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F2=10kH

2 4 4 5 6 J1 3 E := 1
=
J2 2
A := 1

h=4m
q=5kH/m J1 := 3
J2 := 2

1 2 3 q := 5

P := 10

h=4m
h := 4
l := 3
1 3 5 x
l=3m l=3m

Шилбэний х ү члэлийг матрицын хэлбэрт бичье. Уг ферм нь 6 зангилаатай 5 шилбэтэй.

⎛1 0 0 0 ⎞0
⎜ −1 0 0 1 0 ⎟
Б ү х зангилааны
⎜ ⎟ цэгийн вектор
⎛0 0⎞
S := ⎜
0 1 0 0 0 ⎟ матриц хэлбэрт
⎜0 8⎟
⎜0 −1 0 −1 1 ⎟ бичвэл.
⎜ ⎟
⎜0 ⎟
x := ⎜
0 1 0 0 3 0⎟
⎜ ⎟ ⎜3
⎝0 0 −1 0 −1 ⎠ 8⎟
⎜6 0

Зангилааны цэгийн координатын векторыг тодорхойлоё. ⎜ ⎟
⎛0⎞ ⎛0⎞ ⎛3⎞ ⎛3⎞ ⎛6⎞ ⎛6⎞ ⎝6 8⎠
x 1 := ⎜ ⎟ x 2 := ⎜ ⎟ x 3 := ⎜ ⎟ x 4 := ⎜ ⎟ x 5 := ⎜ ⎟ x 6 := ⎜ ⎟
⎝0⎠ ⎝8⎠ ⎝0⎠ ⎝8⎠ ⎝0⎠ ⎝8⎠

Б ү х төгсгөл өг элемэнтүү дын хувьд проекцийн векторуудыг


бичвэл. ⎛⎜ x 1 y1 ⎞
⎛0 8⎞ ⎟ ⎛0 8⎞
⎜0 8
⎟ ⎜ x2 y2 ⎟ ⎜0 8

T
⎜ ⎟ ⎜ ⎟ ⎜ ⎟
p := −S ⋅ x = ⎜ 0 8⎟ ⎜ x3 y 3 ⎟ := ⎜ 0 8⎟
⎜3 0⎟ ⎜x y4
⎟ ⎜3 0⎟
⎜ ⎟ ⎜ 4 ⎟ ⎜ ⎟
⎝3 0⎠ ⎜ x5 y5 ⎟ ⎝3 0⎠
Шилбэний уртуудыг олоё. ⎝ ⎠
⎛0⎞ ⎛0⎞ ⎛0⎞ ⎛3⎞ ⎛3⎞
p 1 := ⎜ ⎟ p 2 := ⎜ ⎟ p 3 := ⎜ ⎟ p 4 := ⎜ ⎟ p 5 := ⎜ ⎟
⎝8⎠ ⎝8⎠ ⎝8⎠ ⎝0⎠ ⎝0⎠
T T T T T
l1 := p1 ⋅ p1 = 8 l2 := p2 ⋅ p2 = 8 l3 := p3 ⋅ p3 = 8 l4 := p 4 ⋅ p 4 = 3 l5 := p5 ⋅ p5 = 3

Шилбэний х ү члэлийн чиглүү лэгч косинусуудыг олбол.

1 ⎛0⎞ 1 ⎛0⎞ 1 ⎛0⎞ 1 ⎛1⎞ 1 ⎛1⎞


c1 := ⋅ p1 = ⎜ ⎟ c2 := ⋅ p2 = ⎜ ⎟ c3 := ⋅ p3 = ⎜ ⎟ c4 := ⋅ p4 = ⎜ ⎟ c5 := ⋅ p5 = ⎜ ⎟
l1 ⎝1⎠ l2 ⎝1⎠ l3 ⎝1⎠ l4 ⎝0⎠ l5 ⎝0⎠

⎛ x1 ⎞ ⎛ x2 ⎞ ⎛ x3 ⎞ ⎛ x4 ⎞
a1 := acos⎜ ⎟ = 90⋅ deg a2 := acos⎜ ⎟ = 90⋅ deg a3 := acos⎜ ⎟ = 90⋅ deg a4 := acos⎜ ⎟ = 0⋅ deg
⎝ ⎠
l1
⎝ ⎠
l2
⎝ ⎠
l3
⎝ ⎠
l4

⎛ x5 ⎞
a5 := acos⎜ ⎟ = 0⋅ deg
⎝ ⎠
l5
Төгсгөл өг элементүү дийн дотоод хөшүү ний матрицийг байгуулбал.

⎛⎜ E⋅ A 0 ⎞⎟
⎛⎜ E⋅ A 0 ⎞⎟
0
0
⎜ 2l ⎟
⎜ l 1 ⎟ ⎜ 4E⋅ J2 2E⋅ J2 ⎟ ⎛ 0.125 0 0 ⎞
⎜ 2E⋅ J2 ⎟ ⎛ 0.125 0 0 ⎞
4E⋅ J2 ⎜ ⎟=⎜ 0 1 0.5 ⎟
k 1 := ⎜ 0 ⎟=⎜ 0 1 0.5 ⎟
k 2 := 0
⎜ l2 l2 ⎟ ⎜ ⎟
⎜ l1 l1 ⎟ ⎜ ⎟ ⎜ ⎟ ⎝ 0 0.5 1 ⎠
⎜ ⎟ ⎝ 0 0.5 1 ⎠ ⎜ 0 2E⋅ J2 4E⋅ J2 ⎟
⎜ 0 2E⋅ J2 4E⋅ J2
⎟ ⎜ l2 ⎟
⎜ l1 ⎟ ⎝ l2

⎝ l1

⎛⎜ E⋅ A 0 0 ⎞⎟ ⎛⎜ E⋅ A 0 0 ⎞⎟
⎜ l3 ⎟ ⎜ 4l ⎟
⎜ 4E⋅ J2 2E⋅ J2 ⎟ ⎛ 0.125 0 0 ⎞ ⎜ 4E⋅ J1 2E⋅ J1 ⎟ ⎛ 0.333 0 0 ⎞
k 3 := ⎜ 0 ⎟=⎜ 0 1 0.5 ⎟ k 4 := ⎜ 0 ⎟ = ⎜ 0 4 2⎟
⎜ l3 l3 ⎟ ⎜ ⎟ ⎜ l4 l4 ⎟ ⎜ ⎟
⎜ ⎟ ⎝ 0 0.5 1 ⎠ ⎜ ⎟ ⎝ 0 2 4⎠
⎜ 0 2E⋅ J2 4E⋅ J2
⎟ ⎜ 0 2E⋅ J1 4E⋅ J1 ⎟
⎜ l3 ⎟ ⎜ l4 ⎟
⎝ l3
⎠ ⎝ l4

⎛⎜ E⋅ A 0 0 ⎞⎟
⎜ l 5 ⎟
⎜ 4E⋅ J1 2E⋅ J1 ⎟ ⎛ 0.333 0 0 ⎞
k 5 := ⎜ 0 ⎟ = ⎜ 0 4 2⎟
⎜ l5 l5 ⎟ ⎜ ⎟
⎜ ⎟ ⎝ 0 2 4⎠
⎜ 0 2E⋅ J1 4E⋅ J1

⎜ l5 ⎟
⎝ l5

Статикийн матрицийг олбол.

⎛ 0 1 0 ⎞ ⎛ 0 1 0 ⎞
⎜ ⎟ ⎜ ⎟ ⎛ 0 1 0 ⎞
⎜ −cos a sin a1( ) sin( a1 )
⎟ ⎜ −cos a ( )
sin a2 ( ) ⎟
sin a2 ⎜
( ) sin( a3 )

⎜ ( 1) ⎟ ⎜ ( 2) ⎟ ⎜ −cos a
( 3)
sin a3

l1 l1 l2 l2 ⎜ ⎟
⎜ ⎟ ⎜ ⎟ l3 l3
⎜ ⎟
⎜ −cos a1 ( ) −cos( a1 ) ⎟ ⎜ ( )
−cos a2 −cos( a2 ) ⎟
( ) −cos( a3 ) ⎟
⎜ −sin( a1) ⎜ −sin( a2) ⎜ −cos a3
⎜ −sin( a3)
⎟ ⎟
l1 l1 l2 l2 ⎟
A1 := ⎜ ⎟ A := ⎜ ⎟ l3 l3
⎜ ⎟
⎜ 0 ⎟ 2 ⎜ 0 ⎟ A3 :=
0 1 0 1
⎜ 0 ⎟
⎜ ⎟ ⎜ ⎟ 0 1
⎜ cos( a )
−sin a1 ( ) −sin( a1 )
⎟ ⎜ cos( a ) ( )
−sin a2 −sin( a2 )
⎟ ⎜
( )
−sin a3 −sin( a3 )

⎜ cos( a ) ⎟
⎜ 1 l1 l1 ⎟ ⎜ 2 l2 l2 ⎟ ⎜ 3 l3 l3 ⎟
⎜ ⎟ ⎜ ⎟
⎜ cos a1( ) cos( a1 ) ⎟ ⎜ ( )
cos a2 cos( a2 ) ⎟ ⎜
( ) cos( a3 ) ⎟

⎜ sin( a1) ⎜ sin( a2) ⎜ cos a3
⎜ sin( a3)
⎟ ⎟
⎝ l1 l1
⎠ ⎝ l2 l2
⎠ ⎟
⎝ l3 l3

⎛ 0 1 0 ⎞
⎛ 0 1 0 ⎞ ⎜ ⎟

( ) sin( a4 )
⎟ ⎜ −cos a ( )
sin a5 sin( a5 )

⎜ −cos a
( 4)
sin a4
⎟ ⎜ ( 5) ⎟
⎜ ⎟ l5 l5
l4 l4 ⎜ ⎟
⎜ ⎟
( ) −cos( a4 ) ⎟ ⎜ ( )
−cos a5 −cos( a5 ) ⎟
⎜ −sin( a5)
⎜ −cos a4
⎜ −sin( a4) ⎟
⎟ l5 l5
A5 := ⎜ ⎟
l4 l4
A4 := ⎜ ⎟ ⎜ 0 ⎟
⎜ 0 ⎟ 0 1
0 1
⎜ ⎟
⎜ −sin a4 ( ) −sin( a4 )
⎟ ⎜ cos( a ) ( )
−sin a5 −sin( a5 )

⎜ cos( a ) ⎟ ⎜ 5 l5 l5 ⎟
⎜ 4 l4 l4 ⎟ ⎜ ⎟

( ) cos( a4 ) ⎟
⎟ ⎜ ( )
cos a5 cos( a5 ) ⎟
⎜ sin( a5)
⎜ cos a4
⎜ sin( a4) ⎟
⎟ ⎝ l5 l5

⎝ l4 l4

Гадаад хө ш үүний матрицийг байгуулбал.

⎛ 1 0.188 0 0.5 −0.188 ⎞ 0


⎜ 0.188 0.047 0 0.188 −0.047 0 ⎟
⎜ ⎟
T ⎜ 0 0 0.125 0 0 −0.125 ⎟
K1 := A1 ⋅ k 1 ⋅ A1 =
⎜ 0.5 0.188 0 1 −0.188 0 ⎟
⎜ −0.188 −0.047 0 −0.188 0.047 0

⎜ ⎟
⎝ 0 0 −0.125 0 0 0.125 ⎠

⎛ 1 0.188 0 0.5 −0.188 ⎞ 0


⎜ 0.188 0.047 0 0.188 −0.047 0 ⎟
⎜ ⎟
T ⎜ 0 0 0.125 0 0 −0.125 ⎟
K2 := A2 ⋅ k 2 ⋅ A2 =
⎜ 0.5 0.188 0 1 −0.188 0 ⎟
⎜ −0.188 −0.047 0 −0.188 0.047 0

⎜ ⎟
⎝ 0 0 −0.125 0 0 0.125 ⎠

⎛ 1 0.188 0 0.5 −0.188 ⎞ 0


⎜ 0.188 0.047 0 0.188 −0.047 0 ⎟
⎜ ⎟
T ⎜ 0 0 0.125 0 0 −0.125 ⎟
K3 := A3 ⋅ k 3 ⋅ A3 =
⎜ 0.5 0.188 0 1 −0.188 0 ⎟
⎜ −0.188 −0.047 0 −0.188 0.047 0

⎜ ⎟
⎝ 0 0 −0.125 0 0 0.125 ⎠

⎛4 0 −2 2 0 2 ⎞
⎜ 0 0.333 0 0 −0.333 0 ⎟
⎜ ⎟
−2 −2 −1.333 ⎟
K4 := A4 ⋅ k 4 ⋅ A4 = ⎜
T 0 1.333 0
⎜2 0 −2 4 0 2 ⎟
⎜ 0 −0.333 0 0 0.333 0

⎜ ⎟
⎝2 0 −1.333 2 0 1.333 ⎠

⎛4 0 −2 2 0 2 ⎞
⎜ 0 0.333 0 0 −0.333 0 ⎟
⎜ ⎟
−2 −2 −1.333 ⎟
K5 := A5 ⋅ k 5 ⋅ A5 = ⎜
T 0 1.333 0
⎜2 0 −2 4 0 2 ⎟
⎜ 0 −0.333 0 0 0.333 0

⎜ ⎟
⎝2 0 −1.333 2 0 1.333 ⎠

1,2,3 зангилааны эхний 3н шилжилт 0 учираас

⎛ 1 −0.188 0 ⎞ ⎛ 1 −0.188 0 ⎞ ⎛ 1 −0.188 0 ⎞



K1 := −0.188 0.047 0 ⎟ ⎜
K2 := −0.188 0.047 0 ⎟ ⎜
K3 := −0.188 0.047 0 ⎟
⎜ ⎟ ⎜ ⎟ ⎜ ⎟
⎝ 0 0 0.125 ⎠ ⎝ 0 0 0.125 ⎠ ⎝ 0 0 0.125 ⎠
4 элементйин төгсгөл , 5 элементийн эхлэл нь давхацах учираас. Доорх диаграмаар нэмж бодъё.

K1 K2 K3
Z3 Z6 Z9

Z4 Z7
2 4 Z2 4 5 Z5 6 Z8
Z1

h=4m
1 2 3

h=4m
1 3 5

K4 K5 l=3m l=3m

⎡ 0 ⎤
⎢ ⎥
0
⎢ ⎥
−0.188 −2 ⎢ 0 ⎥ ⎛⎜ 0 ⎞⎟
⎛⎜ 5 2 0 2 0 0 0 ⎞
⎟ ⎢ ⎥ ⎜ 0 ⎟
P⋅ l
⎜ −0.188 0.38 0 0 −0.333 0 0 0 0 ⎟ ⎢ − ⎥ ⎜
⎜ −2 0 1.458 −2 0 −1.333 0 0 0 ⎟ ⎢ 8
⎥ ⎜ 0 ⎟⎟
⎜ 2 0 −2 9 −0.188 0 2 0 2
⎟ ⎢ 0 ⎥ ⎜ −3.75 ⎟
⎜ ⎟P := ⎢ P ⎥=⎜ 0 ⎟
K := ⎜ 0 −0.333 0 −0.188 0.713 0 0 −0.333 0 ⎟ gad ⎢ − ⎥ ⎜
⎜ 2 0 −1.333 0 0 2.791 −2 0 −1.333 ⎟ ⎢ 2
⎥ ⎜ −5 ⎟⎟
⎜ ⎟ ⎢ ( 2⋅ h ) 2 P⋅ l ⎥ ⎜ 30.417 ⎟
⎜ 0 0 0 2 0 −2 5 − 0.188 2 ⎟ ⎢q⋅ + ⎥
⎜ 0 0 0 0 −0.333 0 −0.188 0.38 0 ⎟ ⎢ 12 8 ⎥ ⎜ −20 ⎟
⎜⎝ 0 −1.333 1.458 ⎟⎠ ⎢ q⋅ 2⋅ h ⎥ ⎜⎝ 0 ⎟⎠
0 0 2 0 2 0 −
⎢ 2 ⎥
⎢ ⎥
Эндээс зангилааны шилжилтын векторыг олбол. ⎣ 0 ⎦
⎛⎜ −22.155 ⎞⎟ ⎛ Z1 ⎞
⎜ ⎟
⎜ −195.937 ⎟ ⎜ Z2 ⎟ ⎛⎜ −22.155 ⎞⎟
⎜ −67.386 ⎟ ⎜Z ⎟ ⎜ −195.937 ⎟
⎜ ⎟ ⎜ ⎟ 3 ⎜ −67.386 ⎟
−20.08
−1 ⎜ ⎟ ⎜ Z ⎟ ⎜ ⎟
⎜ −20.08 ⎟
4
Z := K ⋅ Pgad = ⎜ −211.083 ⎟ ⎜ ⎟
⎜ −10.336 ⎟ ⎜ Z5 ⎟ := Z = ⎜ −211.083 ⎟
⎜ ⎟ ⎜Z ⎟ ⎜ −10.336 ⎟
⎜ −14.308 ⎟ ⎜ 6⎟ ⎜ ⎟
⎜ −244.686 ⎟ ⎜ Z7 ⎟ ⎜ −14.308 ⎟
⎜⎝ 37.722 ⎟⎠ ⎜ ⎟ ⎜ −244.686 ⎟
⎜ Z8 ⎟ ⎜⎝ 37.722 ⎟⎠
Элемент б рийн тус б рийн х члэлийг олоё.
ү ү ү ⎜ ⎟
⎝ Z9 ⎠

⎛0⎞ ⎛0⎞ ⎛0⎞


⎜0⎟ ⎜0⎟ ⎜0⎟
⎜ ⎟ ⎜ ⎟ ⎜ ⎟
T
⎜ 0 ⎟ ⎛⎜ −8.423 ⎞⎟ T
⎜ 0 ⎟ ⎛⎜ −1.292 ⎞⎟ T
⎜ 0 ⎟ ⎛⎜ 4.715 ⎟⎞
S1 := k 1 ⋅ A1 ⋅ ⎜ Z ⎟ = 25.661 S2 := k 2 ⋅ A2 ⋅ ⎜ Z ⎟ = 29.538 S3 := k 3 ⋅ A3 ⋅ ⎜ Z ⎟ = 38.725
⎜ ⎟ ⎜⎝ 14.583 ⎟⎠ ⎜ ⎟ ⎜⎝ 19.498 ⎟⎠ ⎜ ⎟ ⎜⎝ 31.571 ⎟⎠
1 4 7
⎜ Z2 ⎟ ⎜ Z5 ⎟ ⎜ Z8 ⎟
⎜Z ⎟ ⎜Z ⎟ ⎜Z ⎟
⎝ 3⎠ ⎝ 6⎠ ⎝ 9⎠
⎛ Z1 ⎞ ⎛ Z4 ⎞
⎜ ⎟ ⎜ ⎟
⎜ Z2 ⎟ ⎜ Z5 ⎟
⎜ Z ⎟ ⎛ −5.049 ⎞ ⎜ Z ⎟ ⎛ −11.201 ⎞
T ⎜ 3⎟ ⎜
= −14.681 ⎟
T ⎜ 6⎟ ⎜
S4 := k 4 ⋅ A4 ⋅ S5 := k 5 ⋅ A5 ⋅ = −12.821 ⎟
⎜ Z4 ⎟ ⎜ ⎟ ⎜ Z7 ⎟ ⎜ ⎟
⎜ ⎟ ⎝ −10.532 ⎠ ⎜ ⎟ ⎝ −1.276 ⎠
⎜ Z5 ⎟ ⎜ Z8 ⎟
⎜Z ⎟ ⎜Z ⎟
⎝ 6⎠ ⎝ 9⎠

Гадаад ачааанаас зангилааны бус ачаанаас үү сэх эпьюрийг нэмж нийт эпьюрийг олно.

S1 S2 S3 ( 2⋅ h)
Q12 := ( 0 1 1 ) ⋅ = 5.03 Q34 := ( 0 1 1 ) ⋅ = 6.129 Q56 := ( 0 1 1 ) ⋅ + q⋅ = 28.787
l1 l2 l3 2

S1 S2 S3 ( 2⋅ h)
Q21 := ( 0 1 1 ) ⋅ = 5.03 Q43 := ( 0 1 1 ) ⋅ = 6.129 Q65 := ( 0 1 1 ) ⋅ − q⋅ = −11.213
l1 l2 l3 2

S4 S4 P⋅ l
Q24 := ( 0 1 1 ) ⋅ = −8.404 Q46 := ( 0 1 1 ) ⋅ + = 6.596
l4 l4 2

S4 S4 P⋅ l
Q42 := ( 0 1 1 ) ⋅ = −8.404 Q64 := ( 0 1 1 ) ⋅ − = −23.404
l4 l4 2