15
.
, (, ) (.15.1).
.15.1
. - , , , , .
, :
1. . , . . . .
2. . , . . .
3. . . ... .
4. . , . .
.
, (.15.1) , . 1 . , . , 1 (.15.2), . φ, ω ε. , , , J.
.15.2
.
Fi Mi, , i c. . Fi,
M i ω= Fi Vi s αi,
Vi Fi, ai - Fi Vi.
M i =(Fi Vi s αi)/ω = Fi Si ¢ s αi (15.1)
S i¢ - F i.
i, i ω = M i w i,
wi , i.
|
|
i =(Mi wi) / w. (15.2)
= i.
(, , ). (15.1) (15.2) , , , , :
= (j, w). ( ).
, 3 - (.15.3).
β X ( X ). φ 0 , . φ, ω .
r = , l = ,, m3 ( ), .
S ′.
( G3).
X. . (15.1),
= ( + G3 cos β) ∙ S′. (15.3)
G3 = 9,81∙ m3.
, S ′ (15.3) . G3 (15.3), .
.15.3
.
, c. . ( ). ,
= ,
mi , Vi .
J i =m i ()2=mi(S¢ i)2. (15.4)
,
= ,
Ji ,
wi .
J i =Ji ()2. (15.5)
- ,
= + ,
Vci , Jci .
J i = mi ()2 + Jci ()2.(15.6)
J = i.
(15.4), (15.5), (15.6) , J , .
J = Jc+Jv: (15.7)
Jc ( , );
Jv ( , -, - ).