6

. .
T2

T1 +



I ud = F ud dt = F ud dt
T1

T1

dv
ud
m
=F
dt



v ' = v (T2 ),

1 T1 +

Fsr = F ud dt

T1

v = v (T1 )

1 T1 +
ud
v' = v +
F dt
m T1


dr



1 T1 +t
ud
v (t ) = v +
F dt = dt , t t1
m T1

1 T1 +t

dr = vdt + F ud dt dt
m T1

1

r2 = r1 + v + I srud
m

T
+

ud 1 1
ud
I sr = I dt

T1

1

r = r2 r1 = v + I srud 0
m

'
'
mv = K
mv = K


d ( mv ) = dI







mv ' mv = I ud = Fsrud

T2

mvx' mvx = X ud dt = I xud

T1
T2

mv 'y mv y = Y ud dt = I ud
y
T1
T2

mvz' mvz = Z ud dt = I zud

T1

()

mi vi' mi vi = I is + I iu
i = 1, 2,..., n
mi


vi -


vi' -
n
n


n
n

mi vi' mi vi = I is + Iiu
i =1

i =1

i =1

i =1

n



I s = I is
i =1

n



I u = I iu = 0
i =1

n




K ' = mi vi'
i =1

n

K = mi vi
i =1

n






K ' K = I s = I is
i =1

K x' K x = I ixs
K y'

i =1
n

Ky =

i =1
n

I iys

K z' K z = I izs
i =1

'
mvCx
mvCx = I ixs
'
mvCy

i =1
n

mvCy = I iys
i =1
n

'
mvCz
mvCz = I izs
i =1

n



I s = I is = 0
i =1

'

K =K

vC' = vC

K = mvC

I xs = I ixs = 0
i =1

K x' = K x

'
vCx
= vCx

K ' = mvC'

ri mi vi' ri mi vi = ri Iis + ri Iiu
n

i = 1, 2,..., n
n

ri mi vi' ri mi vi = ri I is + ri Iiu

i =1

i =1

i =1

n





LA' = ri mi vi'

i =1

n





LA = ri mi vi

i =1

i =1

T2 n
T2


s n
T2
s


s
s
r

I
=
r

F
dt
=
r

F
dt
=
i i i i
i i
M Adt
i =1
i =1

T1
T1 i =1
T1
T
T
T2
n


n

2

2
n

u
u
u
u
r

I
=
r

F
dt
=
r

F
dt
=
i i i i
i i
M A dt = 0
i =1
i =1

T1
T1 i =1
T1
T
n

2






LA' LA = ri I is = M As dt
n

i =1

T1
n

'
LAx
LAx =

i =1
n

Iis
M Ax

s

Ii
'
LAy
LAy = M Ay
'
LAz

i =1
n

s

Ii
LAz = M Az
i =1

s

I
ri I is = M Ai = 0

i =1

i =1

s

I
M Axi = 0

i =1

'
LAx
= LAx

LA' = LA

.
()

mv ' mv = I N
mvn' mvn = I N
mvT' mvT = 0
mv' mv = 0
mvn = I N1

vT' = vT

v' = v = 0

I N = I N1 + I N 2

mvn' = I N 2

k=

I N2
I N1

vn'
vn

vn' = kvn

I N = mvn (1 + k )

vn = v cos

I N = mv (1 + k ) cos
v sin = v 'sin
v=

vn

cos
tg = k tg
1
tg = tg
k

v =
'

vn'
cos

v' =

kvn
cos

kv cos
cos

v sin kv cos
=
sin
cos

f ( x, y , z ; t ) 0
x = x(t ), y = y (t ), z = z (t )

f [ x(t ), y (t ), z (t ); t ] = 0

t = T1

d2 f
dn f
df
,
=
0
,...,
=
0

n = 0 ,...
dt
2
t =T1
dt t =T1
dt t =T1
df
<0
dt t =T1

df
>0
dt
t =T2

df
=0

dt t =Tm

df f f
f
f
= +
x +
y +
z =
dt t x
y
z
f 
f
= + v gradf = + gradf vn
t
t
df
f
=
+ gradf

dt t =Tm t t =Tm

f
t + gradf
t =T1

t =T1

t =Tm

un = 0

un 0

mun mvn = I N1

(1)

mvn' mun = I N 2

(2)

f
+ gradf
t t =T1

I N2 = kI N1

t =T1

un = 0

(3)

vn' un
k=
un vn

(4)

k=

v2' n v1' n
v2 n v1n

K ( xK , y K , z K )


v ' yC ' , 0, 0


v ( yC , 0, 0 )

)
'
LOy
= J yz '

'
LOx
= J xz '

LOx = J xz

LOy = J yz

K x' = myC '

K y' = K z' = 0

K x = myC

K y = Kz = 0

'
LOz
= J z '

LOz = J z

(I )
( II )

K ' K = I s + IA + IB






s





LO' LO = M OI + M OI A + M OI B

myC ' = I xs + I Ax + I Bx
0 = I ys + I Ay + I By

0 = I zs + I Az

( )
J ( ) = I x + I z
J ( ) = I y + I x

J xz ' = I ys z K + I zs yK + I Ay a I By b
'

s
z

yz

'

s
x

s
x

s
y

+ I Ax a I Bx b

I Ax = I Ay = I Az = 0

I Bx = I By = 0

(1)

myC ' = I xs

(2)

0 = I ys

(3)

0 = I zs

(4)

J xz ' = 0

(5)

J yz

zK

(6)

J z ' = I xs yK

(2), (3)
(4)
(5), (6)

( )
( ) = I
'

s
x

' =

zK =

yK =

I xs
myC

J yz
myC

J + myC2
J
Jz
= Cz
= yC + Cz
myC
myC
myC

I ys = I zs = 0
J xz = 0
xK -
J
yK = yC + Cz
myC
J yz
zK =
myC

( zK = 0

J yz = 0

d T
dt q j

T
=
+ Qj
q j

'

= Sj

'

t =T2

q j

T

q j

q j

T
=
q j

( j = 1,2,..., N )

T T

q j q j

t =T1

T2

T2

T1

T1

S j = Q j dt

d T
dt q j

q j dt = 0
f (t ; q1 , q 2 ,..., q N ) = 0

T
f
=
+ Qj +
q j
q j

Qj = 0 :

q j

m q j

q j

T

q j

'

= 1 f

q j

= 2 f

q j
m

t =T1

2 = k1 ,

(2)

t =T1

=0

(3)
(4)

:
Tm

1 = dt

(1)

t =T1

N
f
df
f
=
+
q j

dt t =Tm t t =T1 j =1 q j

T1

( j = 1,2,..., N )

T2

2 = dt
Tm