,
.. , ..
-
,
090800, 170200, 553600
2002
534.01
-35
/ .. ,
.. , .. , .. . : , 2002. 108 .
ISBN 5-88179-285-8
, .
. , . .
, ,
.
, ,
.
: -
(. . . ., .. ); . . ., .. .
, 2002
.., .., .., .., 2002
ISBN 5-88179-285-8
..................................................................................................................... 4
I. ........................................ 5
1.1 ............................................................................... 5
1.2. ................................................................................ 6
1.3. ............................................................................................ 8
1.4. ................................................................................................ 9
1.5. ............................. 11
II. ......... 20
2.1. ...................................................................................................................... 20
2.2. . ............................................................. 21
2.3. ........................................................................ 23
2.4. ....................................................... 26
2.5.
.................................................................................................. 29
2.6.
............................................................................................................. 30
2.7. ........................ 31
III. ................ 39
3.1.
............................................................................................... 39
3.2.
, ......................................................... 42
3.3. ............ 46
IV. ........... 59
4.1.
................................................................ 59
4.2. ...................................................................................................... 63
4.3. .......................................................................................................... 66
4.4. ..................................................................................... 68
4.5.
............................................................................................... 70
V. ................ 78
5.1.
........................................................................ 78
5.2. .................................................................................................. 80
5.3. ............ 81
VI. ........ 93
6.1.
................................................................................................................... 93
6.2. .......................................................................... 95
6.3. ..... 98
.......................................................................................... 107
.
, . ,
.
-, , .
.
.
, -.
5
I.
I.I.
s ,
,
= (q1 , q2 ,....., qs ) ,
q j
(1.1)
( j = 1, 2,K , s ) .
, qj . ,
, qj
1 S S 2
= () + (
)0 q j + (
)0 qi q j + K .
q
2
q
j =1
i =1 j =1
j
i
j
S
(1.2)
,
,
(0) = 0.
(1.3)
Qj =
q j
( j = 1, 2,K , s ) .
(1.4)
Qj = 0
( j = 1, 2,K , s ) ,
q j
= 0
0
( j = 1, 2,K , s ) ,
(1.5)
j =1 q
j
q j = 0 .
0
(1.6)
,
s
6
(1.2.)
1 S S 2
=
2 i =1 j =1 qi q j
qi q j .
0
(1.7)
qi q j
= cij = c ji ,
0
(1.8)
cij - .
1 S S
= cij qi q j .
2 i =1 j =1
(1.9)
(1.9.) , .
1.2.
, n ,
[1]
1 n
T = mk vk2 ,
2 k =1
(1.10)
mk v k - .
,
_
(k = 1, 2,..., n) ,
= r k ( q1 , q2 ,..., qs )
(1.11)
r k - k - .
vk2 = v k v k
v k
_
drk
dt
r k
q1
q1 +
r k
q2
q 2 + ... +
r k
qs
qs .
(1.10)
(1.12)
7
2
2
2
1
T = ( A11 q1 + A22 q 2 + ... + ASS q S + 2 A12 q1 q 2 + ... + 2 AS 1,S q S 1 q S ) ,(1.13)
2
_
rk
A11 = mk
q1
k =1
_
rk
Ass = mk
qs
k =1
_
n
, A22 = mk r k
q2
k =1
,...,
_
_
r
r
, A12 = mk k k ,...,
q1 q2
As 1,s = mk
k =1
rk rk
.
qS 1 qS
Aij
Aij = ( Aij )0 +
j =1 A j
S
q j + ...
0
(i = j = 1, 2,..., s ) .
(1.14)
0 .
, (1.14) [2]
(i = j = 1, 2,..., s ) .
(1.13)
2
2
1 2
T = a11 q1 + a22 q 2 + ... + aSS q S + 2a12 q1 q 2 + 2aS 1,S q S 1 q S (1.15)
2
1 S
T=
2 i=1
j =1
aij q i q j .
(1.16)
aij .
(1.16) , o
.
8
1.3.
,
. .
, R k (k = 1, 2,..., n) ,
,
_
R k = k v k
(k = 1, 2,..., n) ,
k .
[1]
n
Q j R = Rk
k =1
rk
r
= k vk k
q j
q j
k =1
n
( j = 1, 2,..., s ) .
(1.17)
vk =
rk
rk
rk
q1 +
q 2 + ... +
qS ,
q1
q2
qS
vk
qj
rk
.
q j
(1.18)
(1.18), (1.17)
n
Q = v
R
j
k =1
qj
qj
vk2
k =1
( j = 1, 2,..., s ) .
(1.19)
, [2]
n
vk2
k =1
(1.20)
Q Rj =
( j = 1, 2,..., s ) .
(1.21)
qj
[2]
1 S S
= ij q i q j ,
2 i =1 j =1
(1.22)
ij .
1.4.
, s , s qj ( j = 1, 2,..., s ) .
[1]
S
(Q
+ Q j ) q j = 0 ,
(1.23)
j =1
Qj , j- ;
Q uj , j- ;
q j j - .
, q j ( j = 1, 2,..., s ) ,
(1.23) , q j , ..
Q j + Qj = 0 ( j = 1, 2,..., s )
Q j = Q j
( j = 1, 2,..., s ) .
Q uj .
[1],
(1.24)
10
n
Q j = k
k =1
rk
d vk r k
= mk
1
=
k
q j
dt q j
n
( j = 1, 2,K , s ) ,
(1.25)
d vk
- .
k = mk a k = mk
dt
_
_ _
d vk r k d r k
=
vk
q j
dt q j dt
_
_
vk d r k
dt q j
(1.26)
r k = r k ( q1 , q2 ,..., qs ) ,
_
d rk rk
rk
rk
vk =
=
q1 +
q 2 + ... +
qs ,
dt
q1
q2
qs
_
vk
qj
_
d rk
dt q j
rk
(1.27)
qj
_
_
d
r
v
k
k
=
=
.
q j dt
q j
(1.28)
=
t q j dt
qj
_
_
vk2
v
d
k
vk
=
q j dt 2 q
j
2
vk .
2q j
(1.29) (1.25)
d vk2
Q j = mk
dt
k =1
2 q j
n
q j
2
v
d
k
dt q
q
2
j
j
mk vk2 d
=
dt q
2
k =1
j
.
q j
mk vk2
2
k =1
(1.29)
11
, ,
n m v2
k k = T .
k =1
2
(1.24),
d
dt q
j
= Q
j
q j
( j = 1, 2,K , s ) .
(1.30)
(1.30) .
.
, , ,
[1]
Qj =
q j
( j = 1, 2,K , s ) ,
(1.31)
.
, :
d
dt q
j
=
q j
q j
( j = 1, 2,K , s ) .
(1.32)
1.5.
1. ,
, (. 1.1).
, ,
m1.
m2
,
.
.
.
. 1.1
.
12
1
1
T = m1 z 2 + J x 2 .
2
2
J x = m2 R
2
z
= ,
R
1
T = ( m1 + m2 ) z 2 .
2
1 2:
2
c
z c
2 = f + f 2 ,
2
2 2
1 = m1 gz;
f .
C,
cfz cz 2
= 1 + 2 = m1 gz +
+
.
2
8
z = 0
z=0
1
= m1 g + cf = 0 ,
2
1
8
.. 2m1 f = cf , , = cz 2 .
d T T
=
.
dt z z
z
,
T
= (m1 + m2 ) z ,
T
= 0,
z
d T
= ( m1 + m2 ) z ,
dt z
1
= cz.
z 4
13
1
( m1 + m2 ) z + cz = 0 z + k 2 z = 0,
4
k 2 =
(1)
c
.
4(m1 + m2 )
(1)
.
2. m (. 1.2) , 1 2.
l 1 l 2 . ,
J,
, .
)
. 1.2
.
, .
y (. 1.2,).
[1]
1 2 1 2
T = m y + I .
2
2
1 2
= 1 + 2 .
:
14
1 = mgy .
:
2 = C1 + 2 ;
1 =
1
1
c1 ( f1 + y + l1 ) 2 f12 c1 ;
2
2
1
1
C2 = c2 ( f 2 + y l 2 )2 f 22 c2 ,
2
2
f1 f2 .
1
= mgy + c1 ( y + l1 )2 + c1 f1 ( y + l1 ) +
2
(1)
1
+ c2 ( y l 2 )2 + c2 f 2 ( y l 2 ).
2
y = 0 = 0 [1]
y =0
=0
= 0;
y =0
=0
= 0.
(2)
y =0
= mg + c1 ( y + l1 ) + c1 f1 + c2 ( y l 2 ) + c2 f 2 y =0, =0 =
=0
= mg + c1 f1 + c2 f 2 ,
y =0
=0
= c1 f1l1 c2 f 2 l 2 .
, (2)
mg + c1 f1 + c2 f 2 = 0,
c1 f1l1 c2 f 2 l 2 = 0.
(3)
15
(3),
(1)
1
1
= (c1 + c2 ) y 2 + (c1l1 c2 l 2 ) y + (c1l12 + c2 l 22 ) 2 .
2
2
d T T
y
dt y y
d T T
dt
= m y,
d T
= m y,
dt y
T
= 0,
y
= (c1 + c2 ) y + (c1l1 c2 l 2 ) ,
y
T
= I,
d T
= I,
dt
T
= 0,
= (c1l1 c2 l 2 ) y + (c1l 12 + c2 l 22 ) .
m y + (c1 + c2 ) y + (c1l 1 c2 l 2 ) = 0,
(4)
I + (c1l 1 c2 l 2 ) y + (c1l 12 + c2 l 22 ) = 0.
(4)
.
3. , ,
(. 1.3), J1, J2, J3.
16
, , ,
, .
.
.
1 , 2 3 .
. 1.3
1 2 1
1 .2
2
T = I1 1 + I 2 2 + I 3 3 .
2
2
2
1
1
c(1 2 ) 2 + c(3 2 ) 2 .
2
2
d T T
=
,
1
dt 1
1
d T T
=
,
2
dt 2
2
d T T
.
3
dt 3
3
.
T
d T
=
J
=
0
;
;
;
= c(1 2 ) ;
J
=
1
1
1
1
dt
1
1
1
1
= J2 2 ;
T
d T
;
= 0;
=
J
2
2
dt
2
2
= c(1 2 ) c (3 2 ) ;
2
(1)
17
d T
= J 3 3 ;
dt
3
= J3 3 ;
T
= 0;
3
= c(3 2 ) .
3
3
(1),
:
J1 1 + c1 c2 = 0,
J 2 2 c1 + 2c2 c3 = 0,
J 3 3 c2 + c3 = 0.
(2)
4. .
l , m.
, R = v ,
.
(. 1.4).
. 1.4
.
.
, .. q1 = x A , q2 = .
1
1 2 2
2
T = (3M + 2m) xA + ml + ml x A cos .
4
2
(1)
= 1 + 2 ,
1 , 2
. , .
,
18
1 = mg l ( l cos ) ; 2 =
1 2
cx A ,
2
1
= mg l ( l cos ) + cxA2 .
2
(2)
(1.20)
1 2
= xA.
2
(3)
d T T
,
x A x
dt x x A
A
A
d T T
.
dt
1
l
=
(3
M
+
2
m
)
x
+
m
cos ;
A
2
xA
d T 1
= (3M + 2m) x A + ml cos ml 2 sin ;
dt x 2
A
T
= 0;
x A
= cx A ;
x A
xA
= xA ;
= ml + ml x A cos ;
2
d T
2
= ml + ml xA cos ml x A sin ;
dt
(4)
19
= mg l sin ;
T
= ml x A sin ;
= 0.
(4),
20
II.
2.1.
.
.
,
. , ,
, , . , - , ,
.
, , , .
, . ,
, .
, , ,
: , , , .
.
.
. IX
, .
, , , .
21
2.2. .
.
W = W ( x1 , x2 ,K , xn ) , [3]
n
x
i =1
2
i
(2.1)
.
, (2.1) , , x1 , x2 ,K , xn ,
W (0) = 0 .
(2.2)
, W
.
, x1 ,K , xn , W ( - -). W,
, .
x1 = 0 (i = 1, 2,K , n) ( -
- ).
W(x),
. x1 = 0 (i = 1, 2,K , n)
, , , , ,
= 0 (i = 1, 2,K , n) .
xi 0
W x1 , x2 ,K , xn
W
1 n n 2W
W = W (0) +
xi +
xi xk + ...,
x
2
x
x
i =1
i =1 k =1
i 0
i
k 0
n
.
(2.2) (2.3),
(2.3)
22
1 n n 2W
1 n n
W =
xi xk + ... = cik xi xk + ... ,
2 i =1 k =1 xi xk 0
2 i =1 k =1
(2.4)
2W
cik = cki =
(k = 1, 2,K , n) .
xi xk 0
(2.5)
1 n
2 i =1
c
k =1
xx
(2.6)
ik i k
x1 = K = xn = 0 , xi W
x1 = K = xn = 0 . , (2.6) -, W .
, - :
-, ,
, :
1 > 0, 2 > 0, , n > 0.
(2.7)
(2.6)
C=
c11
c12
K c1n
c21
c22 K c2 n
K K K
(2.8)
cn1 cn 2 K cnn
(2.7), :
1 = c11 > 0, 2 =
c11
c12
c21
c22
c11 c12
c21 c22
> 0 ,..., n =
K K
cn1 cn 2
K
K
K
K
c1n
c2 n
. (2.9)
K
cnn
23
W -, W
-. W .
:
1 < 0,
2 > 0,
< 0, ... ,
(2.10)
,
1= c11 .
2.3.
, [3].
,
y j = Yi ( y1 , y2 ,..., yn , t )
( j = 1, 2,K , n) .
(2.11)
Y i y1 ,K , yn t.
y1 = f1 ( t ) ,K , yn = f n ( t )
(2.12)
(2.11),
(2.13)
t = t0 yi = f i ( t0 ) (i = 1, 2,K , n) .
(2.13), y i
i , t = 0:
yi = fi ( t0 ) + i
(i = 1, 2,K , n) .
(2.14)
,
(2.14), , 1 , 2 ,K , n
.
yi
yi ( t ) , fi ( t ) -
xi = yi ( t ) fi ( t )
(i = 1, 2,K , n) .
(2.15)
xi yi . , ..
24
xi = 0
(i = 1, 2,K , n) ,
(2.16)
yi ( t ) f i ( t ) .
x1 , x2 ,K , xn ,
. . xi = 0 .
xi .
xi ,
n
x + x + K + x = xi2 ,
2
1
2
2
2
n
(2.17)
i =1
,
(2.17) .
(2.17).
(2.14)
(2.15), t = t0
xi = xi 0 = i
(i = 1, 2,K , n) ,
(2.18)
xi 0
.
(2.15) yi ( t )
yi ( t ) = fi ( t ) + xi ( t )
(i = 1, 2,K , n) .
yi ( t ) (2.11)
df i dxi
+
= Yi ( f1 + x1 ,..., f n + xn , t )
dt dt
(i = 1, 2,K , n) .
(2.19)
(2.19) xi
n
Y
df i dxi
+
= Yi ( f1 , f 2 ,..., f n , t ) + i xk + X i* ,
dt dt
k =1 xk 0
(2.20)
X i * , xi
.
25
f i ( t )
(2.11),
df i
= Yi ( f1 , f 2 ,..., f n , t )
dt
(i = 1, 2,K , n) .
(2.21)
(2.21) (2.20)
dxi
= i1 x1 + K + in xn + X i*
dt
Yi
xk 0
ik =
(i = 1, 2,K , n) ,
(i = 1, 2,K, n).
(2.22)
(2.23)
(2.22)
.
, X* i ,
dxi
= i1 x1 +K in xn
dt
(i = 1, 2,K , n)
(2.24)
.
,
.
,
, .
,
(2.22) (2.24) X i , :
dxi
= X i ( x1 ,...xn )
dt
(i = 1, 2,K , n) ,
(2.25)
dxi
= X i ( xi ,..., xn,t ) .
dt
(2.26)
(2.25) (2.26) .
x1 ,K , xn x .
dxi
= X i ( x)
dt
(i = 1, 2,K , n) ,
(2.27)
26
dxi
= X i ( x, t )
dt
(i = 1, 2,K , n) .
(2.28)
.
x1 ,K , xn . ,
vi =
dxi
dt
(i = 1, 2,K , n) .
(2.29)
(2.27)
vi = X i ( x )
(i = 1, 2,K , n) .
(2.30)
,
(2.27) (2.28)
v
(. 2.1).
,
x = 0 , X i -
. 2.1
,
X i ( 0, t ) = 0.
(2.31)
2.4.
, [3].
,
, ,
xi 0 ,
n
x
i =1
i0
t t0
(2.32)
27
n
i =1
(2.33)
, . .
n
i =1
= , r1 =
. , n
x
i =1
= r2 = ,
. , 0,
,
, (. 2.2). ,
. 2.2
0
.
.
W,
W , [3].
. , > 0
x
i =1
= .
W = C , (. 2.3) ( , ..
).
n
x
i =1
= -
W = C , . ,
, , ,
.
28
W -, , , , ..
W 0.
(2.34)
W W0 0
W W0 .
(2.35)
(2.35) ,
t t0
W = W0 = C1 ( W = 0 ),
(. 2.3). , , 0,
, W = C1 -
. 2.3
x 1 = x 2 + 3 x12 x 22 4 x15 ,
x 2 = x1 x 23 + x13 x 2 .
- W =
1 2
( x1 + x22 ) 2
W = x1 x1 + x2 x2 .
x1 x2
,
29
W -,
W ,
. , x1 = 0 ,
x2 = 0 .
2.5.
s , s q1 ,K , qs .
Qj [1]
( j = 1, 2,K , s ) .
Qj = 0
(2.36)
Qj =
q j
( j = 1, 2,K , s ) ,
(2.37)
= 0
q
j 0
( j = 1, 2,K , s ) .
(2.38)
, ,
.
(2.38) , .
:
, .
. , . ,
( 0) = 0 .
(2.39)
30
(2.40)
, q j .
W =T +
(2.41)
q1 ,K , qs q1,K, qs1, qs , .
,
T + = 0 + 0 = h ,
(2.42)
0 0 .
W
(2.42) . , , .
2.6.
,
,
.
,
2
2 > 0,
q 0
(2.43)
2
2 = 0 ,
q
.
k
k .
q 0
31
, , , q = 0 , ,
.
, , , q = 0 , .
. 2.4 , ,
.
. 2.5 , ,
.
. 2.4
. 2.5
. 2.6 ,
.
. 2.6
2.7.
1. ,
, . , -
32
,
(. 2.7). , ?
.
1
= mg l cos + c 2 , m ,
2
l
, c .
= mg l sin + c = 0 .
. 2.7
= 0 . ,
2
> 0,
mg l + c > 0 .
c > mg l .
2. G l . l1 , , .
BO = l / 2 (. 2.8).
.
.
, . ,
, 0.
. 2.8
= Gh + Ph1 ,
h1 = OB BE = OB ( l1 BC ) =
l
h = cos ;
2
l1 l sin .
2
2
33
,
Gl
l
cos + P ( l 1 + l sin ) .
2
2
2
Gl
P
=
sin + l cos ,
2
2
2
Gl
Pl
2
.
cos
sin
=
2
4
2
2
=0 ,
Gl
Pl
sin +
cos = 0 .
2
2
2
P 2G sin cos = 0 .
2
2
.
1.
cos
1
2
= 0,
1
2
1 = 180 .
= 90 ,
2.
P 2G sin
2
2
= 0,
sin
2
2
P
.
2G
G,
.
(2.43) 1 = 180
,
..
1
1
Gl Pl > 0 ,
2
4
1
G > P.
2
34
sin
2
2
P
2G
P2
2G 2 P 2
cos 2 = 1 2sin
= 1 2 2 =
,
2
4G
2G 2
2
2
P 2 4G 2
=
l.
2
8
G
=2
:
P 2 4G 2
l > 0 , .. P > 2G .
8G
G sin
.
2
2
> 1,
3. 1 2 m1 m2, 3 4, l 2l
, .
G1 = 2G2 = cl, b = 2l + l 0 ,
l 0 ,
b
. (. 2.9). 1
= 1 + 2 .
(1)
1 , 0.
. 2.9
35
2 =
c 2
,
2
= b l 0 2l cos ,
2 =
c
(b l 0 2 l cos ) 2 .
2
(1)
c
= l ( 2G1 G2 ) cos + (b l 0 2l cos ) 2 .
2
(2)
G1 = 2G2 = 2cl ,
b = 2l + l 0 .
(2), ,
= cl 2 (2 cos 2 cos + 2) .
cos 2 cos , , ..
( ) = ( ) . , ( ) .
( ) 0 0 , , .
= cl 2 (1 4 cos ) sin ,
2
= cl 2 (cos 4 cos 2 ).
2
36
= 0,
sin (l 4 cos ) = 0.
sin = 0, 1 = 0, 2 = .
1
1 4 cos = 0, 3 = arccos , 3 = 7531' .
4
(2.43) ,
2
> 0.
2
2
= 3 < 0 .
1 = 0 ,
2
2
= 5 < 0 .
2 = 180 ,
2
2
= 3, 75 > 0 .
3 = 7531' ,
2
, 3 = 7531' .
4.
(. 2.10) m1 m2.
1 2
.
.
.
1 2.
. 2.10
1 2 ,
m1, 1 = 2 = 0
37
= 1 + 2 .
1
1
2
2 = c222 + c1 (1 2 ) .
2
2
,
1
1
2
= c1 (1 2 ) + c222 m1 g l1 (1 cos 1 )
2
2
( m1 + m2 ) g l 2 (1 cos 2 ) .
cos = 1
2
2!
+ ...,
1
( c1 m1 gl1 ) 12 2c112 + c1 + c2 ( m1 + m2 ) gl 2 22 + K,
2
, 1 2 .
1
c1112 + 2c1212 + c2222 ) .
(
2
, :
1. 1 = c11 > 0 c1 m1 g l1 > 0 .
(1)
2. 2 =
c11
c12
c21 c22
> 0
c1 m1 g l1
c1
c1
c1 + c2 ( m1 + m2 ) g l 2
> 0,
( c1 m1 g l1 ) c1 + c2 ( m1 + m2 ) g l 2 c12 > 0 .
(2)
38
(1) (2) 1 2 ,
c1 > m1 g l1 ,
c12
c2 >
+ (m1 + m2 ) g l 2 .
c1 m1 g l1
(3)
m1 g l1 = A ;
( m1 + m2 ) g l 2 = B ,
(3)
c1 > A ,
c12 A
c2 >
+ B.
c1 A
. 2.11
. 2.11
(4)
39
III.
3.1.
- . ( ) .
, . , . . ,
(. 3.1, ) ,
(. 3.1, ). .
,
d dT T
.
dt q q
q
(3.1)
)
. 3.1
40
1
1 2
T = a q ; = q 2 .
2
2
T ,
T
= aq,
d T
= aq,
dt q
T
= 0,
q
(3.2)
= cq ,
q
a q + cq = 0 .
c
= k2,
a
k2 ,
q+ k 2q = 0 .
(3.3)
(3.3) .
(3.3) 2 + k 2 = 0 ,
1 = ik , 2 = ik .
,
(3.3)
q = C1 cos kt + C2 sin kt ,
(3.4)
(3.5)
1 2 t = 0 :
q = q0 ,
q = q0 .
(3.6)
c1 = q0 ,
c2 =
q0
.
k
41
,
q
q = q0 cos kt + 0 sin kt .
k
(3.7)
C1 = A sin ,
C2 = A cos ,
q = A sin( kt + ) .
(3.8)
q = Ak cos(kt + ) .
(3.9)
q0 = A sin ,
q0 = kA cos ,
q
A = q02 + 0 ,
k
tg =
kq0
(3.10)
(3.11)
q0
, , .
(kt + ) , .
c
,
a
(3.12)
2
a
= 2
.
k
c
(3.13)
k=
T=
42
(3.12) (3.13) ,
, .
.
. 3.2.
. 3.2
3.2.
,
, ,
, ,
R k = k v k .
1.3 (1.21)
QR =
d
.
dt q q
q q
43
1 2
T = aq ,
2
1 2
= bq .
2
1
= cq 2 ,
2
a q = cq b q .
(3.14)
c
= k2,
a
b
= 2n .
a
(3.14)
q + 2n q + k 2 q = 0 .
(3.15)
(3.15) .
2 + 2n + k 2 = 0 ,
1,2 = n n 2 k 2 .
: n < k ; n > k ; n = k .
, n < k . , ..
1,2 = n i k 2 n 2
(3.15)
(3.16)
k1 = k 2 n 2 .
1 2 .
,
C1 = A sin , C2 = A cos .
q = Ae nt sin(k1t + ) .
(3.17)
44
: t = 0 , q = q0 ,
q = q0 .
(q0 + nq0 ) 2
2
A = q0 +
,
k 2 n2
tg =
q0 k 2 n 2
(3.18)
(3.19)
q0 + nq0
. 3.3.
. 3.3
T1 =
T =
2
=
k1
n
k 1
k
T
n
1
k
(3.20)
2
k
.
(3.20) , T1 > T , .
, , n << k , n / k T1 T . ,
.
45
n ( ti +
A
Ae
= i +1 =
Ai
Ae nti
T1
)
2
=e
T1
2
(3.21)
.
(3.21),
.
T1
.
(3.22)
2
. n > k
ln = n
1 = n + n 2 k 2 ,
1 = n n 2 k 2 .
, (3.15)
q = e nt (C1e
n2 k 2 t
+ C2 e
n2 k 2 t
(3.23)
q = Ae nt sh( n 2 k 2 t + ) .
(3.24)
. 3.4.
.
n = k , :
1 = 2 = n .
. 3.4
(3.15)
q = e nt (C1t + C2 ) .
(3.25)
, 1 2
.
46
3.3.
I. m 3l ,
c (. 3.5).
: t = 0 , = 0 , = 0 .
.
. .
1 2
T = J .
2
J = m ( 3l ) = 9ml 2 ,
2
. 3.5
9 2 2
T = ml .
2
1 2 .
1 = mg 3l(1 cos ) .
,
cos = 1
1 = mg 3l(1 1 +
2 =
,
2
2!
2
2
+ ... ,
)=
3
mg l 2 ,
2
1 2 2 4 2 2 5 2 2
cl + cl = cl .
2
2
2
47
= 1 + 2 =
2
2
(3mg l + 5cl 2 ) .
q
dt q q
d T
T
2
,
9
l
,
=
0
,
= (3mg l + 5cl 2 ) .
m
=
m
9
l
dt q
3mg l + 5cl 2
+
= 0.
9ml 2
(1)
3mg l + 5cl 2
= k2.
2
9ml
(2)
(1)
+ k 2 = 0 .
(3)
(3)
.
(3) 2 + k 2 = 0 ,
:
1 = ik , 2 = ik .
,
(3)
= C1 cos kt + C2 sin kt ,
(4)
48
(5)
1 2
: t = 0 , = 0 , = 0 .
(4) (5),
C1 = 0 ,
C2 =
0
k
0
k
sin kt .
(6)
k=
1g 5 c
.
+
3l 9m
(7)
2.
, ,
(. 3.6). M ,
;
c=
GJ
l
G ( ), J p
( 4).
.
. . 3.6
.
1 2
T = J ,
2
49
J = M 2 .
,
,
1
= 2 .
2
T
d
,
=
dt
J + c = 0 ,
+ k 2 = 0 ,
k =
GJ p
c
. =
J
lJ
2
M 2
= 2
.
T=
k
c
3. (. 3.7)
, ,
k = 16c 1 ,
l1 = 1 , l 2 = 1,5 , c = 2 105 / .
. 3.7
50
.
.
1
T = Jz 2 .
2
(1)
1 2
c
c
1 = mg l 2 , 2 = [( f + l ) 2 f 2 ] = (2 f l + l 2 2 ) .
2
2
,
c
= mg l 2 + cf l + l 2 2 .
2
= 0
= 0 ,
mg l 2 + cf l = 0 .
1
= cl 2 2 .
2
,
= J,
d T
= J,
dt
T
= 0,
= cl 2 ,
J + cl 2 = 0 .
(1)
51
cl 2
= k2 .
J
(2)
(1)
+ k 2 = 0 .
(3)
, , (2)
cl 2 2 105 6, 25
J= 2 =
= 4883 2 .
k
256
4. (. 3.8)
m , .
, , ( t = 0 ) v0 = 1 / .
, c = 3 103 / ,
D = 0,1 , z = 25 , m = 2, 77 ,
H = 0, 05 , = 6 102 / .
. G F ,
.
, ,
R = v .
. .
y.
. 3.8
T=
my
2
52
1 2
1 = mgy ,
c
1
2 = [( f + y ) 2 f 2 ] = cfy + cy 2 .
2
2
1
= mgy + cfy + cy 2 .
2
y = 0
y = 0 ,
mg + cf = 0 .
,
1
= cy 2 .
2
QR = v = y .
,
=
+ QR
y
dt y y
m y + y + cy = 0 ,
y + 2n y + k 2 y = 0 ,
(1)
53
c
= k2 .
m
= 2n ,
(1)
1,2 = n n 2 k 2 .
k > n,
1,2 = n i k 2 n 2 .
, (1)
(2)
nt
(3)
(t = 0, y = 0, y = y0 ) (2)
(3), C1 C2
C1 = 0 ,
y0
C2 =
k n
2
y=
y0
k n
2
e nt sin k 2 n 2 t.
n k 2
4 g H
n=
Gz
k2 =
D
2
5, 42 c ,
d
c
= 1080 c 1 .
m
(4),
(4)
54
ln = n
T1
=n
= 0,52 .
2
2
2
k n
5. m l (. 3.9),
.
R = v ,
v .
,
m = 10 ; l = 0,5 ; a = 0, 2 ; D = 5 102 ;
d = 5 103 ; i = 5 ;
E = 8 1010 / 2 ;
= 100 / .
. . . .
1
T = Jz 2 .
2
1 2 2
J z = ml , T = ml .
2
2
1
2
1 = mg l(1 cos ) .
,
. 3.9
cos = 1
2
2!
+ ... ,
55
1 = mg l
2 =
2
2
1 2 2
ca .
2
c 2 2 mg l 2 2
= 1 + 2 = a
= (ca 2 mg l) .
2
2
2
QR = l 2 .
,
+ QR ,
dt
ml + (ca mg l) + l = 0 .
2
(1)
ca 2 mg l
2
=
.
k
ml 2
= 2n ,
(1)
+ 2n + k 2 = 0 .
[4]
E d 4 8 1010 (5 103 ) 4
c=
=
= 104 / .
3
3
8i d
8 5 (0, 05)
n = 0
k 2 = 140,38 k = 11,85 c 1 .
n=
2m
100
= 5 c 1 .
2 10
(2)
56
k1 = k 2 n 2 = 140,38 25 = 10, 74 c 1 .
T1 =
2
6, 28
=
= 0,585 c .
k1 10, 74
T1
0,585
=5
= 1, 46 .
2
2
6. r m -
=n
(. 3.10). , R = v , .
, ,
m = 2 , c = 4 103 / , = 40 / , r = 0,3 .
v = 2 / .
. 3.10
. .
.
.
+ QR .
dt
(1)
1
T = J p 2 ,
2
J p ,
. -
J p = J c + mr 2 = 2mr 2 ,
57
J c = mr 2 , .
,
T = mr .
2
(2)
= 1 + 2 ,
1 , 2 .
:
cr 2 2
1 = mghc = 0 , 2 =
,
2
(3)
hc .
QR = vr 2 = 2 r .
2
(4)
T , QR (1),
2mr 2 + 2 r 2 + cr 2 = 0
+ 2n + k 2 = 0 ,
(5)
cr 2
c
=
= 1000 , k = 31, 62 .
n = = 10 , k =
2mr 2 2m
m
2
(5)
2 + 2n + k 2 = 0 .
1,2 = n n 2 k 2 = 10 30i .
,
(5)
(6)
58
= 10e 10t (C1 cos 30t + C2 sin 30t ) + e10t (30C1 sin 30t + 30C2 cos 30t ) .
(t = 0, 0 = 0, 0 =
(2) (3), C1 C2
v0
)
r
C1 = 0 , C2 = 0, 22 .
,
k1 = k 2 n 2 = 30 c 1 , T1 =
2
= 0, 21 c .
k1
(7)
59
IV.
4.1.
, __
() P k , __
__
R k , vk , F k , .
T ,
1 2
1 2
1 2
T = a q , = q , = q .
2
2
2
Q p QR ,
,
Qp =
= cq ,
q
QR =
= q .
QF , ,
n
__
QF = F k
k =1
r k
.
q
, QF = QF (t ) .
QF , T ,
2
.
T
a0 , ai , bi
p =
60
T
1
2
2
a0 = QF (t )dt , ai = QF (t ) cos iptdt , bi = QF (t ) sin iptdt .
T 0
T 0
T 0
+ QF (t ) .
q q
dt q q
a0 1
q + 2n q + k q = + (ai cos ipt + i sin ipt ) .
a a i =1
(4.1)
(4.1)
q = q + q ,
(4.2)
q + 2n q + k 2 q = 0 ;
q** - (4.1).
n < k ( ),
q = e nt (c1 cos k1t + c2 sin k1t ) ,
k1 = k 2 n 2 .
q
i =1
A0 , Ai Bi , .
q
(4.1).
i =1
a0 1
+ [(k i p ) Bi 2nipAi ]sin ipt = + (ai cos ipt + bi sin ipt ).
a a i =1
i =1
2
61
A0 k 2 =
a0
a
, (k 2 i 2 p 2 Ai + 2nipBi = i , (k 2 i 2 p 2 ) Bi 2nipAi = i ,
a
a
a
a0
a0
(k 2 i 2 p 2 )ai 2nipi
,
A0 = 2 = , Ai =
ak
c
a[(k 2 i 2 p 2 ) 2 + 4n 2i 2 p 2
(k 2 i 2 p 2 )i + 2nipai
.
Bi =
a[(k 2 i 2 p 2 ) 2 + 4n 2i 2 p 2
(4.2)
(4.1)
q = A0 + e (C1 cos k1t + C2 sin k1t ) + ( Ai cos ipt + Bi sin ipt ) . (4.3)
nt
i =1
C1 C2
: t = 0 , q = q0 , q = q0 .
(4.1)
q + 2nq + k q = h0 + hi sin(ipt + i ) ,
2
(4.4)
i =1
h0 =
a0
,
a
hi =
1 2 2
ai + i ,
a
tg i =
ai
.
i
(4.4)
q = q + q .
n < k , q :
q = Ae nt sin(k1t + ) .
:
q = A0 + Ai sin(ipt + i i ) .
(4.5)
i =1
A0 , Aib , i q
(4.4)
62
i =1
i =1
= h0 + hi sin(ipt + i ).
i =1
i =1
i =1
h0 + hi sin(ipt + i ) = h0 + hi sin(ipt + i i + i ) =
i =1
i =1
i =1
i =1
i =1
i =1
A0 =
2nip
h0
hi
=
tg
A
=
,
,
.
i
ib
2
2 2
2
2 2 2
2 2 2
k2
k
i
p
( k i p ) + 4n i p
(4.4)
q = A0 + Ae
nt
(4.6)
i =1
(4.6) ,
a0 , , , .
,
q = Ai sin(ipt + i i ) .
i =1
(4.7)
63
Ai (ipt + i i ) , pi = ip (i = 1, 2,..., ) .
, n = 0 , , (4.4) (4.6)
q + k 2 q = h0 + hi sin(ipt + i ) ,
(4.8)
q = A0 + A sin(kt + ) + Ai sin(ipt + i ) .
(4.9)
Ai =
hi
.
2
2
k i p2
(4.10)
4.2.
,
pi = ip = k
(i = 1, 2,..., ) ,
i - .
Ai =
hi
,
2nk
tg i = , i =
(4.11)
, n << k , Ai
(4.7), , .
(4.7), ,
q=
h1
sin(kt + 1 ) .
2nk
2
(4.12)
i ,
pi = k , pi .
64
Ai =
hi
( k p ) + 4n p
2
2 2
i
2
i
(4.13)
(4.13).
f = (k 2 pi2 ) 2 + 4n 2 pi2 pi
4 pi (k 2 pi2 ) + 8n 2 pi = 0 ,
pi2 = k 2 2n 2 .
, k 2 2n 2 > 0 ,
n<
n >
2
k.
2
(4.14)
2
k Ai 2
.
(4.13) pi2 = k 2 2n 2 ,
Aimax
=
hi
2n k n
2
(4.15)
Aimax
=
hi
.
2nk
(4.16)
(4.16) (4.11), ,
Ai .
q=
hi
sin(ipt + i ) .
k 2 i2 p2
n = 0 (ip = k ) ,
Ai =
hi
,
k 2 i2 p2
(4.17)
65
, (4.17)
.
, , -
, .
q + k 2 q = h sin( pt + ) .
(4.18)
(4.18)
q = q + q .
q + k 2 q = 0 , ,
q = C1 cos kt + C2 sin kt .
p = k , q (4.18) - q . q
q = Bt cos(kt + ) .
(4.19)
B q
(4.18)
B=
h
.
2k
(4.18)
q = C1 cos kt + C2 sin kt
h
t cos(kt + )
2k
h
t sin(kt + ) .
2k
2
q = C1 cos kt + C2 sin kt +
(4.20)
66
q =
t sin(kt + ) .
2k
2
(4.21)
k
.
. (4.21), -
.
. 4.1.
. 4.1
4.3.
,
pi k ,
pi k , , .
, , .
n = 0 ,
q + k 2 q = h sin( pt + ) ,
q = C1 cos kt + C2 sin kt +
h
sin( pt + ) ,
k 2 p2
(4.22)
(4.23)
67
hp
cos( pt + ) .
k 2 p2
(4.24)
(4.23) (4.24) : t = 0 , q = q0 ,
q = q0 ,
C1 = q0
h
sin ,
k 2 p2
q
hp
C2 = 0
cos .
k k (k 2 p 2 )
(4.23)
q0
h
sin kt 2
(sin cos kt +
2
k
k p
p
h
+ cos sin kt ) + 2
sin( pt + ).
k
k p2
q = q0 cos kt +
(4.25)
(4.25) ,
( q0 = 0, q 0 = 0 ) ,
,
h
p
(sin
cos
kt
+
cos sin kt ) .
2
2
k p
k
p k , , , .
p
1, (4.25) q0 = 0 , q 0 = 0
k
h
q 2
[sin( pt + ) sin(kt + )] .
2
k p
p+k
p ,
2
cos
+
2
68
q2
h
pk
sin
t cos( pt + ) .
k 2 p2
2
(4.26)
. 4.2.
. 4.2
, , ,
.
TA =
2
4
=
.
pk pk
2
4.4.
, ,
Ai =
hi
(k
i p
2
2 2
=
+ 4n i p
2 2
Ai 0
2
p
n pi
1
+4 2 2
k
2
i
2
ip = pi .
(4.7)
i =1
i =1
(4.27)
H i = ahi , .. pi = 0 ,
69
Aio =
hi
Hi Hi
=
=
,
k 2 k 2a c
k 2 =
c
.
a
Ai Ai 0
i =
Ai
=
Aio
(1 )
2 2
i
+ 4
2
(4.28)
2
i
pi
n
, = .
k
k
n = 0 ,
i =
i =
1
.
1 i2
(4.29)
. 4.3 i = fi ( i ) .
n 0
i ,
.
i
tgi =
2npi
n pi
2
=
k 2 pi2
k k
pi
. 4.3
= 2 i
1
.
1 i2
(4.28)
70
. 4.4 i = i ( i ) . i 0 i 0 .
pi = k i =
. 4.4
4.5.
1. ,
, ( )
.
, . 4.5,
. , , , . m .
. 4.5
71
.
.
,
:
2
2
1
1
1
2
2
2
= J 0 = m4l = 2ml ,
= cl 2 2 .
2
2
2
+ Q ,
dt
Q =
A P0 sin t 2l
=
= 2 p0 l sin t ,
4ml + cl 2 = 2 P0 l sin t
2
+ k 2 = h sin t ,
k 2 =
P
c
, h= 0 .
4m
2ml
(4.29) n = 0
i =
1
.
1 2
, =
2
2
k2
, k2 =
c
4m
1
c
.
=
4m 2 c 4m 2
1
c
2.
= 0 sin
x
l
(1)
72
c , m (. 4.6). c , ,
0, 050 .
. 4.6
. y
, ,
m y = c( y ).
(2)
, x = vt ,
= 0 sin
v
l
t.
(3)
(3) (2)
m y + cy = c0 sin
v
l
t.
(4)
Q = c0 sin
v
l
t , .. Q0 = c0 .
, ,
(.. ) 0 .
v 0 (4.29)
1
,
1 2
73
=
p
,
k
k=
c
v
, p=
.
l
m
=
1
2v 2 m
cl 2
A 0, 050 , ,
1
0, 05 ,
vm
1
cl 2
2 2
0, 47 mv 2
.
c
l2
3. m c = 7200 / (. 4.7). - - ,
x = x0 sin t ,
x0 = 1,55 10 2 ,
m. , = 270 Hc / , 90, , .
.
. 4.7
x, y. ,
F = c( y x) .
y + 2n y + k 2 y = h sin t ,
2n =
, k2 =
cx
c
, h= 0.
m
m
74
= k , (4.11),
A=
x
h
= 0 cm = 0, 0148 .
2nk
(4.11)
ymax = A + yc ,
y
;
ymax = A +
G
= 0, 048 + 0, 0125 = 0, 0273 .
c
. 4.8
75
.
q = y , .
+ QY .
dt y y
y y
= 1 + 2 2 + 2 3 .
2
2
1 2
1
1
1
1
2
1 = m1 y ; 2 = m2 y + J 22 = m2 y + m2 r 222 ;
2
2
2
2
4
2
1
1
2
3 = m3v3 = m3 ( y + e 2 2 2 y e sin t ) ;
2
2
2 = 3 = = = const .
C,
2
2
1
= (m1 + 2m2 + 2m3 ) y + ( J 2 + J 3 ) 2m3e y sin t.
2
= 1 + 2 + 3 + .
= [( f + y ) 2 f 2 ] = ( y 2 + 2 fy ) .
2
2
,
c
= (m1 + 2m2 + 2m3 ) gy + 2mge(1 cos ) + ( y 2 + 2 fy ) .
2
,
(1)
76
y =0
1
= cy 2 + 2m3 ge(1 cos ) .
2
, ,
1 2
= y .
2
, y
Qy = 0 .
T , , Qy (1),
),
y + 2n y + k 2 y = h sin t + ,
2
c
= k2,
M
= 2n ,
2m3e 2
= h,
M
(2)
m1 + 2m2 + 2m3 = M .
(2) (.
4.6.)
y = Ae nt sin(k1t + ) + sin t + ,
2
(3)
k1 = k 2 n 2 ,
,
.
77
y = A sin t + .
2
(4)
A =
h
( k ) + 4n
2
2 2
2m3e 2
M ( k ) + 4n
2
( = k )
2m3e 2 m3e
=
.
A =
Mn
2Mn
tg =
2n
.
k 2 p2
( = k )
tg = , =
2 2
78
V.
5.1.
() .
, , .
d T T
,
=
q1
dt q q1
1
d T T
=
.
dt q q2
q2
2
(5.1)
, (1.16)
(1.9), :
2
1 2
T = a11 q1 + 2a12 q1 q 2 + a22 q 2 ,
2
1
= c11 q12 + 2c12 q1 q 2 + c22 q22 .
2
(5.2)
T (5.1), :
(5.3)
, , ,
:
(5.4)
79
(5.4) ,
(5.3)
:
q1 = A1 sin ( kt + ) , q2 = A2 sin ( kt + ) .
(5.5)
(5.5) (5.3),
(c
(c
2
2
=
a
k
A
c
a
k
A
0,
) 1 ( 22 22 ) 2
12
12
11
(5.6)
A1 A2. , , , , :
= 0.
(5.7)
(5.8)
80
(5.9)
A :
, .
(5.9) ,
, , k1 k2 . .
5.2.
,
(5.5) (5.3) :
q2 A2
=
= ,
q1 A1
(5.10)
q1 = A1 sin(kt + ) , q2 = A2 sin(kt + ) ,
A2 = A1 .
(5.11)
(5.11) (5.6) 1
(c
(c
2
2
a
k
c
a
k
0.
) ( 22 22 )
12
12
11
k1 k2 (5.8), , :
c11 a11k12
c12 a12 k12
=
1 =
;
c12 a12 k12
c22 a22 k12
c11 a11k2 2
c12 a12 k2 2
2 =
=
.
c12 a12 k2 2
c22 a22 k2 2
(5.13)
1 2 ,
, -
81
, . (5.13) ,
,
.
(5.9)
(5.14)
11, 12, 1 2
: t = 0 , q1 = q , q2 = q20 , q1 = q10 , q 2 = q 20 .
5.3.
1.
m
(. 5.1)
,
c1
c2 . l1 l 2 .
,
. 5.1
J , , :
,
c2 = 2,5 105 , l1 = 1 ,
2
J = 300 . .
c1 = 2 105
l 2 = 1,5 ,
m = 1500 ,
. , .
(. 5.1.)
.
82
y
, .. q1 = y , q2 = .
2 1
:
1 2 1 2
= my + J ;
2
2
1
( 1 + 2 ) y 2 + ( c1l1 c2l 2 ) y + ( c1l 21 c2l 2 2 ) 2 .
2
T
=
dt y y
y
dt
m y + ( c1 + c2 ) y + ( c1l1 c2 l 2 ) = 0;
2
2
J + ( c1l1 c2 l 2 ) y + ( c1l1 + c2 l 2 ) = 0.
(1)
y = A sin ( kt + ) ; = B sin ( kt + ) .
(2)
,
( 2 )
A
= ,
B
(3)
y = B sin ( kt + ) ;
= B sin ( kt + ) ; A = B.
(4)
83
y (1), sin(kt + ) ,
(c
(c
2
2
12 a12 k ) + ( c22 a22 k ) = 0,
11
(5)
(c
2
2
2
11 a11k )( c22 a22 k ) ( c12 a12 k ) = 0,
2
(7)
(6) (7),
k12 = 270,
k22 = 2572
k1 = 16, 43c 1 ,
k2 = 50, 71c 1 .
1 =
3,9
6,8
;
=
c11 a11k22
2 =
0,
05
0,
09
.
=
c11 a11k22
,
6, 8 ,
. 0,09
. . 5.2.
84
5.2
(1)
(5.14)
(8)
B1, 2, 1 2
.
t = 0 ; = y = 0; = 0,
y = v0 = 2
0 = B1 sin 1 + B2 sin 2 ;
0 = 1 B1 sin 1 + 2 B2 sin 2 ;
(9)
(9),
1 = 2 = 0 ;
B1 =
v0
= 0, 253 ;
k1 (1 2 )
B2 =
v0
= 0, 08.
k2 (1 2 )
85
=
;
1
dt 1
1
=
.
2
dt 2
2
(1)
1 2 1 2
= J1 + J 2 2 ;
2
2
2
1 2
= c11 + c2 (2 1 ) .
2
T (1),
(2)
86
J1 1 + ( c1 + c2 ) 1 c2 2 = 0;
J 2 2 + c2 2 c21 = 0.
(3)
(3)
1 = A sin ( kt + ) ; 2 = B sin ( kt + ) .
,
2 B
= = ,
1 A
1 = A sin ( kt + ) ; 2 = A sin ( kt + ) .
1 2 (3),
2c J1k 2 c = 0;
c + ( c J 2 k 2 ) = 0.
(4)
2 J 22 k 4 4 J 2 ck 2 + c 2 = 0.
(5)
(5),
k1 = 44c 1 , k2 = 107c 1.
:
87
.
3.
m1 m2 , c1 c2
(. 5.5).
,
. 5.4
m1 = 20, m2 = 5, c1 = 40 103
, c2 = 20 103 .
5.5
. x1 x2 .
2
1 2
T = m1 x1 + m2 x 2 .
2
, ,
1
1
2
= 1 x12 + c2 ( x2 x1 ) .
2
2
T
88
d
;
=
dt x x1
x1
1
d
,
x2
x2
dt x
2
m1 x1 + ( c1 + c2 ) x1 c2 x2 = 0;
(1)
m2 x2 + c2 x2 c2 x1 = 0.
(2)
A x1 x2 (1).
[(c1 + c2 ) m1k 2 ]A c2 B = 0;
c2 A + ( c2 m2k 2 ) B = 0.
(3)
A ,
c1 + c2 m1k 2
c2
c2
c2 m2 k
= 0,
(c + c
1
m1k 2 )( c2 m2 k 2 ) c22 = 0.
k4
( c1 + c2 ) m1 + c2 m1 k 2 +
m1m2
c1c2
= 0.
m1m2
89
k1,2 =
( c1 + c2 ) m2 + c2 m1
2m1m2
( c1 + c2 ) m2 + c2 m1
c1c2
.
2m1m2
m1m2
2
k1 =
( c1 + c2 ) m2 + c2 m1
( c1 + c2 ) m2 + c2 m1
c1c2
= 37,9c 1 ,
2m1m2
m1m2
( c1 + c2 ) m2 + c2 m1 +
( c1 + c2 ) m2 + c2 m1
c1c2
= 74,5c 1 .
2m1m2
m1m2
2m1m2
k2 =
2m1m2
4. 1 2 m1 m2 ,
. 5.6.
,
2
v0 , .
: m1 = 200, m2 =10, c1 = 8 104 H/ ,
2 = 4 104 H/ , v0 = 1 / .
. . z1 z2 . . 5.6
d
;
=
dt z z1
z1
1
d
.
=
dt z z2
z2
2
(1)
90
2
1 2 1
= m1 z1 + m2 z 2 .
2
2
(2)
1
1
2
= m1 gz1 m2 gz2 + c1 ( z1 + f1 ) c1 f12 +
2
2
1
1
2
+ c2 ( z2 z1 + f 2 ) c2 f 22 = m1 gz1 m2 gz2 +
2
2
1
1
2
+c1 f1 z1 + c1 z12 + c2 ( z2 z1 ) + c2 ( z2 z1 ) f 2 ,
2
2
(3)
f1 , f 2 .
( z1 = z2 = 0 ) . :
=
0;
= 0.
z
z
1 0
2 0
(4)
0;
m
g
c
f
c
f
=
+
1
1 1
2 2
z1 0
= m2 g + c2 f 2 = 0.
z2 0
(5)
(4)
(5) (3)
1
1
2
= c1 z12 + c2 ( z2 z1 ) .
2
2
(1),
m1 z1 + ( c1 + c2 ) z1 c2 z2 = 0;
m2 z2 + c2 z2 c2 z1 = 0.
(7)
(7)
z1 = A sin ( kt + ) , z2 = B sin ( kt + ) .
(8)
91
,
z2 B
=
z1 A
(9)
z1 = A sin ( kt + ) , z2 = A sin ( kt + ) .
z1 z2 (7), ,
c1 + c2 m1k 2 c2 = 0;
c2 + ( c2 m2 k 2 ) = 0.
(10)
(10),
(c + c
1
m1k 2 )( c2 m2 k 2 ) c22 = 0.
(11)
k1 =
k2 =
( c2 m1 + c1m2 + c2 m2 ) ( c2 m1 + c1m2 + c2 m2 )
4c1c2 m1m2
2m1m2
( c2 m1 + c1m2 + c2 m2 ) + ( c2 m1 + c1m2 + c2 m2 )
2m1m2
4c1c2 m1m2
1 =
c2
= 2,
c 2 m2 k12
2 =
c2
= 1 .
c 2 m2 k22
(9)
92
1 =
B1
,
A1
2 =
B2
.
A2
B1 = 1 A1 ,
B2 = 2 A2 .
(3) (8)
t = 0 , z1 = z2 = 0 , z1 = 0 , z 2 = v0 = 1 .
,
0 = A1 sin 1 + A2 sin 2 ;
0 = 1 A1 sin 1 + 2 A2 sin 2 ;
v0 = 1 Ak
1 1 cos 1 + 2 A2 k2 cos 2 .
1 = 2 = 0 ,
A1 =
A2 =
v0
= 0, 0075 ,
k1 ( 1 2 )
v0
= 0, 0037 .
k2 ( 1 2 )
93
VI.
6.1.
, __
, () Fk ,
__
PK , t .
.
q1 q2 ,
=
+
.
Q
Q
2F
2p
dt q q2
= Q1F + Q1 p ,
dt q q1
1
(6.1)
, Q1P Q2 P ,
Q1 p = H1 sin( pt + ) ,
Q2 p = H 2 sin( pt + ) .
(6.2)
2
T = (a11 q1 + 2a12 q1 q2 + a22 q22 );
1
2
2
= (c11 q1 + 2c12 q1 q2 + c22 q2 ).
Q2 F
(6.3)
() Q 1 F
:
Q1F =
;
q1
Q2 F =
.
q2
(6.4)
94
(6.1),
(6.5)
(6.5), , (5.3) ,
q1 = q1 + q1 , q2 = q2 + q2 .
(6.6)
(5.3), ,
(6.7)
(6.5)
:
(6.8)
(6.9)
(6.10)
A1b A2b .
(6.8) .
:
95
1.
.
2. , .
(6.5),
(6.6),
(6.11)
k1 k2 (5.8),
1 2 (5.13).
6.2.
, , Q2 p .
,
Q1 p = H1 sin( pt + ) , Q2 p = 0 ,
H 2 = 0 .
(6.10)
H1 (c22 a22 p 2 )
,
A1b =
(c11 a11 p 2 )(c22 a22 p 2 ) (c12 a12 p 2 ) 2
H1 (c12 a12 p 2 )
.
A2b =
2
2
2 2
(c11 a11 p )(c22 a22 p ) (c12 a12 p )
(6.12)
(6.13)
.
k1 k2 .
c22 a22 p 2 = 0
(6.14)
96
. , , , (6.12)
A1 = 0,
A2 =
H1
.
c12 a12 p 2
(6.15)
. . . , m1 , c1 , ( 6.1),
Q1 p = H1 sin( pt + ).
)
. 6.1
(. 6.1, )
1 2
1
T = m1 z 1 ; = c1 z 21 .
2
2
T , Q1 p
d T T
+ Q1 p
z1
dt z z1
1
97
m1 z 1 + c1 z1 = H1 sin( pt + ).
(6.16)
, (4.7),
z1 =
h1
sin( pt + ) .
(k 2 p 2 )
(6.17)
, (. 6.1,) .
z1 .
(. 6.1,) :
1
2
T = (m1 z 1 + m2 z22 ) ,
2
1
= [(c1 + c2 ) z12 2c2 z1 z2 + c2 z22 ] .
2
m1 z1 + (c1 + c2 ) z1 c2 z2 = H1 sin( pt + ),
m2 z2 + c2 z2 c2 z1 = 0.
(6.18)
p2 =
c22 c2
,
=
a22 m2
(6.20)
z1 = 0 , z2 =
H1
sin( pt + ) .
c2
98
(6.20), .
,
(6.14)
.
. , . . , .
6.3.
1. , (. 6.2), v . , h = h0 (1 cos
2 x
) ,
l0
.
: m = 1500 ,
J = 300 2 ,
c1 = 1,5 105 / ,
c2 = 2 105 / , l 0 = 5 , h0 = 0,1 , v = 50 / .
. 6.2
99
. y (.
1 5).
:
1 2 1 2 1 2
T = m y + J + mv ,
2
2
2
=
c1
c
( y + l1 h1 ) 2 + 2 ( y l 2 h2 ) 2 ,
2
2
h1 h2 .
, x = v t , L = l1 + l 2 ,
h1 = h0 (1 cos
h2 = h0 (1 cos
2 vt
),
l0
2 (vt + L)
).
l0
d T T
,
y
dt y y
d T T
=
,
dt
2
2
J + (c1l1 + c2 l 2 ) + (c1l1 c2 l 2 ) y = c1l1h1 c2 l 2 h2 .
h1 h2 (1),
(1)
100
y + a1 y + a2 = b1 + b2 cos
2 vt
2 vt
,
+ b3 sin
l0
l0
2 vt
2 vt
,
+ 1 + 2 y = 1 + 2 cos
+ 3 sin
l0
l0
(2)
a1 =
c1 + c2
,
m
a2 =
c1l c2 l
,
m
c1l12 + c2 l 22
c l c l
1 =
, 2 = 1 1 2 2 ,
J
J
b1 =
(c1 + c2 )h0
2 L h0
, b2 = (c1 + c2 cos
) ,
m
l0 m
b3 =
2 =
h
c2 h0
2 L
, 1 = 0 (c1l 1 c2 l 2 ) ,
sin
J
l0
m
h0
h
2 L
2 L
.
(c1l1 c2 l 2 cos
) , 3 = 0 c2 l 2 sin
J
J
l0
l0
(2), , (5.3) .
, , 1 5
= B1 sin(k1t + 1 ) + B 2 sin(k2t + 2 ),
y = 1 B1 sin(k1t + 1 ) + 2 B2 sin(k2t + 2 ).
(3)
(2),
,
2 vt
2 vt
+ D1 sin
,
l0
l 0
2 vt
2 vt
y = y0 + A cos
.
+ D sin
l0
l0
= 0 + A1 cos
(4)
101
y (2),
y0 , 0 , A , A1 , D , D1
b11 a2 1
a b
, 0 = 1 1 1 2 ,
a11 a2 2
a11 a2 2
2
2
(1 ) 2 b2 2
b2 (1 ) a2 2
,
,
A=
A
=
1
(a1 2 )(1 2 ) a2 2
(a1 2 )(1 2 ) a2 2
(1 2 ) 3 b3 2
b3 (1 2 ) a2 3
D=
, D1 =
,
2
2
2
2
(a1 )(1 ) a2 2
(a1 )(1 ) a2 2
2 v
=
.
l0
y0 =
(5)
(4)
= 0 + H1 sin(t + ),
6)
y = y0 + H sin(t + ),
A
.
D
y = H sin(t + ) , = H1 sin(t + ) ,
7)
H H1 .
H = 0, 06 , = 0, 07 .
2. (. 6.3)
p = p0 sin t ,
1. ,
m1 = 6 ,
m2 = 2 ,
R = 0,15 ;
c1 = 4 103 / ,
:
c2 = 1 103 / , P0 = 10 .
102
.
.
x1 x2
.
. 6.3
3
1
2
T = m 1 x1 + m2 x22 ,
4
2
1
1
= c1 ( x1 x2 ) 2 + c2 x22 .
2
2
T
d T T
Q1 ;
x1
dt x x1
1
d T T
Q2 ,
x2
dt x x2
2
(1)
a11 =
3
m , a22 = m2 , c11 = c1 , c12 = c1 , c21 = c1 , c22 = c1 + c2 .
2
(1)
x1 = A sin pt , x2 = B sin pt .
(1),
(2)
103
P0 (c22 a22 2 )
;
A=
(c11 a11 2 )(c22 a22 2 ) c122
P0 c12
.
B=
2
2
2
(c11 a11 )(c22 a22 ) c12
(3)
(3) 2 ,
k12 k22 , (3)
P0 (c22 a22 2 )
,
A=
a11a22 ( 2 k12 )( 2 k22 )
P0 c12
.
B=
2
2
2
2
a11a22 ( k1 )( k2 )
(4)
k1 = 20, 45 c 1 ,
k2 = 50, 26 c 1 .
(4) A B (.6.4).
A B
:
104
. 6.4
105
c22
= 50 c 1
a22
. m2 =
.
= k2 = 50, 26 c 1 .
k2 < < A B . A ,
B , , , .
3. ,
,
(. 6.5).
J1 = 60 2 ,
M = 200 .
. 6.5
J 2 , .
: c1 = 1, 2 106 , c2 = 7, 0 105 ,
c3 = 2, 0 105 . .
.
1 2 .
:
1 2 1 2
T = J1 1 + J 2 2 ;
2
2
1 2 1
1
2
= c11 + c2 ( 2 1 ) + c3 22 .
2
2
2
=
+ Q1 ;
dt 1
1
1
(1)
106
+ Q2 ,
2
2 2
dt
2
(2)
1 = A sin t ; 2 = B sin t ,
(3)
= 160c 1 .
1 2 (2),
(c
11
(4)
A=
H ( c22 a22 2 )
B=
Hc21
.
2
2
2
c
a
c
( 11 11 )( 22 22 ) 12
,
,
A = 0 , ..
c22 c2 + c3
=
= 2.
a22
J2
107
J2 =
c2 + c3
= 22,5 2 .
B=
H c21
H
=
= 4,3 104 .
2
c12
c12
k1 = 128c 1 ; k2 = 235c 1.
1. .., .., .. .
.2. .: , 1979.
2. .., .. . .:
, 1975.
3. .. . .: ,
1986.
4. .., .. .
.: , 1973.
5. .. . .: ,
1971.
..
..
020827 29 1998 .
2002 ., 63. 29.11.2002.
. Times New Roman.
6084 1/16. . .
. . . 6,2. .-. . 5,0. 150. 141.
.
169300, . , . , . 13.
.
00578 25.05.2000 .
169300, . , . , . 13.