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( )
..
, ,
28.03.2003
2003
:
..-.. ..
: , ,
, , , , -.
.
www.study.com.ru.
, , feedback@study.com.ru.
c .. , 2003
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I.
1. . . . . . . . . . . . . . . . . . . . .
2. . .
3. .
.
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II.
4. . . . . . . . . .
5.
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6.
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7.
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III.
8. . . . . . . . . . . . . . . .
9. . . . . . . . . . . . . . . . . . .
10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.
. . . . . . . . . . . . . . . . . . . . . . . . .
12. . . . . . . . . . . .
IV.
13. . . . . . . . .
14. . . . . . . . . . . . . . . . . . .
15. . . . . . . . . . .
5
7
9
12
19
22
25
27
34
36
41
44
46
48
51
54
16. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17. . . . . . . . . . . . .
18. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
V.
19. . . . . . . . . . . . . . . . . .
20. .
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21. .
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22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23. . . . . . . .
24. .
. . . . . . . . . . . . . . . . . . . . . . . .
25. . . . .
26.
. . . . . . . . . .
VI. .
27. : ,
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28.
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29.
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30. .
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31. - . . . . . . . . . . . . . . . . . . . . . . . . .
57
63
69
77
80
87
95
101
118
131
136
143
148
159
167
173
.
.
. ()
q = (q1 , . . . , qn ). q(t)
( )
d T
T
= Qi , i = 1,n.
dt qi
qi
(0.1)
Qi ,
(0.1) () L = T
d L
L
= 0, i = 1,n.
dt qi
qi
(0.2)
(0.2) ,
L = T . ,
(0.2), L = (T )et . (0.2) L(t,q,q)
2
L
det
(0.3)
qi qk 6= 0.
(0.3) (0.2)
:
, .
:
1. () n-
q1 , . . . , qn ;
2. t, q1 , . . . , qn ;
3. ( ) 2n-
q1 , . . . , qn , q1 , . . . , qn ( q1 , . . . , qn , p1 , . . . , pn , pk
);
5
4. t, q1 , . . . , qn , q1 , . . . , qn
( t, q1 , . . . , qn , p1 , . . . , pn ).
, , .
, , : .
( 020100697)
( 001596137).
I.
1.
, N
ri Vi (i = 1, N ). , n
(0.1).
1.1. t0 , ,
r0i , i = 1, N , : V0i = 0, i = 1, N .
,
t > t0 :
ri (t) r0i , i = 1, N , . . t > t0
.
. , , V6= 0.
,
V
V. ,
,
Vi 0.
, . . t
q1 , . . . , qn : ri (t,q), i = 1, N .
:
q q,
?
1.1. ,
. . : ri (q), i = 1, N ,
ri (t,q)
= 0, i = 1, N .
t
7
(1.1)
{Vi 0, i = 1, N } {qk 0, k = 1, n}.
(1.2)
, ,
n
X
ri (q)
qk , i = 1, N .
Vi (q,q)
=
(1.3)
qk
k=1
(1.3) qk = 0.
(1.3) Vi = 0,
n
X
ri (q)
k=1
n
P
k=1
qk
qk = 0, i = 1, N ,
Hk qk = 0,
r1 (t,q)
rN (t,q)
Hk =
qk
qk
(. ) qk = 0, k = 1, n.
1.1
1.1. x
(. . 1.1).
at
i
. 1.1
:
r(x) = ix, V(x,x)
= r = ix
8
(i ). (V = ix = 0)
: x = l0 , l0 , x 0. y: x = at + y
(a = const, . 1.1). :
r(t,y) = i(at + y), V(t,y,y)
= r = i(a + y),
(V = i(a + y)
0)
R2 (y,y)
: y = l0 at, y = a.
:
ri (q1 , . . . , qn ), i = 1, N ,
t (. (1.1)). (1.2)
1.1 , 1.1.
1.2. r0i , i = 1, N ,
qk0 , k = 1, n: r0i = ri (q 0 ), i = 1, N . r0i , i = 1, N , ,
:
qk (t) qk0 , k = 1, n.
1.2 : r0i , i = 1, N ;
q = q 0 ; q = q 0 , q = 0
.
2.
Qi (t,q,q)
T (t,q,q)
=
n
1 X
aik (q)qi qk
2
i,k=1
(2.1)
qi aik (q),
t. Qi (t,q,q)
(2.1) (0.1)
n
n
X
X
aik
1 alk
qk ql = Qi (t,q,q),
i = 1, n. (2.2)
aik qk +
ql
2 qi
k=1
k,l=1
2.1 ( ). q 0 (r0i = ri (q 0 ))
, Qi (t,q,q),
i = 1, n, t
Qi (t,q 0 ,0) = 0, i = 1, n.
(2.3)
(2.2). , (2.2) qk0 , i = 1, n,
. , (2.2)
qk , q 0 , q0 (. ,
). (2.2) q(t) q 0 ( 1.2 ) ,
(2.3).
2.1. ,
m l ,
( O A ). , , B
AB
F (. . 2.1). . ,
,
2.1 :
3
Q = mgl sin + F l cos( ) = 0,
2
1
Q = mgl sin + F l = 0.
2
10
(2.4)
C1
A
P
F
C2
B
P
. 2.1
(2.4)
tg
sin
2F cos
= f (),
3mg 2F sin
2F
,
mg
(2.5)
.
2F > mg, .
2F = mg, sin = 1, tg = 0, (0 ,0 ):
(0, ),
2
(, ).
2
2F
1 = arcsin
, 2 = 1 , tg 1,2 = f (1,2 ),
mg
f (1 ) = f (2 ) (0 , 0 ):
(1 = arctgf (1 ), 1 ); (1 , 1 ); (+1 , 1 ); (1 ,1 ).
11
. 2.2 , : 4F = mg, 1
= 9 , 1 = 30 . . -, F :
Q
Q
6=
,
. 2.2
3. .
.
2.1.
12
3.1. , , (t,q).
q 0 ,
(t,q)
(3.1)
= 0, k = 1, n,
qk q=q0
. . q 0
.
2.1
(t,q,)
Qk (t,q) =
, k = 1, n.
qk
3.1. , 2.1, F,
B AB, (. 3.1).
x
C1
A
P
C2
F
B
y
. 3.1
(,) = mg(yC1 + yC2 ) F xB =
l
= mg (3 cos + cos ) F l(sin + sin ).
2
(3.1)
l
= mg 3 sin F l cos = 0,
2
l
= mg sin F l cos = 0
2
13
tg =
2F
2F
, tg =
,
3mg
mg
(1 = arctg
2F
2F
, 1 = arctg
),
3mg
mg
(1 , + 1 ),
( + 1 , 1 ), ( + 1 , + 1 ).
. 3.2 , , 2.1 4F = mg, :
. 3.2
2.1
F, l, m, g ,
. 3.2, ,
1 < 1 .
14
3.2 , l (. 3.3).
.
y
y0
A
C
yc
y1
x0
x1
. 3.3
, ,
x
Z1
= mgyC = g
x
Z1
y(x)dm = g
x0
y(x)ds.
x0
ds
(
2 )
n
o
dy
2
2
2
2
ds = dx + dy = 1 +
dx2 = 1 + (y 0 ) dx2
dx
x
Z1
I=
q
y
1 + (y 0 ) dx,
x0
y(x)
= gI.
, l, . .
x
Z1 q
2
I0 =
1 + (y 0 ) dx = l.
x0
15
, , y(x)
I0 = l I
, . . (3.1), y(x)
(. c (0.2))
d f
f
= 0,
dx y 0
y
q
2
f (y,y 0 ) = (y + ) 1 + (y 0 )
I + I0 , .
(. 20.4), f /x = 0
f 0
y f = C2
y 0
q
2
. f (y,y 0 ) = (y + ) 1 + (y 0 )
p
dy
= (y )2 C 2
dx
x
y = Cch
+ b .
C
, C, b l
x
0
y0 = Cch
+ b ,
C
x
1
y1 = Cch
+ b ,
C
n x
x
o
1
o
I0 = C sh
+ b sh
+b
= l.
C
C
,
(x1 x0 )2 + (y1 y0 )2 l2 ,
, C, b .
16
A =
N
X
(Fi ,dri ) =
i=1
n
X
Qk (t,q0 ,0)dqk = 0.
(3.2)
k=1
q 0 :
dql 6= 0, dqk = 0, k 6= l.
(2.3)
(3.2).
3.2 .
3.3.
, R M0 Fi
R=
N
X
Fi = 0,
(3.3)
[ri , Fi ] = 0,
(3.4)
i=1
M0 =
N
X
i=1
O , ri ,
Fi .
(3.2)
dri
dri = Vi dt = (V0 + [, ri ])dt,
V0 O, .
(3.2) (17
)
(N
)
N
N
X
X
X
A =
(Fi ,dri ) =
(Fi ,V0 ) +
(Fi ,[,ri ]) dt =
i=1
i=1
(
=
i=1
N
X
)
N
X
Fi ,V0 ) + (,
[ri ,Fi ]) dt =
i=1
i=1
(3.5)
18
II.
4. .
(0.3) , .
() ((x)/t = 0):
x = (x), x Rm ,
(4.1)
x1 , . . . , xm q q.
(4.1)
x = (q, q)
. (4.1)
x(t) = f (t,x0 ).
(4.2)
t0 = 0, (4.2)
x(0) = f (0,x0 ) = x0 .
(4.3)
(4.2)
4.1. x(t) = f (t,x0 )
(4.1) t, t2 , x0
f (t,f (t2 ,x0 )) = f (t + t2 ,x0 ).
(4.4)
t = 0 (4.4) ,
(4.1)
t.
(4.4) , f (t,x0 )
Rm . ,
t t2 (.
(4.4)), , t = 0 (. (4.3)), ,
t2 t = t2 (. (4.3)
(4.4)).
, (4.1)
(0) = 0,
(4.5)
. . x(t) 0 (4.1).
4.1. x(t) = 0 (4.1) ,
( > 0)( > 0)( | x0 |=| x(0) |< )(t > 0) | x(t) |=| f (t,x0 ) |< .
, , x(t)
x = 0, ,
(| x(0) |< ) .
4.1
x(t) = f (t,x0 ) x0 = 0 x0 t 0. f (t,x0 )
, , ,
.
: , ( ) (4.1).
4.1
4.2. x(t) = 0 (4.1) ,
( > 0)( > 0)( | x0 |< )(t1 > 0) | x(t1 ) |=| f (t1 ,x0 ) | .
20
V (x). : | x |< ; V (x)
V (0) = 0;
(4.6)
V (x) (4.1) ,
m
W (x) = V (x) =
X V (x)
X V (x)
dV
=
x i =
i (x).
dt
xi
xi
i=1
i=1
(4.7)
(4.8)
( V (x) < 0). (4.7) (4.8) V (x)
.
{0 <| x |< } {V (x) 0}
( , V (x) 0)
21
5.
5.1 (.. ). (4.1)
= 0, x = 0,
V (x)
(5.1)
> 0, x 6= 0,
, V (x) (4.1)
W (x) = V (x) 0.
(5.2)
.
(. 5.1).
(| x |= 6= 0), ,
(5.1) V (x) > 0, ,
, x ,
V (x) 0 , . .
{x } {V (x) V (x ) = V > 0}.
xm
(5.3)
x <
x <
x <
x1
x
. 5.1
(4.6) V (x)
,
{| x0 |< } {V (x0 ) < V }.
22
(5.4)
V (f (t,x0 )) , x0 , .
(5.2) V (f (t,x0 )) = W (f (t,x0 )) 0, . .
t > 0 (14.3) (5.4)
V (f (t,x0 )) V (f (0,x0 )) = V (x0 ) < V .
(5.5)
, f (t,x0 ) ,
. . t1 > 0 x1 = f (t1 ,x0 ) ,
. , , (5.3)
V (x1 ) V (x ), , (5.5) V (x1 ) < V .
, 4.1 : ,
.
5.2 (.. ).
(M ),
k V (x) :
1. 0 < V (x) k;
2. W (x) = V (x) > 0;
3. {V (x) V0 } {l > 0, W (x) l > 0};
4. {x = 0} M ;
5. {x M, | x |< } {V (x) = 0}.
x(t) = 0 (4.1) .
4
( > 0)(x0 M )V (x0 ) > 0.
(5.6)
, x(0) = x0 : x(t) = f (t,x0 ) M . 2
V (x(t)) V (x0 ) = V0 > 0,
3
(5.7)
1 , x(t)
M
Zt
k V (x(t)) = V0 + V (x(t))dt V0 + lt,
0
23
= 0, x = 0,
0
2 . W (x) = V (x)
> 0, x 6= 0,
,
( 5.2):
1. 0 < V (x) k;
4. {x = 0} M ;
5. {x M, | x |< } {V (x) = 0}.
x(t) = 0 (4.1) .
2 3 5.2.
20 , . . 2 5.2 . 4 (5.6),
x(0) = 0 20 (5.7).
V (x) V (0) = 0
1 , {| x |< 1 } {V (x) V0 },
(5.7) : x(t)
1 | x |< ,
20 3 5.2.
5.2 .
5.4 (.. ). 5.3
1, 4 5., 20
200 . W (x) = V (x) = cV (x) + U (x),
c > 0, U (x) 0, x(t) = 0 (4.1) .
24
6.
II,
, (4.1). 5.1 ,
( ).
6.1.
Ap + (C B)qr
= 0,
B q + (A C)pr
= 0,
C r + (B A)pq
= 0,
(6.1)
p, q, r c , A,
B, C .
, (6.1)
( )
2T
Ap2 + Bq 2 + Cr2 ,
K02
A2 p2 + B 2 q 2 + C 2 r2 .
(6.2)
(6.1)
p = , q = 0, r = 0,
( ). p = x + , q = y, r = z ,
x = 0, y = 0, z = 0. (6.2) x, y, z
U1
Ax2 + By 2 + Cz 2 + 2Ax,
U2
A2 x2 + B 2 y 2 + C 2 z 2 + 2A2 x
25
(6.3)
A 2 A2 2 .
V = f (U1 ,U2 ),
(5.2) 5.1 : V 0. :
V (x,y,z) = U12 + U22 .
(6.4)
(V 0) ,
{V = 0} {x = 0, y = 0, z = 0},
W = V 0 (5.1),
(5.2) 5.1. V = 0 (. (6.4)) U1 = 0, U2 = 0,
(. (6.3))
AU1 U2 = B(A B)y 2 + C(A C)z 2 = 0,
A > B C, A < B C
(6.5)
(
) y = 0, z = 0,
U1 = 0 (. (6.3))
U1 = Ax(x + 2) = 0,
| x |< 2 x = 0.
: (6.5) (6.4) 2
(x2 + y 2 + z 2 < 4 2 ), (5.1) (5.2) 5.1 , . .
.
, (6.1) . , . , 1958 1 ,
26
, . ( ),
. , ,
1 .
, . ,
> 0.
( = ) 5.2 5.4 M
C A 2 AB 2
z +
y ,
W = V = (x + )
B
C
,
C > A B,
CA>B
2 3 5.2,
, . .
, .
7.
T =
n
1 X
= 0, |q|
= 0,
aik (q)qi qk
2
> 0, |q|
6= 0
(7.1)
i,k=1
1 . .158-159: ..
. .: , 1982 ( . . :.5)
27
(q) .
q 0 ,
q 0 = 0.
(7.2)
q 0 = 0
n
n
X
1 X 2
(q) = (0) +
qi +
qi qk +
qi 0
2
qi qk
i=1
i,k=1
q =0
0
q =0
,
(q) = 2 (q) + 3 (q) +
(7.3)
(k (q) k). , ,
(0) = 0
(7.4)
, -, 3.1
(0)/qi = 0,
1 (q) = 0.
4, , (4.1) x, x = (q,q)
. , 4.1 .
7.1. q 0 = 0 ,
( > 0)( > 0)( | q 0 |< )( | q0 |< )(t > 0) | q(t) |< , | q(t)
|< .
4.2 .
,
(7.2) R2n (q,q)
.
28
.
(q), .
: (q) ,
() , (7.1).
7.1 (. , . ). Rn (q) (q) (7.2) , . .
(7.4) |q| <
= 0, |q| = 0,
(q)
(7.5)
> 0, |q| 6= 0.
q 0 = 0 .
(7.5) (0)/qi = 0, . . 3.1 q 0 = 0
.
5.1, V
V = E = T + . (5.1) 5.1
(7.1) (7.5):
= 0, |q| + |q|
= 0,
V =E =T + =
> 0, |q| + |q|
6= 0;
(5.2) W = V = E = 0.
(7.5) . ( ) , (7.5) .
7.1. m , (2n 1) y = x2n sin2 (1/x2 ), y , x
( 7.1).
29
. 7.1
, , , , . .
. (x) = mgx2n sin2 (1/x2 )
x0 = 0 x1 = 1/ n, n
, x1 < . , (7.5) 7.1 .
. , ,
(7.2) (7.4).
(7.3) (q) q 0 = 0.
7.2 (.. ).
q 1
2 (q 1 ) < 0,
(7.6)
2 (7.3) .
q 0 = 0 .
(7.6) 7.2
:
( ), (7.3).
(7.6):
2 2 (aq 1 ) = a2 2 (q 1 ),
aq 1 , (aq 1 ) < 0.
30
= 0, |q| = 0,
m (q)
(7.7)
< 0, |q| 6= 0.
q 0 = 0 .
(7.7):
q0 = 0
(q),
m (7.3).
7.4 (.. ). (q)
, q 1
(q 1 ) < 0,
( , ). q 0 = 0 .
7.2,
(q): (aq 1 ) = ak (q 1 ).
7.2. (q) q 0 = 0.
) (q) = q12 , 7.1;
7.1 7.4 .
) (q) = q12 , 7.2, 7.4 7.3 .
) (q) = q14 ,
7.3, 7.4; 7.4.
) (q) = q14 q26 , 7.1 7.4 .
) (q) = q1 q2 q3 , 7.4.
) (q) 0, 7.1 7.4 .
, 7.2 ) , . :
... (7.1) T .
31
7.3. m R, y
.
(. 7.2).
P
. 7.2
P(0,mg) J(m 2 x,0)
1
1
= mgy m 2 x2 = mgR(1 cos ) m 2 R2 sin2
2
2
( ). 3.1
0 () = mR(g 2 R cos ) sin = 0,
sin = 0,
cos =
g
.
2 R
00 () = mR(g cos 2 2 R cos2 + 2 R).
.
32
g > 2 R. :
1 = 0,
2 = .
00 (0)
mR(g 2 R) > 0,
00 () =
mR(g 2 R) < 0
1 = 0 7.1 ,
2 = 7.2, 7.3 .
g < 2 R. :
1 = 0,
2 = ,
3,4 = arccos
g
.
2 R
00 (0)
mR(g 2 R) < 0,
00 ()
mR(g + 2 R) < 0,
00 (3,4 )
( 2 R g)( 2 R + g)
>0
2
:
1,3,4 = 0,
2 = .
( 2 R = g)
() = mgR
[(1 cos )2 2]
, 00 () = 2mgR < 0
2
1,3,4 7.1 (
6= 2k () > (0)), 2 =
7.2, 7.3 .
33
III.
8.
,
.
q, q T
, , . 7, , q 0
: qi0 = 0, qi0 = 0, (0) = 0.
T qi0 = 0, qi0 = 0 :
T
n
1 X
a
ik (q)qi qk =
2
i,k=1
n
n
1 X
aik
1 X
ql qi qk + =
a
ik (0)qi qk +
2
2
ql q=0
i,k=1
i,k,l=1
n
1 X
aik qi qk + ,
2
i,k=1
aik = a
ik (0);
(q) =
n
X
(0) +
qi
i=1
q=0
n
1 X 2
qi +
2
qi qk
i,k=1
qi qk + =
q=0
n
1 X
cik qi qk + ,
2
i,k=1
cik =
2
= const,
qi qk q=0
n
1 X
T =
aik qi qk ,
(8.1)
2
i,k=1
n
1 X
cik qi qk
2
(8.2)
i,k=1
A = kaik k,
(8.3)
C = kcik k.
(8.4)
.
8.1. (8.1) (8.2)
, . .
n
X
T >0
qi2 6= 0,
(8.5)
i=1
>0
n
X
qi2 6= 0.
(8.6)
i=1
(T > 0)
. ( > 0)
.
8.1.
T
1 2
(q + q22 ),
2 1
1 2
(q + q24 ),
2 1
7.1 q1 = 0, q2 = 0 .
(q) ,
35
:
q1
= C sin(t + ),
q2
= At + B.
9.
, (8.1), (8.2),
n
X
(aik qk + cik qk ) = 0,
i = 1, n.
(9.1)
k=1
C (8.3), (8.4)
q1
q1
q = ... , q = ...
qn
qn
(9.2)
(9.1)
A
q + Cq = 0.
: u1 , u2 , . . . , un , ,
(9.1) q(t) 6 0
qk = uk sin(t + )
q1
..
. =
qn
u1
.. sin(t + ).
.
un
(9.2)
u1
u = ... ,
un
36
(9.3)
(9.3) :
q = u sin(t + ).
(9.3) (9.1)
" n
#
X
2
(cik aik )uk sin(t + ) = 0,
i = 1, n.
k=1
sin(t + ),
(9.3),
= 2 .
(9.5)
uk
n
X
i = 1, n,
(9.6)
k=1
(9.7)
n
a0 n + a1 n1 + + an1 + an = 0.
(9.8)
(9.7) (9.8) . (9.8) : (9.8)
(9.3), qk = vk et . (9.8)
= 2 .
), )
), 10.
37
) l (9.8)
l > 0.
) :
l (9.8)
(9.3) (9.2):
q1
u1l
.. ..
(9.9)
. = . sin(l t + l ),
qn
unl
k1
. 9.1
:
r
!
k
x
1
=
sin
t + 1
y
1
m
r
!
k + 2k1
x
1
=
sin
t + 2 .
y
1
m
38
(9.9) . (9.1) : , . .
(9.9)
q1
u1l
n
.. X ..
Cl . sin(l t + l ),
(9.10)
. =
l=1
qn
unl
2n C1 , . . . , Cn , 1 , . . . , n .
. ,
, Cl , l
qk0 , qk0 . , -, ) ) (
10).
) l 6= k (9.8)
(9.6).
) l m.
(9.6), l , m m
.
, k1 = 0 9.1 2
= k/m
.
-, (9.10)
q1
u1l
n
1
.. X ..
(9.11)
. =
. (Fl cos l t + Gl sin l t).
l
l=1
qn
unl
(9.10) (9.11)
Fl = Cl sin l ,
Gl = l Cl cos l .
), ) ,
detU 6= 0,
39
(9.12)
u11
U = ...
un1
. . . u1n
..
..
.
.
. . . unn
(9.13)
, .
(9.11) t0 = 0, q = q 0 , q = q0 Fl , Gl
q1
u1l
q1
u1l
n
n
X
X
..
..
..
..
. =
. Fl ,
. =
. Gl .
l=1
l=1
qn0
unl
qn0
unl
(9.12), (9.2), (9.13)
F1
G1
F = ...
G = ...
Fn
Gn
F = U 1 q 0 , G = U 1 q0 ,
. . (9.11)
: (9.10) (9.11)
.
.
1. , q0 .
2. , q0 = 0.
3. T q = 0, q = 0,
. : A ( T ) , C
( ).
4. , A C
.
40
5.
det(C A) = 0,
1 , . . . , n .
6. l
(C l A)ul = 0
ul . m m .
7. l , ul (l = l ,
. (9.5))
q = ul sin(l t + l ).
8.
q=
n
X
Cl ul sin(l t + l ) =
l=1
n
X
l=1
ul (Fl cos l t + Gl
1
sin l t)
l
.
9. q0 , q0 ,
Fl , Gl Cl , l .
10.
. : ,
. .
10.1. 1 , . . . , n , T
n
1 X 2
T =
k ,
(10.1)
2
k=1
41
1X
rk k2 .
2
(10.2)
k=1
A C
T (. (8.1) (8.4))
n
1 X
F1 =
aik xi xk ,
(10.3)
2
i,k=1
F2 =
n
1 X
cik xi xk .
2
(10.4)
i,k=1
. F1
xi =
n
X
uik yk ,
(10.5)
k=1
y F1 , F2
n
F1 =
1X 2
yk ,
2
F2 =
k=1
1X
rk yk2 .
2
(10.6)
k=1
F2
rk > 0, k = 1, n.
(10.7)
, ( rl 0)
(yl 6= 0, yk = 0, k 6= l)
F2 F2 0,
.
(10.3) (10.5) xi = qi , yk = k , (10.5) (8.1) (10.1). (10.4) (10.5) xi = qi , yk = k ,
(8.2) (10.2). , F1 , F2 (10.6)
q :
qi =
n
X
uik k , i = 1, n,
k=1
42
(10.8)
detkuik k 6= 0.
(10.9)
. (10.1), (10.2)
k + rk k = 0.
(10.10)
(10.7)
k = Ck sin( rk t + k ).
(10.8) q
qi =
n
X
Ck uik sin( rk t + k ).
k=1
qi =
n
X
Ck uik sin( k t + k ),
k=1
9 (. (9.10)).
. -, k
rk (10.2) .
9
): (10.7) : k > 0, k = 1, n. -,
kuik k . ), ) 9: (10.9)
n
(9.6). , , : n
.
, (9.6) . (10.5) (10.3)
(10.6),
n
X
1, l = j,
aik uil ukj = lj =
0, l 6= j,
i,k=1
43
l j , ,
, .
, :
, . 11 12 .
11.
, ,
Qi = ai sin t.
(11.1)
, , , (10.8) .
,
A =
n
X
i=1
Qi qi =
n
X
Qi uik k =
i,k=1
n
X
k k ,
k=1
,
k =
n
X
Qi uik
(11.2)
i=1
(10.8) .
k + k2 k = bk sin t,
(11.3)
(11.1) (11.2)
bk =
n
X
ai uik .
i=1
(11.3)
(bk = 0).
k = Ek sin t.
44
(11.4)
Ek (k2 2 ) = bk .
(11.5)
.
1. 6= k . (11.5) Ek
k = Fk cos k t + Gk
1
bk
sin k t + 2
sin t
k
k 2
(11.6)
( (9.11)).
Fk , Gk :
t = 0, k = k0 , k = k0
Fk = k0 ,
Gk = k0
bk
.
k2 2
(11.6)
k = k0 cos k t + k0
1
bk
sin k t + 2
k
k 2
sin t
sin k t ,
k
(11.4)
(11.3):
bk
k = 2
sin
t
sin
t
.
(11.7)
k
k 2
k
2. = k . (11.5) (11.4).
k (11.7):
bk
1
lim k =
t cos k t
sin k t .
(11.8)
k
2k
k
, (11.3). , = k
bk
1
0
0 1
k = k cos k t + k
sin k t
t cos k t
sin k t .
k
2k
k
45
. , (11.1)
k . ,
(11.3) bk 6= 0.
(11.1) . Qi (t).
(. (11.2)), k
k =
bkl sin lt
(11.9)
l=1
(11.7) (11.8).
k (t) , (10.8) . (11.9) (Qi (t) = Qi (t)),
.
12.
, 9, , . , - , : (q) 0.
(10.8) ,
(10.2) (10.7)
rk > 0, k = 1, m, m < n,
rl = 0, l = m + 1,n.
(10.10)
k + rk k = 0, k = 1, m,
k = 0, l = m + 1,n,
46
k = Ck sin( rk t + k ), k = 1, m,
l = Fl + tGl , l = m + 1,n.
(10.8)
qi =
m
X
n
X
Ck uik sin( rk t + k ) +
uil (Fl + tGl ).
k=1
l=m+1
, 9, : rl = l = l2 = 0
qi = uil (Fl + tGl ), i = 1,n.
(9.11)
l 0.
47
IV.
13.
4,
x = (x), x Rm , (0) = 0
(13.1)
.
13.1 (.. , .. ).
V (x), (13.1) :
1. V (x) ;
2.
W (x) = V (x) =
n
X
V (x)
i=1
xi
i (x)
= 0, x M,
< 0, x
/ M,
(13.3)
M . , M t [0,), x 0 :
{t 0, W (x(t)) = W (f (t,x0 )) = 0} {x(t) 0}.
(13.4)
x 0 .
1 1 :
1 . V (0) = 0; > 0, |x0 | < , V (x0 ) < 0, x0
.
48
, 1, 2 . x 0
5.1. > 0, :
V (x) > 0, W (x) 0.
:
> 0, |x0 | < , t 0, t1 0,
|x(t)| = |f (t,x0 )| = |f (t t1 ,x1 )| < ,
(13.5)
(13.6)
1 > 0, > 0, |x1 | < , t t1 , |f (t t1 ,x1 )| < 1
(13.7)
(t1 , x1 ), (13.6)
|x0 | < , > 0, t1 0, |x1 | = |f (t1 ,x0 )| < .
(13.8)
|x0 | < , > 0, t 0, 0 < < |f (t,x0 )| <
(13.9)
(13.10)
V (f (t,x0 )) t (13.3)
V = 0, t
49
V (f (T,x )) < V (x ).
, (13.10), (4.4),
(13.11), :
V (x ) = lim V (f (t,x0 )) = lim V (f (T + ki ,x0 )) =
t
(13.8) :
{ 1, 2 } {x0 }.
x 0 1 , 2 . :
> 0, 1 () > 0, |x0 | < 1 , t 0, |f (t,x0 )| < .
(13.12)
> 0 x0 ,
(13.12) 1 : V (x0 ) = V0 < 0.
(13.3)
V (f (t,x0 )) V0 < 0
(13.13)
V (0) = 0 V (x)
(0 < < |x0 |),
{|x| < } {|V (x)| < |V0 |}.
(13.14)
(13.13) (13.14) ,
|f (t,x0 )| > 0,
50
. . (13.12)
x0 , > 0, t 0, 0 < < |f (t,x0 )| < ,
(13.9), , (13.9).
13.1 . 13.1 ( (13.3)
= {0})
13.2 (.. ). (13.1)
= 0, x = 0,
V (x)
> 0, x 6= 0
, V (x) (13.1)
n
X
V (x)
= 0, x = 0,
W (x) = V (x) =
i (x)
xi
< 0, x 6= 0.
i=1
(13.1)
.
14.
E = T +
n
X
= 0, q = 0,
E=
Qi qi
(14.1)
< 0, q 6= 0,
i=1
Qi , .
,
, (13.1), x = (q,q).
14.1. q 0 = 0 .
q0 = 0 .
q0 = 0 .
51
7.1 , V = E = T + , . .
1 13.1. R2n (q,q)
, :
q 6= 0 (q) > 0, q0 = 0
. E = T + q, q.
E t
M = {|q|
= 0} (. (14.1)). , M
t [0,), ,
q0 = 0. 1
2 13.1 .
14.1. , . 14.1,
L1
L2
C1
C2
R1
L3
C3
R2
C4
R3
. 14.1
(qiR
, , qi = qi dt )
1
T = (L1 q12 + L2 q22 + L3 q32 ),
(14.2)
2
1 1 2
1
1
1 2
=
q1 +
(q1 q2 )2 +
(q2 q3 )2 +
q3
(14.3)
2 C1
C2
C3
C4
=
1
(R1 q12 + R2 q22 + R3 q32 ).
2
(14.4)
(q1 = 0, q2 = 0, q3 = 0)
.
52
= 0, (q,q)
M = {q2 = 0},
W = V = E = 2 = R2 q22
(14.5)
< 0, (q,q)
/M
, 7.1 . ,
(14.2) (14.4),
12
1
=
L1
1
1
+
C1
C2
32
1
=
L3
1
1
+
C3
C4
(14.7)
.
) 1 = 3 . ,
A (14.6)
q1 = C2 A cos 1 t, q2 = 0, q2 = C3 A cos 1 t
53
(14.8)
( R2 = 0 ), . .
R6 (q,q)
q10 = C2 A, q20 = 0, q30 = C3 A,
q10 = 0, q20 = 0,
q30 = 0,
(14.6). 13.1 , 1 = 3
.
) 1 6= 3 . (13.3)
13.1 (. (14.2), (14.3) (14.5)). ,
(13.4).
t 0, x(t) = f (t,x0 ) M = {q2 = 0}
(. (13.4), (14.5)) q2 (t) = q20 = const
(14.6)
(14.7)
q1
A1 sin(1 t + 1 ) +
q2
q20 ,
q3
A3 sin(3 t + 3 ) +
C1
0
C1 +C2 q2 ,
(14.8)
C3
0
C3 +C4 q2 ,
q20 , A1 , 1 , A2 , 2
1
1
0
+
C1 +C2
C3 +C4 q2
(14.9)
C12 A1 sin(1 t + 1 ) C13 A3 sin(3 t + 3 ) = 0.
(14.9) 1 6= 3
t 0 , q20 = 0, A1 = 0, A3 = 0, (14.8): q1 = 0, q2 = 0, q3 = 0. ,
13.1
.
15.
, ()
x Rn .
x = Dx,
54
(15.1)
(15.1)
x = uet ,
u Rn ,
u = const, |u| 6= 0.
(15.2)
(15.2) (15.1) et
u
(D E)u = 0.
(15.3)
det(D E) = 0
u 6= 0 (15.3)
a0 n + a1 n1 + + an1 + an = 0.
(15.4)
n 1 , . . . , n (
, )
D.
k = k + ik .
(15.5)
, (15.1) (
: t0 = 0, x0 )
x(t) =
n
X
(15.6)
k=1
55
15.1.
1. {k = Rek < 0} {x 0
(15.1)};
2. {k = Rek > 0} {x 0
(15.1)};
3. {k = Rek < 0, k = 1,r < n, k = Rek = 0, k = r + 1, n}
{x 0
(15.1)}.
1 ,
(15.6) t [0,), ,
k = Rek < 0 t , . .
13.1 (
|Ck | < k Ck ).
2 3:
k = Rek < 0,
( ) .
2, n = Ren > 0,
(15.6): Ck = 0, k = 1, n 1. Cn 6= 0 x0 = Cn hn (0) : 0 < |x0 | < .
, ,
, x(t) = f (t,x0 ) , .
3 Ck = 0, k = 1, n 1. Cn 6= 0
x0 = Cn hn (0) :
0 < |x0 | < .
x(t) = Cn {[hk (t) cos k t + Hk (t) sin k t]},
-, (15.7) x(t) 6 0, , , 3
.
1, 2 15.1 .
(15.4)
56
: 1 ; 2 . 3
, D:
.
,
n
X
(15.8)
k=1
q(t) 0.
: (15.8) (15.1), (15.4)
15.1. (15.8).
A = kaik k, B = kbik k, C = kcik k,
(15.8)
A
q + B q + Cq = 0.
(15.9)
q = uet , u Rn , u = const, |u| 6= 0.
(15.9) et
u
(A2 + B + C)u = 0.
detkA2 + B + Ck = 0
|u| 6= 0
(15.4) 15.1.
16. .
15,
(15.1) (15.8)
57
: (15.4)
f () = a0 m + a1 m1 + + am1 + am = 0
(16.1)
.
a0 > 0.
(16.2)
16.1. (16.1) ,
k = k + ik :
Rek = k < 0, k = 1, m.
(16.3)
16.1. ak
(16.2) ak > 0, k = 0,m.
ak (16.1)
f () = a0
m
Y
( k ) = a0
k=1
( + |l |)
(2 + 2|j | + 2j + j2 ),
l ,
j j . ai = 0
. (+|l |) (2 +2|j |+2j +j2 ),
, ak > 0.
( + |l |) (2 + 2|j | + 2j + j2 )
ak > 0.
(16.3) . ,
f () = 3 + 2 + + 1 = (2 + 1)( + 1)
1,2 = i, 3 = 1 .
58
, , .
1 .
16.2 (. , . ). (16.1) , i > 0, i = 1, m,
i
a1 a3 a5 a7 . . . 0
a0 a2 a4 a6 . . .
.
0 a1 a3 a5 . . .
.
0 a0 a2 a4 . . .
.
m = 0 0 a 1 a 3 . . .
. .
0 0 a0 a2 . . .
.
..
.. . .
..
..
.
.
.
.
.
.
0 0 0 0 am
m (16.1).
, , c (16.1)
. (16.1) i
f (i) = u() + iv()
(16.4)
, u() , v()
:
u() = u(), v() = v().
(16.5)
[0,),
(16.4) (. 16.1).
1
.. . 3- . .: , 1967, .XV.
59
=0
. 16.1
= () (0) =0
.
=0
) ,
= i0 . = 0
, .
) /2, =0
m = 2l,
k,
(16.6)
=
+ k, m = 2l + 1.
=0
2
(16.5)
tg =
v()
.
u()
(16.6) [0,
] ,
u() = 0, v() = 0. >
,
(16.6). , , . 16.1, ,
, m = 2l,
, m = 2l + 1.
=0
2
60
) (,)
= 2 .
=0
(16.5): (,0],
[0,) .
) )
16.3. l ( Rek < 0) r (Rek > 0)
= (l r) .
2
=0
(16.7)
(16.1)
f () = a0
m
Y
( k ).
(16.8)
k=1
= i, k = k + ik
k = k + i( k ) = Rk ()eik () .
(16.9)
(16.9) k (,).
)
1) k < 0.
= (. 16.2 16.3).
Im ( i k )
2 > 1
Re ( i k )
. 16.2
61
k
2
. 16.3
2) k > 0.
= (. 16.4 16.5).
Im ( i k )
2 > 1
Re ( i k )
. 16.4
3 2
. 16.5
(16.9) (16.8),
) P
(m
m
Y
k ()
i
k=1
,
f (i) = a0
Rk () e
k=1
() = arg f (i) =
m
X
k ()
k=1
m
X
k=1
62
k = (l r)
) (16.7) .
1. (16.1) (m = l + r) (l r) ), )
(l r) .
C 2 (.. ). (16.1)
l = m, r = 0
,
=m ,
2
=0
m .
17.
x = (x), x Rn , (0) = 0
x = Dx + R(x),
(17.1)
i (x)
D=
xk x=0
, R(x) , , .
,
x = Dx
(17.2)
(1 2 15.1) (17.1). . (17.2) , 15.4 13.2 .
,
(17.1) 15.4 13.2.
(17.2)
V =
1 T
x Xx
2
63
(17.3)
X. V (17.2)
W = V =
1 T
x Cx.
2
(17.4)
(17.2) x T = xT DT
W = V =
1 T T
1
{x D Xx + xT XDx} = xT Cx
2
2
(17.5)
X C (17.3) (17.4):
DT X + XD = C.
(17.6)
(17.6) X . , .
17.1. 1 , . . . , n 1 , . . . , n
(n n)
i + k 6= 0, i,k = 1,n.
(17.7)
AX + XB = C
(17.8)
.
(17.8) Gx = c n2
X = kxik k. i , k ui , vk ( B B T k
)
Aui = i ui , B T vk = k vk .
(17.8) ,
Xik = ui vkT
G:
AXik + Xik B = Aui vkT + ui vkT B = i ui vkT + ui k vkT = (i + k )Xik .
64
n2 i +k
G, (17.7) G , (17.8)
( Gx = c) X.
17.2. k = k + ik D
Rek = k < 0, k = 1,n.
(17.9)
X (E )
DT X + XD = E
(17.10)
:
1. X ;
2.
Z
T
eD t eDt dt;
X=
(17.11)
3. X ;
4. X (17.3) .
1 17.1:
D DT , (17.9)
(17.7).
T
Z(t) = eD t eDt
Z = DT Z + ZD,
(17.12)
Z(0) = E,
(17.13)
D eDt .
(17.13)
Zt
Zt
Z(t) Z(0) = D
D T t Dt
dt + eD t eDt dt D.
(17.14)
(17.9) Y = DT Y, Y = DY
(17.12) t ,
65
t (17.14) Z(0) = E
2: (17.11) (17.10). (17.11) (17.9). (17.10) , X X T
,
X : X = X T . (17.3)
1
1
V = xT0 Xx0 =
2
2
1
=
2
Z
T
xT0 eD t eDt x0 dt =
0
1
x (t)x(t)dt =
2
|x(t)|2 dt > 0.
0
(17.15)
Re1 = 1 > 0.
(17.16)
X
DT X + XD = E,
(17.17)
x0
V =
1 T
x Xx0 < 0.
2 0
(17.18)
X (17.17)
(17.15) 17.1. (17.18) . V (x) > 0
V ,
1
V =
2
n
X
i=1
66
x2i < 0
n
X
x2i < 0,
i=1
V (x(t1 )) < 0.
17.4. 1 = 1 + i1 D
Re1 = 1 > 0.
(17.19)
c > 0
DT X + XD = 2cX E
(17.20)
X,
x0
V =
1 T
x Xx0 < 0.
2 0
(17.21)
(17.20) (17.17):
(D cE)T X + X(D cE) = E.
k
det(D cE E)
= det(D (c + )E)
= 0,
(D cE), D
k = k c = k c + ik .
c > 0 : , (17.19)
1 = 1 c > 0,
Re
67
,
k +
i = k + i 2c 6= 0,
i, k = 1, n.
c 17.3,
.
17.5. (17.2)
1 15.1: x 0
Rek < 0, k = 1, n.
x 0 (17.1) .
(17.9) 17.2,
X (17.10),
V (. (17.3)). V
(17.1) (17.10) (. (17.4) (17.6))
n
W = V =
1X 2
x + xT XR.
2 i=1 i
xT XR ,
n
P
i=1
x2i ,
x = 0,
x 6= 0, W < 0, . .
13.2.
17.6 (17.2) 2 15.1: x 0 Re1 > 0
( ). x 0
(17.1) .
17.4, X (17.20) x0
(17.21). (17.20)
:
DT Y + Y D = 2cY + E
(17.22)
68
(E E) c > 0 Y = X,
x0
1 T
x Y x0 > 0.
2 0
V (x) =
(17.23)
xT V x (17.1)
(17.22) (. (17.4) (17.6))
n
1X 2
W = V = 2cV +
x + xT Y R.
2 i=1 i
xT Y R ,
n
U=
1X 2
x + xT Y R
2 i=1 i
V > 0,
(17.23) : 5.4 .
18. .
n
X
(18.1)
k=1
A
q + B q + Cq = 0.
k
f () = () = det(A2 + B + C) = 0
( 15.1)
Rek < 0.
69
(18.2)
,
Ql (t), t:
n
X
(18.3)
k=1
(18.1) (18.3)
q(t) = q (t, C1 , . . . , C2n ) + q (t).
(18.1) , q (t, C1 , . . . , C2n ) (18.3)
( Cj ) , (18.3)
q (t) (. 18.1)
q
q
(t )
. 18.1
, , : Ql (t) , , ; q(t) = q (t) ,
, , (. 18.2).
Q1 (t )
Q j (t )
q1 (t )
Qn (t )
q j (t )
qn (t )
. 18.2
: Q(t) q(t). ,
(18.3)
70
. Q (t), = 1, m,
m
P
q (t), = 1, m,
Q (t)
m
P
=1
q (t).
=1
q(t),
(18.3):
Q(t), l = j,
Ql = Q(t)lj =
0 , l 6= j.
: (18.3), . . A, B, C,
Q(t). , q(t)
Ql = lj Deit ,
(18.4)
i .
qk = Ek eit .
(18.5)
(18.6)
k=1
Ek =
Djk (i)
.
(i)
(18.7)
71
0
..
.
0
D
0
..
.
0
k- ,
Djk , jk jk.
D (18.7)
A, B, C - :
jk (i)
.
(18.8)
Wjk (i) =
(i)
j , ,
k . () . Wjk . : Pjk ()
, Sjk () , Rjk ()
jk ()) Wjk (i):
Wjk (i) = Pjk () + iSjk () = Rjk ()eijk () .
(18.9)
[0,) (.
18.3), .
(. 18.4),
72
S jk
=1
=3
R jk
jk
= 20
=0
Pjk
. 18.3
Pjk
. 18.4
S jk
. 18.5
R jk
. 18.6
73
jk
. 18.7
(18.5), (18.7) (18.9)
qk = DWjk (i)eit = DRjk ()ei(t+jk ())
(18.10)
(18.3) (18.4).
, , - , , (18.4).
. (18.4) (18.10)
(18.3) . (18.3) ,
Ql = lj D sin t
(18.11)
(18.12)
. . (18.11)
,
Rjk () jk (). Rjk ()
jk () : . 18.3 Rjk (), jk (). = 3. , (18.12)
, , .
.
Ql = lj
m=0
74
.
qk =
m=0
75
1
2
qk (t) =
Pjk ()
0
sin t
d,
. . Pjk () - .
1 .. . .: , 1966.
452 .
76
V.
19.
, L(t,q,q).
()
(L = T ), L (0.3)
2
L
det
(19.1)
qi qk 6= 0,
(0.2)
n
X
2L
qk + Gi (t,q,q)
= 0,
qi qk
i = 1, n,
k=1
qk .
(19.1)
, (19.1) .
t, q, q,
, t, q, p.
t, q, q :
pi =
L
= i (t,q,q).
qi
(19.2)
d L
L
=0
dt qi
qi
(19.3)
(19.2)
pi =
L
.
qi
(19.4)
(19.2) qk ,
qk = k (t,q,p)
77
(19.5)
t, q, p .
(19.2) (19.5) (19.1):
2
i (t,q,q)
= det L 6= 0.
det
qk
qi qk
()
H(t,q,p) =
n
X
pi qi |q=(t,q,p)
L(t,q,q)|
q=(t,q,p)
.
(19.6)
i=1
, ,
L = T = T2 + T1 + T0 ,
H
H=
n
X
T2
i=1
qi
qi +
n
X
T1
i=1
qi
qi L = 2T2 +T1 T2 T1 T0 + = T2 T0 +
( ). (T = T2 )
H = T |q=(q,p)
+
(19.7)
t, q, p.
( )
(19.6)
dH =
n
X
n
n
X
X
H
H
H
dt +
dqi +
dpi =
t
q
pi
i
i=1
i=1
n
X
n
n
X
X
L
L
L
=
pi dqi +
qi dpi
dt
dqi
dqi .
t
q
qi
i
i=1
i=1
i=1
i=1
(19.2) ,
, t, q, p. , :
H
L
=
,
t
t
78
(19.8)
qi =
H
,
pi
(19.9)
H
L
=
.
qi
qi
(19.10)
H
.
qi
(19.11)
.
(19.9) (19.11) ( ):
qi
pi
=
=
H
,
pi
H
, i = 1, n.
qi
(19.12)
, H(t,q,p),
L(t,q,q)
, H(t,q,p),
2
det
(19.13)
pi pk 6= 0.
(19.13) qi = H/pi (. (19.12)) pk ,
. . (19.2), (19.6)
:
( n
)
pi qi H(t,q,p)
L(t,q,q)
=
.
(19.14)
i=1
p=(t, q, q)
(19.12)
, . .
qi , pi . , (19.12)
79
H.
, .
(19.12).
20. .
.
20.1. (19.12) f (t,q,p),
q(t), p(t) (19.12) t
f (t,q(t),p(t)) = f (t0 ,q0 ,p0 ) = const.
(20.1)
(20.1) t (19.12)
n
f X
df
=
+
dt
t
i=1
f H
f H
qi pi
pi qi
= 0,
(20.2)
f
H. (20.2) ,
(,) (t,q,p), (t,q,p)
n
X
(,) =
.
qi pi
pi qi
i=1
(20.3)
(20.3) (20.2)
f
+ (f,H) = 0.
t
(20.3)
(19.12)
qi = (qi ,H),
pi = (pi ,H).
(20.3)
:
80
1. (,) = (,);
2. (
m
P
i=1
i i ,) =
m
P
i=1
i (i ,), = const;
(,)
= ( ,) + (,
).
t
t
t
, (,), 1 3,
.
.
, , , .
20.1 (..). (,)
o
.
:
+ (,H) = 0,
t
(,)
+ ((,),H) = 0.
+ (,H) = 0
t
4, 1 3 :
(
,) + (,
) + ((,),H) =
t
t
, , . ( z )
px = mx,
kz = ypx xpy = m(y x xy)
x z.
(px ,kz ) py = my
y. , py
px , kz ,
,
(. 20.1).
2n
(20.2).
H(t,q,p), .
20.2. qk ,
:
H = H(t, q1 , . . . , qk1 , qk+1 , . . . , qn , p1 , . . . , pn ).
20.2. qk
pk .
(19.12):
pk =
H
= 0.
qk
, , ,
(19.12).
qi
H
, i 6= k,
pi
pi
H
, i 6= k.
qi
82
(20.4)
qk , pk
Ck . (20.4)
qk (t) (. (19.12)):
Z
H
qk =
(t,q1 (t), . . . ,qk1 (t),qk+1 (t), . . . ,qn (t),
pk
p1 (t), . . . ,pk1 (t),Ck ,pk+1 (t), . . . ,pn (t))dt.
20.3. , H(q,p) t.
20.3. H(q,p) (19.12):
H(p,q) = h.
(20.5)
H(q,p) (20.2)
.
(. (19.6)).
H(q,p) (19.13),
H(q,p) (19.14) L(q,q),
20.3 .
(19.13) (19.1), .
20.4. L(q,q)
t. (19.3)
n
X
L
qi L
(20.6)
qi
i=1
(19.6) .
:
n
!
n
n
n
n
X
X
X
X
d X L
d L
L
L
L
qi L =
qi +
qi
qi
qi =
dt i=1 qi
dt
qi
i
i
i
i=1
i=1
i=1
i=1
83
n
X
d L
L
qi = 0.
dt qi
qi
i=1
- , , (19.12) .
20.5. (19.12) 2n, , 2n-2.
, (20.5)
pk ( H = H(q1 , . . . ,qn )
(19.12) ). , (20.5)
p1 :
p1 = K(q1 ,q2 , . . . ,qn ,p2 , . . . ,pn ,h).
(20.7)
p1
z
}|
{
H(q1 , q2 , . . . , qn , K(q1 , q2 , . . . , qn , p2 , . . . , pn , h) ,p2 , . . . , pn ) = h
qi , pi , i = 2,n,
H
H
K
+
= 0, i = 2,n,
qi
p1
qi
H
H
K
+
= 0, i = 2,n,
pi
p1
pi
K
H
H
=
, i = 2,n,
qi
qi
p1
K
H
H
=
, i = 2,n.
pi
pi
p1
(20.8)
dqi
qi
H
H
K
=
=
, i = 2,n,
=
dq1
q1
pi
p1
pi
(20.9)
pi
H
H
K
dpi
=
=
=
, i = 2,n,
dq1
q1
qi
p1
qi
84
q1
qi (q1 ), pi (q1 ), i = 2,n (. (20.7)).
qi (t), pi (t), i = 1, n, (20.9) . qi (q1 ), pi (q1 ), i = 2,n, q1 = H/ p1 = g(q,p)
dq1
dt
z
}|
{
K(q1 , q2 (q1 ), . . . , qn (q1 ), p2 (q1 ), . . . , pn (q1 ), h) ,
p2 (q1 ), . . . , pn (q1 )) = G(q1 , h).
q1 (t) qi (q1 ), pi (q1 ), i = 2,n (20.7)
qi (t), pi (t), i = 1, n
(19.12).
K(q1 , q2 , . . . , qn , p2 , . . . , pn , h) (20.7) , (20.9) (
24 (20.9) ).
20.4. qk ,
H(q,p)
H = H(t, z, q1 , . . . , qk1 , qk+1 , . . . , qn , p1 , . . . , pk1 , pk+1 , . . . , pn ),
z = f (qk , pk ).
(20.10)
qk : z = f (qk , pk ) = pk .
20.6 qk
z = f (qk , pk ).
(19.12) (20.10)
df (qk , pk )
dt
f
f
qk +
pk =
qk
pi
f H
f H
=
qk pk
pk qk
f H f
f H f
=0
qk z pk
pk z qk
85
f (qk ,pk ) = C.
20.1.
L=T =
m 2
(r + r2 2 + r2 2 sin2 ) +
2
r
!
p2
1
p2
2
pr + 2 + 2 2
.
H =T + =
2m
r
r
r sin
(20.11)
, 20.2
p = C1 .
(20.12)
(20.11)
20.3 H(r,,,pr ,p ,p ) = h0
. (20.12) (20.11) 20.6
H=
z
1 2
pr + 2 ,
2m
r
r
z = p2 +
C12
,
sin2
. .
z = p2 +
p2
C12
2
=
p
+
= C2
sin2
sin2
(20.13)
.
20.1 : (,) 0.
,
(19.12), :
(20.11) (20.13)
( 31).
20.2. , (20.11),
, (H, F1 , F2 )
H(F2 (F1 (q1 , p1 ), q2 , p2 ), p3 , q4 , p4 ).
86
(20.13)
20.1, 20.2,
20.3, 20.5
F1 (q1 , p1 ) =
F2 (1 , q2 , p2 ) =
p3
1 ,
F2 (F1 (q1 , p1 ), q2 , p2 ) = 2 ,
3 ,
H(2 , 3 , q4 , p4 ) =
t , q, q, q
t , q, p, p
t
. 21.1
:
, t, q, q,
q
( t, q, p, q,
p),
,
(19.3) (19.12),
. : ,
87
() 21.1
.
.
21.1. q(t) q(t,), q(t) = q(t,0). ,
: t0 (), q 0 () = q(t0 (),)
t1 (), q 1 () = q(t1 (),) (. 21.2).
q
t1 ( )
q1 ( )
q (t )
= 1 = 0
t0 ( )
q 0 ( )
. 21.2
21.2. (t, q, q,
q, p, p)
=
,
,
qi (t,)
qi =
,
qi (t,)
,
n
X
L
L
L(t,q,q)
=
qi +
qi .
qi
qi
i=1
qi =
21.3.
tZ1
W = L(t,q,q)dt,
(21.1)
t0
88
q(t) , L(t,q(t),q(t))
t0 , t1 .
.
: q(t) ( q(t,)),
t1Z()
W () =
L(t,q(t,),q(t,))dt
(21.2)
t0 ()
W =
W ()
.
21.1.
"
W
pi qi Ht
i=1
1
" n
#
pi qi Ht
n
X
i=1
t1Z()
t0 ()
(21.3)
n
X
L
d L
qi dt.
dt qi
qi
i=1
pi H (.
(19.2), (19.5))
L
pi =
,
(21.4)
qi
H=
n
X
pi qi L
i=1
89
(21.5)
t, q, q , . qi , t .
qi :
qi (t,)
,
qi =
t, qi ,
t qi .
, t = t1 ():
t|t1 () =
t1 ()
,
(21.6)
qi (t1 (),)
qi (t1 (),)
t|t1 () +
=
t
qi (t,)
= qi |t1 () t|t1 () +
.
t1 ()
(21.7)
(21.3)
(21.6), (21.7)
f 0 () =
df ()
, L0 = L(t0 (),q 0 (),q0 ()), L1 = L(t1 (),q 1 (),q1 ()).
d
(21.3) (21.2)
:
W 0 () = L1 t01 L0 t00 +
tZ1 n
X L
L 0
0
+
q +
q dt =
qi i
qi i
i=1
t0
= L1 t01 L0 t00 +
+
tZ1 n
X
t0 i=1
L 0 d L 0 d
q
q +
qi i dt qi i dt
90
L 0
q
qi i
dt =
n
X
L1 qi (t,)
qi
t1 ()
i=1
n
X
L0 qi (t,)
L0 t00
qi
t0 ()
i=1
= L1 t01 +
tZ1 n
X
t0 i=1
d L
L
dt qi
qi
qi0 dt =
n
X
=
+
qi (t,)
t1
qi
d
t1 ()
i=1
!
n
X
tZ1 n
X
t0 i=1
n
X
L1 dqi (t1 (),)
i=1
d L
L
dt qi
qi
qi
i=1
tZ1 n
X
t0 i=1
qi0 dt =
n
X
L1
qi
qi
i=1
n
X
L0 dqi (t0 (),)
qi
n
X
L0
qi
qi
i=1
L
d L
dt qi
qi
!
t01
t1 ()
!
t00
t0 ()
qi0 dt.
(21.8)
q
q1
= 1
=0
=1
q0
t0
t1
. 21.3
(21.3)
,
W =
tZ1 n
X
t0 i=1
L
d L
dt qi
qi
qi dt.
(21.9)
.
21.2. h(x) [a,b]
g(x)
Zb
g(x)h(x)dx = 0.
a
h(x) 0.
21.3 ( ). q(t) ,
q(t,), (21.8),
W |=0 = 0.
:
qi (t,)
{
q (t) } qi =
,
W
|
=
0
.
=0
=0
92
(21.9):
(19.3), (21.9) .
(
, qk 6= 0, qi = 0, i 6= k) 21.2.
() , .
:
{ }
m
{ }
m
{ }.
. (19.3) L(t,q,q).
q(t)
{t, q} {t, q} q(t). :
q(t) (19.3), t,
L(
q ,q)?
.
q(t) (
(21.8)) .
tZ1
W () =
t0
dq(t,)
L t,q(t,)
dt
dt
(21.10)
= 0 .
q(t) (21.10)
t = t(t,
q ),
(21.11)
q = q(t,
q ).
93
q(t,) : q(t,). W ()
, W () . = 0 W (),
q(t) q(t)
, L
, .
!
dq
dt
,
(21.12)
L(t,
q ,q) = L t(t,
q ),q(t,
q ),
dt t,q dtt,q
(21.11)
n
qi (t,
q ) X qi (t,
q)
qk
+
qk
t
k=1
dqi
=
,
n
dt t,q
t(t,
q ) X t(t,
q)
+
qk
qk
t
k=1
n
dt
t(t,
q ) X t(t,
q)
=
+
qk .
dt t,q
t
k
k=1
, q(t) .
(21.12) .
, , L
L f (t,
q ):
q)
= L
+ df (t,
L
.
(21.13)
dt
, W, W , L
,
L
f (t1 ,
q1 ) f (t0 ,
q0 ):
1
tZ
W () =
t0
df
L+
dt = W () + f (t1 ,
q1 ) f (t0 ,
q0 ),
dt
94
= 0 W, W
.
, (19.3)
L,
(21.13).
22.
(0.2)
.
.
22.1. t, q t, q Rn+1 (t,q),
q(t) q(t) .
, t, q t, q , :
d
q
dt
L t,
q,
= L(t,q,q)
(22.1)
dt
dt
L(, ,). , q(t) ,
L(t,q,q),
q(t) t,
, L(
q ,d
q /dt),
(21.12). L (21.12) : q(t)
, q(t).
22.2. L(t,q,q),
t, q t, q
Rn+1 (t,q), (22.1).
22.1. , (22.1) ( )
d
q
dt
df (t,
q)
q,
L t,
= L(t,q,q)
,
+
dt
dt
dt
95
, (22.1), :
{q(t) } {
q (t) }
(. (21.13) ).
, (0.2)
t, q t, q (
)
d
q
dt
L t,
q,
= cL(t,q,q)
, c = const,
dt
dt
(0.2) L
{q(t) } {
q (t) }.
22.3. Rn+1 (t,q)
t
t(t,q, ),
qi
qi (t,q, ), i = 1, n,
(22.2)
() ( )
dt
d
d
qi
d
(t,
q ),
i (t,
q ), i = 1, n,
(22.3)
t(0)
qi (0) =
t,
qi , i = 1, n.
(22.4)
(22.2) , .
96
(22.2) (22.3)
t(t,q, )
(t,q) =
,
=0
(22.5)
qi (t,q, )
i (t,q) =
,
i
=
1,
n.
=0
22.3. (22.2) L(t,q,q),
( ) 22.2.
: {L(t,q,q)
(22.2)}
(22.4), (22.1)
d
q dt
L t,
q,
= L(t,q,q).
(22.6)
dt dt
(22.1) t, q t, q, (22.6)
t, q t, q.
22.1 (
.) (22.2)
,
L(t,q,q).
w=
n
X
pi i H,
(22.7)
i=1
L
,
qi
H(t,q,p) =
n
X
pi qi L(t,q,q).
(22.8)
i=1
( (22.5), ,
= 0 (22.4) t = t, q = q, t
)
d t
dt
d
=
,
(22.9)
=
=0 dt
dt =0
dt
97
d
qi
=
=0 dt
=0
d
qi
dt
dt
dt
d
qi dt
d
qi
d
t
=0 dt dt =0
=0 dt =0 dt
=
2
dt
dt
(22.10)
=0
d dt
dqi
di
d d
qi
d
=
qi .
=
dt d =0
dt d =0 dt
dt
dt
(22.7)
(22.6) = 0 (22.4), (22.9), (22.10), (0.2) (22.5), (22.8):
n
n
X
X
L
L
L di
d
d
+
i +
qi
+L
=
t
qi
qi dt
dt
dt
i=1
i=1
d
=
dt
( n
n
!)
X L
X L
dw
=
i
qi L
= 0.
dt
i
i
i=1
i=1
22.1 (..).
2
1 dq
L=
(22.11)
2 dt
(, ,
)
t = te ,
(22.12)
q = qe .
98
d
q
dt
dt 1
=
dt
2
dq
dt
2
e(2)
, (22.12) (22.11) 2 = 0, ,
= 2, = 1. (22.5) (22.8)
= 2t, = q, p = q,
H=L=
1 2
q ,
2
(22.7)
w = qq
tq2 .
22.1
, .
22.2. :
ri = xi i + yi j + zi k, i = 1,N .
, (rik )
rik :
2
rik
= |ri rk |2 = (xi xk )2 + (yi yk )2 + (zi zk )2 .
L=T =
1X
mi (x 2i + y i2 + zi2 ) (rik ),
2 i=1
pxi = mi x i , pyi = mi y i , pzi = mi zi
99
(22.13)
( )
N
1X
mi (x 2i + y i2 + zi2 ) + (rik ).
2 i=1
H =T + =
(22.6) :
( N
"
)
2
2
2 #
dt
1X
d
xi
d
yi
d
zi
dt
+
+
(
rik )
L =
mi
,
dt
2
dt
dt
dt
dt
i=1
(22.14)
2
rik
= (
xi x
k )2 + (
yi yk )2 + (
zi zk )2 .
(22.15)
(22.13),
(22.5) (22.7):
w=
N
X
mi (x i ix + y i iy + zi iz ) H.
(22.16)
i=1
1. t
t = t ,
x
i = xi ,
yi = yi ,
zi = zi ;
= 1,
ix
iy
iz = 0.
= 0,
= 0,
(22.17)
(22.17) (22.14)
, (22.6) ,
(22.16):
w = H = T + .
(22.18)
(22.17) 22.1 (22.18) .
2. x
t = t,
= 0,
x
i = xi + ,
yi = yi ,
zi = zi ;
ix = 1,
iy
iz = 0.
100
= 0,
(22.15) rik = rik , (22.6)
, (22.16)
w = Px =
N
X
mi x i
i=1
x.
, , . . P
.
3. z
t = t,
x
i = xi cos yi sin ,
yi = xi sin + yi cos ,
ix
iy
zi = zi ;
iz = 0.
(22.19)
(22.19)
, (22.14)
. (22.19)
: (22.14) (22.15) rik = rik .
, (22.6) ,
(22.16)
= 0,
= yi ,
w = Kz =
N
X
= xi ,
mi (xi y i yi x i )
i=1
z.
, Kx , Ky
K0 .
23.
,
W ()
= 0,
=0
. . = 0 W ().
.
101
A(t)
q + B(t)q + C(t)q = f (t),
q Rn
(23.1)
, :
q(t), (t0 , q 0 ), (t1 , q 1 )
. ,
x = D(t)x + f (t), x Rm
x(t) = (t,t0 )x0 + F (t,t0 ),
(t,t0 ) x = D(t)x,
F (t,t0 ) , f (t) (t,t0 ), x0 = x(t0 ) . , (23.1) q 0 = q(t0 ), q0 = q(t
0 ):
q(t,t0 ,q 0 ,q0 ) = 1 (t,t0 )q 0 + 2 (t,t0 )q0 + F (t,t0 ).
(23.2)
, t0 , q 0 , q0 .
t = t0 q(t0 ,t0 ,q 0 ,q0 ) = q 0 , 1 , 2
qk0
(t0 , q 0 ), (t1 , q 1 = q(t1 ,t0 ,q 0 ,q0 ))
: (23.2), t, q
t1 , q 1 , q0 , . .
(t0 , q 0 ), (t1 , q 1 ) Rn+1
q(t).
102
qk0
(23.4)
(23.4) ,
, .
23.1. (t0 , q 0 ), (tf , q f )
Rn+1 ,
q(t) = q(t,t0 ,q 0 ,q0 )
,
= 0,
(23.5)
det
qk0
(23.1)
det 2 (tf ,t0 ) = 0
(23.6)
2 (23.2) (. (23.4)).
(23.6) z 6= 0
2 (tf ,t0 )z = 0.
(23.7)
z q(t,)
q(t,t0 ,q 0 ,q0 + z) = 1 (t,t0 )q 0 + 2 (t,t0 )(q0 + z) + F (t),
(23.8)
,
23.1.
:
1. (t0 , q 0 ), (tf , q f ), 23.1
;
2. (23.2) (23.1) (t0 , q 0 ), (tf , q f );
3. (t0 , q 0 ), (tf , q f ),
q(t,) .
23.1
(. 23.2), , ,
. 1 ,
( )
.
23.2 ( ).
(21.1) (t0 , q 0 ), (t1 , q 1 ) , t0 < t < t1
, (t0 , q 0 ).
. t = tf , t0 < tf < t1 , q(t,)
(t0 , q 0 ), (t1 , q 1 ),
, , .
23.3 ( ).
t0 < t t1 ,
(t0 , q 0 ),
q(t,) (q(t,0)/ 6 0)
(t0 , q 0 ), (t1 , q 1 ) (21.1)
.
1 , , .26: ..
. .: . ., 1980. 288 .
104
23.1. , t0 = 0, x0 , x 0
ZT
1
W =
(x 2 x2 )dt,
(23.9)
2
0
x
+ x = 0,
(23.10)
(23.11)
t.
y=
x(t,x0 ,x 0 )
,
x 0
(23.12)
(. (23.5)), ( (23.10) x 0 ):
y + y = 0
(23.13)
y0 = y(0) = 0,
y 0 = y(0)
= 1,
(23.14)
(23.12) (23.11).
(23.10) (23.13)
, (23.10) (. (23.28) (23.31) 23.2). (23.13) (23.14) (23.11) (23.12)
y(t) = sin t, (23.5) (, x0 ),
(0, x0 ) : tf = ( ) t > 0
y(t).
x0
x1
x0 > 0
x0 = 0
x0 < 0
x0
. 23.1
105
(23.15)
u(t) = x0 (t,)|=0
(23.16)
( ). (23.15)
u(0) = 0, u(T ) = 0.
(23.17)
e , . .
u(t) 6 0.
(23.18)
(23.9) (.(21.9))
ZT
0
W () = (
x + x)x0 (t,)dt.
(23.19)
, x(t,0)
(23.10),
ZT
W 00 (0) = (
u + u)udt.
(23.20)
0
(23.17)
ZT
ZT
u
udt =
T
uu|
0
ZT
2
u dt = u 2 dt,
ZT
00
W (0) = (u 2 u2 )dt.
0
106
T W 00 (0) (23.17)
ZT
d 2
(u ctg t)dt.
dt
:
u(t)
lim u(t)ctg t = lim
= lim u(t)
cos2 t = u(0)
< .
t0
t0 tg t
t0
(23.17) . :
lim u(t)ctg t = u()
< .
ZT
00
(23.21)
. ., T ( 0 < t < T ,
(0, x0 )), W 00 (0) 0.
, T .
I. T < tf = t (0,T ] .
W 00 (0) = 0 u = uctg t
u = C sin t.
C = 0 (23.18), C 6= 0 0 < T <
(23.17). , ( (23.15))
(. (23.18)) W 00 (0) > 0:
.
II. T = tf = . x(t,) , u = x0 (t,)|=0 = C sin t, C 6= 0
W 00 (0) = 0, . x(t,) :
x(t,) = x0 cos t + x 0 sin t + C sin t + k f (t).
107
(23.22)
C sin t ( ) k f (t), k 2,
W (). (23.22) , f (t)
f (0) = 0, f () = 0.
(23.23)
,
f (t) 6 a sin t,
a 6= 0,
(23.24)
= C +k a C sin t
k a sin t , k f (t) (23.22)
( ), (23.24). (23.22) (23.19)
ZT
0
2k1
W () = k
(f + f )f dt
0
1 W 0 () 0 (23.24) f = a sin t
W (l) = 0, l = 1,2k 1, W (2k) > 0,
(23.26)
. ., ,
, , .
, (0, x0 ), (, x0 )
x(t), x(t,) = x(t) + sin t ( (23.22) f (t) 0,
x(t,) ) (23.9) :
(23.25) W 0 () 0.
108
(23.27)
( x(t) (, x0 ),
(0, x0 ),
x(t,) = x(t) + sin
nt
,
T
n - . (23.20)
u(t) = x0 (t,0) = sin
nt
T
W 00 (0) =
T
n 2
1
,
T
2
, n = 1 (23.27)
W 00 (0) < 0,
. . W ().
n n > T, W 00 (0) > 0, . .
W () .
. , t0 = 0, x0 , x 0 , R2 (t,x) (0, x0 ) (, x0 ). [0,T ] (T < ),
( ) (23.9) , 23.3.
[0,T = ],
x(t,) = x(t) + sin t x(t),
W () 0 (
(23.9)); . [0,T ] (T > ),
109
(23.9) , .
23.2.
x
+ sin x = 0,
(23.28)
. x(t,) (23.28)
t0 = 0, x(0,) = x0 = 0, x(0,)
= x 0 =
(23.29)
.
|| < 2
. 23.2 , ) = 0.8, ) = 1.4,
) = 1.8.
x
)
)
)
. 23.2
|| = 2
. || > 2 1 . (23.5)
x(tf ,)
= 0.
(23.30)
=
x(t, ) x(t,) (23.28),
y + y cos x(t,) = 0,
1 C.
(23.31)
x(t,)
.
y
y=
y(0) = y0 = 0, y(0)
= y 0 6= 0.
(23.32)
y0 = 0 (23.29): y0 = x(0,)/ = 0;
y 0 6= 0 y(t) 0. (23.30)
tf > 0, yf = y(tf ) = 0.
, x(t) 23.1
(23.28), (23.31) (23.29),
(23.32). x(t) tf > 0, y(tf ) = 0.
y
. 23.3
, y (23.31)
y0 = 0, y 0 6= 0 (
y 0 = 1). . 23.3 y(t), . 23.2 y 0 = 1:
) tf = 3.54 = 0.54Tp , ) tf = 4.71 = 0.64Tp , ) tf = 6.33 = 0.69Tp ;
Tp . . 23.2
, ), ), ) x0 = 0.
, . e :
111
( ).
, : . 23.4 ),
)
= 1.86, )
= 1.924, )
= 1.96.
1
x(t) x(t,) ( . 23.2
).
x
)
t
)
)
. 23.4
. (23.26)
ZT
1
W = ( x 2 + cos x)dt.
(23.33)
2
0
(23.34)
x(t,) (23.33), (
), (23.34)
ZT
W 0 () = (
x + sin x)x0 dt,
(23.35)
0
1
.. . .: - . -, 1980.
288 .
112
, , (23.28)
:
W 0 (0) = 0.
x(t,)
u(t) =
.
(23.36)
=0
u(t) (23.34)
u(0) = 0,
u(T ) = 0.
(23.37)
u(t)
x(t,)
u(t) 6 0.
(23.38)
(23.39)
(23.37) ,
ZT
00
(23.40)
W (0) = (u 2 u cos x)dt.
0
.
I. 0 < t T .
y(t) (23.31) (23.32) u(t) (. (23.36), (23.37)). (23.32)
lim
t0
u(t)
u(0)
u(t)
= lim
=
< ,
y(t) t0 y(t)
y(0)
(23.41)
. . u(t)/y(t)) 0 t T.
(23.37)
113
(23.31)
0=
ZT
ZT
u2 y
d u2 y
2uu y
u2 y 2
2
=
dt
=
u
cos
x
dt.
y 0
dt
y
y
y2
0
(23.42)
(23.40) (23.42),
2
ZT
uy
W (0) =
dt,
u
y
00
(23.43)
,
W 00 (0) 0.
W 00 (0) = 0 ( (23.38)):
uy
00
{W (0) = 0} u
=0
y
{y(t) = Cu(t), C = const} {y(T ) = Cu(T ) = 0},
t = T.
x(t,)
(23.33) x(t) (23.28) .
II. x(t): tf = T, y(T ) = 0.
u(t)/y(t) 0 t T ( t T (23.41)), (23.43) . , , y(t) = Cu(t), C = const,
, x(t,) = x(t)+y(t), W 00 (0) = 0.
y(t) = Cu(t)
ZT
C 3 W 000 (0) = y 3 sin xdt.
0
114
. 23.5
(23.28), y(0) = y(T ) = 0 x y+y
sin x = y 0
(23.28), (23.31)
ZT
3
000
ZT
ZT
T
y sin xdt = y x
dt = (y x)
0 + 3 y 2 y xdt
=
3
C W (0) =
ZT
ZT
2
3 y 0
W (0) =
4C 3
ZT
000
y 2 dt,
0
ZT
sin4 tdt =
u4 dt =
0
3C 4
>0
8
, ,
, u(t) = y(t)/C (0 < C < )
x(t) 6 0 . (u(t) = y(t)/C,
0 < C < x(t) 0 u(t) 6= y(t)/C ) (. (23.43)).
III. : 0 < tf < T.
: (23.33) ;
.
-1 . x(t) (23.28) (23.29). l
lu = (
u + u cos x(t)).
(23.44)
, (23.41) ly = 0. l
lu = (
u + u cos x(t)) = u, u(0) = 0, u(T ) = 0
(23.45)
(23.46)
. . W () . (23.44) .
1 .. . .: - . -, 1980.
288 .
116
. 23.6
W
W ()
. 23.7
1. (23.45)
k , uk (t), k = 1, 2, 3, . . . ,
1 , k < k+1 , k k . . k > 0,
x(t,) = x(t) + uk (t) uk (t) (23.46)
W () = 0.
2. , y(t) ly = 0, y(0) = 0,
y(0)
117
. 23.2 : ) 1 = 0.610; )
1 = 0.342; ) 1 = 0.111. T . . 23.6 ):
= 0; = 0.1; = 0.2. . 23.7 )
W ().
24. .
,
: . .
=0
=1
=0
C1
=1
C0
. 24.1
(2n + 1) (t, q, p) C0 : t0 (), q 0 (), p0 ().
0 1 (. 24.1)
t0 (0) = t0 (1), q 0 (0) = q 0 (1), p0 (0) = p0 (1).
(24.1)
t0 , q 0 , p0 C0
qi
H
,
pi
pi
H
, i = 1, n
qi
(24.2)
.
q(t,), p(t,), C0 , ( 24.1).
118
W () =
L(t,q(t,),q(t,))dt
t0 ()
. (24.1)
W (0) = W (1).
(24.3)
(21.3))
" n
#
" n
#
X
X
W () =
pi qi Ht
pi qi Ht
i=1
C1
i=1
C0
(21.3) . 0 1. (. (24.3))
Zl
W () = W (1) W (0) = 0,
0
I X
I X
n
n
pi qi Ht =
pi qi Ht.
(24.4)
C1 i=1
C0 i=1
J =
IX
n
pi qi Ht
(24.5)
C i=1
: -. (24.4) : C0 C1 ,
119
, H,
J , J , .
,
, J , .
t = const ( , . 24.2), (24.5)
J =
IX
n
pi qi
(24.6)
i=1
C
. .
t
t = t1
t = t2
. 24.2
C.
J , J : . , ,
.
24.1. .
qi
Qi (t,q,p),
pi
Pi (t,q,p), i = 1, n.
(24.7)
120
(24.6). (24.7) , . .
H(t,q,p) : Qi =
H
H
, Pi =
.
pi
qi
C
q(t,), p(t,) (24.7) C0
(. 24.2).
C C0 .
J (t) =
IX
n
i=1
C
Z1 X
n
0 i=1
I X
n
pi qi =
pi (t,)qi (t,) =
0 i=1
C
pi (t,)
qi (t,)
d.
J (t) =const,
dJ
dt
I X
n
0 i=1
C
I X
n
0 i=1
C
I X
n
0 i=1
C
I X
n
(pi qi + pi qi ) =
(Pi qi + pi Qi ) =
(Pi qi Qi pi ) +
I X
n
(pi Qi ) =
0 i=1
C
(Pi qi Qi pi ) = 0.
0 i=1
C
C0 , -
121
.
H(t,p,q) :
n
X
(Pi qi Qi pi ) = H(t,p,q) =
i=1
n
X
H
qi
i=1
Qi =
qi +
H
,
pi
H
pi ,
pi
Pi =
H
qi
( : t).
24.2. (24.7) .
C0 C1 , , -
IX
n
J =
pi qi (t,q,p)t
(24.8)
C i=1
.
Qi =
,
pi
Pi =
.
qi
(24.9)
(24.8) , C J , 24.1
, (24.7) H. , (24.7)
J : H.
C , C.
IX
n
pi qi t =
C i=1
IX
n
pi qi Ht =
C i=1
I
(H )t = 0.
C
122
IX
n
i=1
C
pi qi ,
C , G(t, q, p)
n
X
G
G
G
(H )dt = dG(t,q,p) =
dt +
dqi +
dpi ,
t
qi
pi
i=1
G
= 0,
qi
G
= 0,
pi
dG(t)
,
dt
. . (24.7) ,
(24.9) .
H =+
(24.5) (24.2). , ,
(24.7),
I
xy + xyz
C
, (24.5)
: p = x, q = y, H = xy, t = z,
(24.7), ,
dy
= y,
dz
dx
= x.
dz
24.1 24.2
. , {t, q, p} {t, q, p} (24.2)
(24.5)
IX
n
pi qi K(t,
q ,
p) t,
(24.10)
C i=1
K , (24.2)
K(t,
q ,
p).
123
. , H(t,q,p),
qi
fi (t,q), i = 1, n,
(24.11)
t =
g(t,q),
det M 6= 0,
(24.12)
M =
f1
q1
..
.
f1
qn
f1
t
fn
q1
..
.
fn
qn
...
..
...
fn
t
...
g
q1
..
.
g
qn
(24.13)
pi
= hi (t,q,p)
(24.14)
pi qi Ht =
i=1
n
X
pi qi K t.
i=1
qi , t:
n
qi
X fi
fi
t +
qk ,
t
qk
k=1
t =
X g
g
t +
qk ,
t
qk
k=1
124
(24.15)
(24.15),
qk , t,
n
X
fi
g
pi
K
q
q
k
k
i=1
n
X
fi
i=1
g
pi
K
t
t
= pk
(24.16)
= H,
, (24.13),
p
p
M
=
.
K
H
(24.12) p(t,q,p) (. (24.14)) K(t,q,p). (24.11), (24.14) t, q, p K. ,
(24.11), (24.14) pi (t,
q ,
p) , (24.12) (
H(t,q), , t
qk ).
(24.11)
q1 = t,
t = q1 ,
qi = qi ,
i 6= 1,
t = q1
(24.17)
t q1 . (24.16)
p1
= H(t,q,p),
pi
= pi , i 6= 1,
= p1 .
(24.18)
K(t, q, p) = p1 (t, q, p) p1
125
p1 = H(
q1 , t, q2 , . . . , qn , p1 , p2 , . . . , pn ).
(24.19)
p1 H(t,q,p) , t .
H(t,q) . , , (24.17) (24.18)
pi = pi (t, q, p), i = 1, n (24.19)
p1 .
K(t, q, p)
(24.7), t q1 .
(24.19)
p1 = H(q,p) = h.
(24.20)
qi
q1
K
, i = 2,n,
pi
p0i
pi
q1
K
, i = 2,n,
qi
(. (19.14))
P =
n
X
pk qk0 K,
k=2
( )
qZ11
W =
P dq1 ,
q10
-:
W = 0
(24.20)
h, q 0
q 1 .
, : , , . , , . .
,
. 552
.., .. ..
, ,
2 .
. C
, .
q + 2nq + 02 q = 0
(24.21)
127
p =
e2nt p,
(24.22)
e2nt 02 q,
H=
1 2nt 2
e
p + 02 e2nt q 2 .
2
(24.23)
p0 + nq0
q(t) = ent q0 cos t +
sin t ,
(24.24)
np0 + 02 q0
+nt
p(t) = e
p0 cos t
sin t ,
(. (24.22))
p0 = p(0) = q0 = q(0),
q0 = q(0),
2 = 02 n2 .
, : , |p(t)| .
R3
C0 ( = [0,2)) :
t0 = 0,
q0 = sin ,
128
p0 = cos
(24.25)
p
. 24.3.
t
. 24.4.
(24.25) (24.23) ( . 24.4 ). (24.5) (24.4)
R3 p(t,), q(t,)
(. 24.3, . 24.4). C1 ,
C0 : C0
C1 . 24.3
(24.24)
(24.25) p = p(t,), q = q(t,) t : t = T sin2 2 , [0, T ]
129
pdq Hdt
(24.26)
0 2
: J(T ) ( C0 T = 0, T 6= 0 C1 ,
C0 ).
C0 C1 = C(T ) , t = 0, q = 0,
p = 1 q. C1
r, , t (p = r cos , q = r sin ) ( [0,2)) .
t = T sin2 2 ([0,T ] t ) t = const
(. 24.5).
q
A
. 24.5. t = const.
sin =
p(,)
cos =
p2 (,)
+ q 2 (,)
q(,)
p2 (,) + q 2 (,)
130
,
,
3
2
10
. 24.6.
, , , .
25.
(24.6)
131
. ,
J1 = J =
IX
n
pi qi =
i=1
C
ZZ X
n
pi qi = J2 ,
S i=1
S, S ,
C.
. J1 , J2
.
Z
Z
J2n = p1 q1 . . . pn qn ,
(25.1)
V (t)
. : V0 , V (t),
t, t (. (25.1)).
.
25.1 (. ).
x i = i (t,x),
i = 1, m,
(25.2)
div i (t,x) =
m
X
i (t,x)
i=1
xi
= 0.
(25.3)
.
(25.2):
xi = fi (t,t0 ,x01 , . . . ,x0m ),
132
i = 1, m.
(25.4)
t = t0 V0 (. 25.1),
Z
Z
v0 = dx01 . . . dx0m .
(25.5)
V0
t
Z
v(t) =
Z
dx1 . . . dxm .
(25.6)
V (t)
V (t )
V (t0 )
p, q
t0
. 25.1
, (25.5) (25.6) , (25.4) (25.6) x0 :
Z
v(t) =
Z
I(t,x0 )dx01 . . . dx0m .
V0
0
I(t,x ) = det
f1
x10
..
.
fi
x10
..
.
fm
x10
133
f1
xm
0
..
.
fi
xm
0
..
.
fm
xm
0
(25.4). t = t0
(25.4) xi = x0i , I(t0 ,x0 ) = 1. , (25.3) ,
. . I(t,x0 ) 1. dI/dt.
m
X
dI
Ii ,
=
dt
i=1
(25.7)
Ii I i
t:
d fi
Ii = det
dt x1
0
d fi
dt xm
0
i- .
X i fl
d fi
=
fi =
i (t,f ) =
.
k
k
k
dt x0
xl xk0
x0
x0
l=1
l- Ii i /xl i- , :
i fi
Ii = det
xi x1
0
i fi
xi xm
0
(25.7)
m
X i
dI
=I
,
dt
xi
i=1
134
= I i .
xi
(25.3)
dI
=0
dt
I(t) 1 v(t) v0 .
(24.2) (25.3) :
m
m
X
X
i
H
H
=
= 0,
xi
qi pi
pi qi
i=1
i=1
25.2.
(24.2).
. , , q0 , p0 .
t0 .
(q,p) =
,
v
(25.8)
v V ,
V . V : V , q, p
, , . : , t = t0
V . t ,
V (t).
25.3. (q,p) .
(25.8)
, v(t) 25.2.
135
25.3 .
26.
25 , (24.6).
, 2n . ,
:
J=
IX
n
{Ai (t,q,p)qi + Bi (t,q,p)pi },
(26.1)
i=1
C
C ( t = t1 )
,
C0 ( t = t0 ) . , , (26.1) (24.6).
26.1 ( 1 ).
:
) (26.1) (24.6) ;
) F (t,q,p), (24.6) (26.1)
n
n
X
X
{Ai (t,q,p)qi + Bi (t,q,p)pi } = c
pi qi F (t,q,p),
i=1
(26.2)
i=1
F (t,q,p) (t ) .
1 HwaChang Lee. Invariants of Hamilton systems and applications to the theory
of canonical transformations//Proc. Roy. Soc. Edinburgh. 1947. Ser.A, v.LXII,. P.
237246.
136
) ). (26.1) .
H(t,q,p) (26.1)
(26.2).
: (26.1) (26.2) n=1.
q
= q(t,t0 ,q 0 ,p0 ),
= p(t,t0 ,q 0 ,p0 )
(26.3)
,
H(t,q,p), t = t0 C0 (0 1):
q0
q 0 (),
q 0 (1) =
q 0 (0),
p0
p0 (),
p0 (1) =
p0 (0).
(26.4)
(26.3) (26.4)
q(t,)
p(t,)
(26.5)
J(t)
t C(t)
(26.1) . (q, p) (q 0 , p0 ),
(26.3), (26.1)
I
J = {A(t,q,p)q + B(t,q,p)p},
(26.6)
0
C
C0 (26.4), q, p (26.3) q 0 , p0 , ,
q, p
q
p
q(t,t0 ,q 0 ,po )
q(t,t0 ,q 0 ,po )
q0 +
p0 ,
q0
q0
p(t,t0 ,q 0 ,po )
p(t,t0 ,q 0 ,po )
q0 +
p0 .
q0
q0
137
(26.7)
) :
C0 (26.4) (26.1) (26.6)
dJ(t)
= 0.
dt
(26.8)
H(t,q,p).
t0 = 0.
H = 0. (26.3): q = q 0 , p = p0 . (26.6) (26.7)
I
J(t) = {A(t,q 0 ,p0 )q 0 + B(t,q 0 ,p0 )p0 }.
0
C
(26.8)
I
A(t,q 0 ,p0 ) 0 B(t,q 0 ,p0 ) 0
q +
p } = 0.
J(t) = {
t
t
0
C
C0 ()
(q 0 , p0 q, p)
f1 (t,q,p) =
A
B
q +
p,
t
t
A
f1
=
,
q
t
f1
B
=
.
p
t
f1 t
f1 (t,q,p) =
F1 (t,q,p)
t
F1
(A
) = 0,
t
q
F1
(B
) = 0,
t
p
138
. . a(q,p) b(q,p),
F1
A(t,q,p) = a(q,p) +
,
q
B(t,q,p) =
b(q,p) +
F1
,
p
Aq + Bp
= a(q,p)q + b(q,p)p +
F1
F1
q +
p =
q
p
(26.9)
= a(q,p)q + b(q,p)p + F1
(26.1) (F1
)
I
J = {a(q,p)q + b(q,p)p}.
(26.10)
I
{a(q 0 + t,p0 )q 0 + b(q 0 + t,p0 )p0 }.
J(t) =
0
C
(26.8)
I
a(q 0 ,p0 ) 0 b(q 0 ,p0 ) 0
J(0)
= {
q +
p } = 0.
q0
q0
0
C
H = 0. :
f2 (q,p)
a(q,p)
=
,
q
q
f2 (q,p)
b(q,p)
=
;
p
q
f2 (q,p) =
F2 (q,p)
;
q
F2
(a
) = 0,
q
q
F2
(b
) = 0;
q
p
139
aq + bp
F2 (q,p)
,
q
a(q,p)
= a
(p) +
b(q,p)
F2 (q,p)
= b(p) +
;
p
= a
(p)q + b(p)p + F2 (q,p);
I
a(p)q + b(p)p}.
J = {
(26.11)
(26.12)
H = q. (26.3): q = q 0 , p = p0 + t. (26.6)
(26.7)
I
J(t) = {
a(p0 + t)q 0 + b(p0 + t)p0 }.
0
C
(26.8) (q 0 , p0
q, p)
I
d
a(p)
db(p)
J(0) = {
q +
p} = 0,
dp
dp
0
C
() f3 (q,p):
f3 (q,p)
db(p)
=
,
p
dp
f3 (q,p)
d
a(p)
=
,
q
dp
f
= 0.
p
,
p (. ), q,
,
a
(p) = cp + c1 ,
140
f = cq + c2 .
a
(p) (26.12)
Z
a
(p)q + b(p)p = cpq + (c1 q + b(p)dp).
(26.13)
(26.13) (26.11), (26.11) (26.9)
(26.2), F
, :
Z
F = (c1 q + F2 (q,p) + F1 (t,q,p)) + b(p)dp.
(n > 1)
H(t,q,p), .
) ). (26.2)
H
(26.1) (24.6) J = cJ ( F = 0),
) .
( 26.1), ,
(26.1) .
. (26.1) ,
c
Ai
qk
Ak
,
qi
Bi
pk
Bk
,
pi
Ai
pk
Bk
+ cik
qi
(26.14)
(ik )
F
qi
= cpi Ai (t,q,p),
F
pi
= Bi (t,q,p).
(26.15)
141
142
VI. .
-
27. : ,
, .
, . (21.12), , 21.
H
qi =
,
pi
(27.1)
H
.
pi =
qi
(27.1) , .
27.1.
1 2
H=
p + 2 q2
(27.2)
2
:
q
p =
p,
2 q.
(27.3)
q = p,
p = qep
(27.4)
q = 2 peq ,
p = qeq 2 p2 eq .
143
(27.5)
, ,
H
p
H
q
2 peq ,
(27.6)
2 2
q
q e + p e
2H
p q
=
?
q eq + 2 p2 eq =
p
2 q
pe
q
(27.7)
, (27.6) ,
(27.5) .
27.2.
q =
p,
p =
q + ep
(27.3)
q = 2 eq p ,
p = q + 2 eq p eq.
(27.8)
(27.9)
, (27.7)
H
p
H
q
= 2 eq p ,
=
q
e p eq
(27.10)
, (27.9) q, p
. H
(27.10):
h
i
= 1 q2 + 2 eq p 2 .
H
(27.11)
2
144
, (35.8)
(27.2), (27.11), a .
27.1.
qi
= qi (t,q,p),
pi
= pi (t,q,p),
M =
i = 1, n,
det M 6= 0,
qi qi
qk pk
pi pi
qk pk
(27.12)
(27.13)
(27.14)
, (27.12) , M (27.12).
27.1 , (27.4)
, (27.8) 27.2
:
. : dF (t,q,p) ; F (t,q,p) ( t), . .
dF = F +
F
dt.
t
.
27.1 ( ). :
) (27.12) ;
) c () F ( ), (27.12)
n
X
i=1
n
X
= c(
pi d
qi Hdt
pi dqi Hdt) dF.
i=1
145
(27.15)
) ). , (27.12) (27.1) H
, c F H.
(27.15). (t, q, p) (t, q, p) (27.12) C, C
(. . 27.1).
H, H
t C
C.
IX
IX
n
n
pi dqi Hdt =
pi qi ,
(27.16)
C i=1
IX
n
i=1
C
=
pi d
qi Hdt
i=1
C
IX
n
pi qi .
(27.17)
i=1
i=1
C
I X
n
pi
i,k=1
C
IX
n
qi
qi
qk +
pk
qk
pk
(Ak qk + Bk pk ) = c
k=1
C
=c
IX
n
IX
n
pi qi =
i=1
C
pi dqi Hdt.
C i=1
n
!#
I "X
n
X
c
pi d
qi Hdt
pi dqi Hdt
= 0.
C
i=1
i=1
, (dF ), (27.15).
146
t
C
. 27.1
) ). : (27.12), c
F. , H(t,q,p) q ,
H(t,
p), (27.15)
. , (27.12)
(27.1) q ,
H(t,
p). ) ), C, C (.
. 27.1). , (27.15) t, q, p,
(27.15) C :
IX
IX
IX
n
n
n
c
pi dqi Hdt =
pi d
qi Hdt =
pi d
qi Hdt.
C i=1
C i=1
i=1
C
t, q, p
t, q, p ( C C).
, ,
, .
24.2 t, q, p
H.
1. (27.12) c 6= 0 F.
c = 1/c F = F/c.
(27.15) q, p q, p. q, p q, p
(27.15), :
!
n
n
X
1 X
1
pi dqi Hdt =
d(F ),
pi d
qi Hdt
c
c
i=1
i=1
147
.
(27.15) (27.12) .
(27.15)
, , (2n + 1) . ,
,
2n 4n : q, p, q, p.
28.
(27.15).
.
1. q, p. . (27.15)
d
q (t,q,p) dF (t,q,p).
dt
= cH +
H
n
X
pi
i=1
qi
F
+
.
t
t
(28.1)
= cpi
=
n
X
k=1
n
X
k=1
pk
pk
qk
,
qi
qk
.
pi
(28.2)
: c
F ? F
=
,
ql qk
qk ql
F ? F
=
,...
ql pk
pk ql
148
= cp,
= qep .
2 F/qp
c, (ep ). c (c ep ) ,
(27.4) , . .
, . , q = p, p = 0
H = 12 p2
= (1 q)eq).
q = 0, p = qeq (H
28.2. (27.8)
(28.2)
F
q
F
p
cp,
q ep ,
2F
(cp)
(q ep )
=
=
qp
p
q
c = 1, . . (27.8)
c = 1 F = qp ep + f (t)
q ,
(f (t) ). H(
p), q, p, H(q,p) q, p (28.1):
q ,
H(
p) = H(
p eq,
q ) + f(t).
149
c = 1
(27.11). H f(t) (27.1), f (t) 0,
(27.10).
28.3.
qi = qi (t,q),
i = 1, n,
(28.3)
(28.4)
qi
.
kaik (t,q)k =
qk
(28.5)
pi = pi (t,q,p),
i = 1, n,
(28.6)
n
X
F
qk
= cpi
,
pk
qi
qi
k=1
F
= 0, i = 1, n.
pi
n , F pi . n pk ,
(28.6):
pi = c
n
X
k=1
bik (t,q)pk
n
X
k=1
bik (t,q)
F (t,q)
,
qk
(28.7)
F . , c = 1, F (t,q,p) 0
qi = qi (t,q),
pi =
n
X
bik (t,q)pk
k=1
qi (t,q), (28.4).
28.2. (28.3), (28.7)
qi
= qi ,
pi
= cpi
(28.8)
F (t,q)
qi
1
F (t,
q)
F (t,
q)
q ,
H(t,
p) = cH t,
q,
p +
+
.
c
q
t
2. q, p. .
28.1. c
c 6= 0.
(c = 0) (27.15) t, q, p
n
X
= dF =
pi d
qi Hdt
i=1
n
X
i=1
F
F
d
qi +
d
pi
qi
pi
151
F
dt,
t
,
F
=
pi ,
qi
F
= 0,
pi
F
= H.
t
:
2 F/ qi pi = 1, 2 F/ qi pi = 0.
, , c = 1 (., ,
31).
(c 6= 1) .
28.1. c = 1 .
3. q, q.
q, p ( q, p) (28.2)
F , F
( c ) (. 28.1). ,
. t, q, q, . , (27.15)
. t, q, q
. , p, p .
, (27.12)
qi (t,q,p)
6= 0.
det
(28.9)
pk
p(t,q,
q ) n (27.12),
p(t,q,
q ) p(t,q,
q)
n (27.12). (27.12)
152
(28.9)
pi
pi (t,q,
q ),
pi
pi (t,q,
q ),
i = 1, n.
(28.10)
q ,
p(t,q,
q )i d
qi H(t,
p(t,q,
q ))dt =
i=1
= c(
n
X
pi (t,q,
q )dqi H(t,q,p(t,q,
q ))dt)
(28.11)
i=1
n
n
X
X
S
S
S
dt
dqi
d
qi .
t
q
qi
i
i=1
i=1
S(t,q,
q ) = F (t,
q ,
p(t,q,
q )).
(28.11) , :
S
q ,
H(t,
p(t,q,
q )) =
+ cH(t,q,p(t,q,
q ))
(28.12)
t
, (28.10) S :
S
qi
S
qi
cpi (t,q,
q ),
pi (t,q,
q ).
(28.13)
153
= c
q,
= qeq
q,
p =
q + eq.
(28.13)
S
q
S
q
c
q,
q eq
c = 1 : 2 S/q q = c,
2 S/q q = 1. (27.8) c = 1 S = q qeq.
F (t,q,p) t, q, p ( t, q, p) S(t,q,
q ) : (28.13)
154
S(t,q,
q ) c 6= 0 (28.10). (27.12) n
(28.10) q q(t,q,p)
(28.10). pi = pi (t,q,
q ) qi (
n (28.13))
S(t,q,
pi (t,q,
q)
1
q)
6= 0.
det
=
det
qk cn
qi qk
, (27.12) S(t,q,
q ) c 6= 0
2
S(t,q,
q)
(28.14)
det
qi qk 6= 0.
, S = q q c = 1 (28.13) (28.10)
p = q,
p = q.
(27.12)
q = p,
p = q.
(28.15)
q, q. ,
qi = qi , pi = pi
, . . , (28.9).
:
. : (.
29.1) (
). , , .
4. q, p. (27.12):
pi (t,q,p)
6= 0.
det
(28.16)
pk
155
(28.16) pi (t,q,
p) n (27.12), qi (t,q,
p)
pi (t,q,
p) n . (27.12)
q, p
pi
pi (t,q,
p),
qi
qi (t,q,
p),
i = 1, n.
(28.17)
n
X
= c(
qi d
pi Hdt
n
X
i=1
(28.18)
i=1
=F +
n
X
pi qi ,
i=1
, q, p (28.18)
(28.17) ( H, H).
(t,q,
p)
q (t,q,
H(t,
p),
p) =
+ cH(t,q,p(t,q,
p))
t
(28.19)
qi
pi
= cpi (t,q,
p),
(28.20)
= qi (t,q,
p),
c 6= 0
(27.12). c 6= 0, (t,q,
p)
2
(t,q,
p)
6= 0.
det
(28.21)
qi pk
156
c ln(
p q),
= ln(
p q)
c = 1 : 2 /q p = c/(
pq),
2 /q p = 1/(
p q). (27.8)
c = 1
= (
p q) ln(
p q) (
p q).
: 1. q, p; 2. q, p; 3. q, q; 4. q, p.
3.q, q, 4.q, p . , 31
,
.
(28.10) (28.17)
2n , (27.12),
S ( ), (27.12). (27.12)
(28.9) (28.6),
( c = 1 F = p1 q1 (27.15))
q1 = p1 ,
q2 = q2 ,
p1 = q1 ,
157
p2 = p2 .
(28.22)
1 , (27.12) (27.14) 2n
q1 , . . . ,ql , pl+1 , . . . ,pn , q1 , . . . ,
qm , pm+1 , . . . ,
pn
(28.23)
( ), , . . . (28.22)
(28.23):
q1 , q2 , q1 , p2 .
(28.24)
:
p1 =
q1 ,
p2 = p2 ,
q2 = q2
p1 = q1 .
(28.25)
(28.23) qi , pi qi , pi ,
, , 4. q, p, (27.15) , (28.23) .
(28.22) :
= c(p1 dq1 + p2 dq2 Hdt) dU,
p1 d
q1 q2 d
p2 Hdt
U (t,q1 ,q2 ,
q1 ,
p2 ) = F + q2 p2 = F + q2 p2 .
(28.22)
:
U
q1 ,
H(
q2 ,
p1 ,
p2 ) =
+ cH(q1 ,q2 ,p1 ,p2 )
t
(28.25),
U
q1
U
q2
U
q1
U
p2
cp1
= c
q1 ,
cp2
= c
p2 ,
p2
= q1 ,
q2
(28.26)
(28.27)
= q2 .
1 .. 2- ..: ,
1966. 300 ., 29, c.176.
158
qi (t,q 0 ,p0 ),
pi
pi (t,q 0 ,p0 ),
i = 1, n,
(29.1)
,
H(t,q,p). t = t0 (29.1)
qi = qi0 , pi = p0i (27.13) ,
t0 t :
qi0
= qi0 (t,q,p),
p0i
= p0i (t,q,p),
i = 1, n.
(29.2)
, (29.2), , 20.1
qi0 = 0, p0i = 0,
. . ,
H0 = 0.
29.1. {q 0 , p0 } {q, p}, (29.1) , (29.2)
. (29.2) (21.1)
Zt
0
0 0
L(s,q(s,q 0 ,p0 ),q(s,q
,p ))ds,
W (t,q ,p ) =
t0
159
(29.3)
(29.1), t0 ( t0
q 0 , p0 (29.1) (29.3)), t .
(29.2) (29.1):
W .
L(t,q,q)
H(t,q,p). q(t), p(t), t0 , q0 , p0 ,
t = t1 (. 21.1) : ,
q(t,) (q(t,0) = q(t))
t0 () t0 , qi0 () = qi (t0 ,), qi0 () = qi (t0 ,),
p0i () = p(t0 ,) =
(29.4)
t0 () t0
(. . 21.2 . 29.1). q(t,) t1 ():
t1 (),
(29.5)
= 1
=0
q (t )
t1 ( )
q1 ( )
q 0 ( )
=1
t0
t
. 29.1
. 29.1 .
(t, q) : t0 () t0 , q 0 ()
160
C0 (. . 24.2),
t1 (), q 1 () C0 C. t0 t1 (), q 0 ()), p0 ().
(29.3), dW,
dW (t1 ,q 0 ,p0 ) =
n
X
W
W 0 W 0
=
dt1 +
dq
dp
=
+
t1
qi0 i
p0i i
i=1
(
)
n
W dt1 X W dqi0
W dp0i
=
+
+ 0
d =
t1 d
qi0 d
pi d
i=1
(29.6)
dW
d = W.
d
(29.6) , dW (. 21.2)
(21.3), = 0 (. (29.4), (29.5))
=
dW (t,q 0 ,p0 ) =
n
X
pi dqi H(t,q,p)dt
i=1
n
X
p0i dqi0 .
(29.7)
i=1
(21.3) , q(t,) , t
(21.3) , t0 () t0 .
q, t, q 0 dq, dt, dq 0 , (29.6). = 0 q(t,0) = q(t), t = t0 , q0 = q 0 (0), p0 = p0 (0)
t = t1 = t1 (0), q = q 1 (0) = q(t1 ) = q(t),
p = p1 (0) = p(t1 ) = p(t) (
(29.7) q0 , p0 , q, p q0 , p0 , q, p.)
(29.7),
n
X
i=1
p0i dqi0 =
n
X
(29.8)
i=1
(27.15)
(29.2). , 161
q 0 , p0 H0 0. , (29.3) 1 27.1.
(29.8) (29.2)
q, p ( q, p q 0 , p0 ). pi (t,q,q 0 )
n (26.40), pi (t,q,q 0 )
n ( p0i (t,q,q 0 ) n (29.1) p0i (t,q,q 0 ) n
), (29.1), (29.2)
(28.7)
pi = pi (t,q,q 0 ),
(29.9)
p0i = p0i (t,q,q 0 ),
i = 1, n.
(29.1) (29.2) (29.9), : (29.9) (29.2) n (29.9) qi0 (t,q,p)
n ; (29.9) (29.1)
n (29.9) qi (t,q 0 ,p0 )
n .
(29.9)
pi (t,q,q 0 )
pi (t,q,q 0 )
6= 0.
det
det
(29.10)
6= 0,
qk0
qk
(29.9) (29.8) (28.11) t, q, q 0 :
n
X
i=1
p0i dqi0 =
n
X
pi dqi H(t,q,p)dt
i=1
n
n
X
X
W (t,q,q 0 )
W (t,q,q 0 )
W (t,q,q 0 ) 0
dqi .
dt
dqi
t
qi
qi0
i=1
i=1
(29.11)
W (t,q,q 0 ) t, q, q 0
.
29.1. (29.3),
p0 p0 (t,q,q 0 ) (. (29.9)), W (t,q,q 0 ).
162
(29.11)
W (t,q,q 0 ), H(t, q, p)
, (29.9):
W (t,q,q 0 )
=
qi
pi (t,q,q 0 ),
(29.12)
W (t,q,q 0 )
= p0i (t,q,q 0 ),
qi0
(29.13)
W (t,q,q 0 )
+ H(t,q,p(t,q,q 0 )) = 0.
(29.14)
t
W (t,q,q 0 ) (29.12),
(29.13) (29.9), (29.10) (29.1)
(29.2) W (t,q,q 0 )
2
W (t,q,q 0 )
6= 0.
det
(29.15)
qi qk0
(29.12) (29.14)
W
W
+ H(t,q,
)=0
t
q
(29.16)
. t = tf , tf ,
t0 , q 0 (. 23.1). , H 0 (qi (t) qi0 , pi (t) p0i )
W (t,q,q 0 ) t .
163
29.1.
:
L=
1 2
(q 2 q 2 ),
2
H=
1 2
(p + 2 q 2 ).
2
p =
sin t
,
q 0 sin t + p0 cos t
q 0 cos t + p0
(29.17)
q 0 , p0 q, p. q(t)
(29.3), , W (t, q, q 0 ),
p0 p0 (t, q, q 0 ),
(29.17),
W (t,q,q 0 ) =
1 2
qq 0
[q + (q 0 )2 ]ctgt
,
2
sin t
(29.18)
t = k, k = 0, 1, 2, . . . , ,
t = t0 = 0. , t = k,
(29.18) (29.15), (29.16)
(29.12), (29.13) (29.1).
, (29.1),
. . q, q 0 ,
W (t,q,q 0 )
(29.2). q, p ( q, p0 ) 28.3. (28.13) t t0 ( (29.2) t = t0 : qi0 = qi0 (t0 , q, p) =
= qi , p0i = p0i (t0 ,q,p) = pi )
0
pi (t,q,p)
6= 0,
det
pk
(29.1), (29.2) (28.14)
qi0
= qi0 (t,q,p0 ),
pi
= pi (t,q,p0 ),
164
i = 1, n.
(29.19)
(29.8) (.
(28.15))
n
X
i=1
qi0 dp0i =
n
X
n
X
i=1
p0i qi0 ),
(29.20)
i=1
(29.20) (29.19)
t, q, p0
V (t,q,p0 ) = W (t,q 0 (t,q,p0 ),p0 ) +
n
X
p0i q 0 (t,q,p0 ),
(29.21)
i=1
(29.22)
V (t,q,p0 )
= qi0 (t,q,p0 ),
p0i
(29.23)
V
V
+ H(t,q,
) = 0.
t
q
(29.24)
pi (t,q,p0 )
6= 0,
det
p0k
0
qi (t,q,p0 )
6= 0
det
qk
(29.19) (27.2),
(29.1) t t0 (29.22), (29.23)
2
V (t,q,p0 )
6= 0.
det
(29.25)
qi p0k
29.2. V (t,q,p0 ), (29.21),
. W (t,q 0 ,p0 )
(29.21) (29.3), a q 0 (t,q,p0 )
(29.1) q 0
165
n p n (29.2)
n .
(29.24), (29.25), 31.1, 31.2, V (t,q,p0 ) W (t,q,q 0 ) .
29.2. V (t,q,p0 ) 29.1. (29.17) q 0 (t,q,p0 ), (29.22) (, W (t,q 0 ,p0 )
(29.3) ).
V (t,q,p0 ) =
tgt
1 0 2
qp0
(p ) + 2 q 2
cos t 2
(29.26)
,
2
k = 0, 1, 2, . . . ,
1
(q q 0 )2 ,
2t
t
= qp0 (p0 )2 .
2
(29.27)
(. (29.16)
166
(29.24))
S
1
+
t
2
S
q
2
= 0,
(29.28)
: q = q 0 + tp0 , p = p0 .
,
. 31.
30. .
( 27.1)1 .
:
(27.12) ? 2n
0 . . . 0 1 . . .
0
.. . .
..
..
..
..
.
.
.
.
.
.
0 ... 0
0 . . . 1
= 0 E ,
(30.1)
J =
1 ... 1
0 ...
0
E
0
. .
..
..
..
. . ...
..
.
.
.
0 ... 1 0 ...
0
E n.
30.1. (27.12)
,
(27.14), M T (30.1) c 6= 0
M T JM = cJ.
(30.2)
(27.12) c 6= 0 (28.2), , ,
1 .: ..
2- ..: , 1966. 300 . 31, c.184. 32, . 187.
167
F .
.
F
F
=
:
qi ql
ql qi
Ail =
n
X
qk pk
qk pk
= 0.
qi ql
ql qi
k=1
F
F
=
:
qi pl
pl qi
n
X
qk pk
qk pk
Bil =
= cil .
qi pl
pl qi
k=1
F
F
=
:
pi pl
pl pi
n
X
qk pk
qk pk
= 0.
Cil =
pi pl
pl pi
k=1
kAil k kBil k
0 E
= cJ,
=
c
(30.3)
E
0
kBil k k Cil k
J (30.1). (30.2) (. (27.14) (30.1))
, (30.3),
.
30.2. (27.12)
, c 6= 0 (20.3) , (27.12), :
(
qi ,
qk ) = 0, (
pi ,
pk ) = 0, (
qi ,
pk ) = cik , i, k = 1, n.
168
(30.4)
(30.1) J
E 0
1
2
,
J = J, J =
0 E
(30.2):
M T JM JM T = cJ JM T = cJ 2 M T = cM T ,
(M T )1 M T JM JM T = (M T )1 cM T = c,
J 1 JM JM T = cJ 1 ,
M JM T = cJ.
(30.5)
.
(30.5) c (20.3) (30.1) J
k(
0 E
qk )k k(
qi ,
pk )k
qi ,
= c
E
0
k(
qi ,
pk )k k (
pi ,
pk )k
(30.4).
, (30.2) (30.4)
, ,
,
: (30.2) (30.4) n2 qi (t,q,p), pi (t,q,p).
n
i (t,q,p) qi (t,q,p), pi (t,q,p). .
30.1. i (t,q,p), i = 1, m,
( i (t,q,p), i = 1, m, ),
(i ,j ) = 0,
i,j = 1, m.
30.2 (. (30.4)),
qi (t,q,p), pi (t,q,p),
169
(30.5)
, . , n , .
.
30.3.
i (t,q,p), i = 1, n,
(30.6)
i (t,q,p)
6= 0.
det
pk
(30.7)
,
,
qi = i (t,q,p),
(30.8)
pi = pi (t,q,p),
(30.9)
qi i (t,q,p).
(30.5)
n
X
i j
k=1
qk pk
n
X
j i
,
qk pk
(30.10)
k=1
i j. (30.7)
(30.8) pi :
pi = i (t,q,
q ).
(30.11)
(30.8) (30.11)
pi = i (t,q,(t,q,p)),
(30.12)
pl qj
il =
n
X
i k
k=1
qk pl
(30.13)
0=
i X i k
+
.
qj
qk qj
k=1
170
(30.14)
(30.14)
n
X i k
i
=
qj
qk qj
(30.15)
k=1
, ,
i
j
=
.
qj
qi
(30.16)
: (30.13) ; (30.10) k;
(30.13) ; (30.15) .
n
n
X
X
i
i k
i k
=
=
jl
=
qj
qk qj
qk
ql
k=1
k,l=1
n
n
X
X
i j k
i j k
=
=
qk q pl ql
qk q pl ql
k,l,=1
n
X
l,=1
k,l,=1
il
n
X
j
j
j
=
=
q ql
q qi
qi
l,=1
(30.16)
S
= i (t,q,
q ),
qi
(30.17)
S(t,q,
q ) (30.16) .
S(t,q,
q ) (30.17), (30.13) (30.7)
2
S
i
i (t,q,p) 1
6= 0,
det
= det
= det
(30.18)
qi qk
qk
pk
. . S(t,q,
q ) , (. (28.11)).
(30.17) (. (28.10))
pi =
S(t,q,
q)
= pi (t,q,
q ),
qi
171
(30.19)
(30.11) qi , (30.8),
(30.8) (30.19). : S0 (t,q,
q ) (30.17)
q ) S(t,
q ).
S(t,q,
q ) = S0 (t,q,
q ) + S(t,
. , (30.6) (30.7), i (t,q,p)
, H(t,q,p).
S
qi
S
t
= i (t,q,
q ),
i = 1, n,
(30.20)
= H(t,q,(t,q,
q ))
, S(t,q,
q )
(30.18) ( i (t,q,
q ) (30.11)).
(30.6) (30.2)
n
k X k H
k H
+
= 0.
(30.21)
t
ql pl
pl ql
l=1
(30.12) t
(30.15)
n
X
i
i k
=
.
t
qk t
k=1
=
t
qk ql pl
qk pl ql
k,l=1
n
X
i H
l=1
ql pl
k,l=1
n
X
l=1
il
H
H X H l
=
,
ql
qi
pl qi
l=1
(30.20):
2S
2S
=
.
tqi
qi t
172
2S
2S
=
qj qi
qi qi
S
S
1 S
H t,
q,
=c
+ H t,q,
.
(31.1)
q
t
c q
(31.1) S ( c). S(t,q,
q ), (28.14), (27.12), .
- : (c = 1) (S(t,q,
q ) =?), 0.
H(t,q,p) H
t, q, p
qi = 0, p i = 0, i = 1, n,
qi = i , pi = i , i = 1, n.
173
(31.2)
= 0 , H
S(t,q,
q ) = S(t,q,), (28.14)
2
S(t,q,
q)
q)
= det S(t,q,
det
(31.3)
qi qk
qi k 6= 0,
S(t,q,) (28.13) (31.3))
t, q, p ( (31.2) c = 1):
pi
S(t,q,)
qi
= i (t,q,), i = 1, n,
S(t,q,)
=
i
i
fi (t,q,), i = 1, n.
qi
qi (t,,),
pi
pi (t,,),
i = 1, n,
(31.4)
(31.5)
(31.6)
(31.5) qi
qi (t,q,) (31.4). (31.3) (31.4) i , i (t,q,p)
(31.5)
i
i (t,q,p),
i (t,q,p),
i = 1, n.
(31.7)
(31.6) (31.7), -,
(31.7)
( (31.7) qi , pi , -, , (31.6) ( t0 , q 0 , p0 (31.7) i , i .
S,
0,
H(t,q,p) H
=0:
(31.1) c = 1, H
S
S
+ H t,q,
= 0.
t
q
174
(31.8)
(31.9)
31.2. :
1 2
(p + 2 q 2 ),
2
"
#
2
S
1
S
2 2
+
+ q = 0.
t
2
q
H=
(31.10)
(31.11)
31.3. (. 30.1):
!
p2
1
p2
2
H=
pr + 2 + 2 2
.
(31.12)
2m
r
r
r sin
(
"
2
2
1
S
1
S
S
+
+ 2
+
t
2m
r
r
(31.13)
2 #)
1
S
+ 2
= 0.
r
sin
175
(31.8) ,
. , .
31.2. (31.8)
S(t,q1 , ..., qn ,1 , ..., n ),
1 , ..., n (31.3).
q 0
, p0 (.
29.1 29.2, 29.15, 29.16, 29.24, 29.25,
29.1 29.2 (29.18), (29.26), (29.27)).
,
: , .
S(t,q1 ,...,qn ,1 ,...,n )
S
= g(t,q,),
t
S
= i (t,q,), i = 1, n.
qi
n i :
S
i = i t,q,
,
q
(31.3). i (31.8).
- ,
.
: S(t,q,)
, .
S = S0 (t) + S1 (q1 ) + . . . + Sn (qn ).
176
(31.14)
31.4. (31.9)
t q
1
dS0 (t)
=
dt
2
dS1 (q)
dq
1
= 2 .
2
1
S0 (t) = t2 , S1 (q) = q
2
1
S = S0 + S1 = t2 + q.
2
(31.15)
Zp
S = S0 (t) + S1 (q) = t +
2 2 q 2 dq =
1 p
q
2
= t + q 2 2 q 2 + 2 arcsin .
2
(31.17)
29: (29.18)
(29.26) .
(31.17) (31.4), (31.5):
Z
p
dq
1
q
2
2
p = 2 q , = t + p
= t + arcsin
2
2
2
2 q
(31.6)
2
sin (t + ),
q =
p =
2 cos (t + )
1 2
(p + 2 q 2 ) (= H),
2
t +
1
q
arcsin p
=
2
p + 2 q2
t +
1
q
arctg
.
31.6. (31.10) ,
(H = H(q,p))
H/p 6= 0,
H(q,p) = h
178
(31.18)
p
p = f (q,h).
(31.19)
(31.14) (31.8)
(31.16)
dS1 (q)
dS0 (t)
H q,
=
=h
dq
dt
(31.17)
Z
S = ht + f (q,h)dq
(. (31.19)),
q
= q(t,h,),
p = p(t,h,)
(31.18) w(t,q,p) = .
31.7. (31.14) - (31.13)
(
"
2
2
dS0 (t)
1
dS3 (r)
1
dS2 ()
+
+ 2
+
dt
2m
dr
r
d
(31.20)
2 #)
1
dS1 ()
+
= 0.
d
r
sin2
- , S0 = 0 t, S1 = 1 .
, , . S2 () ,
2 .
s
Z
12
S2 () =
2
d.
sin2
179
S0 , S1 , S2 , S3 (r)
Zs
2
S3 (r) =
2m
0 2 dr.
r
r
S(t,,,r,0 ,1 ,2 ) =
Z
+
3
X
Si = 0 t + 1 +
i=0
s
12
2
d + +
sin2
Zs
2
2m
0 2 dr
r
r
(31.13), ,
(31.3), ,
. S (31.4)
H, p ,z (. (20.6) (20.8)) .
31.8. ,
(31.12) (. (20.13))
H(F2 (F1 (q1 ,p1 ),q2 ,p2 ),p3 ,q4 ,p4 ).
(31.21)
20.2 (20.14)
F1 (q1 ,p1 )
= 1 ,
F2 (1 ,q2 ,p2 )
= 2 ,
p3
= 3 ,
= 4 .
(31.22)
, (31.22)
p1
f1 (1 ,q1 ),
p2
f2 (1 ,2 ,q2 ),
p3
3 ,
p4
f4 (2 ,3 ,4 ,q4 ).
180
(31.23)
(31.13) (31.20),
(31.14) ,
(31.21),
dS1 (q1 )
dS2 (q2 )
dS0 (t)
+ H F2 F1 q1 ,
,q2 ,
,
dt
dq1
dq2
(31.24)
dS3 (q3 )
dS4 (q4 )
= 0.
,q4 ,
dq3
dq4
S1 (q1 ), . . . ,S4 (q4 ) ,
dS1 (q1 )
= 1 ,
F1 q1 ,
dq4
dS2 (q2 )
= 2 ,
F2 1 ,q2 ,
dq2
(31.25)
dS3 (q3 )
= 3 ,
dq3
dS4 (q4 )
H 2 ,3 ,q4 ,
= 4 .
dq4
(31.23) (31.25)
dS1 (q1 )
dq1
f1 (1 ,q1 ),
dS2 (q2 )
dq2
f2 (1 ,2 ,q2 ),
dS3 (q3 )
dq3
3 ,
dS4 (q4 )
dq4
f4 (2 ,3 ,4 ,q4 ).
(31.26)
(31.25) (31.24)
dS0 (t)
+ 4 = 0,
dt
181
(31.26)
Z
S(t,q1 , . . . ,q4 ,1 , . . . ,4 ) = 4 t + f1 (1 ,q1 )dq1 +
Z
Z
(31.27)
+ f2 (1 ,2 ,q2 )dq2 + 3 q3 + f4 (2 ,3 ,4 ,q4 )dq4 .
(31.27)
, (31.3):
f1
0
1
f1 f2
1 2
det
0
0
f4
0
(31.24) -
f4
3
f4
4
= f1 f2 f4 6= 0,
1 2 4
(20.14)
(31.23) . (31.4) (31.5) (31.6) (31.7).
i (31.4)
(20.14). 20, (20.14).
.
31.1 (.).
wi (t,q,p) = i , i = 1, n
(31.28)
(n q p) , H(t,q,p),
) (wi , wk ) = 0, i,k = 1, n,
(. 30.1);
) (31.28) p:
pi = i (t,q,), i = 1, n.
(31.29)
, ,
wi (t,q,p), i = 1, n, S(t,q,)
182
n
X
i (t,q,)dqi H(t,q,(t,q,))dt,
i=1
, 3 , .
Z1 X
n
S(t,q,) = {
qi i (ts,qs,)dqi
(31.31)
0
i=1
tH(ts,qs,(ts,qs,))}ds.
31.1 ,
, (.
(31.31)) (31.6) . , 31.1 20.2, 20.3, 20.5
( ,
). , , (31.28) , .
3 . . .: , 1970.
420 .
183
. , ,
, (. 29.1, 29.2), (31.7). i (t,q,p), i = 1, n,
(31.7) 31.1. ) 30.2: (31.7) ,
i , i qi , pi . ) i (t,q,p) :
(31.4) i , (31.4) ( (31.29))
i = i (t,q,p) pi .
, (31.14) (. 31.6).
31.9.
q = p, p = q
H=
1 2
q
2
1
S
+ q 2 = 0.
t
2
(31.14)
dS0 (t) 1 2
+ q =0
dt
2
. S = S0 (t)S1 (q)
dS0 (t)
1
S1 (q) + q 2 = 0
dt
2
:
S1 =
1 2
1
q , S0 = t, S = q 2 ( t);
2
2
184
1 2
q = , p = q( t);
2
p
p
q = 2, p = 2( t).
, , 31.6, 31.8, , ,
.
.
31.10.
H=
p1 + q2
p2 + q1
(31.32)
(
(31.14))
dS0 (t)
dS1 (q1 )
dS2 (q2 )
+
+ q2
+ q1 = 0.
dt
dq1
dq2
S0 = ht
dS1 (q1 )
dS2 (q2 )
hq1 = h
q2 .
dq1
dq2
S = ht +
1
1
( + hq1 )2 +
( + q2 )2 .
2h
2h
S (31.4) h : H = h,
H (31.32),
p1 p2 q1 q2
= .
p2 + q1
185
(31.33)
(31.5) h (31.32)
hp1 + p2 = 1 ,
1
1
1
t + p1 q1 2 p21 p22 = 2 .
h
2h
2
(31.34)
(31.34) .
(31.32) (31.34) qi (t), pi (t).
186
, ,
..
..
. 6090 1/16.
N1. . ... 10,00. .-.. 10.00.
. N
- 141700, .., .,
. 9