u043d\u0438\u0433\u0438, \u0430 [&hellip;]<\/p>\n","protected":false,"gt_translate_keys":[{"key":"rendered","format":"html"}]},"author":1,"featured_media":83943,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[688],"tags":[],"class_list":["post-83942","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-administrirovanie"],"aioseo_notices":[],"aioseo_head":"\n\t\t<!-- All in One SEO 5.0.2 - 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