5

1
n
s s
C i R
i
Ma F F
=
= =

( I )
1
s
i
n
F
A
A A
i
dL
v K M
dt
=
+ =

( II )
1
s
i
n
F
O
O
i
dL
M
dt
=
=

1
s
i
n
F
C
C
i
dL
M
dt
=
=

(
' ' '
, II II )

1
n
s s
C i R
i
Ma F F
=
= =

( I )

1
n
s s
Cx C i R
i
Ma Mx X X
=
= = =

(1)
1
n
s s
Cy C i R
i
Ma My Y Y
=
= = =

(2)
1
n
s s
Cz C i R
i
Ma Mz Z Z
=
= = =

(3)



1 2

1
s
i
n
F
A
A A
i
dL
v K M
dt
=
+ =

( II )
A C
1
s
i
n
F s C
C C
i
dL
M M
dt
=
= =

C C
C
dL dL
L
dt dt
= +

2 ,

{ } [ ]{ }
C C
L J =
C
C
C
L J J J
L J J J
L J J J

(
(
=
` `
(

(

) )


C
L J J J

=
C
L J J J

= +
C
L J J J

= +
, , - :
C
L J

=
C
L J

=
C
L J

=

( )
1
s
i
n
C F s
C C C C
i
dL
L L M M
dt

=
+ = =

(4')

( )
1
s
i
n
C F s
C C C C
i
dL
L L M M
dt

=
+ = =

(5')

( )
1
s
i
n
C F s
C C C C
i
dL
L L M M
dt

=
+ = =

(6')
, , - :
( )
s
C
d
J J J M
dt

+ = (4)
( )
s
C
d
J J J M
dt

+ = (5)
( )
s
C
d
J J J M
dt

+ = (6)
sin sin cos

= +





(7)
sin cos sin

=


(8)
cos

= + (9)


9 ((1)-(9)),
9 : , , , , , , , ,
C C C
x y z






3




3 4 -


5 - 6





1
n
s s
C R i o
i
Ma F F mg F
=
= = = +

C O
0
C o
a F mg = =

1
0
s
i o
n
F F s mg o
o o o o
i
dL
M M M M
dt
=
= = = + =

( )
0
o o Oz
L const L L k = = =


o O O O
L L L L

= + +



4 ,

( )
0
O
O O
dL
L L
dt

+ = (1) sin sin cos

= +

(4)
( )
0
O
O O
dL
L L
dt

+ = (2) sin cos sin

= +

(5)
( )
0
O
O O
dL
L L
dt

+ = (3) cos

= +
(6)

7

, , - :
O O
L J A

= =
O O
L J B

= =

O O
L J C

= =

( ) 0
d
A C B
dt

+ = (1')
( ) 0
d
B A C
dt

+ = (2')
( ) 0
d
C B A
dt

+ = (3')
( )
2 2 2
1
0
2
d d d
d
A B C A B C
dt dt dt dt





+ + = + + =



( ) ( )
2 2 2
0
1
0
2
s u
T A B C const T A A

= + + = = = =
5

( )
2 2 2 2 2 2 2 2 2
1
0
2
d d d
d
A B C A B C
dt dt dt dt





+ + = + + =



( )
2 2 2 2 2 2 2
0 0
0
s
L A B C const M

= + + = =




A B =
0 0z
L L const = =
( ) 0
d
A C A
dt

+ =
( ) 0
d
A A C
dt

+ =
0
0
d
C const
dt

= = =

sin sin ; sin cos ; cos ;
O O O O O O
L L L L L L

= = =
0
0
cos cos
O O
O
C
L L C C const
L

= = = = =
0
cos const const = = =
0
sin sin

=

0 0 0
sin sin sin sin
O
O
L
L A const
A
= = = =

0 0
t = +

0 0
sin cos

=
0 0
cos

= +
0 0 0 0
cos const

= = =
0 0
t = +

0
=
0 0
t = +
0 0
t = +



6 ,

0 0 0
sin cos
d
dt

=
0 0 0
sin sin
d
dt

=
0
d
dt

=
( )( )( )
0 0 0 0 0 0 0 0
sin cos sin cos cos
s
O
A C A M

+ + =
( )( )( )
0 0 0 0 0 0 0
sin sin cos sin sin
s
O
A A C M

+ + =

( ) ( )
0 0 0 0 0 0 0 0
sin sin cos cos
s
O
M A C A

= + +


( ) ( )
0 0 0 0 0 0 0 0
sin sin cos sin
s
O
M A C A

= + +


0
s
O
M

=
( ) ( ) ( )
( ) ( )
2 2 2
0 0 0 0 0 0 0 0
sin sin cos
s s s s
O O O O
M M M M A C A

= + + = + +

( )
cos cos , cos
s
O
M = =


( )
cos cos , sin
s
O
M = =

( )
cos cos , 0
s
O
M = =

0 0
>>
0 0 0
sin
s
O
M C =





0 , , const x y z

= = = =

1 2 3
= = = +
( ) ( )
1
2 3 2
0
d
A C B C B
dt

+ + =
7

( ) ( )
2
1 3 1
0
d
B A C A C
dt

+ + =
( )
3
2 1
0
d
C B A
dt

+ =
1
>>
2
>>
3
>>
( )
1
2
0
d
A C B
dt

+ =
( )
2
1
0
d
B A C
dt

+ =
3
0
d
C
dt

=

( )
2
1 2
2
0
d d
A C B
dt dt

+ =
( )( )
2
2 1
1
2
0
C A C B
d
A
B dt

+ =
( )
2
2 1
2
0
d d
B A C
dt dt

+ =
( )( )
2
2 2
2
2
0
A C B C
d
B
A dt

+ =

( )( )
2
2 1
1
2
0
C A C B
d
AB dt

+ =
( )( )
2
2 2
2
2
0
A C B C
d
AB dt

+ =


( )( ) 0 A C B C > ( )( ) 0 C A C B >
A C
B C
<
<

A C
B C
>
>

C , , A B C






J J A B

= = =
J C

=
, , -
-
2 2 2
1 1 1
2 2 2
T A B C

= + +
8 ,

( )
2 2 2
1 1
2 2
T A C

= + +
sin sin cos

= +


sin cos sin

=


cos

= +

8

( )
( )
2
2 2 2
1 1
sin cos
2 2
T A C = + + +

T h + = cos
C C
z =

( )
( )
2
2 2 2
1 1
sin cos cos
2 2
C
A C Mg h + + + + =

(1)
0
O
F s Mg Oz
Oz Oz Oz
dL
M M M
dt
= = + =

1 Oz
L const C = =
sin sin sin cos cos
Oz O O O
L L L L

= + +
1
sin sin sin cos cos A A C C

+ + =
( ) ( )
( )
1
sin sin cos sin sin sin cos sin sin cos
cos cos
A A
C C


+ + +
+ + =




( )
2
1
sin cos cos A C C + + = (2)
0
O
O F s Mg
O O O
dL
M M M C const
dt

= = + = =

9

( )
2
cos C C C

= + = (3)
2
cos
C
C
+ =

(2), (3)
2
2 1
sin cos A C C + =
2
1 2
sin cos A C C =

1 2
2
cos
sin
C C
A

= (4)

(1), (2), (3), (4)
2
2
2 2 1 2 2
2 2
cos 1 1 1
sin cos
2 2 2 sin
C
C C C
A A C Mg h
A C

+ + + =

( )
2
1 2 2
3
2
cos
1 1
cos
2 2 sin
C
C C
A Mg C
A

+ + =

2
2
3
1
2
C
C h
C
=
( )
2
2 2 2 2 2
1 2 3
sin cos 2 cos sin 2 sin
C
A C C AMg C A = +

cos sin u u = =

9
( )
( ) ( )
2
2 2 2 2
1 2 3
2 1 2 1
C
A u C C u AMg u u C A u = + (5)
( )
( ) ( )
2
2 2
1 2 3
( ) 2 1 2 1
C
f u C C u AMg u u C A u = +
2 2
( ) A u f u =
( )
du
A f u
dt
=
( )
du
dt A
f u
=
( )
du
t A
f u
=







10 ,



1 2
u u u < <
2 1
< <
( ) ( ) f f = + = +
( 1) 0 ( 1) 0 f f < + <

10

11
) ) 0 = )



:

0 0
cos u u = =
0 1
n n = = =
: ( ) 0 cos
1 0
2
= +
C
Mg Cnn n C A








11


.



>> >>


sin sin cos

= +



>> >
sin cos sin

=


O O O
L A L A L C

= = =
cos

= +

O O O O
L L L L

>> >>

o O O O O
L L L L L

= + +



1
= + + =

1
o O
L L

1 2 1
= +







(1) ( )
d
A C B Fh
dt

+ =
(2) ( ) 0
d
B A C
dt

+ =
(3)
( )
0
0 0
( 0)
d
C B A const
dt
B A

+ = = = =
=

(2) const

=
(1)
d
A Fh const
dt

= =
0
Fht Fht

= + =

12

13
12 ,




1 C
L J

F C
C
dL
u M
dt
= =

1 2
>>


1 o
L J

1 o
L J const

= =
2 2 1 A O
v L J

= =

1 2
sin
A
v J

=
F G
A O O C
v M M r G = = =




sin
G
O
M Gd =

1 2
sin sin J Gd

=
2
1
Gd
J

=



















14

15
13


. .



st d
A A A
N N N = +


st d
B B B
N N N = +


0
C A B
Ma G N N = + + =

0
C
a =

A B
N N F
D O O O
v M M M = = +

16

A
N

B
N

A B
N N G + =


( )
F
O A A B B A A B D
M r N r N r N N v = + = =

2
st st
A B
G
N N = =
0
st st
A B
N N
O O
M M + =



d d
A B
N N =


1 2 d d C
A B
J
N N
AB

= =
1 2
2
C
A
J G
N
AB

=
1 2
2
C
B
J G
N
AB

= +