ψ0 (t), ψ1 (t) ,, ψn (t) ,
(5.42)
ψi (t)
(5.43)
(5.43) (5.42), ψi (t)
(5.44)
:
(t) u1(t),,ur(t), J (55.2), (5.42) , ψ (t) ψ1(t),, ψr(t), (5.43), ..
, (t), J, , ().
, :
1. (5.41), (5.40):
2. :
3. , ,
(5.45)
, , j (5.45) ψ (t).
(5.45) (t) (2n+r+2) : (n+1) i (t), (n+1) ψi (t), r uj (t). r (5.45), (+1) (5.41) (n+1) ψi (t) (5.43).
4. (5.43) ψi (t):
(2n+r+2) (t).
1. ?
2. ?
3. .
4. () .
5.9. 2-
, , | u | ≤ 1: " (0) () ".
, ,
(5.46)
, (5.40)
|
|
(5.47)
(5.47) (5.46),
, u, 10=1 (0) 20=2 (0), 10 20 , 1=1 () =0 2=2 () =0, .. { 10 ,y20 } { 1 ,y2 }.
(5.48)
(5.48) u, , , .. ,
(5.49)
u, (5.49), (5.45)
ψ2 (t) =0. ψ2 (t), .. ψ2 (t) =0 t. , u, (5.49), , .. u=+1 u=-1. , ψ2 (t) >0 u=+1, ψ2 (t) <0 u=-1. sign:
(5.50)
ψi (t) (5.43)
(5.51)
(5.51) (5.50),
(5.52)
ψ2=2-1t , (5.50) , , (5.52) - , +1 -1 . : u= { -1 }; u= { +1 }; u= { -1, +1 } u= { +1, -1 }.
, : u. 1 2, (5.52), (5.46) . , , .
(5.46)
(5.53)
(5.53) t,
(5.54)
(.5.13). 1-0-2, 1=0 2=0 (.5.14), (5.54)
{10 , 20} 0-1 ( 1 .5.14), u=-1, 0-2 ( 2) u=+1.
1-0-2, . 3 1-0-2 u=-1, 4 u=+1. 5 1-0-2 u=+1, 6 u=-1. , 1-0-2 .
, u=+1 u=-1,
u=-1, - u=+1. : u=-1 u=+1, - u
.5.15.
F (y2) , 1. , . u -1 +1. .
|
|
, , F (y2).
, , , ψ0 (t) , , ψ0f0 .
1. ?
2. ?
3. ?
4. .
5.10.
, (.5.16), , , .
(5.55)
( F1), ( F2) .. - θ . 180, - , , .. . , (5.55), ... , uB. , (θ≈20) 10.
uB, , .
uB 0, , 2...2,5 . .
- Ψd, Ψq, Ψ1d, Ψ1q, ΨB , s θ.
(5.56)
. uB , .
(5.57)
(5.57) (5.56)
,
h0...h7 .
uB
(5.58)
h0...h7 , (5.58) , uB uB=1, h5>0 uB=-1, h5<0. uB
, uB , 1 +1 , .. . uB h5 , , (5.56) :
|
|
h0...h7 .
, , , . .
1. , . ?
2. .
3. ?
6.
6.1. .
"" , . , , , , .
, , .
, , , . , . , , , . , , .
, . . .
, , , , . . . .
.
, , , .
|
|
( , ) , , .
, , , "" .
, , , : , (.6.1).
() , , , . . . ( ) . , . . , , -, , . , , , , .
, , . , , . , .
, , . , , - - .
. , , , . , . . . "" "" () .
|
|
.
.6.2. , () K , , .
J, (t), g (t), a . .
J , .
, , , , .
, , .
, , , , , .
, , . , .
= *, ( ) =* (). (.6.3) , . ( ), , , .
. , , : J (), Δ =+Δ. , ΔJ=J ( + Δ)- J (), , .