, , .
() , , , 50 . . ( ), ( ), (. 5.1).
. 5.1.
. X Y ( ), X. Y (). (, , , .). , , , , .
. , , , . .
α = f(Y) = F(X).
. , .
, ,
J(d 2α/ dt 2) = Σ M, (5.1)
J ; α ; d 2α/ dt 2 .
:
, w, , α . X, , Y (, , ) α:
= (∂w/∂α) = f (α) Yn, (5.2)
n=1, 2;
α, , , α :
α = W α, (5,3)
W ( );
, . . , :
|
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= (d α/ d t), (5.4)
().
(5.2) (5.4) (5.1), :
J(d 2α/ dt 2) = + α + , (5.5)
J(d 2α/ dt 2) + (d α/ d t) + W α = M. (5.6)
, . . = α, , (5.6) . = α , , .
, , , .
. , , . () . , - , . , , . .
( ), ( 180 ) ( 180).
, , . ( ), ( ). , , () . , .
, S S S:
S = S S (5.7)
: 0,05; 0,1; 0,2; 0,5; 1,0; 1,5; 2,5; 4,0.
. , , , ,
.
. 5.2.
, (. 5.2,), (. 5.2,6), (. 5.2,). .
, ( ). . . , . () , . .
|
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, .
. 5.3.
, , . .
. ( ) . .
(. 5.3) 5 6, - . . , 4 . , 3 , 9 8 7 . 9 , , 7, 3. 2 , 1.
- 10.
. 5.4. () ()
, . .
, , ( 4 ). , ( ).
(. 5.4, ) 1 2, . , .
(. 5.4, ) /, ( ) 2, . ( ) . .