, /" 1. (9.23) ,
(9.24)
(9.24) , :
(9.25)
(9.25) (9.24), 3., :
(9.26)
/ 3> 1 ( ) arctg (} Klivi 1) arctg / /2 :). lip
(9.27) RC- / - . ( ) .
, (9.27) :
(9.28)
, > - , Q Qr, (9.24), .
(, ) , .
, () , - .
, FJ2 (Fn ), . , . ty > ҄, , .
10
()
10.1.
. : , , - , , - -, , . , , , . 10.1.
: (), (), () () (). (t) () (t) (). " (/) , .
|
|
,. (/). (t), (/), . -
, , . , , . , , (t).
(. . 9). , . , , .
.
() (,0) .
, , .. : ,, - ). 0, ,, . -
, 0, . w ), 0, . (. 10.2)
| AQy | / ( ), (10.1)
; (0) .
Ą = ) 12,, , : 10 w0. , (/) . , , ˄. Ą. ,
0 (. . 10.2). Ą = AQy , . . . |3| (. 10.2) Ą, , . . . |0 j .
|
|
. 10.2, = 0 . |Ą| ( ), ( ). .
(. . 10.2). , . (t) . , |0| . |Ą|< ||'.
. 0 - - : ,. ( ) . ,
. , . , , , . . .
10.2.
. 10.1 , [29]. :
, , . . - F () ■= cos , ;
;
, ;
(t) . ,.,,.
,
" (t) + ,(/) /005(.(/) +
+ Um (t) cos (t) - -. UP cos [, / +
+ er(/)i +um(t)
X cos [ 0(/)|, (10.2)
Uc ; (/), (t) ; 8 (t), 9(/) .
:
,. (0 U, , U)
t7rcos[corrf 9(/)1, (10.3)
U ; (/), 9 (t) .
0, , :
Uw (*)^V m(t) cos[co0/- 1(01
= (/) cos (t)-bm(t) 50(/), (10.4)
(t) = Um (t) cos [81 (t) - 8 (01, blu(t) = Um(t) siirX [6(/) 9C (/)] .
NJ2, , (t), , .
|
|
(10.4) (10.2),
(/) + (/) = (Uc + (0) cos Ԅ(0 -
-(()* ). (. 5)
, , (10.3), (10.5),
(/) - ) [0 (t)+um (/)] ,. (/) ==
X [ ((*) (0) + + 05 ((, (*)+(*))1
Urbm (011( (/) -(*)) +
sin (0 (t) 1 (/))!}, (10.6)
.
( (t))
)=)(), (10.7)
() ( d/dt).
(10.6),
(10.8)
ԫ)=(/)-(*) (.9)
.
, , . 0
( 0, .
, (t).
( - (10.10)
, :
-5"(') (10.11)
(5 [/(-)1 ).
(10.11) (10.10) (10.8),
wr = wr0 Sy " (/) - wr0 1
~Y Sy H (p) Ur l(Uc + if)) x Xcoscp(r)- -bw(f)sm<p(t)\. (10.12) 198
(10.9), (10.2), (10.3) (10.12) :
if (/) = 6,. () 6 (/) .
(10.13) . . (10.13)
(0 + (/>)cos<p(/)- Ą, (10.14)
= Sys UrUc/2 = = 5 t / , , ; ^ max = UrUc/2~- - .
(10.14) , /? , , 0. , (10.14) , (). .'
\ () 1|.
(10.14)
(10.15)
, , / (. 10.3). dcp (t)/dt > 0 (/), , d<p (t)Idt <; 0 (t). (! (/)/d/ = 0) (10.15) 5(/) = = 0, . . 0 < .
, (0) 2 4- /2,
|
|
0,1, 2,.... - , (/), .
d (t)/dt , () (0-
0 < , ' <f'Ui.
(10.15) \Q3
. 10.3
. (10.15) - dt,
/0 ; .
, t -*■ 0 :
, tg 0/2
= V 1 cos / 1 + cos ,
cos 0 = 0/ bi .
Ą > £2 ! (. 10.4) =='ħ 02. ! () i .
0 = , Ą < £2 , . . . 0.
,
. 10.4
. ( ) . , 0 2.
. () ( -4- \)/. (10.13),
, .
(10.18)
(10.19)
(, ) (. 10.5). . || (10.19) ( , /' 2, 2' . 10.5). ( > 0) ( < 0). (10.19) 2. , , [ < <[ < ]. ( /, 2) , () ( /', 2'). , , ( 2) , . (. . ).4). , - - || |3|. ( 3, 3'), , = , = (k + 1) , .
, (, . . . 10.6 a dq>(/)/ 2 \.,0
; \) "" = - -
2/ , . a ,4AQr -*■ 0, ( -= 0), 1, . . .
. (10.19) , =0, = (2k 4- 1) /2 (%). k ( k 0) , k .
|
|
, , , .
0 > > AQy, . -
. 10.6
, // () = = ( + 1)/(7> + 1).
, (10.19) . . (10.19) (, ) . .
10.3.
(), .2 . (10.13) (/)
= F [ (0, I (01- 3 I (0 - _ , (t) , ^ | (t) , . . . ( -
: > AQy).
. () = 1 (10.13), [29]
X sin (/)) + (/) <|(^)> = = 0, < | (/) t(t + ) > = N12 (); N .
(10.20) (t). % (t), .
(t) (, ) t
== , = 0. , (, 0) = ( 0). - (, tx) , (, /2) (. 10.7), (10.16). -
J' (, i) dtp = 1 -
t. 0 = 0, (, t) . 0 0, (, /) : 0 > 0 + !, < 0 [29].