..

..

2009

2
521.1(075.8)
22.62
90 - , .
.. ..
- ,
- ( ) ..
.., ..
90
: . .
. , . ..., 2009. 227 .
- .
,
, . .
, .
,
. .

, . ( 08-02-00308).
521.1(075.8)
22.62

, , .
-
.
, , -
,
.
,
- ,
, , ,
(,1968).
(1799 .) .. (1798 .)
, .
. , , , -

4
,
.
, , , . ,
, , , , . - (1933 .) -
.
, . ,
. ( ), (1687.) , ,
. , ,
(
) .
,
, ,

.

5
, , (1687 .).

-
. , - , , ,
. ,
,
.
.
, ,
, , . , (
) ,
.
() - , , . ,

, , .
,
, - ,
.

,

6
,

.
(
) : ,
. .
, ,


,
. ,
, . ,
, .

( ). , . ,
.

. ,
- ,
.
( ) ,
.

7
( ),
,
- , , .
,
,
. , ,
, . .
, :

.
,
,
. , .
- .
( ) ,

. , , . - ,
,
.
-

8
( ), ( )
( ).
, (
) . - .
,
, .

, , , .
( ) .

.
, , . ( , )
,
.
,
(., .., ..
, .., .., .., ..
, .., ..).
-

9

, . , .
, , , , .
, .
. 1
, 2 - .
3 ,
. 4
. , 5
.

.. ( ), .

10


1
1.1 . . . . . . . . . . . . . . .
1.1.1 . . .
1.1.2 . . . .
1.1.3 . .
1.1.4
1.2 . . . . . .
1.2.1 . . . . . . . . . . .
1.2.2 . . . . . . . . . . . . .
1.2.3 . . . . . . . . . . . .
1.2.4
. . . . . . . . . . .
1.2.5 , .
1.2.6 . . . . . . . . . . . . . . . . . . . . . .
1.3 () . . . . . . . . .
1.3.1 . . . . . . . . . . . . . . . . . .
1.3.2 . . . . .
1.3.3 . . . . .
1.4 . . . . . . . . . . . . . . . . . . .
1.4.1 . . . . . . . . . . . . . . . . . . . .
1.4.2 . . . . . . . . . . . . . . .
1.4.3 . . . . . . . . . . . . . .

11

15
15
16
19
20
21
23
23
25
26
27
28
29
30
31
34
36
40
40
43
44

12

1.5

. . . . . . . . . . . . . . . . . . . . . . . . 46
1.5.1 . . . . . . . . . . . . . . . 47
1.5.2 . . . . . . . . . . . . . . . . . . . . 49
1.5.3
. . . . . . . . . . . . . . . . . . 50
1.6 . . . . . . . . 52
1.6.1 . . . . . . . . 52
1.6.2 . . . . . . . . . . . . 53
1.6.3 . . . . . . . . . 54
1.6.4 . . . . . . . . 61
1.6.5 . . . . . . . . 67
1.6.6 . . . . . . . . 70
1.7 . . . . . . . . . . . . . . . 73
1.8 . . . . . . . . . 75
1.8.1 . . . . . . . . 76
1.8.2 . . . 80
1.8.3 . . 96
1.8.4 . . . . . . . 105
1.9 . . . . . . . . . . . . . . 108
1.10 . . . . 111
2
2.1 . . . . . .
2.2 . . . . . . .
2.2.1 . .
2.2.2 . . . . . . . . .
2.2.3 . . . . . . . . . . .
2.3 . .
2.4 - . . . . . . . . .
2.5 . . . . . . . . . . . . . . .
2.6 . . . . . . . . . . . .
2.7 . . . .
2.8

.
.
.
.
.
.
.
.
.
.
.

115
. 115
. 117
. 117
. 119
. 120
. 121
. 124
. 127
. 131
. 132
. 135


. . . . . . . . . . . . . . . . . . . . . . . . .
2.9.1
2.9.2 . . . . . . . . . . .
2.9.3
. . . . . . . .
2.9.4
. . . . . . . .
2.9.5 . . . . . . . . . . . . .
2.9.6 . . . . . . . . . .
2.10
2.10.1 . .
2.11 . . . . . . . . . . . . . . . .
2.11.1 . . . . . . . . . . . . . . .
2.11.2 . . . . . . . . . . . . .

13

2.9

3
3.1 . . . . . . . . . . . . . . . .
3.2 . . .
3.2.1 . . . . . . . . . .
3.2.2 . . . . . . . . . . . . .
3.2.3 . . . . . . . . . . . . .
3.2.4 . . . . . . . . . . .
3.2.5
. . . . . . . . . . .
3.2.6 . . . . . . . . . . .
3.3
3.3.1 . . . . . . . . . .
3.3.2 . . . . . . . . . . . . .
3.3.3 . . . . . .
3.3.4 . .
3.3.5 . . . . . . . . . . . . . . . .

. 137
. 137
. 138
. 141
.
.
.
.
.
.

161
163
169
171
173
176

. 176
. 177
181
. 181
. 182
. 183
. 185
. 186
. 191
.
.
.
.
.
.
.

201
204
205
206
207
208
213

. 215

14

3.3.6
3.3.7

. . . . . . . . . . . . . . . . . . . 216
223

4
227
4.1 227
4.2 . . . . . . . . . . . . . . 234
5
5.1
5.2 . . . . . . .
5.3 . . . . . . . . . . .
.1 .

.
.
.
.

259
259
265
267
273

1.1

,
.
,

() .
" "
" " .
. -, , . ,
-,
,
.
, ,
() . -

15

16

1.

1.1.1

M0 M - , m0 m . , M0
, m0 m.

OXY Z O
.
- :
M0 = (X0 , Y0 , Z0 ),
~0 = {X0 , Y0 , Z0 },

M = (X, Y, Z),

(1.1)

~ = {X, Y, Z}.

(1.2)

,
, .
M0 F~0 , M - F~ :
m0 m
F~0 = f 3 ~r,
r

m0 m
F~ = f 3 ~r,
r

(1.3)

(X X0 )2 + (Y Y0 )2 + (Z Z0 )2 ,
(1.4)
f - .

:

~r = ~ ~0 ,

r=

m0 m
m0 ~0 = f 3 ~r,
r
m
0m
m~ = f 3 ~r,
r

(1.5)

t.

1.1.

17

0 = f m0 m (X X0 ),
m0 X
r3
f m0 m
m0 Y0 =
(Y Y0 ),
r3
f m0 m
m0 Z0 =
(Z Z0 ),
r3

f m0 m
(X X0 ),
r3
f m0 m
mY = 3 (Y Y0 ),
r
f m0 m
mZ = 3 (Z Z0 ).
r
(1.6)

=
mX

U = U (X0 , Y0 , Z0 , X, Y, Z) =

f m0 m
,
r

(1.7)

U
,
F~0 = grad~0 U =
~
0

U
F~ = grad~ U =
,
~

(1.8)

(1.5) (1.6)
m0 ~0 =

U
,
~
0

m~ =

U
,
~

(1.9)

U
= U ,
,
mX
X0
X
U
U
(1.10)
m0 Y0 =
,
mY =
,
Y0
Y
U
U
m0 Z0 =
,
mZ =
.
Z0
Z

:
0 =
m0 X

= U.

(1.11)

(~r) = f m0 /r,

18

1.

M0
~ r) = grad~r [(~r)],
M0 . (~
, - M0 ,
.

12- .
, 12-
:
~0 , ~ 0 , ~, ~ , k t, C1 , C2 , ..., C12 ,
(1.12)

Y , Z k t, C1 , C2 , ..., C12 ,
X0 , Y0 , Z0 , X 0 , Y 0 , Z 0 , X, Y, Z, X,
(1.13)
k , ( 12 ).
C1 , C2 , ..., C12 , ..
(0)
(0)
~0 , ~ 0 , ~, ~ , k t, ~0 , ~ 0 , ~ (0) , ~ (0) ,

(1.14)

"0"
.
(1.10) 12- :
Y , Z)
= C1 ,
1 (t, X0 , Y0 , Z0 , X 0 , Y 0 , Z 0 , X, Y, Z, X,
Y , Z)
= C2 ,
2 (t, X0 , Y0 , Z0 , X 0 , Y 0 , Z 0 , X, Y, Z, X,
........................................

(1.15)

Y , Z)
= C12 .
12 (t, X0 , Y0 , Z0 , X 0 , Y 0 , Z 0 , X, Y, Z, X,
(1.15)
D(1 , 2 , ..., 12 )
=
6 0.

D(X0 , Y0 , ..., Z)

(1.16)

1.1.

19

(1.16) (1.15) X0 , Y0 , ..., Z

(1.13). .

.
.

1.1.2

(1.5) ,
m0 ~0 + m~ = 0,

(1.17)

. ,

m0 ~ 0 + m~ = ~a,
(1.18)

m0 ~0 + m~
= ~at + ~b,

(1.19)

~a ~b - ,

~a = {a1 , a2 , a3 },
(1.20)
~b = {b1 , b2 , b3 }.
(1.18) (1.19).
G = (XG , YG , ZG )
, - ~G = {XG , YG , ZG }, ~ G = ~ G = {X G , Y G , Z G }
W

~G =

m0 ~0 + m~

,
m0 + m

m0 ~ 0 + m~
~ G =
,
m0 + m

(1.21)

20

1.

(1.18) (1.19)
~ 0 + mW
~ = (m0 + m)W
~ G = ~a,
m0 W

(1.22)

m0 ~0 + m~
= (m0 + m)~
G = ~at + ~b,

(1.23)

~ 0 = ~ 0 , W
~ = ~ W
~ G - M0 ,
W
M G.
(1.22)
, (1.23) - .
(1.18) (1.19)
.
~a ~b
, , O
G.
,
( - ),
.

1.1.3

OXY Z M0 xyz :
~r = ~ ~0

x = X X0 ,
y = Y Y0 ,
z = Z Z0 .

(1.24)

(1.24) O M0
. , M0 .

1.1.

21

(1.5) m0 , - m,

f (m0 + m)
~r =
~r,
r3

~r = {x, y, z},

r=

x2 + y 2 + z 2 .

(1.25)
(1.26)

,
.
(1.5) (1.25)
(1.18) (1.19).

1.1.4

M0 M ~s0 ~s,
~0 ~ :
~s0 = ~0 ~G ,

~s = ~ ~G ,

(1.27)

~G - -
(1.21).

~s ~s0 = ~r,

(1.28)

m~s + m0~s0 = 0,
~s0 ~s ~r
~s0 =

m
~r,
m0 + m

~s =

m0
~r.
m0 + m

(1.29)

22

1.

(1.25) (1.29),
:
f m3
~s0 =
~s0 ,
(m0 + m)2 s30
(1.30)
f m30

~s =
~s,
(m0 + m)2 s3
s0 = |~s0 | s = |~s|.
(1.5) (1.30) , 12- (1.30) 6-
M0 M .
(1.25) (1.30) ,
: ;
.
(1.25) M M0 .
.
"" ,
.
m0 m. ,
M M0 . ,
, .
.
(1.25) m/m0 0:
f m0
~r = 3 ~r.
r

(1.31)

1.2.

23

~r = 3 ~r,
(1.32)
r
, , :

f (m0 + m) M . M0 ,

m3

. M0 ,
f

(m0 + m)2
m30
=
. M,
f

(m0 + m)2

f m0
. . .

( ).
, ,
,
-, -, -
.
(1.32)
.

1.2

(1.32) , () .

1.2.1

(1.32) ~r.

24

1.

,
:
d
(~r ~r ) = 0.
dt
,

~r ~r = ~c

~r V~ = ~c,

(1.33)

(1.34)

~c = {c1 , c2 , c3 } - ,
, V~ = ~r = {x,
y,
z}.

:
y z z y = c1 ,
z x xz = c2 ,
xy y x = c3 .

(1.35)

, (1.34) . .
x, y, z x,
y,
z.
, ,
x, y, z. , (1.34)
~r V~ ,
~r ~c = 0

V~ ~c = 0.
(1.36)
, ~r V~ ~c. , M
,
M0 .
~c ~r = c1 x + c2 y + c3 z = 0.
.

(1.37)

1.2.

1.2.2

25

(1.32) ~r = V~

~r~r = 3 ~r~r.
r

(1.38)

rr = ~r~r , r2 = ~r 2 , (1.38) :
d
dt

1 2
~r
2

d
.
dt r

(1.39)

2
~r 2 = V 2 =
+ h,
(1.40)
r
h - . XVIII
(
).
.
V 2 0,
M
2
+ h 0.
(1.41)
r
(1.41) , h 0 M , , . h < 0,
, :
r

2
.
h

(1.42)

26

1.

, (1.42), . .

, .. r = 2/h
.

1.2.3

(1.32) V~ = ~r/r3
~c = ~r V~

V~ ~c = 3 ~r ~c.
r

(1.43)

~r~r = ~rV~ = rV cos (~rV~ ) = rr,

(1.44)

r = V cos (~rV~ ) - V~ ,
~r ~c =
= ~r (~r V~ ) = ~r (~r V~ ) V~ (~r ~r) = (~rr V~ r)r,
(1.43)
d

V~ ~c = (V~ ~c ) = 3 (~r ~c) = 3 (~rr V~ r)r =

dt
r
r
~
V r ~rr
d ~r
=
.
=
2
r
dt r
(1.45)



d ~r
d ~
(V ~c ) =
dt
dt r

V~ ~c ~r = ~
(1.46)
r

1.2.

27

x
= 1 ,
r
y
c1 z c3 x
= 2 ,
r
z
c2 x c1 y
= 3 ,
r
c3 y c2 z

(1.47)

~ = {1 , 2 , 3 } -
.

1.2.4

. . :
c1 , c2 , c3 , h, 1 , 2 , 3 .

(1.48)

, (1.32) . ,
.
,
t (
), , ,
, .
,
~~c = 1 c1 + 2 c2 + 3 c3 = 0,
2 = 2 + hc2 ,
p
p
= 21 + 22 + 23 , c = c21 + c22 + c23 .

(1.49)

28

1.

.
, (1.46) ~c
(1.36),
(1.49).
:
2

~2 = (V~ ~c )2 2(V~ ~c ) ~r+ ~r 2 = V 2 c2 2 c2 +2 = hc2 +2 .

r
r2
r
(1.50)
~
~
(V ~c)~r = (~r V )~c = c2 ,
(1.34) (1.40).
. ,
(.
(1.52)). , , ,
- , , ,

. ,
.
.

1.2.5

.
(),
M .
,
,
Fi (x, y, z, x,
y,
z)
= Ci ,

(i = 1, 2, ..., 5).

(1.51)

1.2.

29

, ,

D(F1 , F2 , ..., F5 )
6= 0.
D(y, z, ..., z)

(1.52)

(1.51) y, z, x,
y,
z
Ci x
y, z, x,
y,
z,
k x, C1 , C2 , ..., C5 .

(1.53)

(1.53)
, ,
x =

dx
= (x, C1 , C2 , ..., C5 )
dt

(1.54)

,
Z
dx
= t ,
(1.55)
(x, C1 , C2 , ..., C5 )
- .
(1.55) , (, , , ) .

1.2.6

,
-

30

1.

~r V~ = ~c,
2
V =
+ h,
r
2

V~ ~c ~r = ~,
r
Z
dx
= t ,
(x, C1 , C2 , ..., C5 )

(1.56)

(1.49).

,
M t = t0 , -
r
V :
p
p
2
2
2
2
x0 , y0 , z0 , x 0 , y 0 , z0 , r0 = x0 + y0 + z0 , V0 = x 0 + y 02 + z02 .
(1.56) , :
x0
,
r0
y0
c2 = z0 x 0 x0 z0 ,
2 = z0 c1 x 0 c3
,
r0
z0
c3 = x0 y 0 y0 z0 ,
3 = x 0 c2 y 0 c1
,
r0
Z

dx
2
2
.
h = V0
,
= t0
r0
(x, C1 , C2 , ..., C5 ) 0
(1.57)
c1 , c2 ,
c3 , 1 , 2 , 3 , h, (1.49).
c1 = y0 z0 z0 y 0 ,

1.3

1 = y 0 c3 z0 c2

()

.
- (1.37).

.

1.3. ()

1.3.1

31

(1.46) -

~r

~r (V~ ~c ) ~r2 = ~ ~r
(1.58)
r
, .
,
(1.34), (1.58)
~ ~r = c2 r.

(1.59)

. , (1.59) , .

(1.59) (1.36)
~ ~r = c2 r,
~c~r = 0

(1.60)

M0 , .. ~ =
= {, 0, 0}, ~c = {0, 0, c}, ~r = {, , },
p
= c2 2 + 2 + 2 ,
(1.61)
c = 0.
(1.61) ,
(1.59)
.
, ,
M0 rvl
:
= r cos v,

= r sin v cos l,

= r sin v sin l,

(1.62)

32

1.

. 1.1. > 0. P =
= (, , ) = (r, v, l)
M0 M0 rvl (|M0 P | = r).

l - , M0
, v - , M0 (.. ~). , M0 , v ,
M0 . ( 0)
. 1.1.
(1.62), (1.61)
M0 rvl
r cos v = c2 r,
cr sin v sin l = 0.

(1.63)

1.3. ()

33

l
(1.63) ( ), ,
M0 .
(1.63) r, ,
(.. c 6= 0, r 6= 0, v 6= 0),
( ) l = 0. (1.63)
p
,
1 + e cos v
l = 0,
r=

(1.64)

p=

c2
,

e=

(1.65)

,
(r, v) M0 ,
:
r=

p
,
1 + e cos v

(1.66)

p - , e - ,
v - , M0 .
(1.66) , ,
- . M0 (1.59), , ,
, .
v
M0 , ~.
.

34

1.

, - . :
- , - ,
- , - , - ,
- , -
. .
,
- . .

1.3.2

. M0 ~, M0
- ~c, M0 -
, M0 (. . 1.1 .
32).
.

~e = { , , }
(1.67)
~
~c :
~e = { , , },

~e =

~
,

~e

~e

= { 0 , 0 , 0 },

= ~e ~e =

~c ~
,
c

~c
~e = .
c

(1.68)

A
M0 M0 xyz

A =

c2 3 c3 2
c
c3 1 c1 3
c
c1 2 c2 1
c

c1
c
c2
c
c3
c

(1.69)

1.3. ()

35

z
e '

e *

e '

e '

x
N

w
t

. 1.2. . M0
M0 .

:
x
y
z

=A ,

x
y
z

= A .

(1.70)

AT ,
A1 :

=A

x
y ,
z

=A

x
y .
z

(1.71)

, A - .

36

1.

~, ~c, ~r V~
:
~ = {, 0, 0},

V~ = {,
},
(1.72)
- ~r V~r
V~n
~c = {0, 0, c},

~r = r~e,

~r = {, , },

V~r = Vr~e

V~n = Vn~e 0 ,

(1.73)

~e ~e 0 - :
~e = {, , },

~e 0 = {0 , 0 , 0 }.

(1.74)

, , , 0 , 0 , 0 . ()
u ( v, , u = v + = const), ,

.
~e , ~e 0 , ~e ~e, ~e 0 , ~e v ~e .
0
~eN , ~eN , ~e , ~eN
M0 N . 0
~eN , ~eN , ~e ~e , ~e 0 , ~e
~e .
. 1.2 . 35.

1.3.3

c1 , c2 , c3 , h, 1 , 2 ,
3 ,
,
: p, e, i, , , .
, p - e - ,

1.3. ()

37

. . , , ,
, .

. ,
M0 xy, , -
. , z < 0 z > 0,
,
- .
, i
.
.
M0 xy M0 x
. : 0 < 2.
i .
- M0 xy , 0 i .


. , 0 < 2.
, i -
,
, M0 M0 xyz.
, -
i, - .
i , - .

38

1.

, , i .
, . , N x ,
Ox O,

ON . , .
N x.
N 90 i.
() N 90 , xN , x
arccos(c1 /c).
c1
= sin sin i.
c

(1.75)

, , N y N z
c2
= cos sin i,
c

c3
= cos i.
c

(1.76)

N x (. . 1.3).
180 i N
c = x
c = arccos(1 /). d
xN = , N
c = cos cos + sin sin cos(xN )
cos(x)

1
= cos cos sin sin cos i.

(1.77)

N y N z.
, -

1.3. ()

39

. 1.3. N x.

, :
c1
1
=
= sin sin i,
=
=
c

= cos cos sin sin cos i,

c2
2
=
= cos sin i,
=
=
c

= sin cos + cos sin cos i,

c3
3
=
= cos i,
=
= sin sin i,

pc
p

c = c21 + c22 + c23 = p, = 21 + 22 + 23 = e,

h=

2 2
,
c2

= .
(1.78)

40

1.

(1.78) ,

.
(1.78)
~c, ~, h, p, e, i, , , . p e (1.65). c3 /c = cosi
i. c1 /c c2 /c (
) .
~ .
(1.78) O O
, i, . O
c2 3 c3 2
= cos sin sin cos cos i,
c
c3 1 c1 3
0
=
= sin sin + cos cos cos i,
c
c1 2 c2 1
0
=
= cos sin i.
c
0

1.4

(1.79)

(1.57), ,
.

1.4.1

M
M0 M0 rv
. -

1.4.

41

, i, . i M0 ,
M0
.
M0 xyz M0
, i, . p, e, , .
(1.92), p, e
,
, , ,
= 0, = 0, , i, , , , 0 , 0 , 0 .
:
k t, p, e., - M0 ,
, , ,
r, v, r,
v k t, p, e, ,

- M0 rv,
(1.80)

.
(1.66) r v. r
v . (1.35) c1 = c2 = 0
c3 = c = = 0

= c,

(1.81)

= r cos v,
= r sin v,

= r cos v rv sin v,
= r sin v + rv cos v

(1.82)

42

1.

(1.81) M0 rv
r2 v = c,

(1.83)

r (1.66).
,
t v
Zv
J=

p2
dv = c(t ),
(1 + e cos v)2

(1.84)

( )
v = 0.
(1.55), .
v (1.83), r (1.66) r = p/(1 + e cos v):
v =

c
,
r2

r =

p (e sin v)v
ec
=
sin v.
2
(1 + e cos v)
p

(1.85)

v r
(1.82) , t v (1.84),

p
,
(1 + e cos v)
Zv
p2
1
t=+
dv,
c
(1 + e cos v)2
r=

r =

ec
sin v,
p

v =

c
(1 + e cos v)2 .
2
p

(1.86)
(1.86) (1.82)
(1.84), .. v t.

1.4.

43

M
ec
c
Vr = r =
sin v,
Vn = rv = (1 + e cos v),
(1.87)
p
p
:
r
q
2
c
2
2
V = + =
+h=
1 + 2e cos v + e2 .
(1.88)
r
p

1.4.2

N M x, M - M
.
d
xN = , N M = u = + v -
d
M , xM = arccos(x/r). N
180 i. v = 0 N M x
N x, . 1.3 . 39.
N M x, N M y N M z
x = r = r(cos cos u sin sin u cos i),
y = r = r(sin cos u + cos sin u cos i),

(1.89)

z = r = r sin u sin i.
, , - ~r M0 xyz (1.78)
u.
t ,
x = r,

x = r
+ rv
0,

y = r,

y = r
+ rv
0,

z = r,

z = r
+ rv
0,

(1.90)

44

1.

0 = cos sin u

= cos cos u
sin sin u cos i,

sin cos u cos i,

0 = sin sin u+

= sin cos u+
+ cos sin u cos i,

+ cos cos u cos i,

(1.91)

0 = cos u sin i,

= sin u sin i,
u = + v,

:
(..)0 = d(..)/du.
(1.86).
, . ,

.
(1.70),

x

(1.92)

, , ,
(1.82) (1.86).

1.4.3

.
M0 r, M0 rv M0

1.4.

45

:
= v + .

(1.93)

,
= 0 M0 r , M0 rv
.

~r = r~e, ~r = r~
e + r~
e 0 , ~r = r~e r 2~e + 2r ~
e 0 + r~
e 0 , (1.94)
~r = {r, 0, 0}, ~r = {r,
r,
0}, ~r = {
r r 2 , 2r + r,
0} (1.95)

,

~r = {
r r 2 , 2r + r,
},
(1.96)
M
n
o
U

~r =
= 2 , 0, 0
(1.97)
~r
r

r r 2 =

,
r2

2r + r =

1d 2
(r )
= 0,
r dt

= 0.

(1.98)
(1.98)
r2 = c.
(1.99)
(1.98)

d =

c
dt,
r2

1
u = ,
r

r = c2 u 2

d2 u
, (1.100)
d2

d2 u

+
u
=
.
d2
c2

(1.101)

46

1.

.
u =

+ C1 cos + C2 sin ,
c2

(1.102)

C1 C2 - .
C1 C2 e

C1 =

e
cos ,
p

C2 =

e
sin
p

(1.103)

p = c2 /

1 e
u = + cos( ).
(1.104)
p p
(1.93),

p
,
(1.105)
r=
1 + e cos v
v = - .

1.5

OXY Z (. 1.2). .

1.5.

1.5.1

47

(1.18)
(1.19) (1.9) , , ,
.
(1.9) ~0 , - ~ :
U
U
m0 ~0 ~0 + m~
~ = ~0
+ ~
.
~
0
~

(1.106)

, . ,
, ,
, .
, (1.106),
(
)
m0 ~0 ~ 0 + m~
~ = ~ca ,

(1.107)

~ca = {ca1 , ca2 , ca3 } - .

(1.5) ~ 0 , - ~ , :
m0

~ 02
~ 2
m0 m
+m
f
= ha ,
2
2
r

(1.108)

ha - . (1.108)
.
.

48

1.

~c (1.5), , , :
m0 m
~0 ) ~c = 0.
(m~ m0 ~0 ) ~c + 2f 3 (~
r

(1.109)

d/dt(~r/r) = (~r ~c)/r3 (. (1.45)), (1.109)

d
d
(m~ m0 ~ 0 ) ~c 2f m0 m
dt
dt

~r
= 0.
r

(1.110)

,
~r
(m~ m0 ~ 0 ) ~c 2f m0 m = ~a ,
r

(1.111)

~a - .
, , , (1.55):
Z

d( 0 )
= t ,
( 0 )

(1.112)

- ( 0 ).
(1.107),(1.108), (1.111) (1.112)
(1.18) m0 ~ 0 + m~ = ~a
(1.19) m0 ~0 + m~
= ~at + ~b
. .
(1.49),
, .

1.5.

1.5.2

49

(m0 + m)~ca = m0 m~c + ~b ~a,
2(m0 + m)ha = m0 mh + ~a 2 ,

(1.113)

(m0 + m)~a = 2m0 m~ (m0 m)~a ~c.

.
(1.113) ~c ~ca

~c = ~r ~r = (~
~0 ) (~ ~ 0 ) ~ca = m0 ~0 ~ 0 + m~
~ ,
(1.114)

(m0 + m)~ca m0 m~c = m20 ~0 ~ 0 + m0 m~
0 ~ +
+m0 m~
~ 0 + m2 ~ ~ = (m0 ~0 + m~
) (m0 ~ 0 + m~ )
(~at + ~b) ~a = ~b ~a,
(1.115)
(1.113).

m0 + m
m0 + m
= ~ 02 2~ 0 ~ + ~ 2 2f
;
r
r
~ 2
~ 2
m0 m
ha = m0 0 + m f
,
2
2
r
(1.116)

h = V 2 2f

50

1.

(1.113)
2(m0 + m)ha m0 mh = (m20 ~ 02 + m0 m~ 02 + m0 m~ 2 + m2 ~ 2 )
m0 m(~ 02 2~ 0 ~ + ~ 2 ) = (m20 ~ 02 + m2 ~ 2 ) ~a2 .
(1.117)
(1.113).

(1.113)
~a = (m~ m0 ~ 0 )~c 2f m0 m ~r
r
(1.118)
(m0 + m)~a 2m0 m~:

~ = (~ ~ 0 )~c f (m0 +m) ~r ,

r

(m0 + m)~a 2m0 m~ = (m0 + m)(m~ m0 ~ 0 ) ~c

2m0 m(~ ~ 0 ) ~c =
= [(m0 m~ m20 ~ 0 + m2 ~ m0 m~ 0 ) (2m0 m~ 2m0 m~ 0 )]
~c = [m(m m0 )~ + m0 (m m0 )~ 0 )] ~c =
= (m m0 )(m0 ~ 0 + m~ ) ~c = (m m0 )~a ~c.
(1.119)
, (1.113) .
, ~a = ~b = 0.

1.5.3

(1.25), (1.5) . ,

1.5.

51

(1.18), (1.19), (1.24),

~ ~0 = ~r,
m~
+ m0 ~0 = ~at + ~b,

~ ~ 0 = ~r,
m~ + m0 ~ 0 = ~a

(1.120)

= m0 + m 6= 0.
, (12- )
:
m
~at + ~b
~r +
,
m0 + m
m0 + m
m0
~at + ~b
~ =
~r +
,
m0 + m
m0 + m
~0 =

~ 0 =

m
~a
~r +
,
m0 + m
m0 + m

m0
~a
~r +
,
m0 + m
m0 + m
(1.121)

~r ~r
(1.90) (1.92).

M0 M 12

~ =

~0 , ~, ~ 0 , ~ || t, ~a, ~b, p, e, i, , , ,

(1.122)

~a ~b (1.121) , - , ~r ~r .
M0 M , .
(1.30). M0 M . ,
. v ,
. , ~r = ~s ~s0 .

52

1.6

1.

.
:
,
.
: , -
, .
.

1.6.1

, (1.66) e p :
p 6= 0
p 6= 0
p 6= 0
p 6= 0
p=0

e = 0,
0 < e < 1,
e = 1,
1 < e < ,
e = 1,

,
,
,
,
.

c2 = p, e = / 2 = 2 + hc2 ,

c h:
c 6= 0,
c 6= 0,
c 6= 0,
c 6= 0,
c = 0,

2
h= 2,
c
h < 0,
h = 0,
h > 0,
h ,

,
,
,
,
.

V0 , r0 0 V~0 ~r0 ,
, h = V02 2/r0 c = r0 V0 sin 0 :

1.6.

53

sin 0 = 1,
sin 0 6= 0,
sin 0 6= 0,
sin 0 6= 0,
sin 0 = 0,

,
r
0
r
2
V0 <
,
r r0
2
V0 =
,
r
0
r
2
V0 >
,
r0
V0 ,
V0 =

- ,
- ,
- ,
- ,

- .
p
, V = /r, .
M p
r. V =
2/r
, .
, , t
(
).
, ,
.

1.6.2

(p 6= 0, e = 0)

. ( - . ) .
,
r = p = a :
= a cos M,
= an sin M,
(1.123)
= a sin M,
= an cos M,

54

1.

M = n(t ), n = /a(3/2) - .

1.6.3

(p 6= 0, 0 < e < 1)

O 0 0 O
O 0
02 02
+ 2 = 1,
a2
b

(1.124)

a - , b - .
c = ae

a2 = b2 + c2 ,

b = a 1 e2 ,
(1.125)


p = a(1 e2 ).

(1.126)

(1.124) :
0 = a cos E,

0 = b sin E,

(1.127)

E - ,
O 0 , ..
. . . 1.4 M a, b E. (1.127)
.

O 0 0 M0
= 0:

1.6.

= 0 ae,

= 0.

55

(1.128)

(1.82), (1.125), (1.127) (1.128), r, v E:

= r cos v = a(cos E e),

= r sin v = a 1 e2 sin E.

(1.129)

, (1.66).

(1.129) , r r r cos v E
r = a(1 e cos E),
r r cos v = a(1 e cos v) a(cos E e).

(1.130)
(1.131)

(r + ) (r ) (1.129) (1.130)

r + = r(1 + cos v) = a(1 e)(1 + cos E),
r = r(1 cos v) = a(1 + e)(1 cos E),

(1.132)

,
, :
v p
E
= a(1 e) cos ,
2
2

v p
E
r sin = a(1 + e) sin .
2
2

r cos

(1.133)

, (1.133) :
r
v
1+e E
tg =
tg .
(1.134)
2
1e 2

56

1.

. 1.4. M = ( 0 , 0 ) = (a cos E,
b sin E) E.
, , M
E. - , - .

(1.84). J

(1.134). (1.84)
r
dv
1 + e dE
v
a(1 e)
E
=
,
cos2 =
cos2 ,
v
E
1e
2
r
2
cos2
cos2
2
2
r = a(1 e cos E)
(1.135)

1.6.

57

, E = 0 v = 0, J
r

Zv
2

J=

r dv = a
0

1+e
(1 e)
1e

ZE
(1 e cos E)dE =
0

a(1 e2 )(t ).

(1.136)
:
E e sin E = M,
(1.137)

M = n(t ),

n=

a3/2

(1.138)

(1.137) , M , n - .
M (1.138). n .
, , . , E
M = M (E),
(1.137).
E
M , t,
(1.137).
(1.137)
: E
t, .. , .
.

58

1.

. E0 = M . , :
E1 = M + e sin E0 ,
E2 = M + e sin E1 ,

Ek+1 = M + e sin Ek ,

d(M + e sin E)

<1

|e cos E| e < 1,

dE

(1.139)

(1.140)

E.
, .
a e.


(1.49) (1.65):
h=

2 2
e2 1

= ,
2
c
p
a

(1.141)

, c2 / = p / = e.

T =

2
2a3/2
2a3/2
=
=p
.
n

f (m0 + m)

(1.142)

T2
4 2
(m
+
m)
=
= const.
(1.143)
0
a3
f

1.6.

59

,
(T12 /T22 = a31 /a32 ), (1.143) . .
(1.31), m
m0 , = f m0 , = f (m0 + m).
, . m0
- , mp - , ms -
, m0 > mp ms . , (1.143),

Tp2 a3s
mp
mp + ms
'
=
2
3
Ts a p
m0 + mp
m0 + mp

Tp2 a3s
mp
' 2 3
,
m0
Ts ap Tp2 a3s
(1.144)
Tp Ts - .
,

.

1.1.

a=
sin = = + 180
=
M0 =
p
=
=e
= tgi
= + = n(t0 )
1 e2

n = 3/2
= + M0
a


, , 1.1.
: -
, - ( , ), M0 -

60

1.

t0 , -
t0 , + 180 - .


t
a, e, i, , M0 t0 . :

n = 3/2 ,
M = M0 + n(t t0 ),
a
E e sin E = M,
- E,
r
v
1+e E
tg =
tg ,
- v,
2
1e 2
a(1 e2 )
,
u = + v,
r=
1 + e cos v
p
r
a(1 e2 )

r =
e
sin
v,
v

=
u

=
,
a(1 e2 )
r2
x = r,
x = r
+ r 0 v,

y = r,

y = r
+ r 0 v,

z = r,

z = r
+ r 0 v,

(1.145)

= cos cos u

0 =

sin sin u cos i,

= sin cos u+
+ cos sin u cos i,
= sin u sin i,

0 =

= cos sin u
u
sin cos u cos i,

= sin sin u+
u
+ cos cos u cos i,

0 =

(1.146)

= cos u sin i.
u

, , , 0 ,
, 0 , 0

1.6.

61

u. ,
.
:

n = 3/2 ,
M = M0 + n(t t0 ),
a
E e sin E = M,
- E,
an
r = a(1 e cos E),
E =
,
r
= a(cos E e),
= aE sin E,

= a 1 e2 sin E,
= a 1 e2 E cos E,
x

= cos cos

0 =

sin sin cos i,

= sin cos +
+ cos sin cos i,
= sin sin i,

1.6.4

0 =

= cos sin

sin cos cos i,

= sin sin + (1.147)

+ cos cos cos i,

0 =

= cos sin i.

(p 6= 0, e > 1)

O 0 0
02 02
2 = 1,
a2
b

(1.148)

62

1.

a - , b - .
c = ae

c2 = a2 + b2 ,

b = a e2 1,
(1.149)


p = a(e2 1).

(1.150)

M : ,
M0 , , .
.
(1.148) :
0 =

a
= a ch H,
cos F

0 = b tg F = b sh H,

(1.151)

F - ,
O 0 . F , H -

F
1

H = ln tg
+ 45 , ch H =
,
2
cos F
(1.152)
H
F
sh H = tgF, th
= tg .
2
2
F
M , . 1.5.

, 0 , 0
= ae 0 ,

= 0 .

(1.153)

1.6.

63

, r, v
F:

1
= r cos v = a e
cos F
(1.154)

2
= r sin v = a e 1 tg F.
v F , .. v > 0 F < 0 .

v
r F :
e

r=a
1 .
(1.155)
cos F
r (1.154)
v F :
r
v
e+1 F
tg =
tg .
(1.156)
2
e1
2

,
(1.154) (1.155):

1
ra e
v
1 cos v
cos F

=
tg ==
=
2
2
sin v
a e 1 tg F

1
r
1
(e + 1) cos F
e+1 F
=
=
tg .
tg F
e1 2
e2 1

(1.157)

J (1.84).
J v F

64

1.

. 1.5. M = ( 0 , 0 ) = (a/ cos F,

b tg F ) F .
- .

(1.156). , (1.155)

r
dv =

F
2 v
(e 1) cos 2
e + 1 cos 2
v
1
2 ,
dF, cos 2 =
=
F
2v
e1
2
e

cos
F
1 + tg
cos2
2
2
(1.158)

1.6.

65

J
r

2
ZF
e
+
1
dF
e cos F
2
2
J = r dv = a
(e 1)
=
e1
cos F
e cos F
0
0
p
= a(e2 1)(t ).
(1.159)
,
Zv

e tgF ln tg

F
+ 45
2

a3/2

(t ).

(1.160)

.
.
, . ,
,

H = ln tg

+ 45 ,
2

1
= ch H,
cos F

tg F = sh H,

F
H
tg = th ,
2
2

(1.161)

(1.160)
e sh H H = n(t ),

n =

a3/2

(1.162)

, a - .

t a, e, i, , M0 t0

66

1.

n=

a3/2

M = M0 + n(t t0 ),

e sh H H = n(t ), - H,
r
v
e+1
H
tg =
th ,
- v,
2
e1
2
a(e2 1)
r=
,
u = + v,
1 + e cos v
p
r
a(e2 1)

r =
e
sin
v,
v

=
,
a(e2 1)
r2
x = r,
x = r
+ r 0 v,

y = r,

y = r
+ r 0 v,

z = r,

z = r
+ r 0 v,

(1.163)

= cos cos u
sin sin u cos i,
= sin cos u+
+ cos sin u cos i,
= sin u sin i,

0 = cos sin u
sin cos u cos i,
0 = sin sin u+

(1.164)

+ cos cos u cos i,

0 = cos u sin i.

1.6.

67

, :

M = M0 + n(t t0 ),
n = 3/2 ,
a
e sh H H = n(t ),
- H,
an
r = a(e ch H 1),
H =
,
r
= a(e ch H),
= aH sh H,

= a e2 1 sh H,
= a e2 1H ch H,
x

0 = cos sin

= cos cos
sin sin cos i,

sin cos cos i,

0 = sin sin +

= sin cos +
+ cos sin cos i,

+ cos cos cos i,

0 = cos sin i.
(1.165)

= sin sin i,

1.6.5

(p 6= 0, e = 1)

r=

p
q
=
v,
1 + cos v
cos2
2

(1.166)

p
q =
2
M0 . q
.

68

1.

p.
Rv
J = r2 dv
0

tg

v
= .
2

(1.167)

, , = 0 v = 0,
d =

dv

v,
2 cos2
2

1
cos2

2
v =1+ ,
2

(1.168)

:
Zv
J=
0

q 2 dv
= 2q 2
v
cos4
2

Z
( 2 + 1)d =

2 q(t ).

(1.169)

:
3
+ = n(t ),
3

(1.170)

n = 3/2 .
2q
t ,
.
-

1.6.

69

q, i, , :

3
- ,
+ = 3/2 (t ),
3
2q
v
tg = ,
- v,
2
q
r=
u = + v,
v,
cos 2

r 2

2 q
r =
sin v,
v =
,
2q
r2
x = r,
x = r
+ r 0 v,

y = r,

y = r
+ r 0 v,

z = r,

z = r
+ r 0 v.

(1.171)
, , , , ,
(1.146).
, :
0

3
+ = n(t ),
3

= q(1 2 ),

- ,

nq

p
n=
, =
,
3
r
2q
= 2q ,

= 2q,

= 2q ,

r = q(1 + 2 ),

(1.172)
, , , 0 , 0 , 0 (1.147).

70

1.

1.6.6

(p = 0, e = 1)

r2 v = c = 0
, ,
: v = 0 v = const. , M0 .

. V = r 2 + r2 v 2
, .. V = r,
(1.40)
r
2
dr
2
r 2 =
+ h,

=
+ h.
(1.173)
r
dt
r
,
Zr
r
0

dr
2
+h
r

= (t ),

(1.174)

- , (
) .
(1.174) , h.
:

h h

h < 0,

2 + hr hr
2 arcsin

h = 0,

s
hr
2

2/3
3
r = (t )
,
2

= (t ),
(1.175)
(1.176)

1.6.

71

h > 0,
#

2 + hr hr

2 ln
2 + hr + hr = (t ).

h h
(1.177)
, t
h = 0 r r
:
s
r
9
4
3
r=
(t )2 ,
r = 3
.
(1.178)
2
3(t )
"

h 6= 0 r
, .
r
r t
(1.175), , : e 1.
, e = 1,
r r
:
E sin E = n(t ),

na

E=
, n = 3/2 ,
r
a

r = a(1 cos E),

r = a sin E E,

(1.179)

- .

sh H H = n(t ),

na

H=
, n = 3/2 ,
r
a

r = a(ch H 1),

r = a sh H H,

(1.180)

.. - .

72

1.

a, e = 1
, .
~, M0 .
~ , , . , , i ,
, , (1.90) (1.91).
, , , i = 90 ,
.
. : a, , .
h = 0 -
,
a (a
h 0).

.
, (1.178), (1.179) (1.180) :
x = r cos cos ,

x = r cos cos ,

y = r sin cos ,

y = r sin cos ,

z = r sin ,

z = r sin ,

(1.181)

i 90 .

, .

1.7.

1.7

73

,
, . : .
.
(, , ).
: t1 , t2 , ... tk
X, Y , Z , , ,
,
p, e, i, , , . ,
,
.
: T ,
M0 M . : ~ = { cos cos ,
cos sin , sin } - - M ,
~r = {x , y , z } - - M ~ = {X, Y,
, R
Z} - - .
~
~ = ~r + R.
(1.182)
,
~
R , ~r ~r, -

74

1.

, .
~r ~r :
x

= 0

cos

sin

sin

cos

(1.183)

-
. - ~r (1.92), ~r

x

A0

= B

B 0

C 0

(1.184)

A0

B 0

= 0

cos

sin

C 0

sin

cos

(1.185)

, , ... , 0 , , (1.147).
(1.182) ,

cos cos = x + X,
cos sin = y + Y,
sin = z + Z.

(1.186)

1.8.

75

,
. 90 90 ,

[0, 24h ).
.

1.8

( ),


E e sin E = n(t ),

(1.187)

, r

= a 1 e2 sin E,

r = a(1 e cos E).

(1.188)
x, y, z x,
y,
z . .
. (1.147), x, y, z
x,
y,
z , sin E cos E.
= a(cos E e),

76

1.

1.8.1

f (M ) (0, 2)

, ,
f (M )
f (M + 2) = f (M ),
:

a0 X
f (M ) =
+
(ak cos kM + bk sin kM ),
2
k=1

(1.189)

1
ak =

Z2
f (M ) cos kM dM,

1
bk =

Z2
f (M ) sin kM dM.
0

(1.190)
f (M ) ,
[f (M 0) + f (M + 0)]/2.
f (M ) ,

a0 X
ak cos kM ,
f (M ) =
+
2
k=1

2
ak =

Z
f (M ) cos kM dM,
0

(1.191)

,
f (M ) =

X
k=1

bk sin kM ,

2
bk =

Z
f (M ) sin kM dM.
0

(1.192)
M . (1.137)

E M = e sin E,
(1.193)

1.8.

77

E M
M , (1.192):
Z

X
2
EM =
bk sin kM,
bk =
(E M ) sin kM dM.

k=1
0

(1.194)
R
R

0 udv = uv|0 0 vdu,

u = E M , dv = sin kM dM :

2
2
bk =
(E M ) cos kM +
cos kM (dE dM ) =
k
k
0
0
Z
Z
Z
2
2
2
=
cos kM dE
cos kM dM =
cos kM dE =
k
k
k
0
0
0
Z
2
=
cos(kE x sin E) dE,
k
0

(1.195)
x = ke. (1.195) ,
E M 0 . M E
(1.193).

Z
1
Jk (x) =
cos(kE x sin E) dE,
(1.196)

2
bk = Jk (ke),
k
(1.194)
EM =2

X
Jk (ke)
k=1

sin kM.

(1.197)

(1.198)

78

1.
sin E (1.193) (1.198)

sin E =

2 X Jk (ke)
sin kM.
e k=1 k

(1.199)

cos E:
Z

a0 X
2
cos E =
+
ak cos kM ,
ak =
cos E cos kM dM.
2

k=1
0

(1.200)
a0 , M E:
Z
Z
2
2
a0 =
cos E dM =
cos E(1 e cos E) dE =

0
0
(1.201)

Z
2
1 + cos 2E
=
cos E e
dE = e.

2
0

ak
( u = cos E, dv = cos kM dM )

2
2
ak =
cos E sin kM +
sin kM sin E dE =
k
k
0
0
Z
Z
1
2
sin(kE x sin E) sin E dE =
cos[(k 1)E
=
k
k
0
0
Z
1
x sin E)] dE
cos[(k + 1)E x sin E] dE,
k
0

(1.202)
x = ke
2 sin sin = cos( ) cos( + ).
(1.196), cos E

e X Jk1 (ke) Jk+1 (ke)

cos E = +
cos kM.
2 k=1
k

(1.203)

1.8.

79

sin E cos E (1.147) ,

, :

r
e2 X Jk1 (ke) Jk+1 (ke)
=1+
cos kM,
a
2
k
k=0

X (k)
=
A cos kM,
a k=0

X (k)
=
B sin kM,
a k=0

(1.204)

x X (k)
=
(Ax cos kM + Bx(k) sin kM ),
a
k=0

y X (k)
=
(A cos kM + By(k) sin kM ),
a k=0 y

z X (k)
=
(A cos kM + Bz(k) sin kM ),
a k=0 z

(1.205)

3e
(k)
(k)
(k)
(k)
,
B(0) = 0,
Ax = A , Bx = 0 B ,
2
Jk1 (ke) Jk+1 (ke)
(k)
(k)
(k)
(k)
(k)
A =
, Ay = A , By = 0 B ,
k

2 J (ke)
2
1

e
k
(k)
(k)
(k)
(k)
(k)
B =
,
Az = A , Bz = 0 B .
e
k
(1.206)

(0)

A =

Jn (x) =

X
s=0

(1)s x n+2s
,
(s + n)! s! 2

(1.207)

bk (1.194) ak
(1.200) , -

80

1.

:
2s
ke
s
k X
(1)
2 ke
2
bk =
,
k 2
s! (s + k)!
s=0

1
ak =
k

ke
2

k1 X
(1) (k + 2s)
s=0

ke
2

(1.208)

2s

s! (s + k)!

(1.209)

.
[10], ,
e6 .

r n
r n
cos nv
sin nv, v
a
a
.
.

< M < ,

0 e 1 ,

(1.210)

- .
, .
,
e > eL (. . 87) .

1.8.2

1.8.2.1

, -

1.8.

81

F (z, ) = z a f (z) = 0,
(1.211)
, z - , a - , f (z) z
S, a.
(1.211) -

X
n dn1 n
z =a+
[f (a)],
(1.212)
n! dan1
n=1
(z)

X
n dn1 0
(z) = (a) +
[ (a)f n (a)].
n1
n! da
n=1

(1.213)

, ,
E e M :
F (E, e) = E e sin E M = 0.

(1.214)

E = E(e, M )

E=M+

X
en dn1
(sinn M ),
n1
n!
dM
n=1

(1.215)

(E) :

X
en dn1
(E) = (M ) +
[0 (M ) sinn M ],
n1
n!
dM
n=1

(1.216)

. e = 0 : E = M .

82

1.

(1.215) . M ,
.
: E = E(M, e). e M
E
(1 e cos E) sin E = 0,
e

E
(1 e cos E) 1 = 0,
M
(1.217)

E
E
= sin E
,
(1.218)
e
M
(E)

= sin E
.
(1.219)
e
M

F (E)
=
F (E)
,
(1.220)
e
M
M
e
F (E) - .

n
n1

n
=
sin E
.
(1.221)
en
M n1
M
n = 1 (1.219).
n, n + 1.

n+1
n1

n1

n
n
=
sin E
=
sin E
.
en+1
e M n1
M
M n1 e
M
(1.222)

1.8.

83

(1.220),
F (E) = sinn E (1.219),

sin E
M

=
M

sin E
e
n

=
M

sin

n+1

E
.
M
(1.223)

(1.222) (1.223)

n
n+1
sin E
=
sin
E
.
M
M n
M
(1.224)
(E)
:
n+1
n1
=
en+1
M n1 e

= 0 + e

e2
+
2!
0

2
e2

en
+ ... +
n!
0

n
en

+ ... ,
0

(1.225)
0 ,
e = 0.
(1.225)
(1.221) (1.216)
(E) = E (1.215).
(1.215) E, (E) = sin E
(E) = cos E
e2
e3
sin 2M + (3 sin 3M sin M ) + . . . ,
2
8
e
3e2
cos E = cos M + (cos 2M 1) +
(cos 3M cos M ) + . . . ,
2
8
e
e2
1
sin E = (E M ) = sin M + sin 2M + (3 sin 3M
e
2
8
sin M ) + . . . .
(1.226)
sin E cos E,
,
.
E = M + e sin M +

84

1.

. 1.6. . :
, (1.230),
-
(1.230) M .
. . 1.7.

1.8.2.2

eR (1.215) (1.216)

e = 0 [10] .
E = E(e),
(1.214) M , :
E e sin E M = 0,

1 e cos E = 0.

(1.227)

(1.215) (1.216)
.
(1.227) -

1.8.

85

. 1.7. . . ( ) - . :
a - , b -
, c -
e0 = 0.8. : 1 - M = 0, 2 - M = /8, 3 - M = /4, 4 - /2, 5 3/4, 6 - 7/8, 7 - , 8 - 9/8, 9 - 5/4, 10 - 3/2, 11 - 7/4, 12 15/8.

, E E = E (M ). (1.227), : e = e (M ).
E (M ) e (M ) , .
, e = 1/ cos E,

86

1.

(1.227), . :
E tg E M = 0.

(1.228)

E = x + iy, i = 1, 1/ cos E
tgE
1
cos x ch y + i sin x sh y
=
,
cos E
cos2 x + sh2 y
sin x cos x + i sh y ch y
.
E M = tg E =
cos2 x + sh2 y
e=

(1.229)

(1.228)
x y, E = x +
+iy ,
x

sin x cos x
M = 0,
cos2 x + sh2 y

sh y ch y
= 0. (1.230)
cos2 x + sh2 y

. , x (M ), y (M ) ,
, E (M ).
(1.230) x E = x + iy ,
:
!
s

sh y ch y
sh2 y + 2k, k = 0, 1, 2, ... .
x = arccos

y
(1.231)
- , y = sin x,
. 1.6 ( )
E x [0, ].

1.8.

87

, (1.230)
M . (1.231)
- E = x iy .
M = k
E = k, M = /2 + k E = /2 + k iEL ,
EL = 1.19967864... -
, ..
(1.230) x = /2, :
y = cth y.

(1.232)

E
e
e =

1
cos x ch y + i sin x sh y
.
=
cos E
cos2 x + sh2 y

(1.233)

e = Re(e)
iIm(e) (1.233)
M , ,
e = 0. . 1.7. M [0, 2] (. ,
). M +2k, k =
= 0, 1, 2, .... , M = 2k, (1.233)
e = 1, M = (2k + 1) - e = 1,
M = /2 + 2k e = ieL , eL = 1/ cos EL = 0.6627434196... .
( iel ). . 1.7
- ( a).

88

1.

1.2. e eL , k M < M <

< k + M , k = 0, 1, 2, ...

e
eL
0.663
0.664
0.665
0.666
0.667
0.668
0.669
0.67
0.68
0.69
0.70
0.71
0.72
0.73
0.74
0.75
0.76
0.77
0.78
0.79

M
()
90
86.53854876
82.34699258
79.75353235
77.70252221
75.95363615
74.40456384
73.00174715
71.71016691
62.05387119
55.19977568
49.68463896
45.00995637
40.92922210
37.30030061
34.03255465
31.06281281
28.34438325
25.84293366
23.53237152
21.39072418

e
0.80
0.81
0.82
0.83
0.84
0.85
0.86
0.87
0.88
0.89
0.90
0.91
0.92
0.93
0.94
0.95
0.96
0.97
0.98
0.99
1

M
()

19. 40151216
17.54962921
15.82340240
14.21390533
12.71152497
11.30939483
10.00133514
8.782539369
7.648200987
6.594200139
5.618476869
4.717597961
3.889503479
3.132820128
2.448234559
1.834373475
1.293296812
0.8277511594
0.4439163206
0.1548385620
0

1.8.
1.8.2.3

89

e > eL

, ,
ieL . ,
, M = /2 + 2k
M = /2 + 2k, . . , , .
eR
M
1

eR = |e | = p

cos2 x + sh2 y

(1.234)

x y M ,
(1.230). eR =
eR (M ) .
" - "
(1.215),
. 1.8 M 0 1.2. e(M ) e = eL M =
/2 + k, M = k ( ) e = 1. e < eL
( ).
eL ,

( . 1.8
). ,
, 1.2 e eL , . 1.9

90

1.

. 1.8. e < eL ( ) e > eL ( ).

M .

.
,
,

c . , ,

1.8.

91

. 1.9.
e > eL . : P (), A () - , 1 - M = M , 2 - M = M , 3 - M = M , 4 - M = +M .
e = 0.665 > eL , (M = 79. 75),
- e = 0.7, (M = 49. 68), - e = 0.9, (M = 5. 62).

92

1.

,
. ,
( ),
.
1.8.2.4

, , , (1.215) e e0 :
E = E0 + c1 (e e0 ) + c2 (e e0 )2 + . . . ,

(1.235)

ci E0 M .
e = e0 (1.235) E = E0 , , ,
(1.198)
E0 = M + 2

X
Jk (ke0 )
k=1

sin kM.

(1.236)

c1 , c2 , ... . (1.235)
-. . (1.235)
.

,
(1.235) ,
(1.215). - e0 .

- (1.215),

1.8.

93

, , .
e0 + eR , e0 0 eC
, . . e < 0 ,
e0 > eC e0 eR . e0 1
. (1.235) e0 . 1.10.
.
e0 = eC , eR
eC :
eC e eC < eC = 0.447743205
0 e < 2eC = 0.895486410,

(1.237)

e = 0 ( ) . e0 = eC
. 1.7 ( b). eC (
eC = 0.445).
, .
e0
. . 1.7 e0 = 0.8 ( c),
0.63... < e <
< 0.97....
1.8.2.5

:
- (1.215)
, 0 e < eL , eL = 0.662743420

94

1.

. 1.10. .
e0 . eC eL .

- ,
< M < ;
- e > eL
k M < M <
< k + M (. . 1.8);
- (1.235) e0 =
eC = 0.447743205 0 e < 2eC = 0.895486410 (. . 1.7 1.10), eC . -

1.8.

95

, ,
,
e 1.
, . f (e, M ), ,
f (e, M ) =

ei (aij sin jM + bij cos jM ).

(1.238)

i=0 j=

,

0 e < eL = 0, 6627434,

< M < .

(1.239)

- (1.238)
,
0 e < 1,

< M < .

(1.240)

,
.
, , .
. ,

, .

96

1.

.
.
, .
- , ( ). .
. (
)
.

.
, ,
.

,
,
, .

1.8.3

1.8.3.1

M M0 E - ~r

1.8.

97

X
(M M0 )s ds E(M )
E = E0 +
=
s!
dM s
M
=M
0
s=1

1
= E0 +
(M M0 )
1 e cos

E M =M0
e sin E
(M M0 )2

+ ...,
(1 e cos E)3 M =M0
2!

(1.241)

X
(M M0 )s ds~r
~r = ~r0 +
=
s!
dM s M =M0
s=1

d ~r
d~r
(M M0 )2
(M M0 ) +
= ~r0 +
+
dM M =M0
dM 2 M =M0
2!
3
d ~r
(M M0 )3
+
+ ...,
dM 3 M =M0
3!
(1.242)
M0 E0 - t0 , ~r0 (d~r/dM )0 - . M0 = 0
M .
(1.241) (1.242) .
1 ds
ds
=
,
dM s
ns dts
(1.243)
- , n - .
(1.241) (1.242)
. (1.241) s- . (1.242)
, M0 = n(t0 ),

M M0 = n(t t0 ),

98

1.

. 1.11. e = 0.2. : 1, 2 -
i; 3, 4 - 2 i; 5 -
M0 = 0; 6 - M0 = .

(1.25), .. ~r = ~r/r3 ,

- (1.25).
, EM
2-
.
-
, 2, .. -

1.8.

99

. , , ~r(M ) M , ~r(M +
+2k) = ~r(M ). M .
(1.241) (1.242)
E(M ), , e < 1, E
M .
:
F (E, M ) = E e sin E M = 0,
F
= 1 e cos E = 0,
E

(1.244)

E, (1.244), .. cos E = 1/e,

E (k) = i + 2k, (k = 0, 1, 2, ...),

1
1 + 1 e2
= arccos = ln
.
e
e

(1.245)

(1.244)
M (k) , M

M (k) = E (k) e sin E (k) = 2k i,

= 1 e2 .
(1.246)
.
M ,
. M0
t0 .
MR (1.241) (1.242) M0

100

1.

. 1.12.
.
M0 e,
(1.241) ; - , |M M0 | < MR < .: e = eX , 1 - ,
2 - , 80% , 3 - 60% , 4 - 40%, 5 - 20%, 6 - 10%, 7
- 5%.

M (k) . , M0
, M = i. ,

q
MR = |(M )k=0 M0 | = | i M0 | = 2 + M02 . (1.247)
MR M0 ,

1.8.

101

1.3. (1.241) (1.242)

, 2k + M 0 <
< M0 < 2(k + 1) M 0 , k = 0, 1, 2, ...

e
0
eX
0.0319
0.0320
0.0321
0.0322
0.0323
0.0324
0.0325
0.0326
0.0327
0.0328
0.0329
0.0330
0.0335
0.0340
0.0345
0.035
0.036
0.037
0.038
0.039
0.040
0.041
0.042
0.043
0.044

M
()
0
0
7.9190034
11.2757142
13.8314011
15.9753009
17.8564081
19.5507718
21.1034627
22.5438122
23.8921833
25.1634010
26.3686588
27.5166565
32.6004307
36.9110629
40.6973902
44.0967998
50.0492786
55.1812109
59.7147619
63.7864145
67.4874282
70.8825472
74.0197604
76.9358561
79.6597996

e
0.045
0.048
0.050
0.055
0.06
0.07
0.08
0.09
0.10
0.11
0.12
0.13
0.15
0.16
0.17
0.18
0.20
0.25
0.30
0.35
0.4
0.5
0.6
0.7
0.8
0.9
1

M
()

82 .2148968
89.0426656
93.0270541
101.513473
108.442874
119.225018
127.334450
133.715281
138.895412
143.199062
146.838842
149.961168
155.044981
157.142206
159.007650
160.676871
163.534960
168.708204
172.110869
174.450350
176.101680
178.136110
179.185028
179.699533
179.920863
179.991091
180

102

1.

M0 MR < M < M0 + MR .

(1.248)

. 1.11 e = 0.2 : - M0 = 0 - M0 = .
(1.247) MR e M0
. 1.12 M0 e. MR =
( 1 . 1.12),
q
2 + M02 = ,
(1.249)
(1.241) ( M ,
1.3. (1.249)
( ). (1.249) M0 = 0 e = eX = 0.031803065887..., ... e < eX (1.241, 1.242)
M0 . eX .
MR = . , ,
e < 0.2, ,
. 5, M0 = 0 40% , |M0 | ,
, (100%) .
. 1.13
M , , (1.241,1.242).
( ).
,
.
, (1.241, 1.242)
e <

1.8.

103

< 1, M0 t0
.
1.8.3.2

, (1.241, 1.242)
M, M0 e :
p - e M0 ,
2 + M02 > ,
( . 1.12
);
- 0 e < eX
M0 , . .
M ;
- M0 =
0 e < 1;
p - e M0 ,
2 + M02 < ,
(. . 1.12).
( )
e > 0 . ,
(.. 2), ,
2-
,
.
,

.
, , .
, -

104

1.

. 1.13. ( ). : P - , A - , - e = 0.5, M0 = 36o ,

( 8o .31 < M < 80o .31), e = 0.15, M0 = 135o , (28o .05 < M < 298o .05), (
) - e = 0.2, M0 = 163o .53, (16o .47 < M < 343o .53).

1.8.

105

,
() ,
. ,
, ,
,
,
.
, ,
, 2
.

, ,
.

1.8.4

,
, . :
-
? , . , - . :
. , ,
.
.

(1 cos t)
x x sin t + x = 0.
(1.250)

106

1.

( ) ,
1 cos t, ..
. , , . , (1 cos t) sin t, x =
= C1 (1 cos t) + C2 sin t, .. (1.250) .
,
t =
= 0, .
, (V = r).

~r = ~r/r3

r = 2
(1.251)
r

r 2

2
= h,
r

(1.252)

h = 0 = 0
r (1.178), ( ) t = 0, :
r
3 9 2/3
r=
t .
(1.253)
2
(1.251). t s :
( )0 =

d
d
=r ,
ds
dt

r =

1 0
r,
r

r =

1 0 2 1 00
r + 2 r . (1.254)
r3
r

1.8.

107

(1.251) s
2

rr00 r0 + r = 0,

(1.255)

( h = 0)
s2
s3
,
t=
,
(1.256)
2
6
(1.255)
r = 0,
r .
(1.255)
r0 2
r=

r0 = 2r + hr2 .

(1.257)

r00 hr = .

(1.258)

(1.100)
(1.101).
, , ,
. ,
, , -
.
, . ,
, , ,

.
"
" [14].

108

1.9

1.

, (1.30).
,
m0~s0 + m~s = 0,
T

f m0 m
= ha ,
r

m0~s 0 + m~s = 0,

m0~s0 ~s 0 + m~s ~s = ~ca ,

(1.259)

T = (m0~s 02 + m~s 2 )/2 -

, ~r = ~s ~s0 ,
r = |~r|, ha ca h c
(1.113).
I M0 M
I = m0~s02 + m~s 2

(1.260)

(1.29), .. ~s0 = m~r/(m0 + m) ~s =

m0~r/(m0 + m),
I = m0~s02 + m~s 2 =

m0 m 2
~r .
m0 + m

(1.261)

~s 0 = m~r /(m0 + m)
~s = m0~r /(m0 + m) 2T ,
.. :
m0 m 2
2T = m0~s 02 + m~s 2 =
~r .
m0 + m

(1.262)

(1.261) (1.262) IT

2
1
m0 m
IT =
~r 2~r 2 .
(1.263)
2 m0 + m

1.9.

109

(1.29) :

(m0~s0 ~s 0 + m~s ~s )2 =
2

2
m0 m
m0 m
2
2

(~r ~r) = ~ca =

~c 2 .
m0 + m
m0 + m

(1.264)

(1.263) (1.264)
~r 2~r 2 (~r ~r )2 = ~r 2~r 2 (sin )2 , -
~r ~r ,

2
m0 m
2
ca
~r 2~r 2
(1.265)
m0 + m

c2
IT a ,
(1.266)
2
.
r. I T (1.261) (1.262), ca (1.113) ~a = ~b = 0:

2 2
m0 m
c
m0 m 2 f m0 m
m0 m
r
+
h
m0 + m
r
2(m0 + m)
m0 + m
2
(1.267)

hr2 + 2f (m0 + m)r c2 .
(1.268)
r
hr2 + 2f (m0 + m)r c2 = 0,

(1.269)

r(1,2)

f (m0 + m)
=

f 2 (m0 + m)2 c2
+ .
h2
h

(1.270)

110

1.

= f (m0 + m), / = e,
2 /h2 = a2 2 = 2 + hc2 , r(1) r(2)



r(1) = D, r(2) = + D,
(1.271)
h
h

2 c 2
2
= 2 = a2 e2 .
(1.272)
D= 2+
h
h
h
(h < 0) r(1) r(2)
( ) (
) M M0 :
r(1) r r(2)

a(1 e) r a(1 + e),

(1.273)

a e -
.
(h > 0) r(1) < 0
, r
r(2) = a(e 1) r < ,

(1.274)

a - .
(h = 0)
(1.268)
p
c2
=
r < .
2
2

(1.275)

, h
c
D
D=

2 c2
+
0,
h2
h

.. hc2 2 ,

(1.276)

2 = 2 e2 0
p a e < 1 p a e > 1.

1.10.

1.10

111

.

XIX , ,
:
(t)
~r = 3 ~r,
(1.277)
r
(t) = f [m0 (t) + m(t)] - M0 M .
XX ...
M m(t). : . : .
.
, .

, m, ,
. ~ = mV~ .
M Q

~ = F~ t,
Q

~ = (m + m)(V~ + V~ ) mV~ m~u,

Q
(1.278)
~u - M
m, F~ - . t 0, .. -

112

1.

, , mV~ /t 0 t 0,
m(t) t,
m

dV~
dm
= F~ + w
~
,
dt
dt

(1.279)

w
~ = ~u V~ -
dm
, w
~
.
dt


.
.
( , , - ) ,
.
p
M0 M m0 (t) m(t)
m0 ~0 = f

m0 m
dm0
~r + w
~0
,
3
r
dt

m~ = f

m0 m
dm
~r + w
~
, (1.280)
3
r
dt

, , w
~ 0 = ~u0 V~0 w
~ = ~u V~ ,
d
m0 m
dm0 d
m0 m
dm
(m0 V~0 ) = f 3 ~r + ~u0
,
(mV~ ) = f 3 ~r + ~u
.
dt
r
dt dt
r
dt
(1.281)

M M0
w
~ dm
w
~ 0 dm0
m0 + m
~
r
+

.
~r = f
r3
m dt
m0 dt

(1.282)

, ,

1.10.

113

, ..
,
(1.5),
m0 (t)m(t)
m0 (t)~0 = f
~r,
r3

m(t)~ = f

m0 (t)m(t)
~r,
r3
(1.283)

~r = ~ ~0 .
M M0
m0 + m
~r = f
~r.
r3

(1.284)

(1.284), , -. .
,
, ,
, .
( ),
.
, (1.284) , .. ,
m0 (t) + m(t) = const. . - (1.284)
.
(1.92).
( )

.

114

1.

- m0 = m0 (t) m = m(t). , ,
--
d
m0 m
d
m0 m
(m0 V~0 ) = f 3 ~r,
(mV~ ) = f 3 ~r,
(1.285)
dt
r
dt
r

m0 V~0 + mV~ = ~a,

m0 ~0 V~0 + m~
V~ = ~c.

(1.286)

.
-- m
0>0m
>
> 0 , ,
, -
.
- .

, --,
(1.280) .
--
, -
, , ,
, (..

).
.

2.1

, .
n+1 - M0 , M1 , ..., Mn m0 , m1 , ..., mn .
OXY Z
O
Mi (i = 0, 1, ..., n) mi Xi , Yi , Zi .
F~ij Mi Mj F~i , Mi

f mi mj
F~ij =
~rij ,
3
rij

F~i =

n
X
j=0
j6=i

115

F~ij =

X
j6=i

F~ij ,

(2.1)

116

2.

~rij = ~j ~i , ~i = {Xi , Yi , Zi },
p
rij = (Xj Xi )2 + (Yj Yi )2 + (Zj Zi )2 .

(2.2)

:
n

X
d2 Xi
Xj Xi
mi 2 = f
,
mi mj
3
dt
rij
j=0
j6=i

X
d2 Yi
Yj Yi
mi 2 = f
mi mj
,
3
dt
rij
j=0

(2.3)

j6=i

X
d Zi
Zj Zi
mi 2 = f
mi mj
.
3
dt
rij
j=0
2

j6=i

X
~j ~i
d2 ~i
mi mj
mi 2 = f
,
3
dt
rij
j=0

(i = 0, 1, 2, ... , n)

(2.4)

j6=i

U=

n
n
n
X
mi mj
f X X mi mj
=f
,
2 i=0 j=0 rij
r
ij
i,j=0
j6=i

(2.5)

i<j

mi

d2 ~i
U
=
= grad~i U,
2
dt
~
i

d2 Xi
U
mi 2 =
,
dt
Xi

(i = 0, 1, 2, ... , n),

d2 Yi
U
mi 2 =
,
dt
Yi

(2.6)

d2 Zi
U
mi 2 =
. (2.7)
dt
Zi

2.2.

117

U ,

= U.

(2.8)

6n + 6. n = 1 .
, n > 1.
. ,
- , , , .
, - ,
. , ,
.

2.2

.
,

.

2.2.1

i (2.4).
-

118

2.

:
n
X

mi ~i = 0.

(2.9)

i=0

, ( )
n
X

mi ~ i = ~a,

~a = {a1 , a2 , a3 },

(2.10)

~b = {b1 , b2 , b3 },

(2.11)

i=0
n
X

mi ~i = ~at + ~b,

i=0

~a ~b - .

. , OXY Z ~G
~ G :
n
~b
1 X
~a
~G =
mi ~i = t + ,
m i=0
m
m

1 X
~a
~ G =
mi ~ i = ,
m i=0
m
(2.12)
m = m0 + m1 + ... + mn - .
, G . ~a = 0 ~b = 0 G

OXY Z.
,
, . M0 - , M1 , ... , Mn - .
n
X
i=0

mi ~ i = 0

n
X
~0 = 1
mi ~ i .
m0 i=1

(2.13)

2.2.

119

, . , 19,5 /c, = 270 =
= +30 .

2.2.2

- , - (, O) . , (2.4) - ~i
i,
n
X
mi ~i ~i = ~0,
(2.14)
i=0

n
X

mi ~i ~ i = ~c,

~c = {c1 , c2 , c3 }.

(2.15)

i=0

, ~i ~ i
Mi .
(2.15) ,
~c:
~c(~
~G ) = c1 (X XG ) + c2 (Y YG ) + c3 (Z ZG ) = 0. (2.16)

.

120

2.

1950.0 =
= 107 130 I = 1 390 .
, ,
.

,
, , .

2.2.3

(2.6) ~ i i, :
n
X

mi ~ i ~i =

i=0

n
X
i=0

U
.
~ i
~
i

(2.17)

, , U/t = 0 -
,
n

1X
1X
T =
mi ~ i2 =
mi (X i2 + Y i2 + Z i2 ) = U + h,
2 i=0
2 i=0

(2.18)

h - , T - . (2.18) ,
T + =
= h. .
: a1 ,
a2 , a3 , b1 , b2 , b3 , c1 , c2 , c3 , h.
,

2.3.

121

18
.
, , ,

. , , , ,
.
, , , 1887 . ,
,
. 1889 . , . ,
.
.
, - , , -, , .

2.3

OXY Z
GX 0 Y 0 Z 0

~i = ~G + ~si ,

(i = 0, 1, 2, ... , n),

(2.19)

~i = {Xi , Yi , Zi }, ~G = {XG , YG , ZG } ~si = {Xi0 , Yi0 , Zi0 }.

122

2.

, G
(2.12). , .
, (2.12) ~G ~G = 0, ,
:
mi~si = f

mi mj

j6=i

~sj ~si
,
3
rij

(i = 0, 1, 2, ... , n).

(2.20)

GX 0 Y 0 Z 0 ,
G :
n
X

mi~s i = 0,

i=0

n
X

mi~si = 0.

(2.21)

i=0

(2.12), (2.15), (2.19) (2.21)

~c =

n
X

mi~si ~s i +

i=0

n
X

mi ~G ~ G =

i=0

n
X
i=0

1
mi~si ~s i + (~at +~b) ~a
m
(2.22)

n
X

mi~si ~s i = ~c 0 ,

i=0

m =

n
P
i=0

~c 0 = ~c +

1
~a ~b.
m

(2.23)

mi .

2.3.

123

, (2.12), (2.19) (2.21),

n

1 X
1 X 2 X
mi~si + ~ G2
U +h=T =
mi~si + ~G
mi =
2 i=0
2
i=0
i=0
n
1 X 2
1 2
=
mi~si +
~a
2 i=0
2m
(2.24)

n

1 X 2
mi~si = U + h0 ,
2 i=0

h0 = h

a2
.
2m

(2.25)

(2.25) ,

, : ,
,
.
, (2.23) ,
, ,
,
.
(2.21) .
~s0 ~s 0
M0 (2.20).
.
.
(2.23, 2.25), ~s0 ~s 0
(2.21).

124

2.4

2.

(2.6) - ~i
i = 0, 1, 2, ...n :
n
X
i=0

mi ~i ~i =

n
X
i=0

~i

U
.
~
i

(2.26)

, (2.5) k = 1,

U (~
0 , ~
1 , ..., ~
n ) = k U (~
0 , ~1 , ..., ~n ),

(2.27)

k = 1, - .
(2.27) = 1 k = 1,
U
U
U
~0 +
~1 + ... +
~n = U
~
0
~
1
~
n

n
X
U
i=0

~
i

~i = U,

(2.28)
k = 1.
(2.18)
(2.26) (2.28), ,
n
X

mi (~
i ~i + ~ i 2 ) = U + 2h.

(2.29)

i=0

(2.29)

n
X
i=0

n
n
d X
1 d2 X
mi (~
i ~i + ~ i 2 ) =
mi ~i ~ i =
mi ~2i .
dt i=0
2 dt2 i=0

(2.30)

2.4. -

125

(2.29) (2.30) :
n
d2 X
mi ~i 2 = 2U + 4h.
dt2 i=0

(2.31)

(2.31) I OXY Z

I=

n
X

mi ~i 2 ,

(2.32)

i=0

I = 2U + 4h,

(2.33)

-.
..,
. ,
.
-
(, ) . -
, . (2.33) -.
n
P
mi ~i2 I =
i=0

OXY Z n
P
IG =
mi~si2

i=0

126

2.

GX 0 Y 0 Z 0 .
n X
n
X

mi mj ~rij2 =

i=0 j=0
n
X

=m

n X
n
X

mi mj (~
i2 2~
i ~j + ~j2 ) =

i=0 j=0

mi ~i2

i=0

= 2m

n
P
i=0

n
X

mi ~i

i=0

n
X

mj ~j + m

j=0

n
X

mj ~j2 =

(2.34)

j=0

mi ~i2 2m2 ~G2 = 2mI 2(~at + ~b)2 ,

I
I=

n
X

mi ~i2

i=0

1 XX
1
=
mi mj ~rij2 + (~at + ~b)2 ,
2m i=0 j=0
m

(2.35)

~i = ~G +~si , ~rij = ~j ~i = ~sj ~si

I=

n
P
i=0

mi (~
G + ~si )2 = ~G2

n
X

n
P

mi + 2~
G

i=0

mi~si2 +

i=0

n
P

mi~si +

i=0

n
P
i=0

mi~si2 =

1
(~at + ~b)2 .
m

(2.36)
IG
IG =

n
X
i=0

mi~s2i

1
1 XX
= I (~at + ~b)2 =
mi mj ~rij2 . (2.37)
m
2m i=0 j=0

1
(~at + ~b)2
(2.38)
m
,
()
,
I = IG +

2.5.

127

, .
(2.38)

2
I = IG + ~a2 .
(2.39)
m
, , h0 (2.25),
- (2.33)
IG = 2U + 4h0 ,

h0 = h

a2
.
2m

(2.40)

- . -
. , - h0 0, (2.40)
IG , rij , .. t .

( , ).
h0 < 0, (2.40) -
, .
h0 < 0
.

2.5

n + 1 mi , F~i , -

128

2.

GX 0 Y 0 Z 0
mi~si = F~i ,

(i = 0, 1, 2, ... , n).

(2.41)

(2.41) - ~si ,
n
X

mi (~si~si ) =

i=0

n
X

~si F~i .

(2.42)

i=0

V =

n
X

~si F~i

(2.43)

i=0

.
d
1
~s~s = (~s~s ) ~s 2 ~s~s = ~s 2 =
dt
2
1d 2
=
(~s ), (2.42)
2 dt
n
!
n
n
X
X
1 d2 X
2
~
m
~
s
=
~
s
F
+
mi~s i2 .
(2.44)
i i
i i
2 dt2 i=0
i=0
i=0

n
P
mi~s2i , (2.44) (2.37) IG =
i=0

1 d2 IG
= V + 2T,
2 dt2

(2.45)

(.. ) 2T =
n
P
=
mi~s i2 - .
i=0

2.5.

129

, ..
n
n

f X X mi mj

~
Fi =
(~si ), (~si ) =
, rij = |~sj ~si |,
~si
2 i=0 j=1 rij
j6=i

(2.46)
(~si ) - , ,
, ( )
,

n
X

V =
~si
= .
(2.47)
~
s
i
i=0
, .
(2.45)
d2 IG
= 4T + 2.
dt2

(2.48)

. ,
d2 IG
= 0,
dt2

2T = .

(2.49)

(2.50)

:
.

130

2.

(2.8)
, (2.50)

1
T = U.
(2.51)
2
,
.
,
.
( ).

n
1 X 2
2
< v >=
mi~s ,
(2.52)
M i=0
n
P
mi ,
M =
i=0

1
T = M < v 2 >,
(2.53)
2

m < >
, (2.46)

n
f n(n + 1) m2
f X m2
=
.
2 i=0 < >
2
2
<>

(2.54)

(2.51), (2.53) (2.54)

< v 2 >=

fM
,
2<>

(2.55)

2.6.

131

M
< > < v 2 >.
, = U
(2.25) (2.48)
- (2.40).

2.6

-
2I(U + h) c2 ,

(2.56)

p
c = c21 + c22 + c23 - ,
h - .
.
n
1X
T = U +h, T =
mi ~ i2 ,
2 i=0

n
! n
!
n
n
X
X
X
X
mi ~ 2
mj ~ 2
mi ~i ~ i
mj ~j ~ j
i

i=0

j=0

i=0

j=0

(2.57)

n
X

Aij mi mj 0.

(2.58)

i,j=0

Aij mi mj mj mi ,
:
Aij = ~i2 ~ j2 + ~j2 ~ i2 2(~
i ~ i )(~
j ~ j ) 0.

(2.59)

132

2.

~B
~
A
~ B)
~ AB,
(A

~ B|
~ AB,
|A

(2.60)

(2.59)
Aij = ~i2 ~ j2 + ~j2 ~ i2 2|~
i ~ i ||~
j ~ j |

2
22
22

i ~j + j ~i 2i j |~i ||~j | = i |~j | j |~i | 0.

(2.61)
. i j, i = j (2.59),
(2.56).

2.7

M0 xyz. M0 ,

OXY Z. M1 , M2 , ... , Mn M0 xyz ~ri = {xi , yi , zi }, (i = 1, 2, ..., n), M0 .

~i = ~ri + ~0

(2.62)

xi = Xi X0 ,

y i = Yi Y0 ,

z i = Zi Z0 .

(2.63)

(2.3)
M0 ( , f mi )

2.7.

133

Mi
~0 = f

n
X
j=0
j6=0

mj

~i = f
=f

X
X
~j ~0
~rj
~rj
~ri
=f
mj 3 = f
mj 3 + f m i 3 ,
3
r0j
r0j
r0j
r0i
j=1
j=1

n
P

n
X

mj

j=0
j6=i

mj

j=1
j6=i

~j ~i
=f
3
rij

n
X

~rj ~ri
~ri
f m0 3 ,
3
rij
r0i

j=0
j6=i

j6=i

mj

~rj ~ri
=
3
rij

(i = 1, 2, ... , n)

(2.64)
, ~ri =
= ~r0i = ~i ~0 ri0 = r0i = ri ,

n
X
~
r
~ri
~
r

~
r
j
j
i
~i ~0 = f
mj
3 f (m0 + mi ) 3 . (2.65)
3
rij
rj
ri
j=1
j6=i

n
X
~ri
~rj ~ri ~rj

~ri + f (m0 + mi ) 3 = f
mj
3 , (i = 1, 2, ... , n)
3
ri
rij
rj
j=1
j6=i

(2.66)

n

X
xi
mj
xi + f (m0 + mi ) 3 = f
ri
j=1

xj xi xj
3
3
rij
rj

yj yi yj
mj
3 ,
3
rij
rj
j=1
j6=i

n
X
zj zi zj
zi
mj
3 .
zi + f (m0 + mi ) 3 = f
3
ri
rij
rj
j=1
j6=i

yi
yi + f (m0 + mi ) 3 = f
ri

n
X

(2.67)

j6=i

6n. (2.66)

134

2.

mj , , i
M0 Mi ,
- ,
Mi
M0 .

,
.
Ri = f

n
X

mj Rij ,

j=1
j6=i

Rij =

1
xi xj + yi yj + zi zj

.
rij
rj3
(2.68)

,
Rij
xj xi xj Rij
yj yi yj Rij
zj zi zj
=
3,
=
3,
=
3.
3
3
3
xi
rij
rj yi
rij
rj zi
rij
rj
(2.69)
(2.67)
xi +

i x i
Ri
=
,
3
ri
xi

i y i
Ri
=
,
3
ri
yi
(i = 1, 2, ... , n)

yi +

zi +

i z i
Ri
=
,
3
ri
zi
(2.70)

Ri
i
,
~ri + 3 ~ri =
ri
~ri

(2.71)

i = f (m0 + mi ) - M0
Mi .
.
Mi
.

2.8.

135

(2.70) : .
,
M0 xyz.
,
(2.62)
, , ~ ~
:
n
X
i=1

1
mi~ri ~ri
m

n
X
i=1

!
mi~ri

n
X

!
mj ~rj

j=1

1
= ~c + ~a ~b = ~c 0 ,
m
n
!2
n
1 X 2
1 X
a2
= U + h0 .
mi~ri
mi~ri
=U +h
2 i=1
2m i=1
2m
(2.72)

2.8

(2.70)
Ri . - .
, , Gi Mi , M0 , M1 , ... , Mi1 , .. x0i , yi0 , zi0 Mi Gi1 x0i yi0 zi0 .
.
-

136

2.

~i = ~Gi1 + ~ri0 ,

(2.73)

~i = {Xi , Yi , Zi }, ~ri0 = {x0i , yi0 , zi0 }, ~Gi1 = {XGi1 , YGi1 , ZGi1 }.

(2.74)
, i ~Gi1 =
i1
P
=
mj ~j , i = m0 + m1 + ... mi , j=0

0 0
i1 0
~r1 , ... , ~i+1 ~
i = ~ri+1 0
~r1 .
1
i
(2.75)
,
~1 ~
0 = ~r1 0 , ~2 ~
1 = ~r2 0

m0i x0i =

U
,
x0i

m0i yi0 =

U
,
yi0

m0i zi0 =

U
zi0

(2.76)

m0i~ri 0 =

U
,
~ri 0

(i = 1, 2, ..., n),

(2.77)

i1
,
i

(2.78)

m0i = mi

2
rij
=

+ yj0 yi0 +

x0j x0i +

j1
X
mk y 0

k=i

j1
X
m k x0

k=i

!2

!2

zj0 zi0 +

+
j1
X
mk z 0

k=i

(2.79)

!2
.

, , .
.

2.9.

2.9

137

i, Mi ,
.

2.9.1

,
- .
, ( ) ,

.
, ,
.
x, y, z, x,
y,
z p(t), e(t), i(t), (t), (t), (t).
.
,
.
() ,
, , -

138

2.

. ,
- , , , .

2.9.2

,
.
,

~rn + 3 ~rn = 0,
rn

(2.80)

~rn ~rn - , -
( ) ~rn , ~rn

~ n (t, ~rn , ~rn ,~n ) = 0.

(2.81)

~n = {pn , en , in , n , n , n }, n
~n .

~r + 3 ~r = F~ ,
(2.82)
r
~r ~r -
, F~ - , (2.81),

2.9.

139

, , . .
~ ~r, ~r,~) = 0.
(t,

(2.83)

~n
~ :

~n
~ n
~n
~n
d

=
+
~rn +
~rn = 0,
dt
t
~rn
~rn

(2.84)

~
~
~
~
~
d

=
+
~r +
~r +
~ = 0.
(2.85)

dt
t
~r
~

~r
(2.84) (2.85) :

!
~
~n
~
~n
d
d

+
dt
dt
t
t

!
!
~
~n
~
~n
~

+
~r
~rn +
~r
~rn +
~ = 0.
~r
~rn
~
~r
~rn
(2.86)

n , , :
~ =
~ n,

~
~n

=
,
t
t

~
~n

=
,
~r
~rn

~
~n

=
.
~r
~rn

(2.87)

(
)
~r = ~rn ,
~r = ~rn ,
(2.88)

(2.80)
(2.82):
~r = ~rn + F~ .
(2.89)

140

2.

~
~n

=
,
t
t

~
~n

~r =
~rn ,
~r
~rn

~
~n
~

~r
~rn =
F~ , (2.90)
~r
~rn
~r

(2.86)
( )
~
~
~n
~
~
d
d

=
~ = 0,
(2.91)

=
F~ +
dt
dt
dt
~
~r
n

~
d/dt

-
~ ,
(2.82) (2.80).
~
,
, ~r F~ ,
. . (2.91)
(2.83).
(i)
n (2.81) , , ,
~
i
i ~
F , (i = 1, 2, ..., 6).
~ =
~
~r

(2.92)

,
p,
e,
di/dt, ,
,
. .

2.9.

141

2.9.3

2.9.3.1

1. ,

(2.83)
,
~ ~r, ~r, e, i, ) = ~r ~r ~c = 0,
(t,

(2.93)

~e = {sin i sin , sin i cos , cos i}, ~c = p ~e - () .

(2.93),
(
)
~

d~c
= ~r F~
= 0,
(2.94)
t
dt
d~c/dt

p dp d~e
d~c
=
~e + p
=
dt 2p dt
dt

(2.95)
1 dp ~e d ~e di

= p
~e +
+
.
2p dt
dt
i dt
~e
~e
= {sin i cos , sin i sin , 0} = sin i ~eN ,

~e
0
= {sin cos i, cos cos i, sin i} = ~eN ,
i

(2.96)

(2.94)
1 dp
d
di 0
~e + sin i ~eN ~eN = ~r F~ 0 = r[~e F~ 0 ],
2p dt
dt
dt

(2.97)

142

2.

F~ 0 = F~ / p.
(2.94)

p, , i.
F~ F~ 0
F~
= F~ 0 = {S 0 , T 0 , W 0 },
p
(2.98)
S, T, W - ,
.
(2.97) 0
~e , ~eN , , ~eN ,
dp/dt, d/dt di/dt:

F~ = S~e + T~e0 + W~e = {S, T, W },

1 dp
= r~e [~e F~ 0 ] = rF~ 0 [~e ~e ] = r(F~ 0~e 0 ) = rT 0 ,
2p dt
d
= r~eN [~e F~ 0 ] =
sin i
dt
= rF~ 0 [~eN ~e ] = r(F~ 0~e ) sin u = r sin uW 0 ,
di
0
= r~eN [~e F~ 0 ] =
dt
0
= rF~ 0 [~eN ~e ] = r(F~ 0~e ) cos u = r cos uW 0 .

(2.99)

,
dp
= 2prT 0 ,
dt
2.9.3.2

d
sin u 0
=r
W,
dt
sin i

di
= r cos uW 0 .
dt
(2.100)

2.

(1.87),
:
r
r
p
p
e sin v =
Vr ,
e cos v =
Vn 1,
(2.101)

2.9.

143

Vr = V~ ~e, Vn = V~ ~e 0 - V~ .

r
(1)

= e sin v

p
Vr = 0,

r
(2)

= 1 + e cos v

p
Vn = 0,

(2.102)

de
dv
p
dVr
Vr dp
sin v + e cos v
=
+
,
dt
dt

dt
2p dt

r
Vn dp
de
p
dVn
dv
=
+
.
cos v e sin v
dt
dt

dt
2p dt

(2.103)

) ( )
~
dV
dV~
dVr
~ e = S,
=
~e =
~e = F~
dt
dt
dt

( ~)
dVn
dV
~e0 = T
=
~e 0 = F~
dt
dt

(2.104)

dp/dt (2.100), (2.103)

dv
de
sin v + e cos v
= pS 0 + re sin vT 0 ,
dt
dt

dv
de
r
cos v e sin v
= p 1+
+ re cos v T 0 ,
dt
dt
p
(2.105)

S 0 = S/ p T 0 = T / p.
de/dt e{dv/dt},
e

144

2.

v:

de
r
0
= p sin vS + p cos v + (cos v + e) T 0 ,
dt

p
dv
r
e
= p cos vS 0 p sin v 1 +
T 0.
dt
p
2.9.3.3

(2.106)

3.

x = r = r(cos u cos sin u sin cos i),
y = r = r(cos u sin + sin u cos cos i),

(2.107)

:
x cos + y sin = r cos u, x sin + y cos = r sin u cos i.
(2.108)
(3)
(4)

(3) = r cos u x cos y sin = 0, (4) = u v = 0,
(2.109)
(3) (2.108),
(4) - u,
v.
(3) (4)


du
du
dv
d
d
r sin u
= (x sin +y cos ) ,
=
+ .
dt
dt
dt
dt
dt
(2.110)
(2.108), (2.110)


du
d
du
dv
d
= cos i ,
=
+
,
(2.111)
dt
dt
dt
dt
dt

2.9.

145

d
d
= cos i

dt
dt

dv
dt

(2.112)

, d/dt (2.100),
{dv/dt} (2.106),
p
p+r
d
= cos vS 0 +
sin v T 0 r sin u ctgi W 0 .
dt
e
e
2.9.3.4

(2.113)

4.

() ,
, ,
.
(1.84),
r

(5)
=
(t ) J1 = 0,
(2.114)
p3

Zv
J1 =

dv
,
(1 + e cos v)2

(2.115)

(2.114) :
(5)

r
r
d
dJ1
3
dp
d
=
(t )

= 0. (2.116)
dt
2 p5
dt
p3 dt
dt

(2.114), . . (t ) =
= p3/2 J1 ,

r
d
dJ1
3 1 dp
= J1

,
(2.117)
p3 dt
2 p dt
dt

146

2.

dJ1
dt

J1 de J1
=
+
e dt
v

dv
dt

(2.118)

J1
J1
2
= 3
e
p

Zv
r3 cos v dv,

J1
r2
= 2.
v
p

(2.119)

(2.117)
r

d
3 1 dp
de r2
=

J
+
J

1
2
p3 dt
2 p dt
dt p2

dv
dt

(2.120)

2
J2 = 3
p

Zv
r3 cos v dv.

(2.121)

dp/dt, de/dt
{dv/dt} (2.100) (2.106) (2.120)

r

d
= 3rJ1 T 0 + J2 p sin vS 0 +
p3 dt

r
+pJ2 cos v + (e + cos v) T 0
p

r
r2
cos vS 0 sin v 1 +
T0 .

pe
p

(2.122)

,
N=

p2
J2
r2

(2.123)

2.9.

147

,
r
d
r2 0
e
=
p(eN
sin
v

cos
v)
S +
2
p3 dt
p

h
p
r
3/2
2r
(t ) + N e + e cos v + e cos v +
+p 3 ep
p
r
p 2
r
r 0
+ 1+
sin v 2 T .
p
p
(2.124)
(2.124)

2
d r
r
r
r
r
2 r
1+
sin v =
1+
cos v+e sin v 2 1 + 2
.
dv p
p
p
p
p
p
(2.125)

r2
r
r
r
r3
e cos v 2 1 + 2

1+
2 3
(2.126)
p
p
p
p
p
(2.125) :

d r
r
r2
r
r3
1+
sin v = e 2 1 + 2
+ 2 3 cos v.
dv p
p
p
p
p

r
r
1 + 2 = 3 2 e cos v
p
p
(2.127) :

d r
r
r2
r3
1+
sin v = 3e 2 + 2(1 e2 ) 3 cos v.
dv p
p
p
p

(2.127)

(2.128)

(2.129)

(2.129) 0 v

r
p

r
1+
p

Zv
sin v = 3e
0

r2
dv+2(1e2 )
p2

Zv
0

r3
cos v dv. (2.130)
p3

148

2.

(2.114), (2.121) (2.123)

r
p

r
1+
p

r
sin v = 3

2 r
e(t

)
+
(1

e
)
N.
p3
p2

(2.131)

r = p/(1 +
e cos v) , T 0
(2.124),

p
r

3/2
2r
p 3 ep
(t ) + N e + e cos v + e cos v +
r
p
p

2
r 0
r
sin v 2 T =
+ 1+
p
p

2
r
r
r
p2
= pN
+ 1+
e cos v 2 T 0 = N T 0 ,
p
p
p
r
(2.132)
,
:

d
=
dt

i
p r2 h
p
(e sin vN cos v)S 0 + N T 0 .
e
r

(2.133)

(, .).
-

2.9.

149

:
dp
= 2prT 0 ,
dt

de
r
0
= p sin vS + p cos v + (cos v + e) T 0 ,
dt
p
di
= r cos uW 0
dt
d
= r sin u cosec iW 0 ,
dt
d
p
r+p
= cos vS 0 +
sin vT 0 rctgi sin uW 0 ,
dt re
e
i
p
d
p r2 h
(e sin vN cos v)S 0 + N T 0 ,
=
dt
e
r

(2.134)

1
S 0 = S,
p
r=

p
,
1 + e cos v

1
T 0 = T,
p
u = + v,

1
W 0 = W,
p
v
Z
p2
r3
N =2 2
cos v dv,
r
p3
0

(2.135)
v t
Zv
J1 =

dv
=
(1 + e cos v)2

(t ).
p3

(2.136)

(2.134) p, e, i, , ,
-.
2.9.3.5

5.

a, e, i, , , M0 .

150

2.

e < 1 (2.134)
.
t p = a(1 e2 )
dp
da
de
=
(1 e2 ) 2ae
(2.137)
dt
dt
dt
dp/dt de/dt
(2.134),

da
p 0
2
0
= 2a e sin vS + T .
(2.138)
dt
r
n =

= /a3/2 , n:

dn
3 n da
p
(2.139)
=
= 3na e sin vS 0 + T 0 .
dt
2 a dt
r

t0 , , M t:

M = M0 + n(t t0 ),
(2.140)

Zt
M = M(0) +

n dt,

(2.141)

t0

M0 M(0) -
t0 .
, n , ..
M0 = M(0) . M0 M(0)
,
Zt
M0 = M(0) n(t t0 ) +

n dt.
t0

(2.142)

2.9.

151

t0 (2.140), (2.141). ,
{dM/dt}:

dM
dM0 dn
=
+
(t t0 ),
(2.143)
dt
dt
dt

dM(0)
dM
=
.
(2.144)
dt
dt
(2.144) (2.143),
dM0 /dt dM(0) /dt
dM(0) dn
dM0
=

(t t0 ),
dt
dt
dt

(2.145)

M(0) , M0 (2.145).
E
e sin E = M r = a(1e cos E) :

dM
dE
de
= (1 e cos E)
sin E ,
(2.146)
dt
dt
dt

dE
r da
de
a cos E + ae sin E
= 0.
(2.147)
a dt
dt
dt
{dE/dt} (2.147)
(2.146),

de
dM
r
r2 1 da
=
ctgE sin E
3
.
(2.148)
dt
ae
dt a e sin E dt

cos E e =

r
cos v,
a

sin E =

r
1

sin v
a 1 e2

(2.149)

152

2.

de/dt da/dt
(2.148)

r
cos E e
1 e2
ctgE sin E =
=
ctgv,
ae
e sin
E
e

(2.150)
1 r 2 1
1 e2 r
=
.
ae a sin E
e
a2 sin v
(2.150) (2.148),

e
dM
de
r da

(2.151)
= ctg v 2
dt
dt a sin v dt
1 e2
(2.106) (2.138)

e
dM

= (p cos v 2er)S 0 +
2
dt
1e
(2.152)
p
2
0
+
(cos v + cos v cos E 2)T .
sin v
(2.149)
r+p 2
cos2 v + cos v cos E 2 =
sin v,
(2.153)
p
(2.152)

e
dM

= (p cos v 2er)S 0 (r + p) sin vT 0 . (2.154)

2
dt
1e
(2.144) (2.154),
M(0)

dM(0)
1 e2
=
[(p cos v 2er)S 0 (r + p) sin vT 0 ]. (2.155)
dt
e
(2.143), (2.145) M0

1 e2
dM0
=
[(p cos v 2er)S 0 (r + p) sin vT 0 ] +
dt
e

p
+3na e sin vS 0 + T 0 (t t0 ),
r
(2.156)

2.9.

153

dn/dt
(2.139).
(2.156)
t, M0
S 0 T 0 ,
.
t0 M(0) ( -
M0 ).
:

da
p
= 2a2 e sin vS 0 + T 0 ,
dt

r
de
r
0
= p sin vS + p cos v + (cos v + e) T 0 ,
dt
p
di
0
= r cos uW
dt
d
= r sin u cosec iW 0 ,
dt
d
p
r+p
= cos vS 0 +
sin vT 0 rctgi sin uW 0 ,
dt
e
e
dM(0)
1 e2
=
[(p cos v 2er)S 0 (r + p) sin vT 0 ],
dt
e
(2.157)
M(0) - t0 , Rt
M (2.141), .. M = M(0) + n dt.
t0

-

.
a, e, i, , , , =
= + - , = + M0 - t0 ,

154

2.

(2.157):
d
i
= p cos vS 0 + (r + p) sin vT 0 + retg W 0 ,
dt
2

d
(2.158)
e = [p(1 1 e2 ) cos v + 2er 1 e2 ]S 0 +
dt

i
+(r + p)(1 1 e2 ) sin vT 0 + ertg sin uW 0 .
2
e

(2.157) ( )
e = 0 i = 0.
. , e 0
M0
,
.
e, , , h, k, M0 -
t0
h = e sin ,

k = e cos .

(2.159)

i = 0. , i, p, q:
p = tgi sin ,

q = tgi cos .

(2.160)

dh
de
d
= sin + k ,
dt
dt
dt
dp
d
di
=q
+ p sec i coseci ,
dt
dt
dt

dk
de
d
= cos h ,
dt
dt
dt
dq
d
di
= p
+ q sec i coseci
dt
dt
dt
(2.161)
de/dt, d/dt, d/dt di/dt
(2.157). e = 0 i = 0
.

2.9.
2.9.3.6

155

6.

-

m0 = m0 (t) m = m(t), = f (m0 + m) = (t).
: (2.80) m0 m (2.82) , = (t) F~ = {S, T, W }. , (2.81), (t, ~r, ~r,~, ) = 0,
,


( )
~
~
~
~ d
~ d
d

=
F~ +
+
= 0,
(2.162)
dt
~ dt
dt
~r
F~ - ,
.

, , = (t), (2.162)
d/dt,
- .
, p, i,
(2.95) (2.97)

p dp d~e
p d
d~c
=
~e + p
+
~e ,
(2.163)
dt
2p dt
dt
2 dt
1 dp
d
di 0
1 d
~e + sin i ~eN ~eN = r[~e F~ 0 ]
~e . (2.164)
2p dt
dt
dt
2 dt

156

2.

,
i
di
d
= r cos uW 0 ,
= r sin u cosec iW 0 ,
dt
dt

1 dp
1 d
1 d
= r~e [~e F~ 0 ]
= rT 0
,
2p dt
2 dt
2 dt

dp
p d
= 2prT 0
dt
dt

d(p)
= 2prT 0 .
dt

(2.165)

(2.166)

(2.167)

r
r
p
p
e sin v
Vr = 0,
(1+e cos v)
Vn = 0. (2.168)
(t)
(t)
:

de
r
1 d
0
= p sin vS + p cos v + (cos v + e) T 0 (e + cos v)
,
dt
dt
p
dv
r
1 d
e
= p cos vS 0 p sin v 1 +
T 0 + sin v
.
dt
p
dt
(2.169)

r cos( + v) (x cos + y sin ) = 0

(2.170)

d
p
r+p
sin v 1 d
= cos vS 0 +
sin vT 0 rctgi sin uW 0
.
dt
e
e
e dt
(2.171)

2.9.

157

p
(t)(t )p3/2 J1 = 0
(2.172)

i
p r2 h
p
(e sin vN cos v)S 0 + N T 0 +
e
r

r2
p3
1 d
2J1 (e + cos v)J2 2 sin v
,

pe
dt

d
=
dts

Zv
J1 =
0

dv
2
, J2 = 3
2
(1 + e cos v)
p

Zv
r3 cos v dv, N =

(2.173)

p2
J2 .
r2

,
dp
p d
= 2prT 0
,
dt
dt

de
r
1 d
0
= p sin vS + p cos v + (cos v + e) T 0 (e + cos v)
,
dt
p
dt
di
= r cos uW 0
dt
d
= r sin u cosec iW 0 ,
dt
d
p
r+p
sin v 1 d
= cos vS 0 +
sin vT 0 rctgi sin uW 0
,
dt re
e
e dt
i
d
p r2 h
p
=
(e sin vN cos v)S 0 + N T 0 +
dt
es
r

p3
r2
1 d
+
2J1 (e + cos v)J2 2 sin v
.

pe
dt
(2.174)

158

2.

e < 1 a, e, i, ,
, M(0) .
p = a(1 e2 ),

n2 a3 = (t),

(2.175)

da
p 2a2 e
1 d
= 2a2 e sin vS 0 + T 0
(e + cos v)
,
dt
r
p

dt

p 0
dn
n 2a2 e
1 d
0
= 3na e sin vS + T

(e + cos v)
.
dt
r
2
p
dt
(2.176)

E e sin E = M,

r = a(1 e cos E)

(2.177)

1 e2
dM
de
r da
=
ctg v 2
.
(2.178)
dt
e
dt a sin v dt
(2.174) (2.176)
{dM/dt}

dM
1 e2
=
[(p cos v 2er)S 0 (r + p) sin vT 0 ] +
dt
e

1 d
e + cos v 2er
cos v
.
+
sin v
p
dt
(2.179)
(2.141)
Rt
.150 M = n dt + M(0) ,
t0

2.9.

159

dM(0)
=
dt

1 e2
[(p cos v 2er)S 0 (r + p) sin vT 0 ]+
e

e + cos v 2er
1 d
+
cos v
.
sin v
p
dt
(2.180)

(2.141) (2.140)
M = n(t t0 ) + M0 ,

dM0
=
dt

1 e2
[(p cos v 2er)S 0 (r + p) sin vT 0 ] +
e
p
+3na e sin vS 0 + T 0 (t t0 )
r

1 d
n 2a2 e

(e + cos v)
.

2
p
dt
(2.181)

dM0 /dt , . M0 ( ) S 0 , T 0 (d/dt)/, . , , (2.141).

M(0) , , M0 , .

-

160

2.

2a2 p 0 2a2 e
1 d
da
= 2a2 e sin vS 0 +
T
(e + cos v)
,
dt
r
p
dt

de
r
1 d
= p sin vS 0 + p cos v + (cos v + e) T 0 (e + cos v)
,
dt
p
dt
di
= r cos uW 0 ,
dt
d
= r sin u cosec iW 0 ,
dt
d
p
r+p
sin v 1 d
= cos vS 0 +
sin vT 0 rctgi sin uW 0
,
dt
e
e
e dt
dM(0)
1 e2
=
[(p cos v 2er)S 0 (r + p) sin vT 0 ]+
dt
e

e + cos v 2er
1 d
+
cos v
.
sin v
p
dt
(2.182)
(2.174) (2.182)
-, , . . .
,
, S 0 , T 0 , W 0 , .
, i i ,
Si 0 , Ti 0 , Wi 0 , i = f (m0 + mi )
(. . 137).
M0 Mi (-)
,
.

2.9.

2.9.4

161

- .
.
-,
.
,

-.
. : r - , - , M0 xy
- , M0 x (. . 2.1 .
167). T =
(r 2 + r2 2 + r2 cos2 2 )/2 :
T

= r2 cos2 .

(2.183)

R=

T
= r,

T
= r2 ,

dr
H0
=
,
dt
R
d
H0
=
,
dt

d
H0
=
,
dt

dR
H0
=
,
dt
r
d
H0
=
,
dt

d
H0
=
,
dt

(2.184)

H0 = T U - ,
U = /r - .

162

2.

(2.184)
-.
1 , 2 , 3 , 1 , 2 ,
3 - , .
- () S, (2.184)

i = 0,

i = 0,

(i = 1, 2, 3)

(2.185)

F0 = H0 +

S
= 0.
t

(2.186)

(2.185),
i = const i = const.

i =

H
,
i

H
i =
,
i

(i = 1, 2, 3),

(2.187)

H = H0 +H1 , H1 - ,
(2.186),

S
S
= H0 +
+ H1 = H1 ,
(2.188)
F =H+
t
t

i =

H1
,
i

H1
i =
,
i

(i = 1, 2, 3),

(t) (t) - .

(2.189)

2.9.

163

.
(2.189)

( ),
, .

2.9.5

,
(2.184) (2.185), S(t, r, , , 1 , 2 , 3 ). , (
H0 = h = const), S W ,
:
S = W 1 t,
(2.190)
1 = h/2.
r, , , R,
, 1 , 2 , 3 , 1 , 2 , 3
:
W
= r = R,
r
W
= r2 = ,

W
= r2 cos2 = ,

W
= 1 + t,
1
W
= 2 ,
2
W
= 3 .
3

(2.191)

(2.191) , r, , , R, , i , i (i = 1, 2, 3)
(2.189).

164

2.

-, -, (2.190), (2.191) (2.186) :

W
r

1
+ 2
r

1
+ 2
r cos2

2
= 21 = h.
r
(2.192)
(2.192) - W = W (r, , , 1 ,
2 , 3 ), r, ,
1 , 2 , 3 .

W
(2.184)
(2.191).
-,
, W ,
:

W (r, , ) = W1 (r) + W2 () + W3 ().

(2.193)

(2.193) (2.192) :

dW1
dr

1
+ 2
r

dW2
d

1
+ 2
r cos2

dW3
d

2
= 21 .
r
(2.194)
W1 (r), W2 () W3 ()

2.9.

165

:
dW3
= 3 ,
d

2
dW2
32
+
= 22 ,
d
cos2

2
dW1
2 2
+ 2
= 21 .
dr
r
r

(2.195)

, (2.191)
W (r, , , 1 , 2 , 3 ) = 3 +
Z s
+

32
22
d +
cos2

Zr r
21 +

2 22
2 dr,
r
r

(2.196)

r = r|v=0 - .
(2.196) ,
, (2.184)
:
r
W
2 22
dr
= 21 +
2 = ,
(2.197)
r
r
r
dt
s
W
32
d
= 22
= r2 ,
(2.198)
2

cos
dt
W
d
= 3 = r2 cos2 ,

dt
W
=
1

Zr

dr

r
r

2 22
21 +
2
r
r

= t + 1 ,

(2.199)
(2.200)

166

2.

W
= 2
2

Z
s
0

Zr

d
32
22
cos2

2
r

r2

dr

2 22
21 +
2
r
r

= 2 ,

(2.201)
W
= 3
3

s
0

cos2

32
22
cos2

= 3 .

(2.202)

(2.197)-(2.202) . .
(2.197) - ,
(2.202) - , (2.201) - , (2.200) - , t. (2.198) (2.199) ,

, r2 u = p.
,
N M L, . 2.1.
, , , , u:
sin = sin u sin i, cos u = cos cos(), tg = sin()tgi,
(2.203)
i, - .
t (2.203),
u
d
sin i cos u du
=
,
dt
cos dt

(2.204)

(2.203) (2.211)

2.9.

167

l W

. 2.1. N M L. d
d = ,
[
: N
M = u, N
L = , LM
M N L = i, M LN = 90 .

(2.204),
d
1
d
=
=
dt
cos2 cos( )tgi dt
1
sin i cos u du
cos i du
=
=
.
2
cos cos( )tgi cos dt
cos2 dt

(2.205)

(2.204), (2.205) r2 u =

= p (2.198) (2.199)

s
32
d
sin i cos u
22
= r2
=
p,
(2.206)
2
cos
dt
cos
d

= cos i p.
(2.207)
dt
~c = r2 u~
e
3 = r2 cos2

168

2.

, , ..
~e = {sin , cos , 0}, M0 z -
~e3 = {0, 0, 1},
r2

du
du
(~e ~e ) = r2 sin i(sin sin + cos cos ) =
dt
dt
du
d
= r2 sin i cos( ) = r2 ,
dt
dt
du
du
r2 (~e ~e3 ) = r2 cos i.
dt
dt

(2.208)

(2.207) 3
. (2.206) 2
s
s
2
2
2
d

d
cos2 i
3
2
2
2 =
r
+
=
r
+
p
=
dt
cos2
dt
cos2
s
2
cos2 i
sin
i
cos
u
du
=
r2
+ p 2 =
cos dt
cos
s
s
sin2 i cos2 u + cos2 i
1 sin2

= p
p
=
= p.
cos2
cos2
(2.209)
h = (e2 1)/p,
1
1 =

= (e2 1).
2
2p

(2.210)

(2.200) r = r (2.202) = 0

1 = ,
3 = .
(2.211)
(2.201)
u (2.204).
, ,
s
cos2 i
sin i cos u
1
=
,
(2.212)
2
cos
cos

2.9.

Z
s
0

Zu

d
cos2 i
1
cos2

169

cos udu
= u,
cos u

(2.213)

= 2 ,

(2.214)

(2.201)
Zr
u 2

dr

2 22
r r 2
21 +
2
r
r
, r = r ,
2 = .

(2.215)

,
,

1 = ,
a=
,
2a
s21
p
1 2
2 = a(1 e2 ),
e = 1 + 2 22,

3
(2.216)
3 = a(1 e2 ) cos i,
cos i = ,
2
M0
1 =
t0 ,
= 3 ,
n
2 = ,
= 2
3 = ,
M0 = n1 + nt0 .
, .
.

2.9.6

170

2.

Mi (2.189):
di
R
=
,
dt
i

di
R
=
,
dt
i

(i = 1, 2, 3),

(2.217)

R = H1 , .. H1
R (2.68).
c (2.216). , n2 a3 =
d1
R
2 R
2 R M0
2 R
da
= 2
= 2
= 2
= 2
=
.
dt
21 dt
21 1
n a 1
n a M0 1
na M0
(2.218)

d
d3
R
=
=
=
dt
dt
3
R i
1
R
R
1

p
=
=
=
.
i 3
na2 sin i 1 e2 i
sin i a(1 e2 ) i
(2.219)
.
,
:
2 R
da
=
,
dt
na M0

de
1 e2 R
1 e2 R
=

,
dt
ena2 M0
ena2
di
1
R
1
R

,
2
2
2
2
dt
na tg i 1 e
na sin i 1 e
(2.220)
d
1
R

=
,
dt
na2 sin i 1 e2 i

d
1 e2 R
1
R

,
2
2
2
dt
ena e
na tg i 1 e i
dM0
2 R 1 e2 R
=

.
dt
na a
ena2 e

2.10.

171

. , .

2.10

-
dqs
= fs (t, q1 , q2 , ..., q6 ),
dt

(s = 1, 2, ..., 6),

(2.221)

qs , fs (t, q1 , q2 , ..., q6 ) - , .
. , (2.221) (0)
qs = qs = const, (s = 1, ..., 6).
,
. ,
.
(2.221) :
qs = qs(0) + qs(1) + 2 qs(2) + ...,

(s = 1, 2, ..., 6),

(2.222)

172

2.

qs(k)

1
=
k!

dk qs
dk

(2.223)

=0

(0)

qs = const -
.

qs = qs(0) + 1 qs + 2 qs + ...,

(s = 1, 2, ..., 6).

(2.224)

1 qs ( ), 2 qs - . .
(2.221) = 0:
(1)

dqs
(0) (0)
(0)
= fs (t, q1 , q2 , ..., q6 ).
dt

(2.225)

(2.222)
Zt
(0) (0)
(0)
(1)
qs = fs (t, q1 , q2 , ..., q6 )dt
(2.226)
t0

qs
qs ' qs(0) + qs(1) = qs(0) + 1 qs .
(2.227)
, , (0)
( qs =
const).
(2.221) ,
= 0.

6
X
dqs
fs
(1)
(0) (0)
(0)
= fs (t, q1 , q2 , ..., q6 ) +
qi .
(2.228)
dt
q
i
=0
i=1

2.10.

173

(2.222)

Zt X
6
fs
(1)
(2)
qs =
qi dt
(2.229)
qi =0
i=1
t0

qs

qs ' qs(0) + qs(1) + 2 qs(2) = qs(0) + 1 qs + 2 qs .

(2.230)

(2.222).
.
, , . (0)
qs .

(1)
. qs (2.226). (2.221) (0)
qs = qs + 1 qs
.
.

2.10.1

R, , , .

174

2.

. (2.221)

X
(k)

dqs
=
As cos kM + Bs(k) sin kM ,
dt
k=0
(k)

(2.231)

(k)

As Bs - a, e, i, ,
. M0
M = n(t t(0) ) + M0 , M0 -
t(0) , ,
t0 , (2.226) (2.229).

(k)
(k)
, As Bs . t :
"
#

(k)
(k)
X
As
Bs
(0)
1 qs = As0 (t t0 ) +
sin kM (0) cos kM ,
kn(0)
kn
k=1
(2.232)
n(0) - t0 .
(0)
, As0 , ,
, - .

k1 qs = k1 (t t0 )k2 [A(k) sin kM + B (k) cos kM ],
(k1 1, k2 0, k 0).

(2.233)

X
k1 (tt0 )k2 [A(k) sin kM +B (k) cos kM ], (2.234)
qs = qs(0) +
k1 ,k2 ,k

2.10.

175

, .
Mj Ms :

R=

[Aks kj cos(ks Ms + kj Mj ) + Bks kj sin(ks Ms + kj Mj )].

ks ,kj =

(2.235)
, ,

:

Aks kj
Bk s k j

kse ,kje ,ksi ,kji

(k ,k )

(k ,ksi ) )

Aksse
kj

(k ,kji )
Bks je
kj

eks se eks je iks si iks si ,

(2.236)

(k ,k )

ji
si
Bks je

Aksse
kj
kj
as aj .

, .
, (2.234)

qs = qs(0) +

X
k1 ,k2 ,k3 ,ks ,kj

k1 (t t0 )k2
[Aks kj sin(ks Ms + kj Mj )+
(ks ns + kj nj )k3

+Bks kj cos(ks Ms + kj Mj )].

(2.237)
, , ,
ks ns + kj nj ns ( nj ) , (ks ns +kj nj
ns ) .

176

2.11

2.

,
.

2.11.1

. (0)
ns Ms (0)
(0)
, Ms Mj ks ns + kj nj
ks = kj = 0 (.. ),
.
,
ks Ms + kj Mj = (ks ns + kj nj )(t t0 ) + ks Ms0 + kj Mj0 , (2.238)
Ms0 Mj0 - t0 .

das
2 Rs
=
,
dt
ns as Ms0

(s = 1, 2, ..., n),

(2.239)

, , Rs Ms0 . , ,
(0)
(0)
, .. ks ns + kj nj = 0.

ks = kj = 0. , (2.238) Ms0 (2.239)

2.11.

177

ks , , Rs /Ms0 = 0, , (0)
, as = as = const. ,
.

2.11.2

(0)

(0)

(0)

. as , es is - , . :
(0)
(0)
- es is - ,
- as
(0)
(t0 , T )
q as ,

(0)
- ms s as
,
(t0 , T )
es is .
. ,
, () . ,
, , , O(), - o(). ,
,
(0)
as = as + o(), (t0 , T ).
,
, , :
n
X
s=0

ms~rs ~rs = m0~r0 ~r0 +

n
X

ms~rs ~rs = ~c,

(2.240)

s=1

178

2.

~c.
,

n
X
s=0

ms~rs = m0~r0 +

n
X

ms~rs = 0,

s=1

n
X

n
X

ms~rs = m0~r0 +
ms~rs = 0.

s=0

s=1

(2.241)
, ~r0 ~r0 , m0~r0 ~r0
- :
n
n
1 X
1 X

ms~rs = O(), ~r0 =

ms~rs = O(),
~r0 =
m0 s=1
m0 s=1
m0~r0 ~r0 = o().
(2.242)

(2.240)
n
X
ms~rs ~rs = ~c + o()
(2.243)
s=1

, ,
n
X

(2.244)
ms s ps ~es = ~c + o(),
s=1

~es = {sin s sin is , cos s sin is , cos is } -

Ms , s = f (m0 + ms ) -.
M0 xy
, ~c.
n
X
s=1

ms s ps cos is = c + o().

(2.245)

2.11.

179
(0)

ps = as (1 e2s ) as = as + o(),
(2.245)
q
n
X
p
(0)
ms s as
1 e2s cos is = c + o().
(2.246)
s=1

n
X

q
ms

(0)

s as = c0

(2.247)

s=1

, (2.246) (2.247)
q
n
X
p
(0)
ms s as [1 1 e2s cos is ] = c0 c + o(),

(2.248)

s=1

q
n
2
2
2
X
(0) sin is + es cos is
p
ms s as
= c0 c + o().
1 + 1 e2s cos is
s=1

(2.249)

t = t0
(0)
(0)
es = O() is = O(), ,
c0 c o(), :
q
(0)2
(0)
2 (0)
cos2 is
(0) sin is + es
q
c0 c =
ms s as
= o(). (2.250)
(0)2
(0)
s=1
1 + 1 es cos is
n
X

, (2.249)
o()
(t0 , T ):
q
n
2
2
2
X
(0) sin is + es cos is
p
ms s as
= o(),
(2.251)
2 cos i
1
+
1

e
s
s
s=1
, ,
es = O() is = O(). .

180

2.

, , . ,
,
, .

() .
. (, q
. .)

(0)
, ms s as ,
.
, , - < t < . , ,
. ,
.
, , - , "".

, , .

.

3.1

,
.
,
. ,
. , . (
) ,
.

181

182

3.

,
:
.
, , ..
. ,

, ,
.


:
- ,
,
- , ,
- ,
-
- , ,
.

3.2

,
.

3.2.

3.2.1

183

Gxyz,
~n, . Gx ,

M1 M2 . Gz ~n, Gy ,
.
,
m1 m2 .
M1 M2 : M1 (x1 , 0,
0) M2 (x2 , 0, 0), M M (x, y, z). Gxy ,
~n = {0, 0, n}.

p
2
2
2

r
=
(x

x
1
1) + y + z
p
r2 = (x x2 )2 + y 2 + z 2 , M
m,
m1 m2
+
U = f m
.
r1
r2


d
dt

L
qi

L
qi

= 0,

(i = 1, 2, 3),

(3.1)

L = T + U - , q1 = x, q2 = y, q3 = z.
T V~a V~ V~p :
~r = {x, y, z}, V~ = {x,
y,
z},
V~p = ~n ~r,
V~a = V~ + V~p = {x ny, y + nx, z}.

(3.2)

184

3.

T = mV~a2 /2 T = m[(x ny)2 + (y + nx)2 + z 2 ]/2.

.
m = 1 .
(3.1) :
U
= 0,
x
U
y + nx + n(x ny)
= 0,
y
U
z
= 0.
y

x ny n(y + nx)

(3.3)

, ,
= n2

x2 + y 2
+ U,
2

(3.4)

U
= n2 x +
,
x
x

U
y + 2nx =
= n2 y +
,
y
y

U
z =
=
.
z
z

x 2ny =

(3.5)

, .
,
n = const.

3.2.

3.2.2

185

(3.5) x,
y,
z .
1d 2 2 2
d
(x +y +z ) =
.
2 dt
dt
(3.6)

, , . . /t = 0. ,
.
.
(3.6)
xx+
y y+
z z =

x+

y+

z
x
y
z

1 2
(x + y 2 + z 2 ) = + h V 2 = 2 C,
2

(3.7)

C = 2h - ,
.
.
, , .. x2 x1 = 1,
- , .. m1 + m2 = 1,
1 = m1 /(m1 + m2 ) = m2 /(m1 + m2 ), ( 1/2),
,
, f = 1. n2 = f (m1 + m2 )/a3 ,
,
, : n = 1. m1 x1 + m2 x2 = 0,
,
: x1 = x2 = 1 .
U -

186

3.

x2 + y 2
1

+ U, U =
+ ,
2
r2
p
p r1
2
2
2
r1 = (x + ) + y + z , r2 = (x + 1)2 + y 2 + z 2 ,
(3.8)
:
=

1
(x
+
)

(x + 1),
r13
r23

y + 2x = y 1
3 ,
r13
r

2
1

z = z
+ 3 .
3
r1
r2

x 2y = x

(3.9)

,
. -
.

3.2.3

(3.9), .. , Gxyz x = const, y = const z = const.

( ) (3.9).
x, y, z :
1

=x
(x + ) 3 (x + 1) = 0,
3
x
r1
r2

=y 1
3 = 0,
y
r13
r2

= z
+ 3 = 0.
z
r13
r2

(3.10)

3.2.

187

:
(i). z = 0, x 6= 0, y = 0 - , Gx,
(ii). z = 0, x 6= 0, y 6= 0 - ,
Gxy,
(iii). z = , x = 0, y = 0 -
, Gz.

(3.10) .
-. (i)
(3.10)
, (3.10)

p
p
y = z = 0, . . r1 = (x + )2 , r2 = (x + 1)2 .
x
(x) = x

(x + ) 3 (x + 1) = 0.
3
r1
r2

(3.11)

(x) :
1
1

(x + )2
+ 3 5 (x + 1)2
5
3
r1
r1
r2

3 = 1 + 2 3 + 2 3 > 0.
r2
r1
r2
(3.12)
(x) ( ) x = , x = 1 (x) = x:
0 (x) = 1 + 3

lim (x) = ,

x0

lim

x10

(x) = , lim (x) = 1 0.

x

(3.13)
, (3.11)

< x1 < ,

< x2 < 1 ,

1 < x3 < . (3.14)

188

3.

. 3.1. (x) = 0.1. : - , M1 , M2 , L1 , L2 , L3 - (

).

x ()
L1 = (x1 , 0, 0),

L2 = (x2 , 0, 0),

L3 = (x3 , 0, 0).

(3.15)

(x) = 0.1 .
3.1.
(3.11) .

x . [5]. [9] 11-

3.2.

189

L1 , L2 , L3 ,
0,01,
, .

.
(3.11)
1/3 (. [5]),
.

(3.11) .
(3.14).
(ii).
(3.10),
z = 0.

1
1
x 1
3 + (1 ) 3 + 3 = 0,
r13
r2
r1 r2
(3.16)

=
0.
1
r13
r23
r1 = r2 ,
,
r1 = r2 = 1.

(3.17)

, M1 M2 ,
, L,
(3.17),
xy M1 M2 L,
. ,
xy - L4

190

3.
1.0

0.5

L1

1.0

M1

L2
0

0.5

0.5

M2
1.0

L3

x
1.5

0.5

1.0

. 3.2. (L1 , L2 , L3 ) (L4 , L5 ) .

y > 0, L5 y < 0.
Gxy :

3
1 2 3
1 2
L4 =
,
, 0 , L5 =
,
, 0 . (3.18)
2
2
2
2

1767 . . .
1772 ., . . ,
, . L1 , L2 , L3
.
. 3.2 Gxy.
(iii) .

3.2.

191

, z
L = (0, 0, ).

(3.19)

(3.10) (3.19).

3.2.4

(3.10) . , xyz . () .
V 2 0, .
(3.7) ,
2 C

x2 + y 2 + 2

1
+ 2 C.
r1
r2

(3.20)

h 0 (.. C
0), xyz, .
C > 0, , .

(3.20)
F (x, y, z) = x2 + y 2 + 2

1
+ 2 = C.
r1
r2

(3.21)

192

3.

(3.21) xyz 0 < C < .

:
- ,
- C1 , C2 , C3 , C4 = C5 , C = 0,
-
: > C2 > C3 > C1 > C4 = C5 > C = 0,
- ,
-
,
- C 0.
- , . ,

F
F
F
= 0,
= 0,
= 0, (F )0 = C,
x 0
y 0
z 0
(3.22)
(...)0 , F
.
, F = 2, (3.22)
(3.10) . ,
(3.21)
L1 , L2 , L3 , L4 , L5 , L .

(3.23)

(3.21), , , :
C1 , C2 , C3 , C4 , C5 , C .

(3.24)

, ,
F (x, y, z)

3.2.

193

. - M1 M2 . CM12 = +.
,
( 0 < 1/2)
> CM12 > C2 > C3 C1 > C4 = C5 > C = 0,

(3.25)

C3 C1
= 1/2, . .
.
( M1
M2 ) F (x, y,
z) (x0 , y0 , z0 )

F
F (x, y, z) = F (x0 , y0 , z0 ) +
(x x0 )+
x
0

F
F
1 2F
+
(y y0 ) +
(z z0 ) +
(x x0 )2 +
2
y 0
z
2
x
0
0

1 2F
1 2F
2
+
(y y0 ) +
(z z0 )2 +
2
2
2 z 0
2 2 y 0
2F
F
(x x0 )(y y0 ) +
(y y0 )(z z0 )+
+
xy 0
yz 0

2F
+
(z z0 )(x x0 ) + . . .
zx 0
(3.26)
.
(3.26) (3.22).
(3.26) ,
, ,
(3.26). , .

194

3.

, (3.23) . ,
, .
? ,

, - (3.22). ,
, ,
.
( ),
. ,
, ( ).

, .
, (.. ),
.
.
( C < C0 ), -
( C > C0 ), .
.
. 3.3 3.4.
C ,
, , , .
.

3.2.

195

. 3.3. .
.

196

3.

. 3.4.
.

C , , . C
, , .
(3.26)
,
L1 , L2 , L3 , Gx. L4 , L5
,
Gz.
L .
.
C = 0. C 0
, C < 0 .
, - M1 M2 .
F . .

3.2.

197

, , C
.

() Z - x2 +
y 2 = C C = , Gz. C
Z.
, L1 , L2 , L3 , L4 , L5 , L , L , M1 , M2
Z.
(3.21) C 0.
C =
M1 , M2 Z.
, C, (3.21)
, , M1 M2 Z - , Gz:
1
= C + 2 , - M1 ,
r1

= C + 3 ,
- M2 ,
r2
2
2
x + y = C + 1 , - , Z,

(3.27)

1 , 2 , 3 - .
C (. . ):
M1 , ( < 1/2)
M2 , .

198

3.

. 3.5. xy.

,
C , .
..
. , ,
C > C2 .
, . ,
( ) - .
C = .
-

3.2.

199

. 3.6. xz.

Z, M1 M2 . , .
, C, . 3.5 3.6, xy xz.
C
, ,
C C2 . C
, ,
,
- L2 .
C ,
.
-

200

3.

. C
,
, .. .
. C > C3 .
C Gx
-
L3 . C < C3 . Gxy
.
C C1
L1 C
x . Gxy
,
.
C
, C = C4 = C5
L4 L5 . C < C4 ( ),
Gxy.
C C = 0
,
C 0
L . . ,
( ) .

3.2.

3.2.5

201

M1 . Gxyz M1 x
eyeze,
n, ( x)
:
x x1 = x
e,

y = ye,

z = ze.

(3.28)

(3.5) (3.9)
U
2nye = = n2 (e
x
e
x + x1 ) +
,
e
x
e
x

U
ye + 2nx
e =
= n2 ye +
,
e
y
e
y

U
ze =
=
,
e
z
e
z

1
2ye = x
x
e 3 (e
x 1),
x
e
e
3
r1
r2

ye + 2x
e = ye 1
3 ,
r13
r2

+ 3 ,
ze = e
z
3
r1
r2

(3.29)

(3.30)

r1 =

x
e2 + ye2 + ze2 ,

r2 =

(e
x 1)2 + ye2 + ze2 ,

(3.31)

0 < < 1.
Gxyz , ,

202

3.

. 3.7. x
e .

. (3.7),
=

(e
x )2 + ye2
+ U.
2

(3.32)

L4 , L5 L M1 x
eyeze ,

!

1 3
3
1
L4 =
,
, 0 , L5 =
,
, 0 , L = (, 0, ),
2 2
2
2
(3.33)
L1 , L2 L3
x

1
x 3 (
x 1) = 0.
3
r1
r2

(3.34)

(3.31) r1 r2
, (3.34)

3.2.

203

x
r13
=
.
x
x 1
1 3 + 3
r1
r2
x

(3.35)

Gxyz.
. ,
Li .
. 3.7.

r1 =
x, r2 = 1 x,
L1 , ..
r1 = x,
r2 = 1 x,
L2 , ..
r1 = x,
r2 = 1 + x, L3 , ..

1 < x < 0,
0 < x < 1,
1 < x < 2,
(3.36)
(3.35)

x5 (2 + )
x4 + (1 + 2)
x3 + (1 )
x2 2(1 )
x+
+(1 ) = 0,
x5 (2 + )
x4 + (1 + 2)
x3 (1 )
x2 + 2(1 )
x
(1 ) = 0,
x5 (2 + )
x4 + (1 + 2)
x3 (1 + )
x2 + 2(1 )
x
(1 ) = 0.

L1
L2

L3
(3.37)

M1 x
eyeze ,
M1 .

204

3.

3.2.6

:
x(t),

y(t),

z(t),

x(t),

y(t),

z(t),

.,
x(t),
y(t),
z(t),
x(t),

y(t),

z(t),

. . . xy,
x(t), y(t), z(t), x(t),

y(t),

z(t),

. . . xz,
x(t), y(t), z(t), x(t),

y(t),

z(t),

. . x,
(3.38)
(t) . . ,
, , xz. (3.9). x(t),
y (t) z(t), (3.9) :

,
[x(t)]

y (t) 2x(t)

=
,
[y(t)]

z(t) =
.
[z(t)]
x(t) 2y(t)

(3.39)

, , , .
, ,
= 1/2, -

3.3.

205

yz
x(t), y(t), z(t), x(t),

y(t),

z(t),

.,
x(t), y(t), z(t), x(t),

y(t),

z(t),

. . yz.
(3.40)

, .
, ,
xz .

3.3

.
1866 . , 1918
, , ,
.
,
.
,
, 1940
( ).

( ) .
( ).

206

3.

3.3.1

G , G
( ) M1 M2 .

U
U
U
m1 m2

=
, =
, =
, U = f
.
+

r1
r2
(3.41)
M2 M1
p
,
(3.42)
r=
1 + e cos v
p - , e - , v .
G

= cos v sin v,

= sin v + cos v,

= .

(3.43)

U
2v v 2 v =
,

U
,
+ 2v v 2 + v =

U
,
=

(3.44)

q
r1 =

q
2
2
2

( 1 ) + + , r2 = ( 2 )2 + 2 + 2 ,
m2 r
m1 r
, 2 =
.
1 =
m1 + m2
m1 + m2
(3.45)

3.3.

207

, ,
Gxyz
= x,

= y,

= z,

1
,
1 + e cos v

(3.46)

, , t v - M2 . ,
,
p
r2 v = c = f p (m1 + m2 ), r = p,
= (0 x + x0 )v,

= (00 x + 20 x0 + x00 )v 2 + (0 x + x0 )v v 0 ,
(3.47)
(3.44)
x00 2y 0 =

,
x

y 00 + 2x0 =

,
y

z 00 =

,
z

(3.48)

v, - ,

1 2
1

2
2
3
=
(x + y ez cos v) + p
+
, (3.49)
2
r1
r2
q
q
2
2
2
r1 = (x x1 ) + y + z , r2 = (x x2 )2 + y 2 + z 2 ,
x1 = p , x2 = p (1 ),
= m2 /(m1 + m2 ), 1 = m1 /(m1 + m2 ).

(3.50)

3.3.2

x = const, y = const, z = const. -

208

3.

(3.48)
1

(x + p) p3 3 (x + p p) = 0,
3
r1
r2
1

y 1 p3 3 p3 3 = 0,
r1
r2

z e cos v + p3 3 + p3 3 = 0.
r1
r2

x p3

(3.51)

,
,
L1 , L2 , L3 L4 , L5 .
, .
(3.51)
e cos v, - .
,

.
.

3.3.3

, ,
,
v. ,
(3.51) x0 , y 0 , z 0 , v
v0 v,
V 2 Vv20

=
2
2

Zv
v0

0 0 0
x +
y +
z dv,
x
y
z

(3.52)

3.3.

209

V 2 = x02 +y 02 +z 02 - M
, Vv20 = (V 2 )v=v0 .
, , e 6= 0.
(3.52) . .
/v,
, (3.52)
Zv

V2
V2
= 0 0
2
2

dv.
v

(3.53)

v0

/v

e sin v
1 2
1
2
2
3
=
x +y +z +p
+
v
r1
r2
(1 + e cos v)2 2
(3.54)
(3.53),
V2
V02
=
0
2
2

Zv
v0

e sin v
W dv,
(1 + e cos v)2

x2 + y 2 + z 2
W =
+ p3
2

+
r1
r2

(3.55)

(3.56)

, , , v =
= 1/(1 + e cos v) = r/p, , (3.53)
V2
V2
= 0 0
2
2

Z
W d.
0

(3.57)

210

3.

(3.57),
x, y, z v. -
(3.48), (3.57) , , .

.
, , (3.48)
,
,
,
Zv

dv = u (v) u (v0 ) ,
v

(3.58)

v0

u(v) - , ,
. (3.58), (3.53)
V2
+ u (v) = h,
2

(3.59)

h = V02 /2 0 + u (v0 ) .

,
.
M , . .
u(v)
M , . h (3.59)
,
v = v0 .

3.3.

211

(3.59)
M , .
M , V 2 /2
u(v), ,
, (..
). . h , .
e = 0 (3.59)
. (3.59) ,
u(v) .
(v+2) = (v)
Zv

dv =
v

v0

Z
W d = u (v) u (v0 )

(3.60)

, u(v) - 2-
: u(v + 2) = u(v). :
v+2
Z

u(v + 2) u(v0 ) =
v0

dv =
v

(v+2)
Z

W d =
0

Z(v)
Zv

dv = u (v) u (v0 ) .
=
W d =
v
0

(3.61)

v9

(3.56) , W ,
u(v) , M

212

3.

. , M . v 0
u() u(v) u(0).
(3.62)
u(v) .
(3.59) (3.62) , V 2 /2 2.

,

Vp2
Va2
V2
a

p,
2
2
2

(3.63)

p , a - .
W
W > 0,
.
W
W
1

= x p3 3 (x + p) p 3 (x + p p) = 0,
x
r
r2
1

= y 1 p3
+ 3
= 0,
3
y
r1
r2

1
W

3
=z 1p
+ 3
= 0.
z
r13
r2

(3.64)

x = p(1
2)/2, y 2 + z 2 = 3p2 /4,
Wmin W :
Wmin = p2

3 (1 )
.
2

(3.65)

3.3.

213

f = W Wmin =
W

1 (1 )
x +y +z
3
=
+p
+
p2
2
r1
r2
2
2

(3.66)

Wmin
,
(3.67)
1 + e cos v
(3.59)
u
e(v) = u(v)

Va2
Wmin
V2
Wmin
a +
+ u () =
+
+ u (v) =
2
1e
2
1 + e cos v
Vp2
Wmin
=
p +
+ u (0) = h.
2
1+e
(3.68)

3.3.4

f 0,
0 = 1/(1 + e) , W

1/(1+e)
Z

f d
W
1/(1e)

1/(1e)
Z

f d
W
1/(1e)

f d = 0,
W

(3.69)

1/(1e)

u
e(v)
u
e() u
e(v) u
e(0) = 0.

(3.70)

(3.67), (3.59)
Va2
Wmin
V2
Wmin
a +
+u
e() =
+
+u
e(v) =
2
1e
2
1 + e cos v
Vp2
Wmin
=
p +
+u
e(0).
2
1+e
(3.71)

214

3.

(3.70), , (3.63):
Vp2
Va2
Wmin
V2
Wmin
Wmin
a +

p +
.
2
1e
2
1 + e cos v
2
1+e
(3.72)
V 2 0,
, (3.59)
u h.

(3.73)

, , (3.70),

Vp2 Wmin
Wmin
p

.
1 + e cos v
2
1+e

(3.74)

+2p3

F = x2
+ y 2 ez 2 cos v+
1

+
2Wmin = C(1 + e cos v),
r1
r2

(3.75)

C = Cp 2Wmin / (1 + e) , Cp = 2p Vp2 .

: p, , e, C v. C
M. p . , , ,
.
p, e, , C v M
(3.75). Wmin =
0, ,
e = 0 ( cos v = 0 e 6= 0)
.

3.3.

3.3.5

215

(3.75) ,
:
1

(x + p) p3 3 (x + p p) = 0,
3
r1
r2
1

y 1 p3 3 p3 3 = 0,
r1
r2

z e cos v + p3 3 + p3 3 = 0.
r1
r2

x p3

(3.76)

(3.75) L1 , L2 , L3 L4 , L5 .
,
. ,
, .
,
v, .. v (3.76)
.
( )
.
, (3.76) z 6= 0
v = const. p3 (1 )/r13 +
+p3 /r23 = e cos v, (3.76), , y (1 + e cos v) = 0, y = 0. ,
xz

216

3.

1
1
4
x (1 + e cos v) p (1 ) 3 3 = 0,
r1 r2
3
31
+ p 3 = 0.
e cos v + p
r13
r2

(3.77)

, cos v >
> 0 .
cos v 0. z (3.77) ,
x . e 6 = (x6 , 0, z6 )
, L
e 7 = (x7 , 0, z 7 ) , x7 = x6 , z 7 = z6 . v = /2 L

L = (0, 0, ), . (3.77) r1 = r2 = 1 cos v = 1 e = 1.
e 0
.
, . 3.8.
M1 M2 , .

3.3.6

(3.75)
C. C, e (3.75), ,
v. ,
C
, C, e

3.3.

217

x, z
2

m = 0.01
1.5

0.05
0.1
0.2
0.3
0.4

1
0.866

0.5

0.2

0.4

0.05

m = 0.01

e cos v

0
0

0.2

0.4

0.6

0.3

0.1

0.8

1.0

. 3.8. L6 . z ,
L7 .

. v 0 (. . 3.9
3.10), , v = 0
v = :

1
2
2
2
3
+
2Wmin = C (1 + e) ,
F0 = x + y ez + 2p
r1
r2
v = 0,
(3.78)

F = x2 + y 2 + ez 2 + 2p3
+
2Wmin = C (1 e) ,
r1
r2
v = .
(3.79)
v v = v = 2 .
v (3.75) -

218

3.

v= p

1.5

v=0

1.0

v= p
0.5

v=0
y

0.0

0.5

1.0

1.5

1.5

1.0

0.5

0.0

0.5

1.0

1.5

. 3.9. xy = 0.3, e = 0.25 C = 1.

v
v = 0 v = 15 .

v= p

v=0
z

v=0
M1

M2

K1
K2
K2

K1

0
x

. 3.10. xz = 0.3, e = 0.25 C = 1.

3.3.

219

,
(3.78) (3.79). .
F0 F e, e 0, ,
.
, . . z = 0,

, C. z = 0
.

y = 0 , ,
z.

C (3.75)
x2 + y 2 ez 2 cos v + = C(1 + e cos v) + 2Wmin ,

(3.80)

. , v ( cos v > 0) z ( cos v < 0),

( cos v = 0)
z.

C,
.
C
(3.79) (3.78), , , M1
2(1 )/r1 + = C(2 + e),

2(1 )/r1 + = C(1 e) (3.81)

220

3.

M2
2/r2 + = C(1 + e),

2/r2 + = C(1 e).

(3.82)

,
, , v=0, , v=.
v(0, ) . M (
), , .
C , . ,
L2
C = (C2 2Wmin )/(1 e).

(3.83)

C , .
. C
.
C .
, .
v= v=0 , () . C(1 e) <
< C2 2Wmin < C(1 + e) , -

3.3.

221

, .
C, C3 2Wmin <
< C(1 e) < C(1 + e) < C2 2Wmin , . C(1 e) <
< C3 2Wmin < C(1 + e)
.
. C(1 e) <
< C1 2Wmin < C(1 + e)
xy ( ) ( ).
C(1 e) < C4,5 2Wmin < C(1 + e)
, xy.
cos v ,
C L6,7 .
C(1 e) < C6,7 2Wmin < C(1 + e) . C(1 e) < C6,7 2Wmin
C(1 + e) > C6,7 2Wmin
v (/2, ]. v /2 , ,
.

v/2 C<0 C ,
.
.
, ,
.
xyz.

222

3.
2

v= p

v=0

v= p
v=0
Y

1.5

1.0

0.5

0.0

0.5

1.0

1.5

. 3.11. XY
= 0.3, e = 0.25 C = 1

v=0
v= p

v=p
v=0

1.5

1.0

0.5

0.0

0.5

1.0

1.5

. 3.12. XZ
= 0.3, e = 0.25 C = 1.

3.3.

223

( )
XY Z, :
X = x, Y = y, Z = z.
(3.84)

XY Z
2
(X 2 + Y
eZ 2 cos v)(1
+ e cos v)+
2
1

2Wmin
+
= C,
+

2
(1 + e cos v)
R1
R2
1 + e cos v

s
R1 =
s
R2 =

X+
1 + e cos v
1
X+
1 + e cos v

(3.85)

2
+ Y 2 + Z 2,
(3.86)

2
+ Y 2 + Z 2.

. 3.9 3.10
=
0.3, e = 0.2 C = 1 xyz, . 3.11 3.12 XY Z.

,
. , , , , ,

.

3.3.7

224

3.

(3.83)
C>

C2 2Wmin
.
1e

(3.87)

v C(1 + e cos v) > C2 2Wmin . C(1 + e) >

> C2 2Wmin > C(1 e),
, v
. C(1 + e) < C2 2Wmin
.

, . e . e1 .

, .

C>

C3 2Wmin
.
1e

(3.88)

- . ,
, C =
= 3.25440 > C2 = 3.0009264.

. (3.88), C2 = 3.0009264
L2 ( ). e =
= 0.01675104, 1:328906, C(1 e) + 2Wmin =

3.3.

225

= 3.23284 > 3.0009264. , .

,
.

. v1 , 1 V1 ,
V , v2 , 2
V2 - ,

V12
V22
Wmin
Wmin
> 0,
+2
(3.89)
1 +
< 0,
2
1 + e cos v1 2
1 + e cos v2

cos v1 > cos v2 , - cos v1 < cos v2 .
a1 , p1 , i1 a2 , p2 , i2 ,
1
2Wmin

2 p1 cos i1

a1
1 + e cos v1
1
2Wmin

> 0,

2 p2 cos i2
< 0.
a2
1 + e cos v2

(3.90)

, ( ).
.
.
.
. -

226

3.

L2
- , , .
, .. ,
. ,
( 0.8 ), , , , , ,
- .
( ) ,
( ),
. .
.

 4



.
.
. , , , .
, .

4.1

M1 , M2 , M3
m1 , m2 , m3 , (2.20) -

227

228

4.

f m 1 m2
f m1 m3
m1~s1 =
~r12
~r31 ,
3
3
r12
r31
f m 2 m3
f m2 m1
m2~s2 =
~r23
~r12 ,
3
3
r23
r12
f m 3 m1
f m3 m2
m3~s3 =
~r31
~r23 ,
3
3
r31
r23

(4.1)

~r12 = ~r21 = ~s2 ~s1 , ~r23 = ~r32 = ~s3 ~s2 , ~r31 = ~r13 =
~s1 ~s3 .

~rij = ~sj ~si , ~rij = ~s j ~s i , ~rij = ~sj ~si ,
(i, j = 1, 2, 3, i 6= j)

(4.2)

(4.1) (2.66):
f (m1 + m2 )
f m3
f m3
~r12 =
~r12 + 3 ~r23 + 3 ~r31 ,
3
r12
r23
r31
f m1
f m1
f (m2 + m3 )
~r23 + 3 ~r31 + 3 ~r12 ,
~r23 =
3
r23
r31
r12
f (m3 + m1 )
f m2
f m2
~r31 =
~r31 + 3 ~r12 + 3 ~r23 .
3
r31
r12
r23

(4.3)

,
. ,
.
- () , , , . .
() -

4.1.

229

, . ( )
,
, .
, .
,
rij /rsk ,
- .
, , , . ,
() ,
.
, .
,
M1 M2 M3 . :
~r12
~r23
~r31
=
= ,
r12
r23
r31
r23
= = const,
r12

r12 + r23 = r31 ,

r31
= 1 + ,
r12

(4.4)

- .
(4.4) (4.3)
:

f
m3
m3

~r12 = 3 m1 + m2 2 +
~r12 ,
r12

(1 + )2

f m2 + m3
m1

~r12 = 3
+
m1 ~r12 ,
(4.5)
r12
2
(1 + )2

f m3 + m1
m2

(1 + )~r12 = 3
+ m2 + 2 ~r12 .
r12 (1 + )2

230

4.

, (4.5)
. ,
(4.4), , (4.5).
.

m3
m3
m1 + m2 2 +

(1 + )2

(4.6)
m1
m2 + m3

+
m1 = 0,
2
(1 + )2
:
(m1 + m2 ) 5 + (3m1 + 2m2 ) 4 + (3m1 + m2 ) 3
(m2 + 3m3 ) 2 (2m2 + 3m3 ) (m2 + m3 ) = 0.

(4.7)

,
(4.6) =
= . (4.5)
,

~r12

m3
m3
~r12

, (4.8)
~r12 = 0 3 , 0 = f m1 + m2 2 +
r12

(1 + )2
~r23 ~r31 (4.4).
, (4.8) M2 M1 0 , ..
() -.

4.1.

231

. 4.1. . M1 , M2 , M3
, . , , ,
G.

, , , .. , - .
, , M1 M2 M3 .
, :
M2 M3 M1 M3 M1 M2 . (4.7) .
() , .. ,
M1 , M2 , M3
:
r12 = r23 = r31 ,

~r12 + ~r23 + ~r31 = 0.

(4.9)

232

4.

. 4.2. .
M1 , M2 , M3 , . (, ,
G).

(4.3)
fm
~rij = 3 ~rij ,
rij

(4.10)

m = m1 + m2 + m3 ; i, j = 1, 2, 3; i 6= j.
, (4.3) , Mi Mj

f m, .. (4.10).
(4.9) (4.10)
-
M1 M2 M3 , .

4.1.

233

(4.10) ,

.
120 .
(4.1)
(4.9)
i
~si = 3 ~si ,
si

(i = 1, 2, 3),

(4.11)

i =

f (m2i+1 + m2i+2 + mi+1 mi+2 )3/2

.
m2

(4.12)

mi+1 mi+2
m4 m5 , m1 m2
.
(4.11) , (, , ) ,
, ( e < 1) ,
si =

pi
,
1 + e cos v

ci = s2i v =

i pi ,

(4.13)

si j i
p
msi = rij m2i+1 + m2i+2 + mi+1 mi+2 ,
(4.14)
2
rij
= s2i + s2j 2si sj cos(j i ).
(e = 1)
.
, , ()

234

4.

() . .4.1 4.2 . .
, .

4.2

, ,
, . ,
.
, . , , - .
.
, , , . ,
, , . . , -
,
.

4.2.

235

,
, . ( , ), , , . ,
, , ,
, ,
. , , ,
- , .
( ) .
, ,
,
, . ,
, .
r12 ,
r23 r31 , rij - Mi
Mj (i = 1, 2, 3; j = 1, 2, 3; i 6= j).
r12 r23 r31 ,

0 r12 r23 + r31 , 0 r23 r31 + r12 , 0 r31 r12 + r23 .

(4.15)

236

4.

,
P ,
.

T U = h,

(4.16)

T - , U - , h - .
(4.15) T 0
( h < 0):
U C,

(4.17)

C = h. - , , O,
P . T < 0
.
P
,

m1 m2 m2 m3 m3 m1
U =f
+
+
= C,
(4.18)
r12
r23
r31
f - , m1 , m2 ,
m3 - M1 , M2 , M3 . (4.18), P , (4.17), -
, U < C.
P . O . , , M3 M1 M2

4.2.

237

. 4.3.

, , r12 /r23
r12 /r31 ,
f m1 m2
f m3
r12
r12
+ 1 , 1 =
(m2 2 + m1 3 ), 2 =
, 3 =
,
C
C
r23
r31
(4.19)
1 , 2 3 - . ,
M3 ,

r12 =

r12

f m1 m2
,
C

r23 ,

r31 .

(4.20)

M2 M1 .
, , , h < 0
() . -

238

4.

- (
) .

, . 4.3,
: P
OADE - .
,
O, , ADE.
, P , . ,

,

- . , , ,
(4.15).

-, , , P ,
, A
P .
r12 , r23 , r31 q12 , q23 , q31

2
1
(4.21)
r12 = q12 q31 ,
3
3
1
1
1
r23 = q12 + q23 + q31 ,
3
2
6
1
1
1
r31 = q12 q23 + q31 .
3
2
6
Oq12 q23 q31 , Oq12
P .

4.2.

239

P q12 = d, d - ,
ADE ,

d 3/ 2.
(4.18) q12 = d d (0, )
C (0, ), , ,
C d. ,

O.
(4.18) , -
. ,
, C
d, d = 1.

. , m = m1 +m2 +m3 = 1,
, f = 1. .
.
4.1
Or12 r23 r31 Oq12 q23 q31 .
(4.18)

m1 m2
m2 m3

U=
+ 1
+
q12 + 1 q23 + 1 q31
1 q12 2 q31
3
2
6
3
3
(4.22)
m3 m1
+ 1
=
C.
q12 1 q23 + 1 q31
3
2
6
. 4.4 4.5 (4.22)
m1 = 1/2, m2 = 1/3, m3 = 1/6. q12 = d ,

240

4.
4.1. d = 1.

Or12 r23 r31

O
(0, 0, 0)

A
(0,
3/2,

3/2)
D
(3/2, 0,
3/2)
E
( 3/2,
3/2,
0)
F
( 3/2, 3/4, 3/4)

Oq12 q23 q31

(0, 0, 0)

(1,
0,
1/
2)

(1, 3/(2 2), 1/(2 2))

(1, 3/(2 2), 1/(2
2))

(1, 0, 1/(2 2))

4.2. 4.1.

Op12 p23 p31

O
(0,
0, 0)
A
(1/
2, 0, 1)

D
(3/(2 2), 3/(2 2), 0)
E
(3/(22), 3/(22), 0)
F
(3/(2 2), 3/(4 2), 0)
C
: A ( A M1 M2 ),
r12 M1 M2 , M3
M1 M2 ,
D, r23 , E r31 .
q23 = 0 ,
,
.
q12 = 1 ,
C A, D, E , C , ADE.
.
C ADE , -

4.2.

241

. 4.4.
q12 = 1 m1 = 1/2, m2 = 1/3, m3 = 1/6. - OADE,
: 1 - C = 1, 2 - C = 0.625, 3 - C = 0.575, 4 C = 0.51.

. 4.5.
q23 = 0. - . 4.4.

242

4.

, . . C ,
ADE.
C , q12 = 1 , , q12 > 1.
4.4 4.5 q23 = 0.
C 0 ,
P .

(4.22) ADE C , .. ,
- .
q23 = 0. , , ADE. , ,
. h < 0
, , .

, .
, h < 0
, .
h 0. ,
,
.
-

4.2.

243

, (2.56):
2I(U + h) c2 0,

(4.23)

c - , h - . I

:
2
2
2
m1 m2 r12
+ m2 m3 r23
+ m3 m1 r31
.
(4.24)
I=
m1 + m2 + m3
, (dI/dt)2
0, (4.23) ,
:
S(r12 , r23 , r31 ) = I(U C) B,

(4.25)

C = h, B = c2 /2 - .
, ,
S(r12 , r23 , r31 ) = B :

2
2
2
m1 m2
m1 m2 r12
+ m2 m3 r23
+ m3 m1 r31
f
+
m
r12

(4.26)
m2 m3 m3 m1
+
+
C = B,
r23
r31
f - , m = m1 +
+m2 + m3 .
(4.23) (4.26) . , B = 0.
,
. Or12 r23 r31

244

4.

Oq12 q23 q31 . , Op12 p23 p31 , Or12 r23 r31

2
1
r12 = p12 + p31 ,
(4.27)
6
3
1
1
1
r23 = p12 p23 p31 ,
6
2
3
1
1
1
r31 = p12 + p23 p31 .
6
2
3
, Op31 ODE P , Op12 DOE, Op23 .
4.2.

:
m1 m2
f m1 m2
S
=2
r12 (U C)
I = 0,
2
r12
m
r12
S
m2 m3
f m2 m3
=2
r23 (U C)
I = 0,
2
r23
m
r23
S
m3 m1
f m3 m1
=2
r31 (U C)
I = 0.
2
r31
m
r31
:
s
f mI
.
r12 = r23 = r31 = 3
2(U C)

(4.28)

(4.29)

(4.28) U (4.18) I
(4.24). , (4.29), rij :

f m
rij rij
= 0,
(i, j = 1, 2, 3; i 6= j).
(4.30)
2C
m = m1 m2 + m2 m3 + m3 m1 .

4.2.

245

(4.30)

f m f m f m
L45 =
,
,
.
(4.31)
2C 2C 2C

L4 L5 , .
P . C
.
P .
L45 (4.26), C
B = B45 , L45 :
3
f 2 m
B45 =
.
(4.32)
4mC
(4.30)
rij = 0 ( ),
L0 (4.26), O: L0 = (0, 0, 0). B = B0 = 0. L0
, C .
L45
,
Oq12 . L0 .
B, .
(4.28)
. . , ( P ) -

246

4.

, P .
P , (4.28).

P . .
, , . , , ODE,
r12 = r23 + r31 ,

(4.33)

(4.7),
r23 = r31 ,

r12 = (1 + )r31 ,

(4.34)

- (4.7).
, P , .

,
P . L1 , L2 , L3 B1 , B2 , B3 ,
.
, r12 r23 r31
, P . S , , , ,
L1 S/p13 6= 0.

4.2.

247

.

q12 = d, q23 = 0 ODE (p31 = 0) P
.
d q12
L1 .

0.
P . , P ,
,
.
, B = 0 (4.25)
U C,
, U = C. ,
C B P ,
. , ,

B = 0 .

,
, B = 0.
B 0
C > 0.

248

4.

C
. P , , C
0 B < . C , .
B = . P ,

, , O.
B , ,

P . O B ,
,
,
C. , ,
M3
, ,
(4.19). (4.20), B
C.
.
, ,
O - . . 4.6, . 4.7 4.8
:
m1 = 1/2, m2 = 1/3, m3 = 1/6.

4.2.

249

. 4.6.

. -, ,

. ,
.
-,
( ), ,

.

, ,
. ,

250

4.

, .
.


,
C
. ,
, .. .
, .
B ,
B1 ,
L1
ODE P .
OAD P , ..
( ) .
q12 = (q12 )L1 (
) L1 D
E. L1
.
, B < B1 ,
, : M3 M1
M2 , . B < B1
M1
M2 . B < B2 , , B < B3 M2
M1 M3 .
,
B1 = B2 = B3 .
B3 P ,
. -

4.2.

251

. 4.7. q12 = 1
C = 0.6 m1 = 1/2, m2 = 1/3, m3 = 1/6. : 1 B = 0.05, 2 B = 0.0167, 3 B = 0.0119, 4 B =
= 0.005, 5 B = 0(
).

. 4.8. q23 = 0.
- . . 4.7

252

4.

. , B = B45 L45 .
B
.
. -
O, - L45 .
,

. ,
L45 .
B 0 O L45 O,
U = C.
B 0
P
C > 0 .
( ) C > 0
.
C 0,
. C = 0.6
. 4.9 4.10. ,

.
B
.

,
,

4.2.

253

.. .

, . , , ..
: M1 M2 , M2 M3 , M3
M1 . -,


, .
,
, , .
- - .
,
.

.
Mi Mj , aij > 0
, t (, +),
t0 ,
rij (t) aij = const,

(4.35)

rij - Mi Mj ,
. aij r12 r23 r31
rij = 0 ( ) . -

254

4.

. 4.9. q12 = 1
C = 0.6 m1 = 1/2, m2 = 1/3, m3 = 1/6.
: 1 B = 0.3, 2 B = 0.016, 3 B = 0.012, 4
B = 0.107, 5 B = 0.05.

. 4.10. q23 = 0.
- . . 4.9

4.2.

255

aij rij
L1 L2 .
,

- . ,
.
M1 , M2 , M1 , M3
M2 , M3 .
,

, .
.

,
.
.

, C
B1 . C B .
. 4.11.
. C B, , . C B,
.
C 0
.
1, 2, 4, . 4.11,
:
M1 M3 , M2 M3 , M1 M2 . B < B1

256

4.

. m1 m2 > m3 ,
M1 M2 B B2 , B2 < B1 - ,
L2 .

. M1
M3 M2 M3
, M3 M1
M2 (. . 4.7 4.8). B = B2
. 4.11 ( 3). B3 ,
. 4.7 4.8.
m1
m2 m3 :
B B1 ,
B B2 M1 M2
,
(4.36)
B2 < B1 m1 m2 > m3 B2 = B1 m1 m2 = m3 .
(4.36)
, ,
.
, (4.35) .
(M1 ) (M2 ) - (M3 ).
B = 0, 4658 105 , C = 0, 1064 103
B1 = 0, 4492 105 C, , B > B1 , .. (4.36)
. . L1 -

4.2.

257

. 4.11. . : 1 - m1 =
= m2 = m3 = 1/3, 2 - m1 = 1/2, m2 = 1/3, m3 = 1/6 (
), 3 - ,
M1 M2 , 4 - m1 = m2 = 0.495, m3 = 0.01.

r12 , r23 , r31 ( ..):

L1 = (5, 937; 0, 4286; 5, 508).
t0 = JD 244 1200.5
:
r12 (t0 ) = 5, 060; r23 (t0 ) = 13, 02; r31 (t0 ) = 9, 016.

5, 060 < 5, 937;

13, 02 > 0, 4286;

9, 016 > 5, 508,

, -- - -

258

4.

-.
, 5,937 ..
- . ,
.
.
, - , , (
)
.
, , , - B = c2 /2.
:
- h 0, B 0 lim I = ,
t

,
- h B lim I = ,
t

, ,
- h < 0, I < I0 = const B > B1 ,

( ),
- h < 0 B > B1 , M3
M1 M2 .

, . ,
, . , .
"" ,
. : ,
.

5.1

,
, . .

259

260

5.

(), . .
, .
-1 -2
1964 .
, , . "" , , ,
,
. () , .
( - - )

. , .. ,
. .
,
.
(1.279) F~ = 0:
m

dV~
dm
=w
~
.
dt
dt

(5.1)

w
~ = const, (5.1)
m
V~ = V~ V~0 = w
~ ln
(5.2)
m0

5.1.
V~0 = 0
m
V~ = w
~ ln
.
m0

261

(5.3)

(5.3) .
. , V~
m
w.
~ ~
(F = 0),

,
Rt
|F~ |dt. t0

. , , .
, .

, ,
. 1924 .

. ,
V1 ( )
, . ,

.
V2 ( )
.

262

5.

. .
,
V

"r
= VI

V =!V1+ V2 =
s
!#
r
2k
1
2
1 +

,
1+k
k
k(1 + k)

(5.4)

VI - , k = rF /ri -
.
,
, , . , ,
.
, .
, I, rI
V~I ,
1, V~1 .

V~1 = V~I + V~1 ,

(5.5)

1 .

- , F rF

5.1.

263

V~F ,
2. V~2 ,
- 2 .
,
V~2 ,
V~2 = V~F + V~2 .

(5.6)

p
V1 = V12 + VI2 2V1 VI cos 1 ,
(5.7)
p
V2 = V22 + VF2 2V2 VF cos 2 ,
, ( ),
,
V = V1 + V2 .

(5.8)

(5.7) (5.8)

V = V (V1 , V2 , 1 , 2 ).

(5.9)

V12

2
2
= V22
,
rI
rF

V1 rI cos 1 = V2 rF cos 2

(5.10)

.
(5.10) V1 V2

v

u
u
1
1
u 2

u
rI cos 1
rI
rF
u
V1 = u
V2 = V1
.
(5.11)

2 ,
rF cos 2
rI cos 1
t
1
rF cos 2

264

5.

(5.11) V1
V2 1 2 .
(5.7), (5.8), (5.9)
1 2
V = V (1 , 2 ).

(5.12)

1 2 V
,
sin 1 sin 2 .
V (1 , 2 )

V
V
V
V
= sin 1
= 0,
= sin 2
= 0.
1
(cos 1 )
2
(cos 2 )
(5.13)
, :
V1
V2
V
=
+
,
(cos 1 )
(cos 1 ) (cos 1 )
(5.14)
V
V1
V2
=
+
,
(cos 2 )
(cos 2 ) (cos 2 )
V1
V1 VI V1 VI cos 1 V1
=
+
,
(5.15)
(cos 1 )
V1
V1
(cos 1 )
rI2 cos 1
,
(5.16)

2 2
rF cos2 2
rI cos 1
1
rF cos 2
V2
V2 VF cos 2 V2
=
,
(5.17)
(cos 1 )
V2
(cos 1 )
V2
rI
V1 rI cos 1
= V1
+
.
(5.18)
(cos 1 )
rF cos 2 (cos 1 ) rF2 cos 2
cos 2 .

V1
=
(cos 1 )

V1

sin 1 = sin 2 = 0,

(5.19)

5.2.

265

.. , (s = 0 s = ,
s = 1, 2),
.

, , ( - ).
. , , ,
( ) , .
,
, . ,

- , - - ( ).

.
.

5.2

, (

266

5.

).

. .
:
"

r n
X
fm
0
U=
1
Jn
Pn (sin )+
r
r
n=2
#
X
n
X
r0 n
+
Pnk (sin )(Cnk cos k + Snk sin k) ,
r
n=2 k=1
(5.20)
m - , r, , - ,
, r0 - , Pn - , Pnk - , Jn , Cnk , Snk - , .
, , . . ,
, . .
J2 = 1, 082103 , J3 = 2, 57106 , J4 = 1, 84106
... J2 106
.

J2 . ,
500 , ()
, ,

5.3.

267

:
1 ' 0, 5 cos i, 1 ' 0, 25 (5 cos2 i 1),
1 M0 ' 0, 25 (3 cos2 i 1).

(5.21)

, .
. , : i < 90 - , i > 90 - , i = 90
.
: i < 63, 5 i > 116, 5,
63, 5 < i < 116, 5. i = 63, 5 i = 116, 5 .
.
,
(5.21)
. ,
.

5.3

~ = {Qx , Qy , Qz },
Q

(5.22)

Qx - , Qy -
, Qz - . ,
, . .

268

5.

V 2
Qx =
cx S,
(5.23)
2
- , V - , S - ( ), cx - .
(5.23) , ,
. ,
,
Qx
= q,
m

(5.24)

cx S
V 2
=
- , q =
- m
2
.

( ),
, cx ' 1.
( ), , cx = 2 2.2.
.
, ( ) , ,
.
.
, .

5.3.

269

, , . :
- , k = max /min
k = 2 10,
- 27 ( ) - k = 2 3,
- - k = 2 3,
- 11- - k = 3 20,
- ( ) - k .


- 110- , 1100-
.
, .
, ,
. ,

(5.25)
r = 2gr2 ,
V = g r,
- , g - . (5.25) , .
.
(
) , , , .
, , -

270

5.

.
.

,
. , ,
.
(
150200 ). ,
.
.
.


[1] ... . .: , 1977.
[2] .., .-, ..
.
. - . - . 2007.
[3] .., ... . .: , 1971.
[4] .., ...
. . -. . -, 1985.
[5] ... .
. .: , 1975.
[6] ... . . .: , 1964.
[7] ...
. .: , 1978.
[8] .. . .-: - .
., 2004.
[9] ., . .: , 1982.
[10] ... .
.: , 1968.

271

272

[11] .. .
.: , 1967.
[12] .., ... . : - , 2007.
[13] .. . .: , 1966.
[14] ., .. . .: , 1975.
[15] ... . .: , 1965.
[16] .. . .: , 1971.

.1.

.1

273

1.
. , , .
.
2. .
.
3. .
4. . .
5. .
.
6. .
7. .
8. ,
.
9. .
10. .
11. .
12. , .
13.
.
14. .
15. .
.
16. -

274

, ,
.
17. . .
18. .
.
19. . , .
20. .
21. .
22. .
23. .
24. .
25.
.
26.
.
27.
. .
28.
.
.
29. . . - --.
,
.
30. . . .
.
31. -, .

.1.

275

32.
. . , .
33. . .
34. -
, .
35. - , .
-.
36. .
. - .
37. ,
.
38.
. . , .
39.
.
40. .
41. . .
42.
.
43. . .
44. .
. .
45.

276

.
46. .
47.
. . .
48. . .
49.
.
50. .