Tiu lun

ti: Thit k b iu khin nhit

cho l nhit in tr dng PID

 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

M u
Trong thc t cng nghip v sinh hot hng ngy, nng lng nhit ng mt vai
tr rt quan trng. Nng lng nhit c th c dng trong cc qu trnh cng ngh
khc nhau nh nung nu vt liu: nu gang thp, khun c...V vy vic s dng ngun
nng lng ny mt cch hp l v hiu qu l rt cn thit. L in tr c ng dng
rng ri trong cng nghip v p ng c nhiu yu cu thc tin t ra. l in tr,
yu cu k thut quan trng nht l phi iu chnh v khng ch c nhit ca l.
Chng em chn lm ti Thit k b iu khin nhit cho l nhit in tr dng
PID trn c s nhng l thuyt hc c ch yu trong mn hc l thuyt iu
khin, km theo l kin thc ca cc mn hc c s ngnh v cc mn hc c lin
quan nh K thut cm bin, C s k thut o V l do lng kin thc cn hn hp
v y l ln u tin c t lm nghin cu ti nn trong qu trnh lm chng em
cn gp nhiu kh khn, khc mc cha r v cha gii quyt c. ti c chia
lm 3 chng nh sau:
Chng 1: Tng quan v b iu khin PID
1. Thnh phn t l (P)
2. Thnh phn tch phn (I)
3. Thnh phn vi phn (D)
4. Cc b iu khin tch hp
5. Cc Phng php xc nh tham s Km, Ti, Td cho h thng iu khin s
dng thut ton PID
Chng 2: M t ton hc ca l in tr
1. Gii thiu chung v l in tr
2. Cc phng php xy dng m hnh ton hc
3. M t ton hc ca l
Chng 3: Thit k b iu khin nhit dng PID
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Chng 1: Tng quan v b iu khin PID

Mt h thng iu khin PID ni chung u c m hnh tng quan di dng:

Qu trnh iu khin theo m hnh trn l mt qu trnh khp kn. Gi tr setpointSP l gi tr t trc m h thng phi lm vic xung quanh gi tr ty thuc vo
yu cu cht lng ca h thng. Vic m bo tnh n nh cng nh cht lng ca
h thng thc cht l a h thng lun bm st SP vi sai lch nh nht v thi gian
qu nhanh nht.
B iu khin PID gm 3 thnh phn: T l (P), Vi phn (D), Tch phn (I).
Mi thnh phn c tc ng khc nhau ti qu trnh iu khin ca h thng. C th:

1. Thnh phn T l (P):

Tn hiu iu khin u(t) t l vi tn hiu sai lch e(t)
Phng trnh sai phn m t ng hc:
u(t) = Km.e(t)
trong : u(t): tn hiu ra ca b iu khin
e(t): tn hiu vo
Km : h s khuych i ca b iu khin
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

+ Hm truyn t trong min nh Laplace:
W(p) = U(p)/E(p) = Km
+ Hm truyn t trong min tn s:
W(j) = Km
+ Hm qu l hm m t tc ng tn hiu vo 1(t):
h(t) = Km.1(t)
+ Hm qu xung:

((t) l xung Dirac)

+ Biu din th c tnh:
. W(j) = A().ej()
trong :

. th c tnh:

Hnh I.1.1

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

T cc c tnh trn ta thy quy lut t l phn ng nh nhau i vi tn hiu
mi di tn s, gc lch pha gia tn hiu vo v tn hiu ra bng 0, tn hiu ra s
tc ng ngay khi c tn hiu vo.
+ Sai lch h thng:

Hnh I.1.2
Sai lch ca h thng c tnh:

Theo hnh I.1.2, ta c:

E(p) = X(p) Y(p) = X(p) Km .Wdt(p).E(p)

T cc phn tch trn ta thy thnh phn t l (P) c tc dng lm gim sai lch
tnh, thi gian tc ng nhanh.

2. Thnh phn tch phn (I):

Tn hiu iu khin ut) t l vi tch phn ca tn hiu sai lch e(t)
Phng trnh vi phn m t ng hc:

trong :

U(t): tn hiu iu khin

e(t) : tn hiu vo ca b iu khin
Ti : hng s thi gian tch phn

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

+ Hm truyn t trong min nh Laplace:

+ Hm truyn trong min tn s:

trong :

+ Hm qu :

+ Hm qu xung:

+ th c tnh:

Hnh I.2.2
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

T th c tnh ta nhn thy lut iu khin tch phn tc ng km vi cc
tn hiu c tn s cao.
Trong tt c cc gii tn s, tn hiu ra phn ng chm pha so vi tn hiu vo mt
gc 900, iu ny c ngha l lut tch phn tc ng chm, do vy h thng d b
dao ng, ph thuc vo hng s thi gian tch phn Ti.
+ Sai lch ca h thng:

Hnh I.2.2
Sai lch ca h thng c tnh:

T hnh I.2.2, ta c:

+ u im: B tch phn loi b c sai lch d ca h thng, t chu nh hng

tc ng ca nhiu cao tn.
+ Nhc im: B iu khin tc ng chm nn tnh n nh ca h thng km.

3. Thnh phn vi phn (D):

Tn hiu ra ca b iu khin t l vi vi phn tn hiu sai lch e(t)
Phng trnh vi phn m t ng hc:

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

trong :

e(t) : tn hiu vo ca b iu khin

U(t): tn hiu iu khin
Td : hng s thi gian vi phn

+ Hm truyn t trong min nh Laplace:

+ Hm truyn t trong min tn s:

trong :

+ Hm qu :

+ Hm qu xung:

+ th c tnh:

Hnh I.3.1
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

T th c tnh ta nhn thy lut iu khin vi phn tc ng mnh vi cc
tn hiu c tn s cao.
Trong tt c cc gii tn s, tn hiu ra phn ng sm pha so vi tn hiu vo mt
gc 900, iu ny c ngha lut iu khin vi phn tc ng nhanh. Do vy h thng s
b tc ng bi nhiu cao tn, lm vic km n nh trong mi trng c nhiu tc ng.
+ Sai lch ca h thng:

Hnh I.3.2
Sai lch ca h thng c tnh:

Theo hnh I.3.2, ta c:

E(p) = X(p) Y(p) = X(p) Td.p.Wdt(p).E(p)

+ u im: Lut iu khin vi phn c c tnh tc ng nhanh, y l mt c tnh

m trong iu khin t ng thng rt mong mun.
+ Nhc im: Khi trong h thng dng b iu khin c lut vi phn th h thng d
b tc ng bi nhiu cao tn, y l loi nhiu thng tn ti trong cng nghip.

4. Cc b iu khin tch hp
Trong cc h thng iu khin thng s dng kt hp 3 thnh phn trn ty theo
yu cu cht lng ca h thng v tnh phc tp khi thit k cc thnh phn m ngi
thit k c th s dng khu iu khin P, PI hay PID. Trong cc s kt hp th khu
iu khin PID l hon ho nht cho cc h thng iu khin.
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Phng trnh vi phn m t quan h tn hiu vo ra ca b iu khin PID:

trong :

e(t) : tn hiu vo ca b iu khin

U(t): tn hiu ra ca b iu khin
Km = K1 : h s khuych i
Td = K3/K1 : hng s thi gian vi phn
Ti = hng s thi gian tch phn

+ S cu trc:

Hnh I.4.1
+ Hm truyn t trong min nh Laplace:

+ Hm truyn t trong min tn s:

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

trong :

+ Hm qu :

+ Hm qu xung:

+ th c tnh:

Hnh I.4.2
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

T th c tnh ta nhn thy rng c tnh lm vic ca b iu khin PID rt
linh hot, mm do.
- di tn s thp th b iu khin lm vic theo qui lut t l tch phn.
- di tn s cao th b iu khin lm vic theo qui lut t l vi phn,

khi

b iu khin lm vic theo qui lut t l.

- B iu khin c 3 tham s Km, Ti v Td

+ Khi ta cho Ti = , Td = 0 th b iu khin lm vic theo lut t l.
+ Khi Ti = b iu khin lm vic theo qui lut t l - vi phn.
+ Khi Td = 0 b iu khin lm vic theo qui lut t l - tch phn.
- Tn hiu ra ca b iu khin lch pha so vi tn hiu vo mt gc

y l c tnh mm do ca b iu khin.
Nu ta chn c b tham s ph hp cho b iu khin PID th h thng cho ta
c tnh nh mong mun, p ng cho cc h thng trong cng nghip.
c bit nu ta chn b tham s tt, b iu khin s p ng c tnh tc ng
nhanh, y l c im ni bt ca b iu khin.
Trong b iu khin c thnh phn tch phn nn h thng trit tiu c sai lch
d. Bng thc nghim hoc l thuyt ta xc nh cc tham s Km, Ti, Td b iu
khin p ng c tnh h thng.

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

5. Cc Phng php xc nh tham s Km, Ti, Td cho h thng iu khin

s dng thut ton PID
Cu trc:

Hnh III.1
Hm truyn t:

M hnh:

+ Km: thay i trc tip gi tr tn hiu ra => thay i sai lch tnh, p ng nhanh,
b nh hng bi nhiu mi tn s.
+ Ti: sai lch tnh bng 0 khi h c kch thch bng tn hiu hng, gim qu
iu chnh.
+ Td: phn ng nhanh vi s thay i ca e(t), tng qu iu chnh, nhy cm vi
nhiu tn s cao.
1. Xc nh tn s bng thc nghim: cng thc Ziegler-Nichols
a, Zigler-Nichols 1:
- i tng l khu qun tnh bc 1 hoc bc cao
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

- Xp x v dng qun tnh bc 1 c tr

- Xc nh Km, Ti, Td t k, , T
+ s dng P: Km = T/k
+ s dng PI: Km = 0.3T/k

Ti = 10/3

+ s dng PID: Km = 0.2T/k

Ti = 2

b, Zigler-Nichols 2:
- thay PID bng 1 khu khuych i Kth
- kch thch h bng 1(t)

- thay i Kth cho ti khi h(t) c dng iu ha

- 13 -

Td = /2

 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

- ly 2 thng s Kth, Tth( chu k ca h(t) )

- chn tham s PID t Kth, Tth:
+ s dng P:

Km = Kth/2

+ s dng PI: Km = 0.45Kth

Ti = 0.85Tth

+ s dng PID: Km = 0.6Kth

Ti = 0.5Tth

2. Phng php ti u moun

- ch p dng cho cc khu qun tnh.
- h bin i chm.
3. Phng php ti u i xng
- ch p dng cho cc khu tch phn qun tnh.
- qu iu chnh cng nh, thi gian qu cng ln

- 14 -

Td = 0.12Tth

 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Chng 2: M t ton hc ca l in tr
1. Gii thiu chung v l in tr
1.1. Nguyn l lm vic ca l in tr
L in tr lm vic da trn c s khi c mt dng in chy qua mt dy dn hoc
vt dn th s ta ra mt lng nhit theo nh lut Jun-Lenx:
Q=I2RT
Q: Nhit lng tnh bng Jun (J)
I: Dng in tnh bng Ampe (A)
R: in tr tnh bng m ()
T: Thi gian tnh bng giy (s)
T cng thc trn ta thy in tr R c th ng vai tr:
- Vt nung: Trng hp ny gi l nung trc tip
- Dy nung: Khi dy nung c nung nng, n s truyn nhit cho vt nung bng
bc x, i lu, dn nhit hoc phc hp. Trng hp ny gi l nung gin tip.
Trng hp th nht t gp v n ch dng nung nhng vt c hnh dng n
gin (tit din ch nht, vung v trn)
Trng hp th hai thng gp nhiu trong thc t cng nghip. Cho nn ni n
l in tr khng th khng cp n vt liu lm dy nung, b phn pht nhit ca
l.
1.2. Cu to ca l in tr
L in tr thng thng gm 3 phn chnh l v l, lp lt v dy nung.
V l
V l in tr l mt khung cng vng, ch yu chu ti trng trong qu trnh lm
vic ca l. Mt khc v l cng dng gi lp cch nhit ri v m bo s kn hon
ton hoc tng i ca l.
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

i vi cc l lm vic vi kh bo v, cn thit v l phi hon ton kn; cn i
vi cc l in tr bnh thng, s kn ca v l ch cn gim tn tht nhit v trnh s
la ca khng kh lnh vo l, c bit theo chiu cao l.
Trong nhng trng hp ring, l in tr c th lm v l khng bc kn.
Khung v l cn cng vng chu ti trng ca lp lt, ph ti l (vt nung) v
cc c cu c kh gn trn v l.
Lp lt
Lp lt l in tr thng gm 2 phn: vt liu chu la v cch nhit.
Phn vt liu chu la c th xy bng gch tiu chun, gch hnh v gch hnh c
bit ty theo hnh dng v kch thc cho ca bung l. Cng c khi ngi ta m
bng cc loi bt chu la v cc cht kt dnh gi l cc khi m. Khi m c th tin
hnh ngay trong l v cng c th tin hnh ngoi nh cc khun.
Phn cch nhit thng nm gia v l v phn vt liu chu la. Mc ch ch yu
ca phn ny l gim tn tht nhit. Ring i vi y, phn cch nhit i hi phi
c bn c hc nht nh cn cc phn khc ni chung khng yu cu. Phn cch
nhit c th xy bng gch cch nhit, c th in y bng bt cch nhit.
Dy nung
Dy nung l b phn pht nhit ca l, lm vic trong nhng iu kin khc nghit,
do i hi phi m bo cc yu cu sau:
- Chu nng tt, t b oxi ha nhit cao.
- Phi c bn c hc cao, khng b bin dng nhit cao.
- in tr sut phi ln.
- H s nhit in tr phi nh.
- Cc tnh cht in phi c nh hoc t thay i.
- Cc kch thc phi khng thay i khi s dng.
- D gia cng, d hn hoc d p un.

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Theo c tnh ca vt liu dng lm dy nung, ngi ta chia dy nung lm 2 loi:
dy nung kim loi v dy nung phi kim loi. m bo yu cu ca dy nung, trong
hu ht cc l in tr cng nghip, dy nung kim loi u c ch tao bng hp kim
Crm-Nhm v Crm-Niken l cc hp kim c in tr sut ln. Cn cc kim loi
nguyn cht c dng ch to dy nung rt him. Dy nung kim loi thng c
ch to dng trn v dng bng. Dy nung phi kim loi dng ph bin l SiC, grafit v
than.

2. Cc phng php xy dng m hnh ton hc

n nh cc tham s ca i tng iu khin nh nhit , tc l mi quan
tm hng u khi thit k h thng iu khin, thc hin vic ny th cng vic u
tin l xc nh m hnh ton hc ca i tng iu khin.
Trong l thuyt iu khin t ng th vic xc nh m hnh ca i tng
khin l mt bc rt quan trng trc khi xc nh thut ton v cc tham s
khin. xc nh m hnh ton hc ca i tng iu khin n nay c

iu
iu
2

phng php:
- da trn cc phng trnh ton hc m t mi quan h gia cc i lng vt l
ca i tng v cc tham s ca i tng.
- da trn ng cong thc nghim ca i tng.

3. M t ton hc ca l ( hm truyn ca l)

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

i tng l khu qun tnh bc cao c xp x v khu qun tnh bc nht c tr.

S dng PID: Kp = 1.2T/L

Ti = 2L

- 18 -

Td = /L

 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Chng3: Thit k b iu khin nhit dng PID

Yu cu thit k: vi yu cu ca ti l Thit k b iu khin nhit dng
PID th cc mch phn cng cn thit k bao gm:
Thit k mch o nhit vi di o 0 2000C.
Thit k mch iu khin PID.
Thit k mch khuych i cng sut cho i tng nhit n gin.
Trong khun kh ca mn hc l thuyt iu khin t ng, chng em s khng
i su vo vic thit k mch o nhit v mch khuych i cng sut cho i
tng nhit m ch cp n vn thit k mch iu khin PID.
S cu trc ca b iu khin:

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

T s tng quan ta thy: Khi trung tm ca h thng l CPU, n iu phi
ton b chc nng ca h thng. Gi tr nhit c o bng SENSOR, sau c
chun ha v khuych i qua mt mch khuych i o lng. Gi tr chun ha ny
c a ti ADC chuyn thnh cc gi tr s trc khi a vo CPU. CPU ly cc
thng tin t ADC cng vi cc gi tr t trc (SP) c nhp t bn phm KEY
tnh ton theo mt thut ton c ci t sn bi phn mm. Kt qu ca qu trnh
tnh ton c ly cho qua b DAC bin i thnh tn hiu tng t a ra van
chp hnh n i tng nhit cn iu khin. Gi tr nhit ca i tng
iu khin t l vi nng lng cp vo t van chp hnh. Gi tr nng lng cp cho
i tng c iu khin bi xung clock ni ghp trung gian gia CPU, ADC v
DAC.
Ta c b iu khin PID c hm truyn:

i tng iu khin l khu qun tnh bc 1 c tr c hm truyn:

H thng c s nh hnh v

Gi s cho L/T=0.9, T=95 => L=85.5 th c cc tham s

Kp = 1.333

Ti = 171

Td = 42.75

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Chng trnh dng Matlab phn tch h thng:
>>
>>
>>
>>
>>

L=85.5;T=95;
Kp=1.2*T/L;
Ti=2*L;
Td=0.5*L;
[ts,ms]=pade(L,3)

ts =
ms =

-1.0000
1.0000

0.1404
0.1404

-0.0082
0.0082

0.0002
0.0002

>> wdt=tf(ts,ms)*tf(1,[T 1])

Transfer function:
-s^3 + 0.1404 s^2 - 0.008208 s + 0.000192
-----------------------------------------------------95 s^4 + 14.33 s^3 + 0.9201 s^2 + 0.02645 s + 0.000192
>> wpid=tf([Kp*Ti*Td Kp*Ti Kp],[Ti 0])
Transfer function:
9747 s^2 + 228 s + 1.333
-----------------------171 s
>> wkin=feedback(wpid*wdt,1)
Transfer function:
-9747 s^5 + 1140 s^4 - 49.33 s^3 + 0.1871 s^2 + 0.03283 s + 0.000256
-------------------------------------------------------------------6498 s^5 + 3591 s^4 + 108 s^3 + 4.71 s^2 + 0.06566 s + 0.000256
>>
>>
>>
>>
p =

step(wkin)
nyquist(wkin)
pzmap(wkin)
[p,z]=pzmap(wkin)
-0.5235
-0.0060 + 0.0322i
-0.0060 - 0.0322i
-0.0102
-0.0069
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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

0.0430 + 0.0410i
0.0430 - 0.0410i
0.0543
-0.0117 + 0.0000i
-0.0117 - 0.0000i
Step Response
1.5

Amplitude

0.5

-0.5

-1

-1.5

100

200

300

400

500

600

700

800

Time (sec)

c tnh qu
Nyquist Diagram
1.5

0.5

Imaginary Axis

z =

-0.5

-1

-1.5
-2

-1.5

-1

-0.5
Real Axis

c tnh tn s
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0.5

 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Pole-Zero Map
0.05
0.04
0.03

Imaginary Axis

0.02
0.01
0
-0.01
-0.02
-0.03
-0.04
-0.05
-0.6

-0.5

-0.4

-0.3

-0.2

-0.1

0.1

Real Axis

th im khng- im cc
Nhn xt:
- cc im cc nm bn tri trc o nn h thng n nh, tuy nhin do c 2 im cc
phc lin hp nm st trc o nn d tr n nh nh.
- qu iu chnh: max= 250%
- thi gian tng tc: 108s
- thi gian qu : 477s
=> Hiu chnh c hiu qu tt hn: Kp=0.7, Ti=110, Td=10
Chng trnh Matlab:
>>
>>
>>
>>

Kp=0.7;
Ti=110;
Td=10;
wpid=tf([Kp*Ti*Td Kp*Ti Kp],[Ti 0])

Transfer function:
770 s^2 + 77 s + 0.7
-------------------110 s
>> wkin=feedback(wpid*wdt,1)

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Transfer function:
-770 s^5 + 31.07 s^4 + 3.787 s^3 - 0.3859 s^2 + 0.009038 s +
0.0001344
--------------------------------------------------------------------9680 s^5 + 1608 s^4 + 105 s^3 + 2.523 s^2 + 0.03016 s + 0.0001344
>> step(wkin)
Step Response
1.2

Amplitude

0.8

0.6

0.4

0.2

-0.2

100

200

300

400

500

600

700

Time (sec)

c tnh qu sau khi hiu chnh

- qu iu chnh: max=1.57%
-thi gian tng tc: 224s
-thi gian qu : 284s
Nh vy, cc h s sau khi hiu chnh cho c tnh qu tt hn, thi gian qu
ngn, qu iu chnh nh hn. c c cc h s tt nht cho b iu khin, ta c
th s dng th vin Simulink.

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 ti: Thit k b iu khin nhit cho l nhit in tr dng PID

Ti liu tham kho

1. L thuyt iu khin t ng NXB Khoa hc v k thut

2. L thuyt iu khin t ng_ NXB H Quc gia TP H Ch Minh
3. http://www.dieukhien.net/vn/discuss.php?thid=1856
4. http://www.ngoinhachung.net/diendan/showthread.php?t=33579
5. n h thng o v iu khin nhit s dng PID
6. Slide mn hc l thuyt iu khin t ng ca thy Hong B Thi

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