PHN I: CO HOC H VT RN

CHUONG I: TORSO , GOC O LE, VI PHN VEC TO.

1. TORSO.
1.H vec to.
-
i
V
r
t im co gia
i
A n , 1 i ; i = .
- ( )
3
R D N , M V
r

2.Cac phn tu rut gon cua h.
a)Vec t tng hp.
( )

+ =
D
i
dV N V V IR
r r

Trong o: ( ) ( ) ( ) ( )

+ + =
V D L S
dV N V dS N V dL N V dV N V
r r r r

b)Trng m men.
( ) ( )

+ =
D
i i he
dV N V MN V A M M M
r r r r

IR va
he
M
r
la phn t rut gon cua h tai im M.
3.Truong m men.
Cho . Ta co cng thc:
3
2 1
R M , M
( ) ( ) IR M M M M M M
he he
+ =
1 2 1 2
r r

H qua:
1.Nu ( ) ( )
2 he 1 he 1 2
M M M M R M M = =
r

2.
2 1
M , M . Nu nhn v hng
1 2
M M
uuuuuuur
ta co:
( ) ( )
2 1 1 he 2 1 2 he
M M . M M M M . M M
r r
= v ( )
1 2 1 2
M M R M M
r

3.Bt bin cua h.
( ) ( ) R . M M R . M M
1 he 2 he
r r r r
=
Tch v hng R & M
h
r r
khng phu thuc vao im M.
4.Djnh ngha Torso.
a)H tng ng: Hai h vec t tng ng vi nhau nu chung co cung
trng mmen nh nhau
H1 H2 ( ) ( ) M M M M : M
2 he 1 he
r r
=
Hay noi cach khac: no cung tac dung c hoc.
b)nh ngha: Mt phn t cua khng gian co t cac phn t thu gon cua h vec t
(vect tng hp va trng mmen) va cac quan h tng ng cua no goi la Tors.
5.Cac djnh ly.
nh ly 1: Nu hai h tng ng th chung co cung vec t tng hp nh
nhau.
nh ly 2: iu kin cn va u hai h tng ng nu chung co cung cac
phn t thu gon tai 1 im nh nhau.
nh ly 3: iu kin cn va u hai h tng ng nu chung co cung
mmen tai 3 im khng thng hang nh nhau.
6.Cac phep tinh di voi h.
a)Tng cua h.
2 1 2 1
, R R R R R
r r r r r
+ =
( ) ( ) ( ) ( ) ( ) M M M M M M M M M M
2 1 2 1
,
r r r r r
+ =
b)Nhn vi ai lng v hng.
( ) ( ) ( ) M M M M , R R
1 1
r r r r
= = M .
7.Cac vi du co so.
a)H tao t 1 vec t. V
r
, ta co ( ) V MA M M , V R
r r r r
= =
b)Ngu.
H tao t 2 vec t ma tng cua chung bng 0.
0 R V V
1 2
= =
r r r
va ( ) ( ) R M M M M M M
r r r
+ =
1 2 1 2

ta co: ( ) ( ) M M M M M
1 2
r r r r
= =
2. THU GON H VEC TO.
Cho h vec t bt ky ta i tm 1 h tng ng, ma n gian rt nhiu so vi h a cho.
1.Djnh ly. Mt h bt ky tng ng vi 1 h gm 1 ngu va 1 vec t.
2.Cac h ti gian (suy bin).
a)H tng ng vi 1 ngu: nu 0 R =
r

b)H tng ng vi 1 vec t duy nht, nu ( ) 0 R & 0 R . 0 M =
r r r

c)H tng ng vi h rng. (hay 0
r
)
iu kin cn va u h tng ng vi h rng la cac phn t thu gon ng thi
bng 0 ( ) ( ) 0 0 M ; 0 R = =
r r
3.Truc trung tm.
Cho h vec t bt ky bit cac phn t thu gon cua no tai 1 im 0 la . ( ) 0 M & R
r r
Ta se tm nhng im R mf M
r
sao cho ( ) ( ) ( ) R 0 M
R
1
M 0 R M M
2
r r r r
= .
iu nay chng to rng im M thuc mt phng thoa man iu kin cua bai toan.
Vy ng thng i qua R // & M
r
goi la truc trung tm cua h.
4.M ta truong m men.
a)Trng hp tng quat.
( ) 0 R . 0 M ; 0 R
r r r

( ) ( ) R A 0 0 M A M
r r r
+ =
Ngi ta chng minh rng,nhng ng tac dung cua lc cua trng nh trn la
nhng ng xon c.
b)H tng ng vi 1 vec t.
Nu ( ) 0 0 M =
r
c)H tng ng vi 1 ngu.
Nu ( ) const M 0 M = =
r r

d)H tng ng vi h rng.
( ) 0 M 0 M = =
r r

5)Tich v huong cua hai Torso.
a)nh ngha:
Cho 2 Tors: [ ] ( ) ( ) [ ] ( ) ( ) 0 M , R : T & 0 M , R : T
2 2 2 1 1 1
r r r r
goi goi tch v hng. [ ][ ]
2 1
T . T
[ ][ ] ( ) ) 0 ( . 0 .
1 2 2 1 2 1
M R M R T T
r r r r
+ =
b)Cac tnh cht.
-Giao hoan.
-Phn phi.
-Kt hp

3. GOC O LE.
1.Djnh ngha.
Cho 2 h toa cac vung goc0
1
xyz va va cac vec t n v
1 1 1 1
z y x 0 ( ) k j i
r r r
, , va
) , , (
1 1 1
k j i
r r r
Goi D giao tuyn cua 2 mt phng bi vec t n v xy 0 & y x 0
1 1 1 1
u
r
Goi:
( )
s 1 1 1 1
Z 0 u 0 , x 0 =
( ) u 0 z 0 , z 0
i i 1 1 1
=
( ) z 0 x 0 , u 0
1 1
=
( ) , , goi goc le cua h so vi ( ) T xyz 0
1
( )
1 1 1 1 1
T z y x 0
goi la goc tin ng.
goi la goc chng ng.
goi la goc quay ring.
Cac goc le , , cho ta nh c v tr cua T so vi
1
T
bin i t T T
1
ta thc hin 3 ln quay cac truc va goc theo s sau
( ) ( ) ( )
z y x 0
k , quay
uvz 0
2
u , quay
z uy 0
1
k , quay
z y x 0
1
1 1 1
1 1 1 1
1
1 1 1 1
T R R T

r
r
r

Vi:
1 1
j sin i cos u
r r
r
+ =
1 1 1
j cos i sin V
r r r
+ =
1 1
k sin V cos V
r r r
+ =






4.VI PHN VEC TO.
Cho i vi h qui chiu T. ( ) t V
r
1.Dao ham theo thoi gian.
( )
( )
( )
( )
( )
( )
( )
T dt
V d
t z
t y
t x
T
t z
t y
t x
t V
/
'
'
'
r
r

2.Cac phep tinh dao ham.
a)
T dt
U d
U U
T dt
U d
dt
U U d
/
. .
/
) (
2
1 2
1 2 1
r
r r
r r r
+ =
b)
dt
U d
U U
dt
U d
dt
U U d
2
1 2
1 2 1
) (
r
r r
r r r
+ =

c)
( )
T dt
U d
T dt
U d
U U
T dt
U U d
/ / /
2 1
2 1
2 1
r r
r
&
r
&
r r


+ + + =
+

3.Djnh ly.
Nu la 3 vec t c s cua h qui chiu T, ao ham theo tham s t so vi h qui
chiu tn tai vec t va ch 1 ma thi la
k , j , i
r r r
1
T
1
/T
T

r
sao cho:
i
T dt
i d
T T
r
r
r
=
1
/
1
/

j
T dt
j d
T T
r
r
r
=
1
/
1
/

k
T dt
k d
T T
r
r
r
=
1
/
1
/

Nu t: la thi gian thi
r
goi vec t (vn tc goc) quay tc thi cua T so vi .
1
T
(T chng minh).
V du: (trong trng quay quanh 1 truc).
Tm vec t quay tc thi quanh 1 truc.
Cho T va va
1
T ; k k
j
r r
= goi ( ) x 0 , x 0 g
1 1 1
=
k
T dt
k d
T dt
k d
T T
r
r
r r
= = =
1
/
1
1
0
/ /


1 /
1
k k
T T
r r
r
= =
1 1
j sin i cos i
r r
+ =
j i k i T j j i
T dt
i d
T
r r r r
r
r
&
r
&
r
&
r
= = = = + =
1
1
/ cos sin
/

= & va
1 /
1
k k
T T
r
&
r
&
r
= =
4.Cng thuc so sanh cac dao ham.
Cho k z j y i x V : T V
r r r r r
+ + =
Khi o
1 1 1
/ / / / T dt
k d
z
T dt
j d
y
T dt
i d
x k z j y i x
T dt
V d
r r r
r
&
r
&
r
&
r
+ + + + + =
( ) ( ) ( ) k T z j T y i T x
T dt
V d
T T T
r
r
r
r
r
r
r
+ + + =
1 1 1
/ / /
/

( ) k z j y i x T
T dt
V d
T
r r r
r
r
+ + + =
1
/
/

Vy V T
T dt
V d
T dt
V d
T
r
r
r r
+ =
1
1
/
/ /

5.H thuc Saclo.
Cho n h quy chiu .
n 2 1
T ,..., T , T
Theo cng thc trn ta co:
V T
T dt
V d
T dt
V d
T
r
r
r r
+ =
1
2 1
/
/ /
2

V T
T dt
V d
T dt
V d
T
r
r
r r
+ =
2
3 2
/
/ /
3

..................................
V T
T dt
V d
T dt
V d
n T
n n
n
r
r
r r
+ =

1
1
/
/ /

Mt khac ta co:
V T
T dt
V d
T dt
V d
n
T
n
r
r
r r
+ =
1
1
/
/ /

( ) 0 / / ... / /
1 1 2 1
3 2
= + + +

V T T T T
n n
T n T T T
r
r r r r

1 2 1 1
/ ... / / /
2 1
T T T T
T n T n T T
n n n

r r r r
+ + + =



6.Ap dung.
a)Nu gn cht nhau, vy
2 1
T & T 0 /
1
2
= T
T

r
va
2 1
/ / T dt
V d
T dt
V d
r r
=
b)
1 2
/ /
2 1
T T
T T

r r
=
c)Tnh vec t quay tc thi la ham cac goc le.
1 1 2 1
/ / / /
1 2
T R R T
R R T T

r r r r
+ + =
ma k R
T
r
&
r
=
2
/
u R
R
r
&
r
=
1
/
2


1 1
/
1
k T
R
r
&
r
=
Vy k u k T
T
r
&
r
&
r
&
r
+ + =
1 1
/


CHUONG II: CHUYN DNG HOC.
1. TRUONG VN TC.
1.Truong vn tc.
a)nh ngha.
Cho im M bt ky va h qui chiu , gc
1
T
1
0
( )
1
1
/
/
1
T dt
M O d
M V
T S
=

s
m

Nu MG (S) ( )
1
1
/
/
1
T dt
M O d
M V
T S
=
b)Cng thc.
( ) ( ) M O O V M V
T T T S T S 1 / / /
1 1 1
+ =
r

Trng hp c bit:
Ly ; v ( ) S T
'
( ) S T & T
'

nn 0 /
'
= T
T

r
; theo H thc Sarl; Ta co
1 1
/ / T T
S T

r r
=
vy ( ) ( ) M O O V M V
T S T S T S 1 / / /
1 1 1
+ =
2.Truong gia tc.
a)nh ngha.
( )
( )
1
/
1
2
1
2
/
/ /
1
1
T dt
M dV
T dt
M O d
M
T
T
= =
b)Cng thc.
( ) ( ) ( ) OM OM
T dt
d
O M
T S T S
T S
T T
+ + =
1 1
1
1 1
/ /
1
/
/ /
/

2. TRUONG HOP CHUYN DNG.
1.Hop vn tc.
Cng thc vn tc im vi 2 h qui chiu T & T
1
ta co: ( ) ( ) OM
T dt
OM d
O V M V
T T T T
+ + =
1 1 1
/
1
/ /
/

hay: ( ) ( ) ( ) OM M V O V M V
T T T T T
+ + =
1 1 1
/ / / /

( ) ( ) ( ) M V M V M V
T T T T
1 1
/ / /
+ =

( ) ( ) ( ) ( ) ( ) ( ) M V M V M V M V M V M V
e T T r T a T
= = =
1 1
/ / /
; ;
Ta cng thc lp vn tc: ( ) ( ) ( ) M V M V M V
e r a
+ =
2.Hop gia tc.
( )
( )
1
/
1
2
1
2
/
/ /
1
1
T dt
M dV
T dt
M O d
M
T
T
= =
Ta co:
( ) ( ) ( ) ( ) ( ) M V OM OM
T dt
d
O M M
T T T T T T T
T T
T T T T / / / /
1
/
/ / /
1 1 1
1
1 1
2
/
+ + + + =

goi:
( ) ( ) M M
a T
=
1
/

( ) ( ) M M
r T
=
/

( ) ( ) ( ) M OM OM
T dt
d
O
e T T T T
T T
T T

= + +
1 1
1
1
/ /
1
/
/
/

( ) ( ) M M V
c T T T
=
/ /
1
2
Vy ta cng thc hp gia tc:
( ) ( ) ( ) ( ) M M M M
c e r a
+ + =

3. CAC DANG CHUYN DNG DC BIT CUA VT RN.

1.Chuyn dng quay quanh 1 truc c djnh.
La chuyn ng vec t quay tc thi co 1 hng c nh.
u
T T
r
=
1
/
, u
r
vec t n v.
2.Chuyn dng dung (n djnh).
La chuyn ng cua (S) so h qui chiu , nu
1
T ( ) const A V
T T
=
1
/

1
T A ; khng phu thuc thi gian ma phu thuc v tr cua A.Hay noi cach khac
Vn tc cua cac thuc vt (S) tai 1 thi im nh nhau.
Co tnh cht: const
T dt
d
T T
T T
= =
1
1
/
1
/
, 0
/

so T & T
1
nu = 0
1
/T T
chuyn ng tnh tin.
3.Chuyn dng song phng.
a)nh ngha.
( ) T S chuyn ng so h qui chiu goi la chuyn ng song phng nu

1
T
1 1
T P T P
b)Tm quay tc thi.
I goi tm quay tnh tin nu ( ) 0
1
/
= I V
T T
(vit tt C.I.R)
I tn tai va duy nht mi thi im.
Cu truc hnh hoc: i vi T M ta co:
( ) ( ) IM I V M V
T T T T T T
+ =
1 1 1
/ / /
, v ( ) 0
1
/
= I V
T T

( ) IM M V
T T T T
=
1 1
/ /

c)Ln khng trt.

CHUONG III: DNG HOC.
1. TORSO DNG HOC.
1.Vj tri khi tm.
Xet h cht im. tao nn vt rn.
m: khi lng cua h. Ta co :

dm m
nh ngha: Goi G la khi lng cua h nu

dm OM OG m
2.Vn tc khi tm.
( )

dm
T dt
M d
T dt
dm M d
T dt
G d
m G V m
T
/
0
/
0
/
0
/

(v m=const)
( ) ( )dm M V G V m
T T

/ /

3.Djnh ngha Torso.
Goi ( ) G V m
T /
la ng lng cua 1 cht im.
( ) ( )

G V m dm G V Q
T T T / / /
Vec t ng lng thu gon
( ) ( )

dm M V PM P
T T / /
Vec t m men ng lng thu gon i vi im P.
Hai ai lng thu gon ( ) P Q
T T / /
&

goi Tors ng hoc (hay Tors ng lng
cua h
T

).
4.M men dng hoc cua vt rn dc bit tai 1dim.
a)nh ngha ma trn quan tnh.
( ) ( ) ( )


S S
T S T T S
dm OM OM dm M V OM O
/ / /

hay ( ) ( ) [ ]
T S T S
O I O
/ /

b)Tnh cht: Ma trn quan tnh co tnh i xng i vi h qui chiu trc quan:
j j
j
i

Vi ( )

S
j j
j
i
dm e OM e OM
r r

c)Tnh ma trn quan tnh.
( ) [ ]
1
1
1
]
1

C D E
D B F
E F A
0 I ( ) ( ) ( )c b a b 0 . a c b a
r
r
r
r r
r r
r
r

Trong o:
( ) [ ] ( ) dm M e M dm e M e M A
S S

1
]
1

2
1
2
1 1
0 . 0 0 0
r r r

( ) dm M 0 . e M 0 B
S
2
2
2

1
]
1

C
( ) [ ] ( )( )dm e . m 0 M 0 . e dm e M 0 e M 0 F
S S
2 1 2 2


r r r r

( ) [ ] dm e M 0 e M 0 D
S
3 2

r r

( ) [ ]

S
f 3
dm e M 0 e M 0 E
r r

Cho ( ) z , y , x M
( ) [ ] ( )dm z y dm x z y x A
S
2 2
S
2 2 2 2

+ + +
goi m men quan tnh cua h i vi truc x
cua h i vi truc y. ( )dm x z B
S
2 2

+
cua h i vi truc z. ( )

+
S
2 2
dm y x C
( ) ( ) ( )dm zx E ; dm yz D ; dm xy F
S S S


goi la quan tnh.
d)nh ly Huyghens.
Cho h truc Gxyz: bit ma trn quan tnh.
H truc Gxyz // xyz 0
Vi Z ZG Z ; Y yG y ; X XG x + + + .
Goi cac phn t cua ma trn quan tnh tai G
G G G
F ,..., B , A
cac phn t cua ma trn quan tnh tai 0.
0 0 0
F ,...., B , A
Ta co cng thc sau:
( )
2
G
2
G G 0
z y m A A + +
, tng t
0
B
0
C

G G G G G G G G G
y mx F F x mz E E z my D D + + +
0 0 0
; ;
e)Cac phn t cua ma trn quan tnh i vi vt c tnh i xng.
*Mt i xng ( ) ( ) 0 Z ; 0 E D ; y 0 x G ; y 0 x
G

*Co 2 mt i xng ( ) 0 F E D ; y 0 G z 0 y & y 0 x
*Co i xng tin tin (quay quanh truc z 0 ): B A & 0 F E D
*Vt la 1 a ( Z 0 mt phng a)
( ) B A C dm y x C ; dm x B ; dm y A
S S S
2 2 2 2
+ +


f)H truc quan tnh chnh.
( ) [ ]
1
1
1
]
1

C 0 0
0 B 0
0 0 A
0 I H truc quan tnh chnh tai 0. 0 E F D
5.Torso dng hoc va tng hop chuyn dng.
Muc ch: Chung ta i so sanh Tors ng hoc cua h i vi 2 h qui chiu khac
nhau.
a)nh l Knic.
1 1
/ / / T T T T
Q Q Q

+
( ) ( ) ( ) P P P
T T T T
1 1
/ / /
+

1
1
/
/
/
T T
T
T
Q
Q
Q

: tng i
: tuyt i
: theo
nh ly: M men ng lng i vi khi tm cua 1 h so h qui chiu bng M
men ng lng cua im o cua 1 h so h qui chiu T. Nu chuyn ng T so
:la tnh tin.
1
T
1
T
( ) ( ) G G
T T / /
1


b)Tnh mmen ng lng.
*M men ng lc cua vt rn chuyn ng: ( ) P
T S
1
/

Cho ( chuyn ng so sao cho co 1 im 0 c nh ) S
1
T
( ) ( ) [ ]
1 1
/ / T S T S
O I O va theo cng thc tnh trng m men
( ) ( ) ( ) G V P m O P
T T S T S
1 1 1
/ / /
0 +
Ap dung nh lut Knic: ( ) ( ) G G
K S T S / /
1

( ) ( ) [ ]
K S K S
G I G
/ /
v K tnh tin so
1
T
nn
1
/ / T S K S

Vy ( ) ( ) [ ]
1 1
/ / T S T S
G I G
( ) ( ) ( ) G V PG m P P
T T S T S
1 1
/ /
+
*M men ng lng cua h vt rn.
Nu h la h vt rn : khi
U
n
1 i
i
S

( ) ( )

n
i
T S T
P P
i
1
/ /
1 1

Bai tp.
Tnh ( )?
1 /
1
O
T S

Trc ht tnh ma trn quan tnh i vi G xyz ( ) [ G I ]
Do i xng va B A , 0 F E D A 2 B A C +
Tnh

0
3
2
3
a
a 4 dy y Q 2 2 A v
3
ma
A a 4 m
2
2

( ) [ ]
1
1
1
1
1
1
]
1

3
ma 2
0 0
0
3
ma
0
0 0
3
ma
G I
2
2
2
0
(v k ) k cos V sin
1
r r r
+
j v ; i u
r
r
r
r


Con k j i u k
T S
r
&
r
&
r
&
r
&
r
& cos sin
1 /
1
+ + +
v ( ) ( ) [ ]
1 1
/ / T S T S
G I G
k cos
3
ma 2
j sin
3
ma
i
3
ma
2 2 2
r
&
r
&
r
&
+ +
Theo ( ) ( ) ( ) G V m G O G O
T T S T S
1 1 1
/ 1 / 1 /
+
u a u l PG P 0 G 0
1 1
r r
+ +
( ) ( ) ( ) v a u l u a u l
dt
d
G V
T T T
r r r r
+ +
1 1
/ /

( ) ( ) v a u l k j i
r r
r
&
r
&
r
&
+ + + cos sin
u cos a p v cos l k sin l k a
r
&
r
&
r
&
r
&
+
( ) [ ] u cos a v cos l k sin l k a v a u l
r
&
r
&
r
&
r
&
r r
+ +
( )
u sin mal ma
3
a
m
T
0
2
2
1
S
r
&
&
r
1
]
1

,
_

v sin ml
3
a
m mla
2
2
r
&
&
1
]
1

,
_

+ + +
( ) k cos a l m
3
a
m 2
2 2
2
r
&
1
1
]
1

,
_

+ + +
( ) [ ]
( )
2 2
2
2
2
2
2
1
a l m
3
ma 2
0 0
0 ma
3
ma
mal
0 mal ma
3
ma
0 I
+ +
+ +
+


2. TORSO DNG LUC HOC.
1.Djnh ngha.
( ) M m
T /
: quantite dacceleration
Tors ng lc hoc cua 1 h so vi h qui chiu T la hai ai lng thu gon:
( ) ( ) G m dm M A
T T T / / /

( )dm M PM h
T T

/ /

Tng t Tors ng hoc va ng lc hoc.
2.Quan h gia Tors ng hoc va ng lc hoc.
T dt
Q d
A
T
T
/
/
/

=
con ( ) ( ) ( ) ( ) G V P V m P
T dt
d
P h
T T T T / / / /
/
+ =


Ta chng minh:
( )
( )
( ) ( )

= dm
T dt
M V PM d
T dt
dm M V PM d
P
T dt
d
T
T
T
/ / /
/
/
/

v ( ) ( ) P V M V
T dt
PM d
M P PM
T T / /
/
0 0 = + =
Th vao:
( )
( ) ( ) ( ) ( ) ( )dm M V PM dm M V P V M V
T dt
P d
T T T T
T

+ =
/ / / /
/
/

Nu tai 1 im c nh so vi T:
( )
( )
T dt
P d
P h
T
T
/
/
/

=

(a)
tai khi tm cua h:
( )
( )
T dt
G d
G h
T
T
/
/
/

=

(b)
3.nh l Knic i vi mmen ng lc.
Nu K la h qui chiu co goc trung vi khi tm cua h chuyn ng tnh tin so
vi h qui chiu T ta co:
( ) ( ) G h P h
K T / /
=

Tnh:
( )
( ) ( )
( )
1 / /
2
1 /
1
1 /
1 /
1 1 2
1 1
1
/ /
O
R dt
O d
T dt
O d
O h
T S T R
T S T S
T S


+ = =

4.Tnh mmen ng lc.
Bng tm m men ng lc cua h tai 1 im c nh hay m men ng lc cua h
tai khi tm cua h.
Theo cng thc (a) va (b)
Nu la h vt rn: ta co:
U
n
1 i
i
S
=
=

( ) ( )

=
n
i
T S T
P h P h
1
/ /

3. NG NNG.
1.nh ngha.
( )

= dm M V T
T T
2
/ /
2
1
0
, v hng
2.Dng nng cua vt rn co 1 dim c djnh.
Cho ( chuyn ng co im 0 c nh so vi h qui chiu T. ) S
( ) M M V
T S T S
0
/ /
2

( ) ( )( ) M M M V
T S T S T S
0 0
/ / /

( ) [ ] ( ) [ ] M V M M M
T S T S T S T S / / / /
0 0 0
( ) [ ] ( )dm M V M dm M V M T
S S
T S T S T S T S T S


/ / / / /
0 0 2
( ) O T
T S T S T S / / /
. 2
mt khac ( ) ( ) [ ]
T S T S
I O
/ /
0
( ) O T
T S
T
T S T S / / /
2
Hay: ( ) [ ]
T S
T
T S T S
I T
/ / /
0 2
goi p,q,r la cac thanh phn cua vec t quay tc thi.
Ta co:
Fpq Erp Dqr Cr Bq Ap T
T S
2 2 2 2
2 2 2
/
+ +
Trong h truc qui trnh chnh: ta co

2 ' ' 2 ' ' 2 ' '
/
2 r C q B p A T
T S
+ +
Chu y:
r
T
q
T
p
T
T S T S T S

/ / /
; ; la cac thanh phn cua ( ) O
T S /

hay :
1
]
1

r
T
r
q
T
q
p
T
p T
T S T S T S
T S
/ / /
/
.
2
1

i vi quay quanh truc c nh: u
T S
r

/

Ta tnh c :

S
T S
dm R T
2 2
/
2
1

C dm R I
S
2

la m men quan tnh i vi truc .

3.Dng nng trong truong hop chuyn dng.
Ta ( ) ( ) ( ) M V M V M V
e r a
+
( ) ( )

+ + dm M V M V T T T
e r
e r T S /

( ) ( )


dm M V T dm M V T
e
e
r
r
2 2
2
1
;
2
1

Nu T so T
1
tnh tin ; theo nh ly Knic ta co:
( ) ( ) ( )

+ + 0 . .
2
1
2
/
G V dm G V m G V T T
r e e
r T S

( )
2
/
2
G V
m
T T
e
r T S
+
4.Dng nng cua vt rn bt ky.
Ap dung nh ly K nic ta co:
( ) ( ) ( ) G V Q G G V m T T
T T S K S K S T K K S T S
1 1 1
/ / / /
2
/ / /
2 2 + +
Tch v hng ( ) ( ) ( ) ( ) P V P Q
T T T T
2 2 2 2
/ / / /
, ,


( ) ( )
T S T S T S T S T S
Q G V G T
/ / / / /
. . 2 +
i vi M :
( ) ( )
T T T T T S
Q M V M T
/ / / / /
. 2

+
4. DNG HOC H THNG.
1.Lin kt.
a)nh ngha: lin kt la nhng iu kin rng buc c hoc v mt hnh hoc va
ng hoc. Nhng iu kin c lp vi iu kin ban u cua chuyn ng vao cac
lc tac dung ln c h.
b)Phng trnh lin kt.
( ) 0 ... V , r , t f
i

r
r

2.Phn loai lin kt.
a)Lin kt dng va khng dng.
b)Lin kt gi va khng gi.
c)Lin kt H l nm va khng h l nm.
3.Toa d suy rng.
Tp hp cac thng s u xac nh c v tr cua c h trong 1 h qui chiu xac
nh goi cac toa suy rng.
Ky hiu ( ) ( ) t q , q ,..., q , q , q
k m 3 2 1
4.Biu thuc vn tc theo toa d suy rng.
( )
m 1
q ,..., q , t M M 0
r

( )

m
i i
i
i
T
t
M
q
M
t
M
q
q
M
M V
) (
/
r r r
&
r

5.Biu thuc dng nng theo toa d suy rng.
( ) dm M V T
T T

2
/ /
2
1

2
/
2

,
_

dm
t
M
q
q
M
T
i
i
T
r
&
r

dm
t
M
t
M
q
q
M
q
q
M
i
i
i
i

1
1
]
1

,
_

,
_

,
_

2
2
2
r r
&
r
&
r

dm
q
M
q
M
i i

,
_

,
_

r r
dm
qt
M
q
M
q q
i
j i

,
_

,
_

+
r r
& & 2 dm
t
M
q
i

+
2
r
&
t
dm
q
M
q
M
a
j i
ij

r r

dm
t
M
q
M
b
i
i

,
_

r r

dm
t
M
C

2
r

C q b q q a T
i i j i ij T
+ +

& & &

/
2
Dang ma trn : [ ] ( ) C q b q a q T 2
T T
+ + & & &
Trng hp c h chu lin kt h l nm va dng
( )
i
i
T
q
q
M
M V &
r

/
con 0
t
M

r

[ ] q a q T 2
T
& &
Bai tp:
Tnh ng nng (13.2) T134

0 2 0 1
/ /
2 2 2
T S T S
T T T +
( ) ( )
2
1 / / 1 / /
0 1 0 1 0 1 0 1
. 2 O V M O T
T S T S T S T S
+

( ) ( )
0
2
2
0
2
0
2
0
2
. 2
T
G V
m
T T
G
T
T
S S S S
r
+


( ) [ ]
1
1
1
1
1
1
]
1

0 0 0
0
12
ml
0
0 0
12
ml
G I
2
2
; u v k u k
T S
r
&
r
&
r
&
r
&
r
&
2 2 2 1 2 2 1 2 2 1 /
sin cos
0 1
+ + +
( ) ( ) [ ]
0 1 0 1 0 1
/ / /
. .
T S T S T S
G I G
( )

,
_

2 1
2 1
2
2
2 1 2 1
cos
sin
0 0 0
0
12
ml
0
0 0
12
ml
cos , sin ,
&
&
&
& &
&

2
2 2
2 2 2
2 1
2 1 2
2
2
sin
12
ml
12
ml
cos
sin
0 0 0
0 sin
12
ml
0
0 0
12
ml
+

,
_

&
&
&
&
&
&
&

( )
2
2 2 2
2 1 2
ml
sin
12
+
&
&
1 1 0
l
0G Ri k k
2
+ +
uuur r r r
2

( ) ( ) OG G V
T S T S

/ /
1 0 2

( )
( )
2 0 1
0
0
/
2
1
/
0 2
k k i R
T dt
G d
G V
T S
&
r r
&
&
r
+ +

1
1 S 1 1 1 1 1
i i k i
r r r r
r
&
& &
1
f
r

( )
2 2 2 1 2 2 1 2 / 2
sin cos
2
1
0 1
k u v k k k
T S
r
r
&
r
&
r
&
r r
+ +

1 2 2 2 2 2 1 2 2
l l l
sin v k u k sin u v
2 2 2
+
r r
r r r
& &
2
l
2
r

Vy ( )
2 2 2 1 0 1 1 1 /
2
sin
2
0 1
v
l
u
l
k f R G V
T S
r
&
r
&
r
&
r
& + +
( )
1
]
1

+ + +
2 2 1 2
2
1
2
2
2
2 2 2
1
2
2
1
2
1
2
/
sin 1 sin
4
1
sin
4
1
0 1

& &
&
&
&
&
& R R M G V m
T S

2
2
2 2 2
1 2 1 2 2 2
l l
m R sin l sin
2 4
1
_
+ +
1

,
1
]
& & & &
&
2







CHUONG IV: DNG LUC HOC.
1. CAC NGUN LY CO BAN CUA DNG LUC HOC.
1.Luc.
ai lng tac dung ln vt rn lam thay i trang thai chuyn ng cua vt.
a)V du.
*Lc hut niu tn:
2
'
AB AB BA
AB
mm
G F F F
r

u
AB
mm
G F
'
BA
r

*Lc hut cu lng:
0
4
1
F

r

AB
qq
'

*Lc hn hp: u
l
dv m
G u
l
mdm
G F d
2 2
r r
r


b)M hnh hoc.
Cac lc tac dung ln cac vt rn c biu din bng tors [ ] F
r

c)Ni lc va ngoai lc.
[ ] [ ]
i 0
F & F
r

2.Nguyn ly.
i vi h qui chiu tuyt i va thi gian tuyt i tai mi thi im i vi ta
co:
[ ] [ ]
e
F A
3.Cac djnh ly tng quat.
a)nh lut chuyn ng khi tm.
( )
e T T
G m A

r
/ /

b)Mmen ng lng i vi khi tm
( )
( ) G M
T dt
G d
h
e
T Z
T
r

/
/
/


Trng hp c bit co im 0 c nh thay 0 G
c)H qui chiu Gali l.
Nguyn ly khng thay i.
H qui chiu Ga li l la h qui chiu bng chuyn ng tnh tin so vi h qui chiu
tuyt i.
d)H qui chiu khng Ga li l.
[ ] [ ]
e a
F A ; ( ) ( )
c e r a T
M M
r r r
+ +
1
/

[ ] [ ] [ ] [ ]
c e r a
A A A A + +
Vy [ ] [ ] [ ] [ ]
e c e a
F A A A + +
hay [ ] [ ] [ ] [ ]
e c e r
F A A A +
4.Djnh ly tac dung va phan tac dung.
Cho 2 h
2 1
&
Sau tac dung
1
ln
2
: tac dung
Ngc lai
2
ln
1
: phan tac dung.
Ta co [ ] [ ] [0 F F
21 12
] +
Tng ni lc cua h bng khng.
5.Cac truong hop dc bit cua djnh ly tng quat.
a)Cn bng.
v [ ] 0 F
e

( )
( )

,

0 G M
0
0 G V
0 G
e
e
r
r
r
r
b)Nguyn ly quan tnh.
( ) ( ) Cte G V m G
T

/
0
r

6.Vi du: (phuong trinh chuyn dng).
2. CNG SUT.
1.Cng sut cua luc tac dung ln vt rn.
Cho chuyn ng sang h qui chiu T, tac dung ta goi cng sut cua lc
la tch v hng qui [ vi tors trng vn tc: c vit:
( ) S [ ] F [ ] F
] F
[ ] ( ) ( ) ( )
T S T S T S
M M M V F P
/ / /
.
r r
+
2.Cac truong hop ring.
a)Vec t trt.
[ ] ( ) ( ) M V F P
T S T S / /
.
r

b)Ngu lc.

r
; [ ] ( )
T S T S
F P
/ /
.
r

c)Vt chuyn ng tnh tin.
0
/

T S

[ ] ( ) ( ) M V F P
T S T S / /
.
r

d)Vt quay quanh 1 truc c nh.
Goi 0 im nm trn truc c nh
( )
0
T
0 V
S

r

[ ] ( ) ( )
T S T S
F P
/ /
0
r
ma u
T
S
r
r

nn [ ] ( ) ( )u F P
T S
r r
. 0
/

3.Tinh cht cua cng sut.
a)Trong chuyn ng tng hp: ta co:
1
T & T
( ) ( ) ( ) M V M V M V
T T T S T S
1 1
/ / /
+
Ta co: [ ] ( ) [ ] ( ) [ ] ( )
1 1
/ / / T T S T S T S
F L F P F P

+
Hay: [ ] ( ) [ ] ( ) [ ] ( )
e r a
F P F P F P +
b)Thn hp lc.
Nu [ ] [ ] [ ] [ ] ( ) [ ] ( ) [ ] ( )
T S T S T S
F P F P F P F F F
/ 2 / 1 / 2 1
+ +
c) Nu [ ] [ ] ( ) 0 F P 0 F
d) Cng sut cua tng lc c xac nh theo phn b vec t.
v [ ]
( ) ( )
( ) ( ) ( )

S
1
1
S
1
dV P F MP dV N V M 0 0 M
dV P F dV M V
T
r
r

[ ]
( )

T S
M V
T
/
2

r

[ ][ ] [ ] ( ) ( ) ( )dV P V P F P T T
T S T S


/ / 2 1
.
r
(*)
4.Luc tac dung h vt rn. (tu xem)
3. DJNH LY DNG NNG.
1.Giai thich dai luong ( )
dt
dT
& T 2
a)i vi 1 vt rn.
Cho ( chuyn ng so vi h qui chiu T, ta co ng nng ) S
( ) ( ) ( )dm M V M V dm M V T
S
T S T S
S
T S T S


/ /
2
/ /
.
2
1
2
1
0 1

Theo (*)
Nu Tors cua lc [ ] F c soi : ( ) M f
Th cng sut cua [ c vit: ] F
[ ] ( ) ( ) ( )

S
T S T S
dV M V M f F P
/ /
.
T y ta co th hiu
T
T 2
S
ging cng sut cua Tors c xac nh: ( ) M V
T S /
;
: khi lng th tch
dV
dm

( ) M V
T S /
: Tors ng hoc.
Vy
T
T 2
S
la cng sut cua Tors ng hoc.
( ) ( ) ( ) G V G V m G T
T S T S T S T S T S / / / / /
. 2 2 +
Con ( ) ( ) [ ] ( )
T S
S
T S T S
T S
A P dm M V M
dt
dT
/ / /
/
.

dt
dT
T S /
ging cng sut cua Tors c xac nh ( ) M
T S /
i vt rn:
dt
dT
T S /
la cng
sut cua Tors ng lc hoc.
b)H vt.

T S T
T T
/ /
2 2

,
_

U
n
i
i
S
1

[ ] ( )

T S
T S T
A P
dt
dT
dt
dT
/
/ /

( )
T S T S
M V
i
/ /
;
2.Djnh ly.
a)B .
Nu hai Tors cua hai tac dung ln vt rn cung nhau th cng sut i vi Tors
bng nhau.
[ ] [ ] [ ] [ ] ( ) [ ] ( ) [ ] ( )
T S T S T S
F P F P F P F F F
/ 2 / 1 / 2 1
; 0
[ ] [ ] [ ] ( ) [ ] ( )
T S T S
F P F P F F
/ 2 / 1 2 1

b)nh ly.
Chng minh: [ ] [ ]
e
F A
[ ] ( )
T S e
T S
F P
dt
dT
/
/
; [ ] ( ) [ ] ( )
T S e T S
F P A P
/ /

ao ham ng nng cua vt rn theo thi gian i vi 1 h qui chiu Ga li l bng
cng sut cua cac lc ngoai tac dung ln vt o.
Chu y: -Khng phai phng trnh b xung.
-Ch ung vi h qui chiu Gia li l.
c)nh ly i vi h vt.
[ ] ( ) [ ] ( )
T i T e
T
F P F P
dt
dT
/ /
/

ao ham ng nng cua h vt rn theo thi gian i vi 1 h qui chiu Gia li l
bng cng sut cua cac lc la ni lc va ngoai lc tac dung ln h.
Chu y: nh ly nay ung vi 1 vt (v ). [ ] 0 F
i

3.Djnh ly dng nng bin dang tich phn.
a)i vi h ly tng.
H lin kt ly tng nu lc chu lin kt h l nm va dng cac lc lin kt khng
co lc ma sat tham gia.
[ ] ( ) 0
/

T t
F P
cte T
dt
dT
T
T

/
/
0 ng nng cua h c bai toan theo t
b)Ham lc.
U goi la ham lc: ch phu thuc v tr cua i vi h qui chiu T cua [ ] F
[ ] ( )
dt
dU
F P
T

/

*U c xac nh bi ao ham cua no theo thi gian t.
*Ta t V=-U: goi la th nng.
*
1 2 12
U U dt
dt
dU
W
2
1

12
W : goi la cng sut cua lc [ gia 2 v tr 1, 2 cua . ] F
(T xem v du: lc hut trai t).
c)Khi tn tai ham lc cua [F].
cte U T
dt
dU
dt
dT
T
T
+

/
/

Nu cac lc tac dung ln h co th nng i vi h qui chiu Ga li l. Th tng
ng nng va th nng khng i trong qua trnh chuyn ng.
4.PHUONG TRINH LAGRNG.
1.Cng sut ao.
Cho 1 lc tac dung ln vt bi s phn b vec t. c xac nh bi 2 ai
lng thu gon:
( ) S
( )

S
dV M f
r r

( ) ( )

S
dV M f PM P M
r r

Vy cng sut [ ] ( ) ( ) ( )dV M V M f F P
S
T S T S


/ /
r

i vi h
[ ] ( ) ( ) ( )

dV M V M f F P
T T / /
.
r

t biu thc xac nh vn tc trong toa suy rng.
( )
i T
q
qi
M
M V &
r

/

Nu trong chuyn ng ao (hay di chuyn kha d) tng t:
( )
*
/
*
i
i
T q
q
M
M V &
r

Cho [ tac dung ln h. ] F
Cng sut ao c ky hiu [ ] ( )
*
/
*
i i T
q Q F P &

i
Q goi h s cng sut.
Nu [ bi 2 phn lng thu gm ] F ( ) P M ,
r r
.
[ ] ( ) ( ) ( ) ( )

dV q
q
M
M f dV M V M f F P
i
i
T
T
*
/
*
/
*
&
r
r r

( )

* *
i i
i
i
q Q dV
q
M
M f q &
r
r
&
2.Nguyn ly cng ao.
a)Trong di chuyn ao cua 1 h nao o th cng sut ao cua Tors ng lc hoc
bng cng sut ao cua Tors cac lc tac dung ln h.
[ ] ( ) [ ] ( )
T T
F P A P
/
*
/
*


b)Trong di chuyn ao cua 1 h hoa rn

nao o th cng sut ao cua tors

ng lc hoc bng cng sut ao cua cac h tac dung ln h.
[ ] ( ) [ ] ( )
T e T
F P A P
/
*
/
*


Chng minh c t nguyn ly c ban cua ng lc hoc.
3.Cng sut ao cua Tocso dng luc hoc.
a)B 1.
( )
t
M
q
M
M V
i

r r
r

( )
i i
q
M
q
M V

r
&
r

b)B 2.

,
_

,
_

dt
M d
q q
M
dt
d
i i
r r

c)Phng trnh Lagrng.
i
i i
Q
q
T
q
T
dt
d

,
_

&

T bin i.
Tnh [ ] ( ) ( ) ( ) ( )

dV q
q
M
M dV M V M A P
i
i
* * *
. &
r
r
r
r

( )
* *
.
i i i
i
q P dV q
q
M
dt
M V d
& &
r r

vi
( )

i
i
q
M
dt
M V d
P
r r
.
Theo nguyn ly:
i i
*
i i
*
i i
Q P q Q q P & &
Tnh
i i
i
q
T
q
T
dt
d
P

,
_

&

4.Luc phu thuc vao ham luc.
Ta noi lc tac dung ln cht im M co khi lng
m
la 1 ham lc nu no co
th biu din tai mi thi im nh 1 gzadien cua lng ( ) t , M u
( t , M u ) goi ham lc:
m
j
k
z
u
j
u
i
k
u
F

,
_

r r r r

Xet toan h:

m u U
Th
i
i
q
U
Q

5. Cac luc nhot.
( ) S M V k F
r r


t
( )

,
_

M V k D
2
2
1
r
khi o ta co
Ham tiu tan.

DdS

i
i
q
D
Q

6. Phuong trinh Lagrange trong truong hop luc la ham luc va cac luc
nhot.
i i i i
q
D
q
U
q
T
q
T
dt
d

,
_

&

Nu
0
q
U
i

&
(v U khng phu thuc )
i
q&
Th
0
q
U
dt
d
i

,
_

&

U T L + goi ham Lagrange
i i i
q
D
q
L
q
L
dt
d

,
_

&

Nu khng co lc nht
0
q
L
q
L
dt
d
i i

,
_

&
(Bai tp T226)



7. Phuong trinh Lagrange voi cac nhn tu.
a)Lin kt ly tng va lc cua lin kt ly tng.
*Lin kt ly tng: Mt lin kt goi la ly tng nu cng ao cua lc lin kt
bng khng trong mi di chuyn ao.
*Lc cua lin kt ly tng: Ta goi di chuyn kha d (ao) c lp nu no am
bao lin kt tai thi im ang xet.
Trong lin kt hlnm lin kt dung rut ngn s tham s m rng cua h
nu co by nhiu vn tc ao c lp.
Vi lin kt nh vy: ta co kt thuc ( ) 0 t , q f
i j
th di chuyn ao i vi t c
nh: hay
( ) 0 t , q f d
i j
*

( )
0 q
q
t , q f
*
i
i
i j

&
co th vit vi lin
kt khng hlnm tuyn tnh co:
( ) 0 q t , q a
*
i i ij
&
( ) ( ) 0 t , q b q t , q a
i i
*
i i ij
+ &

b)Phng trnh vi nhn t.
Ta se i xet 2 trng hp lin kt hlnm ly tng va lin kt khng hlnm
tuyn tnh.
Theo trn ta co th vit biu thc.
( ) 0 q t , q A
*
i i ij

&

T phng trnh Lagrange
0
q
T
q
T
dt
d
i i

,
_

&

Theo nguyn ly cng ao dn n:
*
i i
*
i
i i
q Q q
q
T
q
T
dt
d
& &
&

,
_

,
_

hay
0 q Q
q
T
q
T
dt
d
*
i i
i i

1
1
]
1

,
_

,
_

&
&

Nu lc th va lc nht tham gia:
0
*

,
_

,
_

i
i i i
q
q
D
q
L
q
L
dt
d
&
&


Mt khac ta co lin h: ( ) 0 q t , q A
*
i i ij
&

,
_

,
_

i i i
q

q
L
q
L
dt
d
&
va cung
( t , q A
i ij
)
*
i
q&
V vy:
( ) t q A
q
D L
q
L
dt
d
i ij j
i qi i
,

,
_

&

Nu D=0,th:
( ) t , q A
q
L
q
L
dt
d
i ij j
i i

,
_

&

j
goi la nhn t Lagrange
Cui cung ta co h phng trnh gm:
( )
( ) ( )

,
_

0 , ,
,
t q B q t q A
t q A
q
D
q
L
q
L
dt
d
i j i i ij
i ij j
i i i
&
&


Trong o
t
f
t q B
j
i j

) , (
(/v lin kt hlnm)
(/v khng lin kt hlnm)
) , ( ) , ( t q b t q B
i j i j

Phng phap nhn t Lagrange s dung bng phng phap s co th giai
cac phng trnh di dang b sung thm cac n s thoa man mt s rang
buc nao o trong trng hp ta xet vi cac lin kt o.
V du: Cho vanh tron R, M ln khng trt trn mt mt phng di tac dung
cua trong lng cua no.
Thit lp phng trnh Lagrange vi cac nhn t.
8. Cac tich phn du cua chuyn dng.
a)Nu chu tac dung cua lc th: tch phn xyclic.
, 0
q
L
q
L
dt
d
i i

,
_

&
nu
0
q
L
i

: toa xyclic.
i
q
cte
q
U
cte
q
L
i i

& &

b) cte U T + (tch phn nng lng)
c)Tch phn Pen l v.
Nu ham va lin kt khng dng. ( t , q U
i
)
Nu tn tai ham Z sao cho
t
T
q
q U
dt
dZ
i
i

&

Ta co tch phn Pen l v : dang 1:
[ ]

+
C T 2
q a q T 2
: cte Z T T
0
i 2
0 2
& &

dang 2, nu tn tai ham W sao cho
t
L
dt
dW

cte U W T T
0 2
+ +



CHUONG V: LY THUYT V N DJNH
CHUYN DNG.
1. CAC DJNH NGHIA V N DJNH.
1.n djnh theo Lyapunov.
a)nh ngha 1.
Chuyn ng cua 1 h c hoc c biu din bng cac ham s (la nghim cua
phng trnh ng lc hoc) goi la n nh nu
) t ( q
0
i
0 , 0 f f sao cho:
( ) ( ) p 0 q 0 q
0
i
1
i
va ( ) ( ) p & & 0 0
0 1
i i
q q
th ( ) ( ) p t q t q , 0 t
0
i
1
i

b)nh ngha 2.
Chuyn ng cua 1 h c goi la n nh tim cn nu 0 f sao cho:
( ) ( ) p 0 q 0 q
0
i
1
i
va ( ) ( ) . 0 0
0 1
p & &
i i
q q
th ( ) ( ) 0 0 q t q lim
0
i
1
i
t



2.n djnh cua 1 h cn bng.
Nu h ng yn goi h cn bng.
Ta co nh ngha:
Mt v tr cua 1 h cn bng goi la n nh.
0
i
q
0 , 0 f f sao cho:
( ) ( ) p 0 q 0 q
0
i
1
i
va ( ) p & 0
1
i
q
th 0 t ( ) ( ) p t q t q
0
i
) 1 (
i

Mt v tr cua h cn bng goi la n nh tim cn
0
i
q ; 0 f sao cho
( ) ( ) p 1 q 0 q
0
i
1
i
va ( ) p & 0
1
i
q .
th ( ) ( ) 0 t q t q lim
0
i
1
i
t



V du:
2. DJNH LY LE3EUNE-DIRICHLET
1.Phuong phap truc tip cua Lyapunov.
a)Ham xac nh du.
Ta xac nh ham vi gia tr thc, xac nh va lin tuc trong khoang i
vi
( t , q , q V
i i
& )
[ , ] t va chim v tr gn sao cho (
i i
q , q & ) ) ( 0 , q
0
i
( ) 0 t , 0 , q V
0
i

Goi ham o la na du xac nh dng nu
( ) ( ) 0 , , , , , t q q V t q q
i i i i
& &
Goi ham o la na du xac nh m nu (semi-definie nigative)
( ) ( ) 0 t , q , q V , t , q , q
i i i i
& &
Goi ham xac nh hoan toan dng nu.
thc, xac nh va lin tuc tai ln cn sao cho , vi (
i i
q , q W & ) )
)
( 0 , q
0
i
( ) 0 0 , q W
0
i

( ) ( ) (
i i i i i i
q , q W t , q , q V , t , q , q & & &
Tng t ta nh ngha cho ham xac nh hoan toan m.
b)Ham Lyapunov i vi h vi phn.
Cho h phng trnh chuyn ng dn n h phng trnh vi phn cp 1, i vi
cac ham n theo t: nh sau:
i i
q , q &
( ) t , q , q f q
i i i i
& & &
ta t , ta co:
i i
q V &
( )
( )

t , q , q g V q
t , V , q f V
i i i i i
i i i i
& &
&

Vy, ta cho , ta xac nh ( ) ( t , V , q V t , q , q V
i i i i
& )
( ) t , q , q V
i i
'
& ; vi ( ) t , q , q
i i
& bi:
( )
i
i
i
i
i i
'
f
V
V
g
q
V
t
V
t , V , q V
&

Hay ( ) ( ) t , q , q f
q
V
q
q
V
t
V
t , q , q V
i i i
i
i
i
i i
'
&
&
& &

Ta goi V la ham Lyapunov i vi h phng trnh vi phn trn nu va ln cn
, sao cho

( 0 , q
0
i
) ) (
i i
q , q & c chim , V la ham na du xac nh con V na du
xac nh ngc lai va chu y: , buc ( ) 0 t , 0 , q V
0
i
( ) . 0 t , o , q V
0
i
'

c)nh ly Lyapunov.
nh ly 1: Nu tn tai ham Lyapunov i vi h vi phn trn,th nghim la n
nh.
( 0 , q
0
i
)
nh ly 2: Nu tn tai ham Lyapunov V i vi h vi phn trn,. sao cho V xac nh
m va gii han cua ) ( ) 0 , , t q q V
i i
& , khi tin ti th nghim la
n nh tim cn.
(
i i
q , q & ) ) ( 0 , q
0
i
( ) 0 , q
0
i
2.Djnh ly Lejeune-Dirichlet
a)Ni dung nh ly.
i vi h chu lin kt khng phu thuc thi gian t va chu tac dung cua lc la
ham lc U khng phu thuc vao t. Nu i vi v tr cn bng , ham (-U) at cc
tiu th v tr cn bng o n nh.
0
i
q
b)Theo phng phap Lyapunov..
+ T V ( U )
Ta co , cn bng khi 0 cte V f 0 cte
0 V f va 0 V
'

V V (nng lng giam)
c)i vi phng trnh Lagrnge.
i i i
q q
T
q
T
dt
d

,
_

C

Gia s co nghim sao cho i vi 1 v tr cn bng.
i
q 0 q , 0 q
i i
& & &
V la toa suy rng u (tham s hep), nn T co dang toan phng nn
i
q
i
j ij j i
i
ij
j ij
i
j ij
i
q
T
q a
2
1
q q
q
a
q a
2
1
q
T
dt
d
q a
2
1
q
T

,
_

& & & &

&
& &
&
&
&

( )
j i ij
q q a T 2 & &
Vy i vi 0 q & 0 q
i i
& & &
Phng trnh Lagzang 0
q q
T
q
T
q a
2
1
i i i
j ij

+
C
& &
Cco cc tr tai v tr cn bng.
3. DJNH NGHIA VA UNG DUNG CAC TUYN TINH HOA.
1.Tuyn tinh hoa cac phuong trinh chuyn dng ln cn vj tri cn bng.
Cho co h chu cac lin kt H l nm c lp vi thi gian va cac lc tac dung
khng phu thuc vao thi gian.
Khi o phng trnh chuyn ng c vit:
( ) 0 q , q , q A
i i i
& & &
Sao cho la nghim, tc la ( )
0
i i
q t q ( ) 0 0 , 0 , q A
0
i

Khai trin A ln cn ( ta co: ) 0 , 0 , q
0
i
( )
( )
( )
( ) ( )
j
j
j
j
0
j j
j
0
i
i i i
q
q
A
q
q
A
q q
q
0 , 0 , q A
q , q , q A &
& &
&
&
& & &

t
0
j j j
q q r
( ) ( ) ( )
0 r
q
A
r
q
A
r
q
A
j
j
j
j
j
j

& &
& &
&
&

Phng trnh c tuyn tnh hoa.
2.Tuyn tinh hoa dng nng, ham luc va ham Lagrange.
Ta co cac thanh phn tham gia vao cac phng trnh Lagrange.
i
i
i i
i
q
Q
q
T
q
T
dt
d
P

,
_

C
&
hoc
i
i
i i
q
Q
q
L
q
L
dt
d
&
&

,
_

&
i vi
j ij
i i
j ij j i
i
ij
i
q a
q
T
q
T
dt
d
q a q q
q
a
q
T
dt
d
& &
&
& & & &

,
_

,
_

t : goi ma trn khi lng. ( )
0
i ij ij
q a M
La ma trn xac nh dng.
i vi

i
q&
trong o ( ) ( ) dS M V k
2
2
1
r

vi ( ) ( ) 0
2
1 2
D M V k
r

hay:
( ) ( )
2
0 0
k
q
q
M
q
q
M
D
i
i
i
j
j
i

,
_

&
r
&
r

nn

j ij
i
r N
q
&
&

Vi

,
_

dS
q
M
q
M
k N
i
i
j
i
ij
0 0
r r
ma trn tt dn
i vi

,
_

i
q
C

v h bao toan 0
q
r K
i
j ij

C
khi
0
i i
q q
( )
j i
o
i
ij
q q
q U
K

2
goi ma trn cng
ij
K xac nh dng (i vi lc an hi) va i xng.
Khi o phng trnh Lagrange c tuyn tnh hoa.
0 r K r N r M
j ij j ij j ij
+ + & & &
Trng hp cn bng 0 r K
j ij

C tac ng nho v tr cn bng mi
j
u
goi
( )
(
0
k k
k
0
i
F F
F
0 , 0 , q A
f

) ai lng tac ng lai c tuyn tnh hoa.

k=1, s lng lc tac ng.
Tai v tr cn bng mi ta co phng trnh cn bng tuyn tnh hoa
i j ij
f u K
Bai tp: xem v du 20.4.5.1(T270).