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1.015.00.00 ??
???????? ??????? ?????? ???-10-1/2(1) __________ ??????? ?. ? _
???? ??????? ?.?. ???????
???????? ?????? ???????? ? ??????? ____________________________________________
??????? 2012 ?.
???????????? ??????????? ? ????? ?????????? ?????????
????????? ??????????????? ??????????? ???????????
??????? ?? ???????? ??????
?? ????? ???????? ?????????????? ?????????
???????? ???????? ?. ?._______________________________
(???????, ????????)
???? ??????? ?????????? ? ???????? ???????????? ? ????? ????????? ???????
???????? ?????? _____________________________________________________________ ______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________
????????????? ?????????? _____________________________________________________ ____________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________
???? ?????? ??????? "04" ???????? 2012 ?.
???? ????????????? ??????? ???????????? "18" ??????? 2012 ?.
???????????? ???????? ?????? ????????? ?. ?.
1. ?????????? ???????? ????????? ? ????? ????????? ??????? ?? ????????? ???????? ????? ?? ?????
?????????:
1. ????????? ???????????????? ????????? ???????? ?????????.
2. ?????? ? ??????? ??? ?????????? ??????? ????????? ?? ????????? ??????? ?.
3. ????????? ??????? ?_1 (t), ?_2 (t), ?_3 (t).
4. ??? ??????? ??????? t=(N+1)?t ?????????? ?????????????????? ??????? ??????? ???????? ??????? ? ???????? ? ???????????? ????? ?? ???.
??????????????? ??????? ???????? ? ????? ????????? ???????. ???????? ????? ? ??????: V_My=0, V_Mx=-V_1 sin?(pt+a).
????: a=0,01 ???; DA=2AB=2R1=0,86 ?; CP=0,5R1=0,215 ?; AC=R3=0,79 ?; BD=v3R1=0,43v3=0,75 ?; MB=R2=0,98 ?; f_1 (0)=0,31 ???; f_2 (0)=2,91 ???; f_3 (0)=0,41 ???; V1=9 ?/?; t_1=0,23 ?; ?t=0,0096 ?; ?=27,3 ?-1.
?????????? ????????? ??? ??????? ??????????? ??????? ????????? ??????? ?_1, ?_2, ?_3, ?_4. ??? ???????? ???????? ????? ? ??? ???????????? ?? ????????? ??????? ??????, ?????????? ?? ????????. ?? ?????? ???????? ???????? ?????:
VDy=0, VDx=0, VCy=0, VPx=0, VPy=0
?????????? ??? ????????? ???????? ????????? ?????????:
(V_D ) ?=(V_M ) ?+(?_2 ) ?�(MB) ?+(?_1 ) ?�(BD) ?
(V_C ) ?=(V_M ) ?+(?_2 ) ?�(MB) ?+(?_1 ) ?�(BA) ?+(?_3 ) ?�(AC) ?
(V_P ) ?=(V_M ) ?+(?_2 ) ?�(MB) ?+(?_1 ) ?�(BA) ?+(?_3 ) ?�(AC) ?+(?_4 ) ?�(CP) ?
(V_C ) ?=(V_D ) ?+(?_1 ) ?�(DB) ?+(?_1 ) ?�(BA) ?+(?_3 ) ?�(AC) ?
(V_P ) ?=(V_D ) ?+(?_1 ) ?�(DB) ?+(?_1 ) ?�(BA) ?+(?_3 ) ?�(AC) ?+(?_4 ) ?�(CP) ?
????????? ??? ????? ????????? ?? ??? ????????? X ? Y ? ?????? ?????????? ?????? ??????? ??????? ?????????????? ????????? ??? ??????????? ?iz(i=1,2,3,4):
V_Dx=V_Mx-?_2 r_2 sin?(f_2+p)-v3 ?_1 r_1 sin?(f_1+p)(1)
V_Dy=V_My+?_2 r_2 cos??(f_2+p)+? v3 ?_1 r_1 cos?(f_1+p)(2)
V_Cy=V_My+?_2 r_2 cos?(f_2+p)+?_1 r_1 cos?(f_1+3p/2)+?_3 r_3 cos??f_3 ?(3)
V_Px=V_Mx-?_2 r_2 sin??(f_2+p)-? ?_1 r_1 sin?(f_1+3p/2)-?_3 r_3 sin??f_3 ?-0,5?_4 r_1 sin??3p/2?(4)
V_Py=V_My+?_2 r_2 cos??(f_2+p)+? ?_1 r_1 cos?(f_1+3p/2)+?_3 r_3 cos??f_3 ?+0,5?_4 r_1 cos??3p/2?(5)
V_Cy=V_Dy+v3 ?_1 r_1 cos??f_1 ?+?_1 r_1 cos?(f_1+3p/2)+?_3 r_3 cos??f_3 ?(6)
V_Px=V_Dx-v3 ?_1 r_1 sin??f_1 ?-?_1 r_1 sin?(f_1+3p/2)-?_3 r_3 sin??f_3 ?-0,5?_4 r_1 sin??3p/2?(7)
V_Py=V_Dy+v3 ?_1 r_1 cos??f_1 ?+?_1 r_1 cos?(f_1+3p/2)+?_3 r_3 cos??f_3 ?+0,5?_4 r_1 cos??3p/2?(8)
?? ???????????? ????????? ?????? ???????? 4, ??????????? ???????? ??????? ????? ?????????? ?????????????? ? ???????? ???? ??????????? ????? ??????. ? ?????? ?????? ??? ????????? (1), (2), (6), (7), ??????? ? ?????? ?????? ?????????? ????????? ? ????????? ????:
-V_1 sin??(pt+a)+? ?_2 r_2 sin??f_2 ?+v3 ?_1 r_1 sin??f_1 ?=0
-?_2 r_2 cos??f_2 ?-v3 ?_1 r_1 cos??f_1 ?=0
v3 ?_1 r_1 cos??f_1 ?+?_1 r_1 sin??f_1 ?+?_3 r_3 cos??f_3 ?=0
-v3 ?_1 r_1 sin??f_1 ?+?_1 r_1 cos??f_1 ?-?_3 r_3 sin??f_3 ?+0,5?_4 r_1=0
?????????? ??????? ????????? ????? ???? ????????? ???????????? ?i:
?_1=(V_1 sin?(pt+a))/(v3 r_1 (sin??f_1 ?-cos??f_1 ? tg??f_2 ? ) )
?_2=-(v3 ?_1 r_1 cos??f_1 ?)/(r_2 cos??f_2 ? )
?_3=-(?_1 r_1 (v3 cos??f_1 ?+sin??f_1 ? ))/(r_3 cos??f_3 ? )
?_4=(-?_1 r_1 (cos??f_1 ?-v3 sin??f_1 ? )+?_3 r_3 sin??f_3 ?)/(0,5r_1 )
(f_1 ) ?=?_1
(f_2 ) ?=?_2
(f_3 ) ?=?_3
f_1^((k+1))=f_1^((k))+?_1^((k)) ?t(9)
f_2^((k+1))=f_2^((k))+?_2^((k)) ?t
f_3^((k+1))=f_3^((k))+?_3^((k)) ?t
?????? ??????? ?? ????????? ??????? [0;t] ? ????? ?t. ?????? ?????????? ?????? ? ???????:
???f_1, ???f_2, ???f_3, ????_1, ???/??_2, ???/??_3, ???/??_4, ???/?00,312,910,410,2281520,169656-0,26466-0,5810910,3121862,9116260,4066246,1218224,547304-7,09692-15,472320,3143732,9132520,40324811,592048,601234-13,4301-29,071430,3165592,9148780,39987116,2666612,05663-18,8342-40,477240,3187462,9165030,39649519,8281514,68031-22,9436-48,952450,3209322,9181290,39311922,0351416,29646-25,4816-53,971160,3231192,9197550,38974322,7388216,79843-26,2793-55,250970,3253052,9213810,38636621,8929216,15573-25,2862-52,768380,3274922,9230070,3829919,5567914,4159-22,5742-46,75690,3296782,9246330,37961415,8912411,70097-18,332-37,6825100,3318652,9262590,37623811,147428,198936-12,8518-26,2162110,3340512,9278850,3728615,6496924,15074-6,50959-13,1766120,3362372,929510,369485-0,22663-0,166320,2609660,524142130,3384242,9311360,366109-6,08085-4,457566,99800513,94507140,340612,9327620,362733-11,5142-8,4310613,2430326,18088150,3427972,9343880,359356-16,1572-11,817518,5720936,42301160,3449832,9360140,35598-19,6943-14,388422,6245844,01297170,347172,937640,352604-21,886-15,971625,1276248,48451180,3493562,9392660,349228-22,5844-16,462825,9144249,59188190,3515432,9408910,345851-21,7439-15,832124,9354147,32257200,3537292,9425170,342475-19,4233-14,126422,2613141,89382210,3559162,9441430,339099-15,7824-11,465418,0780733,73362220,3581022,9457690,335723-11,0709-8,0334712,6739323,44753230,3602882,9473950,332346-5,61079-4,066776,41955411,77413240,3624752,9490210,328970,2250640,162943-0,25736-0,46791
?? ??????????? ??????? ?????? ??????? ?_1 (t), ?_2 (t), ?_3 (t), ?_4 (t):
???????? ????????. ????????? ?? ??????? ???????? ????? ???????? ??????? ?? ?????? ??? ??????? 3. ???????? ?????? ? ???????? 1:10, ?????????? ????????? ?????????? ??????? ?????????. ?????? ??????? ????????? ????? A, B, C, M ? ????????? ?????? ??????????? ???????? ???????. ?? ????????? ????????? ????????? ? ??????????? ?? ?????????? ??????? ????????? ?????????? ???????? ??????? ????????? ???????.
?_2=V_M/(MP_2 )=(4,6 ?/?)/(0,53 ?)=8,68 c^(-1)
?_1=?_2 (P_2 B)/DB=8,68 c^(-1) (1 ?)/(0,75 ?)=11,6 c^(-1)
?_3=?_1 DA/(AP_3 )=-11,6 c^(-1) (0,86 ?)/(0,74 ?)=-13,5 c^(-1)
?_4=?_3 (P_3 C)/(P_4 C)=-13,5 c^(-1) (0,44 ?)/(0,215 ?)=-27,63 c^(-1)
??????????, ?????????? ? ??????? ??????????? ??????????, ?????? ? ??????????? ??????? ?????? ?? ??? ? ?? ?????????? ????? ??? ?? 5%.
2. ?????????? ???????????? ???????? ????????????
?????????:
1. ????????? ????????? ???????????? ???????? ????? ?, ????????? ???????? ???????? ??????? ???????????? ? ????????? ??? ???????? ????? ?.
2. ??????? ????????? ??????????, ??????????????? ????????? ????? ? ? ? ? ???????? ?????????.
3. ???????????????? ? ??????? ??? ????????? ???????? ?? ????????? ??????? ?0; t_2?
4. ????????? ?????????? ????????? ????? ? ? ? ? ??????? f_1 (t), ?_1 (t), V_Cx (t).
5. ??? ??????? ??????? t=(N+1)?t ???????? ?????????????????? ??????? ?????? ? ???????? ? ???????????? ?????.
?????????? ????????????? ?????? ?????????? ?? ????? t_2 ????????? ??????? ? ? ?????????? ??????? ?. ?????? ???????? ???????????? ? ?????????? ????????? Vk ? ????????? ?? ??????? ???????????. ????????? ????????? ???????????? ?????? ?????? ???????? ??????? f_1 (0), f_2 (0), f_3 (0). ? ??????? ??????? t=t_2 ????????? ????????????? ???????? d ?????????? ????? ? ? ?. ?????????? ????????????? ?????????????? ?? ???????? ?????????? ??????????????? ? ?? ???????????.
????: Vk=0,452 ?/?; DA=2AB=2R1=0,842 ?; CP=0,5R1=0,2105 ?; BD=v3R1=0,421v3=0,729 ?; MB=R2=0,971 ?; AC=R3=0,781 ?; f_1 (0)=0,301 ???; f_2 (0)=2,901 ???; f_3 (0)=0,401 ???; Xk(0)=0,45 ?; Yk(0)=1,12 ?; d=0,025; t_2=1,224 ?; ?t=0,051 c.
????????? ???????? ?????? ? ????? ???:
X_k=X_k (0)+V_kx t;V_kx=V_k=0,452 ?/?;(10)
Y_k=Y_k (0)+V_ky t;V_ky=0.
???????????, ??? ?????????? ??????? ? ???????? ? ???????? ????????, ????? ????????? ??????????????? ????????? ????? ? ? ?.
?X=X_K-X_M?Y=Y_K-Y_M(11)
????????, ??? ?????????? ????????????? ?????????????? ?? ???????? ?????????? ??????????????? ? ?? ???????????
u_x=?X+T^* d/dt ?Xu_y=?Y+T^* d/dt ?Y(12)
??? ?????????? ? ???????? ?????????????? ???????? k ? ???????????? ??????? 1/k ??????????? ???????????:
u_x=0u_y=0(13)
?????????? (13) ? ????????? (10), (11), (12) ? ??????? ?????????? ????????? ? ????? ???? ????????:
(dX_M)/dt=V_MxV_Mx=V_kx+((X_k (0)+V_kx t-X_M ))/T^* (14)
(dY_M)/dt=V_MyV_My=((Y_k (0)-Y_M ))/T^* ??????? ???????? ??????? ???????????? ? ???????? ????? ? ?????????? ???????????? ????????? ????? ? ? ???????? ???????, ??????????? ? ?????? D ? ?. ???????????? ????????? ??? ???????? ????????? ????? ? ? ?.
? ???????????? ? ?????? D?B?A?C ???????:
V_Cx=V_Dx-v3 ?_1 r_1 sin??f_1+? ?_1 r_1 cos??f_1 ?-?_3 r_3 sin??f_3 ?(15)
V_Cy=V_Dy+v3 ?_1 r_1 cos??f_1 ?+?_1 r_1 sin??f_1 ?+?_3 r_3 cos??f_3 ?=0
? ???????????? ? ?????? M?B?D ???????:
V_Dx=V_Mx+?_2 r_2 sin??f_2 ?+v3 ?_1 r_1 sin??f_1=0?(16)
V_Dy=V_My-?_2 r_2 cos??f_2 ?-v3 ?_1 r_1 cos??f_1=0?
?? ????????? (15), (16) ????????:
?_3=-(?_1 r_1 (v3 cos??f_1 ?+sin??f_1 ? ))/(r_3 cos??f_3 ? )
V_Cx=?_1 r_1 (cos??f_1 ?-v3 sin??f_1 ? )-?_3 r_3 sin??f_3 ?
?_2=-(v3 ?_1 r_1 cos??f_1 ?-V_My)/(r_2 cos??f_2 ? )
?_1=(V_Mx+V_My tg??f_2 ?)/(v3 r_1 (cos??f_1 ? tg??f_2 ?-sin??f_1 ? ) )
(f_1 ) ?=?_1(17)
(f_2 ) ?=?_2
(f_3 ) ?=?_3
??????????? ????????? ??????????. ?? (12) ? (13) ??????? ????????? ? ????????????????:
?X+T^* d/dt ?X=0;?Y+T^* d/dt ?Y=0
??????? ???? ????????? ????? ???:
?X=?X(0) e^(-t/T^* )?Y=?Y(0) e^(-t/T^* )
?? ???????, ??? t=?2 ?????? ??????????? ???????????
d=?X/?X(0) =?Y/?Y(0) =0,025
T^*=-t_2/ln?d =-(1,224 c)/ln?0,025 =0,332
??????? ????????? (14), (17) ????????????? ? ??????? ??? ?? ????????? ?0; 1,224? ? ?????????????? ????????????????? ????? ??????. ??? ?????????????? ?t=0,051c.
????????? ??????? ?? ?????????? ?1, ?2, ?3 ????????? ? ???????? ??????, ? ?? ?????????? XM, YM ??????????? ?? ????????: X_M=v3 r_1 cos??f_1+r_2 cos??f_2 ? ?(18)
Y_M=v3 r_1 sin??f_1 ?+r_2 cos??f_2 ?
????????? ? (18) ???????? ???????? ri, ?i(0), ???????? XM(0), YM(0). ??????????? ???? ?????????????? ?????????????? ? ?????????????? ???????????? (9), ? ??????, ???
X_M^((k+1))=X_M^((k))+V_Mx^((k)) ?t(19)
Y_M^((k+1))=Y_M^((k))+V_My^((k)) ?t
?????????????? ???????????? (18).
?????? ??????? ?? ????????? ??????? [0;t] ? ????? ?t. ?????? ?????????? ?????? ? ???????:
????1, ????2, ????3, ????1, ???/??2, ???/??3, ???/?VCx, ?/?VMx, ?/?VMy, ?/?X_M, ?Y_M, ?00,3012,9010,401-2,96948-4,340693,391463-1,585881,6462622,025433-0,246620,44755610,1495572,6796250,573965-0,88223-2,736721,054322-0,718511,2802641,742668-0,148160,54143420,1045632,5400520,6277350,053394-1,81175-0,064970,0480930,9914961,489129-0,075340,62560930,1072862,4476530,6244220,433095-1,27775-0,526360,3878030,7596941,267755-0,021440,69910540,1293742,3824880,5975770,580085-0,93366-0,698460,4945240,5694071,0771450,0186850,76238850,1589582,3348710,5619550,626309-0,68947-0,745470,498290,4110870,9141330,0481950,81650860,19092,2997080,5239360,627332-0,50419-0,738280,4609780,2783730,7752180,0692040,86262870,2228942,2739940,4862840,608408-0,3574-0,708640,4103860,1666410,6570850,0832470,90184880,2539232,2557670,4501430,581776-0,2379-0,671430,3586650,0723250,5567640,0915080,93515490,2835932,2436340,41590,553603-0,13897-0,633760,310777-0,007420,4716570,0949320,96341100,3118272,2365470,3835780,527011-0,05628-0,599010,268351-0,074920,3995140,094290,987361110,3387052,2336760,3530290,5035070,013208-0,568650,23149-0,13210,3384020,0902221,00765120,3643832,234350,3240280,4837080,07172-0,543160,199634-0,180560,2866660,0832591,024827130,3890522,2380080,2963270,4677310,120977-0,522480,171984-0,221650,2428880,0738471,039361140,4129072,2441780,269680,4554140,162355-0,506280,147704-0,256490,2058630,0623631,051654150,4361332,2524580,243860,4464480,196979-0,49410,12601-0,286050,1745590,0491241,062046160,4589022,2625040,2186610,4404530,225788-0,485420,106215-0,311120,1481030,0343951,07083170,4813652,2740190,1939050,4370280,249574-0,479730,087733-0,332390,125750,0184051,078251180,5036532,2867470,1694380,4357790,269008-0,476550,070079-0,350440,1068690,0013451,084519190,5258782,3004660,1451350,4363370,284661-0,475410,052862-0,365750,090925-0,016621,089813200,5481312,3149840,1208880,4383650,297023-0,475940,035771-0,378730,077463-0,035361,094282210,5704882,3301320,0966160,4415640,306513-0,477760,018567-0,389750,066099-0,054761,098055220,5930082,3457650,072250,445670,313492-0,480580,001069-0,399090,056507-0,074711,10124230,6157372,3617530,0477410,4504580,318267-0,48413-0,01685-0,407020,048413-0,095131,103927240,638712,3779840,023050,4557350,321107-0,48821-0,03529-0,413730,041584-0,115951,106194
?? ??????????? ??????? ?????? ??????? f_1 (t), ?_1 (t), V_Cx (t):
???????? ????????. ????????? ?? ??????? ???????? ????? ???????? ??????? ?? ?????? ??? ??????? 3. ???????? ?????? ? ???????? 1:10, ?????????? ????????? ?????????? ??????? ?????????. ?????? ??????? ????????? ????? A, B, C, M ? ????????? ?????? ??????????? ???????? ???????. ?? ????????? ????????? ????????? ? ??????????? ?? ?????????? ??????? ????????? ?????????? ???????? ??????? ????????? ??????? ? ???????? ????? ?.
V_M=v(V_Mx^2+V_My^2 )=1,789 ?/?
?_2=V_M/(MP_2 )=-(1,789 ?/?)/(0,93 ?)=-1,92 c^(-1)
?_1=?_2 (P_2 B)/DB=1,92 c^(-1) (0,021 ?)/(0,73 ?)=0,05 c^(-1)
?_3=?_1 DA/(AP_3 )=-0,05 c^(-1) (0,84 ?)/(0,69 ?)=-0,061 c^(-1)
V_C=?_3�P_3 C=0,061 c^(-1)�0,74 ?=0,045 ?/?
??????????, ?????????? ? ??????? ??????????? ??????????, ?????? ? ??????????? ??????? ?????? ?? ??? ? ?? ?????????? ????? ??? ?? 5%.
3. ???????? ????????? ? ????? ????????? ???????
?????????:
1. ????????? ????????? ????????????? ??? ??????????? ??????????? ????????, ??????????? ???????? ??????????? ???????? ?????.
2. ????????? ?????????????? ?????????, ???????????? ????????? ?? ??????? ??????? ?????????, ????? ???????? ??????? ? ???????? ????? ?.
3. ?????? ?????????? ????????? ?? ??? ?? ????????? ??????? ?0, t_3?.
4. ????????? ??????? ?B, MD, f_1 (t), ?_1 (t), ?_2 (t), ?_3 (t), V_Cx (t).
5. ??? ??????? ??????? t=(N+1)?t ?????????? ? ??????? ??????????????????? ?????? ??????? ???????? ???????, ???????? ????? ? ? ???????? ? ???????????? ????? ?? ???.
6. ?? ?????? ????? ????? ???????? ??????? ????????? ??? t=0,02.
??????????? ?????????? ???????? ???? ????? m ?? ????? t_3 ?? ????? d ? ????? ? ? ???????? ????????? V?x=0, VMy=Vsin(kt). ??????????? ????????? ??????????? ? ???????? B ? D.
????: DA=2AB=2R1=0,86 ?; CP=0,5R1=0,215 ?; AC=R3=0,79 ?; BD=v3R1=0,43v3=0,75 ?; MB=R2=0,98 ?; f_1 (0)=0,31 ???; f_2 (0)=2,91 ???; f_3 (0)=0,41 ???; t3=0,24 ?; V3=3,14 ?/?; k=13,1 ???/?; m=11 ??; ?t=0,01 ?.
?????? ????????? ??????????? ? ???????? ????? ??????????.
?????????? ????????? ????????????? ??? ??????????? ????????:
?)
?)
?)
?)
??? ??????????? ????????? ????????????? ??????? ????????????? ?? ??????. ?? ???????? ???????????? ??????? ??????, ???????? ???? (???? G) ????? ? ? ?????????? ??????? ?????????? ?Bz, MDz. ?? ???????? ????????? ??????? ?????????????? ? ????? ? ???? ???????: ???? ??????? ? ?=-m(a_M ) ?. ??? ????????? ???????? ??? ???? ? ????????? ???????????? ???:
?_x=0
?_y=ma_My=m(V_My ) ?=mVk cos?kt
?????????? ????????? ?????????? ?????? ???, ????????? ?? ???. ?, ?, ?, ?.
??? ????? 1 (???. ?):
SX=X_D-X_B+X_A=0
SY=Y_D-Y_B+Y_A=0
SM_D=M_Dz+M_Bz-v3 Y_B r_1 cos??f_1 ?+v3 X_B r_1 sin??f_1+?+Y_A r_1 (v3 cos??f_1 ?+sin??f_1 ? )++X_A r_1 (cos??f_1 ?-v3 sin??f_1 ? )=0(20)
SM_B=M_Dz+M_Bz+v3 X_D r_1 sin??f_1 ?-v3 Y_D r_1 cos??f_1 ?+Y_A r_1 sin??f_1 ?+X_A r_1 cos??f_1 ?=0(21)
??? ????? 2 (???. ?):
SX=X_B+?_x=0
SY=Y_B-?_y-G=0
SM_B=-M_Bz-?_x r_2 cos?(f_2-p/2)+(G+?_y ) r_2 sin?(f_2-p/2)=0(22)
??? ????? 3 (???. ?):
SX=-X_?-X_A=0
SY=-Y_?-Y_A=0
SM_C=-X_A r_3 sin??f_3 ?+Y_A r_3 cos??f_3 ?=0(23)
??? ????? 4 (???. ?):
SX=X_?+X_P=0
SY=Y_?+Y_P=0
??? ??? X_P=0, ?? X_C=0.
??? ??? ?_x=0, ?? X_B=0.
??? ??? X_C=0, ?? X_A=0.
??? ??? X_A=0 ? X_B=0, ?? X_D=0.
?? ????:
X_A=X_B=X_C=X_D=X_P=?_x=0
Y_B=G+?_y
Y_D+Y_A=G+?_y
Y_C=-Y_A=-Y_P
?? (23) ???????, ??? Y_A=0
?? ????????? (20) ? (22)
M_Bz=-m(g+Vk cos?kt ) r_2 cos??f_2 ?
M_Dz=m(g+Vk cos?kt )(r_2 cos??f_2 ?+v3 r_1 cos??f_1 ? )
?????????? ?????????????? ?????????. ?????????????? ????????? ???????????? ?? ????? ???????? ????? ? ? ?????? ????, ??? VMx=0 ? VMy=Vsin(kt), ?????????:
?_1=-(V_3 sin?kt)/(v3 r_1 (sin??f_1 ? ctg??f_2 ?-cos??f_1 ? ) )
?_2=-(v3 ?_1 r_1 sin??f_1 ?)/(r_2 sin??f_2 ? )
?_3=-(?_1 r_1 (v3 cos??f_1 ?+sin??f_1 ? ))/(r_3 cos??f_3 ? )
V_Cx=?_1 r_1 (cos??f_1 ?-v3 sin??f_1 ? )-?_3 r_3 sin??f_3 ?
(f_1 ) ?=?_1
(f_2 ) ?=?_2
(f_3 ) ?=?_3
?????? ??????? ?? ????????? ??????? [0;t_3 ] ? ????? ?t. ?????? ?????????? ?????? ? ???????:
???f_1, ???f_2, ???f_3, ????_1, ???/??_2, ???/??_3, ???/?V_Cx, ?/?M_Bz, ?*?M_Dz, ?*?00,312,910,410000536,508-137,55610,312,910,410,245208-0,24768-0,284440,134273532,81-136,60820,3149042,9050460,4043110,488441-0,49061-0,56580,262866521,1637-133,77830,3173562,902570,4014670,723808-0,72504-0,837860,386127502,7094-129,11640,3198082,9000930,3986220,94778-0,94686-1,096370,501148477,4582-122,70250,322262,8976160,3957781,156445-1,15229-1,336820,60604445,8501-114,64660,3247122,8951390,3929331,346137-1,33784-1,555040,699116408,4339-105,08770,3271652,8926630,3900891,513506-1,50036-1,747190,778919365,8571-94,186980,3296172,8901860,3872451,65557-1,6371-1,909880,844245318,855-82,134690,3320692,8877090,38441,769772-1,74573-2,040250,894159268,238-69,1364100,3345212,8852320,3815561,854029-1,82444-2,135940,928011214,8774-55,4155110,3369732,8827560,3787111,906762-1,87188-2,195220,945442159,6905-41,2072120,3394252,8802790,3758671,926933-1,88727-2,216960,946386103,6247-26,7554130,3418772,8778020,3730221,914059-1,87036-2,200690,93106847,64124-12,3079140,3443292,8753250,3701781,868228-1,82145-2,146580,899995-7,301371,887384150,3467812,8728480,3673331,790095-1,74139-2,055450,853945-60,263715,58711160,3492332,8703720,3644891,680874-1,63156-1,928770,793947-110,34228,55637170,3516852,8678950,3616451,542321-1,49385-1,768630,721259-156,68240,5729180,3541372,8654180,35881,376705-1,33061-1,577690,637345-198,49651,43081190,356592,8629410,3559561,18677-1,14464-1,359150,543842-235,07560,94416200,3590422,8604650,3531110,975688-0,93912-1,116690,442533-265,868,95015210,3614942,8579880,3502670,74701-0,71755-0,854420,335308-290,15475,31187220,3639462,8555110,3474220,504602-0,48374-0,576790,224131-307,7379,92069230,3663982,8530340,3445780,252582-0,24166-0,288530,111005-318,23882,69813240,368852,8505580,341734-0,004750,0045360,005423-0,00207-321,50983,59712
?? ??????????? ??????? ?????? ??????? M_Bz (t), M_Dz (t), f_1 (t), ?_1 (t), ?_2 (t), ?_3 (t), V_Cx (t):
???????? ????????. ????????? ?? ??????? ???????? ????? ???????? ??????? ?? ?????? ??? ??????? 3. ???????? ?????? ? ???????? 1:10, ?????????? ????????? ?????????? ??????? ?????????. ?????? ??????? ????????? ????? A, B, C, M ? ????????? ?????? ??????????? ???????? ???????. ?? ????????? ????????? ????????? ? ??????????? ?? ?????????? ??????? ????????? ?????????? ???????? ??????? ????????? ??????? ? ???????? ????? ?.
?_2=V_M/(MP_2 )=-(0,8 ?/?)/(1,57 ?)=-0,5 c^(-1)
?_1=?_2 (P_2 B)/DB=0,5 c^(-1) (0,68 ?)/(0,75 ?)=0,45 c^(-1)
?_3=?_1 DA/(AP_3 )=-0,45 c^(-1) (0,86 ?)/(0,75 ?)=-0,52 c^(-1)
V_C=?_3�P_3 C=0,52 c^(-1)�0,44 ?=0,23 ?/?
??????????, ?????????? ? ??????? ??????????? ??????????, ?????? ? ??????????? ??????? ?????? ?? ??? ? ?? ?????????? ????? ??? ?? 5%.
?????????? ???????? ?????????? ?????????? ??? t=0,02 c.
N_B=M_Bz (?_1-?_2 )=510,78 ??N_D=M_Dz ?_1=64,2 ??
?????: ?????????????? ?????? ????? ???????????? ? ????? ????????? ??????? ???????? ????? ????????? ???????? ??????? ? ???????? ???????? ? ??????? ????????? ??? ???????? ???????? ????? ?? ????? ??? ??? ??????????? ???????? ????????????, ? ?????????????????? ?????? ???????? ??????????? ???????????? ????????????? ????????. ????????????? ?????? ???????? ?????????? ??????? ?????? ??????? ? ??????? ??????????, ? ????? ???????? ?????????? ?????????? ??? ?????????? ???????????? ??????, ? ?????????????????? ?????? ???????? ??????????? ???????????? ????????.
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