6

. .

2 1
1 1
T T
ud ud ud
T T
I F dt F dt
+
= =



1
1
1
T
ud
sr
T
F F dt

+
=



ud
dv
m F
dt
=

( ) ( )
1 2
'
, T v v T v v

= =

1
1
'
1
T
ud
T
v v F dt
m
+
= +

1
1
1
1
( ) ,
T t
ud
T
dr
v t v F dt t t
m dt
+
= + =

1
1
1
T t
ud
T
dr vdt F dt dt
m
+

= +

2 1
1
ud
sr
r r v I
m


= + +

1
1
1
T
ud ud
sr
T
I I dt

+
=



2 1
1
0
ud
sr
r r r v I
m


= = +

mv K =

' '
mv K =

( ) d mv dI =


' ud ud
sr
mv mv I F = =



2
1
'
T
ud ud
x x x
T
mv mv X dt I = =

2
1
'
T
ud ud
y y y
T
mv mv Y dt I = =

2
1
'
T
ud ud
z z z
T
mv mv Z dt I = =

1

2
2 ,


()

' s u
i i i i i i
mv mv I I = +


1, 2,..., i n =
i
m
i
v

-
'
i
v

-
'
1 1 1 1
n n n n
s u
i i i i i i
i i i i
mv mv I I
= = = =
= +




1
n
s s
i
i
I I
=
=

1
0
n
u u
i
i
I I
=
= =

' '
1
n
i i
i
K mv
=
=

1
n
i i
i
K mv
=
=

'
1
n
s s
i
i
K K I I
=
= =

'
1
n
s
x x ix
i
K K I
=
=

'
1
n
s
Cx Cx ix
i
mv mv I
=
=

'
1
n
s
y y iy
i
K K I
=
=

'
1
n
s
Cy Cy iy
i
mv mv I
=
=

'
1
n
s
z z iz
i
K K I
=
=

'
1
n
s
Cz Cz iz
i
mv mv I
=
=

1
0
n
s s
i
i
I I
=
= =

'
K K =


'
C C
v v =


C
K mv =

' '
C
K mv =

1
0
n
s s
x ix
i
I I
=
= =

'
x x
K K =
'
Cx Cx
v v =
3


(

' s u
i i i i i i i i i i
r mv r mv r I r I = +


1, 2,..., i n =

'
1 1 1 1
n n n n
s u
i i i i i i i i i i
i i i i
r mv r mv r I r I
= = = =
= +




' '
1
n
A i i i
i
L r mv
=
=

1
n
A i i i
i
L r mv
=
=

2 2 2
1 1 1
1 1 1
T T T
n n n
s s s s
i i i i i i A
i i i
T T T
r I r F dt r F dt M dt
= = =

= = =







2 2 2
1 1 1
1 1 1
0
T T T
n n n
u u u u
i i i i i i A
i i i
T T T
r I r F dt r F dt M dt
= = =

= = = =







2
1
'
1
T
n
s s
A A i i A
i
T
L L r I M dt
=
= =

'
1
s
i
n
I
Ax Ax Ax
i
L L M
=
=

'
1
s
i
n
I
Ay Ay Ay
i
L L M
=
=

'
1
s
i
n
I
Az Az Az
i
L L M
=
=

1 1
0
s
i
n n
I s
i i A
i i
r I M
= =
= =

'
A A
L L =






1
0
s
i
n
I
Ax
i
M
=
=

'
Ax Ax
L L =




4 ,
.
()

'
N
mv mv I =



'
n n N
mv mv I =
'
0
T T
mv mv =
'
T T
v v =
'
0 mv mv

=
'
0 v v

= =
1
n N
mv I =
2
'
n N
mv I =
1 2
N N N
I I I = +


-

2
1
'
N
n
N n
I
v
k
I v
= =
'
n n
v kv =
( ) 1
N n
I mv k = + cos
n
v v =
( ) 1 cos
N
I mv k = +
sin ' sin v v =
cos
n
v
v

=
'
'
cos
n
v
v

=
'
cos
cos cos
n
kv kv
v


= =
sin cos
sin cos
v kv

=
tg k tg =
1
tg tg
k
=
















3
5


( , , ; ) 0 f x y z t
( ), ( ), ( ) x x t y y t z z t = = =
[ ] ( ), ( ), ( ); 0 f x t y t z t t =
1
t T =
1
0
t T
df
dt
=

=


,
1
2
2
0
t T
d f
dt
=

=


,...,
1
0
n
n
t T
d f
dt
=

=


,...
1
0
t T
df
dt
=

<



2
0
t T
df
dt
=

>



0
m
t T
df
dt
=

=




n
df f f f f
x y z
dt t x y z
f f
v gradf gradf v
t t

= + + + =




= + = +

0
m
m m
n
t T
t T t T
df f
gradf u
dt t
=
= =

= + =

1
1
0
n
t T
t T
f
gradf u
t
=
=

+

1
n n N
mu mv I = (1)
2
'
n n N
mv mu I = (2)
1
1
0
n
t T
t T
f
gradf u
t
=
=

+ =

(3)
2 1
N N
I kI =
'
n n
n n
v u
k
u v

(4)



6 ,
' '
2 1
2 1
n n
n n
v v
k
v v

( ) , ,
K K K
K x y z
( )
' '
, 0, 0
C
v y

( ) , 0, 0
C
v y

' '
Ox xz
L J =
' '
Oy yz
L J =
' '
Oz z
L J =
Ox xz
L J =
Oy yz
L J =
Oz z
L J =

' '
x C
K my =
' '
0
y z
K K = =
x C
K my = 0
y z
K K = =

' s
A B
K K I I I = + +

( ) I
'
s
A B
I I I
O O O O O
L L M M M = + +


( ) II

( )
' s
C x Ax Bx
my I I I = + +
0
s
y Ay By
I I I = + +
0
s
z Az
I I = +


( )
' s s
xz y K z K Ay By
J I z I y I a I b = + +
( )
' s s
yz z K x K Ax Bx
J I x I z I a I b = + +
( )
' s s
z x K y K
J I y I x = +









4
7







0
Ax Ay Az
I I I = = = 0
Bx By
I I = =

(1)
( )
' s
C x
my I =
'
s
x
C
I
my
=
(2) 0
s
y
I =
(3) 0
s
z
I =
(4)
( )
'
0
xz
J =
(5)
( )
' s
yz x K
J I z =
yz
K
C
J
z
my
=
(6)
( )
' s
z x K
J I y =
2
Cz C Cz z
K C
C C C
J my J J
y y
my my my
+
= = = +

(2), (3) 0
s s
y z
I I = =
(4) 0
xz
J =
(5), (6)
K
x -

Cz
K C
C
J
y y
my
= +

yz
K
C
J
z
my
=
( )
0 0
K yz
z J = =











8 ,





j
j j
Q
q
T
q
T
dt
d
+

( ) N j ,..., 2 , 1 =
j
j j
S
q
T
q
T
=

'

2
'
T t
j j
q
T
q
T
=

1
T t
j j
q
T
q
T
=

=
2
1
T
T
j j
dt Q S 0
2
1
=

dt
q
T
T
T
j



( ) 0 ,..., , ;
2 1
=
N
q q q t f
j
j
j j
q
f
Q
q
T
q
T
dt
d

+ +

( ) N j ,..., 2 , 1 =

0 =
j
Q :
1
1
T t
j j
m
j
q
f
q
T
q
T
=

(1)
1
2
'
T t
j
m
j j
q
f
q
T
q
T
=

(2)
0
1
1
1
=

=
=
= =
N
j
T t j
j T t T t
q
q
f
t
f
dt
df
m
(3)
1 2
k = , (4)

:

=
m
T
T
dt
1
1

=
2
2
T
T
m
dt