31

2.1
X Y Z
X [
x1 = ua 0 x Daxy Sax Daxz Sax ]
T
[
x 2 = ua 0 x Daxx Sax Daxz Sax ]
T
[
x3 = u a 0 x Daxx Sax Daxy Sax ]
T

z = [u ] [ ] [ ]

T
z = u ax1
T T
1
ax ... u axk ... u axk z = u ax1 ... u axk
1 g sin 11 g cos 11 1 g sin 11 g cos 11 1 g cos 1 g sin 1

D = ... ... ... D = ... ... ... D = ... ... ...
1 g sin 1k . g cos 1k 1 g sin 1k . g cos 1k 1 g cos k . g sin k

x 4 = ua 0 y [ ] T
[
x5 = ua 0 y ]
T
[
x6 = u a 0 y ]
T
Y

Dayy Say Dayz Say Dayx Say Dayz Say Dayx Say Dayy Say
[ ] [ ] [ ]

T T T
z = u ay1 ... u ayk z = u ay1 ... u ayk z = u ay1 ... u ayk
1 g sin 11 g cos 11 1 g sin 11 g cos 11 1 g cos 1 g sin 1

D = ... ... ... D = ... ... ... D = ... ... ...
1 g sin 1k . g cos 1k 1 g sin 1k . g cos 1k 1 g cos k . g sin k

x7 = ua 0 z [ ]
T
[
x8 = n0 z ]
T
[
x9 = n0 z ]
T
Z

Dazy Saz Dazz Saz Dazx Saz Dazz Saz Dazx Saz Dazy Saz
[ ] [ ] [ ]

T
z = u az1
T T
z = u az1 ... u azk ... u azk z = u az1 ... u azk
1 g sin 11 g cos 11 1 g sin 11 g cos 11 1 g cos 1 g sin 1

D = ... ... ... D = ... ... ... D = ... ... ...
1 g sin 1k . g cos 1k 1 g cos k . g sin k
1 g sin 1 . g cos 1
k k

:
[u
... u aik ]

i- k-
1
ai

, , i = x, y, z ;
[
g = 9.819203 / 2 ; ]
[i 1
]
... i k k- i, i = 1 , ;
Daij , i, j = x, y , z Da .
xi , i = 1...9 ,
,
[64]:
(
x = D D D z . )1
(2.3)
:
ua 0 x = (x1 (1,1) + x 2 (1,1) + x 3 (1,1)) / 3 ;
ua 0 y = (x 4 (1,1) + x 5 (1,1) + x 6 (1,1)) / 3 ; (2.4)
ua 0 z = (x 7 (1,1) + x 8 (1,1) + x 9 (1,1)) / 3 ;

Sax =
1
3
(
x1 ( 2,1) 2 + x1 (3,1) 2 + x 2 ( 2,1) 2 + x 2 (3,1) 2 + x 3 ( 2,1) 2 + x 3 (3,1) 2 , )
Say =
1
3
(
x 4 ( 2,1) 2 + x 4 (3,1) 2 + x 5 ( 2,1) 2 + x 5 (3,1) 2 + x 6 ( 2,1) 2 + x 6 (3,1) 2 , ) (2.5)

Saz =
1
3
(
x 7 ( 2,1) 2 + x 7 (3,1) 2 + x 8 ( 2,1) 2 + x 8 (3,1) 2 + x 9 ( 2,1) 2 + x 9 (3,1) 2 ; )
1 1 1
ax = , ay = , az = , (2.6)
Sax Say Saz
 32

D axx =
1
(x 2 (2,1) + x 3 (2,1) ) ; Daxy = 1 (x1 (2,1) + x 3 (3,1) ) ;
2 M ax 2 M ax

D axz =
1
(x1 (3,1) + x 2 (3,1) ) ; Dayx = 1 (x 5 (2,1) + x 6 (2,1) ) ;
2 M ax 2 M ay

D ayy =
1
(x 4 (2,1) + x 6 (3,1) ) ; Dayz = 1 (x 4 (3,1) + x 5 (3,1) ) ; (2.7)
2 M ay 2 M ay

D azx =
1
(x 8 (2,1) + x 9 (2,1) ) ; Dazy = 1 (x 7 (2,1) + x 9 (3,1) ) ;
2 M az 2 M az

D azz =
1
(x 7 (3,1) + x 8 (3,1) ) ;
2 M az
1
Daxx Daxy Daxz

Ca = (Da ) = Dayx Dayy Dayz .
1
(2.8)
Dazx Dazy Dazz

,
: ,
Oxa ya za OX 0Y0 Z 0 .

2.2.2
,
, R, :
a2 0 ... 0

0 a2 ... 0 2
R= , a2 = a
... ... ... ... N
2
0 0 ... a
a () ,
, a =0,9510-3, /2;
a 110 5 , /2;
N = Ta f ;
f .
,
, [64]:
( )1
(
Pi = Di Di Di R Di Di Di ,
T T T
)
1
(2.9)

xi .
:
0.4550 0.0000 0.0042
P1 = P2 = P4 = P5 = P7 = P8 = 0.0000 0.0099 0.0000 10 9
0.0042 0.0000 0.0090
0.4550 0.0042 0.0000
P3 = P6 = P9 = 0.0042 0.0099 0.0000 10 9
0.0000 0.0000 0.0090
 33

:

0ai = 2,110-5 [] (~1,710-4 [ /2 ]), i = x, y, z ;

/ 2
a
= 3,110
-6
(~0,003%]), i = x, y, z ;

i

:
= 3,110-6 (~0,7).

D
, ,
( ) 1'.

2.2.3
,
.2.3. (23 1).
0 360 18 , 21
. 90. ,
(1.7),
(2.4 2.8).

.
.2.4. ,
0,001
/. , ,
,
.

.2.4

2.3

,
(1.4) :
u 0 x , u 0 y , u 0 z ;
M x , M y , M z ;
Ox y z
OX 0Y0 Z 0 .
 34

,
, ,

.
,
[1]: ;
;
.

2.3.1

, . ,
,
, .
,

0,001/. ,
0,025 / / , 15 .

OX 0Y0 Z 0 , 180,
OENH
, ,
. ,
, 15 .
x , ,
X 0 Y0 :
u1x = u 0 x Dxx Sx cos sin K + Dxy Sx cos cos K + Dxz Sx sin ,
u2x = u 0 x + Dxx Sx cos sin K Dxy Sx cos cos K + Dxz Sx sin ,
(2.10)
u3x = u 0 x + Dxx Sx cos sin K + Dxy Sx cos cos K Dxz Sx sin ,
u4x = u 0 x Dxx Sx cos sin K Dxy Sx cos cos K Dxz Sx sin ,
u1x , u2x , u3x , u4x ,
x ; ; ; K
.
(2.10)
u1x + u2x + u3x + u4x
u 0 x = . (2.11)
4
y z .
,
,

OENH .

2.3.2

X 0 ,
Y0 , Z 0 ,
 35

. X 0 Y0 ,
, Z 0 ,
.
Tg .
,
, , ,
. ,
:
M j (uj u 0 j ) = D jx1 , M j (uj u 0 j ) = D jy1 , M j (uj u 0 j ) = D jz (2 + sin ) , (2.12)
j = x, y, z; uj Tg
.
[2, 67, 68]
,
, , 35 , .
0,001/
(0.0003 0.0005)/. 5/,
1.4 106% ,
.

, ,
, .
,
.
1"
.
3".
0,0002/.
( < 5' ),
( 106 )
Dxx Dyy Dzz 1. (2.13)
C (2.13) (2.12)
1 (Tg ) 1 (0) 1 (Tg ) 1 (0) 2 (Tg ) 2 (0) + sin Tg
M 'x = Tg , M 'y = Tg , M 'z = Tg
, (2.14)
(u
0
x u 0 x )dt (u
0
y u 0 y )dt (u
0
z u 0 z )dt

M 'x , M 'y , M 'z ; 1 (0), 2 (0), 1 (T ), 2 (T )

,
.

,
.
M +j M j (j = x,y,z)
. ,
, .
,
,
.
 36

(2.12) (2.14) D'ij

D :
Tg Tg Tg

M 'i (u i u 0i )dt M 'j (u j u 0 j )dt M 'k (u k u 0 k )dt

D'ix = 0
, D'jy = 0
, D'kx = 0
, (2.15)
1 (T ) 1 (0) 1
1 (T ) 1 (0) 1
2 (T ) 2 (0) + sin Tg
i = y, z; j = x, z; k = x, y.

2.3.3

.
,
, 5', D

2 2 3 2
cos cos 1 , sin cos 1 , (2.16)
2 2 2 2
3 1013 , 1015 ,
2 106 ,
109 .
(2.14) :
D'2 xy D'2 xz D'2 yx D'2 yz
1 ( 1 (Tg ) 1 (0) ) 1 ( (T ) 1 (0) )
2 2 2 2 1 g
M x = Tg
, M y = Tg
,
(u
0
x u 0 x )dt (u
0
y u 0 y )dt

D'2 zx D'2 zy
1 ( 2 (Tg ) 2 (0) + sin Tg )
2 2
M 'z = Tg
, (2.17)
(u
0
z u 0 z )dt

D'ij (2.15).
(2.16) ,
.
D (2.13),
M 'x , M 'y , M 'z M x , M y , M z (2.17).
C
1
Dxx Dxy Dxz

C = (D )
1
= Dyx Dyy Dyz . (2.18)
Dzx
Dzy Dzz

2.3.4

(2.14)
Tg

(M x + M x ) (ux (u 0 x + u 0 x + u
)
) d (t + t ) = 1 (Tg ) 1 (0) + 1 (Tg ) + 1 (0) , (2.19)
0
 37

M x ; u 0 x ; u
; 1 (0), 1 (Tg ) .
,
T
M x ux dt = 1 (Tg ) 1 (0) ,
0
(2.19) :
Tg Tg

( )
1 2 + M x u 0 x + u dt + M x (ux u 0 x )dt
M x
= 0
Tg
0
. (2.20)
M x
M x (ux u 0 x )dt
0
,
,
, .
,
(2.20) 2n , n
.
Tg

(
1 2 + M x u 0 x + u dt + 2nt)
M x
= 0
. (2.21)
M x 2n
, ,
, ,
,

M x
M x
=
1
2n
(
1 2 + u 0 xTg + C n 2Tg + 2nt , ) (2.22)

Cn2 .
(2.22) : = 1800 , = 5 / c ,
.
= 3, Cn = 0.1 , u 0 x = 0,001"/, t = 10 7 ,

M x
= 2 10 7 .
M x
, (2.15),
D

D yx =
M x
M x
+
1
2n
( 1 2 D yx + u 0 xTg + C n 2Tg + 2nt . ) (2.23)

, 1".
,
. ,
,
,
10 7 .

, ,
.
 38

2.3.5

1 ,
2.2.
2.2
, /

X Y Z
0,150 -0,009 -0,060
0,008 0,006 0,008

1 36/c 30 .
1 .
2.3
, . ,
,
, 10 7 . , ,
, .
2.3
+
M gx
M gx +
M gy
M gy +
M gz M gz

1,746892 1,746890 1,664746 1,664747 1,730345 1,730357

3,4 10 -6
2,9 10 -6
4,8 10 -6
4,4 10-6 2,1 10-6 3,1 10-6

2.4.
2.4
yx zx xy zy xz yz
-2,9' 1,8' 2,3' 1,3' 2,4" 2,7'
0,6" 0,8" 1,6" 0,9" 1,0" 0,3"

,
.
.2.5. ,
0,01/. , ,
.

. 2.5

30 10
 39

,
.
.2.6. .
0,015 . .2.6

.
.

.2.6

2.4

2.4.1

,
,
. ,

[9, 43]. ,
.

, ,
.
, .
. 2.7 O ,
O : Ai , i = x, y, z .
,
,
( ) [43].
OX 0Y0 Z 0
O ,
.
 40

Z


rzZ

r0
ryZ
Az Ay
ayx azx
Ax ryY Y

ryX rzY

rzX ax
X
az ay

r0
O

r0

.2.7

a ,
,

W G (R )
:

a = W G (R) , i = X , Y , Z . (2.24)

R - .

Wi - ai , i = x, y, z ,
[22]:

Wi = W0 + ai + ( ai ) , (2.25)

W0 , O ;

, ;

, .

,
, -
O :

ax = r0 i + r0 j + r0 k ,

ay = ax + ayx = ( r0 + ryX ) i + ( r0 + ryY ) j + ( r0 + ryZ ) k , (2.26)

az = ax + azx = ( r0 + rzX ) i + ( r0 + rzY ) j + ( r0 + rzZ ) k ,
r0 , r0 , r0 O
Ax , , , Ax XYZ , O ;
rij Ax
Ai , i = y, z , j , j = X ,Y , Z ;