5

n





MaC = Fi s = FRs
i =1



n

s
dLA

+ v A K = M AFi
dt
i =1




dLO n
F
is
dLC n
F
is
= MO
= MC
dt
dt
i =1
i =1

(I )
( II )
'

''

( II , II )

n





MaC = Fi s = FRs

(I )

i =1

MaCx = MxC = X is = X Rs

(1)

MaCy = MyC = Yi s = YRs

(2)

MaCz = MzC = Z is = Z Rs

(3)

i =1
n

i =1
n

i =1

n

s
dLA

+ v A K = M AFi
dt

i =1


dLC n
F
is
= M C = M Cs
AC
dt
i =1

dLC dLC


=
+ LC
dt
dt

2
( II )

{LC } = [ J C ]{}

LC J

LC = J
L J
C

J
J
J

J

J
J

LC = J J J
LC = J + J J

LC = J J + J

, , - : LC = J
dLC
dt
dLC
dt
dLC

LC = J

LC = J

s

+ LC LC = M CFi = M Cs

(4')

i =1
n

s

+ LC LC = M CFi = M Cs

(5')

i =1
n

s

+ LC LC = M CFi = M Cs

dt
i =1
, , - :
d
J
+ J J = M Cs
dt
d
J
+ J J = M Cs
dt
d
+ J J = M Cs
J
dt
= sin sin + cos
= sin cos sin

= + cos

(6')

(4)

(5)

(6)

9 ((1)-(9)),
9 : xC , yC , zC , , , , , ,

(7)
(8)
(9)

4 -

5 -

n








MaC = FRs = Fi s = mg + Fo
i =1

C O






aC = 0 Fo = mg










dLo n F
is
= M o = M os = M oFo + M omg = 0
dt i =1






Lo = const = Lo = LOz k
0








Lo = LO + LO + LO

( )

dLO
dt
dLO

dt
dLO
dt

(1)

= sin sin + cos

(4)

(2)

= sin cos + sin

(5)

(3)

= cos +

(6)

+ LO LO = 0

+ LO LO = 0
+ LO LO = 0

LO = J O = A

, , - :

LO = J O = B

LO = J O = C
A

d
dt
d

dt
d

+ ( C B ) = 0

(1')

+ ( A C ) = 0

(2')

+ ( B A ) = 0
(3')
dt
d
d
d
d 1

A
+ B
+ C
= A 2 + B 2 + C 2 = 0
dt
dt
dt
dt 2

1
T = A 2 + B 2 + C 2 = const = T0
As = Au = 0
2
C

A2

d
dt

+ B 2

d
dt

+ C 2

d
dt

L20 = A22 + B 22 + C 22 = const

d 1 2 2
2 2
2 2
A + B + C = 0
dt 2

(M

s
0

=0

A= B
L0 = L0 z = const
d
A
+ ( C A ) = 0
dt
d
+ ( A C ) = 0
A
dt
d
C
=0

= 0 = const
dt

LO = LO sin sin ;

LO = LO sin cos ;

LO = LO cos = C = C 0
cos = const
= sin 0 sin

cos =

LO = LO cos ;
C 0
LO

= const

= 0 = const

LO sin 0 sin = A sin 0 sin =

= 0 + 0t

LO
= const = 0
A

= 0 sin 0 cos
= 0 cos 0 + = 0 0 cos 0 = const = 0
= 0 + 0t

= 0
= 0 + 0t
= 0 + 0t

d
dt
d

dt
d

= 00 sin 0 cos

= 00 sin 0 sin

=0
dt
A 00 sin 0 cos + ( C A) ( 0 sin 0 cos )( 0 cos 0 + 0 ) = M Os
0 sin 0 sin + ( A C ) ( 0 cos 0 + 0 )( 0 sin 0 sin ) = M Os
A
M Os = A 00 sin 0 + ( C A ) 0 sin 0 ( 0 cos 0 + 0 ) cos
M Os = A 00 sin 0 + ( C A ) 0 sin 0 ( 0 cos 0 + 0 ) sin
M Os = 0

(M ) + (M ) + (M )

M Os =

s
O

(
(
(

s
O

s
O

= A 00 sin 0 + ( C A ) 0 sin 0 ( 0 cos 0 + 0 )

)
)
)

cos = cos M Os , = cos



cos = cos M Os , = sin



cos = cos M Os , = 0

0 >> 0
M Os = C 00 sin 0

= = 0
= 1
d 1
A

dt

= = const
= 2

x ,

= 3 +

+ ( C B ) 23 + ( C B ) 2 = 0

y , z

d 2
+ ( A C ) 13 + ( A C ) 1 = 0
dt
d
C 3 + ( B A) 21 = 0
dt
>> 1 >> 2
>> 3
d
A 1 + ( C B ) 2 = 0
dt
d
B 2 + ( A C ) 1 = 0
dt
d 3
C
=0
dt
B

d 21
d
+ (C B ) 2 = 0
2
dt
dt
2
d
d
B 22 + ( A C ) 1 = 0
dt
dt
A

d 21 ( C A )( C B ) 2
+
1 = 0
AB
dt 2

( A C )( B C ) > 0
A<C

d 21 ( C A )( C B ) 2
+
1 = 0
B
dt 2
d 2 ( A C )( B C ) 2
2 = 0
B 22 +
A
dt
A

d 22 ( A C )( B C ) 2
+
2 = 0
AB
dt 2

( C A)( C B ) > 0

A>C

B<C
B>C
C A, B, C

J = J = A = B
J = C
, ,

T=

1
1
1
A2 + B2 + C2
2
2
2

1
1
A 2 + 2 + C2
2
2
= sin sin + cos
= sin cos sin
T=

= cos +

1
1
2
A 2 sin 2 + 2 + C ( cos + )
2
2
zC = C cos
T + = h
1
1
2
A 2 sin 2 + 2 + C ( cos + ) + Mg C cos = h
2
2




dLOz
FO
s
Mg
= M Oz
= M Oz
+ M Oz
= 0 LOz = const = C1
dt
LOz = LO sin sin + LO sin cos + LO cos
T=

A sin sin + A sin cos + C cos = C1

(1)

A sin sin + cos sin sin + A sin cos sin sin cos +
+ C ( cos + ) cos = C1

A sin 2 + C ( cos + ) cos = C1

dLO
dt

= M Os =

FO
M OMg
+
M

=0

(2)
C = const

C = C ( cos + ) = C2

cos + =
(2), (3)

(3)

C2
C

A sin 2 + C2 cos = C1

A sin 2 = C1 C2 cos

C1 C2 cos
A sin 2

(1), (2), (3), (4)

(4)

1 2 1 C1 C2 cos
1 C22
2

sin
A + A
+
C
+ Mg C cos = h
2
2 A sin 2
2 C2
2

1 2 1 ( C1 C2 cos )
A +
+ Mg C cos = C3
2
2
A sin 2
1 C22
C3 = h
2 C
2
2 2
2
A sin = ( C1 C2 cos ) 2 AMg C cos sin 2 + 2C3 A sin 2
cos = u
sin = u
2

( )
( )
u (1 u ) + 2C A (1 u )

A u = ( C1 C2u ) 2 AMg C u 1 u 2 + 2C3 A 1 u 2

2 2

f (u ) = ( C1 C2u ) 2 AMg C
2

A2u 2 = f (u )
du
A
= f (u )
dt

dt = A

du
f (u )

t = A

du
f (u )

(5)

10

u1 < u < u2

2 < < 1

f ( ) =
f ( 1) < 0

f ( +) = +
f (+1) < 0

10

11
)

=0

u = u0 = cos 0
= 0
= n
:

= n1

( A C ) n 2 cos 0 Cnn1 + Mg C

=0

11

>>
>>
= sin sin + cos
>>

>

= sin cos sin

LO = A
LO = A
= cos +
12

LO >> LO

LO = C
LO >> LO

Lo = LO + LO + LO LO












= + + = 1

= 1 + 2 1
Lo = LO

(1)

(2)

(3)

d
dt
d

dt

+ ( C B ) = Fh

+ ( A C ) = 0

+ ( B A) = 0
dt
( B A = 0)

= const
d
(1) A
= Fh = const
dt
= Fht + 0 = Fht
(2)

13

= const = 0 = 0

12

LC = J 1


dLC

F

= u = MC
dt

1 >> 2

14

Lo = J
Lo = J 1 = const
1









v A = 2 LO = 2 J 1
v A = 12 J sin










v A = M OF = M OG = rC G

M OG = Gd sin
12 J sin = Gd sin

2 =

Gd
J 1

15

13

. .

N A = N Ast + N Ad






N B = N Bst + N Bd







MaC = G + N A + N B = 0











vD = M OF = M ON A + M ON B

aC = 0

16

N A N B






N A + N B = G
















M OF = rA N A + rB N B = rA N A N B = vD

G
N Ast = N Bst =
2





N
st
N
st
M O A + M O B = 0 N Ad = N Bd
J
G J
N Ad = N Bd = C 1 2
NA = C 1 2
2
AB
AB

NB =

G J C12
+
2
AB