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a r t i c l e i n f o
a b s t r a c t
Article history:
Received 6 August 2014
Accepted 1 December 2014
Available online
Mathematical modelling is the theoretically established tool for developing solar heating systems, e.g.
with using transfer functions. If we know the transfer functions of the system, the outlet temperature can
be predicted as a function of the input variables (solar irradiance, inlet temperature, environment
temperatures), dynamic analysis can be carried out, and stable system control can be effectively designed
based on the well-tried methods of control engineering. For these purposes, new, validated transfer
functions for solar heating systems are worked out in this study based on a mathematical model, which
can be found in the literature and has been applied successfully in the eld. The transfer functions are
used for dynamic analysis and control design of solar heating systems. The dynamic analysis is presented
and the efciency of the proposed stable control is demonstrated with respect to a real solar heating
system.
2014 Elsevier Ltd. All rights reserved.
Keywords:
Solar heating systems
Transfer functions
Dynamic analysis
Control design
PI control
1. Introduction
Mathematical modelling is the theoretically established tool for
developing solar heating systems, e.g. with using transfer functions.
Ordinary differential equation (ODE) models are widely used as
they are relatively simple and easy to handle. Among the current
collector models, the nonlinear ODE model proposed by Perers
and Bales [1] may be the most widely used one, which is the
improved version of the quasi-dynamic model from the standard
EN 12975 [2].
If there is an external heat exchanger in the system, it can be
modelled with the well-known effectiveness-NTU method [3], or
the separate sides of the heat exchanger can be assumed to have
homogeneous temperatures and can be modelled with ODEs [4].
The pipes of the system may be modelled with ODEs (assuming
homogeneous pipe temperatures), or partial differential equations
(PDEs) (with the one-dimensional linear heat transfer PDE) [5,6].
Solar storages can be also modelled with ODEs. See Ref. [7] for
ODEs of mixed storages and stratied storages.
Georgiev [8] connected a distributed (PDE) collector model and
a mixed (ODE) storage model to describe a collector-storage
Nomenclature
Ac
Ah
Ahe
cc
ci
ch
Ic
khe
mh
t
Generally speaking, transfer function based modelling is relatively new and rare in the analysis of solar heating systems, especially, in domestic case. Besides the latter two references, some
examples are the following: Amer et al. [20] solved a collector
model with time and one space dimension for the uid temperature using Laplace transformation. Huang and Wang [21] wrote a
nonlinear two-node collector model into Laplace transformed form
to gain transfer functions. Bettayeb et al. [22] used a two-node
model to determine collector transfer functions for the uid temperature and the absorbed solar energy.
The most prevalent and simple control strategy is the on/off
control for solar heating systems in domestic hot water (DHW)
production working with constant ow rate, see e.g. Refs. [7,23].
Several controls using pump ow modulation are used in solar
heating systems: Winn [24] compared on/off, I (integral) and PID
(proportional integral differential) controls, Hirsch [25] compared
f [26] discussed on/
on/off, P (proportional) and hybrid controls. Lo
off, P, I, PID, adaptive and certain optimal controls. Optimal controls
often maximize the overall energy gain by ow rate modulation.
See Refs. [27e29] for the case of no heat exchanger and [30] for the
case of a counter ow heat exchanger.
P and PI (proportional integral) controls for collectors are given
and a PI control is worked out in details for a real collector eld in Ref.
[19] based on proposed collector transfer functions. Based on studies
in the literature, not many improvements on control for solar heating
systems used in domestic applications have been established in the
recent few decades. In particular, transfer function based control is
rather rare. Pasamontes et al. [31] serve with a further example on
the control of the collector eld of a solar cooling system based on
the transfer function for a mathematical model with time delay.
Transfer function based control is more prevalent for industrial
processes e.g. for solar power or desalination plants [32e35].
In the present study, new, validated transfer functions for solar
heating systems used primarily for domestic purposes are proposed and used for dynamic analysis and control design. According
to a there appointed future research, the present study extends the
results of [19], where transfer functions, dynamic analysis and
controls have been proposed for solar collectors. The below worked
out transfer functions are unique concerning the linear ODE model
for solar heating systems in Ref. [4]. If the method for working out
transfer functions for this basic model is presented, corresponding
Tc
Tce
Thc
The
Thh
Ti
UL
vc
vi
Vc
Vh
kh
h0
F
rc
ri
65
collector temperature ( C)
collector environment temperature ( C)
cold side temperature in the heat exchanger ( C)
environment temperature of the heat exchanger ( C)
hot side temperature in the heat exchanger ( C)
inlet (uid) temperature of the system ( C)
overall heat loss coefcient of the collector (W/(m2 K))
(pump) ow rate in the collector loop (m3/s)
(pump) ow rate in the inlet loop (m3/s)
collector volume (m3)
volume of the heat exchanger (m3)
heat transfer coefcient inside the heat exchanger (W/
(m2 K))
collector optical efciency (-)
heat exchanger effectiveness (-)
mass density of the collector uid (kg/m3)
mass density of the uid in the inlet loop (kg/m3)
66
dTc t
Ac h0
U Ac
vc
Ic t L
Tce t Tc t Thh t Tc t;
dt
rc cc Vc
rc cc Vc
Vc
(1a)
dThh t
r cc vc
k A
cm c
Tc t Thh t c m h h V Thc t
Vh
h h
h h
dt
rc cc
rc cc h
2
Thh t c
Ahe khe =2
h mh
rc cc V2h
The t Thh t;
(1b)
dThc t
rcv
k A
c m i i i V Ti t Thc t c m h h V Thh t
h h
h h
dt
ri ci h
ri ci h
2
Thc t c
Ahe khe =2
h mh
ri ci V2h
Remark 2.1
The t Thc t:
(1c)
Model (1aec) is applied for a real solar heating system used for
n UniDHW production. The system is installed at the Szent Istva
do
llo
}, Hungary [40]. The system (SZIU system) has
versity (SZIU) Go
the following parameter values [12]: Ac 33.3 m2, h0 0.74,
rc 1034 kg/m3, cc 3623 J/(kg K), Vc 0.027 m3, UL 7 W/(m2 K),
ch 464.76 J/(kg K), mh 37 kg, Vh 0.005 m3, kh 2461.5 W/
(m2 K) Ah 2 m2, khe 5 W/(m2 K), Ahe 0.24 m2, ri 1000 kg/m3,
ci 4200 J/(kg K), vc 0 or 16.3 l/min (0.000272 m3/s), vi 0 or
10.5 l/min (0.000175 m3/s).
The calculations have been done in Matlab (and Matlab Simulink). Fig. 2 shows the Simulink diagram of model (1aec).
For validation, the measured values of Ti, Ic, Tce, The, vc and vi are
fed into the computer model of (1aec) as inputs as well as the initial
values of Tc, Thh and Thc then the modelled and measured values of
the outlet temperature Thc are compared. (Ti and Thc are measured on
the inlet and outlet pipe just before and after the storage side of the
heat exchanger, respectively.) Fig. 3 shows the comparison of the
modelled and measured temperatures for two days: 22nd
September 2012 and 2nd November 2012. The simultaneous operating states of the pumps (on/off) are also shown in the gure.
The average of the absolute difference between the modelled
and measured outlet temperatures is 2.6 C on 22nd September
2012 and 1.8 C on 2nd November 2012. In proportion to the difference between the maximal and minimal measured temperature
values, the time average of the absolute difference (or absolute
error) is 7.2% on 22nd September 2012 and 6.5% on 2nd November
2012 (c.f. [12]).
It can be concluded that the model tracks the physical processes
characteristically right with acceptable accuracy in view of several
engineering aims (studying and developing solar heating systems).
See e.g. Refs. [41], where the reasonability of such precision is
reinforced for similar systems. Thus we can accept and apply the
mathematical model (1aec).
Remark 2.2
In fact, the outlet temperature Thc is difcult to model because of
the small volume of the heat exchanger, which causes rather high
and fast changes in the modelled temperature mainly when the
pump ow rates are changing frequently (see Fig. 3).
3. Transfer functions
In this section, the transfer functions are derived and applied for
dynamic analysis. Here, vi is assumed to be constant.
3.1. Transfer function derivation
67
Ac h0
U Ac
sT c s Tc 0
I c s L
T ce s T c s
rc cc Vc
rc cc Vc
vc
T s T c s ;
Vc hh
sT hh s Thh 0 c
rc cc vc
h mh
rc cc V2h
T c s T hh s
kh Ah
h mh
rc cc V2h
sT hc s Thc 0 c
h mh
h mh
Wc3 sT ce s;
ri ci V2h
T hh s T hc s
Ahe khe =2
T he s T hc s ;
Vh
h mh
r
c
i i2
2
(3a)
(2b)
T i s T hc s
kh Ah
2
ri ci V2h
T hc s T hh s
A k =2
c m he he V T he s T hh s ;
h h
h
2 rc cc 2
ri ci vi
(2a)
(3b)
(3c)
68
where
Wc0 s
tc
;
tc s 1
Wc1 s
Wc2 s
tc
vc
$ ;
t c s 1 Vc
Wc3 s
tc
U Ac
$ L ;
tc s 1 rc cc Vc
thh
rc c c v c
thh
kh Ah
$
$
; Whh2 s
;
Vh
V
thh s 1 ch mh
thh s 1 ch mh
rc cc
rc cc h
2
2
2
2
thh
Ahe khe =2
thc
thc
ri ci vi
$
; Whc1 s
$
; Whc0 s
;
Whh3 s
V
V
thh s 1 ch mh
thc s 1
thc s 1 ch mh
rc cc h
ri ci h
2
2
2
2
thc
kh Ah
thc
Ahe khe =2
$
$
; Whc3 s
;
Whc2 s
V
V
thc s 1 ch mh
thc s 1 ch mh
ri ci h
ri ci h
2
2
2
2
Whh0 s
thh
;
thh s 1
tc
Ac h0
$
;
tc s 1 rc cc Vc
Whh1 s
where tc, thh, thc are the so-called time constants of the collector
and the hot and cold sides of the heat exchanger, respectively:
tc
1
UL Ac
rc cc Vc
thc
Vvcc
; thh
ch mh rc cc Vh
;
2rc cc vc kh Ah Ahe khe
Thh(0), Thc(0) are assumed to be zero. Based on Eq. (4), the transfer
functions for each input are the following:
T hc s
T s
T s
T s
W1 s; hc W2 s; hc W3 s; hc W4 s:
T i s
I c s
T ce s
T he s
ch mh ri ci Vh
:
2ri ci vi kh Ah Ahe khe
T hc s
T hc s
T hc s
Wi1 s;
Wi2 s;
Wi3 s:
Tc 0
Thh 0
Thc 0
According to the superposition principle of linear systems, the
resultant effect of the inputs and the initial temperatures on the
output is the simple sum of the single effects of each input and initial
temperatures. Eq. (4) expresses this principle in Laplace domain.
Wi1 s
W1 s
W4 s
Remark 3.1
The above proposed transfer functions are validated, since they
form an alternative representation of the mathematical model
(1aec) validated in Section 2.2.
Inputt
0;
1;
t < 0;
;
t 0;
69
(5)
1
Inputs :
s
(6)
The unit step response as output can be given with the following
formula in Laplace domain using the transfer function for the corresponding input (W(s)):
Fig. 5. Output response of the SZIU system to the unit step of Ti.
1
Outputs Ws :
s
(7)
1
Outputt L1 Ws ;
s
(8)
Initial condition$L
Wi s:
(11)
The unit step response corresponding to Tce is the following:
(9)
(13)
to Tc(0)
is
the
following
(14)
1
1
Thc t L1 W1 s ; Thc t L1 W2 s ;
s
s
1
1
and Thc t L1 W4 s :
Thc t L1 W3 s
s
s
The responses corresponding to the initial conditions Tc(0),
Thh(0) and Thc(0) are the following:
Fig. 6. Output response of the SZIU system to the unit step of Ic.
70
4. System control
(15)
(16)
v
Ac h0 0
U Ac 0
c
0
Tce Tc0
Thh
Ic L
Tc0 ;
rc cc Vc
rc cc Vc
Vc
0 c
rc cc V_ c
h mh
2
h mh
rc cc V2h
ri ci v0i
h mh
0
Tc0 Thh
c
Ahe khe =2
0c
rc cc V2h
ri ci V2h
ri ci V2h
rc cc V2h
0
0
Thc
Thh
(18b)
0
0
The
;
Thh
0
Ti0 Thc
c
Ahe khe =2
h mh
kh Ah
h mh
2
(18a)
kh Ah
h mh
ri ci V2h
0
0
Thh
Thc
0
0
The
;
Thc
(18c)
v0i
.
0 T0
0 T0
Ahe khe Thc
2
kh Ah Thc
hh
he
:
0 rc
Ti0 Thc
i i
(19)
dThc t
f Thh t; Thc t; Ti t; The t; vi t;
dt
(20)
71
dThc t
vf 0 0 0 0 0
vf 0 0 0 0 0
0
0
0
0
f Thh
Thh ; Thc ; Ti ; The ; vi $ Thh t Thh
T ;T ;T ;T ;v $
; Thc
; Ti0 ; The
; v0i
dt
vThh
vThc hh hc i he i
vf
vf
vf 0 0 0 0 0
0
0
0
0
0
Thc t Thc
; Thc
; Ti0 ; The
; v0i $ Ti t Ti0
Thh
Thh ; Thc ; Ti ; The ; vi $ The t The
$
vTi
vThe
vvi
.
0
ri ci vi kh Ah khe Ahe 2
kh Ah
0
0
0
0
Thh
; Thc
; Ti0 ; The
; v0i $ vi t v0i 0
Thh t Thh
$
ch mh
V
ch mh
V
ri ci h
ri ci h
2
2
2
2
0
0
ri ci Ti Thc
ri ci v0i
khe Ahe =2
0
0
Ti t Ti0
The t The
vi t v0i
Thc t Thc
ch mh
V
ch mh
V
ch mh
V
ri ci h
ri ci h
ri c i h
2
2
2
2
2
2
sT~ c s
Eq. (1a,b) are linear with respect to all time-dependent functions, so the coefcients in these equations remain the same in the
linearized model below (22aec).
0 , T
~ t T t T 0 ,
Let T~ c t Tc t Tc0 , T~ hh t Thh t Thh
hc
hc
hc
0
0
0,
~
~
I c t Ic t Ic ,
T~ ce t Tce t Tce
T i t Ti t Ti ,
0 , ~
vi t vi t v0i , with which the linearized
T~ he t The t The
model is
v
Ac h0 ~
U Ac ~
c ~
Ic s L
T ce s T~ c s
T hh s T~ c s ;
rc cc Vc
r c c c Vc
Vc
sT~ hh s c
(22a)
h mh
c
c
~ s
W
1
~
~
~
~
1 W
hh1 sW c2 s W hc2 sW hh2 s
(22b)
rc cc V2h
(23a)
T~ c s T~ hh s
kh Ah
h mh
2
rc cc V2h
T~ hc s T~ hh s
Ahe khe =2 ~
T he s T~ hh s ;
Vh
2 rc cc 2
ri ci V2h
T~ i s T~ hc s
kh Ah
h mh
2
ri ci V2h
T~ hh s T~ hc s
Ahe khe =2 ~
T he s T~ hc s
Vh
h mh
2 ri ci 2
rc
0
~vt;
c m i i V Ti0 Thc
h h
h
2 ri ci 2
(23c)
(22c)
~ sT~ s W
~ s~I c s W
~ sT~ ce s W
~ sT~ s
T~ hc s W
1
2
3
4
i
he
~ 5 s~v s;
W
i
~ s
; W
2
(24)
where
~
~
~
W
hc2 sW hh1 sW c1 s
~
~
~
~
1 W sW s W W
hh1
c2
hc2
hh2 s
~
~
~
~
~
~
~
~
~
W
hc2 sW hh1 sW c3 s
~ s W hh3 sW hc2 s W hc3 s W hc3 sW hh1 sW c2 s;
; W
4
~
~
~
~
~
~
~
~
1 W hh1 sW c2 s W hc2 sW hh2 s
1 W hh1 sW c2 s W hc2 sW hh2 s
~
~
~
W
hc4 s 1 W hh1 sW c2 s
~ s
;
W
5
~
~
~
~
1 W
hh1 sW c2 s W hc2 sW hh2 s
~ s
W
3
(23b)
h mh
ri ci v0i
h mh
~
~
~
W
hc1 s 1 W hh1 sW c2 s
sT~ hc s c
rc cc vc
v
dT~ c t Ac h0 ~
U Ac ~
c ~
I c t L
T ce t T~ c t
T t T~ c t ;
dt
rc cc Vc
rc cc Vc
Vc hh
dT~ hh t
r cc vc
c m c
T~ c t T~ hh t
V
h h
h
dt
2 rc cc 2
k A
c m h h V T~ hc t T~ hh t
h h
h
2 rc cc 2
A k =2
c m he he V T~ he t T~ hh t ;
h h
h
2 rc cc 2
0
~
ri ci vi
dT hc t
c m
T~ i t T~ hc t
V
h
h
h
dt
2 ri ci 2
k A
c m h h V T~ hh t T~ hc t
h h
h
2 ri ci 2
A k =2
c mhe he V T~ he t T~ hc t
h h
h
2 ri ci 2
rc
0
~vi t:
c m i i V Ti0 Thc
h h
h
2 ri ci 2
(21)
72
where
~ s Wc1 s;
W
c1
~ s W s;
W
c2
c2
~ s W s;
W
c3
c3
~
W
hh1 s Whh1 s;
ri ci v0i
~
thc
~
$c m
;
W
hc1 s
~
thc s 1 h h ri ci Vh
2
~
thc
kh Ah
$
;
Whc2 s
~
thc s 1 ch mh ri ci Vh
2
where
(25)
(26)
~ s
W
1
;
~
~ s
1 W c sW
5
(27)
~ s
W
2
;
~ 5 s
~
1 W c sW
(28)
~~
W
T
hc ;I c
~ s
W
3
(29)
~ s
W
4
:
~ s
~
1 W c sW
5
(30)
~ 5 s
~ c sW
1W
~ c s AP ;
W
~ c s AP 1 1 AP 1 sTI ;
W
sTI
sTI
(31)
(32)
(33)
P:
PI :
~ c sW
~ 5 s cc;P W
~ s;
W
0
s0
~ 5 s cc;PI W
~ c sW
~ s:
W
0
s1
(34)
(35)
T~ hc;r t cr t j ;
hc ;T i
~ 0 1.
where i and cc are constant and W
0
Consider the possibility of P and PI controls:
PI :
~~
W
T
hc ;T he
P:
~
~
~ ~ ~ s W c sW 5 s ;
W
T hc ;T hc;r
~ c sW
~ 5 s
1W
~~
W
T
~ 5 s cc W
~ c sW
~ s;
W
0
si
ch mh ri ci Vh
~
thc
:
2 ri ci v0i kh Ah Ahe khe
hc ;T ce
~
thc
A k =2
$ he he
;
Whc3 s
~
thc s 1 ch mh ri ci Vh
2
2
0 T0
T
r
c
i
i
~
thc
i
hc
$
;
Whc4 s
~
thc s 1 ch mh ri ci Vh
2
~~
W
T
~
~
W
hh2 s Whh2 s; W hh3 s Whh3 s;
(36)
c
r
er;s lim T~ hc;r t T~ hc t :
t/
cc
(37)
T~ i t c1 t k ;
Fig. 10. Closed-loop control of the solar heating system.
(38)
~ s
W
1
cT~
sl
~ T i s;
W
0
(39)
~
~ T i s 1.
where cT~ i is constant and W
0
If i > k l is fullled for i, k and l in (31), (38) and (39), the static
error of the control corresponding to T~ i is zero.
~ s is in accordance with (39),
It can be derived similarly that W
1
where l 0 and cT~ i is according to (A2) and (A3) in the Appendix.
Thus the static error of the control is zero if T~ i t is step function
(k 0). If T~ i t is ramp function (k 1), the static error corresponding to T~ i t is the following:
c~
T
e1;s lim T~ hc;r t T~ hc t i c1 :
t/
cc
(40)
~I c t c t m ; T~ ce t c t n ; T~ t c t q ;
2
3
4
he
where m, n, q, c2, c3 and c4 are constant.
It can be shown like above that the static error corresponding to
~I c (e2,s), T~ ce (e3,s) or T~ (e4,s) are zero if m 0, n 0, q 0,
he
respectively. If ~I c t, T~ ce t or T~ he t is ramp function (m 1, n 1 or
q 1, respectively), the corresponding static errors are the
following, respectively:
e2;s
e3;s
e4;s
c~Ic
c ;
ccT~cce 2
c ;
cc 3
cT~
he
cc
(41)
(42)
c4 ;
(43)
where c~Ic , cT~ ce and cT~ are according to (A3)e(A6) in the Appendix.
he
The control parameters AP and TI should be such that the absolute values of the above static errors are not higher than a prexed positive limit E, based on the constants cr, cT~ i , c~Ic , cT~ ce , cT~ , c1,
he
c2, c3, c4 and that cc cc,PI.
Furthermore, AP and TI should be such that the control is stable.
~~ ~
Consider the transfer function with respect to T~ hc;r that is W
T hc ;T hc;r
(see (26)). The controlled system is stable corresponding to T~ hc;r if
~~ ~
the real parts of the zeros of the denominator of W
are
T hc ;T hc;r
~ c sW
~ 5 s
negative. It can be derived that the denominator 1 W
has the following form:
(44)
The constants dr4, dr3, dr2, dr1, dr0 can be found in the Appendix
((A7)e(A11)).
The following system of conditions is sufcient for the stability
according to the Routh-Hurwitz criterion:
dr1 > 0;
0
dr0 > 0;
dr1
73
C,
amplitude 5
C,
d
r0 > 0;
dr3 dr1 0 0
dr4 dr2 dr0 0
0 dr3 dr1 0 > 0:
0 d
r4 dr2 dr0
(SC)
~ c sW
~ 5 s, so (SC)
The denominators in (27)e(30) are also 1 W
is sufcient for the stability of the controlled system corresponding
to T~ i , ~I c , T~ ce and T~ he as well.
initial
74
Ti 0 T~ i 0 Ti0 15 C, amplitude 5 C,
gradient 3 C/min;
Ic 0 ~I c 0 Ic0 586.9 W/m2, amplitude 150 W/m2,
gradient 20 W/(m2s);
0 20 C, amplitude 8 C,
Tce 0 T~ ce 0 Tce
gradient 1 C/min;
0
The 0 T~ he 0 The
25 C, amplitude 3 C,
gradient 0.5 C/min.
initial
initial
initial
initial
75
Fig. 14. Thc,r(t), Thc(t) (controlled variable) and vi(t) (manipulated variable).
Generally speaking, transfer function based modelling is relatively new and rare in the analysis of solar heating systems, especially, in domestic case. In addition, not many improvements on
control for solar heating systems used in domestic applications
have been established in the recent few decades. In particular,
transfer function based control design is rather rare despite of the
simple applicability, which is the main advantage of the linear
approach concerning transfer functions. Controls based on transfer
functions are generally much simpler than nonlinear and optimal
controls and can follow the reference signal much more precisely
than the most frequently used on/off controls. This paper intended
to contribute to full these research gaps by proposing new,
76
points, and can be also used for dynamic analysis and control
design.
Acknowledgement
The author thanks the Editor for the encouraging help in the
submission process, the anonymous Referees for their valuable
n Farkas and the Department of Physics
comments and Prof. Istva
and Process Control (SZIU) for the measured data. The author
also thanks his colleagues in the Department of Mathematics in
the Faculty of Mechanical Engineering (SZIU) for their
contribution.
Appendix
The equations below have been derived based on the relations
in the main text (with the symbolic solver of Maple) and are
referred to in the text, where needed. For example, cc,PI has been
~ 5 s and W
~ c s in Sections 4.1
derived based on the expressions of W
and 4.2.
.
0
Ahe khe cc rc vc 2kh Ah UL Ac 2kh Ah rc cc vc 2cc rc vc UL Ac Ahe khe UL Ac
cc;PI 2AP ri ci Ti0 Thc
TI 4rc cc vc UL Ac kh Ah 2rc cc vc UL Ac khe Ahe 4rc cc vc UL Ac ci ri v0i 4kh Ah rc cc vc khe Ahe 2ri ci $
(A1)
UL Ac khe Ahe v0i A2he k2he UL Ac 2khe Ahe rc cc vc ri ci v0i A2he k2he rc cc vc 4kh Ah rc cc vc ri ci v0i 4kh $
:
UL Ac khe Ahe 4kh Ah UL Ac ri ci v0i
den
(A2)
where
2Ahe khe v0i 4UL Ac v0i 4kh Ah v0i cc rc vc 2Ahe khe v0i 4kh Ah v0i UL Ac ci ri 4kh Ah
2Ahe khe Ac UL A2he k2he 4kh Ah Ahe khe cc rc vc A2he k2he 4kh Ah Ahe khe Ac UL :
(A3)
(A4)
(A5)
(A6)
(A7)
dr3
dr2
dr1
0
0 2 2
2ch mh rc cc Vc 2r2c c2c Vh Vc Ti0 2Thc
ch mh rc cc Vc 2Thc
rc cc Vh Vc ci ri AP
2Vc v0i vc Vh $
rc cc UL Ac Vh ch mh 2vc 2v0i Vh Vc Vh2 vc c2c r2c Ahe khe 2kh Ah Vh Vc Vh2 UL Ac rc cc ci $
ri rc cc vc UL Ac c2h m2h vc Vh 2vc Vc c2c r2c 2Ahe khe 4kh Ah Vc UL Ac Vh rc cc ch mh
Ahe khe 2kh Ah Vh Vc c2c r2c TI ;
77
(A8)
2UL Ac 2rc cc vc ch mh 2vc Vh 4vc Vc c2c r2c 2Ahe khe 4kh Ah Vc 2UL Ac Vh rc cc $
0
0
0
0
0
mh ch 4Thc
Ti0 2rc cc vc Thc
2UL Ac Thc
vc Vc 2Thc
vc Vh c2c r2c
4kh Ah 2Ahe khe Thc
Vc
0
2Thc
Vh UL Ac rc cc ri ci AP 2rc cc vc v0i 2UL Ac v0i ch mh 2Vh vc v0i 4vc Vc v0i c2c r2c 4kh Ah v0i
2Ahe khe v0i Vc 2vc 2v0i Ac UL 2kh Ah vc Ahe khe vc Vh cc rc Ahe khe 2kh Ah Ac UL Vh ci ri
4kh Ah vc 2Ahe khe vc 2vc UL Ac cc rc 4kh Ah 2Ahe khe Ac UL mh ch 4kh Ah vc 2Ahe khe vc Vc
2kh Ah vc 2Ahe khe vc Vh c2c r2c A2he k2he 4kh Ah Ahe khe Vc Ahe khe 2kh Ah Ac UL Vh cc rc TI
0
0 2 2
2ch mh rc cc Vc 2c2c r2c Vh Vc Ti0 2Thc
ch mh rc cc Vc 2Thc
cc rc Vh Vc ci ri AP ;
(A9)
2Ahe khe 4kh Ah 4UL Ac vc cc rc 2Ahe khe 4kh Ah UL Ac Ti0 4UL Ac 2Ahe khe
0
0
ci ri AP 4Ac UL v0i 4kh Ah v0i 2Ahe khe v0i $
4kh Ah Thc
vc cc rc 4kh Ah 2Ahe khe Ac UL Thc
vc cc rc 2Ahe khe v0i 4kh Ah v0i Ac UL ci ri 2Ahe khe 4kh Ah Ac UL A2he k2he 4kh Ah Ahe khe vc $
2rc cc vc 2Ac UL mh ch 4Vc 2Vh vc c2c r2c 2Ahe $
cc rc A2he k2he 4kh Ah Ahe khe Ac UL TI
0
0
0
0
UL Ac 2Thc
rc cc vc mh ch 2Thc
Vh 4Thc
Vc vc c2c r2c $
khe 4kh Ah Vc 2UL Ac Vh rc cc Ti0 2Thc
0
0
Vc 2Thc
Vh UL Ac rc cc ci ri AP ;
4kh Ah 2Ahe khe Thc
(A10)
0
Ahe khe cc rc vc 2kh Ah UL Ac
dr0 2AP ri ci Ti0 Thc
2kh Ah rc cc vc 2cc rc vc UL Ac Ahe khe UL Ac :
(A11)
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