, . -, ,
1-; 2-; 3-; 4-
1 2 4, . 3
I*(d2 )/dt2 +p*(d )/dt+my1* =BSWI
I*(d2 )/dt2-
P*(d )/dt-
my1* -
BSWI-
P=
P-
R-
R-
1. R= ,iB=0, =0
0.
2. Ri, i 0, >T0
3. R=0 - .
4. R=R
, - .
= , -
R--
, .
, . . <<T0, .( ) Q=
*
, .
.
.
E = const
. (RX μ).
.
(). . . . ().
k .