... 4 1... 5 1.1... 6 1.1.1... 6 1.1.2... 6 1.1.3... 8 1.2 VJC1.5... 9 1.2.1... 9 1.2.2... 9 1.2.3... 9 1.3... 10 1.3.1... 10 1.3.2... 10 1.4... 11 2...14 2.1... 15 2.2... 18 2.3... 19 2.4... 19 2.5... 20 2.6... 24 2.7... 25 2.8... 26 2.9... 27 2.10... 27 2.11... 29 2.12... 29 2.13... 30 2.14... 31 2.15... 31 2.16... 31 2.17... 32 2.18... 33 2.19... 33 2.20... 34 3...35

3.1... 36 3.2... 42 3.3... 45 3.4... 45 3.5... 46 3.6... 49 3.7... 49 3.8... 51 3.9... 55 3.10... 56 3.11... 57 3.12... 59 3.13... 60 3.14... 64 3.15... 64 3.16... 65 3.17... 65 3.18... 66 3.19... 66 4...67 4.1... 68 4.2... 70 4.3... 73 4.4... 74 4.5... 77 4.6... 78 4.7... 79 4.8... 82 4.9... 82 4.10... 83 4.11... 84 4.12... 85 4.13... 89 4.14... 90 5... 91 2

5.1... 92 5.2... 93 5.3... 94 5.4... 95 5.5... 96... 99 A.... 99 B.... 103 C.... 104 D.... 104 3

VJC VJC C C 4

1 VJC1.5 VJC1.5 5

1.1 1.1.1 VJC1.5 AS-M AS-MII AS-UII AS-InfoX AS- InfoM 1 1 AS-M B AS-MII AS-M /AS-UII AS-InfoM AS-InfoX 1 1 1.1.2 1. 1 2 6

1 2 2. 0 255 3. AS- InfoX B (M).flw M AS-M (Info).flw AS-InfoM C D 4. 0 255 5. 0 255 7

1.1.3 VJC1.5 C JC VJC1.5 JC 1 3 3 JC JC JC 1 3 VJC 8

1.2 VJC1.5 1.2.1 VJC1.5 JC JC 1.2.2 VJC1.5 VJC1.5 1 4 1 4 1.2.3 9

1.3 1.3.1 VJC1.5 1. VJC1.5 Windows VJC1.5 2. / Setup.exe C C:\Program File\VJC1.5 1.3.2 VJC1.5 1 Windows VJC1.5 2 Windows / /VJC1.5 /VJC1.5 a) T b) 1 5 10

1 5 1.4 VJC1.5 1 6 11

12

1 6 13

2 14

2.1 a) 2 1 2 1 b) 2 2 2 2 1 15

2 2 c) 2 3 2 3 d) 2 4 2 5 2 4 16

2 5 e) A 17

2.2 2 6 A 2 6 18

2.3 2 7 1 1 90 2.4 19

2.5 2 8 VJC1.5 2 8 144 0 < 5 0 1 0 1 2 3 4 5 5 2 9 20

2 9 0 80 2.0 100 0.4 < 5 1 a) d) a) 2 10 21

2 10 b) 2 10 2 11 2 11 c) d) 1 2 12 22

2 12 0 1 0 1 2 3 4 5 23

2.6 2 13 2 14 2 14 VJC1.5 24

drive(a b) a b motor(1 n 1 ) n 1 motor(2 n 2 ) n 2 2 15 2.7 2 16 25

2.8 2 17 2 17 2 17 26

2.9 2 18 2.10 1 2 3 100 CPU 68HC11, 27

16 2 19 2 19 28

2.11 3 + 5 (6 1) 1. 7 2. 30 (4 + 5) + 18 (6 2) 15 (7 + 8) 3 (3 (10 + 6) - 9) 2.12 12 5-6 0 32-10.8 0.00 25.01 255 255.0 VJC1.5 100 3 33 100.0 3.0 33.333333333333 C 29

2.13 2 20 2 20 30

2.14 2.15 2.16 31

2.17 ABCD 2 21 13 ABCD 2 21/22 0.2 A B C D A B C D A B C D A B C D A B C D A B C D A B C D A B C D A B C D A B C D A B C D A B C D A B C D 2 22 32

2.18 * 2.19 2 23 VJC1.5 2 23 2 23 33

2.20 4 4 3 4 3 2 4 3 7 a ad ad 2 ad 3 ad 4 ad 5 ad 6 a d n d 1 S n =na d 1 S n a ad ad 2 ad n-2 ad n-1 d ds n ad ad 2 ad 3 ad n-1 ad n S n ds n a ad n a S n (1 d n ) 1 d 34

3 6 35

3.1 3 1 3 1 VJC1.5 0 30 3 6 36

80 0.1 3 2 3 2 3 3 3 3 37

3 4 3 4 3 5 3 5 3 6 0.1 0.05 38

3 6 3 7 3 8 39

3 7 3 8 3 9 3 9 40

3 6 3 10 3 10 41

3.2 0.1 3 11 3 11 180 30 3 12 42

3 12 200 200 3 13 3 13 43

3 14 3 14 200 200 200 JC JC JC 180 30 44

3.3 / / 0 255 3 22 3.4 3 15 / / 45

3.5 3 16 3 16 3 17 46

3 17 3 17 3 18 33 33 d 64mm 47

πd 33 66 3 19 3 19 33 48

3.6 3 20 3 20 VJC1.5 3.7 < 10.0000 10 3 21 < 10.0000 49

3 21 50

3.8 3 25 255 0 0.1 3 22 3 22 3 23 90 0 5 3 24 51

3 23 3 24 80 1.000 52

a) < 5 = = < 180 50 0.1 79 0.3 90 0 1 5 5 b) < 5 = = < 180 50 0.1-79 0.3 90 0 1 5 5 53

3 25 90 0 1 5 5 3 25 54

3.9 AS-MII ( 3 26) 3 26 3 27 3 27 ( 3 28) 55

3 28 VJC1.5 3.10 56

3.11 3 29 3 29 20 3 30 <20 57

< 20 80 < 80 20 0.1 180 30 3 30 58

3.12 3 31 3 31 59

3.13 3 32 3 32 3 22 63 170 3 33 3 33 63 60

170 3 34 63 170 170 90 170 180 170 63 3 35 63 63 170 90 180 61

3 33 3 34 62

3 35 63

3.14 3 36 3.15 180 30 64

3.16 3.17 3 37 65

3.18 3.19 3 38 3 38 66

4 67

4.1 abcdefg 4 1 a) b) c) 4 2 doctor c 0 43 63 85 106 127 128 149 170 191 202 213 234 255 abcdefghijklmn 14 68

4 1 4 2 69

4.2 4 3 90 90 4 4 4 5 70

4 4 4 5 71

a) 80 0.3 80 0.3 b) 100 0.05 c) -100 0.05 4 3 72

4.3 4 6 4 6 73

4.4 4 7 4 7 50 120 50 120 4 8 A. 50 120 74

4 8 75

B. 100 80 0.1 C. 20 0.1 20 0.1 40 0.1 D. > 120 < 50 50 120 180 30 76

4.5 10 8 6 4 2 4 9 4 9 77

4.6 a) b) c) 0.05 0.1 d) e) 3 4 5 f) / 78

4.7 4 10 4 10 90 79

60 60 4 11 4 11 20 30 80

0.05 81

4.8 4.9 180 4 174.6 82

4.10 5 8-12 3 64 81 4 12 4 12 4 12 4 12 4 12 JC 83

4 12 4.11 3 VJC1.5 84

4.12 C 4 13 255 60 0 85

4 13 18 45 9 A0 A 1 A 0 A 1 d d 86

1 A 0 A 1 b 1 A 2 2 A 1 A 2 b 2 A 3 3 A 2 A 3 b 3 A 4 n 2 An 3 An 2 bn 2 An 1 n 1 An 2 An 1 bn 1 A n n An 1 A n b n 0 1 A0 A1 b1 A2 2 A 1 A2 b2 A3 1 d d d A n 1 = An bn + 0 n A d n d = A n n A n A n 1 An An 2 n 3 A A2 A 1 A 0 87

A n A 0 A 1 d A 0 A 1 A n d d d A n d A n d = A n 253 77 d 11 1 253 77 3 22 2 77 22 3 11 3 22 11 2 0 88

4.13 7 0 6 4 14 89

4.14 4 15 90

5 VJC1.5 91

5.1. VJC1.5 5 1 5 1 5 1 1. 2. 3. 92

5.2 10 5 2 93

5.3 400 1000 5 3 800 1000 94

5.4 10 5 4 95

5.5 5 5 VJC1.5 6 10 a) 1 90 96

2 4.6 3 4.7 3.11 gi_1=0 gi_1= 1 5 6 97

5 6 gi_1 0 < 20 < 20 < 250 < 250 98

A. VJC1.5 VJC1.5 1 2 2 99

3 3 4 100

4 5 5 101

6 6 7 102

B. VJC1.5 1.1 VJC1.5 AS-MII 1 1 5 2 T O 3 AS-MII 4 5 AS- MII VJC1.5 103

C. InfoX 4 1 2 InfoM 4 8 1 2 AS-M 3 12 5 10 AS-MII 3 12 5 10 AS-UII 3 12 5 10 D. InfoX InfoM AS-M AS-MII AS-UII 104