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a = - 0.785 .

b = 1 .

wx0 = wz0 = 1 /.

wx0' = wz0' = 0.2 /2.

wy0 = 0.167 /.

wy0' = 0.167 /c2

 

:

 

= × 100 % = 100 %

+

 

 

3) Ðàáîòà ÃÑ íà ïîäâèæíîì îñíîâàíèè ïðè óïðàâëÿåìîé ïëàòôîðìå.

 

(9).

 

MZ2={cos(2b)-2}cos(a)2tg(b)2Jxy2(wx02+wz02)+

+{2tg(b)2sin(b)2-2cos(b)2+4}sin(a)cos(a)Jxy2wx0wz0+

+{(Jy2-Jx2)/cos(b)-2Jxy2sin(b)(1+tg(b)2)}cos(a)wx0wy2+

+Jyz2wz0wz2(sin(a)-cos(a))/cos(b)-

-Jxz2wx0'cos(a)/cos(b)+

+{2Jxy2(sin(b)tg(b)2+sin(b))sin(a)+(Jx2-

-Jy2)sin(a)/cos(b)}wy2wz0+

+Jxz2wz0'sin(a)/cos(b)+

+{Jxz2-Jyz2}wy2wz2tg(b)+

+{(Jy2-Jx2)tg(b)+Jxy2(1-tg(b)2)}wy22-

-{Jxz2tg(b)+Jyz2}wy2'+

+Jz2wz2'

 

 

MY1={[Jxz2(tg(b)4+2/cos(b)2-1)cos(b)3+Jyz1tg(b)+

+Jxz1]cos(a)2+

+[[(Jx1-Jz1)-Jxy1tg(b)]cos(a)-Jxz1sin(a)]sin(a)}wx02+

+{[[Jxy1tg(b)+(Jz1-Jx1)]sin(a)-Jxz1cos(a)]cos(a)+

+[Jxz2cos(b)3[2/cos(b)2+tg(b)4-1]+

 

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