100

50

0
1 2 3 4 5 6
0 -150 225 0 0 0
1 2 3 4 5 6
-50 0 0 0 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
1 2 3 4 5 6
-100 0 -187.5 -225 0 -112.5 0
1 2 3 4 5 6
50 0 62.5 0 0 0
Ss = Q* + P* =
-150 Ss

-200

-250

-300

-350

-400
100

50

0
1 2 3 4 5 6
0 -150 225 0 0 0
1 2 3 4 5 6
-50 0 0 0 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
1 2 3 4 5 6
-100 0 -187.5 -225 0 -112.5 0
1 2 3 4 5 6
50 0 62.5 0 0 0
Ss = Q* + P* =
-150 Ss

-200

-250

-300

-350

-400
 K
6 7 8 1 2 3 1 2
6 15552 0 -38880 -15552 0 -38880 1 15552 0
7 0 1080000 0 0 -1080000 0 2 0 1080000
8 -38880 0 129600 38880 0 64800 3 38880 0
1 -15552 0 38880 15552 0 38880 4
2 0 -1080000 0 0 1080000 0 5
3 -38880 0 64800 38880 0 129600 6
1 1 2

1 2 3 4 5 1 2
1 900000 0 0 -900000 0 1 900000 0
2 0 2250 13500 0 -2250 2 0 2250
3 0 13500 81000 0 -13500 3 0 13500
4 -900000 0 0 900000 0 4 -900000 0
5 0 -2250 -13500 0 2250 5 0 -2250
6
2 1 2

4 5 9 10 11 1 2
4 576810 -430920 -576810 430920 6750 1
5 -430920 325440 430920 -325440 9000 2
9 -576810 430920 576810 -430920 -6750 3
10 430920 -325440 -430920 325440 -9000 4
11 6750 9000 -6750 -9000 56250 5
6
3 1 2

1 2
1
2
3
4
5
6
4 1 2

1 2
1 915552 0
2 0 1082250
.
3 38880 13500
4 -900000 0
5 0 -2250
6 0 0
1 2


1 2

1 915552 0
.
2 0 1082250
!!!!!!!!!!!!!! Kss= 3 38880 13500
4 -900000 0
5 0 -2250
6 0 0
1 2

Kss Inverzna Matrica

Kss-1 1 2 3 4
2.7786E-06 6.404E-09 -5.1339E-07 1.6934E-06
Kss-1 1 2 6.404E-09 9.2476E-07 -6.0461E-08 3.9028E-09
1.0922E-06 0 -5.1339E-07 -6.0461E-08 4.847E-06 -3.1287E-07
0 9.24E-07 1.6934E-06 3.9028E-09 -3.1287E-07 1.7091E-06

Kss-1 1 2 3 Kss-1 1 2 3 4 5
1.1009E-06 2.5372E-09 -2.034E-07 4.2747E-05 1.6932E-07 -4.3579E-06 4.2186E-05 5.5297E-05
2.5372E-09 9.2475E-07 -5.9747E-08 1.6932E-07 9.2542E-07 -7.6132E-08 1.6896E-07 2.254E-07
-2.034E-07 -5.9747E-08 4.7897E-06 -4.3579E-06 -7.6132E-08 5.2168E-06 -4.2078E-06 -5.319E-06
4.2186E-05 1.6896E-07 -4.2078E-06 4.2733E-05 5.6023E-05
5.5297E-05 2.254E-07 -5.319E-06 5.6023E-05 7.6506E-05
Ss - 123
Kss-1.

.

50 1 0 1 0 1 0 1 0 1
0 2 -187.5 2 0 2 0 2 -150 2
Ss = Q* + P* = 62.5 3 + -225 3 + 0 3 + 0 3 + 225 3 =
0 4 0 4 0 4 0 4 0 4
0 5 -112.5 5 0 5 0 5 0 5
0 6 0 6 0 6 0 6 0 6

5.4612E-05 1 4.1475E-05 1 0.00010468 1 -0.0044131 1 Err:502 1

qs =Kss-1 x Ss*= -0.0003119 2 -0.0003157 2 -0.0003156 2 -0.000334 2 Err:502 2
0.00030935 3 0.00029767 3 0.00073223 3 Err:502 3
6.3796E-05 4 -0.0045133 4 Err:502 4
!!! -0.0062505 5 Err:502 5
Err:502 6

K^ qs K^ * qs
6 7 8 1 2 3
^
0 1080000 0 0 -1080000 0 6 0 6 360.69742
. -15552 0 38880 15552 0 38880 7 0 7 -40.163567
qs -38880 0 129600 38880 0 64800 8 0 8 -124.13332
x =
^ 0 -1080000 0 0 1080000 0 1 -0.0044131 1 -360.69742
15552 0 -38880 -15552 0 -38880 2 -0.000334 2 40.1635674
. -38880 0 64800 38880 0 129600 3 0.00073223 3 -76.684521
qs
.
^
. !!!

1 .
864000 648000 0 -864000 -648000 0
-9331.2 12441.6 38880 9331.2 -12441.6 38880
-23328 31104 129600 23328 -31104 64800
 -864000 -648000 0 864000 648000 0
9331.2 -12441.6 -38880 -9331.2 12441.6 -38880
-23328 31104 64800 23328 -31104 129600

2
750000 0 0 -750000 0
0 1302.08333 7812.5 0 -1302.0833
0 7812.5 46875 0 -7812.5
-750000 0 0 750000 0
0 -1302.0833 -7812.5 0 1302.08333

3
192000 -144000 -192000 144000
0 0 0 0
-192000 144000 192000 -144000
0 0 0 0

4
 3 4 5 6
38880 1
0 2
129600 3
4
5
6
3 4 5 6

3 4 5 6
0 -900000 0 1
13500 0 -2250 2
81000 0 -13500 3
0 900000 0 4
-13500 0 2250 5
6
3 4 5 6

3 4 5 6
1
2
3
576810 -430920 4
-430920 325440 5
6
3 4 5 6

3 4 5 6
1
2
3
4
5
6
3 4 5 6

3 4 5 6
38880 -900000 0 0 1
13500 0 -2250 0 2
210600 0 -13500 0 3
0 1476810 -430920 0 4
-13500 -430920 327690 0 5
0 0 0 0 6
3 4 5 6
 3 4 5 6
38880 -900000 0 0 1
13500 0 -2250 0 2
210600 0 -13500 0 3
0 1476810 -430920 0 4
-13500 -430920 327690 0 5
0 0 0 0 6
3 4 5 6

Kss-1 1 2 3 4 5 6
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502

!!!

Ss
50 1
-337.5 2
62.5 3
0 4
-112.5 5
0 6



!!!

Qi Ri

6 0 6 360.69742 6
7 -50 7 9.8364326 7
8 - -62.5 8 = -61.633316 8
1 0 1 -360.69742 1
2 -50 2 90.1635674 2
3 62.5 3 -139.18452 3
Q1,
Q2, Q3.
.
!!! !!!
.

.