王昱顺 发表于 2025-5-30 12:45
这个是无电流传感器的简化方案，不适合大功率的驱动方式。
如果驱动必须使用磁编码器，电机没有加装磁编 ...
没有编码器，可以用反电动势或3相电流来实现，用梁工的BLDC方案能转起来，就是电机噪音大，有高频的吱吱声音，电机也会发烫，
ybw620813 发表于 2025-5-30 14:26
没有编码器，可以用反电动势或3相电流来实现，用梁工的BLDC方案能转起来，就是电机噪音大，有高频的吱吱 ...
那我这方案不适合，可以去找一下其他的方案
程序烧录、电机校准都没问题，给它PWM频率电机不转呢
程序烧录、电机校准都没问题，给它频率电机不转呢？
大佬，代码编译不通过是为什么。固件是添加了的，用到是keil c251
aqtjvudr 发表于 2025-6-1 16:03
大佬，代码编译不通过是为什么。固件是添加了的，用到是keil c251
用这个插件就可以了
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AwfAkYsiY2/UokrLkMpWVZBtM+vEAABEBgmBMwZE0InV+Ca1lWYprb30+m3MIthre3t7evr68XLxAAARAY5gSYlDFlE0LHRM8v2U1Ac1XBFWrb29vbTV9dXV0i0YUXCIAACAwfAkK7WIKdOFTl9VF249VcIbhCbXt6erq7uzvpK0JfHcqrHS8QAAEQSHkCimh1MB1jmtbd3d3T08M+xPf19QkBHPxsNy7NFfWxibdQ246Ojvb29tbW1paWlubm5ibl1YgXCIAACKQ8AUW0mpqbm1taWlpbW9vb2zs6Ojo7O1XlFTI4SNmNV3P76auvr6+np6erq6uzs7O9vb2lpaWpqamhoaGuru706dO1tbWnlFcNXiAAAiCQwgQUuTpVW1t7+vTpurq6hoaGpqamlpaW9vb2zs7Orq6unp4eNtVlMph0zRXqzia5bD2hra2tqampvr6+tra2urq6srKyoqKivLy8jL5K8QIBEACBYUKAqVZ5eXlFRUVlZWV1dXVtbW19fX1TU1NbWxub7bJFBiGGg5Hd2PNcJu39/f1skstmuExwT548WVFRUVpaWlJSUlxcfOzYsaNHjx7BCwRAAASGFYGjR48eO3asuLi4pKSktLS0oqLi5MmTTHbZbNfHqW5szWVf2IlJbkdHR0tLS319/cmTJy28QAAEQGCEEmCy29LS0tHR0d3drU51B9PiGJor5tJMc8Ukt7a2tqKiYjAV41gQAAEQSGUCFRUVtbW1TU1NbKqrai4TxoE5H6/msutwOzs7W1tbGxoaqqurS0tLB1YljgIBEACB1CdQWlpaXV3d0NDQ2toqVnXFNHTA/sfWXHHFQnd3dyQSaWlpqaurq6ysLCkpGXCtOBAEQAAEUpxASUlJZWVlXV1dS0tLJBLp7u725eqFuDSXLSx0dXVFIpHm5ubTp09XVFQUFxenODK4BwIgAAIDJlBcXFxRUXH69Onm5uZIJNLV1SWWF5K4tuD8Aq2pqam2tra8vPzYsWMDbgwOBAEQAIEUJ3Ds2LHy8nK2pOvj12gx5rmumnvq1KmysrKjR4+mODK4BwIgAAIDJnD06NGysrJTp041NTUNjeZ2dXV1dHQ0NTUxzT1y5MiAG4MDQQAEQCDFCRw5ckTVXHVtYTCeJzDPVTW3tLQUmjsY7jgWBEAgxQkcOXKktLRUzHOHRnPb29sbGxtPnToFzU3xcIF7IAACgyQgNLexsbG9vX0oNbempgaaO8juxOEgAAIpToBpbk1NDTQ3xXsK7oEACIwEAtDckdCLaAMIgMBwIQDNHS49BT9BAARGAgFo7kjoRbQBBEBguBCA5g6XnoKfIAACI4EANHck9CLaAAIgMFwIQHOHS0/BTxAAgZFAAJo7EnoRbQABEBguBKC5w6Wn4CcIgMBIIADNHQm9iDaAAAgMFwLQ3OHSU/ATBEBgJBCA5o6EXkQbQAAEhgsBaO5w6Sn4CQIgMBIIQHNHQi+iDSAAAsOFADR3uPQU/AQBEBgJBKC5I6EX0QYQAIHhQgCaO1x6Cn6CAAiMBALQ3JHQi2gDCIDAcCEAzR0uPQU/QQAERgIBaG5ivdjb29/Y0llT13aw+PTiFw7dPevtK3656ds3rv76VTnnZS46e9Tc9IzskfF371+2JYYGpUEABOIgAM2NAxItcvpM5P0DVWu3fnr7Q9u/O271OaPnjQxtjdKKeNGgHAiAQNwEoLmxUdU2RJ7efHjSn7Z97+bVI2kmG0Vt2a7YaFACBEAgQQLQ3GjAIp19C9cevPzOdReOWRxToUZegWhosA8EQGBABKC57ti6e/p2F1VdevtzI09J42+ROxrkggAIDIIANNcF3j8qmmYtff8bVy+NX55GZEkXNMgCARAYHAForsavt69/++7Sm+59KQxfkcU8T2hosAECIOAHAWiupBjp6l2+8eDF41bGFKOQFJBokAIBEPCJADTXBtnZ1Zuz/pPzr3gyJHoaTzN9ijGYAQEQkASguYRFR2fvojX7z7t0YTxKFJ4yMkyQAgEQ8IkANNeKdPYuWgvBdbl9zqcYgxkQAAFJIOya29vXv3T9xxeE8vLbmBN2GSZIgQAI+EQg7Jq7fXfpd2/Cl2Yuk9z0jGyfYgxmQAAEJIFQa+7n5Y0/ufelmNO90BaQYYIUCICATwTCq7m9ff1/XLQb1+FGOaP4FGMwAwIgIAmEV3Pf3lt54VVLoigOdskwQQoEQMAnAiHV3I7Ovh+OfwaqGp2ATzEGMyAAApJAGDW3v9/K/tuB6HKDvfgOTY4SpEDAPwJh1NyvatquuGsdVDUmAf/CDJZAAARsAmHU3JWbDobzebgxRdYogFECAiDgO4HQaW5NXcfEGa8Z4hL85vdvXv6rmXlZs7b97L5NXx+Tog958D3aYBAEQCB0mvte0Vff+cmq4EU2PSP7nNFzz7103qJn967fdqikrE4E36fHa9ZvO3TTvS+e++PU+o014SESIAACfhEIl+Z29/St2vTJkPym2UXXLnn4yV35fy9hPdfUEqmubWF/LW2dLPOlN46Mvef5C65IlUft+BVksAMCICAIhEtzG1u6fj711eAnud+8dvHitXsamyOWZXV1975XVP7wk7vumLaZ/WWv+vtHh77q6+u3LKuypnnqE/lfy1wQvJPOGkWUIAECIOAXgXBpbk1d27dvHIKFhXlPv9/cak9mH178zn/8dMU/K6p64ZWLLrllZc7zhaxTT9W1/nJGnlMBg8/xK8hgBwRAQBAIl+buP3oqeOUa/Yu/9dI5rGVZV9615pzRc119+KfR8/77T6+xjnnlrc9cywScKaIECRAAAb8IhEtz5635OGDZSs/IXpd30LKs9kj37+fk/9OP5509au5F1y357V+2b9157PXdn7+cf3TSzLwLxyxKz8j+WuaCx5a/19HZY1nWU+v2Bu+qUaNfQQY7IAACgkC4NPeumW8ZspLszUtuWVX4aaVlWfl/L/nujTnpGdnfG7f85fyjtfVtog+qTjU//dKBC68ksvvDm5e/9OaRru7ed/eV/ufPhvghk8JDJEAABPwiEC7N/fHt65Mtsob96fN3WJbV3Nr50Fxb7hc9+6Fr58166h127JTH32hp62zv6L7vr68b1gLedPUTmSAAAoMhEC7N/T9jg545PppTYFnW6Ya2u/9kfy22dednrh3WEen+58vI5Qq/nLG1sTnSEel+aF7Qs3JD0139RCYIgMBgCIRLcy8Ys9SQlWRvGpr79auebGvv8uqw38zenp6RfcWda07Vt0FzvSghHwSGNYFwae65lwV9u4GhuekZ2V7zXMuyJs0kc+Ebf72+7kw7NHdYjys4DwJeBMKlucHfgXb3w6/292trC0ue2+faGR99Wvlv15Np+L1/2dbc2gnNdaWETBAY7gTCpbnJXklw2v+XKxa+uqu4t7dv154v/vfGh/SM7B/9v5VFh8mVDMbr6Zf3s8PFd2i/+x98h2ZAwiYIDHsC0Fz3n7x1queAc1Zt3M/CZOoT+eyGiMvveGbJur2VNc2dXT2dXT09vX2WZb3y1mdfy1ww6tbV7NqyypqmIf+ttmEf3WgACKQeAWhu0jX322NzqmtbLMs6UnLqJ1kvCO0ee88LM+bveGjeWy+9eSRC74OYNnfHN6568qnn9h0pOXX/UF8oht+JSL3RCo9GAgFobtI1Nz0j+7ePbv+yqtGyrOOldQue+eCSW7RnPoz+xeojJacsyyr4qPTKu57916sXX37Hs0KahzAxEgIcbQCBFCMAzQ1Cc7+WueD+v75+ks52e3r6nn/10DeuXizE9JzRc/+6bHdPb19Pb98Lr336/12TKr9GnGKxCndAYCQQgOYGoblMXqfP39ER6bYsa3dh+fduWi40lyWefoks+35eVjf2nueMXUO1ORICHG0AgRQjAM0NSHN/+NMVHx0ilys0tUTEPWmqmN782xfrG9sty9pe8Pk3r5GzYLVMwOkUi1W4AwIjgQA0NwjN/ZcrFs5e+i57Zvm7e0u/PZY87Mb59/iK9yzLKq9q/M2sof/FNnyHNhLGN9qQegSguS7a51TDQeb84Obl7+//kvV+5u3PeFn7v7es+vR4jWVZJ0+3jL7tb17FAstPvXCFRyAw7AlAc4PQ3DVbPumlF+Gu3fJJFMU8e9Tcnz+wqazyjGVZS/D83GE/uNAAEHAhAM1NuuZ+f9wyBn7H+//4+lXkIblR/n740xU7PjjR19ff1t51z8ND8NNtqm8u8YIsEACBwRGA5kZTQFWABpb+5rVL9n5SYVlWQ1PH9Pk7z7t0fkw7439Hvkzr7u59Lu/g927KjVk+eQUGF1o4GgRAwIUANDe5mnvv7G2M+pvvlXyH/k5ETIn858sWbNj+qWVZbe1dc1b+/V+G7qfXXeIFWSAAAoMjAM1NouZeNXHtkZJay7LqzrRnzXot/qeafeOqJ18v+NyyrL2fVPzHT80reWOqtl8FBhdaOBoEQMCFADQ3WZp77qXzHnjsjboz5JLbvyx9N1EdfDD7rUgX+THKIfwNYJd4QRYIgMDgCEBzB6u55106/1v/tfT/3rLqG1dpNzLc+OsXSr8iVyCUfnXmv+55PlHNveCKhRu2H2adOzbxwxOtzrX84EILR4MACLgQgOYOXHP/82crfzPrtbmr339jd8meT77628sfi5sdzr98AbuX17KsB7MH8rNm5LqxKZsqa5rJk3G+OP2jn63616sX3/zbDVmzXsua9dqtv3/p3/4r6b8z5BIvyAIBEBgcAWjuADX3D9n5ZZVnzjR1sEco0BsZWm/6zQY2Ybz195tb6e+efXjgywvHxLg+zHWOmZ6Rff7lC2bM39HQ1GFZ1oGj1a/uKj55urWhqaOhqeNUfduWHZ/NXf0++zkfLwuDzB9caOFoEAABFwLQ3IQ199tjcx7N2X2GSmFXd29HpHv7u8dXb9r/2LLdTOPOu3T+1p3HLMvq6e27+V5bhQcmf9dOWldSXs/6ra+vv7u7V/z19fVbltXd07f0+Y8unfAMexr6wGrxOsolXpAFAiAwOALQ3MQ09/zLFyzlP2hWXnlm+vwdYyc/f65+1e0fF7xtWVZHZ88Lrx369tjBrgD8+pHXKmuaK6qbtuz47E+L3hZ/z+Ud/LysjvX+0X/U3jb1pfivi/ASWSN/cKGFo0EABFwIQHMT09zfzH6torrJsqxDxTU/n7LRECn6S+nPvFdYxh5Pfv3dPjyV8Z8vmz/hwZdveWDj98ctU6s7e9Tc6/77uRUvFp34soE9BPKGyfJHKNSSA067xAuyQAAEBkcAmpuA5p49au6pulbLso6dOH3Tb9arWnbxTct/+ce8Wx54afu7x3t6+7q6exc+86GPtzOcd+n88b978S9L32V/t//h5XN/PI+u+S68c9rmLyqI7K7eZP+KperYYNKDCy0cDQIg4EIAmpuA5v512W6G8NGcd/9pNJG89IzszDueXbJuX6Szp6+/v6+vnyyy0jt9//0GP2/bXbf1EDHOX339/cs3FF1wJfl27rzL5i/fUGhZVn9//19zCwYjssaxLvGCLBAAgcERgOYmoLk5z+/jn+Lt620vv+PZA0ernV2wfH2hoV+D2XxkybvOKizL+v2cfGb2qolrCj+t7O+3nn5pPxPiwVQnjnWtFJkgAAKDIQDNTVhz39n7xb9d/1R6RvY//XjeU/z7NKMP/l5UfuWd5Dm5o3/x9M+nbBrw3y0PbLzlgY2usm5Z1mf/qBWXK8xa8k5vb9/J2paf3eeyyixkNKGE0ShsggAIDJ4ANDdezf3nzAUff1Yd6ex5bLm8JmznBydc+yDS2TN9HrkVYubCtyuqmypODvDvy+rGL6vJDwZ7vUb9wn60+UPzdvT09jU0dmT59xsTXpUiHwRAYMAEoLnxau7Zo7JXbSpqbe+aOudNNls879L50TR3/o70jOxHcwoG3DfxHHjFnWuZM3dMe6W7B5obDzOUAYGhJADNjVdz/1fa2Hruu/vsHzQ779J52+nTv5wdGOnseWjeW+dfvmqqVS0AACAASURBVGDJ2j2WZZWU1S342wcD/mM/pOas5bV3isVawQOPvdEDzXUyQg4IpBgBaG4Cmrvo2Q8tyzrxZf04eqHYOaPmTnn8TfbkMKNbW9o6f/rbDT/97YsVJ8nFvH/lt6gJiUwo8ZvZr31F7ai1nKpvnfXUO8IOW8+tP9N+z8N5InMwibNHzVWrQxoEQMAXAtDcBDT32l+tsyyrta0r5/l9/3r1k+kZ2f969ZNPrHzvTDN5JIL6Kj8ZuemBt5etL4x0kucx/iHxx9x8LXNB1qzXHnjs9W/9F/m+7tePvMZ+J43Vcqq+dfZT71zAH2f+/ZuXv/leSX9/f1nlmdG3PT0YqRXHnnvZQrVFSIMACPhCAJqbgOaePWruG3QxoT3S/cBj9qruBVcsfGLFe+wBC2Vfndm689hd07dmv1BfdKytraPbsqytbx8bwGNuvnHVkzs/ONHS1rl+26fpGdnnXjrv6l+ty13/0dadn63b+sn1dz9//uULhD5OePDlqlPkCWRLn9snrmQQeweWuGDMUl8iDEZAAARUAtDcBDQ3PSP7omuXvLP3C0bwwewdYqaZnpH9jasXf50+Qvdfrlj4/+7fxMpEOnvumLZlAKp3wRUL1+Ud7Onpsyxr3dZPLrxy0dmjXFw979L5Y+957tgJ8msUbR3dN/56UI/UUf38P2NXqoGCNAiAgC8EoLkuQqZKj5E+98fzfvfo67X1bZZl9fX1v7j901se2HT5Hc98f9zyi3+y7LLb/3b1L9c8s/lj1jcNTR2Pr3jPsBD/5n+MX5739rFO+msRW3Z8dvsfNv/g5uXnjJrLLPzr1YuvuPOZx5a/9+nxGsuyTtW13v/X1+M3HrPkpXds8CXCYAQEQEAlAM1NTHPTM7K/PubJX8/a9u6+UsbxdEPboeKaXXtLd3xw4uPPqo+dON3V3WtZVs3p1tlPvcuWfWMKnFeBjFtWbd3xGauo7kz7u/vKfvfo9nv+/Oo9f351+YZCpraWZVWcbJr6xJt+rSowZybOfEsNFKRBAAR8IQDNTVhzyR1oo+d99ye5uS8U7jv0lbMbCj4q3Zx/5L/ued6XZ9z8+9ilD83buYf+YDt7kkPdmfa6M+3s27menr6X84/+csbWr2XK5V0vBU8of/4ae7bubCByQAAEBkwAmjsQzRXidf7lC381M2/1pv3Pbv6Y/T22/L1Bzm2FcTVxwZWLfvc/b7AqTje0ieqyZm1Xi/mY3n/01ICjCgeCAAh4EYDmDkpzfdS4+E2xpzjGX34AJb9946qaOrJmjRcIgIC/BKC5w09zB6ChiR7y86mvNrZ0+RtqsAYCIGBZFjQXmmsSOHvU3FWbPumml6lhkIAACPhLAJprKk6iU8KRV/47P1n1XpHLd4P+Rh6sgUA4CUBzobkmgYkzXqupM+9mDufwQKtBwHcC0FxTcUbevDWhFl04ZvHKTQd9jzMYBAEQYASgudBcjcAVd637qgZXLEAfQCBZBKC5muIkNCUckYXnPnPA/h3NZIUc7IJAqAlAc6G5ksAPxz/T0UmeqoMXCIBAkghAc6XijMh5a/yNuvCqJW/vrUxSnMEsCIAAIwDNheYSAueMnvfHJ3f39vVjYIAACCSVADQXmksI/OTel0q+jPYDw0mNQhgHgfAQgOZCc7O/e9PK7bvtR1OGJ/TRUhAYEgLQ3LBr7gVjFi9d/zFWFYZk+KHSEBKA5oZac8+7dOGitfsjneQh63iBAAgEQACaG17NJYK7Zn8HBDeAcYYqQIATgOaGVHPPv+LJnPWfdHZhhsuHAt5BIBAC0Nwwau7F41Yu33gwAsENZIyhEhBQCUBzw6W554yed9O9L23fXYovzdRhgDQIBEYAmhsizf3G1UtnLX3/HxVNgYUXKgIBEDAIQHPDormX3v7c7qIq/PqDMQCwCQIBE4DmjnDNvXDM4svvXLdw7aEIHl4T8NhCdSDgRgCaOzI19+xRc7938+pJf9r29ObDtQ0Rt65HHgiAwBAQgOaOKM09Z/S8745bfftD29du/fT9A1Wnz0Bth2BQoUoQiEIgXJp771+2xf9swxQvefaouedlLvr6VTnfvnH15RM3/vcjby9+4dDB4tM1dW2NLZ29vXhCWJSwxy4QGDIC4dLcIcOMikEABECAEoDmIhBAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWKMmEAABEIDmIgZAAARAIDgC0NzgWA+2pt2zLxl1CfubvXsgxmoO5ee/np+/uywS8+jWmoMfFTfKYo0FT82YMZP8Ld6lZMsCgafqChZTf2bM3FiccOWRiANB8frZK14/WNPqYat840QOf+L6Mo9CyAaB2ASgubEZJVSi5q0Z48jgvC5rXTEf12Urxqbx13UrTiRkTym8awo3kjZll5LvmhQaMWmjUIiCqdTA2BUixz400thY11j8UX7+usUz7r/1uu+eT8tlLj4qTMsmXLeMH11zkCh4fH8FJygM4RXXL3EWiSvxaIFwyDqx4jobxxSWGzlRoDizhivyjBkzs2iPkNPVRefyY96Slmhq3+xv2bvOn5pPfDVkWVaXJgkYNrAJAnEQCKPmli3jozXNOX4a8++/yB58aWlp52blJTSrq9t4qzz44uwDrAekYKWlBaW5QiOunbFx3eKsySuKLUvR3Ej+vKzF6/YVN+ZLIZee26mLphY4TxtScZRzgONQM8M+Snhl7o9ve2o0zW1cr7CPZU+2gnXRoexL+CFZr1DJfSUr7dyLLhmftXjdwRrLUiTeGTNxjDMUAQFOAJrLZ22USOMrWel87KWlXTwl0c/Rmqakz7BXAIZUc89Npy0ik1apuT0FU+iML3PRYi/NPf+71916v/jYLpsg1Wpwmnv+d+11kpgz3IvZtDstLS2q5lofzVbOlrIX1ZSsVJ0yW9bBeVxyz83Ko8sL+x7lxq6lHwuUnpUE+CjCOwjETwCaq2huY14W/+yZlpaWOe9g/Bx5ycaChy5hqn3++BVlPSxbClbMeW7jrsVs2dTl/12ZQj4y77JXV53F7PVWoRFjp0yhKxuZi4ql5trylLn4aAHX3MyJM2fMWLQm//WCg+WNjXx+ax3dSKvIGsc/el90UxbNWVywi+1inmRd93Xbu/QrJ8b2Ki2O5RHO1HZbaG4rWQlpPJDNP61k5dWRnEhrWYFY6Nh1sKzuYPa1HJgq1tys8n4wexR3/t482nTZZekP0cm14Ony2UixhCQIxCIAzRWaW7Nxgpzjpt8kFDMWQsf+CJEAIVqWZckBHFNz1XUPLhiJvZuf4seu2MimbGNXrODruXbOZYuLLaG59qqo2RrPyay+SHJ0MT8hpGe9qrZdt6coV9YrVDqpXBIN9f7Lu5cToNLpgchWXsWOorn35in5vC5xYvlQTJAvmv0hdVhZI7pu5kayTPzMFD4TTrvk/jXKwnG+vVStNxRbIOBFAJpra27ZqnFScRNdxvWia+cPseaWvUXmsunfzMq6i4rX2IkTf0QSt66rsXzS3H2P8E/i35q9z57du0FRNJfraCLv0TQ3ETusLJ/8FkwVPc+/jnslK35zWGpw62nkeRKA5lLNPbFinFxV8F7GbS0rWDY7azxbiLzu1vsXbzxqfMVWvNG+gGmGcg3TwDQ3/aIf6Sue9uUERA3kuiS7AOBHFwnZcM5zy1pryirJ3FOuLViRmkMHy8jCZax5rn1xwpop/NM3n+UV0MNpYClrMpmLol645Yvmrp9IloBlk8+/eNQllyhw4pVLprmt6oKSrbmKCsc2Bs31VBfscCMAzS2zespW3CQky3MZt+aVKZdIXRZDMf2S+/Nq5MxOSFhaWpr4tD4wzdU/vFuWpXzMN68VU7TMobkzZk+ytdv+Murci/jXVhM3lguHqXKZl3BN3FjOokY2wSkxB+fxdYVzb91IvuP3fil+yrUFMam8NvsgX2E4OI+v1qrLAmI1QLuQgHJWLl7mrZNXhqWdf7HIlAn6NVrNOvVqB2qqR143xhevZ8y4dxyfyafJzJS6YNmbOvakFAFoblnZMrmq4LWM27hrysVCZtPIDFRc6ZmWlnbxQ+KaKiFhqaO59ndo0n2Zum7FCdVhuYOnhO6bmhs5UWarq/IR4eJH98UIbkVz5WlDnEuUC4floi1fATAtS1Pi3GYXiVQe3Lguv0ZdRvcyosgrbTI1pS7vfsSrldXhWjHOBO8DIhB6zX1k9q1i9uq1jKt8dk77QdbGcvodUU9j/lShw+L2AVXChBZIwUrkOzShd7xjhTY5v/R3KoLI4dctcBlV3weiuRfddOu4b6bzWbz6EeH86yZ7XE2xni84CK9ULxJIC6TqBbM0s8eK1BzMXzbj1svYlWUXz/5IwT61oHi97ht1Sb80kJ0mI3n38g8935otzyGK586ZPu8hvINAbAJh19z0c/kAS0tLuyz7oFwlkOyKF/HPzmn8e222szVPfNXCx2EKai676yxSMJV/OFamk8p6LvveX7TouuwD9AIsAiTSeDxPrOdyhSRKp35E4Plu72KaqSiXW7mYea6ae3HmlReli6syuI30ydnZ4va/qQXygjNWYGqB1XMw+zJe2n6fUmDVFMwcxz7EaGvTiue8r2WEIAUC8RMIu+ZeN2/FFH7lKVklmFpgfClGrvS6SYxM44Kkgtk/4Lvuz6fQU1VzD2WL80batTOy788cx27hLV8xTsqN+pWaPcsuXjZO3pLA20rfp2zU1lu0feaGi+ZeMuUZft/wPL6iOmrKGn6B7Zr7+aVZP89WLswit4TV7Fo8Y/I480szRXPPv5bdYlcsb7l211znPXhc0yNlBYsW56lr09Dc+EUFJaMSCL3mLivT12ovmvKWobqqjJpiIrftyaNamA9gdWEx1r2/ch2TrhrLL3z0r+YTu26hR/mULT1OJ7IrpOTcGfTSf+G/rbnyBi1+YPo3x01Zll/wyoxMsSbDdmniSPQ0++f8GKG58hZbZeVErJkoE3DJQRzL47jgIeWjCa8hTdFcvlKstHpqQaSRXpYrvq8jZu2zaeZl4nw0pcCST/PR7uzw/g5txszFBXXcObyDQCwC0Nwyy2oskCuzaWnnjtMfQyNkSIxvt4T/mutWSxx59idfIaZjs1fYrbv1ViaCo8aNs6fn1614fbF9fYDpv62JZav4PJhXfd2yssYPZ5uCK24SUwJOfpwXuinkVT2jiMu85AUVl1xClozpy7jk4NECKcd2icysZfkHKyP57I4Puditaa7tl3CAukTk+1tTCl7h9+KRS02Uo2z7Md+U84fSfCRBwJUANJden9taMEOsEqSl6VcvFMwQE7pvTlzMP/wqH3jVBySqAj3IeW7Moe5ewNRcXir93rw8fh9aGbvY4AcT1yziK9ITNtLpvfCf68iuGZkTsjceKhD30RL7J1aME89A4Pa1hyHQWHNqbkKPoRGGtcRUornp38y8dZK4eMvmLKpjHwImri/Q1hYepRfMCX2nmtu4fmLWK43KRXjQXFeVQKafBKC59n1okd0zxFUI+uVf6nrurWvUNT6XjhCaNfhrxZQVTyb0Yt0zLe3WeXwxlO1S7kz10FyiobYq0Slt2StrCurks13spwrIWyS45tptlLM/YZ/cRfKDKVMmcUkUk1mORYigkGNlikovB5b3NdAbQMSmOuEdxee8LPPRAot9zykm8vw6aFkd9ei6Zbrm8lmw7S7ztrGRnGnE5JeYwtoC7z+8J4cANNfWXMuy9j2qqa54qJiiFGkX36veAUH7JFKz74Aw4qPmGqqnSoPjATFSgPjVoyJnbFbWZfaNHqrmUtdr1vAl13GrWBOE/0btDs21rMZdKzYKHY9vbSH/fi7Q5sO6WHXikRcX288Fj5Tlz7mV34qi3x8oGjgYzWWDStNcj3Emq+OEPQoiGwSiE4DmCrm0zIuHxF1VxsrDN8dl8Rt8p0zIJNcVySme0KwBznMt9tAsejtWxLhwTUqDQ3N7IvIZLuyXDoRGjF2x78MC9oQzU3Nr1vArBi7JPsTiRPgfW3PtA8T8UUKwQ05OPO1d8vFdaewyD+Gk+GpRXgqdnjkp6zp1BeP866ZsEo+Bd1yfK+5sTmQ913ZUghXLQfYe+SZdheZKKkgNgAA0V9Fc7Y5SMiMTC7uNB7KVBzLwyZp4l3IjNGugmhulD6U0ODTXeZTQCOViAENz5bz+3CkFtr4L/xPXXPUmXXrOMJ4HZqkP62JXqgknheb2RMrWZ10sFtAp4fQf3Zq9qbjROAPJY831XNfrFmxCgqHsMvUDBDTXGUnI8ZkANFfXXMd1/vIpupUFiydnqhMvJggXXZm1+EOxyis0K2U0V7noVfve75XZ/IkGaRc9Iu63Ev5zzWXz7vI8cRWzvZ7L41BOZsUZyJmgAqc82eCi2eyeWqmbl0xZtmIG+9CQNmWjcYY7P/PWmSvyPirWnpApLzszNZc/XFg+8zftMv5IX/EMYmgu70G8B0wgjJo7KMTkp8OK972en08kQHm296CMxnewmKPJj8/eB0o5c0qgkaPeXOfQXPocSPWAgWpuY94kfvkXf96j49ZbVg/V0Mr8Gdc6TnD0eeHq8jo9wNRc1VvPNDTXO3awJ6kEoLlJxeurcZ8197opj068OC0tfYL6LDCH5sob1Zh8mY8kl/Nc40LaUZfIG9iYwDUWTKEX5IlpdeRV9ZeQqH3yE2Tkp9voK1L2+gz6bAeunGPpg+R3z+DiTfPtq9z4VRm8bIx3aK6vsQlj8ROA5sbPaqhLJqS56g/VuF9TTB6AW/NK9gr72zPWOofmyqvH0tLOvWjcnH3mXXoJfIdGvvgady5ftbDkl5bnf3dc1qI1+443ml8bkjKRsl1k2eF8ca+Kcho4/7Ksjfx3lIX6y6dE8idDyi8YtfvQeIdKsFjP5UzwnjQC0NykofXdsPLb5vSnaH2vwN0g/akhNzWkxe17ausanessrrsaK2vUn+5pPH6wWH0qrrsLNFd+h8Yu0lDNkAI1h+xrlqPBEQwPiSV4yxKZr3sfqpzD8GM8UXoJu2ISgObGRIQCIAACIOAbAWiubyhhCARAAARiEoDmxkSEAiAAAiDgGwForm8oYQgEQAAEYhKA5sZEhAIgAAIg4BsBaK5vKGEIBEAABGISgObGRIQCIAACIOAbAWiubyhhCARAAARiEoDmxkSEAiAAAiDgGwForm8oYQgEQAAEYhKA5sZEhAIgAAIg4BsBaK5vKGEIBEAABGISgObGRIQCIAACIOAbAWiubyhhCARAAARiEoDmxkSEAiAAAiDgGwForm8oYQgEQAAEYhKA5sZEhAIgAAIg4BsBaK5vKGEIBEAABGISgObGRIQCIAACIOAbAWiubyhhCARAAARiEoDmxkSEAiAAAiDgGwForm8oYQgEQAAEYhKA5sZEhAIBEKjKmz5h2tYqs6aqvGkTJuQWmdkjcLsod8KE3MIR2DA0ySQAzTWJYHsICBDFmZbnkFyrqiovZ0IoxCh+zfViZVlW/Eb86uOi3AnTXfqtMGfChJy4ziBVW8lZNa6iDp/psW5h4yiZUhkh1NzC3AkTXAMlno6h3azMyEiUK5vxmEAZBwEyRO2hSya8MV7KYCbdIcc87dmoB2tTZtp3RnFawM0HWQv33u1wwxrb1CrlR5vv8cslKekhNPEbMauPe1uvoqoo1/WDSCppLokK2QXkk5MHPfukRTpNlo8bTPwFobnxsyIlB6e55mDWPk3Tz9HGoNUKKJ5SN6LPDlhdZhkyGNSXol/UvO6hudcyDyemzCpsN6NIg9IQktQWEKgDjnrFEcZgrqrKIyc9ZZDoKiyOY57rrpoeisFp+uBuU1cfWZOWEjZZbuyzgto5Iq1JgOm2Ul8sl1j0crM6DcUMj3O3Ao4qaEiYJY1u0m1rW3FEslZe3aDHeguoXZR2QQ5fuhGay6JuK1m8ki8eeFVVzs9cas2DSkNzB4WPfpqLa56rh7vsZamqJJrNl9zL3VRUzwx0XoS+U2va4W72SX08zizLTRG0+Z2uyLazphtKS2OOB+IqaRGthQ7UPDLPlS5pbbILm3upV9JPsqk13HmmZFYJENVDoY/J01yzOXKbOGOSlHvVlO62Eg9m8KinIhudWURtvl2HYtDNHxc/CTcDOO1Kx4IBOTbul+xQtfFaOgHNLeJRwTWXHDs9r4pvanaTvAHNHRxgGkZGwDktijg2ShbmKMFKTWkzGsMQPTPTmJ02jXwAdxsS/BBaoywgdVAXLJLPcxwRbEuw4pKhbrwy+S5Um3noMqRlWZZi0w3yLRmTPFPvjPLug9koJG2SHXbbeTNlWQJc9ZA5QCfeuu4TC04JIIdLwtKslhI2tVyXjTisiSgSumWEU/T13MIc9SMz5aydce0PHDECzM1PSlhD4d5NJnCCwZUtOVwH7my7gOCWcOlW20kmskV8hYFtJnFS69LV0FwXKAlkkTBSdNP1SFom5vikMaGOCoctGR9swGhRrpWmoiPElH141/VFK842qooKzdgzW0clVR8MuiEpMXSQqKGvF+RbcnTZ38ZwLXAbSXaeUz25NflOCeQW8cUQ10PsftFqoicYNx+crSaHe3eB7YoEIn1zTcVljR5JSnqAjd8IPbOQj9UqmXgCzL2KwtzpuUr0EIDm+cBeLTU9lwGgYHFmOnP42dQ0SKNdzRRdUJg7YVoeVdvcHD7VkE1Wqk9yEprL50FqHDPNsgej2n/sq2ElnkgIKpsuvcUGsG7EpRhzI3Yxeiiz6TngqXxLUyRelRVPt8o98szWUc1VR6nHcfyTrPTBqyDzjZGWeuddBSlv71WU0V0Qef85L0Fj3pDWqR6KwUkt5xRafFXPdS4WfVLJ2yts8gwhdrZ30d5cZMtDuWzr7oKoVK0maZC7V2F5B1hcVZDDXSybwCkL/SMFc9CpsM6cxDWX2jZE1thU+SQtHXrNJXGgfZBh801jKMjP17S8jCdj06WfqE45RcFR0lGvp6SSD4HR1haMGqMXdvihZFBBNFVJJSM5KEexpONYRwklg7RdVVJvzVUOspPGaBQYbd/s06faCqcNmUMO551Fm6DFhiwX74VZbprLrESTPHseIKNOrVhRLttDtUscaY8+okHiOU/3jhlSe5TIZI56tFrxnDeIuWH2jtGn9imc9ws/1mOaYsoodYZ8h+Z42eu5jnxj+i/q8ykRbs2liinGGEHqHKIsR/Q3PUTGsbHp7BV2eBwi4jp+3EddVM1loqMcSMNa+O/00CPHFi/VcxuOHqMelmlzzLHkXhUxK0qyKZJ9NYJek9jSxjwfn2z0ilmwURUTEWJB12JhM66EQjXOi2HpgPe4p4N7brhqL21rYakWcVEudXeUtIRAWuvRcfT4wWmu1qGKPw7PaYzl5pLPYSIASHknGWfOgOa5rF1KXaqrNLy1LlZ89zEZYs2liI2TtkOwCGqayfvJEFlj09kzrBZVuZxlXHLE8ND0hRf0HhIucjwQzSUhLuSJ12q+07Z7FaMWODTzSHWbuCfPYdT/aVvzyNJbFTsFUgL82ns2StVvxF1HI6uA7IqfPOup6XlVDmlQ3ZVp3vyYau09jI2227ZjoJP1euGl4eHScBFU3GVP2fUOMFK7a0xKMJ6rLgZYReNok+WXGc4+deaYA1PUT8yqZJTTno2OfMFrd4paWPFHGEtGIqyaa0edGT2s73lIau92J9FukxphbDq7iHZkAiNfWmBxr0aP2Bd9SKgSFmvSJEyKBHNYi1qxz5FgQewyvNmXV67O60bsYWCjpmo7IVjNlUoku5VfNqfk6G4Pfm2B2tNO56wGz4iSfhqzQodntKRbp6gl7VB3l93oAWaOGtWsPUt1rZ00jYcEDTMVL/OHjTKnwkYZmNoo5XGk3BsnNJc0aloOuYmDvmgriBuaS94nSKOVA98Mq+ZOz82l9zsZiKN07QA11x69vF8T6SmXAWkf7jkkqP9GXawwP7FHd8BbQz2OIwHtekZx88TDhpbNRgj9ijnxeS4lZg8p9zdbC2wmdhlXgaBeGQZVjVC8rsqbrjGv2jrNo6RyEE8SUEL44jlDK8oVJVxF840I59WSd+8+8gwwlzlsUa5WBW2CliOq5J4zqk5ErDn21SaCCT1co8QNug8QVUZpK8nMvIh+WpUX5PK4VQtH8ZzX6Mt7aDU3r4rPZdT48I5CTpuqkgwXY5OXUt/tcavHkFrAI83iXhvMvKTHkKBB46KA1Mn4PhLGJ83cDzoCfdVcewzQISFkw0xo8yzX0cgcJLu89dR2XjfOgoGGgb7Ds/ts+ZYhYS/vRK1aAKQJuwmsmzwr4seQYq5RwQswB6I0nBekzXQ15RFg5uyeFtMdFujUYWVXaMdhtEvLGQrykA3dLHdZe3fXXK2I/Tkvl9xvrpGBiQAAIABJREFURlsqRbYwd0JuIXGJhxM010Tn2zYdz3aP2mNbxocdFrwbaKWka0UE0wJygBmb7k4KBTHjW7knwpgr2SPZI/Lch4R3CHJrjivGlKa5jB+zNUW5koM9/IgwSXrKAd7jWSnkSNIm5BaS06EYIbQvkrGeS/pO7RHSTVJzRY97XLdPfWdgVSO8SSyQ4hAOPt+kEh9PecNtohRauNqXtSj+E58cxShqL2lzDzBih9ROq3NTKB6BdryZgWF4zlE535nymleLO8rx6hw7tAx79Nljlrgt+4tYEMzdWqRZ8mkjzPNcipCCVoVDnKi1eY6IYDqWEtRc+2SrGeQb3JQdpjybvRtjSfS565CgsSUCSJS1E672aS1208SJQXeBbHE3aNuN3dx/s76ENFdjTvxJXHOr8nLJN2+xX9JhUwIS1VwPZREk7NDi9ES+khANp/LEukAqglJQSRpu249eU4+ijomIZYfyONcBqUcpVbh8E8v3ktrZlQZmu5iIc511g2N4zk063wkWz0iWxePXXO4VO/eIVhMnZTxAcyVan1MObeLhKOmT4JAvmc8ndzKHlpSb0V3VzapCb89NZJ3RP5mygNaDnhqXseXqCW+pqEfxfACaK2LXpbI4NZeJju22bEKCmsvaY6gMW690ZEpfSXVqExLS3Pj00Qau1kLrl5GgdyLZaauVPNVJj8WxpkGCUbaUWpCb/Hij96OJmluAUTOsv5S6mHHbZz38HJkmcO6Y411vjmM3zxis5hIgCknKR28Cr8nX9xDOc33llyrGPAdJqjgYhx9kpNlCEL/m2qcK16ESY+hK4RPnIGVtQebRlKpQ9oHKcI3WOtVDW4Z4M6Mdpj5ySDk1Kp/uPY8mtWiHeJZMdIc8LckjbRrOkwc7f+TmiWd0RdVcNk3m1ONiG7/mcrPKe47jaUrQXNmpSMUkQOM+OcMsZt1+FeA6S+ypadu+HJP6DK4wx3N8xqG56rFSUIwDSdVSc6luys04ml+VNy2h8h4mvQhwQOpjCdV2eZjzI5uAUqeKftiM30Z8muthjwwZ/TwBzfVAhWwQAAEQGMYEsLYwjDsProMACAw7AtDcYddlcBgEQGAYE4DmDuPOg+sgAALDjgA0d9h1GRwGARAYxgSgucO48+A6CIDAsCMAzR12XQaHQQAEhjEBaO4w7jy4DgIgMOwIQHOHXZfBYRAAgWFMAJo7jDsProMACAw7AtDcYddlcBgEQGAYE4DmDuPOg+sgAALDjgA0d9h1GRwGARAYxgSgucO48+A6CIDAsCMAzR12XTYUDhtPd+Yu0Ifp6Q/E47vwDgIg4EoAmuuKJWmZzqd2xqqqaus01wdya8d5aKJWZhAb5DGpbk+AraqiP4ejP9B2EPXohw64Ua4PQtXJe7VI92DItsjJLElUXdvkSsy1JMvUYUYp6LGLPKqYP+5ZPraYFSZtdws2spf66SQTx4N0PR/qTx8BHOi8IaSaSztJeWi8RzK22HnElGe2Hqy0v13rls+cjismBixPno6qO5QRwoLe1WWeqUDThlNs5sZI0xrFf2GB12K8K5V6/JKCk7xRndriAaa19to29HrjNUw5a41yO9I7fgw8bFMGlWmMOOm91yztIEwO93q5yZlWnQktiuZ6jAUaG9FPUZQnV3mlPV75ShHfkyHW3BhDzgwFf9C7j0C9Lk1r+A9kxQ4pjzFDo0oMiCjDmGqiywjR8qk1byNGQ6oKt04jVUvUegHB1DX0NQ5RxpVpk4xMWSOvQyfvXoaXHei76Qmxo9cbv2UPfdEMJNAKDaZmhEQY6SaXrjfLiW2jUcYmL+Zllrgt49mERo5ydB+lIaLYTtgaSoPH3Md/wpn64n7Czi2yXM3qP1TIG+PfOzTXi6UZCl7l4sonQel88Sg3xoMzgunh3kpn/Jqp4pFbvc6zvRJ53CVpg3Cgh1AgW8kPwHh74gbNcN7ZOvJLPMqvC4uqNSzemkuHnOKSPsCm59m678TPc5RjRd2JJRSAttFpW6ucmXSfx6nRpUJB3mUfyyJVOOTJvbQTJm9+vO9qRUYnuoUZN+uIKM0T+yex1S7w1FzVARozLJILc8QyBW+6HhKK9BfmqqcW4YlPP57Eq4/xDs31AuQmH15l4883gpUeqMQE3XYrU5gzLbeoik6aeDB7v8sILspVJhRsOqOrG41OamnatOn6LsM35pUezY52xwVNVwomuJoSOdVq2tbCvOnq5EipmTimHE48dIxzx3xT90GxNqikS/O1zhWD3KMWrXAc00/aitzc6UrzDRr8l6pzyclSKaY5QLtATjy1fcYG9VCLPCJ8bhHrNX0mPtO6nKY0uywot1YxBxz9RXwmVbsiVaNUTTOktnZrZ3HhldHeZGyGWHOdPezIkeLlF3uX6OTRw6sgsaid0vmOKO+ukedSns0BFUmSBzp2kcOlb/Zsgkawg5OWEQ80ewjZ1jy0QPpmLrCQw5UXm++w5rrMetgOnbxjDLvASjyL4DKar/Wm1iIX81SGlN6h/LlBF+OsFWQizwOG5mgqbLc0StW0F3gtLl65ZOkwE9BcWpfaXyzG1No1YrxuR3/ZkUnynWcL4h7rCBLVtjTbxary2CmKeGKg9ohD7oNf7yHWXB6mHihdQtyjZCLZRrBabEWJ9D2JHv5SQ9C07vo5KMqI0o6nwurecE/NFU4VUumLd22Bxj071tEcVpe9k5h1fWmNooc4R5d5IPnBYDpht72WVevkHWPYNDSgbRozOWzA2w5rFWktUmrgvjk0VylTVZg73VxJ4MZJXVTIeNAW5XIVtrXJfT5IzdNKE5Qb7rDtn9LXPFrEu6prdpD7p7l5ua6Td+KP3qIq9tUCdYb0QrSXjBkFv4/JkGqujwTjMEXi3u01LTcnxncXdDywQ3ns0ogxw8JrMOvOMVk3j7XLMB3ktWgHkl32Ua61a4X1DbO8QGFXxFxymarY+i5GDnPPjSLLY3Jsr6VwoeEnCe/D6B73k5DekJhbQnf4fKqqym6slBiPbuLSGeu7LFqF2n3iQDbTzJNfhXEVJocIoREwtcbYXRCFkZMPN2v/0D3f1Ow610ao/+TH2fmKAS1PKKmNSmieSyxU5U0zTsakIpfGVm2dpldt+OuyuOwsMfickGku7/UoAea6S42JwUGn2iFDxEtKdO3TY9plNuQxmElAsisH7Fa5BCJvDvNEr5fu08YAq2irx0mE1SJbZ19QmVsk3PBwQPaL4oBSl1zP1VFQBxWFtRvjzOGtTMq76FNTPtT1dxpCooDqoUy79KzmMK1IUUCpuZYdSFJTOFI7xzNCaO05ufoHbVGr9E1kkQQ3nsi4YKbIurx0ktgi+aodLd54rUpLWZbiGGmabpO4JyPN1SA3bLybzhi7fdkMmeaqzFxGr7rb5zQJGiJGYnwy+8YmzXQ6ZuY4jvIcUULsxKlExqLeQjZoFclju/XwtT+ibrU/upJopgrLV1FdHdNGlKzU22dShtRLX7aCC8uOUWHC0ZahZXVBpHTfqBYIPnS+SVpB9IXusoVGIRxLc20sQqFUJaLHaqjJXiE9XrTt2oljuhQSXtSmGTDUrPi6lTQ59iunkM9GnRXp0LSvuWSf8Uq1qqTDCkNyjL5JWsFPVIySZoVucKSmM9ID/1Kh1Vxn3/sH1c0SCRrfNNcce7YU2t/xulXP8kgsKuNQK0iAOC/S1GN9Wh6Z4dL/NIhJBPuvudQTNkqFZCjnKuISH0LmOcxuoDKmSEnWNCVTScpxq9EY0IappC5f79jEiJ/26U1tDlUEx2lP84W2hTdfOZZrH99lkxFTSHfNldbcqqY27XOe7URhDpV1xX/NO4femXtpX+jMTZkjnshWyHr1THKUYkc2hBygu6caVNPcN9UBNc33+/0eVs2lw0MZeh5JPeAGAZ/GhNBcXltukchXbOsRQ3Y4c0js0qvH2HHuI0qxKZLElBqsYgf1hAuByDUTzBP+FQ2J4AQ0lwR01Jc+pdIapYCifWePNxcyznkuOVYZn6JNXvmiQLwJwoG9qFiwTT51MozYELg/ZJOn2bwyuubSMlyShObSGnMLKRll+pybK85PGkzuEg0G7qdCmO4nxr3iwcCubpK03o+8NvrOmdOqowYD22mbEi3lxjRuJNM7KggcTkxNq6Y4BGKWp/l+v9/DqrmxOZohGPuIaCV4qCnzNVrcrRY1gplNZ45Rl+uIMspIU3KQK0WoJ15jjJezQzb6gFFPVKoKcCP2e0yftQIaKCoxE+g1p64jxBiQAr7DA3ctNoolc1NrYzTNdRMLehnA9LwqCpkJN9cm0WSOQq+INoki5WJEcmi3MjuUsLd06gGp+UZ2eR/oMs+NCy9vlyjM2yUy6KKE4rw8danu0Xa5SD3XWWiuAjTwpEunDsIHYo3GoqYd4gOgIwpkxJBK9RB3ccM90EldPJjoQXRwegwJ6lgMzeXOD3CeqzvuogJRCvCqeRE6C3P58E73i76rytvK19AdiFmGmGPSAxkEr+UXXrfrO2XLaBPf5IlHH8aul/pxg1QR9K7nu2h7zV1MifLUCSlxI7dQCRjbppM2KaOHh/6NqxY53A37XbFvx7DQbmpWgy12kYMJYZ05DW8Nl4tks5Yqi2eiiw3PaB3y+g2+yX1Q9ZcfqXaQmub7/X7HPNeDqDKEzBI0qsy4MQvp2zTi6XWj9OpRGWGmlJDDtICmdpw5JJvEh3i5+SMURJQiCbeS9mDw+CypVUSGYuKaW5iTS69k0jxx21BkRZMJDRSbreTSK2HFx0aFOHGYXepAG+s2zklpM19oZRTtU2rRktohen9pehElrmzJUwjIGmjzuXCIbGKZvnR9NNpF7wIoMu5Do30q41CaFEGl2xQFaEJtIG2RlG+yy0U0+fGGbyzaJ0ybnmdfpl1VRU8h5slAY0hssS5WRJhXQPpVWUwwNo1d9CBiijdWTSsWfU1Cc91x0mh2jX72ATBKVLkYFD1tDxKXWHc5imWJceWhlZ4H0h10rEpti+I2K2k0mY5MPvmVTBLUXFq/o2pNUt1aoRWg7hFumkt80zDOyojJpmOc27WZ+aSBtGs0AXVzzZFHalQ6SN/UZSiacVJSjH+lEqprin17F3HYIcRkZdM1U0ohhekowyKN1cLSLsZZzVJzeb+INoqE4r6S1JhTFCo3u6Az39FSnbBSAdFjHQuxxhvLLMsBwVPQXB1hsrf4iZrzZ++G+kgnjB6VOzxTWpx5ryfo9dMRwkKfBgTTEU+vPCv3bYcS5XFrrh3iPOI1XzRJ1ffoX0nRfXRsU0J8eCiHUKmSksQ6VFYqjzUQO2b9DHLiawtSg2yv9CBR0JH91B+P8y7rcaefymKFbLhei8x3SalSaHrLW226xLmZ+fKjGO1ffsJjvTCdXCyb5z4B1T5bKLHt4q8dObxqVyyyxzUDBm1t2kvMysDQDiMb3jHpKDrwDMxzE2Vn9mgcx1flTR+oVlbl5ao37dCwdhmQepZHLMbhaZQiXGdJETVtH8LHpzFNc94jJKpIXnybmkJ8c2PilS9cjDfBL09Wyus+EMng8kEKuQBUjo07GUtzZaeQAFEdsKuw1dblNKb4YOsdlSpbCtmknp7bjGNdxVGpmjOPp/eLcsWag6Ol2jA0K9VVNYbO6qvYiqsKAl+T0NwEccYTKwmaRHEQAIHwEIDmhqev0VIQAIGhJwDNHfo+gAcgAALhIQDNDU9fo6UgAAJDTwCaO/R9AA9AAATCQwCaG56+RktBAASGngA0d+j7AB6AAAiEhwA0Nzx9jZaCAAgMPQFo7tD3ATwAARAIDwFobnj6Gi0FARAYegLQ3KHvA3gAAiAQHgLQ3PD0NVoKAiAw9ASguUPfB/AABEAgPASgueHpa7QUBEBg6AlAc4e+D+ABCIBAeAhAc8PT12gpCIDA0BMIsea6/oQJ65GiXK9HFzuenTz0XTgyPHADy59vnUgL6UO1o/xOQSK2fC6rPWbbZ9uDNIenQg8SYCKHh1tzydPzHb/gQJ9+Lx5Qb8BUpUE8M1//lQa5JX6bIGZJeYz2PH/9Of9aIdcNrS3mw/Ndj9CqM9oa/2aiftquCD7O37AyfjowAVfI7/pE11yiffLXDaLLDf9hDlme/bKOF0yZr/UF9V/V3JjERBNilpRVqr+lFqP39V9SCOY3aeLvxJFdMsSaa//8kf4rfkxw1Z/D0ftf1Vx1Dw1x5zCzi1DN9dxr2nH5DRW1CB2ExphR9/O0l6t8v/3jVF4zeqWYf0lvvIa30c5SUfnQA4VguXpONZf8ZjDtEaG51LfcrXnTVBHjdVVViV/4IvzVs4VLHfoP8/ACqubyPPJO8r17gXY3d0M9zJGm7Soysz2BiIa7/g4YP9lQGA6elJXKyfHLcqobtIExToRq+RGeDqPmRhvPRhw5AsWQBh4d0YcN+6lgaC77jT9NsApz7CmnCpZ0kJvKkDLqFJXTV989JUYWYtrEpZNLDzlwel4V35TFzRQ/0MxXthPSXKpuyjxasUOSg9RcNTILc9V4Vluqpo3fB+MjQvNQU2S7hNd5iPVarA8fRqtH8mZoNddQQLeBRAKLn+FJUJovGYUxhg3TXPNwz203uVFikA7COOe5nnUoO2JUp9Q8+CTFqAzOqsIc+3dYheaShItLtNXa75nTn9RW2hErybuSzitzi/iJkMlNUd401te6+ri12C1UjHIkHmSAuZ3j5V4qSXLTsGRrbqy2if0yJqkh/QykR47aUjXtmHfb/qshFyvgZSuIZfYS/OXOcKaguazf3QaSqrk8OoQ08Aw+E1EjUtlnWyeLjFHGlTzAQ3FkAXsQRq2OlXZzVbXDPXcROKOYf5t0BCqay2a+ZDQybwvFDFctSUe489OrawN1leGeOzSFahOd91G1zc3hM2utJD9ce7fVX8icR8LZ3WTKqbXd/lDvyHRWF1cfsfm7erBZI1NPW5fVlqppq7DQXKBgTZYt0uyoFZppW+XzyAcUaK5NJ7Sa6zFSzGwzUFzGeRznfBqjMmQdX1k4R4sZvMq2HcdifVHZpSVdXNX2+6+5pEa3l5x8kbFtSAxtTk6h6S1ZQGVD3bYojfBWmIfQ/EQ0lx3AZ7jMrKY+vCbtnXhlSqdWgP6Uussp1lRA+5tDl5KqOZuPyCINVM+4JPyU0BLlGD21JNlFfLAPV1uqpqUFkWIdIWtxhyyK8wSNB35CheZyLKHVXBlAFIXbQIprnqsEMWfqfB8yzXVTQDMvrjmUs00uOWSMmdb004mL5hKFmra1yhRQWtJ21bRpV20eQrPd5UDTFOoS+Q7N8bLXcx350b7jcuHgkUXq1cSanq21HJcjB6q51LhbS0geOYGpTNS00wfWF0ovUMiqbWM0URNK64T4Om2HMAeayzo9Ic3NzZ1uBy4NJjX41LQMRFtzow4DeaQ5NzHCkg7CGGXIIa6SpNsyx7O+N+EtUqMyMunxcWguK5fD519sLkZxqHrkbI4zh0zdXa8V0zRFdYkSUKdgakmqNWJ+TaobyEuEAdXcnFy6vplbqDTTxarEaPdRnLWrxDz6jxgkxcyWmh/p+OHEbWNlwNUZAYocSNGJYKDlvezzekLzDs1lXc0DUe14IpFqoLDxqcQf11At2qgFW2S5NWNTC3dSRlUBfoznO3VjhGkuG6KkUWyEC52SFMi41VvtzElYc+0enDZtOr9i11Qini8dISlStZRFfZ/rFmug+FzPLBAtc7aU9q80bmzSk4rKgTTBaUR3Qm2U2KNmqmlRQEhnDPtiXAg3zE6E5qpQQ6u5LnMLtyyuuXTM5BYpk0eaMyEnl4S8+Z0D/06ckyaaq44TM8STprluTTLz5PDm7g703U2J9KZRaI65GB+00/Oq+GnMdNLYpj7TkWzsiLLJu1Ke4Ui90+yJJ5c/tWuot87OdZwyY/DiZ1yCgrWd5kzIFdcIawYMkaVOKheMm7GUNM218cYVHqwHGWE1bTcMmqv2cGg1V5yTGQ0zskkuiWYxUJXoEat+fF7mHJZ8mNlHsTEWRQ/MXdECnca0quB2JeYbCfQYxaipaHWZNqNvkxpNa7E1l/lJvtqW3hbmyrRdp7M5zpyE5rm2eNkiS/wkzsehuXH2piMqbM1lhxPxdZdLo1Pophkf0bZZvdGdjLW2wCo1gz9K79PqaPlYZ00HlihWR+auMGquW0+SIHPMv1wKOgRC1xR+BA1BKeuKOtgDz1YHU1lctIabFO90PJgHir0yoVQqM/UUNWWqpF4kkS1So9tLDjM6c9Q4c93RvXXpDr2Ap1ty8HsWoV1G7jejGiFFtjB3Qm4h94ccTb2VznsadOxwP5B1fZ6Y7canuTJglEmACx/2VaTDFZoh26jsVzPVtPsFD8qBLkkaSIwnNNeFj5YVMs2NFRBuiqHOv5S1BRsjHcAx1hZUaVOGEA1uIUBiYhJrkFNrUTSXDnj3hkTLTWBSo0WQskFkMbqCU99Ek4mq8YVUU1JpSRWFWUCpV03Gqbnyal9NbvTVUocPakXR0iTMnDzVrqdHq/ouzanRouu+alZzmx5COlee5qU9++Th8Ee1oKbpGFHJa6bIRlXedNUar907JknfuQBxGA5HRsg017NTSdwoWuBZzjHy49FcdbCpafvbs2lbydyHvLyjVnGIhnhcJZWDEkwma5BQFXPl7ABrrok7C7i2KU7NlZqiyo1+FhzwPJf64JQ/o+u9LuOl/StOXarOqmmx9rXVjh1XqjYirY1u2JQC4tzPQlL9z6vgIqvu85J7WluywsmtKamfB81lfZRMzdWGihx4NBBzyQri9DjVVroanzqz8qRGbQZEhS/qvCNRl+KOc1o1H7raUW6SWpg7PbeQ3/vhVkCzwDYGpbmK9BBr1Fupzi61uWZR4EI0ZRHZ9XYeCQynNFP4/HCt1TKQeBXePGW1vCGaQnL7djGl4QPRXMOaVjfZoKGuTo0dJcKUAc1lvZ2I5moRxhRNi2e+wYaTNoTsG4FoCW0wk+FkKG8Uy7wGl3cxhuXhtCL1wVjsGVlGATXqyS5XZVQLDSRNm6k1nFvRxIVnKu8GRmWPnoxTc13I5eSRk5/auXForrtCqUake4Sq1nbW6S6ucDcMB2R50cvEOlU0o79k5zLzWr3SJZ4iljWbfAfe/ScAzWVMY2kujX4avsbp2jGQqD06FGkQkwOVaCabhgWlU0Utg1o6oPJkDG+lEjPJKlVrJCPQ20nz+Bjbpiq565FzoZyZVbUjLpfi0FwPh526Q8nEUCsPY2q2JKBCthcHlNiwj5FnF3KggotsGhaUakQt8Z8smVgzUY7/KKVOJAdCAJo7EGoj+5joY3tktx2tA4FkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkE4DmJpsw7IMACICAJADNlSyQAgEQAIFkEwiX5vb29eEvBQkkO8phHwRSh0C4NPesjDn4S0ECqTMe4AkIJJsANBcqPPQEkh3lsA8CqUMAmjv0ipOCE8+AXUqd8QBPQCDZBKC50NyhJ5DsKId9EEgdAtDcoVecgCeVKVhd6owHeAICySYAzYXmDj2BZEc57INA6hCA5g694qTgxDNgl1JnPMATEEg2AWguNHfoCSQ7ymEfBFKHADR36BUn4EllClaXOuMBnoBAsglAc6G5Q08g2VEO+yCQOgSguUOvOCk48QzYpdQZD/AEBJJNAJrrv+amj3rinNFPpI96QlWus0c/cTbJjFEdK6YemD6KHahZUwsMMp2eMceoVOSQxKgn0pN/w3Syoxz2QSB1CEBzY4jgABTt4cU7axva/rrsXfXYN3Yfr6lr/dn9G9RMI/39m3M+/qx654f/+M6NT9kanTFn2tw3T9W3LnjmfaPwWVQQWbH4/4szAZPys0c/ce2kNV9WN7753nFh5OpfPftldeMbu4+PmfjM2q0fX/2rZ5Mtu6kzHuAJCCSbADTXN809ezSZ3p4z+ol1eZ80t3ZmzXqVbbKp4oGjVSXldaN/sSp91BzxZ8jotHlvtnd0P7P5wFkZc956v+SLiobr7l778OKdka6e3Bf2GYXPypjz4vZD+49UOf8OuGWyYn9c+Baz89Rze1jOJ8eq29qBoJ4ZAAARL0lEQVS7Tta2sM3tBcU/u38D09y7H95Sdar5H1/W3zB5nbN2H3OSHeWwDwKpQwCa65vmfvjxl40tkaaWSKSrp6e3r6m1s7El0tgSeSn/8LWT1lRUNxZ++tWdD70s/n52/4avX71QKNeFVy3Y+8mXpxvab/39xu+Pyzl2ovaTY9UXXrVAaK5QajHrfH9/eUNTh/HX1t5lWVZbe5eRzzbn/+3vrMYl6z4s/LSy8NPKA59VtbV3VZ9qYZuvvXNMaO5ZGXMmzdxy+kxb0eHKH45fJlz1PZE64wGegECyCUBzfdPc9a8dLPy08vDnNd09fSe+rGcSVvhp5ZJ1H/7+8dfbO7r7+vv7+vhff79lWTv3nBD69Ye5+W3tXZvfOnJWxpw7p7/c2BzJ2/XZnQ+9vHjdns6u3hdeOyjE+ie/fk4c5UzkvrDPsizXebEofDZdcWbT8Gv/215bYJvnjH6C5ez4oITl/PYvr/3qj6+cPTpZC8pnZcxJdpTDPgikDgForm+ayxRtzZYDTS2RyY/kqd+Yrcv7uKWt88+Ld0548CX29/CTO5tbO596bg876j9+tvzgseq6M+2/mLrxrIw5yzfs6++3mED3U3XuV/T648+qhXo6E/Fo7qY3Dzc2d7C/ptbO7p7ejs5umdMS6ent6+ruFTmNzR0fHCh31uVXTuqMB3gCAskmAM31U3O/f3POkZKajz+rXrTmg4rqxp9PefGsjDmX3b76REX94c9rvjcuR1zP8PiKgsbmyAOPv35WBlneffql/T29fV9WN179q2eZkS8qGibN3DLhwZeeXPthZ1fv869+IvR67D3RVleZ5i5b/xERfY9LDh54bPvKTYUrNxWuzftk/5GqLTuPsk3xv6K6saK6cRUts/qlolWbimY99bZfCuu0k+woh30QSB0C0Fw/NXfavDdb27ueXPNB7gv7Gpsjt//hpbMy5jyxaneks+fJNR/c/oeXGpsj7FP/y28e/rK68Sp6ScDkR/LONHf091tMc/+8ZGeks+eZzfuZNon1XKdUueYwze3p7dt3sGLs5HWuawLpo+zrw6bNy2/v6F6z5YC4aIEkRj1x8NjJYydqvzcuJz1jzqO5797/2PYLxixwrc6XzNQZD/AEBJJNAJrrm+ZeeNXCvQe/PFFRn3nH08vWf9TYHLnzoZcvvmlp0eGqssozV/3qWaG53xuXc7Tk1Dv7vjgrY84Vd/3tH1/W151p23+k6svqxhsmr2NXLFz1q2eZnA1Mc8sqz0Q6e7q6e9/YfTzzjqfFJWLM5j1/3rr3k4r9R6oqa5q6e/qOlNSoFz+8uP1QwUel7ARwzSRy3di7+0p90VYvI8mOctgHgdQhAM31TXNnPbUr0tnDFkbb2rv7+vqbWzsbmzueem4vWw24a/rm5tZONs/94fhl//mz5WdlzLlgzIL89z5fubHwjd3HmcydPeqJH/w0V0w8/7zk7UhXz7L1+0QOXSn2/EZLrOfeNX3zZ/841dfX39DUseCZ979+9UKx1HD3w1s+PPDl8dLTPb19n5fXFR2u3H+kqugwuYyh8NPK9a8dfGP38dqGtp/dv+HPS3a2tnc9trzASy59yU+d8QBPQCDZBKC5vmnu2HvWbdh2iC2J7i4q64h0b3ydbN4+7WUmTGzG+tb7Ja46JTT3xe2HDhypEn/HS0/39vV/UdEgcg4cqRJfvjlNCc1lgj7v6ffqzrT39VkHj528/u61onz6qCfefO94dW3zT3/3wkPz3qyobnxo3pvkUmLyNyf3hX0tbZ1Zs/J27T1RWdOsHigs+JhIdpTDPgikDgForm+aq2qQWM9lF9WyXas3FlqWVVJe9+NfrFILs7TQ3I+PVvf29Yu/Pn7dgsjp7evf/m6x0wLLUTWX5Vw58Zm9n1R8dbJp3L0viKP+J/fdjkh30eHKp1/e/+Z7xzsi3W++d/zpl/eveLFw3L3PP7Lk7ebWzjVbDjS3drLL18SByUikzniAJyCQbALQXN80l9xNS5+N8L83pLH13Pv/uv3+v26/73+2nZUx58KrFnx06Kve3v629q7fzyGXKxh/QnON/IGt5xrX514wZgFbyhDG12w5IEScyXpfPxH6tkj3n57cwZZBzjR3sHs0xFFJSiQ7ymEfBFKHADTX1L6Bycq3xi75/Zw3nn3l4/f3lx0vPd3e0W1ZFrsJgs1JJ/1pS31j+56Pv6ysaX7zvePOh90kVXOdjfrW2CXiUoSHF+9saon8eclO+5wx6onRv1hVUl7X329tevPTszLmfPuGp75+lbxlzmltkDmpMx7gCQgkmwA01x/NHf2LVcfLTvf19Xd09lTVtpRVnmlr75r11K7RdBnhwqsW5v/989a2rqlPvLH5rSP1je2T/rTF0KkgNZc9+YzdZvadG59a+OwHza2dr+767OmX979ecPzF7YfGTl5XUd3Y2By5Yxq53O3JtR9ue7f4e+NyDJ/92kx2lMM+CKQOAWiuP5p7VsacsfesYwr7v0/8Euu59JaHJ2Yvfacj0v3G7uMXjFnwyz++Unem7cCRKuPDfpCa+/Dinacb2tvau9hMnN3q1t7Z3dDU8UVFw+a3jry774ve3r6e3r7Vm4rSR81ZvbGwrPLM5Xf9zS+RNeykzniAJyCQbALQXN80V9URobnpo56YuWhHU0vki68axLf/KzcWdnX37dp7QpXdIDX37oe3bH7ryMpNhY8seXvCgy/NXf3e/z6a5+HFO8/KmPPvNz6V//fPu7p7n3nlwNGSmvrG9vv+uq3w0Fd7Pq5QG+hvOtlRDvsgkDoEoLlJ0dyc5/edaeq4/Q8vPZj9Rmt7V1VN850PbRY6dcGYBa/uOtbd2/fW3z//zo1PsfzXC46XV525mt8KIQo/vHhnR6f7sxxFGTWR+wJ5VoPxHZpawJn+0+Kdjc0df1q881tjl7xXVNbZ3fv8a59cMGbBpJlbaupa+/v7u3p6XR/g6zQ1sJzUGQ/wBASSTQCamxTNvX3ay0vWffjjCavPog8d/8lvnjfE6IIxC6bNfVPcbHZWxpwHHtuevWq3c82U3b8wY0G+YcFrc8aC/MJPK+Mvf1bGnJ/85vklz+1hTl5/99rp8/PF12tXTnxm4bPv/+5/tokcr3oHk5/sKId9EEgdAtDcpGjuYAQohMemzniAJyCQbALQXGju0BNIdpTDPgikDgFo7tArTggntkaTU2c8wBMQSDYBaC40d+gJJDvKYR8EUocANHfoFceY9IVwM3XGAzwBgWQTgOZCc4eeQLKjHPZBIHUIQHOHXnFCOLE1mpw64wGegECyCUBzoblDTyDZUQ77IJA6BKC5Q684xqQvhJupMx7gCQgkmwA0F5o79ASSHeWwDwKpQyBcmsueXoj/qUYgdcYDPAGBZBMIl+YmmybsgwAIgEB0AtDc6HywFwRAAAT8JADN9ZMmbIEACIBAdALQ3Oh8sBcEQAAE/CQAzfWTJmyBAAiAQHQC0NzofLAXBEAABPwkAM31kyZsgQAIgEB0AtDc6HywFwRAAAT8JADN9ZMmbIEACIBAdALQ3Oh8sBcEQAAE/CQAzfWTJmyBAAiAQHQC0NzofLAXBEAABPwkAM31kyZsgQAIgEB0AtDc6HywFwRAAAT8JADN9ZMmbIEACIBAdALQ3Oh8sBcEQAAE/CQAzfWTJmyBAAiAQHQC0NzofLAXBEAABPwkAM31kyZsgQAIgEB0AtDc6HywFwRAAAT8JADN9ZMmbIEACIBAdALQ3Oh8sBcEQAAE/CSQQpp76tSp0tLSI0eO+Nk+2AIBEACBVCLANPfUqVONjY3t7e1dXV29vb19fX39/f2DcTMt5sH9/f19fX29vb1dXV0dHR1NTU3Q3JjQUAAEQGC4ExCa29TU1NHRMcSaW1ZWhnnucA8p+A8CIBCFwJEjR8rKyk6dOjVkmtvd3S3muWVlZUePHo3iLnaBAAiAwLAmcPToUVVzu7u7g15bEJpbW1tbXl5+7NixYQ0UzoMACIBAFALHjh0rLy+vra1l89yANLefvsR6biQSaW5uPn36dEVFRXFxcRR3sQsEQAAEhjWB4uLiioqK06dPNzc3RyIRdT13MF+jxfgOjWku+xqtu7s7Eom0tLTU1dVVVlaWlJQMa6BwHgRAAASiECgpKamsrKyrq2tpaYlEIt3d3eyiBaaKUQ6Mviu25lqW1d/f39vb293d3dnZ2dra2tDQUF1dXVpaGt009oIACIDA8CVQWlpaXV3d0NDQ2tra2dnJ1hbYDDe581ymuWx5obOzs729vampqba2tqKiYvjShOcgAAIgEJ1ARUUFW8xtb2/v7OxUv0BLouYyn8QluuxrtJaWlvr6+pMnT0b3GHtBAARAYPgSOHnyZH19fUtLS0dHh19foFmWFWNtgU1yxTdpPT09YqrLZLeioqK0tLSkpKS4uPjYsWNHjx49ghcIgAAIDCsCR48ePXbsWHFxcUlJSWlpaUVFBRPcpqYmNsnt6enxZTE3Xs1VlxfYqm5bW1tTU1N9fX1tbW11dXVlZWVFRUV5eXkZfZXiBQIgAALDhABTrfLy8oqKisrKyurq6tra2vr6+qampra2NrGSK+76HczCQlya65zqdnV1sdluS0tLU1NTQ0NDXV3d6dOna2trTymvGrxAAARAIIUJKHJ1qra29vTp03V1dQ0NDU3/f7v2ttrGFkRR9P+/NlILdXTLBXrDpvFLoshkWazRD0YOOZRqFEx0HB8Oy7KMT7jX6/UTP+Q+0dz9R937/T4+7a7rej6fT6fTsizH4/Gwe755CBAg8OUFdtE6HI/HZVlOp9P5fF7XdXzCvd/vn/WvZ7+2588/zx1/b/6GxI/teTwes7yXy+X79qy75+whQIDAlxfYRWsdHbtsz+12m7X9rJ8qPNfc8Tl3/pxhlnf83u7tdrter7ftuXoIECDwVgKzXePFY3tG5X5uzwzg6OYrX//2c+6HT7vjfczyjt/eHW/UVwIECLypwEjZvrbzf/Ff6ez+v32uufNz7nwx4jt+gXe8UV8JECDwpgIzaOPFDN0+mi++frq5Y958Q/tvP7xd3xIgQODtBGZSxzuf337Wi39s7hy/B51/6AUBAgTeTuD/1OzV5r4dqzdMgACBoIDmBvGNJkCgTkBz605uYQIEggKaG8Q3mgCBOgHNrTu5hQkQCApobhDfaAIE6gQ0t+7kFiZAICiguUF8owkQqBPQ3LqTW5gAgaCA5gbxjSZAoE5Ac+tObmECBIICmhvEN5oAgToBza07uYUJEAgKaG4Q32gCBOoENLfu5BYmQCAooLlBfKMJEKgT0Ny6k1uYAIGggOYG8Y0mQKBOQHPrTm5hAgSCApobxDeaAIE6Ac2tO7mFCRAICmhuEN9oAgTqBDS37uQWJkAgKKC5QXyjCRCoE9DcupNbmACBoIDmBvGNJkCgTkBz605uYQIEggKaG8Q3mgCBOgHNrTu5hQkQCApobhDfaAIE6gQ0t+7kFiZAICiguUF8owkQqBPQ3LqTW5gAgaCA5gbxjSZAoE5Ac+tObmECBIICmhvEN5oAgToBza07uYUJEAgKaG4Q32gCBOoENLfu5BYmQCAooLlBfKMJEKgT0Ny6k1uYAIGggOYG8Y0mQKBOQHPrTm5hAgSCApobxDeaAIE6Ac2tO7mFCRAICmhuEN9oAgTqBDS37uQWJkAgKKC5QXyjCRCoE9DcupNbmACBoIDmBvGNJkCgTkBz605uYQIEggKaG8Q3mgCBOgHNrTu5hQkQCApobhDfaAIE6gQ0t+7kFiZAICiguUF8owkQqBPQ3LqTW5gAgaCA5gbxjSZAoE5Ac+tObmECBIICmhvEN5oAgToBza07uYUJEAgKaG4Q32gCBOoENLfu5BYmQCAo8BvsI1iKAx3mTAAAAABJRU5ErkJggg==
深圳国芯人工智能有限公司-工具软件
王佬 电机校准完成了 怎么让他跑起来呢 您这边后续会做闭环控制吗？{:4_186:}
涛子就是我 发表于 2025-6-4 09:27
王佬 电机校准完成了 怎么让他跑起来呢 您这边后续会做闭环控制吗？
IN_PWM接口给2k~20K的PWM就可以了，用占空比大小控制，另一个IN_UART可以用来控制旋转方向
大佬，请问该控制器可以跑多大电流和电压
aqtjvudr 发表于 2025-6-5 15:27
大佬，请问该控制器可以跑多大电流和电压
MOS的参数是60V，60A，栅极驱动的最大电压是20V，实际的话12V下到10A是可以的。
更大的没有测过