[毕业设计精品]基于单片机的恒温控制系统

基于单片机的恒温控制系统设计摘要：本设计的温度测量及加热控制系统以AT89S52单片机为核心部件，外加温度采集电路、键盘及显示电路、加热控制电路和越限报警等电路。采用单总线型数字式的温度传感器DS18B20，及行列式键盘和动态显示的方式，以容易控制的固态继电器作加热控制的开关器件。本作品既可以对当前温度进行实时显示又可以对温度进行控制，以使达到用户需要的温度，并使其恒定在这一温度。人性化的行列式键盘设计使设置温度简单快速，两位整数一位小数的显示方式具有更高的显示精度。建立在模糊控制理论上的控制算法，使控制精度完全能g9397g17287一g14336g12050g1262g10995g1147的要g8726。g17902g17819对系统g17731件和g11840件设计的g2524理g16280g2022，g2469g6393单片机g14270g17535集g6116g1259g3822系统g13435g2163能单g1815的g1260g2195，在g993g1955g4581g2163能的前g6564g991有g6940g19489g1314g1114g11840件g6116本，系统g6817控简g1427。g3关键词：单片机g3g3g3恒温控制g3g3模糊控制g3g3g3Abstract:ThedesignofthetemperaturemeasurementandheatingcontrolsystemstoAT89S52microcontrollercorecomponent,plusthetemperatureacquisitioncircuit,keyboardanddisplaycircuit,heatingcircutaltemperaturesensorDS18B20,andthedeterminantofthekeyboardanddynamicdisplayinordertoeasilycontrolthesolid-staterelaysforheatingcontroloftheswitchingdevice.Thisworksbothonthecurrenttemperatureinreal-timedisplayoftemperaturecanbecontrolledinordertoenableuserstoreachtherequiredtemperature,andmakeitconstantatthistemperature.HumanizeddesignkeyboarddeterminanttemperatureeasyExpress,thetwodecimalinteger,adisplayshowsahigheraccuracy.Setupinthefuzzycontroltheory,controlalgorithms,sothatthecontrolaccuracycanmeetthegeneralrequirementsofsocialproduction.Throughthesystemsoftwareandhardwaredesignofrationalplanning,exerttheirownsingle-chipintegrationofmanysystem-levelfunctionalunitoftheadvantages,doesnotreducethefunctionsatthepremiseofeffectivelyreducingthecostofhardware,thesystemeasytomanipulate.Keywords:microcontroller,temperaturecontrol,fuzzycontrol-1-1.引言温度g7171g5049g1006g10995g1147g1025g1039要的g15999控g2454数g1055一，g994g1055g11468关的g2520g12193温度控制系统g5203g8879g5224用g1122g1930g18341、化g5049、机g7812、g20147品等g20058g3507。温度控制g7171g5049g1006g10995g1147g17819g12255g1025g13475g5132g17947到的g17819g12255控制g15有g1135g5049g14414g17819g12255对其温度的控制g6940g7536g11464g6521g5445g2721g11540g1147品的g17148量g15g3252g13792设计一g12193g17751为理g5831的温度控制系统g7171g19762g5132有g1227g1552的。g3g32.整体方案设计本设计的温度测量及加热控制系统以AT89S52单片机为核心部件，外加温度采集电路、键盘及显示电路、加热控制电路和越限报警等电路。采用单总线型数字式的温度传感器DS18B20，及行列式键盘和动态显示的方式，以容易控制的固态继电器作加热控制的开关器件。实g20576g16789g7138g16825温控系统能达到0g172g263的g19757态g16835g5058g150g17g235g263的控制精度g15以及g2494有0g178g22g8的g17241g16855量g15g3252g13792本设计具有g5468高的可g19764性和g12295定性。g3g32.1g17方案论证设计g1025采用g1114两g1022方g7708，具g1319的方g7708g16277方g7708一和方g7708g1120。方g7708一：g3温度测量及加热系统控制的总g1319g13479g7512g3926g32821g6164示。系统g1039要g2265g6336g10628g3342温度采集、实时温度显示、加热控制g2454数设置、加热电路控制g17767g1998、g994报警g16025置和系统核心AT89S52单片机作为g5506g3800理器。g3g32821：方g7708一g7706g3282g3温度采集电路以数字量g5430式g4570g10628g3342温度传g14279单片机。单片机g13479g2524g10628g3342温度g994用户设定的g11458g7643温度，g6365g10043已g13475编g12255固化的模糊控制算法计算g1998实时控制量。以此控制量控制固态继电器开g17902和关断，决定加热电路的g5049作状态，使水温逐步g12295定g1122用户设定的g11458g7643g1552。在水温到达设定的g11458g7643温度后，由g1122g14270然冷却g13792使其温度g991g19489时，单片机g17902g17819采样g3-2-g3回的温度g994设置的g11458g7643温度比g17751，作g1998g11468g5224的控制，开启加热器。当用户需要比实时温度g1314的温度时，此电路可以利用风扇g19489温。系统运行g17819g12255g1025的g2520g12193状态g2454量均可由数码管实时显示。g3g3方g7708g1120：g3g3g3g3g32.2方案比较由g1122方g7708一涉及的电路g11468对g17751g3822，消耗的g2163率g11468对g17751大，g13792且单片机采集数据更加方g1427，g1427g1122g3800理，g13792且单片机已g13475g6116为g1039流g1147品。单片机在电路上g11468对比g17751简单，g13792且消耗的g2163率g11468对g17751g4581，g16855试也g17751方g1427，g3252此设计采用g1114方g7708g1120。g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3-3-g33.单元模块的设计3.1温度采集电路的设计温度采集电路模块g3926g32822示。DS18B20内部g13479g7512g1039要由四部分组g6116：6g23位光刻ROM、g3温度传感器、g19762g6393g2469的温度报警触g2469器TH和TL、配置寄存器。其g1025DQ为数字信号g17767g3入/g17767g1998端；GND为电源地；VDD为外g6521供电电源g17767入端。g3g3g32822：温度采集电路g3DS18B20g1025的温度传感器可完g6116对温度的测量，以12位转化为例:用16位符号扩展得g3g1120进制补码读数g5430式g6564供，以0g170625g263/LSBg5430式表达，其g1025S为符号位g3g3g3g3这g717112位转化后得到的12位数据，存储在18B20的两g10228比特的RAMg1025，g1120进制g1025的前面5位g7171符号位，g3926g7536测得的温度大g11220，这5位为0，g2494要g4570测到的数g1552乘g11220g170625即可得到实际温度；g3926g7536温度小g11220，这5位为1，测到的数g1552需要取反加1再乘g11220g170625即可得到实际温度。g33.2、键盘和显示的设计g3键盘采用行列式和外部g1025断g11468g13479g2524的方法，g3282g22g1025g2520g6365键的g2163能定义g3926g991表1。其g1025设置键g994单片机的脚g11468连，、YES、NO用四行三列g6521单片机P0口，REST键为g11840件复位键，g994R、Cg7512g6116复位电路。模块电路g3926g991g3282g22：g3-4-表1：g6365键g2163能g3g6365键g3键名g3g2163能g3RESTg3复位键g3使系统复位g3RETg3设置键g3使系统g1147g10995g1025断，进入设置状态g390SSg3数字键g3设置用户需要的温度g3YESg3确认键g3用户设定g11458g7643温度后进行确认g3NOg3清除键g3用户设定温度错g16835或g16835g6365g1114YES键后使用g3g3g3g3282g22g3键盘g6521口电路g3显示采用g22位共阳LED动态显示方式g15显示内容有温度g1552的十位、g1022位及小数点后一位。用P2口作为段控码g17767g1998，并用7g23HC2g23g23作驱动。P1g170P1g172作为位控码g17767g1998，用PNP型三极管做驱动。模块电路g3926g991g3282g23：g3g3g3282g23g3显示g6521口电路g33.3加热控制电路的设计用g1122在闭环控制系统g1025对g15999控对象实施控制，g15999控对象为电热杯，采用对加在电热-5-杯两端的电压进行g17902断的方法进行控制，以实g10628对水加热g2163率的g16855整，从g13792达到对水温控制的g11458的。对电炉丝g17902断的控制采用SSR-g230DA固态继电器。它的使用g19762g5132简单，g2494要在控制端TTL电平，即可实g10628对继电器的开关，使用时完全可以用g3NPN型三极管g6521g6116电压跟随器的g5430式驱动。当单片机的P1g17g22为高点平时，三极管驱动固态继电器g5049作g6521g17902加热器g5049作，当单片机的P1g17g22为g1314电平时固态继电器关断，加热器g993g5049作。控制电路g3282g3926g991g32825：g3g3g32825g3加热控制电路g33.4报警及指示灯电路的设计当用户设定的g11458g7643温度达到时需用声音的g5430式g6564g18278用户，此时g15574g21495器为三声断g13505的g9416g12584g9416g12584的g2495声。在本系统g1025g6117g1216为用户设计g1114越限报警，当温度g1314g1122用户设置的g11458g7643温度10度或高g112210度时g15574g21495器为连g13505g993断的g9416g12584g9416g12584g2495声。当单片机P1g177g17767g1998高电平时，三极管g4560g17902，g15574g21495器g5049作g2469g1998报警声。P1g177为g1314电平时三极管关断，g15574g21495器g993g5049作。D1为电热杯加热g6363示g9795，P1g175g1314电平有g6940；D0为g7828测到DS18B20的g6363示，高电平有g6940；D10为g19489温g6363示g9795，g1314电平有g6940。报警及g6363示g9795电路g3926g991g32826示：g3g3g32826g3报警及g6363示g9795电路g3-6-4软件系统的设计系统的g17731件由三大模块组g6116：g1039g12255g5219模块、g2163能实g10628模块和运算控制模块。4.1主程序模块g1039g12255g5219g1039要完g6116加热控制系统g2520部件的g2033g3999化和实g10628g2520g2163能g4388g12255g5219的g16855用，以及实际测量g1025g2520g1022g2163能模块的g2339g16855在g7092外部g1025断g11015g16843时，单片机g17902g17819g5502环对外部温度进行实时显示。g6238设置键作为外部g1025断0，以g1427能对数字g6365键进行g11468g5224g3800理。g1039g12255g5219流g12255g3282g3926g991g32827：g32827g3g1039g12255g5219流g12255g3282g3-7-4.2功能实现模块以用g7481g6203行对固态继电器及电热杯的控制。g2163能实g10628模块g1039要由g1025断g3800理g4388g12255g5219、温度比g17751g3800理g4388g12255g5219、键盘g3800理g4388g12255g5219、显示g4388g12255g5219、报警g4388g12255g5219等部分组g6116。键盘显示及g1025断g12255g5219流g12255g3282g3926g991g32828：g3g32828g3键盘、显示、g1025断g3g4388g12255g5219流g12255g3282g3-8-4.3运算控制模块g16825模块由g7643度转g6454、模糊控制算法，及其g1025用到的乘法g4388g12255g5219。4.3.1g7643度转g6454式g1025A为g1120进制的温度g1552，为DS18B20的数字信号线g17877回g7481的温度数据。单片机在g3800理g7643度转g6454时g7171g17902g17819g6238DS18B20的信号线g17877回的16位数据g2503g122394位得到g1120进制的温度g1552。其小数部分g17902g17819g7609小数表的g5430式g14731取。g12255g5219流g12255g3282g3926g991g32829：g32829g3g7643度转g6454g4388g12255g5219流g12255g3282g34.3.2模糊控制算法g4388g12255g5219由g1122g7092法确g2011确定电炉的g10301理模型，g3252g13792g7092法建立其数g4410模型和传g17894g2001数。加热器为一g5827性系统，g6117g1216采用模糊控制的方法，g17902g17819g3822g8437温度测量模糊计算当用户设定g11458g7643温度时需g6564前关断加热器的温度，利用加热器g14270g17535的热g5827性使温度上g2331到其设定温度。-9-g8611g195605g6680g8675度g6117g1216进行一g8437温度测量，并当达到其温度时关断加热器g16772g5417g991g3252加热器的热g5827性g13792上g2331的温度g1552。从g13792可以建立热g5827性的温度g5058g1552表，在g12255g5219g1025利用g7609表法，g7609g1998g11468g5224设定温度对g5224的关断温度。g17902g17819实g20576数据g6117g1216可以g11487g1998，当水温从0g263加热到50g263这段温度g2318g3507，其温度g5827性g7366线可g17829g1296g6116线性的g11464线，水温从50g263加热到100g263这段温度g5827性g7366线可g17829g1296g6116g2490一g7477线性的g11464线段。g17902g17819对设置的g11458g7643温度g994温控系统g11429测温度进行g5058g1552g3800理g4613可g17829g1296的g8726g1998单片机的g6564前关断温度。g12255g5219流g12255g3282g3926g328210：g3g3g3g3g328210g3模糊控制算法g4388g12255g5219流g12255g3282g3g3g3g3g3g3-10-g35设计总结g3g6117g1216的温度控制系统g7171g3534g1122AT89S52单片机的设计方g7708，g3917能实时显示当前温度，并能g7693据用户的要g8726作g1998g11468g5224的控制。此系统为闭环系统，g5049作g12295定g12295定性高g15控制精度高g15利用模糊控制算法使g17241g16855量大大g19489g1314。g17731件采用模块化g13479g7512g15g6564高g1114g17902用性。本设计的g11458的g993g1177g1177g7171温度控制本g17535g15g1039要g6564供g1114单片机外g3272电路及g17731件g2265g6336控制算法设计的g5617g5831g15g5224g16825g16840g15这g12193g5617g5831比控制系统本g17535更为g18337要。g3g35.1设计所达到的性能指标5g171g171g3温控系统的g7643度g16835g5058g3g6117g1216g4570g7643g1946温度计和温控系统g6518g3848g6930人g2528一容器g1025，g17885定g14521g5190g993g2528的温度点，g16772g3g5417g991g7643g1946温度计显示的温度和温控系统显示的温度进行比g17751。测量数据g3926g991表2g6164示：g3表2g3g7643g1946温度计测量的温度和温控系统显示的温度g3g3g3g7643g1946温度计和温控系统显示的温度g708g263g709g3g7643g1946温度计g316g179g3g237g177g357g178g36g22g170g372g178g385g171g390g179g3温控系统g316g175g3g238g170g358g17g22g362g179g37g22g170g385g175g390g175g3g5058g1552比g17751g3-0g17g23g30g17g22g30g175g30g171g30g172g30g17g23g3-0g17g23g3g7643度g16835g5058g31g175g8g3g35g171g172温控系统的g19757态g16835g5058g3g17902g17819测量在g993g2528的温度点g2528g7643g1946温度的温度g5058g7481确定温控系统的g19757态g16835g5058。其测量g3数据g3926g991表g22：g3表g22g3g7643g1946温度和温控系统显示的温度g3g3g7643g1946温度和温控系统显示的温度g708g263g709g3g7643g1946温度g326g170g3g227g170g3g236g170g360g170g370g170g38g22g170g3系统显示g1552g325g177g3g226g17g23g3g236g171g359g176g370g170g38g22g17g22g3g5058g1552g3-0g17g22g3-0g176g3-0g171g3-0g17g23g30g30g17g22g3g19757态g16835g5058g30g1718g263g3g35g171g17g22温控系统的控制精度g3g17902g17819设定g993g2528的温度g1552，使加热器加热，g5465温度g12295定时g16772g5417g2520温度点的温度计数据g3-11-和温控系统的显示g1552。其g16772g5417数据g3926g991表g23：g3g3温度计读数和温控系统显示的温度g708g263g709g3设定温度g1552g320g170g328g170g3g225g170g3g235g170g355g170g375g170g387g170g391g170g3系统显示g1552g320g175g327g177g3g22g23g17g23g3g235g171g35g23g171g37g23g179g386g171g391g172g3g5058g1552g30g175g3-0g17g22g3-0g176g30g171g3-0g179g3-0g171g3-0g179g30g172g3控制精度g30g17g235g263g3g17241g16855量g30g178g22g8g3g35.2、结果分析论述g6117g1216的系统完全g9397g17287设计要g8726，g19757态g16835g5058方面可以达到0g1718g263的g16835g5058，在读数g8503确g3方面g994g7643g1946温度计的读数g16835g5058为1g175g705，对一g14336的g5049g1006g10995g1147完全可以采用g6117g1216的设计。g3g16825系统具有g17751小的g17241g16855g1552，g17241g16855g1552大g13434为g30g178g22g8g5050g2503。g15441然g17241g16855为g993利g13479g7536，g1306g2490一方面却g1955小g1114系统的g16855g14422时g19400。从其数据表可以g11487g1998g16825系统为g12295定系统。g3g35.3设计方案评价5g17g22g171g1260点g3在g11840件方面：本设计方g7708采用g1114单总线型数字式的温度传感器，g6564高g1114温度的采集g3精度，g14422g13434g1114单片机的口线g17176源。方g7708g17836使用g1177一跟口线g4613可控制的g13666g3281g10995g1147的固态继电器SSRg230DA作加热控制器件，使设计简单化，且可g19764性g5390。在控制精度方面，本设计在g993能确定g6203行机g7512的数g4410模型的g5785g1929g991，大g13978的g1563设小心的g8726g16789，利用模糊控制的算法g7481g6564高控制精度。g3g3在g17731件方面：g6117g1216采用模块化编g12255，g5617路清g7236，使g12255g5219简g8917、可g12239g7905性g5390。g35g17g22g172g13582点g3本设计方g7708g15441然采用g1114当前g5078g3342g7380g1820进的电g4388器件，使电路设计简单，g1306设计方g7708g17908g1227高。本系统g15441然具有g17751小的g17241g16855量，g1306加大g1114g16855g14422时g19400。g3926g7536需要更高的控制精度，g2029g6117g1216的模糊控制g4570g993g17878g5224，需g1474g6925g12255g5219。g35g17g22g17g22方g7708的g6925进g3在g993g6925g2476加热器容量的g5785g1929g991，为g1955小g16855g14422时g19400，可以实行在加热快达到设定温度时开启风扇g7481g1955小热g5827性对温度的g5445g2721的g6526施。在控制精度上可采用g1820进的数字Pg44D控制算法，对加热时g19400进行控制，g6564高控制精度。可以g6925进控制系统使能g2528PCg13864机g17902信，以利用PC的g3282g5430g3800理g2163能g6183g2372显示温度g7366线。AT89S52g1030行口为g3TTL电平，PCg3g1030行口为g3RS2g222g3电平，使用一片g3MAg592g222g3作为电平转g6454驱动。g3-12-g36.参考文献g621g64g3g7458g5203g5363g3g3单片机g3534g11796g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g2283g1152：g2283g1152g14334g12366g14334g3837大g4410g1998g10268g12050，2001g3g622g64g3g10591g12131g10802g3g3单片g5506机测控系统设计大全g3g2283g1152：g2283g1152g14334g12366g14334g3837大g4410g1998g10268g12050，1997g3g62g22g64g3g17225g14550g8900g3g3智能仪器原理及g5224用g708第2g10268g709g3g3g3g2283g1152：电g4388g5049g1006g1998g10268g12050，200g23g3g62g23g64g3赖寿涛g3g3g5506型计算机控制技术g3g3g3g3g3g3g3g3g3g3g3g3g3g3g3g2283g1152：机g7812g5049g1006g1998g10268g12050，2000g3g3g3g625g64g3沙占友g3g3模拟g994数字万用表g7828测及g5224用技术g3g3g3g2283g1152：电g4388g5049g1006g1998g10268g12050g31999g3-13-7.附录7.1附录1使用说明书g3按键功能说明数字键：g6365SET键后，g6365g11468g5224的数字键g70809g709可对温度进行设置，g6164设置的温度g4570实时显示在LED显示器上；SET键：g6365SET键可对温度的十位、g1022位以及小数部分进行设置；YES键：设置好温度后g6365YES键，系统g4570据你g6164设置的温度g708须大g1122当前实际温度g709对水进行加热；NO键：g14521g16835g6365g1114SET键，或对g17767入有g16835，可g6365NO键进行取消；RST键：对系统进行复位。指示灯及报警器说明红g9795：加热状态g7643志；绿g9795：温度传感器g8503g5132g5049作g7643志；蓝g9795：保温状态g7643志；报警器：g2163能当水温达到预设g1552时报警g6564g18278；g2163能当水温达到或g17241越上、g991限时报警g6564示。g3g3g3g3g3g3g3-14-g37.2附录2设计总电路g3g3g3g3g3g3g3g3g3g3g3-15-7.3附录3程序清单a1a0a2a3a0a4a5a6a0a7a8a11a9a10a12a15a13a14a16a17a18a19a20a21a22a25a26a1a0a2a3a0a4a5a10a0a7a8a11a25a10a12a15a13a14a16a17a18a19a20a21a23a25a26a28a6a24a27a0a7a8a29a25a10a12a32a30a31a33a34a37a35a36a25a38a11a39a42a40a26a37a24a41a8a0a7a8a43a43a10a12a46a19a47a48a19a49a44a41a8a0a7a8a43a45a10a12a46a19a52a48a19a37a0a41a8a0a7a8a43a50a10a12a46a19a54a48a19a27a24a51a6a0a0a7a8a43a53a10a12a57a19a23a13a55a23a19a20a37a44a6a0a0a7a8a43a25a10a12a57a19a22a13a55a22a19a20a24a5a56a58a59a0a7a8a53a9a60a12a63a61a62a64a26a63a16a65a66a16a26a67a38a5a56a58a59a0a7a8a53a24a60a12a63a61a62a68a26a63a16a65a66a16a26a67a71a5a38a44a1a0a7a8a53a25a10a12a63a61a62a69a63a16a65a66a16a26a67a51a4a27a39a39a39a39a10a24a70a2a3a35a1a24a4a1a51a4a27a39a39a39a29a10a24a70a2a3a3a44a1a51a51a4a27a39a39a29a39a10a35a1a24a4a1a72a71a6a4a3a36a73a53a71a6a4a3a36a73a29a71a6a4a3a36a73a45a35a0a1a38a3a36a73a50a2a51a74a4a43a75a76a39a39a10a2a51a74a35a3a75a76a50a39a10a12a79a77a78a80a81a2a51a74a3a35a82a75a76a39a39a10a12a2a51a74a4a39a75a76a11a39a10a12a4a24a2a81a83a84a85a2a51a74a4a53a75a76a50a39a10a12a4a24a2a81a86a87a64a63a2a6a72a2a51a74a88a4a39a75a76a39a39a10a44a89a71a4a39a37a70a89a90a4a53a75a2a6a71a6a4a44a1a39a2a24a44a89a72a6a71a24a6a6a27a0a1a5a1a0a2a3a0a4a12a93a15a17a19a20a91a92a94a95a96a19a20a97a98a75a101a99a100a102a103a12a106a15a104a105a107a108a21a109a26a63a61a62a110a97a98a19a20a12a97a98a111a112a39a39a34a9a9a20a75a97a98a113a20a114a36a20a12a117a114a36a11a26a115a116a118a119a120a26a21a113a20a114a39a73a39a50a11a45a20a75a12a100a102a121a122a123a97a98a69a63a124a125a126a125a127a128a11a9a10a21a22a43a12a26a129a11a25a10a132a21a22a43a26a130a131a11a9a10a132a21a23a43a26a75a101a12a135a133a134a120a64a136a137a138a75a101a64a137a138a141a32a48a139a33a140a133a12a134a21a19a20a6a71a24a6a6a37a44a35a3a6a24a41a12a93a15a63a61a62a97a98a91a92a94a70a89a38a39a39a10a75a2a24a44a89a71a6a4a39a39a10a2a51a74a24a75a29a25a10-16-a71a70a89a0a24a75a76a39a39a10a75a35a35a24a70a2a3a2a24a44a89a35a35a72a6a71a24a6a6a27a0a1a5a1a0a2a3a0a4a6a71a24a6a6a37a44a35a3a6a24a41a12a93a15a63a61a62a97a98a91a92a94a6a71a24a6a6a38a44a70a44a24a51a6a71a24a6a6a49a44a24a51a41a8a6a71a24a6a6a70a44a49a44a24a89a70a89a38a37a0a41a8a75a6a51a51a3a71a6a4a3a36a73a29a12a144a142a143a145a35a0a1a38a3a36a73a50a12a144a146a147a35a0a1a38a3a39a73a53a12a144a148a149a71a6a4a37a0a41a8a6a71a24a6a6a27a0a1a5a1a0a2a3a0a4a6a71a24a6a6a37a44a35a3a6a24a41a24a70a2a3a1a1a11a6a51a51a3a72a70a89a38a37a24a41a8a75a1a1a71a6a4a37a24a41a8a35a0a1a38a3a36a73a29a35a0a1a38a3a36a73a50a35a0a1a38a3a39a73a53a71a6a4a3a36a73a53a6a71a24a6a6a27a0a1a5a1a0a2a3a0a4a6a71a24a6a6a37a44a35a3a6a24a41a24a70a2a3a1a1a11a1a1a72a70a89a38a49a44a41a8a75a1a1a11a71a6a4a49a44a41a8a71a6a4a3a39a73a53a71a6a4a3a36a73a50a71a6a4a3a36a73a29a71a6a4a3a36a73a53a6a71a24a6a6a27a0a1a5a1a0a2a3a0a4a6a71a24a6a6a37a44a35a3a6a24a41a1a1a11a72a2a51a74a24a75a11a9a10a71a6a4a71a71a70a89a0a24a75a45a39a10a75a70a49a2a51a74a24a75a29a39a10a71a6a4a71a71a70a89a0a24a75a45a36a10a75a70a44a24a36a24a70a2a3a41a35a11a70a44a24a36a72a70a71a70a49a2a51a74a24a75a45a36a10a2a51a74a45a11a10a75a24a24a37a37a24a75a76a11a2a51a74a45a11a10a75a24-17-a71a6a4a71a2a51a74a24a75a29a39a10a71a70a89a0a24a75a45a11a10a75a70a4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