Euler

. 9.7
D. Morin, Introduction to classical mechanics

Division of Theoretical Physics, University of Ioannina, Greece

13 2013

: I1 = I2 = I I3 .

 Euler: ;

Euler

.

..

Euler (, , ).

 : x3 .

x3 z ..
I :
x3 . x1
x y .

x1
x ..
I :
x2
x3
x1 . S .
(
x1 ,
x2 ,
x3 ).

x3 S. x3
S.

~ S
z +
x1 .

I

 : x1 x2 .

~ =
x3 + ( z +
x1 ) .

(1)

~
x1 , x2 x3 . z = cos
x3 + sin
x2 ,

~ = ( + cos )
x3 + sin
x2 + x1 .

x1 ,
x2 x3
(I1 = I2 I ).

(2)


~
.
= 0.

, 0 ,
2 , 3 . [. (1) (2)]:

~ = 0
x3 + z ,
3 = + cos = 0 + cos ,

~ = 3
x3 + 2 x2 ,
0 = , = ,
2 = sin = sin .

(3)
(4)
(5)

 :

z, x3
z. :
dx3
=
~ x3 = ( 0
x3 + z)
x3 = ( z) x3 .
dt

z .

(6)

1.
2. Lagrange

1.
~ = d ~L/dt
~ .(2).

= + cos

~ =
x3 + sin
x2 +
x1 .

(7)

. :
~L = I3
x3 + I sin
x2 + I
x1 .

(8)

~ = d ~L/dt.
(8) :
d ~L
dt

d
d( sin )
d

x1
x3 + I
x2 + I
dt
dt
dt
d
x3
d
x2
dx1
+ I3
+ I sin
+ I
.
dt
dt
dt
= I3

(9)

 (
) ~L
~L
d ~L
=
+
~ ~L .
dt
t
x3
x3 /t = 0, :

(10)

dx3
=
x3 =
x2 + sin
x1 .
(11)
dt
x1 x2 ( )
.
Euler

x2
x1
=
x2 ,
=
x1 ,
(12)
t
t

dx1
= sin
x3 + cos
x2 ,
(13)
dt
dx2
=
x3 cos
x1 ,
(14)
dt

 .(11,13,14) (9)
, :
d ~L
dt



= I3
x3 + I sin + 2I cos I3 x2


+
I I 2 sin cos + I3 sin x1 .

(15)

CM
.
~ = ` x3 mg (z) = mg `
~ = ~r F
x3 (cos x3 + sin x2 )
= mg ` sin
x1
(15) (16)

(16)

 = 0 + cos = const. = 3 ,

(17)

cos I3 3 ) = 0 ,
I sin + (2I

(18)

sin = I .
(mg ` + I 2 cos I3 3 )

(19)

17,18 19
.
. 17 : L3
. 18 : Lz .
,
z
x3 ( x1
)

2. Lagrange
Lagrangian
L=T V ,

(20)

T =

1
1
1

~ ~L = I3 ( + cos )2 + I ( 2 sin2 + 2 ) ,
2
2
2

(21)

V = mg ` cos .

(22)

Euler-Lagrange
d L
L
=
,
dt q
q

(23)

q = , , .(17,18,19).
,
:
x3 z .

 = 0
.(18) = = CM
.
.(19) :
I 2 cos I3 3 + mg ` = 0 .
:
s
!
4Img ` cos
I3 3
1 1
.
=
2I cos
I32 32
3 >>
+

I3 3
I cos

mg `
I 3 3

[ 8]

(24)

(25)

 : ( !)
= 0 [.
.(24)], Euler
Lagrange.

: ,
, ..
[ 8, 14,16 3 . ]

 (Nutation)
6= 0,
,
.(24). 3
= .
.
.
.(18,19)  3 :
I sin I3 3 = 0
(26)
sin = I
(mg ` I3 3 )

(27)
(26)
.(27).
d 2
+ n2 ( s ) = 0 ,
(28)
dt 2

I3 3
mg `
n
,
s =
.
(29)
I
I3 3

n :
s :
.(28) .

= s + A cos(n t + )

(30)

A, .
t ,
(t) = s t +

A
sin(n t + ) + const.
n

(31)

.(26),
= A sin sin(n t + ) .
sin sin 0 .(32)


A sin 0
(t) B +
cos(n t + ).
n

(32)

(33)

 .(31,33)
() n
n . n 3
3
.

. (a)
1
2 . (b) ,
-.