From 38f878b4230f11983e304b66866453402d5afe93 Mon Sep 17 00:00:00 2001
From: KuzmenkoEA <kuzmenkoya@mpei.ru>
Date: Sat, 13 Dec 2025 18:05:07 +0000
Subject: [PATCH] =?UTF-8?q?=D0=9C=D0=BE=D0=B4=D1=83=D0=BB=D1=8C?=
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---
 TEMA9/SAU.py | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100644 TEMA9/SAU.py

diff --git a/TEMA9/SAU.py b/TEMA9/SAU.py
new file mode 100644
index 0000000..2feea5e
--- /dev/null
+++ b/TEMA9/SAU.py
@@ -0,0 +1,22 @@
+# Модуль SAU
+class SAU:
+    def __init__(self, zn_param):
+        self.param = zn_param
+        self.ypr = [0,0]
+
+    def zdn_zn(self, upr):
+        self.x = upr
+    
+    def model(self):
+        def inerz(x, T, yy):
+            return (x + T * yy) / (T + 1)
+
+        y0 = self.x - self.ypr[1] * self.param[3] #Обр.связь с усилителем 2
+        y1 = self.param[0] * y0  #Усилитель1
+        y2 = inerz(y1,self.param[1], self.ypr[0]) #Инерционное звено1
+        y3 = inerz(y2,self.param[2], self.ypr[1]) #Инерционное звено2
+        self.ypr[0] = y2
+        self.ypr[1] = y3
+
+    def otobraz(self):
+        print('y =', self.ypr[1])