Povny_text_posibnika_TMM

L3

1 .

L3 L20 L12 2L0 L1 cos 1 .

(2.60) :

L1 cos 1 L0 L3 cos 3 .

3 arccos L0 L1 cos 1 .

L3

(2.61)

(2.62)

, (2.60)

:

L1 e1 L0 e0 L3 e3 .

1 :

			L1	e1 L0			e0 L3			e3 .				(2.63)
									( )
(2.63)															e3 :
														,
L e			e	L e		e			L e				e
1	1		3		0	30			3			3	3
	L cos( ) U							31	L U 2 .
:	1			1	3				3			31
					L1 cos( 1 3 )
			U31								.			(2.64)
							L3
(2.63)																e	3 , :
L1 e1		e3 L3 e3 e3 L3 e1										e3 L3 .
:		L3 Vq21 L1 sin( 1 3 ) .
														(2.65)

,

[10].

.

2.9

( 2.11)

.

1 = const.

: OAB

BCDF,

:

lA

,

(2.66)

l0

l1

3

(2.67)

xD L3

LC

,

l0

a

3

l0

lOB , l1

lOA , a lOF , lA

lAB , xD lFD , l3 lBC

, lC lCD .

3

4

40

l0 , l1 , l3 , a – , lA3 , lC4 , 3 , xD –

.

2.11 –

(2.65) xBy:

	l1 cos 1 lA3 cos 3				(2.68)
				.
	l0 l1 sin 1 lA3 sin 3
(2.68) ,
3 :
	tg 3	l0 l1 sin 1	.		(2.69)
		l1 cos 1			0 3 , l1 l0 ,
	3 –
0 3 ,	l1 l0 . 2
(2.68) :

41

		lA3		l1 cos 1	.		(2.70)
				cos 3
(2.68)
1 :	sin 1 lA3 cos 3 lA3 3 sin 3
							(2.71)
						.
	l1 cos 1 lA3		sin 3 lA3 3 cos 3
lA	dlA
	3	– 2
3	d 1

3; 3	d 3	– 3.
	d 1
( 3 ),
(2.71) :
																							(2.72)
								lA l1 sin( 1 3 ) ,
:								3
											l1 cos( 1 3 )
								3						.									(2.73)
												LA
												3
(2.71) 1 :
															3					2	cos 3 ,
l1 cos 1 lA cos 3 2lA										3 sin lA			3 sin						l3 ( 3 )
					3			3				3											(2.74)
																					2
					sin 3																	sin 3 ,
l1 sin 1 lA								2lA 3 cos 3 lA					3 cos 3						lA ( 3 )
			3					3				3							3
						d 2lA		–				2
lA					3
3						d 2
					3
3; 3				d 2				– 3.
					3
					d 2
					1
( 3 )
(2.74) :
								l1 cos( 1									2	.					(2.75)
						lA						3 ) lA ( 3 )
					3								3
:									l1 sin( 1			3 ) 2lA 3
															.								(2.76)
						3							3
												lA
												3
BCDF.
(2.67) xBy:
								xD l3 cos 3															(2.77)
														.
								l0 a l3 cos 3 lC 4

(2.77) 5,

xD,

42

lC l0 a l3 sin 3 .

(2.78)

4

(2.76)

1 :

xD

l3 3 sin 3

,

(2.79)

lC4

l3 3 cos 3

dx

D

,

dlC

–

4

xD

d 1

lC

d 1

4

D ( 5) 5 4.

(2.78) 1 :

2

cos 3

,

xD

l3 3 sin 3 l3 ( 3 )

2

sin 3 ,

(2.80)

lC

l3 3 cos 3 l3 ( 3 )

4

d 2 x

D

d 2lC

4

d 2

,

d 2

–

xD

lC4

1

1

D 5 4.

, :

					D				r		lA 1			.			(2.81)
	3 3 1 ,						xD 1 , AA
										3	3
		,	aD			2	r			2	r	C				2	,
	3 3 1			xD		1	, aAA	lA		1	, aC		5	lC		1
							3	3			4			4

3, 3 –

3; D aD 2 3; C5C4 , aCr 5C4

3 4 ( 3

3 , 1 2;

5 5 4, 4).

( ) 1

, 3,

			0	2					,		(2.82)
				2
			–
	2
	0						l
			2 arcsin					1		.	(2.83)
							l0
	SD 5 ( D),
	D0,
			SD		H	xD ,					(2.84)
				2

43

H

l3 sin

.

2

2

xOy ,

:

xA l1 cos 1 ,

yA l0 l1 sin 1 .

(2.85)

:

xA l1 sin 1 ,

y l1 cos 1 ,

(2.86)

y

l1 sin 1

,

xA l1 cos 1 ,

dxA

dyA

d 2 xA

d 2 yA

d ,

d

d 2

d 2

–

xA

yA

xA

yA

1

1

1

1

1 .

(2.66

– 2.86)

.

2.3

,

.

, ,

, , , .,

–

.

:

; ;

;

.

, .

2.3.1 ,

, , ,

.

: .

– ,

,

, ).

– ,

( , ,

, ).

. –

(Gi = mi g).

44

–

, .

– ,

(

).

– , (

).

,

.

2.3.2

, ,

.

, )

). , –

F, S

( p F ).

S

– .

	: max –			p
				pmax
		SB
	SB –		.
		H B

, ,

( 2.12).

( 2.12)

2.1.

2.1 –

					(SB/HB)
				0	0.1	0.2	0.4	0.5	0.8	1
		)	( )	0.01	-0.01	-0.01	-0.01	-0.01	-0.01	-0.01
		max	(bcd)	0.30	0.15	0.1	0.04	0.01	0	-0.01
		( /P
			(def)	0.03	0.9	0.6	0.3	0.20	0.15	0.05
			(fa)	0.01	0.01	0.01	0.01	0.01	0.01	0.05

,

.

.

:

45

(0…6) – ; (6…12) – ; (12…18) –

; (18…24) – . d

, FJB:

			F	p		d 2	.								(2.87)
			JB	i		4
2.2.
2.2 – ,
	0	1	2	3		4		5	6	7	8		9	10	11	12
PJ,
FJB,
	13	14	15	16		17		18	19	20	21		22	23	24	25
PJ,
FJB,

( ,

, )

,

.

2.12 –

46

2.3.3

:

,

S

F	m aS ,	(2.88)
M	J S .	(2.89)

(2.88) (2.89): m – , aS –

, JS – ,

S, – . ,

F aS,

.

	( 2.13, ), 0 ;
M 0 , ( F	m aS ).

) )

2.13 – ( ) ( )

( ) (

2.13, ), , aS 0 , F 0 ,

( M J S ).

(

2.14), , , F ,

. ,

F

F ( 2.14, ),

h			.	(2.90)

F

, F F

( F F ).

47

( F F ),

2.14, ) , .

	)							)
	2.14 –
	:
	F		F				,	(2.91)
						lAB
	lAB - .

2.15 –

,

S ( 2.15),

F

F	F , ( ),
:		IS
	LOK LOS		.	(2.92)
		m LOS

LOS – S .

48

2.3.4

, ,

, ,

,

.

,

.

,

, ,

: , ,

,

, . ,

( )

,

,

.

,

,

,

).

[2, 6],

( ).

2.3.5

, F ,

( ) .

( )

: ( ) .

( – ),

( – ).

.

.

,

2.16, )

M R21 h L .

(2.93)

2 1, R21 = -R01.

49