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1.
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(1)

J , Mm
, , p ,
.
= p, = p
(. ),
(1)

(2)

m ./2.
= 0. , ,

, kv = const

(3)

(d/dt 0).
(2)
.

(4)

2.

,
,

msin() m().

(5)

(5) (4) :
,

(6)

.

= (t2/2),

(7)

58

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, 12007

. 1

. 2

,
(8)
(6).
,

()
,
, m .

,
:

(12)

,
. ,
.
(7)

(0) = 0, (d/dt)(0) = 0,

(11)

. (13)

(12) (13) (6)

()
(14),
(9)

y2 = 2x mx2 + C,

. 1 1 = /(2/m) y2 = (d/dt)/(/m)
x = t/T, T = 2m . . 1
.

,

(0) = /m.

. (14)

(15)

x(0 ) = /m , y = 0.

.

. ,
/m , (7)
.

(18)

, ,

.
() , (5) ,
(6) ,
.
(4).
(4) , .
(4).
,

= 2(0) + mx2(0) 2x(0).

, (0) = 0.

, (16)

= /2, m = 0,

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. 2, x (0) = 0;
1/2(/m); /m. ,
.
, ,
x(0) = /m, ,

(19)

(4) (12)
(13).
(19)

y2 = 2x + 2m cos x + C,
(10)

(17)

(20)

(0)=0

C = 2x(0) 2m cos (x(0)).

(21)

(21) (20) :

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. 3

. 4

y 2 = 2(x x (0))+2m[cosx cos(x (0))]. (22)

,
(22)

y2/m = 2x/m 2(1 cos x).

(23)

. 3 (x, 2/m) 2(1 cos x)

: ax bx (a = 2/m , b = 2/, < m ),
.

2/m , ,
(14) 0 < < .
(, )

y = 2x 2m(1 cos x)

(24)

, . ,
(14)
,

(25)

(x = arcsin(/m) < /2,

y = 0), . . 4 /m = 0,5 y,
.
= = const
4 dy/dx, (25).

.
, (20) , = . (0) = 0

ym = 2x 2m(1 cos x).

60

(26)

(/m) 1 + cos x = 0.

(27)

(27) /m = 0,5
m =1,109 ..

,
, . 1.
(
) ,
. , ,
(12) ( 0 . 4), = m. ,

. ( ).

. m ,
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=
m ( = m)
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1 .
m . m
/2
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= , ,
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(/m),
:

sin x = /m ,
(/m)x 1 + cos x = 0.
/m
m.
2/m 2(1 cos x)
(. 3). ,

x sin x 1 + cos x = 0.
, ,
tlab, m = 2,3311 .
(133,56 .).
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.
((0)<0) www.finestreet.ru

, 12007

. 5

. 6

, ((0)=0).
,

< . ,
. ,
,
. m (. 4) , > .
,

(x = x, y = 0), (x = x,
y = 0), , [2].
, t , .

t
.
, [2].
, .
. 5
. , .
(20) (0,
0), :

, + (28) 0 > 0, y0 < 0. 0 = 0

+
, . 0 = 0
dy/dt,

dy/dt = msin x.

(29)

(. 5) , <
, , , ( = 0, = 0)
, , (x = arcsin(/m ), = 0).
,
, , x = x arcsin (/m ), y = = 0.

.
< < m . - , , , ,
. , (28) 0 = 0,
xo = x, xo = x, x = arcsin (/m ),

,
xmin < x < x,

(30)

xmin
2

C = y 0 2x0 2m cos x0,

y2 = y20 + 2(x x0) + 2m(cos x cos x0)

((/m)x + cos x
/m( x) + cos x = 0.

(31)

:
.
(28)
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. 6
/m = 0,9, (30).

, /m 1 , ( = /2, = 0).
, , .
.

2n . (n )
,
,
, .

,
, .

, .

, . ,
.
3.

( = const)
(2)

d 2/dt 2 = m sin ( ) ,

(32)

= pM/J ./2, .
(12) (32)
(19)

d 2x/dt 2 = m sin x + +

61

, 12007

= arcsin(/m). = 0

y(dy/dx) = m sin x + + .

(36)

(33)
. (39)

(33)

2 = 2m cos x + 2( + )x + ,

(34)

, ,

= 2(0) 2m cos x(0) 2( + )x(0). (35)

(34) (35) (36),
(28).
(28) (35) ,

, + , .
,
, . ,
.
e,
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, :
(0) = = arcsin (/m), y(0) = 0
e (0) = = arcsin (( + )/m), y(0) = 0
.
( ) , .
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,
.

, , .
,
x' = arcsin /m . , .
: min xmax

.
(41)

, .

. , x' = arcsin /m .
4.

(3)
(2)
, (42)
kc = kv/pJ .


(42)
. (42)

(7) , (12) ( t)

(28) (36)
(37)

(43)

.(38)
(37) ,
-

62

, (, ) ,
.

(44)

:
(45)

cos x cos x + (/m)(x x) = 0, (40)

= = arcsin (/m), y = 0

= = arcsin (( + )/m), y = 0

,
(t) . , t .

y = 0. (46)
,
, .
: m = 2900, = 166 ./,
k = 6,25K103
(45) ( )
.
(. 7) Matlab 6.5/
Simulink 5

dx/dt = y

dy/dt = m sin x + + kc ( y) y,

(43)
( ). ,
Graph, ,

, . . 8 9 (50) = t,
100 500 . /. . 8 9
(50) = t. (45) (46), (45) (46)
. , . 8 9,
(45)


.

, , . ,
, .
= 136, m = 4350 ./,
k = 6,25K103,
d/dt = 680 ./
tp = 5 . 10. , Matlab 6.5/
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. 7

. 8

Simulink 5, tp = 5
= 136 ./
,
(680 ./), , , .
Scope2 .
Scope1, ( ) Scope. ,
, Graph.
, ,
. , Scope1,
0,0313 .,
Scope1 2,062 ./.
. , /m = 136/4350 0,0313  1, (9), ,

. 9

/m = 136/4350 2,062 ./.

,
, . ,
, , , . , .
.
, Scope Scope1
5 6 .
, , . 11.

, 0,0312695 .,
.
(0 < t < tp = 5 ) (. Scope Scope1).

( 5 6 ).
= 0,0425 . (d/dt) = 0,3673 ./
(t p = 5 ).
.
, (48)
, tp = 680 ./
0,3673 ./, .
(48)
= 0,042613 ./, = 0,0425 ./.

(d/dt)

. 10

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. 11

(. 11) Step2 Step3 . ,

. , , .

1.
,

.
2. ,
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4. , , , .
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1. . ., . ., . ., . .,
. . // . 2003. 5.
2. . . .
.: . 1965.

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