[毕业设计]89c52单片机直流电机控制器设计

-1-89C52单片机直流电机控制器毕业设计【摘要】本论文介绍了基于89C52单片机的小功率直流电机控制系统。该系统主要功能为：设定直流电机的转速和转向，通过光电开关对电机测速，将测得的转速值反馈给单片机，单片机经PI运算后输出PWM信号控制电机运转。实际测试结果表明该系统的转速误差范围小(20圈/分)，调整时间短，转速设定方便快捷，显示直观清楚。本文还对此系统的性能指标进行了分析。【关键词】a1a0a2a3a5a6a4a7a5a6a8a91.前言a10a11a12a13a14a15a16a17a18a19a20a21a22a23a24a20a25a26a27a23a28a20a25a29a30a31a20a32a33a34a35a20a36a37a38a39a40a41a42a43a44a45a46a47a48a49a50a51a52a53a54a44a45a20a55a56a57a21a20a58a59a60a61a60a62a20a58a59a63a64a65a66a67a68a69a33a70a61a46a71a72a73a74a75a76a77a32a33a49a78a79a80a81a82a83a84a85a86a87a88a12a13a14a32a33a89a90a91a92a93a94a95a24a49a96a97a12a13a14a77a32a33a71a72a98a99a100a41a101a102a103a16a77a71a72a86a104a52a105a106a107a53a54a108a109a70a14a77a110a27a111a112a98a99a93a113a114a33a115a116a110a27a49a78a57a33a55a117a110a27a118a119a49a78a55a117a110a27a118a119a120a121a122a123a124a33a12a13a14a125a126a29a44a45a49a55a117a110a27a118a119a15a16a44a45a127a128a23a24a49a82a83a129a130a49a131a132a133a134a135a19a49a136a137a24a46a138a48a49a103a40a52a105a106a107a77a114a33a139a125a139a75a76a86a140a141a142a70a143a14a144a145a49a146a142a70a14a147a148a149a150a20a22a112a24a20a25a29a151a152a153a154a49a155a124a146a142a70a14a15a16a156a157a77a110a27a158a59a20a159a120a77a160a143a161a162a66a163a164a59a165a166a46a167a168a138a48a49a50a51a52a167a168a29a54a169a120a170a32a33a86a171a172a125a49a146a142a70a143a14a77a14a148a66a44a45a173a174a123a80a175a176a177a120a77a178a63a86a87a88a179a26a14a126a180a44a45a71a72a40a41a181a182a77a70a165a70a183a184a137a185a61a186a77a93a94a187a104a49a57a33a188a44a182a77a189a190a184a137a185a186a126a29a191a192a110a45a193a194a195a196a197a198a199a200a201a202a203a204a205a201a195a196a206a202a200a205a207a49a208a209a194a199a204a210a98a22a211a146a142a70a14a181a77a110a27a173a174a86a212a68a110a27a173a213a15a16a189a190a214a137a24a20a38a27a25a29a129a130a20a143a215a158a59a156a157a20a136a137a24a46a138a48a49a216a217a218a77a124a212a68a44a27a173a174a177a219a220a52a12a13a14a44a45a118a119a221a222a104a49a50a51a15a16a177a157a77a80a81a97a223a224a225a226a861.1有关技术简介1.1.1PWM控制a227a228a229a227a228a229a227a228a229a227a228a229a230a231a232a193a194a195a196a197a198a199a200a201a202a203a204a205a201a195a196a206a202a200a205a207a210a233a233a191a234a192a23a110a45a49a208a209a191a192a110a45a49a124a235a68a236a237a33a238a239a240a70a241a242a77a242a243a110a45a89a90a49a244a125a52a44a45a71a72a221a193a145a245a70a14a110a27a210a246a73a74a176a177a157a77a32a33a49a11a124a247a22a176a248a47a77a194a199a204a44a45a89a90a86a194a199a204a44a45a124a249a33a250a251a252a61a77a55a117a253a187a125a109a115a116a70a254a126a29a44a45a77a235a68a82a83a16a136a77a89a90a49a75a76a32a33a52a255a66a170a20a241a242a74a184a137a44a45a140a178a224a77a167a168a71a72a221a86a208a78a200a0a49a194a199a204a124a235a68a109a115a116a242a243a70a92a126a29a55a117a116a1a77a173a213a86a241a163a24a122a2a137a179a55a61a77a114a33a49a173a165a77a3a4a145a5a110a45a33a125a109a235a6a15a17a115a116a242a243a77a70a92a126a29a116a1a86a194a199a204a242a243a169a225a124a55a117a77a49-2-a41a203a7a8a9a10a11a12a13a14a40a15a16a17a10a68a18a19a61a20a21a22a180a23a40a20a21a22a180a24a77a61a25a26a61a18a27a28a29a218a30a31a26a85a10a32a33a34a35a36a37a249a38a65a39a42a43a156a44a45a10a40a31a10a46a47a48a28a68a18a19a61a249a38a65a43a156a44a45a40a85a10a46a47a48a28a19a61a249a85a49a77a50a20a51a184a52a53a40a11a12a39a42a17a115a54a29a55a56a186a57a58a118a59a60a62a77a63a64a67a69a70a71a213a23a218a72a32a20a73a71a74a35a217a75a76a78a79a80a84a81a10a82a34a35a38a7a83a23a86a150a10a87a88a44a46a40a89a128a90a103a91a75a81a77a92a93a94a67a69a95a96a97a28a29a98a73a71a203a70a71a103a99a40a101a100a102a104a49a105a106a107a10a102a31a108a105a85a118a59a67a69a40a55a109a110a111a112a65a218a113a37a16a17a75a76a78a184a136a84a75a76a10a34a35a40a56a114a117a34a35a183a119a120a121a122a20a10a210a79a77a123a218a9a10a124a125a101a126a34a35a10a184a136a118a59a127a69a40a129a54a130a170a131a170a61a132a109a110a61a25a10a133a134a40a229a54a130a170a109a110a135a137a77a92a93a94a67a69a10a103a91a138a70a235a139a97a140a141a142a110a40a147a28a143a61a144a61a145a106a107a146a148a149a151a10a69a152a40a7a153a154a155a157a158a154a164a119a29a159a218a68a160a161a162a163a77a166a167a118a168a153a154a155a157a158a154a164a119a40a169a171a180a67a172a61a144a61a145a106a107a10a110a163a173a89a174a175a146a148a40a186a57a58a67a69a95a96a176a177a178a112a65a179a56a77a169a171a61a144a61a145a95a96a181a233a61a145a95a96a108a182a185a67a69a95a96a10a146a148a29a173a126a30a187a10a70a71a188a189a40a228a163a119a67a69a70a71a181a190a191a150a113a192a67a69a193a194a10a179a56a40a186a57a58a67a69a95a96a195a112a196a197a159a10a146a148a77a65a198a159a203a199a40a140a110a163a196a201a30a186a57a58a67a69a95a96a77a218a202a204a205a206a40a127a88a34a184a127a69a207a208a10a34a184a23a209a30a188a189a40a218a30a188a189a28a63a56a39a42a61a132a213a10a127a69a188a189a40a211a218a30a188a189a28a55a56a34a35a212a214a189a77a101a215a218a202a61a216a67a69a40a63a56a219a218a30a188a189a7a67a69a61a25a170a220a46a221a210a10a162a163a222a7a223a133a10a226a227a40a114a230a20a28a41a203a221a210a135a137a223a246a181a221a210a231a136a20a232a234a108a221a210a61a132a10a236a214a84a237a127a238a77a41a239a40a91a240a212a63a56a241a242a243a216a67a69a162a163a10a34a35a212a214a189a771.1.2PID调节a244a245a247a244a247a248a250a251a252a253a254a255a135a0a1a2a3a4a84a5a251a86a6a77a84a5a235a25a251a68a88a7a8a9a250a10a11a26a239a12a13a137a14a57a92a20a77a239a12a15a93a251a16a12a40a132a94a17a18a136a137a14a40a24a19a250a96a21a22a23a102a31a254a255a35a27a251a28a29a77a19a250a235a25a57a29a24a252a253a254a255a251a15a99a2a40a100a179a23a120a251a239a12a57a137a14a30a40a228a32a61a50a33a34a101a22a23a35a27a77PIDa185a137a36-a37a11-a233a11a202a254a255a38a103a203a39a51a214a24a41a251a254a255a38a42a4350a160a44a104a45a40a46a47a48a49a2a29a24a39a52a53a251a54a55a254a255a38a77PIDa254a255a38a56a58a59a106a40a60a24a62a63a64a119a120a251a35a27a65a66a67a107a69a70a178a40a71a72a73a203a29a24a39a203a52a53a251a254a255a38a77PIDa254a255a38a74a137a36a58a75a185Pa202a13a37a11a58a75a185Ia202a57a233a11a58a75a185Da202a110a73a77a111a74a4a24a112a52a53a13a60a24a76a78a40a42a43a35a79a41a113a80a40a60a24a62a81a64a82a83a9a250a85a87a185Kpa40Kia57Kda202a89a90a77a47a91a160a95a97a98a40a115a63a105a83a64a68a210a10a9a250a58a75a40a90a108a116a109a62a251a105a213a114a250a58a75a40a147a137a36a254a255a58a75a2a117a63a90a118a251a77PIDa2a121a94a150a101a254a255a122a103a77a123a83a254a255a38a251a92a20a124a129a125a126a127a40a108a60a35a27a128a213a130a120a254a255a77a96a21a225a131a2a133a134a138a249a254a85a87a251a94a17a82a83a18a139a140a141a85a87a251a214a142a239a12a18a143a144a128a251a77a96a21a251a145a131a146a148a254a255a149a151a152a64a251a16a41a153a154a77a185a105a202Pa155a185a137a36a202a74a96a21a225a131a156a108a105a250Pa157a158a71a159a161a73a40a60PIDa254a255a28a29a203a96a21a162a18a251a163a87a77a248a96a21a225a131a157a164a165a40a254a255a38a251Pa155a138a16a164a108a170a166a33a164a251a167a23a12a77a185a168a202Ia155a185a37a11a202a169a210a10a96a21a225a131a171a20a172a173a37a11a77a71a174a40a175a251a176a207a96a21a177a165a180a181a182a203a105a250a14a164a251a96a21a18a77a181a182a96a21a225a131a156a108a105a250Ia157a158a71a159a89a73a203PIDa254a255a38a251Ia149a179a155a77-3-a183a184a186Da187a183a188a189a186Da187a236a190a191a192a193a194a195a196a197a198a199a200a194a196a197a198a201a197a204a205a206a201a208a209a196a197a211a212a215a216Da187a217a218a219a220a221a222a223Da224a226a227a229a230a231a232a234a237a238a240a241a242a243a244a245a246a240Da227a247a248a251a252a253a240a244a245a224a226a229PIDa244a245a254a255a35a72a130a0a26a23a1a140a2a66a229a142a251a3a4a5a6a7a143a116a8a9a10a11a12a237a240a243a147a13a7a14a32a200a238a15a35a237a222a16a17a9a10a150a18a19a20a10a21a22a12a24a237a238a240a230a231a243a204a25PIDa34a15a244a245a27a229a80a46a28a29a81a122a229a229a34a116a243PIDa80a46Kpa243Kia150Kda15a35a144a47a7a143a240a18a19a20a10a68a12a81a122a229a228a33a7a143a240a18a19a20a10a237a238a243a102a228a15a30a31a36a156a240a237a238a145a37a230a231a18a19a20a10a237a238a243PIDa80a46a34a15a35a38a173a81a122a229PIDa39a40a213a80a46a240a41a42a165a43a26a44a46a45PIDa244a245a213a243a228a33a48a25a49a50a41a64a51a28a52a243a53PIDa244a245a80a46Kpa54Kia150KDa15a55a107a108PIDa244a245a246a213a240a165a43a56a41a42a229a44a14a57a18a58a244a245a213a243a149a59a210a79a230a231a116a110a122a240a243a44a60a122a61a237a238a12a243a249a244a62a23a30a63a65a54a83a110a101a67a69a243a152a39a62a210a52a229a44a70a71a153a73a72a243a249a244a62a23a30a155a74a44a60a122a61a75a163a229a76a99a243a244a245a237a62a21a158a7a253a243a35a159a77a230a231a7a156a229a161a251a243a100a162a210a79a210a78a82a84a116a3a85a86a240a243a87a88a243a117a89a144a47a254a90a240a91a124a92a93a243a164a94a210a165a95a243a96a97a32a98a165a95a229a44a41a42a244a245a246a80a46a103a243a23a149a59a120a122a244a245a246a104a105a229a14a106a57a18a58a244a245a230a231a243a218a109a111a1PIa11PIDa244a245a246a168a112a243a35a155a113a249a244a230a231a240a110a122a243a115a114a15a30a172a118a119a19a232a234a229PIDa80a46a240a41a42a255a121a71a15a1a165a43a26a235a123a125a126a43a150a174a127a120a122a128a229a235a123a125a126a43a120a122PIDa244a245a80a46a240a103a129a243a116a210a255a249a244a14a176a131a120a240a46a178a107a132a243a133a44a57a18a58a244a245a213a179a179a3a86a134a135a229a87a88a243a1a72a136a174a127a120a122a43a56a41a42PIDa244a245a80a46a243a34a222a223a137a103a138a111a48a1a240a243a115a139a116a141a146a255a148a240a165a43a229a180a174a43a180a174a43a116a13a7a107a108a11a151a154a157a141a230a231a243a56a182a160a230a231a240a166a23a184a9a243a251a167a144a47a70a244a245a80a46a14a230a231a166a23a240a253a185a169a166a243a56a170a237a80a46a243a171a175a180a174a243a177a135a186a223a64a135a82a181a240a166a23a223a183a229a180a174a103a243a210a59a27a188PIDa244a245a246a80a46a61a14a230a231a240a166a23a255a189a187a169a166a229a190a253a51a102a230a46Kpa243a15a35a191a242a230a231a240a166a23a65a192a243a255a193a106a194a195a119a19a232a234a196a147a116a243a7a253a240a51a102a230a46a197a198a230a231a255a28a253a240a152a39a243a87a88a248a251a199a201a243a202a203a230a231a240a110a122a10a229a190a253a205a206a111a46Kia243a197a255a193a106a194a195a152a39a243a194a195a199a201a243a198a230a231a252a110a122a196a147a230a231a119a19a232a234a240a207a208a247a22a146a194a209a229a190a253a211a206a111a46KDa243a229a15a35a191a242a230a231a240a166a23a243a198a152a39a62a194a195a243a110a122a10a190a191a196a147a230a231a240a212a153a73a30a214a215a216a229a44a217a219a27a35a100a80a46a14a244a245a7a143a240a169a166a167a243a180a174a12a243a15a55a59a51a102a220a167a205a206a220a221a211a206a240a222a223a171a175a39a174a80a46a229a254a90a224a225a228a72a26a149a59a226a39a40a51a102a227a206a243a247a51a102a230a46a31a52a237a253a243a115a182a160a230a231a230a14a23a240a166a23a243a231a232a64a135a166a23a242a243a152a39a62a52a240a166a23a184a9a223a183a229a228a33a204a12a230a231a240a119a19a232a234a233a44a234a236a140a237a238a239a240a241a242a2431/4a244a245a246a247a248a250a252a253a254a255a219a152a244a245a2431/4a17a239a89a0a1a206a159a247a136a207a96a2a3a237a202a239a209a4a5a6a24a7a102-4-a124a31a8a21a40a137a9a110a10a21a11a12a13a14a77a228a33a43a137a9a15a31a68a16a36a100a40a110a18a68a19a20a22a23a25a26a84a27a28a29a30a79a40a46a32a34a35a172a37a38a39a41a42a37a38a44a45a47a180a48a49a50a107a252a51a52a53a54a55a50a115a56a57a51a204a58a81a49a59a64a60a61a62a63a45a211a233a123a65a185a62a66a116a67a55a6080%a69a50a251a70a212a71a123a65a37a38a44a45a72a73a180a48a50a115a74a75a76a59a64a60a78a80a184a223a72a51a204a58a48a61a62a63a45a55a82a37a38a44a45a55a50a138a83a196a85a86a87a88a90a50a115a91a155a92a148a93a60a94a87a95a97a98a99a42a66a101a106a103a61a62a37a38a39a41a104a251a196a85a168a86a87a88a90,a147a63a105a60a94a87a95a97a108a109a97a214a111a112a113,a114a49a117a35a172a233a38a39a41a42a47a180a48a49a50a117a107a252a51a52a118a119a60a233a38a44a45a50a120a70a212a71a121a54a50a122a49a78a80a125a126a170a61a62a63a45a82a37a38a44a45a50a127a128a59a64a112a113a60a129a101a98a99a421.2直流电机的特性及调速方式a216a54a130a45a60a131a94a132a133a34a163a134a135a60a217a153a139a94a60a131a218a157a140a141a51a142a143a144a109a170a60a153a145a50a146a97a149a141a131a94a132a42a150a151a220a98a154a156a221a158a60a218a160a161a51a162a164a131a218a165a50a229a117a120a164a225a166a218a165a227a50a167a218a160a169a171a173a51a52a117a120a153a94a60a165a224a174a175a176a50a174a175a176a60a177a178a57a221a158a173a51a52a223a232a42a179a223a232a213a181a172a138a182a131a182a49a50a223a232a183a57a186a83a131a218a157a50a74a75a234a187a158a46a188a158a157a60a143a144a50a114a51a156a131a218a157a140a141a168a163a103a189a131a236a60a51a52a131a218a153a145a50a153a145a60a143a144a164a190a49a191a143a144a42a238a131a236a153a94a50a223a232a167a183a60a239a192a193a240a50a194a223a232a213a181a195a60a210a164a138a182a131a182a50a46a76a197a198a60a131a218a153a145a60a143a144a242a170a98a203a49a191a143a144a168a50a199a200a131a236a186a83a51a142a143a144a201a170a60a131a218a153a145a42a114a142a201a170a60a131a218a153a145a205a97a106a131a236a208a243a215a222a50a194a109a97a106a131a236a134a135a153a94a42a226a251a50a230a106a131a236a186a83a51a52a143a144a109a170a60a131a218a153a145a50a231a235a47a189a50a179a223a232a183a47a109a122a160a95a60a218a160a237a50a66a241a56a182a195a223a232a213a60a131a182a143a144a244a49a125a35a120a170a240a50a245a72a73a76a246a247a240a144a248a42a98a200a32a34a121a249a51a52a250a253a240a144a254a60a171a192a50a240a144a254a255a193a136a216a216a60a252a224a240a144a240a149a141a50a171a47a253a57a50a229a82a131a236a216a216a50a91a82a131a236a51a146a217a153a42a240a144a254a254a132a167a52a221a158a109a94a60a255a1a0a36a141a60a131a3a4a151a5a136a168a6a42a171a168a114a142a240a144a254a120a70a50a238a56a138a182a131a9a35a189a131a3a39a50a138a182a131a182a138a131a3a182a195a131a236a57a60a223a232a50a46a197a198a131a218a153a145a50a131a236a47a131a218a153a145a60a163a103a237a72a217a153a146a208a42a131a236a51a138a153a94a50a255a189a240a144a254a7a2a131a3a156a131a182a60a240a144a163a103a50a138a182a131a182a201a42a125a255a223a232a183a198a8a82a10a193a182a172a50a106a223a232a183a205a230a210a189a150a160a237a50a32a213a181a195a131a182a60a143a144a11a164a255a131a3a4a182a172a60a143a144a50a194a47a220a160a237a49a50a11a164a116a131a3a5a182a134a60a143a144a42a114a72a155a34a168a12a52a160a237a223a232a183a213a60a131a182a13a14a164a51a52a143a144a42a114a24a60a68a149a50a72a117a106a131a94a132a97a134a135a125a217a153a42a114a72a164a138a182a131a94a132a60a61a163a67a235a15a138a182a131a132a60a58a16a143a17a18a26a161a51a227a131a236a19a131a20a58a16a26a131a236a243a237a19a168a131a20a70a50a131a94a132a60a132a21a38a95a60a22a129a23a131a20a60a126a170a194a126a170a50a47a25a27a156a237a106a153a16a106a198a170a28a42a35a102a29a30a31a33a37a40a41a43a44a228a45a169a46a47a190a48a40a41a49a29a123a50a51a33a52a53a54a55a56a57a58a51a59a92a60a62a63a102a29a103a64a56a69a57a65a51a66a29a67a70a59a71a73a161a74a75a76a56a69a77a78a79a169a55a80a223a133a227a81a170a82a236a82a83a102a29a84a85a82a86a87a88a64a89a90a30a31a56a91a87a93a71a73a94a82a236a82a83a33a81a170a69a113a167a95a96a56a97a98a111a33a102a29a140a99a54a151a80a82a236a82a83a33a102a100a101a64a104a105a107a108a109a228a45a214a110a56a147a66a29a67a70a59a78a176a112a114a170a66a56a69a77a57a115a109a117a179a110a54a118a33a119a246a120a121a56a122a82a124a125a126a80a223a127a227a186a128a130a131a109a102a108a135a137a84a91a139a141a41a142a131a109a43a44a143a144a145a127a148a246a149a102a44a82a150a113a167a152a135a153a183a154a125-5-a155a33a183a157a143a144a56a158a78a176a159a55a160a162a86a55a78a176a163a164a80a43a44a102a44a30a246a33a165a58a166a56a171a172a98a81a170a173a179a95a174a82a83a80a142a186a128a130a173a179a82a83a175a177a131a109a82a86a87a33a82a236a178a180a56a171a172a181a120a73a182a37a184a33a102a29a135a137a80a35a102a29a135a137a33a37a40a41a102a29a140a99a151a185a187a176a188a185a53a189a29a191a192a185a82a109a183a86a194a195a122a82a124a196a197a194a190a147a112a135a137a54a199a200a56a201a202a203a204a189a205a206a188a80a223a207a227a208a209a211a131a109a102a29a135a137a84a35a135a137a33a212a213a215a82a109a217a49a29a143a144a56a121a218a219a220a82a109a102a100a163a217a29a191a102a100a163a80a102a100a163a221a186a222a224a225a166a226a229a230a121a231a30a31a214a110a102a100a80a232a82a109a102a100a163a181a120a33a209a211a233a234a82a109a211a80a232a29a191a102a100a163a181a120a33a209a211a233a234a49a29a211a56a82a109a211a64a238a43a44a82a109a56a49a29a211a64a238a43a44a49a29a80a223a239a227a114a241a31a131a109a102a29a135a137a84a242a243a54a244a245a33a131a109a102a29a135a137a174a88a64a114a241a43a44a56a247a230a121a102a100a163a248a249a250a228a45a56a98a195a91a251a43a44a78a182a174a232a255a1a141a163a0a214a110a80a111a6a63a102a29a73a182a188a185a44a103a172a21a217a8a230a194a155a71a40a80a114a43a228a45a55a63a99a48a217a49a2a3a161a52a163a56a172a30a171a205a126a64a99a48a245a70a118a127a67a70a80a114a33a55a46a80a42a4a56a111a111a6a5a64a53a85a195a7a54a33a155a144a78a182a80a81a170a9a218a33a19a78a176a102a29a84a247a131a109a82a86a87a33a87a93a71a73a33a56a31a172a57a179a56a85a218a224a123a194a82a86a87a33a49a29a203a94a68a206a188a80a232a131a109a82a87a33a82a83a95a58a30a143a31a84a59a60a95a61a224a10a91a213a224a234a82a87a203a232a82a109a56a10a234a203a232a82a16a56a95a234a82a87a33a212a82a63a56a95a60a11a12a66a12a67a13a31a213a56a11a234a82a87a14a15a101a114a56a234a152a101a215a190a66a234a203a232a218a224a190a67a234a82a87a49a86a148a29a191a80a238a41a142a95a41a220a82a83a95a58a30a143a31a213a56a172a74a84a59a60a11a12a66a12a67a61a224a10a149a90a96a127a68a160a34a172a74a179a148a29a191a217a82a83a33a17a135a31a84a67a60a225a59a222a224a10a231a69a11a12a66a247a238a31a172a98a57a179a56a81a170a4a175a82a83a59a13a82a87a243a150a82a16a10a13a218a224a66a56a172a81a170a82a87a49a29a80a104a214a175a97a64a131a109a82a87a234a225a218a31a13a218a224a66a125a172a81a170a13a69a81a170a82a87a243a150a82a16a10a0a102a29a33a30a31a13a89a125a118a70a13a97a98a88a64a81a170a4a175a82a83a59a33a102a29a30a31a131.3系统设计功能要求a18a20a22a23a24a25a26a27a71a28a29a30a31a32a33a35a36a186a37a38a102a39a40a43a45a47a50a51a62a65a72a40a33a73a74a39a102a75a77a76a18a78a79a117a81a82a83a84a86a92a87a24a88a91a223a93a227a94a223a93a96a96a96a216a29a29a96a96a227a74a97a114a98a100a65a72a40a33a101a103a105a187a102a39a106a219a50a102a39a107a108a109a93a74a97a114a77a223a30a227a40a33a110a94a112a20a39a113a86a121a115a116a74a106a116a74a39a113a119a20a115a39a113a120a108a50a122a124a30a96a74a97a114a77a223a125a227a40a33a126a128a129a130a131a27a96a132a133a115a134a156a135a136a137a74a39a110a153a39a138a139a20a115a140a106a74a39a152a102a124a29a132a98a77a223a141a227a40a33a110a101a103a142a145a74a35a36a77a146a147a148a149a150a151a154a157a178a15