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Ïîëíûé ìîìåíò êîëè÷åñòâà äâèæåíèÿ
ïëàòôîðìû â ïðîåêöèÿõ íà îñè X2, Y2, Z2
îïðåäåëÿåòñÿ ñëåäóþùèìè âûðàæåíèÿìè:
Qx2 = Jx2×wx2 - Jxy2×wy2 - Jxz2×wz2
Qy2 = Jy2×wy2 - Jyx2×wx2 - Jyz2×wz2 (3)
Qz2 = Jz2×wz2 -
Jzx2×wx2 -
Jzy2×wy2
Êèíåìàòè÷åñêèå óðàâíåíèÿ äâóõîñíîãî
ãèðîñòàáè-ëèçàòîðà, äëÿ ðàñïîëîæåíèÿ êîîðäèíàòíûõ îñåé ïðèâå-äåííîãî íà ðèñ.1,
èìåþò âèä:
à) äëÿ íàðóæíîé ðàìû:
wx1 = wx0×cos(a) - wz0×sin(a)
wy1
= wy0 + a' (4*)
wz1
= wx0×sin(a) + wz0×cos(a)
wx1' = wx0'×cos(a) - wz0'×sin(a)
wy1' = wy0' + a'' (4*')
wz1' = wx0'×sin(a) + wz0'×cos(a)
á) äëÿ ïëàòôîðìû:
wx2 = wx1×cos(b) + wy1×sin(b)
wy2 = wy1×cos(b) - wx1×sin(b) (5*)
wz2 = wz1 + b'
wx2' = wx1'×cos(b) + wy1'×sin(b)
wy2' = wy1'×cos(b) - wx1'×sin(b) (5*')
wz2' = wz1' + b''
Èç
2-ãî óðàâíåíèÿ â (5*) ñëåäóåò, ÷òî:
wy1=wx1×tg(b)+wy2/cos(b)
Èç
2-ãî óðàâíåíèÿ â (5*') ñëåäóåò, ÷òî:
wy1'=wx1'×tg(b)+wy2'/cos(b)
Òîãäà, ó÷èòûâàÿ, ÷òî wy2, wz2, wy2', wz2' ÿâëÿþòñÿ ïàðàìåòðàìè äâèæåíèÿ
ñòàáèëèçèðîâàííîãî îáúåêòà, ò.å. çàäàíû, êèíåìàòè÷åñêèå óðàâíåíèÿ ìîæíî
ïåðåïèñàòü â ñëåäóþùåì âèäå:
wx1 = wx0×cos(a) - wz0×sin(a)
wy1
= wx1×tg(b)+wy2/cos(b) (4)
wz1
= wx0×sin(a) + wz0×cos(a)
wx1' = wx0'×cos(a) - wz0'×sin(a)
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