q = H*sin[(t*Pi)/(2*A)]
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0 ≤ t < A 时
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q = H
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A≤ t < (1 – C) 时
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q = H*cos[(t + C – 1)*Pi/(2*C)]
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(1 – C) ≤ t < (C + 1) 时
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q = –H
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(C + 1) ≤ t < (2 – A) 时
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q = –H*cos[(t + A – 2)*Pi/(2*A)]
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(2 – A) ≤ t < 2 时
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