Ch1 Matrix

‫ﻣﻘﺪﻣﻪ‪:‬‬
‫ﻣﻨﻈﻮﺭ ﺍﺯ ﺍﻳﻦ ﺩﺭﺱ ﺍﺭﺍﺋﻪ ﻗﺴﻤﺘﻬﺎﻱ ﺍﺯ ﺭﻳﺎﺿﻴﺎﺕ ﭘﻴﺸﺮﻓﺘﻪ ﺑﻪ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﻣﻬﻨﺪﺳﻲ ﺍﺳﺖ ﻛـﻪ ﺍﺯ ﺩﻳـﺪﮔﺎﻩ‬
‫ﻧﻮﻳﻦ ﺩﺭ ﺭﺍﺑﻄﻪ ﺑﺎ ﻣﺴﺎﺋﻞ ﻋﻠﻤﻲ ﺍﺯ ﺍﻫﻤﻴﺖ ﺑﻴﺸﺘﺮﻱ ﺑﺮﺧﻮﺭﺩﺍﺭﻧﺪ‪ .‬ﻣﻄﺎﻟﺐ ﺑﻪ ﺗﻨﺎﺳﺐ ﻓﺮﺍﻭﺍﻧﻲ ﻛﺎﺭﺑﺮﺩﺷـﺎﻥ‬
‫ﺍﻧﺘﺨﺎﺏ ﺷﺪﻩ ﺍﻧﺪ‪ .‬ﺍﺻﻮﻟﻴﻜﻪ ﺩﺭ ﺍﻧﺘﺨﺎﺏ ﻣﻮﺿﻮﻋﻬﺎ ﻣﻮﺭﺩ ﻧﻈﺮ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺍﻧﺪ‪:‬‬
‫‪ (1‬ﺍﻫﻤﻴﺖ ﺭﻳﺎﺿﻴﺎﺕ ﺩﺭ ﻋﻠﻮﻡ ﻣﻬﻨﺪﺳﻲ ﺭﻭﺯ ﺑﻪ ﺭﻭﺯ ﺑﻴﺸﺘﺮ ﺷﺪﻩ ﻭ ﻗﺎﺑﻞ ﭘﻴﺶ ﺑﻴﻨﻲ ﺍﺳﺖ ﻛﻪ ﺩﺭ ﺁﻳﻨﺪﻩ ﻧﻴﺰ‬
‫ﺍﻳﻦ ﺍﻫﻤﻴﺖ ﺍﻓﺰﺍﻳﺶ ﻳﺎﺑﺪ‪ .‬ﻭﺍﻗﻌﻴﺖ ﺁﻥ ﺍﺳﺖ ﻛﻪ ﺍﻣﺮﻭﺯﻩ ﻣﺴﺎﺋﻞ ﻣﻬﻨﺪﺳﻲ ﺑﻪ ﺍﻧﺪﺍﺯﻩ ﺍﻱ ﭘﻴﭽﻴﺪﻩ ﺍﻧﺪ ﻛﻪ ﺑﻴﺸﺘﺮ‬
‫ﺁﻧﻬﺎ ﺭﺍ ﻧﻤﻲ ﺗﻮﺍﻥ ﺻﺮﻓﺎ“ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺷﻬﻮﺩ ﻓﻴﺰﻳﻜﻲ ﻭ ﺗﺠﺎﺭﺏ ﮔﺬﺷﺘﻪ ﺣﻞ ﻛﺮﺩﻩ ﺭﻫﻴﺎﻓﺖ ﺗﺠﺮﺑﻲ ﺩﺭﺣﻞ‬
‫ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﻣﺴﺎﺋﻞ ﺩﺭ ﮔﺬﺷﺘﻪ ﻣﻮﻓﻖ ﺑﻮﺩﻩ ﺍﺳﺖ‪ ،‬ﺍﻣﺎ ﺑﻪ ﻣﺤﺾ ﺍﻳﻨﻜﻪ ﺳـﺮﻋﺘﻬﺎﻱ ﺑـﺎﻻ‪ ،‬ﻧﻴﺮﻭﻫـﺎﻱ ﺑـﺰﺭﮒ‪،‬‬
‫ﺩﻣﺎﻫﺎﻱ ﺑﺎﻻ ﻳﺎ ﺳﺎﻳﺮ ﺷﺮﺍﻳﻂ ﻏﻴﺮ ﻋﺎﺩﻱ ﻭﺍﺭﺩ ﻣﺴﺌﻠﻪ ﻣﻲ ﺷـﻮﻧﺪ ﺑـﺎ ﺷﻜـﺴﺖ ﺭﻭ ﺑـﻪ ﺭﻭ ﻣـﻲ ﺷـﻮﺩ‪ .‬ﺍﻳـﻦ‬
‫ﻭﺿﻌﻴﺖ ﺑﻪ ﺍﻳﻦ ﺩﻟﻴﻞ ﻛﻪ ﻣﻮﺍﺩ ﺟﺪﻳﺪ )ﻧﻈﻴﺮ ﭘﻼﺳﺘﻴﻚ ﻫﺎ‪ ،‬ﺁﻟﻴﺎﮊﻫﺎ ﻭ ﻏﻴـﺮﻩ( ﺧـﻮﺍﺹ ﻓﻴﺰﻳﻜـﻲ ﻏﻴـﺮ ﻋـﺎﺩﻱ‬
‫ﺩﺍﺭﻧﺪ ﺣﺎﺩﺗﺮ ﻣﻴﺸﻮﺩ‪ .‬ﺍﻣﺮﻭﺯﻩ ﻛﺎﺭﻫﺎﻱ ﺁﺯﻣﺎﻳﺸﻲ ﭘﻴﭽﻴﺪﻩ‪ ،‬ﻭﻗﺖ ﮔﻴﺮ ﻭ ﭘﺮ ﻫﺰﻳﻨﻪ ﺷﺪﻩ ﺍﻧـﺪ‪ .‬ﺩﺭ ﺍﻳـﻦ ﺯﻣﻴﻨـﻪ‬
‫ﺭﻳﺎﺿﻴﺎﺕ ﺩﺭ ﺑﺮﻧﺎﻣﻪ ﺭﻳﺰﻱ ﺁﺯﻣﺎﻳﺸﻬﺎ‪ ،‬ﺑﺮﺭﺳﻲ ﺩﺍﺩﻩ ﻫﺎﻱ ﺁﺯﻣﺎﻳﺸﻲ‪ ،‬ﻭ ﺗﻘﻠﻴﻞ ﻛﺎﺭ ﻭ ﻫﺰﻳﻨﺔ ﻳـﺎﻓﺘﻦ ﺟـﻮﺍﺏ‬
‫ﻛﻤﻚ ﻣﻲ ﻛﻨﺪ‪.‬‬
‫‪ (2‬ﺁﻥ ﺩﺳﺘﻪ ﺍﺯ ﺭﻭﺷﻬﺎﻱ ﺭﻳﺎﺿﻲ ﻛﻪ ﺑﻪ ﺩﻻﻳـﻞ ﻧﻈـﺮﻱ ﻣﺤـﺾ ﺗﻮﺳـﻌﻪ ﻳﺎﻓﺘـﻪ ﺑﻮﺩﻧـﺪ ﻧﺎﮔﻬـﺎﻥ ﺍﺯ ﺍﻫﻤﻴـﺖ‬
‫ﺯﻳﺎﺩﻱ ﺩﺭ ﺭﻳﺎﺿﻴﺎﺕ ﻣﻬﻨﺪﺳﻲ ﺑﺮﺧـﻮﺭﺩﺍﺭ ﺷـﺪﻧﺪ‪ .‬ﺑـﺮﺍﻱ ﻣﺜـﺎﻝ ﻣـﻲ ﺗـﻮﺍﻥ ﺍﺯ ﻧﻈﺮﻳـﻪ ﻣﺎﺗﺮﻳـﺴﻬﺎ‪ ،‬ﻧﻈﺮﻳـﺔ‬
‫ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻠﻲ ﻛﻪ ﺟﻮﺍﺑﻬﺎﻱ ﺗﻨﺎﻭﺑﻲ ﺩﺍﺭﻧﺪ ﻧﺎﻡ ﺑﺮﺩ‪.‬‬
‫ﺗﺠﺰﻳﻪ ﻭ ﺗﺤﻠﻴﻞ ﺳﻴﺴﺘﻢ ﻫﺎ ﺑﺎ ﺳﻪ ﻣﺮﺣﻠﻪ ﺯﻳﺮ ﻋﻤﻠﻲ ﻣﻲ ﮔﺮﺩﺩ‪.‬‬
‫ﻣﺪﻝ ﻛﺮﺩﻥ ‪Modeling‬‬

‫¯‬
‫ﺣﻞ ﻛﺮﺩﻥ ‪Solving‬‬
‫¯‬
‫ﺗﻔﺴﻴﺮ ﻛﺮﺩﻥ ‪Interpreting‬‬
‫ﺳــﻪ ﻣﺮﺣﻠــﻪ ﻓــﻮﻕ ﺑــﺎ ﺑﻜــﺎﺭﮔﻴﺮﻱ ﻧــﺮﻡ ﺍﻓﺰﺍﺭﻫــﺎﻱ ﺁﻣﻮﺯﺷــﻲ ﺭﻳﺎﺿــﻲ ﻧﻈﻴــﺮ ‪،Maple ،Mathematica‬‬
‫‪ Matlab ،Reduce ،Macsyma‬ﺑﻪ ﻟﺤﺎﻅ ﻗﺎﺑﻠﻴﺖ ﺳﻤﺒﻮﻟﻴﻚ ﺁﻧﺎﻥ ﺍﻣﻜﺎﻥ ﭘﺬﻳﺮ ﻣﻲ ﺑﺎﺷﺪ‪.‬‬
‫‪2‬‬ ‫ﻣﺎﺗﺮﻳﺲ ﻫﺎ‬
‫ﻓﺼﻞ ‪1‬‬
‫ﻣﺎﺗﺮﻳﺴﻬﺎ‬
‫‪ 1- 1‬ﻣﺎﺗﺮﻳﺴﻬﺎ‪:‬‬
‫‪ .1‬ﺗﻌﺮﻳﻒ ﻣﺎﺗﺮﻳﺲ‬
‫‪ .2‬ﺩﺗﺮﻣﻴﻨﺎﻥ‪ -‬ﻣﻌﻜﻮﺱ ﻣﺎﺗﺮﻳﺲ‬
‫‪ .3‬ﻣﺤﺎﺳﺒﻪ ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻭ ﺑﺮﺩﺍﺭﻫﺎﻱ ﻭﻳﮋﻩ‬
‫‪ 1-1-1‬ﺗﻌﺮﻳﻒ ﻣﺎﺗﺮﻳﺲ‬
‫ﻫﻤﺎﻧﻄﻮﺭﻳﻜﻪ ﻣﻲ ﺩﺍﻧﻴﻢ ﺟﺪﻭﻟﻲ ﺍﺯ ﺍﻋﺪﺍﺩ ﻳﺎ ﺍﻋﺪﺍﺩ ﻣﺨﺘﻠﻂ ﻭ ﻳﺎ ﺗﻮﺍﺑﻊ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺭﺍ ﻳﻚ ﻣـﺎﺗﺮﻳﺲ ﮔﻮﻳﻨـﺪ‪.‬‬
‫)ﺍﻳﻦ ﻋﻨﺎﺻﺮ ‪ aij‬ﻣﻴﺘﻮﺍﻧﻨﺪ ﺍﻋﺪﺍﺩ ﺣﻘﻴﻘﻲ ﻳﺎ ﻣﺨﺘﻠﻂ ﺑﺎﺷﻨﺪ ﻭ ﻳﺎ ﺗﻮﺍﺑﻊ(‬
‫‪é a 11 a 12 ....... a 1n ù‬‬

‫‪êa‬‬ ‫‪a 22 ....... a 2 n úú‬‬
‫‪ê 21‬‬ ‫ﺳﺘﻮﻥ‪ n‬ﺳﻄﺮ ‪m‬‬ ‫)‪(1-1‬‬
‫‪ê....... ....... ....... .......ú‬‬
‫‪ê‬‬ ‫‪ú‬‬
‫‪ë a m1 a m2 ....... a mn û‬‬
‫ﺭﻳﺎﺿﻲ ﻣﻬﻨﺪﺳﻲ ﭘﻴﺸﺮﻓﺘﻪ‬ ‫‪3‬‬
‫‪ 1-1-2‬ﻋﻤﻠﻴﺎﺕ ﺟﺒﺮﻱ ﺭﻭﻱ ﻣﺎﺗﺮﻳﺴﻬﺎ‬

‫ﺍﮔﺮ ﺩﻭ ﻣﺎﺗﺮﻳﺲ ‪ B ,A‬ﻫﻢ ﺑﻌﺪ ﺑﺎﺷﻨﺪ )ﺗﻌﺪﺍﺩ ﺳﻄﺮﻫﺎ‪ -‬ﺳﺘﻮﻧﻬﺎ ﺍﻳﻦ ﺩﻭ ﻣﺎﺗﺮﻳﺲ ﺑﺎ ﻫـﻢ ﺑﺮﺍﺑـﺮ ﺑﺎﺷـﻨﺪ( ﺩﺭ‬
‫ﺁﻥ ﺻﻮﺭﺕ‬
‫‪A  B = [a ij  bij ]m*n‬‬ ‫)‪(1-2‬‬
‫‪ 1-1-3‬ﺗﻌﺮﻳﻒ ﺑﺮﺍﺑﺮﻱ‬
‫ﺩﻭ ﻣﺎﺗﺮﻳﺲ ‪ A ،m*n‬ﻭ ‪ B‬ﺭﺍ ﺑﺮﺍﺑﺮ ﮔﻮﻳﻨﺪ ﻫﺮﮔﺎﻩ‬
‫‪aij=bij for each i and j‬‬ ‫)‪(1-3‬‬
‫‪ 1-1-4‬ﺿﺮﺏ ﺍﺳﻜﺎﻟﺮ ﻳﻚ ﻣﺎﺗﺮﻳﺲ‬

‫ﻫﺮ ﮔﺎﻩ ‪ k‬ﻋﺪﺩ ﺣﻘﻴﻘﻲ ﺑﺎﺷﺪ‪ ،‬ﺁﻧﮕﺎﻩ ﺿﺮﺏ ﺍﺳﻜﺎﻟﺮ ﺩﺭ ﻣﺎﺗﺮﻳﺲ ﺑﺮﺍﺑﺮ‬
‫‪kA = [ka ij ]m*n‬‬ ‫)‪(1-4‬‬
‫‪ 1-1-5‬ﺿﺮﺏ ﻣﺎﺗﺮﻳﺴﻬﺎ‪:‬‬
‫ﺍﮔﺮ ﺩﻭ ﻣﺎﺗﺮﻳﺲ )‪ B=n*l , A=(m*n‬ﺑﺎﺷﻨﺪ ﺁﻧﮕﺎﻩ ﺿﺮﺏ ﺩﻭ ﻣﺎﺗﺮﻳﺲ ﺑﺮﺍﺑﺮ‬
‫‪n‬‬
‫‪A . B = ( å a ik b kj ) mxl‬‬ ‫‪i=1 . . . . m, j=1 . . . l‬‬ ‫)‪(1-5‬‬
‫‪k =1‬‬
‫‪ 1-1-6‬ﺗﺮﺍﻧﺴﭙﻮﺯﻩ‬
‫ﺗﺮﺍﻧﺴﭙﻮﺯ ﻳﻚ ﻣﺎﺗﺮﻳﺲ ‪ Am*n‬ﺑﺮﺍﺑﺮ ﻣﺎﺗﺮﻳﺲ ‪ ATn*m‬ﻣﻴﺒﺎﺷﺪ‪.‬‬
‫ﻗﻀﺎﻳﺎﻱ ﺗﺮﺍﻧﺴﭙﻮﺯ‪:‬‬
‫‪i )( AT ) T = A,‬‬
‫‪ii )( A + B) T = AT + BT Transpose of a sum‬‬
‫)‪(1-6‬‬
‫‪v)( ABC ) T = C T BT AT‬‬
‫‪iii )( AB) T = BT AT Transpose of a product‬‬
‫‪ 1-1-7‬ﺩﺗﺮﻣﻴﻨﺎﻥ ﻣﺎﺗﺮﻳﺲ ﻣﺮﺑﻌﻲ ‪3*3‬‬

‫ﺩﺗﺮﻣﻴﻨﺎﻥ ﻳﻚ ﻣﺎﺗﺮﻳﺲ ‪ [A]3*3‬ﺑﺮﺍﺑﺮ‬
‫‪éa11 a12 a13 ù‬‬ ‫)‪(1-7‬‬

‫‪det A= êêa21 a22 a23úú = a11a22a33 + a12a23a31 + a13a21a32 - a13a22a31 - a11a23a32 - a12a21a33‬‬
‫‪êëa31 a23 a33úû‬‬
‫ﺣﺎﺻﻞ ﺩﺗﺮﻣﻴﻨﺎﻥ ﺑﺎﻻ ﺑﻪ ﺷﻜﻞ ﺯﻳﺮ ﻧﻴﺰ ﻣﻲ ﺗﻮﺍﻧﺪ ﺁﺭﺍﻳﺶ ﺩﺍﺩﻩ ﺷﻮﺩ‪.‬‬
‫‪det A = a 11 C11 + a 12 C12 + a13 C13‬‬ ‫)‪(1-8‬‬
‫‪a 22‬‬ ‫‪a 23‬‬ ‫‪a 21‬‬ ‫‪a 23‬‬ ‫‪a 21‬‬ ‫‪a 22‬‬
‫= ‪C 11‬‬ ‫‪,‬‬ ‫‪C 12 = -‬‬ ‫‪,‬‬ ‫= ‪C 13‬‬ ‫ﻛﻪ ﺩﺭ ﺁﻥ‬
‫‪a 32‬‬ ‫‪a 33‬‬ ‫‪a 31‬‬ ‫‪a 33‬‬ ‫‪a 31‬‬ ‫‪a 32‬‬
‫)ﺩﺗﺮﻣﻴﻨﺎﻥ ﻣﺎﺗﺮﻳﺲ ‪ 2*2‬ﻛﻪ ﺍﺯ ﺩﻭ ﻃﺮﻑ ﺳﻄﺮ ‪ i‬ﺍﻡ ﻭ ﺳﺘﻮﻥ ‪ j‬ﺍﻡ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪(.‬‬
‫ﻟﺬﺍ ً ﻛﻮﻓﺎﻛﺘﻮﺭ ﻣﺎﺗﺮﻳﺲ ‪ 3*3‬ﺭﺍ ﺑﺮﺍﻱ ﻋﻨﺼﺮ ‪ aij‬ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ ﻛﻨﻴﻢ‪.‬‬
‫‪Cofactor (aij) =Cij= (-1) i+j‬‬ ‫)‪(1-9‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﻳﻚ ﻣﺎﺗﺮﻳﺲ )‪ (3*3‬ﺩﺍﺭﺍﻱ ‪ 9‬ﻛﻮﻓﺎﻛﺘﻮﺭ ﻣﻲ ﺑﺎﺷﺪ‪.‬‬
‫ﺑﺮﺍﻱ ﻣﺎﺗﺮﻳﺲ )‪ (4*4‬ﻧﺘﻴﺠﺘﺎﹰ ﻣﻲ ﺗﻮﺍﻧﻴﻢ ﻛﻮﻓﺎﻛﺘﻮﺭ ﺗﻌﺮﻳﻒ ﻧﻤﺎﻳﻴﻢ‪ .‬ﻛﻮﻓﺎﻛﺘﻮﺭ ﻣـﺎﺗﺮﻳﺲ )‪ (4*4‬ﺩﺭ ﺣﻘﻴﻘـﺖ‬
‫ﺩﺗﺮﻣﻴﻨﺎﻥ ﻣﺎﺗﺮﻳﺲ )‪ (3*3‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑـﺮﺍﻱ ﻳـﻚ ﻣـﺎﺗﺮﻳﺲ ‪ 4*4‬ﺩﺍﺭﺍﻱ ‪ 16‬ﻛﻮﻓـﺎﻛﺘﻮﺭ ﺧـﻮﺍﻫﻴﻢ‬
‫ﺑـﻮﺩ‪ .‬ﺍﮔـﺮ ﻳــﻚ ﺳـﻄﺮ ﻳـﺎ ﺳــﺘﻮﻥ ﺭﺍ ﺑﻄـﻮﺭ ﺩﻟﺨـﻮﺍﻩ ﺍﻧﺘﺨــﺎﺏ ﻛﻨـﻴﻢ‪ .‬ﻋﻨﺎﺻـﺮ ﺁﻥ ﺳــﻄﺮ ﻳـﺎ ﺳــﺘﻮﻥ ﺭﺍ ﺩﺭ‬
‫ﻛﻮﻓﺎﻛﺘﻮﺭﻫﺎﻱ ﻧﻈﻴﺮﺵ ﺿﺮﺏ ﻭ ﺟﻤﻊ ﻧﻤﺎﻳﻴﻢ ﺩﺗﺮﻣﻴﻨﺎﻥ ﻳﻚ ﻣﺎﺗﺮﻳﺲ )‪ (4*4‬ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪.‬‬
‫‪det A = a i 1 C i 1 + a i 2 C i 2 + a i 3 C i 3 + a i 4 C i 4‬‬ ‫‪i = 1 , ..., 4‬‬
‫‪det A = a 1 j C1 j + a 2 j C 2 j + a 3 j C 3 j + a 4 j C 4 j‬‬
‫ﻧﺘﻴﺠﺘﺎﹰ ﺑﻄﻮﺭ ﻋﻤـﻮﻣﻲ ﻣـﻲ ﺗـﻮﺍﻧﻴﻢ ﻳـﻚ ﻣـﺎﺗﺮﻳﺲ )‪ (n*n‬ﻛﻮﻓﺎﻛﺘﻮﺭﻫـﺎﻱ ﻳـﻚ ﻣـﺎﺗﺮﻳﺲ ﺭﺍ ﺗﻌﺮﻳـﻒ ﻛﻨـﻴﻢ‪.‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﻳﻚ ﻣﺎﺗﺮﻳﺲ )‪ (n*n‬ﺩﺍﺭﺍﻱ ‪ n2‬ﻛﻮﻓﺎ ﻛﺘﻮﺭ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﺁﻥ ﻭﻗﺖ ﺟﻬﺖ ﻣﺤﺎﺳﺒﻪ ﺩﺗﺮﻣﻴﻨـﺎﻥ ‪ A‬ﻳـﻚ‬
‫ﺳﻄﺮ ﻳﺎ ﻳﻚ ﺳﺘﻮﻥ ﺭﺍ ﺑﻄﻮﺭ ﺩﻟﺨﻮﺍﻩ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻋﻨﺎﺻﺮ ﺁﻥ ﺳﻄﺮ ﻳﺎ ﺳﺘﻮﻥ ﺭﺍ ﺩﺭ ﻛﻮﻓﺎﻛﺘﻮﺭﻫﺎﻱ ﻧﻈﻴـﺮ‬
‫ﺿﺮﺏ ﻛﺮﺩﻩ ﻳﺎ ﺟﻤﻊ ﻣﻲ ﻛﻨﻴﻢ‪:‬‬
‫‪det A = a i1 C i1 + a i 2 C i 2 + .... + a in C in‬‬ ‫‪i = 1, 2 , ..., n‬‬
‫)‪(1-10‬‬
‫‪det A = a 1 j C 1 j + a 2 j C 2 j + .... + a nj C nj‬‬ ‫‪j = 1, 2 , ..., n‬‬
‫ﺗﻤﺮﻳﻦ ‪ :1- 1‬ﻓﺮﺽ ﻛﻨﻴﺪ ﻗﺎﺏ ﻣﺨﺘﺼﺎﺕ ﻣﺘﺤﺮﻙ ‪ m‬ﺣﻮﻝ ﻣﺤﻮﺭ ‪ f1‬ﻗﺎﺏ ﻣﺨﺘﺼﺎﺕ ﺛﺎﺑﺖ ‪ F‬ﺑﻪ ﺍﻧﺪﺍﺯﻩ ‪f1‬‬
‫ﺩﺭ ﺟﻬﺖ ﺭﺍﺳﺖ ﺑﭽﺮﺧﺪ‪.‬‬
‫ﺍﻟﻒ( ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﺍﻭﻟﻴﻦ ﺑﺮﺩﺍﺭ ﻭﺍﺣﺪ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫ﺏ( ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﺩﻭﻣﻴﻦ ﻭ ﺳﻮﻣﻴﻦ ﺑﺮﺩﺍﺭ ﻭﺍﺣﺪ ﻗﺎﺏ ﻣﺨﺘﺼﺎﺕ ﺛﺎﺑﺖ ‪ F‬ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫ﺝ( ﺗﺮﻛﻴﺐ ﺳﻪ ﺩﻭﺭﺍﻥ ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪ Mathematica‬ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫ﺩ( ﻧﺸﺎﻥ ﺩﻫﻴﺪ ﻛﻪ ‪R -1 = RT‬‬
‫ﺗﻤــﺮﻳﻦ ‪ :1- 2‬ﺩﺗﺮﻣﻴﻨــﺎﻥ ﻣــﺎﺗﺮﻳﺲ ﺯﻳــﺮ ﺭﺍ ﺑﺪﺳــﺖ ﺁﻭﺭﻳــﺪ ﻭ ﺑــﺎ ﺟــﻮﺍﺏ ﻣﻘﺎﻳــﺴﻪ ﻛﻨﻴــﺪ‪) .‬ﺍﺯ ﻧــﺮﻡ ﺍﻓــﺰﺍﺭ‬
‫‪ Mathematica‬ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻴﺪ‪(.‬‬
‫‪é‬‬ ‫‪5‬‬ ‫‪1‬‬ ‫‪2‬‬ ‫‪4‬‬ ‫‪ù‬‬
‫‪ê‬‬ ‫‪- 1‬‬ ‫‪0‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫‪ú‬‬
‫‪A = ê‬‬ ‫‪ú‬‬ ‫‪det A=34‬‬
‫‪ê‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪6‬‬ ‫‪1‬‬ ‫‪ú‬‬
‫‪ê‬‬ ‫‪ú‬‬
‫‪ë‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪- 4 û‬‬
‫ﺗﻤﺮﻳﻦ ‪ :1- 3‬ﻣﻘﺪﺍﺭﻱ ﺑﺮﺍﻱ ‪ l‬ﭘﻴﺪﺍ ﻛﻨﻴﺪ ﻛﻪ ﻣﻌﺎﺩﻻﺕ ﺯﻳﺮ ﺭﺍ ﺑﺮﺁﻭﺭﺩﻩ ﮐﻨﺪ‪.‬‬
‫‪1- l‬‬ ‫‪0‬‬ ‫‪-1‬‬

‫‪-3-l‬‬ ‫‪10‬‬
‫‪1‬‬ ‫‪2-l‬‬ ‫‪1 =0‬‬ ‫‪=0‬‬
‫‪2‬‬ ‫‪5-l‬‬
‫‪3‬‬ ‫‪3‬‬ ‫‪-l‬‬
‫ﺗﻤﺮﯾﻦ ﻓﻮق را ﺑﺎ ‪ Mathematica‬ﺣﻞ ﻧﻤﺎﯾﯿﺪ‪.‬‬
‫ﺗﻤﺮﻳﻦ ‪ : 1- 4‬ﺻﻔﺤﻪ ﻣﺮﺑﻌﻲ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺩﺭ ﺷﻜﻞ‪ 1-1‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳـﺪ‪ ،‬ﺩﻣـﺎ ﺩﺭ ﻫـﺮ ﮔﻮﺷـﻪ ﺁﻥ‬
‫ﻣﺸﺨﺺ ﺷﺪﻩ ﺍﺳﺖ‬
‫ﻟﻒ( ﻣﻘﺪﺍﺭ ﺩﻗﻴﻖ ﺩﻣﺎﻫﺎﻱ‪ u1, u2, u3, u4‬ﺭﺍ ﺩﺭ ﻧﻘﺎﻁ‪ p1, p2, p3, p4‬ﺑﻴﺎﺑﻴﺪ‬
‫‪AU=B‬‬ ‫ﺏ( ﺑﻪ ﺷﻜﻞ ﻣﺎﺗﺮﻳﺴﻲ ﻧﺸﺎﻥ ﺩﻫﻴﺪ‬
‫ﺝ( ﺳﻴﺴﺘﻢ ﻗﺴﻤﺖ ﺍﻟﻒ ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻳﺎﻓﺘﻦ ﻣﺎﺗﺮﻳﺲ‪ coefficient‬ﺣﻞ ﻛﻨﻴﺪ‪.‬‬
‫‪ 1-1-8‬ﺧﻮﺍﺹ ﺩﺗﺮﻣﻴﻨﺎﻥ ﻫﺎ‪:‬‬

‫‪det AT= det A‬‬ ‫‪ (1‬ﺍﮔﺮ ‪ AT‬ﺗﺮﺍﻧﺴﭙﻮﺯ ﻣﺎﺗﺮﻳﺲ ‪ A‬ﺑﺎﺷﺪ ﺁﻧﮕﺎﻩ‬
‫‪det A= 0‬‬ ‫‪ (2‬ﻫﺮﮔﺎﻩ ﺩﻭ ﺳﻄﺮ )ﻳﺎ ﺳﺘﻮﻥ( ﻣﺎﺗﺮﻳﺲ ‪ A‬ﺑﺮﺍﺑﺮ ﻭ ﻳﺎ ﻣﻌﺎﺩﻝ ﺑﺎﺷﻨﺪ ﺁﻧﮕﺎﻩ‬
‫‪det A= 0‬‬ ‫‪ (3‬ﻫﺮﮔﺎﻩ ﺗﻤﺎﻡ ﺍﻟﻤﺎﻧﻬﺎﻱ ﻳﻚ ﺳﻄﺮ ﻳﺎ ﺳﺘﻮﻥ ﺑﺮﺍﺑﺮ ﺻﻔﺮ ﺑﺎﺷﺪ ﺁﻧﮕﺎﻩ‬
‫‪ (4‬ﺍﮔﺮ ‪ B‬ﻣﺎﺗﺮﻳﺴﻲ ﺑﺎﺷﺪ ﻛﻪ ﺍﺯ ﺟﺎﺑﺠﺎﻳﻲ ﺩﻭ ﺳﻄﺮ ﻳﺎ ﺳﺘﻮﻥ ﻣﺎﺗﺮﻳﺲ ‪ A‬ﺑﺪﺳﺖ ﺁﻳﻨﺪ ﺁﻧﮕﺎﻩ‬
‫‪det B= -det A‬‬
‫‪ (5‬ﻓﺮﺽ ﻛﻨﻴﺪ ‪ B‬ﻣﺎﺗﺮﻳﺴﻲ ﺑﺎﺷﺪ ﻛﻪ ﺍﺯ ﺿﺮﺏ ﻣﺎﺗﺮﻳﺲ ‪ A‬ﺩﺭ ﻳﻚ ﻋﺪﺩ ﺣﻘﻴﻘﻲ ﻏﻴﺮ ﺻﻔﺮ ‪ k‬ﺩﺭ ﻳﻚ ﺳﻄﺮ‬
‫‪det B= k.det A‬‬ ‫ﻳﺎ ﺳﺘﻮﻥ ﺁﻥ ﺁﻧﮕﺎﻩ‬
‫‪det A B= det A det B‬‬ ‫‪ (6‬ﻫﺮﮔﺎﻩ ‪ B ,A‬ﺩﻭ ﻣﺎﺗﺮﻳﺲ ‪ n*n‬ﺑﺎﺷﻨﺪ ﺁﻧﮕﺎﻩ‬
‫‪det A=a11a22 . . . ann‬‬ ‫‪ (7‬ﻓﺮﺽ ﻛﻨﻴﺪ ‪ A‬ﻳﻚ ﻣﺎﺗﺮﻳﺲ ﻣﺜﻠﺜﻲ ‪) n*n‬ﺑﺎﻻ ﻳﺎ ﭘﺎﻳﻴﻦ( ﺑﺎﺷﺪ ﺁﻧﮕﺎﻩ‬
‫‪ 1-1-9‬ﻣﻌﻜﻮﺱ ﻣﺎﺗﺮﻳﺲ‪:‬‬
‫ﺍﮔﺮ ‪ A‬ﻳﻚ ﻣﺎﺗﺮﻳﺲ ‪ n*n‬ﺑﺎﺷﺪ ﻭ ‪ non-singular‬ﻭ ‪ det A ¹ 0‬ﺑﺎﺷﺪ‪ ،‬ﺁﻧﮕﺎﻩ‬
‫‪1‬‬ ‫)‪(1-11‬‬
‫( = ‪A-1‬‬ ‫‪) adj A‬‬
‫‪det A‬‬
‫ﺑﺮﺍﻱ ﻣﺎﺗﺮﻳﺲ ‪ 3*3‬ﺩﺍﺭﻳﻢ‬
‫‪é a 11‬‬ ‫‪a 12‬‬ ‫‪a 13‬‬‫‪ù‬‬ ‫‪a 22‬‬ ‫‪a 23‬‬ ‫‪a 21 a 23‬‬ ‫‪a 21 a 22‬‬
‫‪A = ê a 21‬‬ ‫‪a 22 a 23 ú , Þ C11‬‬ ‫=‬ ‫‪, C12 = -‬‬ ‫= ‪, C13‬‬ ‫‪Þ‬‬
‫‪êë a 31‬‬ ‫‪a 32 a 33 ú‬‬
‫‪û‬‬
‫‪a 32‬‬ ‫‪a 33‬‬ ‫‪a 31 a 33‬‬ ‫‪a 31 a 32‬‬
‫‪1‬‬
‫‪éc11 c 21 c 31 ù‬‬
‫‪A‬‬
‫‪-1‬‬
‫=‬ ‫‪êc12 c 22 c 32 ú‬‬
‫‪det A ê‬‬
‫‪ëc13 c 23 c 33 úû‬‬
‫ﺩﺭ ﻫﺮ ﺻﻮﺭﺕ ﺑﺎ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﻣﻌﻜﻮﺱ ﻳﻚ ﻣﺎﺗﺮﻳﺲ ﻳﻚ ﺩﺳﺘﮕﺎﻩ ‪ n‬ﻣﻌﺎﺩﻟﻪ ﻭ ‪ n‬ﻣﺠﻬﻮﻝ ﺭﺍ ﻣﻲ ﺗـﻮﺍﻧﻴﻢ‬
‫ﺣﻞ ﻛﻨﻴﻢ‪ .‬ﺑﻌﺒﺎﺭﺕ ﺩﻳﮕﺮ ﻳﻚ ﺩﺳﺘﮕﺎﻩ ‪ n‬ﻣﻌﺎﺩﻟﻪ ﻭ ‪ n‬ﻣﺠﻬﻮﻝ‬
‫‪a 11 x 1 + a 12 x 2 + ........ + a 1 n x n = b 1‬‬ ‫)‪(1-12‬‬

‫‪a 21 x 1 + a 22 x 2 + ........ + a 2 n x n = b 2‬‬
‫‪Þ Ax = B Þ x = A-1 B‬‬
‫‪.......... .......... .......... .......... ..........‬‬
‫‪a n 1 x 1 + a n 2 x 2 + ......... + a nn x n = b n‬‬
‫ﺍﺯ ﺍﻳﻦ ﻣﻌﺎﺩﻟﻪ ﻧﺘﻴﺠﻪ ﻣﻴﮕﻴﺮﻳﻢ ﺷﺮﻁ ﻭﺟﻮﺩ ﺟﻮﺍﺏ ﺁﻥ ﺍﺳﺖ ﻛﻪ ‪ A-1‬ﻣﻮﺟﻮﺩ ﺑﺎﺷﺪ‪ ،‬ﺑﺮﺍﻱ ﺁﻧﻜﻪ ‪ A-1‬ﻣﻮﺟﻮﺩ‬
‫ﺑﺎﺷﺪ ﻣﻲ ﺑﺎﻳﺴﺘﻲ ‪ det A ¹ 0‬ﺑﺎﺷﺪ ﻛﻪ ﺍﻳﻦ ﺷﺮﻁ ﻳﻚ ﺷﺮﻁ ﻻﺯﻡ ﻭ ﻛﺎﻓﻲ ﺍﺳﺖ‪.‬‬
‫‪ 1-1-10‬ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻭ ﺑﺮﺩﺍﺭﻫﺎﻱ ﻭﻳﮋﻩ‪:‬‬

‫ﺍﺯ ﻟﺤﺎﻅ ﻛﺎﺭﺑﺮﺩﻫﺎﻱ ﻣﻬﻨﺪﺳﻲ‪ ،‬ﻣﺴﺎﺋﻞ ﻣﻘـﺪﺍﺭ )ﺗـﻨﺶ‪ ،‬ﻛـﺮﻧﺶ ﻭ ﻣﻤـﺎﻥ ﺍﻳﻨﺮﺳـﻲ ﻭ ﺍﺭﺗﻌﺎﺷـﺎﺕ ﻭ ﻗﻄـﺮﻱ‬
‫ﻛﺮﺩﻥ( ﻭﻳﮋﻩ ﺍﺯ ﺟﻤﻠﻪ ﻣﻬﻤﺘﺮﻳﻦ ﻣﺴﺎﺋﻞ ﻣﺮﺑﻮﻁ ﺑﻪ ﻣﺎﺗﺮﻳﺴﻬﺎ ﻫﺴﺘﻨﺪ‪.‬‬
‫ﻓﺮﺽ ﻛﻨﻴﺪ )‪ A=(ajk‬ﻳﻚ ﻣﺎﺗﺮﻳﺲ ﻣﺮﺑﻌﻲ ‪ n‬ﺳﻄﺮ ﻣﻲ ﺑﺎﺷﺪ ﻭ ﻣﻌﺎﺩﻟﺔ ﺑﺮﺩﺍﺭﻱ‬
‫‪Ax = lx‬‬ ‫)‪(1-13‬‬
‫ﺭﺍ‪ ،‬ﻛﻪ ﺩﺭ ﺁﻥ ‪ l‬ﻳﻚ ﻋﺪﺩ ﺍﺳﮑﺎﻟﺮ ﺍﺳﺖ‪ ،‬ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﻣﻘﺪﺍﺭﻱ ﺍﺯ ‪ l‬ﺭﺍ ﻛﻪ ﺑﻪ ﺍﺯﺍﻱ ﺁﻥ )‪ (1-13‬ﺩﺍﺭﺍﻱ‬
‫ﺟﻮﺍﺑﻲ ﻣﺎﻧﻨﺪ ‪ x ¹ 0‬ﺑﺎﺷﺪ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ ﻳﺎ ﻣﻘﺪﺍﺭ ﻣﺸﺨﺼﻪ ﻣﺎﺗﺮﻳﺲ ‪ A‬ﻣﯽ ﮔﻮﻳﻨﺪ ﻭ ﺑﺮﺩﺍﺭ ‪ x‬ﺑﺮﺩﺍﺭ ﻭﻳـﮋﻩ‬
‫‪ A‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺍﻳﻦ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ ﻣﻲ ﺑﺎﺷﺪ‪.‬‬
‫ﻣﺜﺎﻝ ‪ :1- 1‬ﺩﺳﺘﮕﺎﻩ ﻣﺮﺗﻌﺶ‪ :‬ﺑﺎ ﻧﻮﺷﺘﻦ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻨﺎﻣﻴﮑﯽ ﺑﺮﺍﯼ ﻳﮏ ﺳﻴﻢ ﻣﺮﺗﻌﺶ‪ ،‬ﺍﮔـﺮ ‪ y‬ﺭﺍ ﺟﺎﺑﺠـﺎﻳﻲ‬
‫ﻋﻤﻮﺩﯼ ﻳﮏ ﻧﻘﻄﻪ ﺍﺯ ﺳﻴﻢ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ ﺩﺳﺘﮕﺎﻩ ﻣﻌﺎﺩﻻﺕ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﯽﺁﻳﺪ‪:‬‬
‫‪ì ..‬‬ ‫‪ì ..‬‬ ‫‪..‬‬
‫) ‪ï y1 = -3 y1 + 2( y2 - y1‬‬ ‫‪ï y = -5 y1 + 2 y2‬‬
‫‪í ..‬‬ ‫‪Þ í .. 1‬‬ ‫‪Þ y = Ay‬‬
‫) ‪ïî y 2 = -2( y2 - y1‬‬ ‫‪ïî y 2 = 2 y1 - 2 y2‬‬
‫‪æ- 5 2 ö‬‬ ‫‪æy ö‬‬

‫‪A = çç‬‬ ‫÷÷ ‪÷÷ , y = çç 1‬‬ ‫ﻛﻪ ﺩﺭ ﺁﻥ‬
‫‪è 2 - 2ø‬‬ ‫‪è y2 ø‬‬
‫‪y = x e wt‬‬ ‫ﺑﺮﺍﻱ ﺣﻞ ﺍﻳﻦ ﻣﻌﺎﺩﻟﻪ‬
‫‪Þ w 2 Xe wt = Axe wt Þ Ax = lx‬‬ ‫) ‪(l = w‬‬ ‫‪2‬‬
‫‪y = Ax‬‬ ‫ﻣﺜﺎﻝ ‪ :1- 2‬ﺗﺒﺪﻳﻞ ﺧﻄﻲ‪ :‬ﺗﺒﺪﻳﻞ ﺧﻄﻲ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬
‫‪y = AX = lX‬‬ ‫ﻣﻲ ﺧﻮﺍﻫﻴﻢ ﺑﺮﺩﺍﺭﻱ ﻣﺎﻧﻨﺪ ‪ X‬ﺭﺍ ﺑﻪ ﻗﺴﻤﻲ ﭘﻴﺪﺍ ﻛﻨﻴﻢ ﻛﻪ‬
‫ﻣﻲ ﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﻛﻪ ﻫﺮ ﻣﺎﺗﺮﻳﺲ ﻣﺮﺑﻌﻲ ‪ n‬ﺳﻄﺮﻱ ﺣﺪﺍﻗﻞ ﻳﻚ ﻭ ﺣﺪﺍﻛﺜﺮ ‪ n‬ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ ﻣﺘﻤﺎﻳﺰ ﺩﺍﺭﺩ‪.‬‬
‫ﻃﺒﻖ ﺗﻌﺮﻳﻒ ﺑﺮﺩﺍﺭﻫﺎﻱ ﺧﺎﺹ ﻣﺎﺗﺮﻳﺲ ‪ An*n‬ﺑﺮﺩﺍﺭﻱ ﺍﺳﺖ ﻣﺎﻧﻨﺪ ‪ V‬ﺑﻄﻮﺭﻳﻜﻪ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‬
‫‪AV = lV‬‬
‫ﻣﻘﺪﺍﺭ ﺧﺎﺹ‬ ‫ﺑﺮﺩﺍﺭ ﺧﺎﺹ‬
‫ﻫﻤﺎﻧﻄﻮﺭﻳﻜﻪ ﺍﺯ ﺭﺍﺑﻄﻪ ﺑﺎﻻ ﻣﺸﺎﻫﺪﻩ ﻣﻴﮕﺮﺩﺩ‪ ،‬ﺍﮔﺮ ﻣﺨﺘﺼﺎﺕ ﺑﺮﺩﺍﺭ ‪ V‬ﺭﺍ ] ‪ V = [x1 , x2 , ..., xn‬ﺑﻨﺎﻣﻴﻢ‬
‫‪T‬‬
‫ﺍﺯ ﺭﺍﺑﻄﻪ ﻓﻮﻕ ﻧﺘﻴﺠﻪ ﻣﻲ ﮔﺮﺩﺩ ﻛﻪ‪:‬‬

‫‪ì(a 11 - l )x1 + a 12 x2 + .... + a 1n xn = 0‬‬
‫‪ïa x + (a - l )x + .... + a x = 0‬‬
‫‪( A - lI )V = 0 Þ ïí 21 1 22‬‬ ‫‪2‬‬ ‫‪2n n‬‬ ‫)‪(1-14‬‬
‫‪ï......................................................‬‬
‫‪ïîa n1 x1 + a n 2 x2 + ....... + (a nn - l )xn = 0.‬‬
‫ﻫﻤﺎﻧﻄﻮﺭﻳﻜﻪ ﻣﺸﺎﻫﺪﻩ ﻣﻲ ﮔﺮﺩﺩ ﻳﻚ ﺩﺳـﺘﮕﺎﻩ ‪ n‬ﻣﻌﺎﺩﻟـﻪ ﻭ ‪ n‬ﻣﺠﻬـﻮﻟﻲ ﻛـﻪ ﻃـﺮﻑ ﺩﻭﻡ ﺻـﻔﺮ ﺍﺳـﺖ ﺩﺍﺭﺍ‬
‫ﻣﻲﺑﺎﺷﻴﻢ‪ ،‬ﻛﻪ ﺍﮔﺮ ﺑﺨﻮﺍﻫﻴﻢ ﺟﻮﺍﺏ ﺍﻳﻦ ﺩﺳﺘﮕﺎﻩ ﻣﻌﺎﺩﻻﺕ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﻢ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫ﻛﻪ ﺩﺭ ﺍﻳﻦ ﺧﻮﺩ ﻧﺘﻴﺠﻪ ﻣﻲ ﺩﻫﺪ ﺍﮔﺮ ﺑﺨﻮﺍﻫﻴﻢ ﺑﺮﺍﻱ ‪ X‬ﺟﻮﺍﺏ ﻏﻴﺮ ﺍﺯ ﺻﻔﺮ ﺑﺪﺳﺖ ﺁﻭﺭﻳﻢ ﻣﻴﺒﺎﻳﺴﺘﻲ‬
‫‪det( A - lI ) = 0‬‬
‫ﺍﺯ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ﻳﮏ ﭼﻨﺪ ﺟﻤﻠﻪﺍﻱ ﺑﺪﺳﺖ ﺧﻮﺍﻫﻴﻢ ﺁﻭﺭﺩ ﻛﻪ ﺁﻥ ﺭﺍ ﭼﻨﺪﺟﻤﻠﻪﺍﯼ ﻣﺸﺨﺼﻪ ﻣﻲ ﻧﺎﻣﻴﻢ‪.‬‬
‫) ‪Pn (l ) = ln + P1ln -1 + .... + Pn = det ( A - lI‬‬ ‫)‪(1-15‬‬
‫ﺍﮔﺮ ) ‪ Pn (l‬ﺩﺍﺭﺍﻱ ‪ n‬ﺭﻳﺸﻪ ‪ l n , ....., l 2 , l1‬ﺑﺎﺷﺪ‪ ،‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﻫﺮ ﻳﻚ ﺍﺯ ‪ u i , l i‬ﺑﺮﺩﺍﺭ ﺧﺎﺹ ﺑﺪﺳـﺖ‬
‫ﻣﻲ ﺁﻭﺭﻳﻢ‪ .‬ﺑﻄﻮﺭﻳﻜﻪ‬
‫‪Au i = liu i‬‬
‫ﻗﺒﻞ ﺍﺯ ﺁﻧﻜﻪ ﺭﻭﺷﻬﺎﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ‪ u i , l i‬ﺍﺭﺍﺋﻪ ﺩﻫﻴﻢ ﺑﻪ ﻣﺜﺎﻝ ﺯﻳﺮ ﺗﻮﺟﻪ ﻣﻲ ﻛﻨﻴﻢ‪.‬‬
‫ﻣﺜﺎﻝ‪ :1- 3‬ﻣﻄﻠﻮﺑﺴﺖ ﻣﺤﺎﺳﺒﻪ ﭼﻨﺪﺟﻤﻠﻪﺍﯼ ﻣﺸﺨﺼﻪ‪ ،‬ﻣﻘﺎﺩﻳﺮ ﺧﺎﺹ ﻭ ﺑﺮﺩﺍﺭﻫﺎﻱ ﺧﺎﺹ‬
‫‪é2 1ù‬‬ ‫‪é2 - l‬‬ ‫‪1 ù‬‬

‫‪A= ê‬‬ ‫‪ú‬‬ ‫‪Þ P2 (l ) = det ( A - lI ) = det ê‬‬
‫‪ë 3 4û‬‬ ‫‪ë 3‬‬ ‫‪4 - l úû‬‬
‫‪= l 2 - 6l + 5 = 0.‬‬ ‫ﻣﻘﺎﺩﻳﺮ ﺧﺎﺹ ‪Þ l 2 = 5, l1 = 1‬‬
‫ﺑﺮﺍﯼ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ ‪ l1‬ﺩﺍﺭﻳﻢ‪:‬‬
‫‪é xù‬‬ ‫‪é2 1ù é xù é xù‬‬ ‫‪2x + y = x‬‬ ‫‪é1 2 ù‬‬
‫‪V = ê ú Þ AV1 = l1V1 Þ ê‬‬ ‫‪ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬ ‫‪=ê úÞ‬‬ ‫‪Þ V1 = ê‬‬ ‫‪ú‬‬
‫‪ë yû‬‬ ‫‪ë3 4û ë yû ë yû‬‬ ‫‪3x + 4 y = y‬‬
‫‪ë- 1 2 û‬‬
‫ﺣﻞ ﺩﺳﺘﮕﺎﻩ ﺑﻲ ﻧﻬﺎﻳﺖ ﺟﻮﺍﺏ ﺩﺍﺭﺩ‪ .‬ﺑﺮﺍﯼ ﺩﺍﺷﺘﻦ ﻳﮏ ﺟﻮﺍﺏ ﺧﺎﺹ ‪ V‬ﺭﺍ ﻧﺮﻣﺎﻟﻴﺰﻩ ﻣﻲ ﻛﻨﻴﻢ ﺗﺎ ‪ V1‬ﺑﺪﺳﺖ‬
‫ﺁﻳﺪ‪ .‬ﺑﺮﺍﯼ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ ‪ l 2‬ﻧﻴﺰ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫‪é2 1 ù é xù é5 xù 3 x - y = 0‬‬ ‫‪é1 10 ù‬‬
‫‪AV2 = l 2V2 Þ ê‬‬ ‫‪ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬ ‫‪=ê úÞ‬‬ ‫‪Þ y=3 x Þ V2 = ê‬‬ ‫‪ú‬‬
‫‪ë 3 4 û ë yû ë5 yû 3 x - y = 0‬‬ ‫‪ë3 10 û‬‬
‫‪é1‬‬ ‫‪2‬‬ ‫‪1 10 ù‬‬
‫‪ P = ê‬ﺍﺯ ﮐﻨﺎﺭ ﻫﻢ ﻗﺮﺍﺭ ﺩﺍﺩﻥ ‪ V1‬ﻭ ‪ V2‬ﺑﺪﺳﺖ ﻣﯽﺁﻳﺪ‪.‬‬ ‫‪ú‬‬ ‫ﻣﺎﺗﺮﻳﺲ ﺧﺎﺹ‬
‫‪ë-1‬‬ ‫‪2 3 10 û‬‬
‫ﺩﺭ ﺟﺒﺮ ﺧﻄﻲ ﺛﺎﺑﺖ ﻣﻲ ﮔﺮﺩﺩ ﻛﻪ ﺑﺎ ﻣﺎﺗﺮﻳﺲ ‪ P‬ﻣﯽﺗﻮﺍﻥ ‪ A‬ﺭﺍ ﻗﻄﺮﯼ ﮐﺮﺩ؛ ﻳﻌﻨﯽ‪:‬‬
‫‪é l1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0 ù‬‬

‫‪ê0‬‬ ‫‪l2‬‬ ‫‪0 úú‬‬
‫‪0‬‬ ‫‪é1‬‬ ‫‪0ù‬‬
‫‪P AP = ê‬‬
‫‪-1‬‬
‫;‬ ‫‪P -1 AP = ê‬‬
‫‪ê0‬‬ ‫‪0‬‬ ‫‪‬‬ ‫‪0 ú‬‬ ‫‪ë0‬‬ ‫‪5 úû‬‬
‫‪ê‬‬ ‫‪ú‬‬
‫‪êë 0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪l n úû‬‬
‫ﺗﻤﺮﻳﻦ‪ : 1- 5‬ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻭ ﺑﺮﺩﺍﺭ ﻫﺎﻱ ﻭﻳﮋﻩ ﺯﻳﺮ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ﻭ ﭘﺎﺳﺦ ﺭﺍ ﺑﺎ ﺟﻮﺍﺏ ‪Mathematica‬‬
‫ﻣﻘﺎﻳﺴﻪ ﻛﻨﻴﺪ‬
‫ﺭﻳﺎﺿﻲ ﻣﻬﻨﺪﺳﻲ ﭘﻴﺸﺮﻓﺘﻪ‬ 9
é1 2 3 ù é0 0 -1ù
ê0 5 6 ú l = 1, l = 5, l = -7 ê1 0 0 ú , l = -1, l = i, l = -i
ê ú 1 2 3 ê ú 1 2 3
êë0 0 - 7úû êë1 1 -1úû

é1 ù é1 ù é - 1ù é1ù é - 1ù é - 1ù
k1 = ê0 ú , k 2 = ê 2 ú , k3 = êê - 2 úú
ê ú ê ú k1 = ê - 1ú , k2 = ê i ú , k3 = êê - i úú
ê ú ê ú
êë0 úû êë0 úû êë 4 úû êë 1 úû êë i úû êë - i úû
:‫ ﺣﻞ ﺳﻴﺴﺘﻢ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺧﻄﻲ‬1-1-11

‫( ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﺣﻘﻴﻘﻲ‬1
X ' = AX (1) ‫ ﻳﻚ ﺳﻴـﺴﺘﻢ ﻫﻤﮕـﻦ‬A ‫ ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻣﺎﺗﺮﻳﺲ‬l n , ...., l 2 , l1
.‫( ﺍﺯ ﺭﺍﺑﻄﻪ ﺯﻳﺮ ﭘﻴﺪﺍ ﻣﻴﺸﻮﺩ‬1) ‫ ﺣﻞ ﻋﻤﻮﻣﻲ‬.‫ ﺑﺮﺩﺍﺭﻫﺎﻱ ﻭﻳﮋﻩ ﺁﻥ ﻣﻴﺒﺎﺷﻨﺪ‬Vn , ...., V2 , V1 ‫ﻭ‬
X = c1V1e l t + c 2V2 e l t + ..... + c nVn e lnt
1 2
(1-16)
dx
= 2x + 3y
dt :‫ ﺩﺳﺘﮕﺎﻩ ﺭﻭﺑﺮﻭ ﺭﺍ ﺣﻞ ﻛﻨﻴﺪ‬:1- 4 ‫ﻣﺜﺎﻝ‬
dy
= 2x + y
dt
.‫ ﺭﺍ ﭘﻴﺪﺍ ﻣﻲ ﻛﻨﻴﻢ‬A ‫ ﺩﺭ ﺍﺑﺘﺪﺍ ﻣﻘﺎﺩﻳﺮ ﻭ ﺑﺮﺩﺍﺭﻫﺎﻱ ﻭﻳﮋﻩ‬:‫ﺣﻞ‬
2-l 3
det( A - lI ) = = l 2 - 3l - 4 = 0 Þ l1 = -1, l 2 = 4
2 1- l
ì3u + 3u 2 = 0
‫ ﺑﺮﺍﻱ‬l1 = 1 Þ A - l1 I is equivalent to í 1
î2u1 + 2u 2 = 0
‫ ﺑﻨﺎﺑﺮﺍﻳﻦ‬Þ u1 = -u 2 . We select u 2 = -1 Þ V1 = [1 - 1]
T
ì- 2u1 + 3u 2 = 0
‫ﺑﺮﺍﻱ‬ l2 = 4 Þ A - l2 I is equivalent to í
î2u1 - 3u 2 = 0
‫ﺑﻪ ﺍﻳﻦ ﺗﺮﺗﻴﺐ‬ u1 = 3u 2 2 Þ if u 2 = 2 Þ V2 = [3 2]T

‫‪é 1 ù -t‬‬ ‫‪é3ù 4t‬‬ ‫‪é 1 ù -t‬‬ ‫‪é3ù 4t‬‬

‫= ‪Þ X1‬‬
‫‪êë- 1úû e , X 2 = êë2úû e Þ X = C1 X1 + C 2 X 2 = C1 êë- 1úû e + C 2 êë2úû e‬‬
‫‪é e- t‬‬ ‫‪4t ù‬‬
‫‪é x(t ) ù êc1‬‬ ‫‪+ 3c 2 e‬‬ ‫‪ú‬‬
‫‪êë y(t ) úû = ê‬‬ ‫‪-t‬‬ ‫‪ú‬‬
‫‪êë- c1 e + 2c 2 e 4t úû‬‬
‫ﺗﻤﺮﻳﻦ‪ :1- 6‬ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻭ ﺑﺮﺩﺍﺭ ﻫﺎﻱ ﻭﻳﮋﻩ ﻣﺎﺗﺮﻳﺲ ﺯﻳﺮ ﺭ ﺑﺎ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ ﻧـﺮﻡ ﺍﻓـﺰﺍﺭ ‪Mathematica‬‬
‫ﻣﺤﺎﺳﺒﻪ ﻛﻨﻴﺪ‬
‫‪dx‬‬
‫‪= -4 x + y + z‬‬
‫‪dt‬‬ ‫‪é1ù‬‬ ‫‪é10 ù‬‬ ‫‪é1ù‬‬
‫‪dy‬‬
‫‪= x + 5y - z‬‬ ‫‪ : X = c1 0 e + c 2 - 1 e + c3 ê8ú e 5t‬ﺣﻞ‬
‫‪ê‬‬ ‫‪ú‬‬ ‫‪- 3t‬‬ ‫‪ê‬‬ ‫‪ú‬‬ ‫‪- 4t‬‬
‫‪dt‬‬ ‫‪ê ú‬‬ ‫‪ê ú‬‬ ‫‪ê ú‬‬

‫‪êë1úû‬‬ ‫‪êë 1 úû‬‬ ‫‪êë1úû‬‬
‫‪dz‬‬
‫=‬ ‫‪y - 3z‬‬
‫‪dt‬‬
‫ﻭ ﺭﻭﺵ ﺣﺬﻓﯽ ﮔﺎﻭﺱ ‪.‬‬ ‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪Mathematica‬‬
‫‪ (2‬ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻣﻮﻫﻮﻣﻲ‬

‫‪ (a‬اﮔـﺮ ‪ l1 = a + ib‬ﺑﺎﺷـﻨﺪ‪ .‬ﺑـﺮدار وﯾــﮋه ‪ V1‬ﻧﯿـﺰ ﻣﻮﻫـﻮﻣﯽ ﺧﻮاﻫﻨـﺪ ﺑــﻮد‪ .‬ﺣـﻞ ﭼﻨـﯿﻦ ﺳﯿـﺴﺘﻢ ﻣﻌــﺎدﻻت‬
‫ﺧﻄﯽ ) ‪ ( X = AX‬ﺑﺮاﺑﺮ‬
‫'‬
‫‪-‬‬ ‫‪-‬‬
‫‪X1 = V1e l t , X 2 = V 1 e l‬‬

‫‪1‬‬ ‫‪1t‬‬
‫)‪( x ' = Ax‬‬ ‫)‪(1-17‬‬
‫ﻣﺜﺎﻝ‪ :1- 5‬ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺧﻄﻲ ﺭﻭﺑﺮﻭ ﺭﺍ ﺣﻞ ﻛﻨﻴﺪ‪.‬‬
‫‪ì dx‬‬
‫‪ïï dt = 6 x - y‬‬
‫‪í‬‬
‫‪ï dy = 5 x + 4 y‬‬
‫‪ïî dt‬‬
‫‪6 - l -1‬‬
‫= ) ‪ : det ( A - lI‬ﺣﻞ‬ ‫‪= l2 - 10l + 29 = 0 Þ l1 = 5 + 2i, l 2 = 5 - 2i‬‬
‫‪5‬‬ ‫‪4-l‬‬
‫‪év ù‬‬ ‫‪ì(1- 2i)v1 - v2 = 0‬‬ ‫‪é 1 ù‬‬

‫¾(¾ ‪l1 = 5 + 2i‬‬ ‫‪¾¾®( A- l1I )ê 1 ú = 0 Þí‬‬
‫‪A-l I )V=0‬‬
‫‪1‬‬
‫‪Þ For v1 = 1ÞV1 = ê‬‬ ‫‪ú‬‬
‫‪ëv2 û‬‬ ‫‪î5v1 - (1+ 2i)v2 = 0‬‬ ‫‪ë1- 2iû‬‬
‫‪é 1 ù‬‬
‫¾(¾ ‪l2 = 5 - 2i‬‬
‫‪A- l I )V = 0‬‬
‫¾¾‬ ‫‪¾® V2 = ê‬‬
‫‪12‬‬
‫‪ú‬‬
‫‪ë1 + 2i û‬‬
‫‪x1 = [1 1 - 2i ]T e (5+ 2i )t‬‬ ‫‪, x2 = [1 1 + 2i ] e ( 5- 2 i ) t‬‬

‫‪T‬‬
‫ﺩﺭ ﻧﺘﻴﺠﻪ‬
‫ﺍﻟﻒ( ‪ Þ X = c1 [1 1 - 2i ]e (5 + 2 i ) t + c 2 [1 1 + 2i ]e (5 -2 i )t‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺟﻤﻊ ﺁﺛـﺎﺭ ﻣﻼﺣﻈـﻪ‬

‫ﻣﻲ ﮔﺮﺩﺩ ﻛﻪ ﻣﻘﺎﺩﻳﺮ ﻭ ﺑﺮﺩﺍﺭﻫﺎﯼ ﻭﻳﮋﻩ ﻣﻮﻫﻮﻣﻲ ﻭ ﻣﺰﺩﻭﺝ ﻫﻢ ﻣﯽ ﺑﺎﺷﻨﺪ‪:‬‬
‫‪-‬‬ ‫‪-‬‬
‫‪l2 = l 1 , V2 = V 1‬‬
‫‪ìï x = c1 e ( 5+ 2 i )t + c 2 e (5- 2 i ) t‬‬
‫‪ ( I ) Þ í‬ﺑﺎﺯﻧﻮﻳﺴﻲ‬
‫‪ïî y = c1 (1 - 2i )e (5 + 2 i )t + c 2 (1 + 2i)e (5 - 2i )t‬‬
‫‪é xù‬‬
‫‪é‬‬ ‫‪cos2t‬‬ ‫‪ù 5t‬‬ ‫‪é‬‬ ‫‪sin 2t‬‬ ‫‪ù 5t‬‬
‫‪ : X = ê ú = c1 ê‬ﺑﺎ ﺑﻜﺎﺭ ﮔﻴﺮﻱ ﻓﺮﻣﻮﻝ ﺍﻭﻳﻠﺮ‬ ‫‪ú‬‬‫‪e + c2 ê‬‬ ‫‪úe‬‬
‫‪ë yû‬‬ ‫‪ëcos2t + 2 sin 2t û‬‬ ‫‪ë- 2 cos2t + sin 2t û‬‬
‫ﺏ( ‪ l1 = a + ib‬ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻣﺎﺗﺮﻳﺲ ‪ A‬ﺩﺭ ﺳﻴﺴﺘﻢ ‪ x' = Ax‬ﺑﺎﺷﺪ ﺁﻧﮕﺎﻩ ﺣﻞ ﭼﻨﻴﻦ ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ‬
‫‪X1 = ( B1 cos bt - B2 sin bt )e at‬‬
‫‪X 2 = ( B2 cos bt + B1 sin bt )eat‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ‬
‫‪1é‬‬ ‫‪- ù‬‬ ‫‪1é‬‬ ‫‪- ù‬‬
‫= ‪B1‬‬ ‫) ‪êV1 + V1 ú = Re(V1 ) ; B2 = ê - V1 + V1 ú = Im(V1‬‬
‫‪2ë‬‬ ‫‪û‬‬ ‫‪2ë‬‬ ‫‪û‬‬
‫ﭘﺮﻭﮊﻩ ‪: 1- 1‬‬
‫ﺍﻟﻒ( ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻠﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺳﺘﺨﺮﺍﺝ ﻧﻤﻮﺩﻩ ﻭ ﺑﺼﻮﺭﺕ ﻣﺎﺗﺮﻳﺴﻲ ﺑﺎﺯﻧﻮﻳﺴﻲ ﻛﻨﻴﺪ‪.‬‬
‫) ‪m1 x ''1 = -k1 x1 + k2 ( x2 - x1‬‬
‫) ‪m2 x'' 2 = -k2 ( x2 - x1‬‬
‫ﺏ( ﻧﺸﺎﻥ ﺩﻫﻴﺪ ﻛﻪ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﻲ ﺗﻮﺍﻧﺪ ﺑﺼﻮﺭﺕ ‪ X = AX‬ﻧﻮﺷﺘﻪ ﺷﻮﺩ‪.‬‬
‫''‬
‫‪é k1 + k2‬‬ ‫‪k2 ù‬‬

‫‪ê- m‬‬ ‫‪m1 ú‬‬
‫‪X = [x1‬‬ ‫‪x2 ]T ,‬‬ ‫‪A= ê‬‬ ‫‪1‬‬
‫‪ú‬‬
‫‪ê k2‬‬ ‫‪k‬‬
‫‪- 2ú‬‬
‫‪êë m2‬‬ ‫‪m2 úû‬‬
‫ﭖ( ﺍﮔﺮ ﺟﻮﺍﺑﯽ ﺑﺼﻮﺭﺕ ‪ X=Vewt‬ﺑﺮﺍﯼ ﺳﻴﺴﺘﻢ ﻓﺮﺽ ﺷﻮﺩ ﻧﺸﺎﻥ ﺩﻫﻴﺪ ﻛﻪ ‪ X '' = AX‬ﻧﺘﻴﺠﻪ ﻣـﯽ‪-‬‬
‫ﺩﻫﺪ‪:‬‬
‫‪( A - lI ) V = 0‬‬ ‫‪where‬‬ ‫‪l =v‬‬ ‫‪2‬‬
‫ﺕ( ﻧﺸﺎﻥ ﺩﻫﻴﺪ ﺑﺎ ﻓﺮﺽ ‪ m1=m2=1, k1=3, k2=2‬ﺟﻮﺍﺏ ﺑﻔﺮﻡ ﺯﻳﺮ ﺍﺳﺖ‪:‬‬
‫‪é1 ù‬‬ ‫‪é1 ù‬‬ ‫‪é - 2ù‬‬ ‫‪é- 2ù‬‬
‫‪X = c1 ê ú e it + c 2 ê ú e -it + c3 ê ú e‬‬ ‫‪6 it‬‬
‫‪+ c4 ê ú e -‬‬ ‫‪6 it‬‬
‫‪ë2û‬‬ ‫‪ë2û‬‬ ‫‪ë1û‬‬ ‫‪ë1 û‬‬

‫ﺙ( ﻧﺸﺎﻥ ﺩﻫﻴﺪ ﻛﻪ ﺟﻮﺍﺏ ﻗﺴﻤﺖ )ﺕ( ﻣﻲ ﺗﻮﺍﻧﺪ ﺑﻪ ﺍﻳﻦ ﺻﻮﺭﺕ ﻧﻴﺰ ﻧﻮﺷﺘﻪ ﺷﻮﺩ‪:‬‬
‫‪é x1 ù‬‬ ‫‪é1ù‬‬ ‫‪é1ù‬‬ ‫‪é- 2ù‬‬ ‫‪é - 2ù‬‬
‫‪ê x ú = b1 ê2ú cos t + b2 ê 2ú sin t + b3 ê 1 ú cos 6t + b4 ê 1 ú sin 6t‬‬
‫‪ë 2û‬‬ ‫‪ë û‬‬ ‫‪ë û‬‬ ‫‪ë û‬‬ ‫‪ë û‬‬
‫ﺝ( ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺯﻳﺮ ﺭﺍ ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﮐﺮﺩﻩ ﻭ ﺟﺎﺑﺠـﺎﻳﯽ ﺟﺮﻣﻬـﺎﯼ ‪ m1‬ﻭ ‪ m2‬ﺍﺯ ﻣﻮﻗﻌﻴـﺖ ﺗﻌـﺎﺩﻝ ﺭﺍ‬
‫ﭘﺲ ﺍﺯ ﺯﻣﺎﻥ ‪ t‬ﻣﺤﺎﺳﺒﻪ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪.‬‬ ‫‪.‬‬
‫‪x1 (0) = 0, x2 (0) = 1, x1 (0) = x 2 (0) = 0‬‬
‫ﭺ( ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪: Mathematica‬ﺟﻮﺍﺏ ﻫﺎﻱ ﻗﺴﻤﺖ ﻫﺎﻱ ﺍﻟﻒ ﺏ ﭖ ﺕ ﺙ ﺝ ﺭﺍ ﻛﻨﺘﺮﻝ ﻛﻨﻴﺪ‪.‬‬
‫ﺷﻜﻞ ‪ x1 , x2‬ﻣﺮﺑﻮﻁ ﺑﻪ ﺑﻨﺪ )ﺝ( ﺭﺍ ﺑﺮﺍﻱ ‪ t=0-10‬ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬
‫ﺍﺯ ‪ Mathematica‬ﺑﺮﺍﻱ ﻣﺘﺤﺮﻙ ﻧﺸﺎﻥ ﺩﺍﺩﻥ ﺳﻴﺴﺘﻢ )ﺍﻧﻴﻤﻴﺸﻦ( ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻴﺪ‪.‬‬
‫‪ 1-1-12‬ﻗﻄﺮﻱ ﻛﺮﺩﻥ ﻳﻚ ﻣﺎﺗﺮﻳﺲ‬

‫ﺑﺮﺍﻱ ﻳﻚ ﻣﺎﺗﺮﻳﺲ )‪ ، A(n*n‬ﻣﺎﺗﺮﻳﺲ ‪ (nonsingular) P‬ﺭﺍ ﻣﻲ ﺗﻮﺍﻥ ﭘﻴﺪﺍ ﻛﺮﺩ ﻛﻪ ﺣﺎﺻﻞ ‪ P-1AP=D‬ﻳـﻚ‬
‫ﻣﺎﺗﺮﻳﺲ ﻗﻄﺮﻱ ﮔﺮﺩﺩ‪ .‬ﺩﺭ ﺣﺎﻟﺖ ﻛﻠﻲ ﺿﺮﺏ ﺩﻭ ﻣﺎﺗﺮﻳﺲ ‪ n*n‬ﺭﺍ ﻣﻴﺘﻮﺍﻥ ﺑﻪ ﺷﻜﻞ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻛﺮﺩ‪.‬‬
‫] ‪AB = A[X1 X 2 .....X n ] = [AX1 AX 2 ......AXn‬‬ ‫)‪(1-18‬‬
‫ﺳﺘﻮﻧﻬﺎﻱ ‪ B‬ﺍﺳﺖ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﮔﺮ ‪ P3, P2, P1‬ﺳﺘﻮﻧﻬﺎﻱ ‪ P‬ﺭﺍ ﻧﻤﺎﻳﺶ ﺩﻫﻨﺪ ﻭ‬
‫ﻛﻪ ﺩﺭ ﺁﻥ ‪X n ....X 2 , X1‬‬
‫ﻣﺎﺗﺮﻳﺲ ﻗﻄﺮﯼ ‪ D‬ﺑﻪ ﺻﻮﺭﺕ‬
‫‪é d11‬‬ ‫‪0‬‬ ‫‪0 ù‬‬
‫‪D = êê 0‬‬ ‫‪d 22‬‬ ‫‪0 úú‬‬ ‫)‪(1-19‬‬
‫‪êë 0‬‬ ‫‪0‬‬ ‫‪d 33 úû‬‬
‫ﺑﺎﺷﺪ ﺣﺎﺻﻞ ‪ AP=PD‬ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ]‪[AP1 AP2 AP3]=[d11P1 d22P2 d33P3‬‬
‫ﻭ ﻳﺎ‬
‫‪AP1=d11P1,AP2=d22P2,‬‬ ‫‪AP(13-=d‬‬
‫‪2033)P3‬‬
‫ﻗﻀﻴﻪ‪ :‬ﻫﺮﮔﺎﻩ ﻣﺎﺗﺮﻳﺲ ‪ An*n‬ﺩﺍﺭﺍﻱ ‪ n‬ﺑﺮﺩﺍﺭ ﻭﻳﮋﻩ ﻣﺴﺘﻘﻞ ﺑـﻪ ﺗﺮﺗﻴـﺐ ‪ V1, V2, . . ., Vn‬ﺑﺎﺷـﺪ ﺁﻧﮕـﺎﻩ ‪A‬‬
‫ﻗﻄﺮﻱ ﭘﺬﻳﺮ ﺍﺳﺖ‪.‬‬
‫ﻣﺜﺎﻝ‪ :1- 6‬ﻣﺎﺗﺮﻳﺲ ﺯﻳﺮ ﺭﺍ ﻗﻄﺮﻱ ﻛﻨﻴﺪ‪:‬‬

‫‪é- 5 9 ù‬‬
‫‪A= ê‬‬ ‫‪ú‬‬
‫‪ë- 6 10û‬‬
‫‪é- 5 - l‬‬ ‫‪9‬‬ ‫‪ù‬‬

‫‪det( A - l I ) = ê‬‬ ‫‪= l 2 - 5l + 4 Þ‬‬ ‫ﺣــﻞ‪l1 = 1 Þ V1 = [3 2 ]T :‬‬
‫‪ë -6‬‬ ‫‪10 - l úû‬‬
‫‪l 2 = 4 Þ V2 = [1 1]T‬‬
‫‪é3 1ù‬‬ ‫‪é 1 - 1ù‬‬

‫‪P = [V1 V2 ] = ê‬‬ ‫‪ú‬‬ ‫‪Þ P -1 = ê‬‬ ‫‪ú‬‬
‫‪ë2 1û‬‬ ‫‪ë- 2 3 û‬‬
‫‪é 1 - 1ù é - 5 9 ù é3 1ù é1 0ù‬‬
‫‪Þ P -1 AP = ê‬‬ ‫‪úê‬‬ ‫‪úê‬‬ ‫‪ú=ê‬‬ ‫‪ú=D‬‬
‫‪ë - 2 3 û ë - 6 10û ë2 1û ë0 4û‬‬
‫‪é1 3ù‬‬ ‫‪é 4 0ù‬‬
‫‪ P = ê‬ﺍﮔﺮ ﻣﻌﻜﻮﺱ ﮔﺮﺩﺩ‬ ‫‪ú‬‬ ‫‪D‬‬ ‫=‬ ‫‪ê0 1ú‬‬
‫‪ë1 2û‬‬ ‫‪ë‬‬ ‫‪û‬‬
‫ﺗﻤﺮﻳﻦ‪: 1- 7‬‬
‫ﺍﻟﻒ( ﻣﺸﺨﺺ ﮐﻨﻴﺪ ﮐﻪ ﺁﻳﺎ ﻣﺎﺗﺮﻳﺲ ‪ A‬ﻗﻄﺮﯼ ﭘﺬﻳﺮ ﺍﺳﺖ ﻳﺎ ﻧﻪ‪ .‬ﺩﺭ ﺻﻮﺭﺕ ﻣﺜﺒﺖ ﺑﻮﺩﻥ ﺟـﻮﺍﺏ ﻣـﺎﺗﺮﻳﺲ‬
‫ﻫﺎﯼ ‪ P‬ﻭ ‪ D‬ﺭﺍ ﭼﻨﺎﻥ ﺗﻌﻴﻴﻦ ﮐﻨﻴﺪ ﮐﻪ ‪D=P-1AP‬‬
‫‪é1 2 1ù‬‬ ‫‪é 1 -1 2 ù‬‬ ‫‪é0 0 0ù‬‬
‫‪A= êê 6 -1 0 úú‬‬ ‫‪ : P = êê 6 2 3 úú , D = êê0 - 4 0úú‬ﺣﻞ‬
‫‪êë-1 - 2 -1úû‬‬ ‫‪êë-13 1 - 2úû‬‬ ‫‪êë0 0 3úû‬‬
‫ب( ﺟﻮﺍﺏ ﺭﺍ ﺑﺎ ‪ Mathematica‬ﻧﻴﺰ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
14 ‫ﻣﺎﺗﺮﻳﺲ ﻫﺎ‬
‫ ﻣﺸﺘﻘﺎﺕ ﺑﺮﺩﺍﺭﻫﺎ ﻭ ﻣﺎﺗﺮﻳﺴﻬﺎ ﻭ ﺗﻮﺍﺑﻊ ﺁﻧﻬﺎ‬1- 2
æ x1 ö
ç ÷
çx ÷ (1-21)
X = ç 2 ÷ Î Rn

ç ÷
çx ÷
è nø
X = ( x1 x2  xn )
T
(1-22)
.‫ ﺑﺎﺷﺪ‬X ‫ ﺗﺎﺑﻌﻲ ﺍﺯ‬Y ‫ﻓﺮﺽ ﻛﻨﻴﺪ‬
æ y1 ( X ) ö æ y1 ( x1 , x2 ,..., xn ) ö
ç ÷ ç ÷
ç y2 ( X ) ÷ ç y2 ( x1 , x2 ,..., xn ) ÷ (1-23)
Y = Y( X ) = ç ÷ =ç ÷
 
ç ÷ ç ÷
ç y ( X ) ÷ ç y ( x , x ,..., x ) ÷
è m ø è m 1 2 n ø
X ‫ ﻧﺴﺒﺖ ﺑﻪ‬Y ‫ﻣﺸﺘﻖ‬
æ ¶y1 / ¶X ö æ ¶y1 / ¶x1 ¶y1 / ¶x2  ¶y1 / ¶xn ö

ç ÷ ç ÷
¶Y ç ¶y2 / ¶X ÷ ç ¶y2 / ¶x1 ¶y2 / ¶x2  ¶y2 / ¶xn ÷ m*n (1-24)
= ç  ÷ =ç  ÷ ÎR
¶X   
ç ÷ ç ÷
è ¶ym / ¶X ø è ¶ym / ¶x1 ¶ym / ¶x2  ¶y m / ¶xn ø
.‫ ﺑﺎﺷﺪ‬m=1 ‫ﺩﺭ ﺣﺎﻟﻴﻜﻪ‬
¶y ¶y ¶y ¶y
=(  ) (1-25)
¶X ¶x1 ¶x2 ¶xn
:‫ ﺑﺮﺍﺑﺮ‬t ‫ ﻧﺴﺒﺖ ﺑﻪ‬Y ‫ ﻣﺸﺘﻖ‬،‫ ﺑﺎﺷﻨﺪ‬t ‫ ﺗﻮﺍﺑﻌﻲ ﺍﺯ ﭘﺎﺭﺍﻣﺘﺮ‬X ‫ﺍﮔﺮ ﺍﻟﻤﺎﻧﻬﺎﻱ‬
æ dy1 / dt ö æ ¶y1 / ¶x1 dx1 / dt + ¶y1 / ¶x2 dx2 / dt + ... + ¶y1 / ¶xn dxn / dt ö
ç ÷ ç ÷
dY ç dy2 / dt ÷ ç ¶y2 / ¶x1 dx1 / dt + ¶y2 / ¶x2 dx2 / dt + ... + ¶y2 / ¶xn dxn / dt ÷
= ÷ =ç
dt ç   ÷
ç ÷ ç ÷
ç dy / dt ÷ ç ¶y / ¶x dx / dt + ¶y / ¶x dx / dt + ... + ¶y / ¶x dx / dt ÷
è m ø è m 1 1 m 2 2 m n n ø
æ ¶y1 / ¶x1 ¶y1 / ¶x2  ¶y1 / ¶xn ö æ dx1 / dt ö
ç ÷ç ÷
ç ¶y / ¶x1 ¶y2 / ¶x2  ¶y2 / ¶xn ÷ ç dx2 / dt ÷ ¶Y dX
=ç 2 ÷ ç  ÷ = ¶X dt (1-26)
   
ç ÷ç ÷
ç ¶y / ¶x ¶ym / ¶x2  ¶ym / ¶xn ÷ø çè dxn / dt ÷ø
è m 1
:‫ ﻣﻄﻠﻮﺏ ﺍﺳﺖ ﻣﺸﺘﻖ ﺑﺮﺩﺍﺭ ﻣﻮﻗﻌﻴﺖ ﻳﻚ ﺑﺎﺯﻭﻱ ﺩﻭ ﺩﺭﺟﻪ ﺁﺯﺍﺩﻱ ﺻﻔﺤﻪ ﺍﻱ‬1- 7‫ﻣﺜﺎﻝ‬
1-1‫ﺷﻜﻞ‬
æ r1 (q ) ö æ l1 cos q 1 + l 2 cos(q 1 + q 2 ) ö
R = çç ÷÷ = çç ÷÷
è r2 (q ) ø è l1 sin q 1 + l 2 sin( q 1 + q 2 ) ø
: ‫ﺑﺮﺍﯼ ﺳﺮﻋﺖ ﻧﻘﻄﻪ ﺍﻧﺘﻬﺎﻳﻲ ﺍﻳﻦ ﺑﺎﺯﻭ ﺑﺪﺳﺖ ﺧﻮﺍﻫﻴﻢ ﺁﻭﺭﺩ‬
dR ¶R dq æ ¶r1 / ¶q1 ¶r1 / ¶q 2 ö æ dq1 / dt ö
= =ç ÷ç ÷
dt ¶q dt çè ¶r2 / ¶q1 ¶r2 / ¶q 2 ÷ø çè dq 2 / dt ÷ø
æ - l sin q1 - l 2 sin(q1 + q 2 ) - l 2 sin(q1 + q 2 ) ö æ dq1 / dt ö
= çç 1 ÷ç ÷
è l1 cosq1 + l 2 cos(q1 + q 2 ) l 2 cos(q1 + q 2 ) ÷ø çè dq 2 / dt ÷ø
‫ ﻣﺸﺘﻘﺎﺕ ﻣﺎﺗﺮﻳﺴﻬﺎ‬1-2-1
‫ ﻭ‬X ‫ ﻳﻚ ﺗﺎﺑﻌﻲ ﺍﺯ‬A ‫ﻭﻗﺘﻴﻜﻪ‬
16 ‫ﻣﺎﺗﺮﻳﺲ ﻫﺎ‬
æ a 11 a 12  a 1m ö
ç ÷
ça a 22  a 2m ÷
A = ç 21 ÷ Î R l *m
   
ç ÷
ça  a lm ÷ø
è l1 a l 2
: ‫ﻛﻪ ﺩﺭ ﺁﻥ‬
æ x1 (t ) ö
ç ÷
ç x2 (t ) ÷
X = X (t ) = ç ; a ij = a ij ( X ) = a ij ( x1 , x2 ,..., xn )
 ÷
ç ÷
ç x (t ) ÷
è n ø
:t ‫ ﻧﺴﺒﺖ ﺑﻪ‬A ‫ﻣﺸﺘﻖ‬
dA ¶A dx1 ¶A dx 2 ¶A dxn n
¶A dxi
= + + ... + =å (1-27)
dt ¶x1 dt ¶x2 dt ¶xn dt i =1 ¶ xi dt
æ ¶a 11 / ¶xi ¶a 12 / ¶xi  ¶a 1m / ¶xi ö

ç ÷
¶A ç ¶a 21 / ¶xi ¶a 22 / ¶xi  ¶a 2 m / ¶xi ÷
=
¶xi ç     ÷
ç ÷ (1-28)
ç ¶a / ¶x ¶a / ¶x  ¶a / ¶x ÷
è l1 i l2 i lm i ø
dA ¶A dX
= (1-29)
dt ¶X dt
‫ ﻣﻄﻠﻮﺏ ﺍﺳﺖ ﻣﺸﺘﻖ ﺑﺮﺩﺍﺭ ﺳﺮﻋﺖ ﻧﻘﻄﻪ ﺍﻧﺘﻬﺎﻳﻲ ﻳﻚ ﺑﺎﺯﻭﻱ ﺩﻭ ﺩﺭﺟﻪ ﺁﺯﺍﺩﻱ ﺻﻔﺤﻪ ﺍﻱ‬:1- 8‫ﻣﺜﺎﻝ‬
d 2 R ¶R d 2q d ¶R dq
= + ( )
dt 2 ¶q dt 2 dt ¶q dt (1-30)
d ¶R dJ 2
¶J dq i
( )= =å
dt ¶q dt i =1 ¶q i dt
dJ ¶J . ¶J .
= q 1+ q2
dt ¶q 1 ¶q 2
æ - l cosq 1 - l 2 cos(q 1 + q 2 ) - l 2 cos(q 1 + q 2 ) ö . (1-31)
= çç 1 ÷÷q 1
è - l1 sin q 1 - l 2 sin(q 1 + q 2 ) - l 2 sin(q 1 + q 2 ) ø
æ - l cos(q 1 + q 2 ) - l 2 cos(q 1 + q 2 ) ö .
+ çç 2 ÷÷ q 2
è - l 2 sin(q 1 + q 2 ) - l 2 sin(q 1 + q 2 ) ø
‫‪dJ ¶J dq‬‬
‫=‬
‫‪dt ¶q dt‬‬
‫ﺗﺮﻡ ﺩﻭﻡ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ‪1-30‬‬
‫‪d ¶R dq‬‬ ‫‪¶J .‬‬ ‫‪¶J . dq‬‬ ‫‪.‬‬ ‫‪¶J dq . ¶J dq‬‬
‫) (‬ ‫(=‬ ‫‪q 1+‬‬ ‫)‪q 2‬‬ ‫‪=q1‬‬ ‫‪+q 2‬‬
‫‪dt ¶q dt‬‬ ‫‪¶q1‬‬ ‫‪¶q 2‬‬ ‫‪dt‬‬ ‫‪¶q1 dt‬‬ ‫‪¶q 2 dt‬‬
‫‪æ.‬‬
‫) ‪. æ - l1 cos q1 - l2 cos(q1 + q 2‬‬ ‫÷‪- l2 cos(q1 + q 2 ) ö çq 1 ö‬‬
‫‪= q 1 çç‬‬ ‫)‪÷÷ ç . ÷ (1-32‬‬
‫‪-‬‬
‫‪è 1‬‬ ‫‪l‬‬ ‫‪sin‬‬ ‫‪q‬‬‫‪1‬‬ ‫‪-‬‬ ‫‪l‬‬ ‫‪2‬‬ ‫(‪sin‬‬ ‫‪q‬‬‫‪1‬‬ ‫‪+‬‬ ‫‪q‬‬ ‫‪2‬‬ ‫)‬ ‫‪-‬‬ ‫‪l‬‬ ‫‪2‬‬ ‫(‪sin‬‬ ‫‪q‬‬ ‫‪1‬‬ ‫‪+‬‬ ‫‪q‬‬ ‫‪2‬‬ ‫)‬ ‫÷ ‪ø çq 2‬‬
‫‪è ø‬‬
‫‪æ . ö‬‬
‫‪. æ - l2 cos(q1 + q 2 ) - l2 cos(q1 + q 2 ) ö q1‬‬
‫÷ ‪ç‬‬
‫‪+ q 2 çç‬‬ ‫÷ ‪÷÷ ç .‬‬
‫‪-‬‬
‫‪è 2‬‬ ‫‪l‬‬ ‫(‪sin‬‬ ‫‪q‬‬‫‪1‬‬ ‫‪+‬‬ ‫‪q‬‬ ‫‪2‬‬ ‫)‬ ‫‪-‬‬ ‫‪l‬‬ ‫‪2‬‬ ‫(‪sin‬‬ ‫‪q‬‬‫‪1‬‬ ‫‪+‬‬ ‫‪q‬‬ ‫)‬
‫‪2 ø q2‬‬
‫÷ ‪ç‬‬
‫÷ ‪ç‬‬
‫‪è ø‬‬
‫‪æ - l1 cosq1 - l2 cos(q1 + q 2 )ö . æ - l2 cos(q1 +q 2)ö . .‬‬ ‫‪.2‬‬
‫‪2‬‬
‫‪=ç‬‬ ‫‪÷ q1 + ç‬‬ ‫) ‪÷ ( 2q 1 q 2 + q 2‬‬
‫‪è - l1 sin q1 - l2 sin(q1 + q 2 ) ø‬‬ ‫‪è - l2 sin(q1 + q 2 )ø‬‬
‫ﺗﻤﺮﻳﻦ‪ 1- 7‬ﻣﺸﺘﻖ ﺩﺗﺮﻣﻴﻨﺎﻥ‪ :‬ﺛﺎﺑﺖ ﮐﻨﻴﺪ ﺑﺮﺍﯼ ﻣﺸﺘﻖ ﺩﺗﺮﻣﻴﻨﺎﻥ ﻣﺎﺗﺮﻳﺲ ‪ A‬ﺭﺍﺑﻄﻪ ﺯﻳﺮ ﺑﺮﻗﺮﺍﺭ ﺍﺳﺖ‪:‬‬
‫‪d‬‬ ‫‪n n‬‬
‫¶‬ ‫) ‪da (t‬‬
‫‪det A(t ) = åå‬‬ ‫‪{det A(t )} ij‬‬
‫‪dt‬‬ ‫‪i =1 j =1 ¶a ij‬‬ ‫‪dt‬‬
‫‪ 1- 3‬ﺗﺎﻧﺴﻮﺭﻫﺎ‪:‬‬
‫ﺩﺭ ﻧﮕﺎﺷﺖ ﺍﺳﮑﺎﻟﺮﻫﺎ ﺗﻮﺳﻂ ﺗﻮﺍﺑﻊ ﺩﺍﺭﻳﻢ ‪:‬‬
‫‪x ® y( x),‬‬ ‫‪Dy = y¢.Dx‬‬ ‫)‪(1-33‬‬
‫ﻳﻌﻨﻲ ﺗﻐﻴﻴﺮﺍﺕ ﺗﺎﺑﻊ ‪ y‬ﺩﺭ ﺍﺛﺮ ﺗﻐﻴﻴﺮﺍﺕ ‪ x‬ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺗﻮﺳﻂ ‪ y¢‬ﺑﺪﺳﺖ ﺁﻭﺭﺩ‪ .‬ﺍﮐﻨﻮﻥ ﻫﻤـﻴﻦ ﻣﻮﺿـﻮﻉ ﺭﺍ‬
‫‪‬‬
‫ﺩﺭ ﻣﻮﺭﺩ ﻧﮕﺎﺷﺖ ﺑﺮﺩﺍﺭﻫﺎ ﺑﺮﺭﺳﻲ ﻣﻲ ﻧﻤﺎﻳﻴﻢ‪ .‬ﺑﺮﺍﻱ ﻧﮕﺎﺷـﺖ ﻣﻴـﺪﺍﻥ ﺑـﺮﺩﺍﺭﻱ ‪ r‬ﺗﻮﺳـﻂ ﺗـﺎﺑﻊ ﺑـﺮﺩﺍﺭﻱ‬
‫‪ ‬‬
‫) ‪ s (r‬ﺑﻪ ﻃﺮﻳﻖ ﻣﺸﺎﺑﻪ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ ‪:‬‬
‫‪‬‬ ‫‪‬‬ ‫‪‬‬ ‫‪‬‬
‫‪r ® s (r ),‬‬ ‫‪Ds = A.Dr‬‬ ‫)‪(1-34‬‬
‫ﺩﺭ ﺍﻳﻨﺠﺎ ‪ A‬ﭼﻴﺴﺖ؟ ‪ A‬ﻧﻤﻲﺗﻮﺍﻧﺪ ﻳﮏ ﻋﺪﺩ ﺍﺳﮑﺎﻟﺮ ﺑﺎﺷﺪ‪ ،‬ﺯﻳﺮﺍ ﺿﺮﺏ ﻳﮏ ﺍﺳﮑﺎﻟﺮ ﺩﺭ ﻳﮏ ﺑﺮﺩﺍﺭ‪ ،‬ﺑـﺮﺩﺍﺭﻱ‬
‫ﺩﺭ ﻫﻤﺎﻥ ﺟﻬﺖ ﺍﺭﺍﺋﻪ ﻣﻲﺩﻫﺪ ﻭ ﺍﻳﻦ ﻧﻤﻲﺗﻮﺍﻧﺪ ﺑﺮﺍﻱ ﻫﺮ ﺗﺎﺑﻊ ﺩﻟﺨﻮﺍﻩ ‪ s‬ﺩﺭﺳﺖ ﺑﺎﺷﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ ‪ A‬ﻧﻤﻲﺗﻮﺍﻧﺪ‬
‫ﻳﮏ ﺑﺮﺩﺍﺭ ﺑﺎﺷﺪ ﺯﻳﺮﺍ ﺍﺯ ﺿﺮﺏ ﺩﻭ ﺑﺮﺩﺍﺭ ﻳﮏ ﻋﺪﺩ ﺍﺳﮑﺎﻟﺮ ﺣﺎﺻﻞ ﻣﻲﮔـﺮﺩﺩ ﻧـﻪ ﻳـﮏ ﺑـﺮﺩﺍﺭ‪ .‬ﺑﻨـﺎﺑﺮﺍﻳﻦ ‪A‬‬
‫ﻣﺎﻫﻴﺖ ﺩﻳﮕﺮﻱ ﺩﺍﺭﺩ ﮐﻪ ﺁﻧﺮﺍ ﺗﺎﻧﺴﻮﺭ ﻣﻲﻧﺎﻣﻨﺪ‪ .‬ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ ﺗﺎﻧﺴﻮﺭ ﺑﻴﺎﻧﮕﺮ ﻳـﮏ ﺗﺒـﺪﻳﻞ ﺧﻄـﻲ ﺍﺯ ﻳـﮏ‬
‫ﻓﻀﺎﻱ ﺑﺮﺩﺍﺭﻱ ﺑﻪ ﻓﻀﺎﻱ ﺑﺮﺩﺍﺭﻱ ﺩﻳﮕﺮ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺗﺎﻧﺴﻮﺭﻫﺎ ﺗﻮﺳﻂ ﻣﺎﺗﺮﻳﺴﻬﺎ ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﻣﻲﺷﻮﻧﺪ؛ ﺑﻪ‬
‫ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ ﺗﺎﻧﺴﻮﺭﻫﺎ ﺯﻳﺮﺩﺳﺘﻪﺍﻱ ﺍﺯ ﻣﺎﺗﺮﻳﺴﻬﺎ ﻫﺴﺘﻨﺪ ﮐﻪ ﺍﺭﺗﺒﺎﻁ ﺑﻴﻦ ﺩﻭ ﻓﻀﺎﻱ ﺑﺮﺩﺍﺭﻱ ﺭﺍ ﺗﻮﺻـﻴﻒ‬
‫ﻣﻲﮐﻨﻨﺪ‪.‬‬
‫ﻋﻤﻠﻴﺎﺕ ﺭﻳﺎﺿﻲ ﺑﺮﺭﻭﻱ ﺗﺎﻧﺴﻮﺭﻫﺎ ﺑﻪ ﺷﺮﺡ ﺯﻳﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬
‫ﺿﺮﺏ ﺗﺎﻧﺴﻮﺭ ﺩﺭ ﺑﺮﺩﺍﺭ‪:‬‬ ‫·‬
‫ﻃﺒﻖ ﺗﻌﺮﻳﻒ ﺿﺮﺏ ﺗﺎﻧﺴﻮﺭ ﺩﺭ ﺑﺮﺩﺍﺭ‪ ،‬ﺑﺮﺩﺍﺭ ﺩﻳﮕﺮﻱ ﺭﺍ ﻧﺘﻴﺠﻪ ﻣﻲﺩﻫﺪ‪ .‬ﺍﻳـﻦ ﺿـﺮﺏ ﺑـﺼﻮﺭﺕ‬
‫ﺿﺮﺏ ﻣﺎﺗﺮﻳﺲ ﺩﺭ ﺑﺮﺩﺍﺭ ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺿﺮﺏ ﺍﺳﮑﺎﻟﺮ ﺩﺭ ﺗﺎﻧﺴﻮﺭ‪:‬‬ ‫·‬
‫‪1‬‬
‫ﺿﺮﺏ ﺍﺳﮑﺎﻟﺮ ﺩﺭ ﺗﺎﻧﺴﻮﺭ ﺭﺍ ﺩﺭ ﺍﺻﻄﻼﺡ ﮔﺴﺘﺮﺵ ﺍﻳﺰﻭﺗﺮﻭﭘﻴﮏ ﻣﻲﮔﻮﻳﻨﺪ‪ ،‬ﺯﻳﺮﺍ ﺑﺎﻋﺚ ﺗﻐﻴﻴـﺮ‬
‫ﺍﻧﺪﺍﺯﻩ ﺗﻤﺎﻣﻲ ﺑﺮﺩﺍﺭﻫﺎ ﺑﻪ ﻳﮏ ﺍﻧﺪﺍﺯﻩ ﻣﻲﺷﻮﺩ‪.‬‬
‫‪(lAˆ )x = lAˆ x = Aˆ lx‬‬ ‫)‪(1-35‬‬
‫ﺟﻤﻊ ﻭ ﺗﻔﺮﻳﻖ ‪:‬‬ ‫·‬

‫‪(Aˆ ± Bˆ )x = Aˆ x + Bˆ x‬‬ ‫)‪(1-36‬‬
‫‪ 1- 3- 1‬ﺿﺮﺏ ﺗﺎﻧﺴﻮﺭﻫﺎ‪:‬‬
‫‪ˆ r = s , Bˆs = t Þ Bˆ A‬‬
‫‪A‬‬ ‫‪ˆr = t‬‬ ‫)‪(1-37‬‬
‫ﺑﻪ ﺗﺮﺗﻴﺐ ﺗﺎﻧﺴﻮﺭﻫﺎﻱ ‪ A‬ﻭ ‪ B‬ﺗﻮﺟﻪ ﮐﻨﻴﺪ‪.‬‬

‫ﺗﻤﺎﻣﻲ ﻗﻮﺍﻧﻴﻦ ﻣﻌﻤﻮﻟﻲ ﺟﺒﺮﻱ ﺑﺮﺍﻱ ﺗﺎﻧﺴﻮﺭﻫﺎ ﻫﻢ ﺻﺎﺩﻕ ﻫﺴﺘﻨﺪ‪ ،‬ﺑﻪ ﺟﺰ ﺟﺎﺑﺠﺎﻳﻲ ﭘﺬﻳﺮﻱ‪:‬‬ ‫·‬
‫‪ˆ Bˆ ¹ Bˆ A‬‬
‫‪A‬‬ ‫ˆ‬ ‫)‪(1-38‬‬
‫)‪(1-39‬‬
‫‪1‬‬
‫‪Isotropic Stretch‬‬
‫ﻫﻤﺎﻧﻄﻮﺭ ﮐﻪ ﮔﻔﺘﻪ ﺷﺪ ﺗﺎﻧﺴﻮﺭﻫﺎ ﺑﻴﺎﻧﮕﺮ ﺗﺒﺪﻳﻼﺕ ﺧﻄﻲ ﺑﻴﻦ ﻓﻀﺎﻫﺎﻱ ﺑﺮﺩﺍﺭﻱ ﻫـﺴﺘﻨﺪ‪ .‬ﺍﮔـﺮ ﻓـﺮﺽ ﮐﻨـﻴﻢ‬
‫ﺑﺮﺩﺍﺭﻫﺎﻱ ‪ r‬ﻭ ‪ s‬ﺩﺭ ﻓﻀﺎﻫﺎﻱ ‪ 3‬ﺑﻌﺪﻱ ﺗﻌﺮﻳﻒ ﺷﺪﻩ ﺑﺎﺷﻨﺪ‪ ،‬ﺑﺮﺍﻱ ﻧﺸﺎﻥ ﺩﺍﺩﻥ ﻳﮏ ﺗﺎﻧﺴﻮﺭ ﺩﺍﺭﻳﻢ‪:‬‬
‫‪é s1 ù‬‬ ‫‪é r1 ù ìs1 = a 11 r1 + a 12 r2 + a 13 r3‬‬
‫‪ï‬‬
‫‪s = ê s2 ú , r = êê r2 úú Þ ís2 = a 21 r1 + a 22 r2 + a 23 r3‬‬
‫‪ê‬‬ ‫‪ú‬‬ ‫)‪(1-40‬‬
‫‪êë s 3 úû‬‬ ‫‪êë r3 úû ïîs3 = a 31 r1 + a 32 r2 + a 33 r3‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎﻧﺴﻮﺭ ﺭﺍ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺗﻮﺳﻂ ﻳﮏ ﻣﺎﺗﺮﻳﺲ ﻧﺸﺎﻥ ﺩﻫﻴﻢ ‪:‬‬
‫‪é a 11‬‬ ‫‪a 12‬‬ ‫‪a 13 ù‬‬
‫‪A = êêa 21‬‬ ‫‪a 22‬‬ ‫‪a 23 úú‬‬
‫)‪(1-41‬‬
‫‪ëê a 31‬‬ ‫‪a 32‬‬ ‫‪a 33 ûú‬‬
‫ﻣﻌﻤﻮﻻ ﺑﺮﺍﻱ ﺳﺎﺩﮔﻲ ﻣﺜﻼ ﺑﻪ ﺟﺎﻱ "ﻣﺎﺗﺮﻳﺲ ﺑﻴﺎﻧﮕﺮ ﺗﺎﻧﺴﻮﺭ ﺩﻭﺭﺍﻥ" ﻓﻘﻂ ﮔﻔﺘﻪ ﻣﻲﺷﻮﺩ "ﻣﺎﺗﺮﻳﺲ ﺩﻭﺭﺍﻥ"‪.‬‬
‫‪ 1- 4‬ﻣﻔﺎﻫﻴﻢ ﺍﻭﻟﻴﻪ‪:‬‬
‫ﺑﻪ ﻣﻨﻈﻮﺭ ﻓﺮﻣﻮﻟﻪ ﻛﺮﺩﻥ ﺳﻴﺴﺘﻢ ﻫﺎ ‪ ،‬ﺑﺮﺭﺳﻲ ﻣﻔﺎﻫﻴﻢ ﻭ ﺭﻭﺷﻬﺎﻱ ﺭﻳﺎﺿﻲ ﻣـﻮﺭﺩ ﻧﻴـﺎﺯ ﺿـﺮﻭﺭﻱ ﺑﻨﻈـﺮ‬
‫ﻣﻴﺮﺳﺪ‪.‬‬
‫‪ 1-4-1‬ﺗﻌﺮﻳﻒ ﻣﺨﺘﺼﺎﺕ‪:‬‬
‫ﺍﮔﺮ ﺑﺮﺩﺍﺭ ‪ P‬ﻭ }‪ x={x1, x2, . . ., xn‬ﻣﺤﻮﺭﻫﺎﻱ ﻗﺎﺋﻢ ﺩﺭ ﻓﻀﺎﻱ ‪ Rn‬ﺑﺎﺷﺪ ﻭ ﻣﺨﺘﺼﺎﺕ ‪ P‬ﻧﺴﺒﺖ ﺑﻪ ‪ x‬ﺭﺍ‬
‫ﺑﺼﻮﺭﺕ ‪ [P]x‬ﻧﻤﺎﻳﺶ ﺩﻫﻨﺪ‪ ،‬ﺩﺍﺭﻳﻢ‬
‫‪n‬‬
‫‪P = å [P ]k x k‬‬
‫‪x‬‬
‫‪k =1‬‬ ‫)‪(1-42‬‬

‫] ‪[P ] = [P .m1 , P .m2 , P .m‬‬
‫‪m‬‬ ‫‪3 T‬‬
‫ﺑﺮﺩﺍﺭ ﻣﻮﻗﻌﻴﺖ ﺩﺭ ﺩﺳﺘﮕﺎﻩ ﻣﺘﺤﺮﻙ‬
‫‪[P ]F = [P. f 1 , P . f 2 , P. f 3 ]T‬‬ ‫ﺑﺮﺩﺍﺭ ﻣﻮﻗﻴﻌﺖ ﺩﺭ ﺩﺳﺘﮕﺎﻩ ﺛﺎﺑﺖ‬
‫‪ 1-4-2‬ﺗﻐﻴﻴﺮ ﺣﺎﻟﺖ ﻣﺨﺘﺼﺎﺕ‪:‬‬

‫ﺍﮔﺮ }‪ F={f1, f2, . . ., fn‬ﻭ }‪ M={m1, m2, . . ., mn‬ﻗﺎﺑﻬﺎﻱ ﻣﺨﺘـﺼﺎﺕ ﺩﺭ ﻓـﻀﺎﻱ ‪ Rn‬ﻭ ‪ A‬ﻣـﺎﺗﺮﻳﺲ‬
‫‪ ،n*n‬ﺑﺼﻮﺭﺕ ‪ 1 £ k, j £ n Akj=fk.mj‬ﺗﻌﺮﻳﻒ ﺷﻮﻧﺪ‪ ،‬ﺁﻧﮕﺎﻩ ﺑﺮﺍﻱ ﻫﺮ ﻧﻘﻄﺔ ‪ P‬ﺩﺭ ﻓﻀﺎﻱ ‪ Rn‬ﺩﺍﺭﻳﻢ‬
‫‪[P ]F‬‬ ‫] ‪= A[P‬‬

‫‪m‬‬
‫)‪(1-43‬‬
‫‪é f 1 .m1‬‬ ‫‪f 1.m2‬‬ ‫‪f 1 .m3 ù‬‬

‫‪ê‬‬ ‫‪ú‬‬
‫‪A = ê f 2 .m1‬‬ ‫‪f 2 .m2‬‬ ‫‪f 2 .m3 ú‬‬ ‫)‪(1-44‬‬
‫‪ê f 3 .m1‬‬ ‫‪f 3 .m2‬‬ ‫‪f 3 .m3 úû‬‬
‫‪ë‬‬
‫‪ 1-4-3‬ﻣﺎﺗﺮﻳﺲ ﺩﻭﺭﺍﻥ‪:‬‬
‫ﺍﮔﺮ ﻗﺎﺏ ﻣﺨﺘﺼﺎﺕ ﻣﺘﺤﺮﻙ ‪ M‬ﺣﻮﻝ ﻳﻜﻲ ﺍﺯ ﺑﺮﺩﺍﺭﻫﺎﻱ ﻭﺍﺣﺪ ﻗﺎﺏ ﻣﺨﺘﺼﺎﺕ ﺛﺎﺑﺖ ‪ F‬ﺩﻭﺭﺍﻥ ﻧﻤﺎﻳﺪ‪ ،‬ﺁﻧﮕﺎﻩ‬
‫ﻧﺘﻴﺠﻪ ﻣﺎﺗﺮﻳﺲ ﺗﺒﺪﻳﻞ ﺭﺍ ﻣﺎﺗﺮﻳﺲ ﺩﻭﺭﺍﻥ ﮔﻮﻳﻨﺪ‪.‬‬
‫‪é1‬‬ ‫‪0‬‬ ‫‪0 ù é1‬‬ ‫‪0‬‬ ‫‪0 ù‬‬
‫‪R1 (f ) = A = êê0‬‬ ‫‪f . m2‬‬
‫‪2‬‬ ‫‪3ú‬‬ ‫‪ê‬‬
‫‪f . m ú = ê0 cosf‬‬
‫‪2‬‬
‫‪- sin f úú‬‬ ‫ﺣﻮﻝ ‪f1‬‬
‫‪êë0‬‬ ‫‪f 3 . m2‬‬ ‫‪f 3 . m3 úû êë0 sin f‬‬ ‫‪cos f úû‬‬
‫)‪(1-45‬‬
‫‪écosf - sin f 0ù‬‬ ‫‪é cosf 0 sin f ù‬‬
‫ﻭ ﺣﻮﻝ‪R3 (f ) = êê sin f cosf 0úú f 3‬‬ ‫‪R2 (f ) = êê 0‬‬ ‫‪1‬‬ ‫ﺣﻮﻝ ‪0 úú f2‬‬
‫‪êë 0‬‬ ‫‪0‬‬ ‫‪1úû‬‬ ‫‪êë- sin f 0 cosf úû‬‬
‫‪ 1-4-4‬ﺩﻭﺭﺍﻧﻬﺎﻱ ﻣﺮﻛﺐ‪:‬‬
‫ﺣﺎﺻﻠﻀﺮﺏ ﭼﻨﺪ ﻣﺎﺗﺮﻳﺲ ﺩﻭﺭﺍﻥ ﺩﺭ ﻫﻢ ﻣﻌﺮﻑ ﺩﻭﺭﺍﻧﻬﺎﻱ ﻣﺘـﻮﺍﻟﻲ ﺣـﻮﻝ ﺑـﺮﺩﺍﺭ ﻭﺍﺣـﺪ ﺍﺳـﺖ ﻭ ﺑـﻪ ﺁﻥ‬
‫ﺩﻭﺭﺍﻧﻬﺎﻱ ﻣﺮﻛﺐ ﮔﻮﻳﻨﺪ‪ .‬ﺗﻮﺳﻂ ﺩﻭﺭﺍﻧﻬﺎﻱ ﻣﺮﻛﺐ‪ ،‬ﺟﻬﺖ ﮔﻴﺮﻱ ﺩﻟﺨﻮﺍﻩ ﺩﺳﺖ ﺑﺎﺯﻭﻱ ﻣﻜﺎﻧﻴﻜﻲ ﺍﻣﻜﺎﻥ ﭘﺬﻳﺮ‬
‫ﻣﻴﺸﻮﺩ‪.‬‬
‫ﻗﻀﻴﻪ‪ :.1- 4- 1‬ﺗﻐﻴﻴﺮ ﺣﺎﻟﺖ )ﺗﺒﺪﻳﻞ( ﮔﺮﺩﺵ ‪ Y‬ﻭ ﭘﻴﭽﺶ ‪ ،P‬ﭼﺮﺧﺶ ‪:(YPR) R‬‬
‫) ‪YPR(f ) = R3 (f 3 ) R2 (f 2 ) R1 (f1‬‬ ‫)‪(1-46‬‬

‫‪éc3‬‬ ‫‪- s3‬‬ ‫‪0ù‬‬ ‫‪é c2‬‬ ‫‪0 s 2 ù é1 0‬‬ ‫‪0 ù éc 2 c3‬‬ ‫‪s1 s 2 c3 - c1 s3 c1 s 2 c 3 + s1 s3 ù‬‬
‫‪= êê s 3‬‬ ‫‪c3‬‬ ‫‪0úú‬‬ ‫‪ê 0‬‬
‫‪ê‬‬ ‫‪1 0 úú êê0 c1‬‬ ‫‪- s1 úú = êêc 2 c3‬‬ ‫‪s1 s2 s3 + c1c3 c1 s 2 s3 - s1c3 úú‬‬
‫‪êë 0‬‬ ‫‪0‬‬ ‫‪1úû‬‬ ‫‪êë- s 2‬‬ ‫‪0 c 2 úû êë0 s1‬‬ ‫‪c 2 úû êë - s 2‬‬ ‫‪s1c 2‬‬ ‫‪c1c 2‬‬ ‫‪úû‬‬
‫ﺷﻜﻞ ‪1-2‬‬
‫ﻗﻀﻴﻪ ‪ : . 1- 4- 2‬ﻣﻌﺎﺩﻝ ﻣﺤﻮﺭ ﺯﺍﻭﻳﻪ ﺍﻱ ‪:‬‬
‫ﺍﮔﺮ ‪ M , F‬ﺩﻭ ﻗﺎﺏ ﻣﺨﺘﺼﺎﺕ ﻋﻤﻮﺩ ﺩﺭ ﻓﻀﺎﻱ ‪ R3‬ﺑﺮ ﻫﻢ ﻣﻨﻄﺒﻖ ﺑﺎﺷﻨﺪ ﻭ ‪ M‬ﺣﻮﻝ ﺑـﺮﺩﺍﺭ ﻭﺍﺣـﺪ ‪ U‬ﺑـﻪ‬
‫ﺍﻧــﺪﺍﺯﺓ ‪ f‬ﺳــﻤﺖ ﺭﺍﺳــﺖ ﺑﭽﺮﺧــﺪ‪ ،‬ﺍﻧﮕــﺎﻩ ﻣــﺎﺗﺮﻳﺲ ﺩﻭﺭﺍﻥ ﻣﻌــﺎﺩﻝ ﻣﺤــﻮﺭ ﺯﺍﻭﻳــﻪ ﺍﻱ ﺁﻥ ) ‪ R(f , u‬ﻛــﻪ‬
‫ﻣﺨﺘﺼﺎﺕ ‪ M‬ﺭﺍ ﻧﺴﺒﺖ ﺑﻪ ﻣﺨﺘﺼﺎﺕ ‪ F‬ﺑﻴﺎﻥ ﻣﻲ ﻧﻤﺎﻳﺪ‪ ،‬ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‬
‫‪Vf = 1- cosf‬‬ ‫)‪(1-47‬‬
‫ﻗﻀﻴﻪ‪ : 1- 4- 3‬ﺩﻭﺭﺍﻥ ﭘﺎﻳﻪ‪:‬‬
‫ﻫﺮ ﮔﺎﻩ ﻣﺎﺗﺮﻳﺲ ﺩﻭﺭﺍﻥ ‪ R‬ﻣﻌﻠﻮﻡ ﺑﺎﺷﺪ ﺑﻨﺤﻮﻱ ﻛﻪ ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺤﻮﺭ ‪ fk‬ﺻﻮﺭﺕ ﮔﺮﻓﺘﻪ ﺑﺎﺷﺪ‪.‬‬
‫)‪(1-48‬‬
‫) ‪R(f , f ) = Rk (f‬‬
‫‪k‬‬
‫‪1£ k £ 3‬‬
‫ﺁﻧﮕﺎﻩ ﺩﺍﺭﻳﻢ‪:‬‬
‫‪é R32 - R23 ù‬‬
‫‪é trace( R) - 1ù‬‬ ‫‪1 ê‬‬ ‫)‪(1-49‬‬
‫‪f = arc cosê‬‬ ‫‪ú‬‬ ‫= ‪;u‬‬ ‫‪ê‬‬ ‫‪R13 - R31 úú‬‬
‫‪ë‬‬ ‫‪2‬‬ ‫‪û‬‬ ‫‪2‬‬ ‫‪sin‬‬ ‫‪f‬‬
‫‪êë R21 - R12 úû‬‬
‫‪ 1- 5‬ﻣﻘﺪﻣﺎﺕ ﺭﻳﺎﺿﻲ‬
‫‪ 1-5-1‬ﻣﻮﻗﻌﻴﺖ ﻭ ﺟﻬﺖ ﻳﻚ ﺟﺴﻢ ﺻﻠﺐ‬

‫ﻣﻄﺎﺑﻖ ﺷﻜﻞ ‪ 1-3‬ﻣﻮﻗﻌﻴﺖ ﺟﺴﻢ ﺻﻠﺐ ﻧﺴﺒﺖ ﺑﻪ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﺨﺘﺼﺎﺕ ﺛﺎﺑﺖ ‪ O-xyz‬ﺑـﻪ ﺻـﻮﺭﺕ ﺯﻳـﺮ‬
‫ﺑﻴﺎﻥ ﻣﻲﺷﻮﺩ‪:‬‬
‫‪ì xo ü‬‬
‫‪ï ï‬‬
‫‪X o = í yo ý‬‬
‫‪ïz ï‬‬ ‫)‪(1-50‬‬
‫‪î oþ‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ ‪ X o‬ﻳﻚ ﺑﺮﺩﺍﺭ ‪ 3×1‬ﺳﺘﻮﻧﻲ ﺍﺳﺖ‪.‬‬
‫ﺑﺮﺍﻱ ﺑﻴﺎﻥ ﺟﻬﺖ ﺟﺴﻢ ﺻﻠﺐ‪ ،‬ﺍﺯ ﺳﻪ ﻣﺤﻮﺭ ﻣﺨﺘﺼﺎﺕ ‪ z b , y b , x b‬ﻛﻪ ﺑﻪ ﺟﺴﻢ ﺻﻠﺐ ﻣﺘﺼﻠﻨﺪ‪ ،‬ﺍﺳـﺘﻔﺎﺩﻩ‬
‫ﻣـﻲﺷﻮﺩ‪.‬‬
‫)‪(1-51‬‬
‫]‪R = [n , t , b‬‬
‫ﻣﺎﺗﺮﻳﺲ ‪ R‬ﺟﻬﺖ ﺟﺴﻢ ﺻﻠﺐ ﺭﺍ ﺑﻄﻮﺭ ﻛﺎﻣﻞ ﻭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺮﺟﻊ ﻣﺨﺘﺼﺎﺕ ﺛﺎﺑﺖ ‪ O-xyz‬ﺑﻴﺎﻥ ﻣـﻲﻛﻨـﺪ‪.‬‬
‫ﺗﻮﺟﻪ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﺪ ﻛﻪ ﺑﺮﺩﺍﺭﻫﺎﻱ ﺳﺘﻮﻧﻲ ﻣﺎﺗﺮﻳﺲ ‪ R‬ﺩﻭ ﺑﻪ ﺩﻭ ﺑﺮ ﻫﻢ ﻋﻤﻮﺩﻧﺪ‪:‬‬
‫)‪(1-52‬‬
‫‪nT t = 0, t T b = 0, b n = 0‬‬ ‫‪T‬‬
‫ﻭ ﻫﻤﭽﻨﻴﻦ ﺩﺍﺭﺍﻱ ﻃﻮﻝ ﻭﺍﺣﺪﻧﺪ‪:‬‬

‫‪n = 1, t = 0 , b = 1‬‬ ‫)‪(1-53‬‬
‫‪ 1-5-2‬ﺗﺒﺪﻳﻼﺕ ﻣﺨﺘﺼﺎﺕ‬
‫ﻣﺨﺘﺼﺎﺕ ﻧﻘﻄﺔ ‪ P‬ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺨﺘﺼﺎﺕ ﺛﺎﺑﺖ ‪ O-xyz‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻴﺎﻥ ﻣﻲﻛﻨﻴﻢ‪:‬‬
‫‪æ xö‬‬
‫÷ ‪ç‬‬
‫÷‪X = ç y‬‬ ‫)‪(1-54‬‬
‫÷‪ç z‬‬
‫‪è ø‬‬
‫ﻫﻤﭽﻨﻴﻦ ﻣﻮﻗﻌﻴﺖ ﻧﻘﻄﺔ ‪ P‬ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺳﻴﺴﺘﻢ ﻣﺨﺘﺼﺎﺕ ﻣﺘﺼﻞ ﺑـﻪ ﺟـﺴﻢ ﺻـﻠﺐ‪ ، O ¢ - x b y b z b ،‬ﺑـﺎ‬
‫ﺭﺍﺑﻄﺔ ﺯﻳﺮ ﻧﺸﺎﻥ ﻣﻲﺩﻫﻴﻢ‪:‬‬
‫‪æu ö‬‬
‫÷ ‪ç‬‬
‫÷ ‪Xb = ç v‬‬ ‫)‪(1-55‬‬
‫÷‪ç w‬‬
‫‪è ø‬‬
‫ﺍﺯ ﻃﺮﻳﻖ ﻧﻘﺎﻁ ‪ B, A , O¢‬ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻧﻘﻄﺔ ‪ P‬ﺭﺳﻴﺪ‪.‬‬
‫®‬ ‫®‬ ‫®‬ ‫®‬ ‫®‬ ‫)‪(1-56‬‬
‫‪OP = OO ¢+ O ¢A + AB+ BP‬‬
‫®‬ ‫®‬
‫ﻛﻪ ﺩﺭ ﺁﻥ ‪ OP = X‬ﻭ ‪ OO ¢ = X o‬ﺍﺳﺖ‪ .‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﻋﺒﺎﺭﺕ ﻓﻮﻕ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﺎﺯﻧﻮﻳﺴﻲ ﻛﻨﻴﻢ‪:‬‬
‫)‪(1-57‬‬
‫‪X = X o + un + vt + wb‬‬
‫ﻛﻪ ﺍﺯ ﺭﻭﺍﺑﻂ )‪ (1-57‬ﻭ )‪ (1-55‬ﻧﻴﺰ ﻧﺘﻴﺠﻪ ﻣﻲﺷﻮﺩ‪:‬‬
‫)‪(1-58‬‬
‫‪X = X o + RX b‬‬
‫ﻃﺮﻓﻴﻦ ﻣﻌﺎﺩﻟﺔ )‪ (1-58‬ﺭﺍ ﺩﺭ ﻣﺎﺗﺮﻳﺲ ‪ R T‬ﻛﻪ ﺗﺮﺍﻧﻬﺎﺩﺓ ﻣﺎﺗﺮﻳﺲ ‪ R‬ﺍﺳﺖ‪ ،‬ﭘﻴﺶﺿﺮﺏ ﻣﻲﻛﻨﻴﻢ‪:‬‬
‫)‪(1-59‬‬
‫‪R T X = R T X o + R T RX b‬‬
‫‪T‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﻭﺍﺑﻂ)‪(1-53‬ﻭ )‪ (1- 52‬ﻭ ﻣﺎﺗﺮﻳﺲ ﺣﺎﺻﻠﻀﺮﺏ ‪ R R‬ﺩﺭ ﻃﺮﻑ ﺭﺍﺳﺖ ﺧﻮﺍﻫﺪ ﺷﺪ‪:‬‬
‫‪én T n n T t‬‬ ‫‪n T bù‬‬ ‫‪é1 0 0ù‬‬

‫‪ê‬‬ ‫‪ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬ ‫)‪(1-60‬‬
‫‪R R = ê tT n tT t‬‬
‫‪T‬‬
‫= ‪tTbú‬‬ ‫‪ê0 1 0ú‬‬
‫‪êb T n b T t‬‬ ‫‪b T bú‬‬ ‫‪êë0 0 1úû‬‬
‫‪ë‬‬ ‫‪û‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻌﺎﺩﻟﺔ) ‪ (1-59‬ﺑﻪ ﺷﻜﻞ ﺯﻳﺮ ﺧﻼﺻﻪ ﻣﻲﺷﻮﺩ‪:‬‬
‫)‪(1-61‬‬
‫‪X b = -R T X o + R T X‬‬
‫ﺷﻜﻞ‪ :1-3‬ﺗﺒﺪﻳﻞ ﻣﺨﺘﺼﺎﺕ‬
‫ﻫﻤﺎﻧﻄﻮﺭﻱ ﻛﻪ ﻣﻌﺎﺩﻟﺔ )‪ (1-61‬ﻧﺸﺎﻥ ﻣﻲ ﺩﻫﺪ‪ ،‬ﻋﻜﺲ ﻳﻚ ﻣﺎﺗﺮﻳﺲ ﻣﺘﻌﺎﻣﺪ ﺑﻪ ﺭﺍﺣﺘﻲ ﺗﻮﺳﻂ ﺗﺮﺍﻧﻬـﺎﺩﺓ ﺁﻥ‬
‫ﻣﺎﺗﺮﻳﺲ ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬
‫‪R -1 = RT‬‬ ‫)‪(1-62‬‬

‫‪ 1-5-3‬ﺗﺒﺪﻳﻼﺕ ﻫﻤﮕﻦ‬
‫ﺗﺒﺪﻳﻞ ﻣﺎﺗﺮﻳﺴﻲ ﻛﻪ ﺍﺯ ﻣﻌﺎﺩﻟﺔ )‪ (1-58‬ﺑﻪ ﺩﺳﺖ ﺁﻣﺪﻩ ﺭﺍ ﺑﻪ ﻳﺎﺩ ﺁﻭﺭﻳﺪ‬
‫‪b‬‬
‫‪X = X o + RX‬‬
‫‪éxù‬‬ ‫‪éu ù‬‬

‫‪ê yú‬‬ ‫‪êv ú‬‬
‫‪ê‬‬ ‫‪ú‬‬ ‫‪, X =ê ú‬‬
‫‪b‬‬
‫=‪X‬‬
‫‪êz ú‬‬ ‫‪ê wú‬‬
‫‪ê ú‬‬ ‫‪ê ú‬‬
‫‪ë1 û‬‬ ‫‪ë1 û‬‬
‫ﻭ ﻣﺎﺗﺮﻳﺲ ‪4×4‬‬
‫‪éR‬‬ ‫‪ Xo ù‬‬
‫‪ê‬‬ ‫‪‬‬ ‫‪ú‬‬
‫)‪(1-63‬‬
‫‪A= ê‬‬ ‫‪ú‬‬
‫‪ê    ú‬‬
‫‪ê‬‬ ‫‪ú‬‬
‫‪ëo‬‬ ‫‪ 1 û‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻌﺎﺩﻟﺔ )‪ (1-58‬ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻧﻮﺷﺖ‪:‬‬
‫‪X = AX b‬‬
‫ﻳﻌﻨﻲ‪:‬‬
‫‪é xù é R‬‬ ‫‪ Xo ù é u ù‬‬
‫‪ê yú ê‬‬ ‫‪‬‬ ‫‪úê v ú‬‬ ‫)‪(1-64‬‬
‫‪ê ú=ê‬‬ ‫‪úê ú‬‬
‫‪ê z ú ê    ú ê wú‬‬
‫‪ê ú ê‬‬ ‫‪úê ú‬‬
‫‪ë1û ë o‬‬ ‫‪ 1 ûë 1 û‬‬
‫‪ 1-5-4‬ﻣﺎﺗﺮﻳﺲ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮ‬

‫ﻣﻮﻗﻌﻴﺖ ﻳﻚ ﻧﻘﻄﻪ ﺩﺭ ﻓﻀﺎﻱ ﻛﺎﺭﺗﺰﻳﻦ ﺭﺍ ﺑﺎ ﺑﺮﺩﺍﺭ ﺍﻓﺰﺍﻳﺶ ﻳﺎﻓﺘﻪ ﺯﻳﺮ ﻧﻤﺎﻳﺶ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺩ‬
‫‪[1‬‬ ‫‪x‬‬ ‫]‪y z‬‬
‫‪T‬‬
‫‪ [x‬ﺭﻭﻱ ﻟﻴﻨﻚ ‪ i‬ﻭﺍﻗﻊ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﺑﻄـﻮﺭﻱ ﻛـﻪ ‪ Oi‬ﺩﺭ ﺍﻧﺘﻬـﺎﻱ ﻟﻴﻨـﻚ )ﺩﺭ‬ ‫ﺳﻴﺴﺘﻢ ﻣﺨﺘﺼﺎﺕ ‪y z] i‬‬
‫ﺳﻤﺖ ﭘﺎﻳﻪ( ﻗﺮﺍﺭ ﺩﺍﺷﺘﻪ ﻭ ﻣﺤﻮﺭ ‪ x‬ﺁﻥ ﻣﻨﻄﺒﻖ ﺑﺮ ﻣﺤﻮﺭ ﺧﻨﺜﻲ ﺗﻴﺮ ﺩﺭ ﺣﺎﻟﺖ ﺗﻐﻴﻴﺮ ﻓﺮﻡ ﻧﻴﺎﻓﺘﻪ ﺑﺎﺷﺪ‬
‫‪z‬‬
‫‪y‬‬
‫‪Oi‬‬
‫‪x‬‬
‫ﺷﻜﻞ ‪1- 4‬‬
‫‪i‬‬
‫ﻧﻘﻄﻪ ﺍﻱ ﺭﻭﻱ ﻟﻴﻨﮏ ‪i‬ﺍﻡ ﺑﻪ ﻓﺎﺻﻠﻪ ‪ h‬ﺍﺯ ﺍﺑﺘﺪﺍﻱ ﻟﻴﻨـﮏ‪ ،‬ﺯﻣـﺎﻧﻲ ﻛـﻪ ﺗﻐﻴﻴـﺮ ﺷـﻜﻞ ﺩﺍﺩﻩ ﺍﺳـﺖ ﺩﺭ ) ‪hi (h‬‬
‫ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﻣﻮﻗﻌﻴﺖ ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺍ ﻣﺨﺘﺼﺎﺕ ‪ Oj‬ﺑﺎ ) ‪ j hi (h‬ﻣـﺸﺨﺺ ﻣـﯽ ﺷـﻮﺩ ﮐـﻪ ﺍﮔـﺮ ﻧـﺴﺒﺖ ﺑـﻪ‬
‫ﻣﺨﺘﺼﺎﺕ ﭘﺎﻳﻪ ﺣﺴﺎﺏ ﺷﻮﺩ ﺑﺎ ) ‪ hi (h‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﻣﯽ ﺷﻮﺩ‪.‬‬
‫‪hi = 0Wi ihi = Wi ihi‬‬ ‫‪j‬‬
‫‪hi = j Wi ihi‬‬ ‫)‪(1-65‬‬
‫‪é1‬‬ ‫‪0T ù‬‬
‫‪ê‬‬ ‫‪ú‬‬
‫‪j‬‬ ‫‪êxj‬‬ ‫‪ú‬‬ ‫)‪(1-66‬‬
‫‪Wi = ê‬‬ ‫‪j‬‬
‫‪ú‬‬
‫‪êyj‬‬ ‫‪Ri ú‬‬
‫‪ê‬‬ ‫‪ú‬‬
‫‪êë z j‬‬ ‫‪úû‬‬
‫ﺷﻜﻞ‪1-5‬‬
‫ﺍﻧﺘﻘﺎﻝ ﺑﻪ ﻋﻠﺖ ﺣﺮﻛﺖ ﻭ ﺗﻐﻴﻴﺮ ﻣﻜﺎﻥ ﺑﻪ ﻋﻠﺖ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮﻱ ﻟﻴﻨﻚ ﺭﺍ ﺍﺯ ﻫﻢ ﺟﺪﺍ ﻣﻲﻛﻨﻴﻢ ‪:‬‬
‫‪Wj = Wj -1 E j -1 Aj = Wˆ j -1 Aj‬‬
‫)‪(1-67‬‬
‫‪ :Aj‬ﻣﺎﺗﺮﻳﺲ ﺗﺒﺪﻳﻞ ﻣﺮﺑﻮﻁ ﺑﻪ ﻣﻔﺼﻞ ﺑﻴﻦ ﺩﻭ ﻟﻴﻨﮏ ‪j-1,j‬‬

‫‪ :Ej-1‬ﻣﺎﺗﺮﻳﺲ ﺗﺒﺪﻳﻞ ﻣﺮﺑﻮﻁ ﺑﻪ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮﻱ ﻟﻴﻨﮏ ‪. j-1‬‬
‫‪ : W‬ﺟﻤﻊ ﺗﺒﺪﻳﻠﻬﺎ ﺍﺯ ﻣﺨﺘﺼﺎﺕ ﭘﺎﻳﻪ ﺗﺎ ‪ Oˆ j -1‬ﺩﺭ ﺍﻧﺘﻬﺎﻱ ﻟﻴﻨﻚ‪j -1‬‬
‫ˆ‬
‫‪j -1‬‬
‫ﺷﮑﻞ ‪1- 6‬‬
‫ˆ‪[x‬‬ ‫‪ Oˆ j -1‬ﺭﻭﻱ ﻟﻴﻨﻚ ‪ j - 1‬ﻭﺍﻗﻊ ﺍﺳﺖ‪ ،‬ﻭ ﺩﺭ ﺣﺎﻟﺘﻲ ﻛﻪ ﺗﻐﻴﻴﺮ ﻓـﺮﻡ ﻧﺪﺍﺷـﺘﻪ ﺑﺎﺷـﻴﻢ ‪yˆ zˆ ] j -1‬‬
‫ﻣﻮﺍﺯﻱ ﺑﺎ ‪ [x y z] j -1‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ ،‬ﺑﻄﻮﺭﻳﻜﻪ ﻣﺤﻮﺭ ‪ x j -1‬ﻣﻨﻄﺒﻖ ﺑﺮ ‪ xˆ j -1‬ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺑﺮﺍﻱ ﺩﺍﺧﻞ ﻛﺮﺩﻥ ﺗﻐﻴﻴﺮ ﻓﺮﻡ ﻟﻴﻨﻚ ﺭﻭﺵ ﺁﻧﺎﻟﻴﺰ ﻣﻮﺩﺍﻝ ﺭﺍ ﺩﻧﺒﺎﻝ ﺧﻮﺍﻫﻴﻢ ﻛـﺮﺩ‪) .‬ﺍﻳـﻦ ﺭﻭﺵ ﺑـﺮﺍﻱ ﺗﻐﻴﻴـﺮ‬
‫ﻓﺮﻣﻬﺎﻱ ﻛﻮﭼﻚ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ(‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﮐﻪ ﮔﻔﺘـﻪ ﺷـﺪ ﺟﺎﺑﺠـﺎﻳﻲ ﻟﻴﻨـﮏ ﺩﺭ ﺍﺛـﺮ ﺍﻧﻌﻄـﺎﻑ‬
‫ﭘﺬﻳﺮﯼ ﺑﺎ ) ‪ i hi (h‬ﻣﺸﺨﺺ ﻣﯽﮔﺮﺩﺩ‪ .‬ﺍﻳﻦ ﺑﺮﺩﺍﺭ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﺸﺨﺺ ﻣﯽﺷﻮﺩ ‪:‬‬
‫‪é1 ù‬‬ ‫‪é 0 ù‬‬

‫‪êh ú mi‬‬ ‫‪ê x (h ) ú‬‬
‫‪ê ij‬‬ ‫‪ú‬‬ ‫)‪(1-68‬‬
‫‪i‬‬
‫‪hi (h ) = ê ú + å d ij‬‬
‫‪ê 0 ú j =1‬‬ ‫‪ê yij (h ) ú‬‬
‫‪ê ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬
‫‪ë0 û‬‬ ‫‪ëê zij (h ) ûú‬‬
‫‪ : xij , yij , zij‬ﺟﺎﺑﺠﺎﻳﻲ ‪ xi , yi , zi‬ﺭﻭﻱ ﻟﻴﻨﮏ ‪i‬ﺍﻡ ﺩﺭ ﺍﺛﺮ ﻣﻮﺩ ‪j‬ﺍﻡ‪.‬‬
‫‪ : d ij‬ﻣﺘﻐﻴﺮ ﺯﻣﺎﻧﻲ ﻣﻴﺪﺍﻥ ﻧﻮﺳﺎﻥ ﻣﺮﺑﻮﻁ ﺑﻪ ﻣﻮﺩ ‪j‬ﺍﻡ ﺍﺯ ﻟﻴﻨﮏ ‪i‬ﺍﻡ‪.‬‬
‫‪ :mi‬ﺗﻌﺪﺍﺩ ﻣﻮﺩﻫﺎﻱ ﻣﻮﺭﺩ ﻧﻴﺎﺯ ﺑﺮﺍﻱ ﺑﻴﺎﻥ ﺍﻧﺤﻨﺎﻱ ﻟﻴﻨﮏ ‪i‬ﺍﻡ‪.‬‬
‫ﺑﺮﺍﯼ ﻳﺎﻓﺘﻦ ﺑﺮﺩﺍﺭ ) ‪ hi (h‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﺑﻄﻪ )‪ (1-65‬ﻧﻴﺎﺯ ﺑﻪ ﻣﺎﺗﺮﻳﺲ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮﻱ ‪ E‬ﺩﺍﺭﻳـﻢ‪ .‬ﺗﺒـﺪﻳﻞ‬
‫ﻣﺮﺑﻮﻁ ﺑﻪ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮﻱ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺑﻴﺎﻥ ﻣﻲ ﮔﺮﺩﺩ‪:‬‬
‫‪é‬‬ ‫‪mi‬‬
‫‪ù‬‬
‫‪Ei = ê H i + å d ij M ij ú‬‬ ‫)‪(1-69‬‬
‫‪êë‬‬ ‫‪j =1‬‬ ‫‪úû‬‬
‫ﮐﮫ در آن‪:‬‬
‫‪(1‬‬ ‫)‪-70‬‬
‫‪é1‬‬ ‫‪0‬‬ ‫‪0ù‬‬
‫‪0‬‬ ‫‪é0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0 ù‬‬
‫‪ê‬‬ ‫‪ú‬‬ ‫‪êx‬‬ ‫‪0‬‬ ‫‪- q zij‬‬ ‫‪q yij úú‬‬
‫‪L‬‬ ‫‪1 0 0ú‬‬
‫‪Hi = ê i‬‬ ‫‪Mij = ê‬‬
‫‪ij‬‬
‫‪ê0‬‬ ‫‪0 1 0ú‬‬ ‫‪ê yij‬‬ ‫‪q zij‬‬ ‫‪0‬‬ ‫‪- q xij ú‬‬
‫‪ê‬‬ ‫‪ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬
‫‪ë0‬‬ ‫‪0 0 1û‬‬ ‫‪êë zij‬‬ ‫‪- q yij‬‬ ‫‪q xij‬‬ ‫‪0 úû‬‬
‫ﺩﺭ ﺍﻳﻦ ﻣﺎﺗﺮﻳﺴﻬﺎ‪:‬‬

‫‪ : q zij , q yij , q xij‬ﭼﺮﺧﺶ ﺣﻮﻝ ‪ zi ,yi ,xi‬ﻣﺮﺑﻮﻁ ﺑﻪ ﻟﻴﻨﮏ ‪i‬ﺍﻡ ﺩﺭ ﻣﻮﺩ ‪j‬ﺍﻡ ﻭ ‪ Li‬ﻃﻮﻝ ﻟﻴﻨﮏ ‪i‬ﺍﻡ ﻣﯽﺑﺎﺷﻨﺪ‪.‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﺎ ﺩﺍﺷﺘﻦ ﺯﻭﺍﻳﺎﯼ ﭼﺮﺧﺸﯽ ‪ q‬ﻣﯽﺗﻮﺍﻥ ﺍﺯ ﺗﺒﺪﻳﻞ ﻣﺨﺘﺼﺎﺕ )‪ (1-66‬ﺍﺳﺘﻔﺎﺩﻩ ﮐﺮﺩﻩ ﻭ ) ‪ hi (h‬ﺭﺍ‬
‫ﭘﻴﺪﺍ ﻧﻤﻮﺩ‪.‬‬
‫ﺑﺮﺍﻱ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻥ ﺳﺮﻋﺖ ﻳﻚ ﻧﻘﻄﻪ ﻟﻴﻨﻚ‪ ،‬ﺍﺯ ﻋﺒﺎﺭﺕ )‪ (1-65‬ﻣﺸﺘﻖ ﺑﺮ ﺣﺴﺐ ﺯﻣﺎﻥ ﺧﻮﺍﻫﻴﻢ ﮔﺮﻓﺖ‬
‫‪dhi‬‬ ‫‪i‬‬ ‫)‪(1-71‬‬
‫‪= hi. = (Wi i hi ) . = Wi. hi + Wi i hi.‬‬
‫‪dt‬‬
‫‪‬‬ ‫‪‬‬
‫‪W j = Wˆ j -1 Aj + Wˆ j -1 A‬‬ ‫‪j‬‬
‫)‪(1-72‬‬
‫̂‪ A + 2w‬‬
‫̂‪ j = w‬‬ ‫‪ A‬‬ ‫‪‬‬ ‫‪‬‬
‫‪w‬‬ ‫‪j-1‬‬ ‫‪j‬‬ ‫‪j-1 j + ŵ j-1 A j‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ‪:‬‬
‫; ‪U j = ¶ A j /¶ q j‬‬ ‫‪Aj = U j q j‬‬ ‫)‪(1-73‬‬

‫‪ = U q 2 + U q‬‬
‫‪U 2j = ¶ 2 A j/¶q 2j A‬‬ ‫‪j‬‬ ‫‪2j j‬‬ ‫‪j‬‬ ‫)‪(1-74‬‬
‫‪ˆ‬‬ ‫̂‪‬‬
‫‪ W‬ﺩﺍﺭﻳﻢ‪:‬‬ ‫ﻫﻤﭽﻨﻴﻦ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﻪ ‪j , Wj‬‬
‫‪Wˆ j = Wj E j ,‬‬ ‫)‪(1-75‬‬

‫‪‬‬ ‫)‪(1-76‬‬
‫‪Wˆ j = W j E j + Wj E j ,‬‬
‫‪‬‬ ‫‪ j E j + 2W j E j + Wj E j ,‬‬ ‫)‪(1-77‬‬
‫‪Wˆ j = W‬‬
‫ﺑﺎ ﻣﺸﺘﻖ ﮔﻴﺮﻱ ﺍﺯ ﻣﻌﺎﺩﻟﻪ )‪ (1-69‬ﺩﺍﺭﻳﻢ‪:‬‬
‫‪mj‬‬
‫= ‪E j‬‬ ‫‪å d jk M jk‬‬ ‫)‪(1-78‬‬
‫‪k =1‬‬
‫‪mj‬‬ ‫)‪(1-79‬‬
‫= ‪E j‬‬ ‫‪å‬‬ ‫‪d jk M jk‬‬
‫‪k =1‬‬
‫ﻣﺜﺎﻝ‪ 1- 9‬ﺑﺎﺯﻭﻱ ﺗﻚ ﻟﻴﻨﻜﻲ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮ‬
‫ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﻣﻌﺎﺩﻻﺕ ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎﺯﻭﻱ ﺗﻚ ﻟﻴﻨﻚ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮ ﺭﺍ ﺍﺳﺘﺨﺮﺍﺝ ﻣﻲ ﻛﻨﻴﻢ‪ .‬ﺑـﺮﺍﻱ ﺑـﺎﺯﻭﻱ‬
‫ﻣﻮﺭﺩ ﻧﻈﺮ ﺭﻭﺍﺑﻂ ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﻪ ﺻﻮﺭﺕ ﺧﻮﺍﻫﻨﺪ ﺑﻮﺩ‪:‬‬

‫‪W1 = A1‬‬
‫)‪(1-80‬‬
‫‪Wˆ1 = A1 E1‬‬
‫ﻛﻪ ﺩﺭ ﺁﻧﻬﺎ ‪ A1‬ﻭ ‪ E1‬ﺭﺍ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺑﻴﺎﻥ ﻛﻨﻴﻢ‪:‬‬

‫‪é1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0ù‬‬
‫‪ê0‬‬ ‫) ‪cos( q 1‬‬ ‫) ‪- sin( q 1‬‬ ‫‪0 úú‬‬ ‫)‪(1-81‬‬
‫‪0‬‬
‫‪A1 = ê‬‬
‫‪ê0‬‬ ‫) ‪sin( q 1‬‬ ‫) ‪cos( q 1‬‬ ‫‪0ú‬‬
‫‪ê‬‬ ‫‪ú‬‬
‫‪ë0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1û‬‬
‫] ‪E1 = [H1 + d11 M11 + d12 M12‬‬
‫ﺑﺮﺍﻱ ﺍﻳﻦ ﺗﻚ ﻟﻴﻨﻚ ‪ 2‬ﺗﺎ ﺗﺎﺑﻊ ﻣﻮﺩ ﺷﻜﻞ ‪ d 12 , d 11‬ﺭﺍ ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲ ﭼﮕﻮﻧﮕﻲ ﺗﻐﻴﻴﺮ ﻓـﺮﻡ ﻟﻴﻨـﻚ ﺑـﻪ ﻋﻠـﺖ‬
‫ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮﻱ ﺁﻥ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪﺍﻳﻢ‪ .‬ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ‪ M 12 (h ), M 11 (h ), H 1‬ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‪:‬‬
‫‪é1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0ù‬‬ ‫‪é0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0 ù‬‬

‫‪êL‬‬ ‫‪êx‬‬ ‫‪- q z11 q y11 úú‬‬
‫‪1‬‬ ‫‪0‬‬ ‫‪0úú‬‬ ‫‪ê‬‬ ‫‪11‬‬ ‫‪0‬‬
‫‪H1 = ê 1‬‬ ‫= ‪M11‬‬
‫‪ê0‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫‪0ú‬‬ ‫‪ê y11 q z11‬‬ ‫‪0‬‬ ‫‪- q x11 ú‬‬
‫‪ê‬‬ ‫‪ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬
‫‪ë0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1û‬‬ ‫‪ëê z11 - q y11 q x11‬‬ ‫‪0 úû‬‬
‫‪é0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0 ù‬‬

‫‪êx‬‬ ‫‪0‬‬ ‫‪- q z12 q y12 úú‬‬
‫= ‪M12‬‬ ‫‪ê‬‬ ‫‪12‬‬
‫‪ê y12 q z12‬‬ ‫‪0‬‬ ‫‪-q x12 ú‬‬

‫‪ê‬‬ ‫‪ú‬‬
‫‪êë z12 - q y12 q x12‬‬ ‫‪0 úû‬‬
‫ﻣﺜﺎﻝ ‪ 1- 10‬ﺑﺎﺯﻭﻱ ﺩﻭ ﻟﻴﻨﻜﻲ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮ ‪ :‬ﺩﺭ ﺍﻳﻨﺠﺎ ﻣﻌﺎﺩﻻﺕ ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎﺯﮔﺸﺘﻲ ﺑﺎﺯﻭﻱ ﺩﻭ ﻟﻴﻨﻜـﻲ‬
‫ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮ ﺭﺍ ﺍﺳﺘﺨﺮﺍﺝ ﻣﻲ ﻛﻨﻴﻢ‪ .‬ﺑﺮﺍﻱ ﺑﺎﺯﻭﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﺭﻭﺍﺑﻂ ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﻪ ﺻﻮﺭﺕ ﺧﻮﺍﻫﻨﺪ ﺑﻮﺩ‪:‬‬
‫‪W1 = A1‬‬
‫‪Wˆ1 = A1 E1‬‬
‫‪W2 = W1 E1 A2‬‬
‫‪Wˆ 2 = A1 E1 A2 E 2‬‬
‫‪ E2‬ﺭﺍ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺍﺧﺘﻴﺎﺭ ﻣﻲ ﻛﻨﻴﻢ‪:‬‬ ‫ﻛﻪ ﺩﺭ ﺁﻧﻬﺎ ‪ A1‬و ‪ E1‬و ‪ A2‬و‬
‫‪é1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0ù‬‬ ‫‪é1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0ù‬‬

‫‪ê0‬‬ ‫) ‪cos(q 1‬‬ ‫) ‪- sin(q 1‬‬ ‫‪ú‬‬
‫‪0ú 1‬‬ ‫‪ê0‬‬ ‫) ‪cos(q 2‬‬ ‫) ‪- sin(q 2‬‬ ‫‪0 úú‬‬
‫‪0‬‬
‫‪A1 = ê‬‬ ‫‪ A2 = ê‬و‬
‫‪ê0‬‬ ‫) ‪sin(q1‬‬ ‫) ‪cos(q 1‬‬ ‫‪0ú‬‬ ‫‪ê0‬‬ ‫) ‪sin(q 2‬‬ ‫) ‪cos(q 2‬‬ ‫‪0ú‬‬
‫‪ê‬‬ ‫‪ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬
‫‪ë0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1û‬‬ ‫‪ë0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1û‬‬
‫] ‪E1 = [H1 + d11 M11 + d12 M12‬‬ ‫] ‪E2 = [H 2 + d 21 M21 + d 22 M22‬‬
‫ﺑﺮﺍﻱ ﻫﺮ ﻟﻴﻨﻚ ‪ 2‬ﺗﺎ ﺗﺎﺑﻊ ﻣﻮﺩ ﺷﻜﻞ ﻳﻌﻨﻲ ‪ d 12 , d 11‬ﻭ ‪ d 22 , d 21‬ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲ ﭼﮕﻮﻧﮕﻲ ﺗﻐﻴﻴﺮ ﻓﺮﻡ ﻟﻴﻨﻚ‬
‫ﺗﻌﺮﻳﻒ ﻣﻲ ﻛﻨﻴﻢ‪ .‬ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ﻫﺎ ‪ M 12 (h ), M 11 (h ), H 1‬و ‪ M 22 (h ), M 21 (h ), H 2‬ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‪:‬‬
‫‪é1‬‬ ‫‪0 0 0ù‬‬
‫‪é1‬‬ ‫‪0 0 0ù‬‬ ‫‪êL‬‬
‫‪êL‬‬ ‫‪1 0 0 úú‬‬ ‫‪1 0 0 úú‬‬
‫‪H1 = ê 1‬‬ ‫‪H2 = ê 2‬‬
‫‪ê0‬‬ ‫‪0 1 0ú‬‬ ‫‪ê0‬‬ ‫‪0 1 0ú‬‬
‫‪ê‬‬ ‫‪ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬
‫‪ë0‬‬ ‫‪0 0 1û‬‬ ‫‪ë0‬‬ ‫‪0 0 1û‬‬
‫‪é0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0 ù‬‬ ‫‪é0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0 ù‬‬
‫‪êx‬‬ ‫‪0 -qz11 q y11 úú‬‬ ‫‪êx‬‬ ‫‪0 -qz12 qy12 úú‬‬
‫= ‪M11‬‬ ‫‪ê‬‬ ‫‪11‬‬
‫= ‪M12‬‬ ‫‪ê‬‬ ‫‪12‬‬
‫‪ê y11 qz11‬‬ ‫‪0 -qx11ú‬‬ ‫‪ê y12 qz12‬‬ ‫‪0 -qx12ú‬‬
‫‪ê‬‬ ‫‪ú‬‬ ‫‪ê‬‬ ‫‪ú‬‬
‫‪êë z11 -q y11 qx11‬‬ ‫‪0 úû‬‬ ‫‪êë z12 -qy12 qx12‬‬ ‫‪0 úû‬‬
‫‪ 1- 6‬ﻣﻌﺎﺩﻻﺕ ﻻﮔﺮﺍﻧﮋ ﻭ ﺩﻳﻨﺎﻣﻴﮏ ﺑﺎﺯﻭﻫﺎﻱ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮ‬

‫ﺑﺮﺍﻱ ﺑﺪﺳـﺖ ﺁﻭﺭﺩﻥ ﻣﻌـﺎﺩﻻﺕ ﺩﻳﻨـﺎﻣﻴﮑﻲ ﺑـﺎﺯﻭﻱ ﺍﻧﻌﻄـﺎﻑ ﭘـﺬﻳﺮ ﺍﺯ ﺭﻭﺵ ﻻﮔﺮﺍﻧـﮋ ﺍﺳـﺘﻔﺎﺩﻩ ﻣـﻲﮐﻨـﻴﻢ‪.‬‬
‫ﻫﻤﺎﻧﻄﻮﺭ ﮐﻪ ﻣﻲﺩﺍﻧﻴﺪ ﻣﻌﺎﺩﻟﻪ ﻻﮔﺮﺍﻧﮋ ﺑﻪ ﻓﺮﻡ ﺯﻳﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬
‫‪d æ ¶L ö ¶L‬‬
‫‪ç ÷-‬‬ ‫‪=Q‬‬ ‫)‪(1-82‬‬
‫‪dt è ¶q ø ¶q‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ‬
‫‪L = K -V‬‬ ‫)‪(1-83‬‬
‫‪ K‬ﺍﻧﺮﮊﻱ ﺟﻨﺒﺸﻲ ﻭ ‪ V‬ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﺳﻴﺴﺘﻢ ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺍﻟﻒ( ﺍﻧﺮﮊﻱ ﺟﻨﺒﺸﻲ‪:‬‬

‫ﺍﺑﺘﺪﺍ ﺍﻧﺮﮊﻱ ﺟﻨﺒﺸﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺤﺎﺳﺒﻪ ﻣﻲﮐﻨﻴﻢ؛ ﺑﺮﺍﻱ ﻟﻴﻨﮏ ‪i‬ﺍﻡ ﺍﻟﻤﺎﻥ ﺍﻧﺮﮊﻱ ﺟﻨﺒﺸﻲ )ﺑﺮﺍﻱ ﺍﻟﻤﺎﻥ ﺟـﺮﻡ‬
‫‪ (dm‬ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ‪:‬‬
‫} ‪dm.Tr{h ih Ti‬‬

‫‪1‬‬ ‫)‪(1-84‬‬
‫= ‪dki‬‬
‫‪2‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﺑﻄﻪ ‪1-71‬ﻧﺘﻴﺠﻪ ﻣﻲ ﺷﻮﺩ‪:‬‬
‫= ‪dki‬‬
‫‪1‬‬
‫‪2‬‬
‫‪dm.Tr W‬‬‫‪i‬‬ ‫{‬
‫‪ i h hT W‬‬
‫‪i i‬‬
‫‪ T + 2W‬‬
‫‪i‬‬
‫‪ i h h T W T + W i h h T W T‬‬
‫‪i‬‬ ‫‪i i‬‬ ‫‪i‬‬ ‫‪i‬‬ ‫‪i i‬‬ ‫‪i‬‬
‫)‪(1-85‬‬ ‫}‬
‫ﮐﻪ ﺩﺭ ﺁﻥ ﻣﺸﺘﻖ ﮔﻴﺮﻱ ﺍﺯ ﺭﺍﺑﻄﻪ )‪ (1-68‬ﺩﺍﺭﻳﻢ‪:‬‬
‫‪mi‬‬
‫)‪(1-86‬‬
‫‪i‬‬
‫= ‪hi‬‬ ‫‪å‬‬ ‫‪dij [0‬‬ ‫‪xij‬‬ ‫‪yij‬‬ ‫‪zij‬‬ ‫]‬
‫‪T‬‬
‫‪j‬‬ ‫‪=1‬‬
‫‪ mi‬ﺗﻌﺪﺍﺩ ﻣﻮﺩﻫﺎﻱ ﺍﺭﺗﻌﺎﺷﻲ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻩ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﺍﻧﺮﮊﻱ ﺟﻨﺒﺸﻲ ﮐﻞ ﺳﻴﺴﺘﻢ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﻣﺤﺎﺳﺒﻪ ﻣﻲﮔﺮﺩﺩ‪:‬‬
‫‪n li‬‬
‫{‬ ‫}‬
‫‪n‬‬
‫‪ B W‬‬
‫‪K = å ò dki = å Tr W‬‬ ‫‪ T + 2W‬‬
‫‪ B WT + W B WT‬‬ ‫)‪(1-87‬‬
‫‪i 3i‬‬ ‫‪i‬‬ ‫‪i 2i‬‬ ‫‪i‬‬ ‫‪i 1i‬‬ ‫‪i‬‬
‫‪i =1 0‬‬ ‫‪i =1‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ‪:‬‬
‫‪mi mi‬‬
‫= ‪B1i‬‬
‫‪1 li i  i  T‬‬
‫‪ò‬‬
‫‪2 0‬‬
‫= ‪m. hi . hi dh‬‬ ‫‪åå‬‬
‫= ‪dijdikCikj , Cikj‬‬
‫‪1 li‬‬
‫‪2 0‬‬ ‫‪ò‬‬ ‫[‬
‫‪m[0 xik yik zik]T 0 xij yij zij dh‬‬ ‫]‬
‫‪j k‬‬ ‫‪=1 =1‬‬
‫[‬ ‫]‬
‫‪mi‬‬ ‫‪mi mi‬‬
‫‪1 li i i  T‬‬ ‫‪‬‬ ‫‪1 li‬‬
‫= ‪B2i‬‬ ‫‪ò‬‬ ‫‪m‬‬‫‪.‬‬ ‫‪h‬‬‫‪i‬‬ ‫‪.‬‬ ‫‪h‬‬ ‫‪d‬‬‫‪h‬‬ ‫=‬ ‫‪å‬‬ ‫‪d‬‬ ‫‪ij‬‬‫‪C‬‬‫‪ij‬‬ ‫‪+‬‬ ‫‪åå‬‬ ‫‪dikdijCikj , Cij = ò m[1 h 0 0]T 0 xij yij zij dh‬‬
‫‪20‬‬ ‫‪i‬‬
‫‪j =1‬‬ ‫‪j =1 k=1‬‬ ‫‪20‬‬
‫[‬ ‫‪] åå‬‬

‫‪mi‬‬ ‫‪mi mi‬‬
‫‪1 li i i T‬‬ ‫‪1 li‬‬
‫= ‪B3i‬‬
‫‪20‬‬ ‫‪ò‬‬ ‫‪å‬‬
‫‪j‬‬
‫‪T‬‬
‫‪m. hi. hi dh = Ci + dij Cij + Cij +‬‬
‫‪=1‬‬
‫= ‪dikdijCikj , Ci‬‬
‫‪j=1 k=1‬‬
‫‪20‬‬ ‫‪ò‬‬
‫‪m[1 h 0 0]T[1 h 0 0]dh‬‬
‫ﺳﻤﺖ ﺭﺍﺳﺖ ﺭﺍﺑﻄﻪﻫﺎﻱ ‪ B2i ، B1i‬ﻭ ‪ B3i‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﺑﻄﻪ )‪ (1-68‬ﻗﺎﺑﻞ ﺗﺤﻘﻴﻖ ﺍﺳـﺖ‪ .‬ﺗﻮﺟـﻪ ﮐﻨﻴـﺪ ﮐـﻪ‬
‫ﻣﺎﺗﺮﻳﺲ ﻫﺎﻱ ‪ Cikj ،Ci‬ﻭ ‪ Cij‬ﺩﺍﺭﺍﻱ ﺗﺮﻡ ﻫﺎﻱ ﻣﺎﺗﺮﻳﺲ ﺗﺎﻧﺴﻮﺭ ﺍﻳﻨﺮﺳﻲ ﻫﺴﺘﻨﺪ ﻭ ﺑﻪ ﻫﻤﺎﻥ ﺻـﻮﺭﺕ ﻧﻴـﺰ‬
‫ﻋﻤﻞ ﻣﻲﮐﻨﻨﺪ‪ .‬ﺍﻳﻦ ﻣﺎﺗﺮﻳﺴﻬﺎ ﺩﺭ ﺍﻳﻨﺠﺎ ﺑﺎ ﺳﺎﺩﻩ ﮐﺮﺩﻥ ﺷﮑﻞ ﻟﻴﻨﮑﻬﺎ ﺑﻪ ﺻﻮﺭﺕ ﻣﻴﻠﻪﻫﺎﻳﻲ ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﻣﺤﻮﺭ‬
‫‪ x‬ﺑﻪ ﺭﻭﺍﺑﻂ ﻓﻮﻕ ﺭﺳﻴﺪﻳﻢ‪ .‬ﺩﺭ ﺣﺎﻟﺖ ﮐﻠﻲ ﻭ ﺑﺮﺍﻱ ﺷﮑﻞ ﻫﺎﻱ ﻧﺎﻣﺘﻘﺎﺭﻥ ﺑﺮﺍﻱ ﻟﻴﻨﮑﻬﺎ‪ ،‬ﻣـﺎﺗﺮﻳﺲ ﻫـﺎﻱ ‪ C‬ﺑـﺎ‬
‫ﺭﻭﺵ ﻫﺎﻱ ﺍﻟﻤﺎﻥ ﻣﺤﺪﻭﺩ ﻣﺤﺎﺳﺒﻪ ﻣﻲﮔﺮﺩﺩ‪ .‬ﻫﻤﭽﻨﻴﻦ ﺩﻗـﺖ ﮐﻨﻴـﺪ ﮐـﻪ ‪ B3i‬ﺩﺍﺭﺍﻱ ﺗﺮﻣـﻲ ﻣﺘـﺸﮑﻞ ﺍﺯ ‪d 2‬‬
‫ﺍﺳﺖ ﮐﻪ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﮐﻮﭼﮏ ﻓﺮﺽ ﺷﺪﻥ ﻣﻘﺪﺍﺭ ‪ d‬ﺩﺭ ﻣﺤﺎﺳﺒﺎﺕ ﺑﻌﺪﻱ ﺍﺯ ﺁﻥ ﭼﺸﻢ ﭘﻮﺷﻲ ﻣﻲﮔﺮﺩﺩ‪.‬‬
‫ﺏ( ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ‪:‬‬

‫ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﺳﻴﺴﺘﻢ ﺍﺯ ﺩﻭ ﻗﺴﻤﺖ ﺗﺸﮑﻴﻞ ﻣﻲﮔﺮﺩﺩ‪ .‬ﻗﺴﻤﺖ ﺍﻭﻝ ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﺍﻻﺳـﺘﻴﮏ ﻭ ﻗـﺴﻤﺖ‬
‫ﺩﻳﮕﺮ ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﻧﺎﺷﻲ ﺍﺯ ﮔﺮﺍﻧﺶ ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪ 1- 6- 1‬ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﺍﻻﺳﺘﻴﮏ‪:‬‬

‫ﻧﻘﻄﻪﺍﻱ ﺭﺍ ﺭﻭﻱ ﻟﻴﻨﮏ ‪i‬ﺍﻡ )ﻟﻴﻨﮏ ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﻣﺤﻮﺭ ‪x‬ﻫﺎ( ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﮐﻪ ﺩﭼﺎﺭ ﺗﻐﻴﻴـﺮ ﺷـﮑﻠﻲ ﮐﻮﭼـﮏ‬
‫ﺩﺭ ﺍﺛﺮ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮﻱ ﻣﻲﮔـﺮﺩﺩ‪ .‬ﺍﻧـﺮﮊﻱ ﭘﺘﺎﻧـﺴﻴﻞ ﺭﺍ ﺑـﺮﺍﻱ ﺧﻤـﺶ‪ 2‬ﻫـﺎﻳﻲ ﺣـﻮﻝ ﻣﺤﻮﺭﻫـﺎﻱ ‪ yi‬ﻭ ‪ zi‬ﻭ‬
‫ﭘﻴﭽﺶ‪ 3‬ﺣﻮﻝ ﻣﺤﻮﺭ ‪ xi‬ﺣﺴﺎﺏ ﻣﻲﮐﻨﻴﻢ‪ .‬ﻓﺸﺮﺩﮔﻲ‪ 4‬ﺑﻪ ﺩﻟﻴﻞ ﮐﻮﭼﮏ ﺑﻮﺩﻥ ﻣﻘﺪﺍﺭ ﺁﻥ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘـﻪ ﻧﻤـﻲ‪-‬‬
‫ﺷﻮﺩ‪.‬ﺩﺭ ﻃﻮﻝ ‪ dh‬ﺍﻟﻤﺎﻥ ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ‪:‬‬
‫‪1‬‬ ‫‪ìï é æ ¶ q‬‬ ‫‪ö‬‬

‫‪2‬‬
‫‪ù‬‬ ‫‪æ ¶ q yi‬‬‫‪æ ¶ q xi ö üï‬‬
‫‪ö‬‬
‫‪2‬‬ ‫‪2‬‬
‫‪d v ei = d h í E ê I z çç‬‬ ‫‪zi‬‬

‫‪÷÷ + I y çç‬‬
‫‪ú + G I x çç‬‬ ‫÷÷‬ ‫)‪÷÷ ý (1-88‬‬
‫‪2‬‬ ‫‪¶h‬‬ ‫‪è ¶h‬‬ ‫‪è ¶ h ø ïþ‬‬
‫‪îï êë è‬‬ ‫‪ø‬‬ ‫‪úû‬‬ ‫‪ø‬‬
‫ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ‪ qyi ،qxi،‬ﻭ ‪ qzi‬ﺯﻭﺍﻳﺎﻱ ﭼﺮﺧﺶ ﻣﺤﻮﺭﺍﺻﻠﻲ )ﺭﺍﺳﺘﺎﻱ ﻣﻴﻠـﻪ( ﻟﻴﻨـﮏ ﺩﺭ ﻧﻘﻄـﻪ ‪ h‬ﻧـﺴﺒﺖ ﺑـﻪ‬
‫ﻧﻘﻄﻪ ﺍﻭﻟﻴﻪ ﺷﺮﻭﻉ ﻟﻴﻨﮏ )‪ (h=0‬ﻣﻲﺑﺎﺷﺪ‪ E،‬ﻭ ‪ G‬ﻣﺪﻭﻝ ﺍﻻﺳﺘﻴﮏ ﻳﺎﻧﮓ ﺑﻪ ﺗﺮﺗﻴﺐ ﺑـﺮﺍﻱ ﺧﻤـﺶ ﻭ ﭘـﻴﭽﺶ‬
‫ﻣﺎﺩﻩﻱ ﺗﺸﮑﻴﻞ ﺩﻫﻨﺪﻩﻱ ﻟﻴﻨﮏ ﻫﺴﺘﻨﺪ‪ Iy ، Ix،‬ﻭ ‪ Iz‬ﻣﻤﺎﻥ ﻫﺎﻱ ﺍﻳﻨﺮﺳﻲ ﻟﻴﻨﮏ ﺣﻮﻝ ﻣﺤﻮﺭﻫﺎﻱ ﻣﺮﺑﻮﻃﻪ ﻣـﻲ‪-‬‬
‫ﺑﺎﺷﻨﺪ‪.‬‬
‫ﺯﻭﺍﻳﺎﻱ ﺗﻐﻴﻴﺮ ﺷﮑﻞ ‪ qyi ،qxi‬ﻭ ‪ qzi‬ﺭﺍ ﺍﺯ ﺁﻧﺎﻟﻴﺰ ﻣﺪﺍﻝ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ ‪:‬‬
‫‪mi‬‬
‫‪q xi = å d ikq xik‬‬ ‫)‪(1-89‬‬
‫‪k =1‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ qxik‬ﺯﺍﻭﻳﻪ ﺗﻐﻴﻴﺮ ﺷﮑﻞ ﻟﻴﻨﮏ ‪i‬ﺍﻡ ﺩﺭ ﺍﺛﺮ ﻣﻮﺩ ‪k‬ﺍﻡ ﺣﻮﻝ ﻣﺤﻮﺭ ‪ x‬ﺩﺭ ﻧﻘﻄﻪ ‪ h‬ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺑﺎ ﺍﻧﺘﮕﺮﺍﻝ ﮔﻴﺮﻱ ﺍﺯ ﺍﻟﻤﺎﻥ ﺩﻳﻔﺮﺍﻧﺴﻴﻠﻲ ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﺣﻮﻝ ﻃﻮﻝ ﻟﻴﻨﮏﻫﺎ ﻭ ﺟﻤـﻊ ﺍﻧـﺮﮊﻱ ﭘﺘﺎﻧـﺴﻴﻞ ﮐﻠﻴـﻪ‬
‫ﻟﻴﻨﮑﻬﺎ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫‪mi‬‬ ‫‪mi‬‬
‫‪1 n‬‬
‫= ‪Ve‬‬ ‫‪ååå d ikd il Kikl‬‬
‫‪2 i =1 k =1 l =1‬‬
‫‪, Kikl = K xikl + K yikl + K zikl‬‬
‫‪¶q xil ¶q xik‬‬
‫) ‪K xikl = ò GI x (h‬‬
‫‪li‬‬
‫‪dh ,‬‬
‫‪0‬‬ ‫‪¶h ¶h‬‬
‫‪¶q ¶q yik‬‬ ‫)‪(1-90‬‬
‫‪= ò EI y (h ) yil‬‬
‫‪li‬‬
‫‪K yikl‬‬ ‫‪dh ,‬‬
‫‪0‬‬ ‫‪¶h ¶h‬‬
‫‪¶q ¶q zik‬‬
‫‪= ò EI z (h ) zil‬‬
‫‪li‬‬
‫‪K zikl‬‬ ‫‪dh‬‬
‫‪0‬‬ ‫‪¶h ¶h‬‬
‫‪ 1- 6- 2‬ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﻣﺮﺑﻮﻁ ﺑﻪ ﮔﺮﺍﻧﺶ‪:‬‬
‫ﺑﺮﺍﻱ ﺍﻟﻤﺎﻥ ﺩﻳﻔﺮﺍﻧﺴﻴﻠﻲ ‪ dh‬ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﮔﺮﺍﻧﺸﻲ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ‪:‬‬
‫‪dvgi = - mg T Wi i h i dh , g T = [0 g x‬‬ ‫‪gy‬‬ ‫] ‪gz‬‬ ‫)‪(1-91‬‬
‫‪2‬‬
‫‪Bend‬‬
‫‪3‬‬
‫‪Twist‬‬
‫‪4‬‬
‫‪Compression‬‬
‫ﺍﺯ ﺍﻧﺘﮕﺮﺍﻝ ﮔﻴﺮﻱ ﺩﺭ ﻃﻮﻝ ﻟﻴﻨﮏﻫﺎ ﻭ ﺟﻤﻊ ﺍﻧﺮﮊﻱ ﭘﺘﺎﻧﺴﻴﻞ ﻫﻤﻪ ﻟﻴﻨﮑﻬﺎ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫‪n‬‬ ‫‪mi‬‬
‫‪Vg = -g‬‬ ‫‪T‬‬
‫‪å‬‬
‫‪i‬‬
‫‪Wi r‬‬
‫‪=1‬‬
‫‪i‬‬ ‫‪, ri = M i rri + åd ike ik‬‬
‫‪k =1‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ ‪ Mi‬ﻭﺯﻥ ﻟﻴﻨﻚ ‪i‬ﺍﻡ ﻭ‬
‫‪rri = [1 r xi‬‬ ‫‪0‬‬ ‫‪0],‬‬ ‫)‪(1-92‬‬
‫‪ò m [0‬‬ ‫‪zik ]T dh‬‬

‫‪l‬‬
‫= ‪e ik‬‬
‫‪i‬‬
‫‪xik‬‬ ‫‪yik‬‬
‫‪0‬‬
‫‪ eik‬ﻓﺎﺻﻠﻪ ﻣﻴﺎﻥ ﻣﺮﮐﺰ ﺟﺮﻡ ﺗﻐﻴﻴﺮ ﺷﮑﻞ ﺩﺍﺩﻩ ﺩﺭ ﺍﺛﺮ ﻣﻮﺩ ‪k‬ﺍﻡ ﺭﺍ ﻧﺴﺒﺖ ﺑﻪ ﻣﺮﮐﺰ ﺟﺮﻡ ﺑﺪﻭﻥ ﺗﻐﻴﻴﺮ ﺷـﮑﻞ‬
‫ﺑﻴﺎﻥ ﻣﻲﻧﻤﺎﻳﺪ‪.‬‬
‫‪ 1- 6- 3‬ﻣﺤﺎﺳﺒﻪ ﻣﻌﺎﺩﻟﻪ ﻻﮔﺮﺍﻧﮋ‬

‫ﺑﺎ ﺗﻔﮑﻴﮏ ‪ L‬ﺩﺭ ﺭﺍﺑﻄﻪ )‪ (1-82‬ﺑﻪ ﺍﻧﺮﮊﻳﻬﺎﻱ ﺟﻨﺒﺸﻲ ﻭ ﭘﺘﺎﻧﺴﻴﻞ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﻣﻌﺎﺩﻟـﻪ ﻻﮔﺮﺍﻧـﮋ ﺭﺍ ﺑـﻪ ﻓـﺮﻡ‬
‫ﺯﻳﺮ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫‪ .1‬ﻣﻌﺎﺩﻟﻪﻱ ﻻﮔﺮﺍﻧﮋ ﺑﺮﺍﻱ ﻣﻔﺎﺻﻞ ‪:‬‬
‫‪d æç ¶K‬‬ ‫‪ö ¶K ¶Ve ¶Vg‬‬
‫‪÷-‬‬ ‫‪+‬‬ ‫‪+‬‬ ‫‪= Fj‬‬ ‫)‪(1-93‬‬
‫‪dt çè ¶q j‬‬ ‫‪÷ ¶q‬‬
‫‪ø‬‬ ‫‪j‬‬ ‫‪¶q j ¶q j‬‬
‫‪ .2‬ﻣﻌﺎﺩﻟﻪﻱ ﻻﮔﺮﺍﻧﮋ ﺑﺮﺍﻱ ﺗﻐﻴﻴﺮ ﺷﮑﻞ ‪:‬‬
‫‪d æç ¶K‬‬ ‫‪ö ¶K ¶Ve ¶Vg‬‬
‫‪÷-‬‬ ‫‪+‬‬ ‫‪+‬‬ ‫‪=0‬‬ ‫)‪(1-94‬‬
‫‪dt çè ¶d jf‬‬ ‫‪÷ ¶d‬‬
‫‪ø‬‬ ‫‪jf‬‬ ‫¶‬‫‪d‬‬ ‫‪jf‬‬ ‫¶‬ ‫‪d‬‬ ‫‪jf‬‬
‫ﺩﺭ ﺍﻳﻦ ﻣﻌﺎﺩﻻﺕ‪:‬‬

‫‪n‬‬ ‫‪ì‬‬ ‫‪é‬‬ ‫‪mi‬‬ ‫‪mi‬‬ ‫‪ùü‬‬
‫‪d æç ¶K ö÷ ¶K‬‬ ‫‪ï¶W‬‬
‫‪-‬‬
‫‪dt çè ¶q j ÷ø ¶q j‬‬
‫‪=2‬‬ ‫‪å‬‬ ‫‪Trí i‬‬
‫‪¶q j‬‬ ‫‪ê i i‬‬ ‫‪å‬‬
‫‪ik ik i‬‬ ‫‪å‬‬
‫‪ T + d D WT + 2 d D W‬‬
‫‪êG W‬‬ ‫‪ T úïý‬‬
‫‪ik ik i‬‬
‫‪úï‬‬
‫‪i= j ï‬‬‫‪î‬‬ ‫‪ë‬‬ ‫‪k‬‬ ‫=‬‫‪1‬‬ ‫‪k‬‬ ‫=‬‫‪1‬‬ ‫‪ûþ‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ ‪:‬‬
‫‪mi‬‬
‫‪Dik = Cik +‬‬ ‫‪å‬‬
‫‪l‬‬
‫‪dilCilk,‬‬
‫‪=1‬‬
‫)‪(1-95‬‬
‫‪mi‬‬ ‫‪mi‬‬
‫‪Gi = Ci +‬‬ ‫‪å‬‬ ‫(‬ ‫‪dik Cik + CTik‬‬ ‫‪) + åd C‬‬ ‫)‪il ilk‬‬
‫‪=1‬‬
‫‪k‬‬ ‫‪l =1‬‬
‫‪ W‬ﻭ ‪‬‬
‫‪ W‬ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺭﺍﺑﻄﻪ ‪ 1-71‬ﻭ ‪ 1-72‬ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩ‪.‬‬ ‫ﺩﻗﺖ ﮐﻨﻴﺪ ﮐﻪ ‪‬‬
‫‪n‬‬ ‫‪ì‬‬ ‫‪é‬‬ ‫‪m ji‬‬ ‫‪mj‬‬ ‫‪ùü‬‬

‫‪d æç ¶K‬‬ ‫‪ö ¶K‬‬ ‫‪ï ¶Wi‬‬
‫‪dt çè ¶d jf‬‬
‫‪÷-‬‬
‫‪÷ ¶d = 2‬‬
‫‪ø‬‬ ‫‪jf‬‬
‫‪Tr í‬‬
‫‪i = j +1 ï‬‬
‫‪¶d jf‬‬ ‫‪å‬‬ ‫‪ T +‬‬
‫‪êG W‬‬
‫‪ê i i‬‬ ‫‪å‬‬ ‫‪‬‬‫‪‬‬ ‫‪T‬‬
‫‪å‬‬ ‫‪‬‬ ‫‪‬‬ ‫‪T úï‬‬
‫‪d ik Dik Wi + 2 d ik Dik Wi ý‬‬
‫‪ú‬‬
‫‪ï‬‬
‫‪î‬‬ ‫‪ëê‬‬ ‫‪k‬‬ ‫=‬‫‪1‬‬ ‫‪k =1‬‬ ‫‪ûú þ‬‬
‫‪ì é‬‬ ‫‪mj‬‬ ‫‪mj‬‬ ‫‪ù‬‬ ‫‪ü‬‬
‫‪ï ê ‬‬ ‫‪‬‬
‫‪+ Tr í2 W j D jf + 2 W j‬‬
‫‪ê‬‬
‫‪ï ê‬‬
‫‪‬‬
‫‪d jk C jkf + W j‬‬‫‪å‬‬ ‫‪‬‬‫‪‬‬ ‫‪ú‬‬ ‫‪Tï‬‬
‫‪d jk C jkf W j ý‬‬
‫‪ú‬‬
‫‪ï‬‬
‫‪å‬‬
‫‪î ë‬‬ ‫‪k =1‬‬ ‫‪k =1‬‬ ‫‪úû‬‬ ‫‪þ‬‬
‫)‪(1-96‬‬
‫‪mi‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ‪:‬‬
‫‪Dik = Cik +‬‬ ‫‪å‬‬ ‫‪d il Cilk ,‬‬
‫‪l‬‬ ‫‪=1‬‬
‫‪mi‬‬ ‫‪mi‬‬
‫‪Gi‬‬ ‫‪= C + å d (C‬‬
‫‪i‬‬ ‫‪ik‬‬
‫‪T‬‬
‫‪ik + Cik‬‬ ‫‪)+ åd C‬‬ ‫‪il ilk‬‬
‫‪k =1‬‬ ‫‪l =1‬‬
‫ﻫﻤﭽﻨﻴﻦ‬
‫‪¶Ve‬‬
‫‪=0‬‬
‫‪¶q j‬‬
‫‪¶Ve‬‬ ‫‪mi‬‬
‫‪= å d jk K jkf‬‬
‫‪¶d jf k =1‬‬
‫)‪(1-97‬‬
‫‪¶Vg‬‬ ‫‪n‬‬
‫‪¶Wi‬‬
‫‪= -g T å‬‬ ‫‪ri‬‬
‫‪¶q j‬‬ ‫‪i= j‬‬ ‫‪¶q j‬‬
‫‪¶Vg‬‬ ‫‪n‬‬ ‫‪æ ¶Wi‬‬ ‫‪ö‬‬

‫‪¶d jf‬‬
‫‪= -g T‬‬ ‫‪å çç ¶d‬‬ ‫‪ri ÷ -gT W j e jf‬‬
‫÷‬
‫‪= +1‬‬
‫‪i j‬‬ ‫‪è‬‬ ‫‪jf‬‬ ‫‪ø‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﺭﻭﺍﺑﻂ ﻓﻮﻕ ﺩﺭ ﻣﻌﺎﺩﻻﺕ ﻻﮔﺮﺍﻧﮋ )‪ (1-93‬ﻭ )‪ (1-94‬ﻣﻌﺎﺩﻻﺕ ﺩﻳﻨـﺎﻣﻴﮑﻲ ﻣﻌﮑـﻮﺱ‬
‫ﺑﺎﺯﻭﻫﺎﻱ ﺍﻧﻌﻄﺎﻑ ﭘﺬﻳﺮ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪.‬‬
‫ﺩﺭ ﺍﻳﻨﺠﺎ ﻣﻌﺎﺩﻻﺕ ﺳﻴﻨﻤﺎﺗﻴﻚ ﺭﺍ ﺑﻪ ﻣﻨﻈﻮﺭ ﺟﺪﺍﺳﺎﺯﻱ ﻣﺸﺘﻘﺎﺕ ﺩﻭﻡ ﻣﺘﻐﻴﺮﻫﺎﻱ ﻣﻔﺼﻞ ‪ q‬ﻭ ﻣﺘﻐﻴﺮﻫﺎﻱ‬
‫‪ ,W‬‬ ‫‪‬‬
‫ﺗﻐﻴﻴﺮ ﻓﺮﻡ ‪ d‬ﺍﺯ ﻋﺒﺎﺭﺗﻬﺎﯼ ﻣﺮﺑﻮﻁ ﺑﻪ ˆ‬
‫‪ W‬ﺑﺴﻂ ﻣﻲﺩﻫﻴﻢ‪ .‬ﺑﺎ ﺍﻳﻦ ﮐﺎﺭ ﻣﻲﺗﻮﺍﻥ ﻣﺎﺗﺮﻳﺴﻬﺎﯼ ﻳـﺎﺩ ﺷـﺪﻩ‬ ‫‪i‬‬ ‫‪i‬‬
‫ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺑﺎﺯﮔﺸﺘﻲ ﻣﺤﺎﺳﺒﻪ ﻧﻤﻮﺩ‪ .‬ﺍﺑﺘﺪﺍ ﺣﺎﺻﻠﻀﺮﺏ ﺗﺒﺪﻳﻠﻬﺎﻳﻲ ﻛﻪ ‪ Ŵi‬ﺭﺍ ﺑﻪ ﺭﻭﺵ ﻣﺘﻔﺎﻭﺕ ﺑﻮﺟﻮﺩ‬
‫ﻣﻲﺁﻭﺭﺩ ﺩﺭ ﻧﻈﺮﻣﻲﮔﻴﺮﻳﻢ‪.‬‬
‫‪ˆ = A E A E .........A E ...........A E‬‬

‫‪W‬‬‫‪i‬‬ ‫‪1 1 2 2‬‬ ‫‪h h‬‬ ‫‪i i‬‬ ‫)‪(1-98‬‬
‫‪ˆ A W =W E W‬‬
‫‪=W‬‬ ‫ˆ‬ ‫‪h‬‬ ‫‪h‬‬
‫‪h -1 h‬‬ ‫‪i‬‬ ‫‪h h‬‬ ‫‪i‬‬
‫ﺑﺎ ﺩﻭ ﺑﺎﺭ ﻣﺸﺘﻖ ﮔﺮﻓﺘﻦ ﺍﺯ ﺭﻭﺍﺑﻂ ﻓﻮﻕ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻪ ﻋﺒﺎﺭﺕ ﺯﻳﺮ ﺑﺮﺳﻴﻢ‪:‬‬
‫‪ˆ‬‬ ‫ˆ ‪æ‬‬ ‫‪ö ‬‬

‫‪i‬‬ ‫‪mh‬‬
‫‪Wi = å ççWh-1 U h Wi qh + åWh M hk hWˆi dhk ÷÷ + WˆVi‬‬
‫‪h‬‬ ‫)‪(1-99‬‬
‫‪h=1 è‬‬ ‫‪k=1‬‬ ‫‪ø‬‬
‫ﻭ ﻫﻤﭽﻨﻴﻦ ﺑﺎ ﺭﻭﺷﻲ ﻣﺸﺎﺑﻪ ﺑﺮﺍﻱ ‪: Wi‬‬
‫‪Wi = A1 E1 A2 E2 .........Ah Eh ...........Ei -1 Ai‬‬

‫‪ˆ A hW‬‬ ‫~‬ ‫‪h‬‬
‫‪=W‬‬‫‪h-1 h‬‬ ‫‪i = Wh Eh Wi‬‬ ‫)‪(1-100‬‬
‫ﻭ ﺑﺎ ﺗﻜﺮﺍﺭ ﻋﻤﻠﻴﺎﺕ ﺑﺎﻻ ﺑﺮﺍﻱ ‪‬‬
‫‪ W‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﻋﺒﺎﺭﺕ ﺯﻳﺮ ﺭﺍ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﻳﻢ‪.‬‬ ‫‪i‬‬
‫‪i‬‬ ‫‪i -1 mh‬‬

‫‪ = åW‬‬ ‫~‬
‫‪ˆ U hW q + ååW M hW d + W‬‬
‫‪‬‬
‫‪W‬‬ ‫‪i‬‬ ‫‪h-1 h‬‬ ‫‪i h‬‬ ‫‪h‬‬ ‫‪hk‬‬ ‫‪i hk‬‬ ‫‪Vi‬‬
‫‪h=1‬‬ ‫‪h=1 k =1‬‬ ‫)‪(1-101‬‬
‫‪ ,W‬‬‫ﻣﻘﺎﺩﻳﺮ ˆ‬ ‫‪‬‬

‫‪ W‬ﺑﺼﻮﺭﺕ ﺑﺮﮔﺸﺘﻲ ﻣﻲﺗﻮﺍﻧﻨﺪ ﻣﺤﺎﺳﺒﻪ ﺷﻮﻧﺪ‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﺭ ﻣﻌﺎﺩﻟـﻪﻫـﺎﻱ ﻣﺤﺎﺳـﺒﻪ‬ ‫‪Vi‬‬ ‫‪Vi‬‬
‫‪ˆ‬‬ ‫‪ ˆ‬‬
‫‪ djk , q‬ﻫـﺴﺘﻨﺪ‬ ‫‪ ,W‬‬
‫‪ ( W‬ﻓﻘﻂ ﺑﺎ ﺣﺬﻑ ﺟﻤﻠﻪﻫﺎﻳﻲ ﻛﻪ ﺷـﺎﻣﻞ ‪ j‬‬ ‫‪i‬‬ ‫‪ Wj ,Wj‬ﺍﺷﺎﺭﻩ ﻛﺮﺩﻳﻢ ﺑﻪ ﺗﺮﺗﻴﺐ )ﺑﺮﺍﻱ ‪i‬‬
‫ﻧﺘﻴﺠﻪ ﻣﻲﺷﻮﺩ‪:‬‬
‫‪ = W‬‬ ‫‪‬‬ ‫‪ˆ ‬‬ ‫‪‬‬
‫‪W‬‬ ‫‪Vj‬‬
‫ˆ‬ ‫ˆ‬ ‫‪ 2j‬‬
‫‪V , j -1 Aj + 2Wj -1 Aj + Wj -1 U 2 j q‬‬
‫‪‬‬ ‫)‪(1-102‬‬
‫‪ E + 2W‬‬
‫‪WˆVj = W‬‬ ‫‪ E‬‬
‫‪Vj‬‬ ‫‪j‬‬ ‫‪j‬‬ ‫‪j‬‬
‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺿـﺮﺍﻳﺐ ﻣـﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳـﻲ ﻛـﻪ ﺩﺭ ﻣـﺸﻘﺎﺕ ﺩﻭﻡ ﺿـﺮﺏ ﻣـﻲﺷـﻮﺩ‪ ،‬ﻣﻌﺎﺩﻟـﻪﻫـﺎﻱ‬
‫‪¶ K ¶K‬‬ ‫‪ˆ‬‬
‫‪ ,W‬‬
‫ﺧﻮﺍﻫﻴﻢ ﻛﺮﺩ‪.‬‬ ‫‪,‬‬ ‫‪ W‬ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺭﺍ ﺟﺎﻳﮕﺰﻳﻦ ﺩﺭ ﺭﻭﺍﺑﻂ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺑﺮﺍﻱ‬
‫‪¶ djf ¶ q j‬‬
‫‪i‬‬ ‫‪i‬‬
‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺿﺮﺍﻳﺐ ﺍﻳﻨﺮﺳﻲ ﻣﺘﻐﻴﺮﻫﺎﻱ ﻣﻔﺼﻞ ﺩﺭ ﻣﻌﺎﺩﻟﻪﻫﺎﻱ ﻣﻔﺼﻞ ﺑﻪ ﺍﻳﻦ ﻣﻮﺭﺩ ﺗﻮﺟـﻪ ﻣـﻲ‬
‫ﻭﺟـﻮﺩ ﺩﺍﺭﺩ‪ ،‬ﺩﺭ ﻋﺒـﺎﺭﺕ ‪ T‬‬ ‫‪¶K‬‬

‫‪ W‬ﻗـﺮﺍﺭ ﺩﺍﺭﺩ‪ .‬ﻭﻗﺘـﻲ ﺍﻳـﻦ‬ ‫ﻛﻨﻴﻢ ﻛﻪ ﺗﻤﺎﻡ ﻣﻮﺍﺭﺩﻱ ﻛﻪ ‪ j‬‬
‫‪ q‬ﺩﺭ ﺭﺍﺑﻄـﻪ‬
‫‪¶q j‬‬
‫‪i‬‬
‫ﺟﻤﻼﺕ ﺟﺪﺍ ﻣﻲﺷﻮﻧﺪ ﻳﻚ ﺗﺎﺑﻊ ﻣﺠﻤﻮﻉ ﺩﻭﺗﺎﻳﻲ ﺑﺎ ﺷﺎﺧﺼﻬﺎﻱ ‪ i‬ﻭ ‪ h‬ﺑﻮﺟﻮﺩ ﻣﻲﺁﻳﺪ‪ .‬ﺗﻌﻮﻳﺾ ﺗﺮﺗﻴﺐ ﺍﻳﻦ‬
‫ﺗﺎﺑﻊ ﻣﺠﻤﻮﻉ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪:‬‬
‫‪n‬‬ ‫‪i‬‬ ‫‪n‬‬ ‫‪n‬‬
‫‪åå = å‬‬
‫‪i = j h=1‬‬
‫‪å‬‬
‫) ‪h=1 i =max( h, j‬‬
‫)‪(1-103‬‬
‫ﺿﺮﻳﺐ ﻧﺘﻴﺠﻪ ﺷﺪﻩ ﺑﺮﺍﻱ ﻣﺘﻐﻴﺮ ﻣﻔﺼﻞ ‪ qh‬ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﻣﻔﺼﻞ ‪ j‬ﻋﺒﺎﺭﺕ ﺍﺳﺖ ﺍﺯ‪:‬‬
‫{‬ ‫~‬
‫‪J jh = 2 Tr Wˆ j -1 U j jFh U hT WˆhT-1‬‬ ‫}‬ ‫)‪(1-104‬‬
‫ﺑﻄﻮﺭﻳﻜﻪ ﺑﺮﺍﻱ‪:‬‬
‫‪n‬‬
‫~‬ ‫~‬ ‫~‬
‫‪j‬‬
‫= ‪Fh‬‬ ‫‪åh jjWi Gi hWiT‬‬
‫) ‪i =max( ,‬‬
‫)‪(1-105‬‬
‫ﺗﻮﺟﻪ ﺷﻮﺩ ﻛﻪ ﺍﮔﺮ ﺟﺎﻱ ‪ j‬ﻭ ‪ h‬ﻭ ﺗﺮﺍﻧﺴﭙﻮﺯﻫﺎﻱ ﺩﺍﺧﻞ ﻋﻤﻠﮕﺮ ‪ Trace‬ﺭﺍ ﻋﻮﺽ ﻛﻨﻴﻢ‪ .‬ﻋﺒﺎﺭﺕ ﻳﻜـﺴﺎﻧﻲ‬
‫ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪ .‬ﺍﻳﻦ ﻣﻮﺿـﻮﻉ ﺗﻘـﺎﺭﻥ ﻣـﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳـﻲ ﺭﺍ ﺛﺎﺑـﺖ ﻣـﻲﻛﻨـﺪ‪ ،‬ﻛـﻪ ﺑـﺮﺍﻱ ﻛـﺎﻫﺶ ﻧﻴﺎﺯﻫـﺎﻱ‬
‫ﻣﺤﺎﺳﺒﺎﺗﻲ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻭﺍﻗﻊ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺿﺮﺍﻳﺐ ﺍﻳﻨﺮﺳﻲ ﻣﺘﻐﻴﺮﻫﺎﻱ ﺗﻐﻴﻴﺮ ﺷﻜﻞ ﺩﺭ ﻣﻌﺎﺩﻻﺕ ﻣﻔﺼﻞ ﺑﻪ ﺍﻳﻦ ﻣﻮﺭﺩ ﺗﻮﺟﻪ ﻣﻲ‬
‫ﻛﻨﻴﻢ ﻛﻪ ﻣﺘﻐﻴﺮﻫﺎﻱ ﺗﻐﻴﻴﺮ ﻓﺮﻡ ﺩﻭﺑﺎﺭ ﺩﺭ ﻋﺒـﺎﺭﺍﺕ ﻇـﺎﻫﺮ ﻣـﻲ ﺷـﻮﻧﺪ‪ ،‬ﻳﻜـﻲ ﺩﺭ ‪ T‬‬
‫‪ W‬ﻭ ﺩﻳﮕـﺮﻱ ﺑـﺼﻮﺭﺕ‬ ‫‪i‬‬
‫‪ W‬ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﻣﻔﺼﻞ ﺟﻤﻼﺕ ‪ djf‬ﺭﺍ ﺍﻧﺘﺨـﺎﺏ ﻣـﻲﻛﻨـﻴﻢ ﻭ‬

‫ﺻﺮﻳﺢ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﻣﻔﺼﻞ‪ ،‬ﺑﻌﺪ ﺍﺯ ﺟﺎﮔﺬﺍﺭﻱ ‪ T‬‬
‫‪i‬‬
‫ﺗﺮﺗﻴﺐ ﺗﺎﺑﻊ ﻣﺠﻤﻮﻉ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻋﻮﺽ ﻣﻲﻛﻨﻴﻢ‪.‬‬
‫‪n i -1‬‬ ‫‪n-1‬‬ ‫‪n‬‬
‫‪åå = å‬‬
‫‪i = j h=1‬‬
‫‪å‬‬
‫) ‪h=1 i =max( h+1, j‬‬
‫)‪(1-106‬‬
‫ﺿﺮﻳﺐ ﻣﻨﺘﺞ ﺷﺪﻩ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﻣﻔﺼﻞ ‪ j‬ﻋﺒﺎﺭﺕ ﺍﺳﺖ ﺍﺯ ‪ J jhk‬ﻛﻪ ﺟﻤﻼﺕ ﺷﺎﻣﻞ ﺑﺴﺘﮕﻲ ﺑﻪ ﺍﺭﺯﺷـﻬﺎﻱ‬
‫ﻣﻘﺎﺩﻳﺮ ﻣﺮﺑﻮﻃﻪ ﺑﻪ ‪ j‬ﻭ ‪ h‬ﺩﺍﺭﺩ‪ .‬ﺑﺮﺍﻱ ‪ 1 £ k £ mh‬ﺩﺍﺭﻳﻢ‪:‬‬
‫‪h = n , j = 1 ,......., n ,‬‬ ‫‪k = 1 , ..., m n‬‬

‫ﺑﺮﺍﻱ‬ ‫‪J‬‬ ‫‪= J jnk = 2 Tr Wˆ j - 1 U j j W n D nk W nT‬‬
‫‪jhk‬‬
‫~‬
‫{‬ ‫}‬
‫‪h = j ,........,n - 1, j = 1,.......,n - 1 , k = 1,...mh‬‬
‫ﺑﺮﺍﻱ‬ ‫‪J = 2Tr Wˆ U j F M T + jW D WT‬‬
‫‪jhk‬‬ ‫({‬ ‫‪j -1‬‬
‫~‬
‫‪j‬‬ ‫[)‬ ‫‪h‬‬ ‫‪hk‬‬ ‫‪h‬‬ ‫‪hk‬‬ ‫} ]‬
‫‪h‬‬ ‫)‪(1-107‬‬
‫‪h = 1,......., j - 1, j = 2 ,......., n , k = 1,......., m h‬‬
‫ﺑﺮﺍﻱ‬ ‫‪J‬‬ ‫‪jhk‬‬ ‫‪= 2 Tr‬‬ ‫ˆ‪{(W‬‬ ‫‪j -1 U j‬‬ ‫‪) j F h M hkT‬‬ ‫‪W hT‬‬ ‫}‬
‫‪ h = 1,......., n - 1‬ﻭ ‪: j = 1,......., n‬‬ ‫ﺑﻄﻮﺭﻳﻜﻪ ﺑﺮﺍﻱ‬
‫‪n‬‬
‫~‬
‫‪j‬‬
‫= ‪Fh‬‬ ‫‪åh jWj i Gi hWiT‬‬
‫) ‪i =max( +1,‬‬
‫)‪(1-108‬‬
‫ﻣﻲ ﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﻛﻪ ﺿﺮﻳﺐ ﺍﻳﻨﺮﺳﻲ ﺑﺮﺍﻱ ﻣﺘﻐﻴﺮ ﺗﻐﻴﻴﺮ ﺷـﻜﻞ ‪ d hk‬ﺩﺭ ﻣﻌﺎﺩﻟـﻪ ﻣﻔـﺼﻞ ‪ j‬ﺑﺮﺍﺑـﺮ‬
‫ﺿﺮﻳﺐ ﺑﺮﺍﻱ ﻣﺘﻐﻴﺮ ﻣﻔﺼﻞ ‪ q j‬ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﺗﻐﻴﻴﺮ ﻓﺮﻡ ‪ k , h‬ﻣﻲﺑﺎﺷـﺪ‪ .‬ﺍﻳـﻦ ﻣﻮﺿـﻮﻉ ﺗﻘـﺎﺭﻥ ﻣـﺎﺗﺮﻳﺲ‬
‫ﺍﻳﻨﺮﺳﻲ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻭ ﻣﺤﺎﺳﺒﺎﺕ ﻣﻮﺭﺩ ﻧﻴﺎﺯ ﺭﺍ ﻛﺎﻫﺶ ﻣﻲﺩﻫﺪ‪.‬‬
‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺿﺮﺍﻳﺐ ﺍﻳﻨﺮﺳﻲ ﻣﺘﻐﻴﺮﻫﺎﻱ ﺗﻐﻴﻴﺮ ﺷﻜﻞ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﺗﻐﻴﻴﺮ ﻓﺮﻡ ﺗﻮﺟـﻪ ﺩﺍﺭﻳـﻢ ﻛـﻪ‬
‫ﺩﺭﺍﻳﻨﺠﺎ ﻧﻴﺰ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺗﻘﺎﺭﻥ ﺿﺮﺍﻳﺐ ﺭﺍ ﻧﺸﺎﻥ ﺩﻫـﻴﻢ‪ ،‬ﻳﻌﻨـﻲ ﺿـﺮﻳﺐ ﻣﺘﻐﻴـﺮ ‪ h , k‬ﺩﺭ ﻣﻌﺎﺩﻟـﻪ ‪j , f‬‬
‫ﺑﺮﺍﺑﺮ ﺿﺮﻳﺐ ﻣﺘﻐﻴﺮ ‪ j , f‬ﺩﺭ ﻣﻌﺎﺩﻟﻪ ‪ h , k‬ﻣﻲﺑﺎﺷـﺪ‪ .‬ﺟﺎﮔـﺬﺍﺭﻱ ﻣﻘـﺪﺍﺭ ﺑﺪﺳـﺖ ﺁﻣـﺪﻩ ﺑـﺮﺍﻱ ‪‬‬
‫‪ W‬ﺩﺭ‬ ‫‪i‬‬
‫‪¶K‬‬
‫ﻭ ﺟﺪﺍﺳﺎﺯﻱ ﻣﺸﺘﻘﺎﺕ ﻣﺮﺗﺒـﻪ ﺩﻭﻡ ﻣﺘﻐﻴﺮﻫـﺎﻱ ﺗﻐﻴﻴـﺮ ﻓـﺮﻡ ﻭ ﺗﻌـﻮﻳﺾ‬ ‫ﺭﺍﺑﻄﻪ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺑﺮﺍﻱ‬
‫‪¶djf‬‬
‫ﺗﺮﺗﻴﺐ ﺗﺎﺑﻊﻫﺎﻱ ﻣﺠﻤﻮﻉ ﻣﺎ ﺭﺍ ﻗﺎﺩﺭ ﺑﻪ ﺗﻌﻴﻴﻦ ﺿﺮﺍﻳﺐ ﺍﻳﻨﺮﺳﻲ ﻣﻲﻛﻨﺪ‪ .‬ﺑـﺮﺍﻱ ﺧﻼﺻـﻪ ﺳـﺎﺯﻱ ﺑﻴـﺸﺘﺮ ﺑـﺎ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﺍﺻﻞ ﻛﻪ‪ ،‬ﺑﺮﺍﻱ ﻫﺮ ﺳﻪ ﻣﺎﺗﺮﻳﺲ ﻣﺮﺑﻌﻲ ‪ C , B, A‬ﺩﺍﺭﻳﻢ‪:‬‬
‫}‪Tr{ABC} = Tr{CAB} = Tr{BCA‬‬ ‫)‪(1-109‬‬
‫ﻋﻼﻭﻩ ﺑﺮ ﺍﻳﻦ ﻣﺎﺗﺮﻳﺴﻬﺎﻱ ﺩﻭﺭﺍﻥ ﺩﺭ ﻣﺎﺗﺮﻳﺴﻬﺎﻱ ﺗﺒﺪﻳﻞ ﺗﻌﺎﻣﺪ ﻫﺴﺘﻨﺪ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ Ri RiT = I‬ﻛﻪ ‪I‬‬
‫ﻳﻚ ﻣﺎﺗﺮﻳﺲ ‪ 3*3‬ﻭﺍﺣﺪ ﺍﺳﺖ‪.‬‬
‫ﺑﺮﺍﻱ ‪ 1 £ f £ m j ,1 £ k £ mh‬ﺩﺍﺭﻳﻢ‪:‬‬
‫‪j = h = n ; f = 1,...m j ; k = 1,...mn‬‬

‫ﺑﺮﺍﻱ‬
‫‪I nfnk = 2Tr Cnkf‬‬ ‫} {‬
‫‪j = h = 1,......,n - 1 ; f = 1,......,mj ; h = 1,......,mn‬‬
‫ﺑﺮﺍﻱ‬
‫{‬
‫‪I jfjk = 2Tr M jf j Fh M Tjk + C jkf‬‬ ‫}‬
‫)‪(1-110‬‬
‫‪h = n; j = 1,......,n - 1 ; ; f = 1,......,m j ; h = 1,......,mh‬‬
‫ﺑﺮﺍﻱ‬
‫{‬
‫‪I jfnk = 2Tr Wj M jf jWn Dnk WnT‬‬ ‫}‬
‫; ‪j = 1,......... .., n - 2 ; h = j + 1,........, n - 1‬‬
‫‪f = 1,......, m j ; h = 1,......, m n‬‬
‫ﺑﺮﺍﻱ‬
‫‪I‬‬ ‫‪jfhk‬‬ ‫{‬ ‫[‬
‫‪= 2Tr W j M jf j F h M hk‬‬ ‫‪T‬‬
‫‪+ j W h D hk W hT‬‬ ‫} ]‬
‫ﺩﺭ ﺭﻭﺍﺑﻂ ﺑﺎﻻ ﺑﺮﺍﻱ ‪: j = 1,......., n - 1 , h = 1,......., n - 1‬‬
‫‪n‬‬
‫‪j‬‬
‫= ‪Fh‬‬ ‫‪åj jhWi Gi hWiT‬‬
‫)‪i = max( +1, +1‬‬
‫)‪(1-111‬‬
‫ﺍﻛﻨﻮﻥ ﺑﻪ ﺑﺮﺭﺳﻲ ﺭﻭﺍﺑﻂ ﺑﺎﺯﮔﺸﺘﻲ ﺩﺭ ﻣﺤﺎﺳﺒﻪ ﺿﺮﺍﻳﺐ ﺍﻳﻨﺮﺳﻲ ﻣﻲ ﭘﺮﺩﺍﺯﻳﻢ‪ .‬ﺗﺎ ﺯﻣﺎﻧﻲ ﻛﻪ ﻣﺎﺗﺮﻳﺲ‬
‫ﺍﻳﻨﺮﺳﻲ ﻳﻚ ﻣﺎﺗﺮﻳﺲ ﻣﺮﺑﻌﻲ ﺍﺳﺖ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﻪ ﺑﻪ ‪ nt2‬ﺟﻤﻠﻪ ﻧﻴﺎﺯ ﺩﺍﺭﺩ ﻛﻪ ‪ nt‬ﺗﻌﺪﺍﺩ ﻛﻞ ﻣﺘﻐﻴﺮﻫﺎ‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪n‬‬
‫‪nt = n + å mi‬‬ ‫)‪(1-112‬‬
‫‪i =1‬‬
‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﻭﺍﻗﻌﻴـﺖ ﻛـﻪ ﻣـﺎﺗﺮﻳﺲ ﻣﺘﻘـﺎﺭﻥ ﺍﺳـﺖ‪ ،‬ﺗﻌـﺪﺍﺩ ﺟﻤـﻼﺕ ﻣﺠـﺰﺍ ﺍﺯ ﻫـﻢ )ﻣـﺴﺘﻘﻞ( ﺑـﻪ‬
‫)‪nt (nt + 1‬‬
‫ﻣﻲ ﺭﺳﺪ‪ ،‬ﻛﻪ ﻫﻨﻮﺯ ﺗﺎﺑﻌﻲ ﺩﺭﺟﻪ ﺩﻭﻡ ﺍﺳـﺖ‪ ،‬ﺑﻨـﺎﺑﺮﺍﻳﻦ ﻫﻨﮕـﺎﻣﻲ ﻛـﻪ ﭘﻴﭽﻴـﺪﮔﻲ ﻣﺤﺎﺳـﺒﺎﺗﻲ‬
‫‪2‬‬
‫ﺩﻳﻨﺎﻣﻴﻚ ﻣﻌﻜﻮﺱ ﺑﺘﻮﺍﻧﺪ ﺩﺭ ‪ nt‬ﻣﺘﻐﻴﺮ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﺧﻄﻲ ﺷﻮﺩ‪ ،‬ﻣﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳﻲ ﭘﻴﭽﻴﺪﮔﻲ ﻭﺍﺑـﺴﺘﻪ ﺑـﻪ‬
‫‪ nt2‬ﺭﺍ ﻃﻠﺐ ﻣﻲﻛﻨﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ nt‬ﻣﻲ ﺗﻮﺍﻧﺪ ﺑﺮﺍﻱ ﺑﺎﺯﻭﻫﺎﻱ ﻋﻤﻠﻲ ﻭ ﻛﺎﺭﺑﺮﺩﻱ ﺑﺴﻴﺎﺭ ﺑﺰﺭﮒ ﺑﺎﺷﺪ‪ .‬ﺑـﺴﻴﺎﺭ‬
‫ﻣﻬﻢ ﺍﺳﺖ ﻛﻪ ﺿﺮﻳﺐ ﺟﻤﻠﻪ ﻣﺮﺑﻌﻲ ﺗﺎ ﺁﻧﺠﺎ ﻛﻪ ﻣﻲ ﺗﻮﺍﻧﺪ ﻛﺎﻫﺶ ﺩﺍﺩﻩ ﺷﻮﺩ‪.‬‬
‫ﺑﺎﻳﺴﺘﻲ ﺑﻪ ﺍﻳﻦ ﻣﺴﺌﻠﻪ ﺑﻴﺸﺘﺮ ﺗﻮﺟﻪ ﻛﺮﺩ ﻛﻪ ﺑﻪ ﻋﻠﺖ ﻛﻮﺗﺎﻫﻲ ﻳﺎ ﺣﺘﻲ ﺻﻔﺮ ﺑﻮﺩﻥ ﻃﻮﻝ ﺑﻌﻀﻲ ﻟﻴﻨﻜﻬـﺎ‬
‫ﻣﻲ ﺗﻮﺍﻥ ﺁﻧﻬﺎ ﺭﺍ ﺿﺮﻭﺭﺗﺎﹰ ﺻﻠﺐ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺖ‪ .‬ﺑﺮﺍﻱ ﻣﺜﺎﻝ ﺑﺎﺯﻭﻫﺎﻱ ﺷـﻜﻞ ﺍﻧـﺴﺎﻧﻲ ﺩﻭ ﻟﻴﻨـﻚ ﺩﺍﺭﻧـﺪ ﻛـﻪ‬
‫ﺑﺴﻴﺎﺭ ﺑﺰﺭﮔﺘﺮ ﺍﺯ ﺩﻳﮕﺮﻳﻬﺎ ﻫﺴﺘﻨﺪ‪ ،‬ﻭ ﻣﻨﺠﺮ ﺑﻪ ﺗﺴﻠﻂ ﺑﻴﺸﺘﺮﻱ ﻣﻲﺷﻮﻧﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﻳﻦ ﺍﻣﻜـﺎﻥ ﻭﺟـﻮﺩ ﺩﺍﺭﺩ‬
‫ﻛــﻪ ﺑــﺴﻴﺎﺭﻱ ﺍﺯ ﺟﻤــﻼﺕ ﺍﺳــﺘﺨﺮﺍﺝ ﺷــﺪﻩ ﺩﺭ ﺑــﺎﻻ ﺑــﺮﺍﻱ ﺍﻳــﻦ ﻟﻴﻨﻜﻬــﺎ ﻣــﻮﺭﺩ ﻧﻴــﺎﺯ ﻧﺒﺎﺷــﺪ‪ .‬ﻣﺤﺎﺳــﺒﻪ‬
‫~‬
‫‪ j F h , j Fh , j Fh‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﭼﻨﺪﻳﻦ ﺍﻟﮕﻮﻱ ﺑﺎﺯﮔﺸﺘﻲ ﺑﺎﻳـﺴﺘﻲ ﺑـﺮﺍﻱ ﻣﺤﺎﺳـﺒﺎﺕ ﻛﺎﺭﺁﻣـﺪ ﺍﻳـﻦ‬
‫ﻛﻤﻴﺘﻬﺎ ﺁﺭﺍﻳﺶ ﺩﺍﺩﻩ ﺷﻮﻧﺪ‪ .‬ﻣﻌﺎﺩﻟﻪ ‪ j Fh‬ﻓﻘﻂ ﺍﮔﺮ ﻟﻴﻨﻚ ﻣﻄﺎﺑﻖ ﺑـﺎ ﻣﺘﻐﻴـﺮ ﻟﻴﻨـﻚ ‪ h‬ﺍﻧﻌﻄـﺎﻑ ﭘـﺬﻳﺮ ﺑﺎﺷـﺪ‬
‫ﻣﻮﺭﺩ ﻧﻴﺎﺯ ﺍﺳﺖ‪.‬‬
‫)ﻳﻌﻨﻲ ‪ ( mh > 0‬ﻭ ﻣﻌﺎﺩﻟﻪ ‪ j F h‬ﻓﻘﻂ ﺯﻣـﺎﻧﻲ ﻛـﻪ ﻫـﺮ ﺩﻭ ﻟﻴﻨـﮏ ﻣﺘﻐﻴـﺮ ﻭ ﻟﻴﻨـﻚ ﻣﻌﺎﺩﻟـﻪ ﻟﻴﻨـﻚ ‪j‬‬
‫ﺍﻧﻌﻄــﺎﻑ ﭘــﺬﻳﺮ ﺑﺎﺷــﺪ ﻣــﻮﺭﺩ ﻧﻴــﺎﺯ ﺧﻮﺍﻫــﺪ ﺑــﻮﺩ‪ .‬ﺑﻨــﺎﺑﺮﺍﻳﻦ ﺍﻟﮕﻮﻫــﺎﻱ ﺑﺎﺯﮔــﺸﺘﻲ ﺯﻳــﺮ ﺑــﺮﺍﻱ ﻣﺤﺎﺳــﺒﻪ‬
‫~‬
‫‪ j F h , j Fh , j Fh‬ﻃﺮﺡ ﻣﻲﺷﻮﺩ‪.‬‬
‫‪1 £ f £ m j ,1 £ k £ mh‬‬ ‫ﺑﺮﺍﻱ‬
‫ﻣﻘﺪﺍﺭ ﺩﻫﻲ ﺍﻭﻟﻴﻪ‪:‬‬

‫~‬
‫‪j=h=n‬‬ ‫‪n‬‬
‫‪Fn = Gn‬‬ ‫ﻭ‪:‬‬
‫~‬ ‫‪j +1‬‬ ‫~‬
‫ﺑﺮﺍﻱ‬ ‫‪h> j£n‬‬ ‫‪j‬‬
‫‪Fh = E j Aj +1‬‬ ‫‪Fh‬‬
‫) ‪Fh = Gh + hFh+1 (E j Aj +1‬‬
‫~‬ ‫~‬ ‫‪T‬‬ ‫)‪(1-113‬‬
‫ﺑﺮﺍﻱ‬ ‫‪j=h‬‬ ‫‪h‬‬
‫~‬
‫‪ mh > 0‬اﮔﺮ‬ ‫‪Fh = j Fh+1 AhT+1‬‬
‫‪j‬‬
‫~‬
‫‪ mh > 0 , mj > 0‬اﮔﺮ‬ ‫‪F h = Aj +1 jFh AhT+1‬‬
‫‪j‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ ﺑﻪ ﻫﺪﻑ ﺍﻳﻦ ﻓﺼﻞ ﻣﻌﺎﺩﻻﺕ ﺑﻪ ﺻﻮﺭﺕ ﻛﺎﻣﻞ ﺩﺭ ﺷﻜﻞ ﺯﻳﺮ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﻣﻲﺷﻮﺩ‪:‬‬
‫‪‬‬ ‫)‪(1-114‬‬
‫‪J Z=R‬‬
‫‪ = J‬ﻣﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳﻲ‪ ,‬ﻣﺮﻛﺐ ﺍﺯ ﺿﺮﺍﻳﺒﻲ ﻛﻪ ﺩﺭ ﻗﺒﻞ ﺗﻌﺮﻳﻒ ﺷﺪﻩ‪ ،‬ﺑﺼﻮﺭﺗﻲ ﻣﻨﻈﻢ ﺑﺮﺍﻱ ﺿـﺮﺏ ﻛـﺮﺩﻥ‬
‫ﺩﺭ ‪Z‬‬
‫‪ = Z‬ﺑﺮﺩﺍﺭ ﻣﺨﺘﺼﺎﺗﻬﺎﻱ ﺗﻌﻤﻴﻢ ﻳﺎﻓﺘﻪ ﻛﻪ ﻋﺒﺎﺭﺕ ﺍﺳﺖ ﺍﺯ‬
‫[‬
‫‪Z = q1 d11 d12 ......d1m q2 d21 .......d2m ........qh dh1 .......dhmh ........dnmn‬‬
‫‪1‬‬ ‫‪2‬‬
‫]‬
‫‪T‬‬
‫)‪(1-115‬‬
‫‪ : qh‬ﻣﺘﻐﻴﺮ ﻣﻔﺼﻞ ﺑﺮﺍﻱ ﻓﺼﻞ ‪ h‬ﺍﻡ‬

‫‪ : d hk‬ﻣﺘﻐﻴﺮ ﺗﻐﻴﻴﺮ ﻓﺮﻡ )ﺩﺍﻣﻨﻪ( ﻣﻮﺩ ‪ k‬ﺍﻡ ﺍﺯ ﻟﻴﻨﻚ ‪ h‬ﺍﻡ‬
‫‪ : R‬ﺑﺮﺩﺍﺭﻱ ﻛﻪ ﺷﺎﻣﻞ ﺟﻤﻼﺕ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺑﺎﻗﻲ ﻣﺎﻧﺪﻩ ﻭ ﻧﻴﺮﻭﻫﺎﻱ ﺧﺎﺭﺟﻲ ﺍﺳﺖ ﻛﻪ ﻣﻲﺗـﻮﺍﻥ ﺑـﻪ ﺻـﻮﺭﺕ‬
‫ﺯﻳﺮ ﺁﻥ ﺭﺍ ﻧﺸﺎﻥ ﺩﺍﺩ‪.‬‬
‫[‬
‫‪R= R1 R11 R12 ......R1m R2 R21.......R2m ........‬‬
‫‪1‬‬ ‫‪2‬‬
‫‪Rj Rj1 .......‬‬
‫‪Rjf ........Rjmj ........Rnmn‬‬ ‫]‬
‫‪T‬‬
‫)‪(1-116‬‬
‫‪ : R j‬ﺟﻤﻼﺕ ﻣﺮﺑﻮﻁ ﺑﻪ ﻭﺟﻮﻩ ﺩﻳﻨﺎﻣﻴﻚ ﺍﺯ ﻣﻌﺎﺩﻟﻪ ﻣﻔﺼﻞ ‪) j‬ﻣﻌﺎﺩﻟـﻪ ﺩﻳﻨـﺎﻣﻴﻜﻲ ﻣﻔـﺼﻞ( ﻛـﻪ ﺑـﺎ ﺧـﺎﺭﺝ‬
‫ﻛﺮﺩﻥ ﻣﺸﺘﻖ ﻣﺮﺗﺒﻪ ﺩﻭﻡ ﻣﺨﺘﺼﺎﺗﻬﺎﻱ ﺗﻌﻤﻴﻢ ﻳﺎﻓﺘﻪ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪.‬‬
‫‪ : R jf‬ﺟﻤﻼﺕ ﻣﺮﺑﻮﻁ ﺑﻪ ﻭﺟﻮﻩ ﺩﻳﻨﺎﻣﻴﻚ ﻛﻪ ﺍﺯ ﻣﻌﺎﺩﻟﻪ ﺗﻐﻴﻴﺮ ﻓﺮﻡ ‪) jf‬ﻣﻌﺎﺩﻟﻪ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺗﻐﻴﻴﺮﺷﻜﻞ( ﻛـﻪ‬
‫ﺑﺎ ﺧﺎﺭﺝ ﻛﺮﺩﻥ ﻣﺸﺘﻖ ﻣﺮﺗﺒﻪ ﺩﻭﻡ ﻣﺨﺘﺼﺎﺗﻬﺎﻱ ﺗﻌﻤﻴﻢ ﻳﺎﻓﺘﻪ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪.‬‬
‫ﺭﻭﺍﺑﻂ ﻣﺮﺑﻮﻁ ﺑﻪ ﻣﺤﺎﺳﺒﻪ ﻋﻨﺎﺻﺮ ﺑﺮﺩﺍﺭ ‪ R‬ﻭ ﺭﻭﺍﺑﻂ ﺑﺎﺯﮔﺸﺘﻲ ﻣﺮﺑﻮﻁ ﺑـﻪ ﺁﻧﻬـﺎ ﺩﺭ ﺯﻳـﺮ ﺁﻭﺭﺩﻩ ﺷـﺪﻩ‬
‫ﺍﺳﺖ‪.‬‬
‫{‬ ‫}‬
‫‪Rj = -2Tr Wˆ j -1 U j Q j + g T Wˆ j -1 U j Pj + F j‬‬
‫‪R1 = -2Tr {U1 Q1}+ g T U1 P1 + F1‬‬
‫‪ìï‬‬ ‫‪é‬‬ ‫‪mj‬‬
‫‪ù üï‬‬
‫‪Rjf = -2TríWj M jf Aj+1 Qj +1 + êWVj Djf + 2Wj ådjk Cjkf úWjT ý‬‬
‫‪‬‬‫‪‬‬ ‫‪‬‬ ‫)‪(1-117‬‬
‫‪ïî‬‬ ‫‪ë‬‬ ‫‪k=1‬‬ ‫‪û ïþ‬‬
‫‪mj‬‬
‫‪- åd jk kjkf + gT Wj M jf Aj +1 Pj+1 + gT Wj Îjf‬‬
‫‪k=1‬‬
‫‪ìé‬‬ ‫‪mn‬‬
‫‪ù‬‬ ‫‪ü‬‬ ‫‪mn‬‬
‫‪Rnf = -2TríêW‬‬ ‫‪ åd C WT ý - åd k + gT W Î‬‬
‫‪ D + 2W‬‬ ‫)‪(1-118‬‬
‫‪Vn nf‬‬ ‫‪n‬‬ ‫‪nk nkf ú n‬‬ ‫‪nk nkf‬‬ ‫‪n nf‬‬
‫‪îë‬‬ ‫‪k=1‬‬ ‫‪û‬‬ ‫‪þ‬‬ ‫‪k=1‬‬
‫ﺑﻄﻮﺭﻳﻜﻪ ﺩﺭ ﺁﻧﻬﺎ‪:‬‬
‫‪æ mn ‬‬ ‫‪ö‬‬

‫‪Qn = Gn WVn + 2çç å d nk Dnk ÷÷WnT‬‬
‫‪‬‬‫‪‬‬ ‫‪T‬‬
‫‪è k=1‬‬ ‫‪ø‬‬

‫‪mn‬‬
‫‪Pn = Mn rrn + åd nk Înk = rn‬‬ ‫)‪(1-119‬‬
‫‪k=1‬‬
‫‪æ‬‬ ‫‪mj‬‬
‫‪ö‬‬
‫‪ T + 2ç d D ÷W‬‬ ‫‪T‬‬
‫‪Qj = G j W‬‬ ‫‪Vj‬‬ ‫‪ç å jk jk ÷ j + E j Aj +1 Q j +1‬‬
‫‪è k=1‬‬ ‫‪ø‬‬
‫‪mj‬‬
‫‪P j = M j rr j +‬‬ ‫‪å‬‬ ‫‪d jk Îjk + E j Aj‬‬ ‫‪+1 P j +1‬‬
‫‪k‬‬ ‫‪=1‬‬
‫‪ 1-7‬ﺗﻮﺍﺑﻊ ﺧﺎﺹ‬
‫ﺟﻮﺍﺑﻬﺎﻱ ﺑﻌﻀﻲ ﺍﺯ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﻣﻬﻢ ﺩﺭﺭﻳﺎﺿﻴﺎﺕ ﮐﺎﺭﺑﺮﺩﻱ ﺗﻮﺍﺑﻌﻲ ﻫﺴﺘﻨﺪ ﮐـﻪ ﻏﺎﻟﺒـﺎ ﻣﻘـﺪﻣﺎﺗﻲ‬
‫ﻧﺒﻮﺩﻩ ﺑﺎ ﺳﺮﻱ ﻫﻤﮕﺮﺍ ﻣﻲ ﺑﺎﺷﻨﺪ ﻭ ﺩﺭ ﺣﺎﻟﺘﻬﺎﻱ ﺧﺎﺹ ﺟﻮﺍﺑﻬﺎﻱ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻳﻲ ﻫﺴﺘﻨﺪ ﮐﻪ ﺩﺍﺭﺍﻱ ﺧﻮﺍﺹ‬
‫ﺟﺎﻟﺒﻲ ﻣﻲ ﺑﺎﺷﻨﺪ ﮐﻪ ﺍﺯ ﻣﻬﻤﺘﺮﻳﻦ ﺁﻧﻬﺎ ﺧﺎﺻﻴﺖ ﺗﻌﺎﻣﺪﻱ ﺍﻳﻦ ﺟﻤﻠﻪ ﺍﻳﻬﺎ ﺍﺳﺖ ‪ ،‬ﺑﻪ ﺍﻳﻦ ﮔﻮﻧﻪ ﺗﻮﺍﺑـﻊ » ﺗﻮﺍﺑـﻊ‬
‫ﺧﺎﺹ « ﻣﻲ ﻧﺎﻣﻴﻢ ‪ .‬ﺩﺭ ﺍﻳﻦ ﻓﺼﻞ ﺑﻪ ﺑﺮﺭﺳﻲ ﺍﻳﻦ ﮔﻮﻧﻪ ﺗﻮﺍﺑﻊ ﻣﻲ ﭘﺮﺩﺍﺯﻳﻢ ‪.‬‬
‫‪ 1-7-1‬ﻣﻌﺎﺩﻟﻪ ﻟﮋﺍﻧﺪﺭ‬
‫ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‬
‫‪(1 - x ) y - 2 xy + p ( p + 1) y = 0‬‬
‫‪2‬‬ ‫"‬ ‫'‬
‫)‪(1-120‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ P‬ﻳﮏ ﻋﺪﺩ ﺣﻘﻴﻘﻲ ﺍﺳﺖ ﺭﺍ ﻣﻌﺎﺩﻟﻪ ﻟﮋﺍﻧﺪﺭ ﻣﻲ ﻧﺎﻣﻴﻢ ‪ .‬ﻧﻘﻄﻪ ‪ ، x = o‬ﻳﮏ ﻧﻘﻄﻪ ﻋﺎﺩﻱ ﻣﻌﺎﺩﻟﻪ‬
‫ﺩﻳﻔﺮﺍﻧﺴﻴﻞ )‪ (1-121‬ﻣﻲ ﺑﺎﺷﺪ ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺍﺭﺍﻱ ﺟﻮﺍﺑﻲ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲ ﺑﺎﺷﺪ ‪.‬‬
‫‪¥‬‬
‫‪y = å a n xn‬‬ ‫)‪(1-121‬‬
‫‪n =0‬‬
‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺣﺪﺍﻗﻞ ﺷﻌﺎﻉ ﻫﻤﮕﺮﺍﺋﻲ ﺳﺮﻱ ﻓﻮﻕ ﺍﺯ ﻣﻌﺎﺩﻟﻪ)‪(1-120‬ﺩﺍﺭﻳﻢ‬
‫‪- 2x‬‬ ‫‪¥‬‬
‫‪x <1‬‬ ‫= )‪p( x‬‬
‫‪1 - x2‬‬
‫=‬ ‫‪-‬‬‫‪2‬‬ ‫‪x‬‬‫(‬‫‪1‬‬ ‫‪+‬‬ ‫‪x‬‬ ‫‪2‬‬
‫‪+‬‬ ‫‪x‬‬‫‪3‬‬
‫‪+‬‬ ‫)‪....‬‬ ‫=‬ ‫‪-‬‬‫‪2‬‬‫‪å‬‬‫‪n =0‬‬
‫‪x2n+1‬‬
‫)‪(1-122‬‬
‫)‪p( p +1‬‬ ‫‪¥‬‬
‫‪x <1‬‬ ‫= )‪Q(x‬‬
‫‪1- x‬‬ ‫‪2‬‬
‫=‬ ‫‪p‬‬‫(‬ ‫‪p‬‬ ‫‪+‬‬ ‫‪1‬‬‫()‬
‫‪1‬‬ ‫‪+‬‬ ‫‪x‬‬‫‪2‬‬
‫‪+‬‬ ‫‪x‬‬‫‪3‬‬
‫‪+‬‬ ‫)‪...‬‬ ‫=‬ ‫‪p‬‬‫(‬ ‫‪p‬‬ ‫‪+‬‬ ‫‪1‬‬‫)‬‫‪å‬‬‫‪n=0‬‬
‫‪x2n‬‬
‫ﭘﺲ ﺷﻌﺎﻉ ﻫﻤﮕﺮﺍﻳﻲ ﺳﺮﻱ )‪ (1-121‬ﺣﺪﺍﻗﻞ ﺑﺮﺍﺑﺮ ‪ 1‬ﻣﻲ ﺑﺎﺷﺪ‪ .‬ﺑﺎ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ' ‪ y" , y‬ﺍﺯ ﺭﻭﻱ ‪ y‬ﻭ‬
‫ﺟﺎﻳﮕﺬﺍﺭﻱ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫)‪- ( p - n)( p + n + 1‬‬ ‫)‪(1-123‬‬

‫= ‪a n+ 2‬‬ ‫‪an‬‬ ‫‪n = 0,1,2,...‬‬
‫)‪(n + 1)( n + 2‬‬
‫ﮐﻪ ﺍﺯ ﺁﻥ ﺩﺍﺭﻳﻢ‬
‫)‪p ( p + 1‬‬
‫‪a2 = -‬‬ ‫‪a0‬‬
‫‪2‬‬
‫)‪( p - 1)( p + 2‬‬
‫‪a3 = -‬‬ ‫‪a1‬‬
‫‪2.3‬‬
‫)‪( p - 2)( p + 2‬‬ ‫)‪( p - 2) p ( p + 1)( p + 3‬‬
‫‪a4 = -‬‬ ‫= ‪a2‬‬ ‫‪a0‬‬
‫‪3.4‬‬ ‫!‪4‬‬
‫ﮐﻪ ﺑﻪ ﺍﻳﻦ ﺗﺮﺗﻴﺐ ‪ y1 , y2‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‬
‫)‪p ( p + 1‬‬ ‫‪( p - 2 ) p ( p + 1 )( p + 3 ) 4‬‬

‫‪y1 ( x ) = 1 -‬‬ ‫‪x2 +‬‬ ‫) ‪x - ........( IV‬‬
‫‪2‬‬ ‫!‪4‬‬
‫‪( p - 1 )( p + 2 ) 3‬‬ ‫‪( p - 3 )( p - 1 )( p + 2 )( p + 4 ) 5‬‬
‫‪y 2 ( x) = x -‬‬ ‫‪x +‬‬ ‫‪x - ........‬‬
‫!‪3‬‬ ‫!‪5‬‬
‫ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﻪ ﺷﻌﺎﻉ ﻫﻤﮕﺮﺍﺋﻲ ﺳﺮﻳﻬﺎﻱ ﻓﻮﻕ ﺩﺍﺭﻳﻢ ‪.‬‬

‫‪an‬‬
‫‪R = lim‬‬ ‫‪=1‬‬
‫‪a n +1‬‬ ‫)‪(1-124‬‬
‫‪n® ¥‬‬
‫ﻧﺘﻴﺠﻪ ﻫﺮ ﺩﻭ ﺳﺮﻱ ﺑﺮﺍﻱ ‪ x < 1‬ﻫﻤﮕﺮﺍ ﻫﺴﺘﻨﺪ ‪.‬‬
‫‪ 1- 7- 2‬ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻳﻬﺎﻱ ﻟﮋﺍﻧﺪﺭ‬

‫ﺍﮔﺮ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﻟﮋﺍﻧﺪﺭ )‪ ، (1-120‬ﻋﺪﺩ ‪ p‬ﺻﺤﻴﺢ ﻭ ﻧﺎﻣﻨﻔﻲ ﺑﺎﺷﺪ ﻭ ﻗـﺮﺍﺭ ﺩﻫـﻴﻢ ‪ p = m‬ﺁﻧﮕـﺎﻩ ﻣﻄـﺎﺑﻖ‬
‫ﻓﺮﻣﻮﻝ ﺑﺎﺯﮔﺸﺘﻲ )‪ (1-123‬ﺩﺍﺭﻳﻢ ‪.‬‬
‫)‪- (m - n)(m + n + 1‬‬
‫= ‪a n+ 2‬‬ ‫‪an‬‬ ‫‪n = o ، 1، 2 ، .....‬‬ ‫)‪(1-125‬‬
‫)‪(n + 1)( n + 2‬‬
‫ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ‪ n= m‬ﺍﺯ ﺭﺍﺑﻄﻪ ﻱ ﻓﻮﻕ ﺩﺍﺭﻳﻢ ‪ a n + 2 = 0‬ﺑﻨﺎﺑﺮﺍﻳﻦ‬
‫‪a m+ 4 = a m+ 6 = ... = 0‬‬ ‫)‪(1-126‬‬
‫‪ m‬ﺯﻭﺝ ﺑﺎﺷﺪﺟﻮﺍﺏ )‪ y1 ( x‬ﻳﮏ ﭼﻨﺪ ﺟﮑﻠﻪ ﺍﻱ ﺩﺭﺟﻪ ‪ m‬ﺍﺳﺖ ﻭ ﺍﮔﺮ ‪ m‬ﻓﺮﺩ ﺑﺎﺷﺪ‪ ،‬ﺟﻮﺍﺏ )‪ y2 ( x‬ﻳـﮏ‬
‫ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﺩﺭﺟﻪ ‪ m‬ﻣﻲ ﺑﺎﺷﺪ ‪ .‬ﺿﺮﺍﺋﺐ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎ ﺭﺍ ﺑﺮ ﺣـﺴﺐ ‪ a m‬ﻳﻌﻨـﻲ ﺿـﺮﻳﺐ ﺟﻤﻠـﻪ ﺑـﺎ‬
‫ﺑﻴﺸﺘﺮﻳﻦ ﺗﻮﺍﻥ ﻣﻲ ﺗﻮﺍﻥ ﺑﺪﺳﺖ ﺁﻭﺭﺩ‪ a m .‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﻴﻴﻦ ﻣﻲ ﻛﻨﻴﻢ‪:‬‬
‫!)‪(2m‬‬
‫= ‪am‬‬ ‫‪m‬‬
‫‪m=0,1,2,….‬‬ ‫)‪(1-127‬‬
‫‪2 (m!) 2‬‬
‫‪ a m‬ﺭﺍ ﺑﻔﺮﻡ ﻓﻮﻕ ﺍﻧﺘﺨﺎﺏ ﮐﺮﺩﻩ ﺍﻳﻢ ﺯﻳﺮﺍ ﺗﻤﺎﻡ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻟﮋﺍﻧﺪﺭ ﮐﻪ ﺑﻪ ﺍﻳـﻦ ﺗﺮﺗﻴـﺐ ﺑﺪﺳـﺖ ﻣـﻲ‬
‫ﺁﻳﻨﺪ ‪ ،‬ﻣﻘﺪﺍﺭﺷﺎﻥ ﺑﻪ ﺍﺯﺍﻱ ‪ x = 1‬ﺑﺮﺍﺑﺮ ‪ 1‬ﻣﻲ ﺑﺎﺷﺪ ‪.‬‬
‫ﺍﺯ ﺭﺍﺑﻄﻪ ﻱ )‪ (1-126‬ﺩﺍﺭﻳﻢ‬
‫)‪(n + 1)(n + 2‬‬ ‫)‪(1-128‬‬
‫‪a n= -‬‬ ‫‪a n+2‬‬
‫)‪(m - n)(m + n + 1‬‬
‫ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ‪ n = m – 2‬ﺩﺭ ﺭﺍﺑﻄﻪ )‪ ( 1-128‬ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ ‪.‬‬
‫)‪m(m - 1‬‬ ‫!)‪- m(m - 1) (2m‬‬ ‫!)‪(2m - 2‬‬
‫‪a m-2 = -‬‬ ‫= ‪am‬‬ ‫‪=- m‬‬ ‫)‪(1-129‬‬
‫)‪2(2m - 1‬‬ ‫)!‪2(2m - 1) 2 (m‬‬
‫‪m‬‬ ‫‪2‬‬
‫!)‪2 (m - 1)!(m - 2‬‬
‫ﻭ ﺑﻄﻮﺭ ﮐﻠﻲ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‬
‫!) ‪(-1) k (2m - 2k‬‬ ‫)‪(1-130‬‬
‫= ‪a m- 2 k‬‬
‫!)‪2 m k!(m - k )!(m - 2k‬‬
‫ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻟﮋﺍﻧﺪﺭ ﺍﺯ ﺩﺭﺟﻪ ‪ m‬ﺭﺍ ﺑﺎ )‪ Pm ( x‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﻭ ﺑﻔﺮﻡ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ ﮐﻨﻴﻢ ‪.‬‬
‫‪¥‬‬
‫!)‪(-1) k (2m - 2k‬‬
‫‪Pm ( x) = å‬‬ ‫‪m‬‬
‫‪xm-2k‬‬ ‫…‪m=0,1,2,‬‬ ‫)‪(1-131‬‬
‫‪k=0‬‬ ‫‪2‬‬ ‫‪k‬‬‫!‬‫(‬‫‪m‬‬ ‫‪-‬‬ ‫‪k‬‬‫!)‬‫(‬‫‪m‬‬ ‫‪-‬‬ ‫‪2‬‬‫‪k‬‬‫!)‬
‫‪m -1‬‬ ‫‪m‬‬
‫= ‪ M‬ﻫﺮ ﻳﻚ ﻛﻪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ ﺍﺯ )‪ (1-131‬ﻧﺘﻴﺠﻪ ﻣﻲ ﮔﻴﺮﻳﻢ‪:‬‬ ‫= ‪ M‬ﻳﺎ‬ ‫ﻛﻪ ﺑﺎ ﻓﺮﺽ‬
‫‪2‬‬ ‫‪2‬‬
‫‪P0 ( x) = 1‬‬
‫‪P1 ( x) = x‬‬
‫‪1‬‬ ‫)‪(1-132‬‬
‫)‪P2 ( x) = (3 x 2 - 1‬‬
‫‪2‬‬
‫‪1‬‬
‫)‪P3 ( x) = (5 x3 - 3 x‬‬
‫‪2‬‬
‫‪ 1- 7- 3‬ﺧﻮﺍﺹ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻟﮋﺍﻧﺪﺭ‬

‫ﻣﺠﻤﻮﻋﻪ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻟﮋﺍﻧﺪﺭ ﺩﺭ ﺑﺎﺯﻩ ) ‪ ( -1 ، 1‬ﻳﮏ ﻣﺠﻤﻮﻋﻪ ﻣﺘﻌﺎﻣﺪ ﻣﻲ ﺑﺎﺷﺪ‪.‬‬ ‫‪-1‬‬
‫ﻳﻌﻨﻲ ‪:‬‬
‫‪1‬‬
‫‪ò‬‬‫‪-1‬‬
‫‪Pm ( x) Pn ( x)dx = 0‬‬ ‫‪m¹ n‬‬ ‫)‪(1-133‬‬
‫‪2‬‬
‫‪ò [Pm ( x)] dx = 2m + 1‬‬
‫‪1‬‬ ‫‪2‬‬
‫‪m = 0,1,2,..‬‬
‫‪-1‬‬
‫ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻟﮋﺍﻧﺪﺭ ﺩﺭ ﻓﺮﻣﻮﻝ ﺑﺎﺯﮔﺸﺘﻲ ﺯﻳﺮ ﺻﺪﻕ ﻣﻲ ﮐﻨﺪ‬ ‫‪-2‬‬
‫)‪(m + 1)Pm-1 (x) = (2m + 1)xPm (x) - mPm-1 (x‬‬ ‫‪m = 1,2,..‬‬ ‫)‪(1-134‬‬
‫ﮐﻪ ﺍﺯ ﻓﺮﻣﻮﻝ ﻓﻮﻕ ﺑﺎ ﺩﺍﺷﺘﻦ ‪ P0 ( x) = 1, P1 ( x) = x‬ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻟﮋﺍﻧـﺪﺭ ﺭﺍ ﻣـﻲ ﺗـﻮﺍﻥ ﺑﺪﺳـﺖ‬
‫ﺁﻭﺭﺩ ‪.‬‬
‫ﻣﻲ ﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﮐﻪ‬ ‫‪-3‬‬
‫= )‪Pm ( x‬‬ ‫‪m‬‬

‫‪1‬‬ ‫‪dm‬‬
‫‪2 m! dx‬‬ ‫‪m‬‬
‫[‬‫] ‪( x 2 - 1) m‬‬ ‫‪m = 0,1,2,...‬‬ ‫)‪(1-135‬‬
‫ﻓﺮﻣﻮﻝ ﻓﻮﻕ ﺭﺍ » ﻓﺮﻣﻮﻝ ﺭﻭﺩﺭﻳﮏ « ﻣﻲ ﻧﺎﻣﻴﻢ ‪ .‬ﺍﺯ ﻓﺮﻣﻮﻝ ﻓﻮﻕ ﻧﻴﺰ ﻣـﻲ ﺗـﻮﺍﻥ ﭼﻨـﺪ ﺟﻤﻠـﻪ ﺍﻱ ﻟﮋﺍﻧـﺪﺭ ﺭﺍ‬
‫ﺑﺪﺳﺖ ﺁﻭﺭﺩ ‪.‬‬
‫‪ 1- 7- 4‬ﻣﻌﺎﺩﻟﻪ ﻫﺮﻣﻴﺖ‬
‫ﻣﻌﺎﺩﻟﻪ ﻱ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‬
‫)‪(1-136‬‬
‫‪y" - 2 xy ' + 2 py = 0‬‬
‫ﺭﺍ ﮐﻪ ﺩﺭ ﺁﻥ ‪ p‬ﻳﮏ ﻣﻘﺪﺍﺭ ﺛﺎﺑﺖ ﻣﻲ ﺑﺎﺷﺪ ﺭﺍ » ﻣﻌﺎﺩﻟـﻪ ﻫﺮﻣﻴـﺖ « ﻣـﻲ ﻧـﺎﻣﻴﻢ ‪ .‬ﺍﺯ ﻣـﺸﺎﻫﺪﻩ ﻣﻌﺎﺩﻟـﻪ ﻓـﻮﻕ‬
‫ﻧﺘﻴﺠﻪ ﻣﻲ ﮔﻴﺮﻳﻢ ﮐﻪ ‪ x = o‬ﻳﮏ ﻧﻘﻄﻪ ﻋﺎﺩﻱ ﻣﻌﺎﺩﻟﻪ )‪ ( (1-136‬ﻣﻲ ﺑﺎﺷﺪ ﭘﺲ ﺩﺍﺭﺍﻱ ﺟﻮﺍﺑﻲ ﺑﻪ ﻓﺮﻡ ﺯﻳـﺮ‬
‫ﺍﺳﺖ ‪.‬‬
‫‪¥‬‬
‫‪y = å a n xn‬‬ ‫)‪(1-137‬‬
‫‪n =0‬‬
‫ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ‪ x‬ﻫﻤﮕﺮﺍ ﺳﺖ ‪.‬‬
‫ﺑﺎ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ "‪ y ' , y‬ﺍﺯ ﺭﻭﻱ ‪ y‬ﻭ ﺟﺎﻳﮕﺬﺍﺭﻱ ﺁﻧﻬﺎ ﺩﺭ ﻣﻌﺎﺩﻟﻪ )‪ (1-137‬ﺩﺍﺭﻳﻢ‪:‬‬
‫‪¥‬‬
‫‪å‬‬ ‫‪[(n + 1)(n + 2)a n‬‬ ‫‪+2‬‬ ‫‪- 2na n + 2 pa n ]x n = 0‬‬ ‫)‪(1-138‬‬
‫‪n‬‬ ‫‪=0‬‬
‫ﮐﻪ ﺍﺯ ﺁﻥ ﻓﺮﻣﻮﻝ ﺑﺎﺯﮔﺸﺘﻲ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‬

‫)‪- (2 p - 2n‬‬
‫= ‪a n+ 2‬‬ ‫‪an‬‬ ‫‪n = 0,1,2,...‬‬ ‫)‪(1-139‬‬
‫)‪(n + 1)(n + 2‬‬
‫ﺍﺯ ﺭﻭﻱ ﻓﺮﻣﻮﻝ ﺑﺎﺯﮔﺸﺘﻲ ﻓﻮﻕ ﺩﺍﺭﻳﻢ‬
‫‪a 2 = - pa 0‬‬
‫)‪(1-140‬‬
‫)‪- (2 p - 2‬‬ ‫)‪2( p - 1‬‬
‫= ‪a3‬‬ ‫‪a1 = -‬‬ ‫‪a1‬‬
‫‪2.3‬‬ ‫!‪3‬‬
‫ﻭ ﺑﻪ ﻃﻮﺭ ﮐﻠﻲ‬
‫)‪2 n p( p - 2)....( p - 2n + 2‬‬
‫‪a 2n = (-1) n‬‬
‫!)‪(2n‬‬
‫)‪(1-141‬‬
‫)‪2 n ( p - 1)( p - 3)....( p - 2n + 1‬‬

‫‪a 2n +1 = (-1) n‬‬ ‫‪a1‬‬
‫!)‪(2n + 1‬‬
‫ﻭ ﺟﻮﺍﺑﻬﺎﻱ ﻣﻌﺎﺩﻟﻪ ) ‪ ( 1-137‬ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ ‪.‬‬
‫‪¥‬‬
‫‪2 n p( p - 2)....(p - 2n + 2) 2 n‬‬
‫‪y1 ( x) = 1 + å (-1) n‬‬ ‫‪x‬‬
‫‪n =1‬‬ ‫!)‪(2n‬‬
‫)‪(1-142‬‬
‫‪¥‬‬
‫)‪2n ( p - 1)( p - 2)....(p - 2n + 1‬‬
‫‪y2 ( x) = x + å(-1) n‬‬
‫‪n=1‬‬ ‫!)‪(2n + 1‬‬
‫ﺳﺮﻳﻬﺎﻱ ﻓﻮﻕ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ‪ x‬ﻫﻤﮕﺮﺍ ﻣﻲ ﺑﺎﺷﻨﺪ ‪.‬‬
‫‪ 1- 7- 5‬ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻫﺮﻣﻴﺖ ‪.‬‬

‫ﺍﮔﺮ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﻳﺎ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ )‪ p (1-138‬ﻋﺪﺩﻱ ﺻﺤﻴﺢ ﻭ ﻧﺎﻣﻨﻔﻲ ﺑﺎﺷﺪ ﻭ ﻗـﺮﺍﺭ ﺩﻫﻴـﺪ ‪ . p= m‬ﺩﺭ ﺍﻳـﻦ‬
‫ﺻﻮﺭﺕ ﻳﮑﻲ ﺍﺯ ﺟﻮﺍﺑﻬﺎﻱ )‪ (1-142‬ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﺍﺯ ﺩﺭﺟﻪ ‪ m‬ﺍﺳﺖ ‪.‬‬
‫‪m‬‬ ‫‪m‬‬
‫ﺍﻳﻦ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻭﻗﺘﻲ ﮐﻪ ﺩﺭ ﺿﺮﻳﺐ ﻣﻨﺎﺳﺒﻲ ﺿﺮﺏ ﺷﻮﺩ ﻭ ﺑﻪ ﻃﻮﺭﻳﮑﻪ ﺿﺮﻳﺐ ‪ x‬ﺑﺮﺍﺑﺮ ‪ 2‬ﺷﻮﺩ‬
‫»ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺮﻣﻴﺖ ﺩﺭﺟﻪ ‪ « m‬ﻣﻲ ﻧﺎﻣﻴﻢ ﻭ ﺁﻧﺮﺍ ﺑﺎ )‪ Hm( x‬ﻧﺸﺎﻥ ﻣﻲ ﺩﻫﻴﻢ ‪.‬‬
‫ﻣﺎﻧﻨﺪ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻟﮋﺍﻧﺪﺭ ﻣﻲ ﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ‬
‫‪¥‬‬
‫‪(-1) k m!(2 x) m-2 k‬‬
‫‪H m ( x) = å‬‬ ‫)‪(1-143‬‬
‫‪k =0‬‬ ‫!) ‪k!(m - 2k‬‬
‫‪m -1‬‬ ‫‪m‬‬
‫= ‪ M‬ﺻﺤﻴﺢ ﺑﺎﺷﻨﺪ ﺩﺍﺭﻳﻢ‬ ‫= ‪ M‬ﻳﺎ‬ ‫ﻛﻪ ﺍﮔﺮ‬
‫‪2‬‬ ‫‪2‬‬
‫‪H 0 ( x) = 1‬‬
‫‪H 1 ( x) = 2 x‬‬
‫)‪(1-144‬‬
‫‪H 2 ( x) = 4 x3 - 2‬‬
‫‪H 3 ( x) = 8 x3 - 12 x‬‬
‫ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻫﺮﻣﻴﺖ ﺩﺭ ﻣﮑﺎﻧﻴـﮏ ﮐﻮﺍﻧﺘـﻮﻣﻲ ﺩﺭ ﻣﻄﺎﻟﻌـﻪ ﺟﻮﺍﺑﻬـﺎﻱ » ﻣﻌﺎﺩﻟـﻪ ﺷـﺮﻭﺩﻧﻴﮕﺮ « ﺩﺍﺭﺍﻱ‬
‫ﺍﻫﻤﻴﺖ ﺯﻳﺎﺩﻱ ﻣﻲ ﺑﺎﺷﺪ ‪.‬‬
‫‪ 1- 7- 6‬ﺗﺎﺑﻊ ﮔﺎﻣﺎ‬
‫ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ ﮐﻨﻴﻢ‬ ‫) ‪ G(a‬ﻧﺸﺎﻥ ﻣﻲ ﺩﻫﻴﻢ ﺑﺮﺍﻱ ﻣﻘﺎﺩﻳﺮ ‪a > o‬‬ ‫ﺗﺎﺑﻊ ﮔﺎﻣﺎ ﺭﺍ ﮐﻪ ﺑﺎ‬
‫‪¥‬‬
‫‪G(a ) = ò xa -1e - x dx‬‬ ‫)‪(1-145‬‬
‫‪0‬‬
‫ﻫﻤﮕﺮﺍﺳﺖ ﻳﻌﻨﻲ ﺣﺪ ﺯﻳﺮ ﻣﻮﺟﻮﺩ ﺍﺳﺖ ‪.‬‬ ‫>‪a‬‬ ‫ﻣﻲ ﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﮐﻪ ﺍﻧﺘﮕﺮﺍﻝ )‪ (1-145‬ﺑﺮﺍ ﻱ ﻣﻘﺎﺩﻳﺮ‪o‬‬
‫‪a‬‬
‫‪lim ò xa -1e - x dx‬‬
‫‪0‬‬
‫‪a ®¥‬‬
‫ﻭ ﺑﺮﺍﻱ ﻣﻘﺎﺩﻳﺮ ‪ x £ 0‬ﺍﻧﺘﮕﺮﺍﻝ )‪ (1-145‬ﻭﺍﮔﺮﺍﺳﺖ ﻳﻌﻨﻲ ﺣﺪ ﻓﻮﻕ ﻣﻮﺟﻮﺩ ﻧﻴﺴﺖ‪ .‬ﺣﺎﻝ ﺛﺎﺑﺖ ﻣﻲ ﮐﻨﻴﻢ‬
‫) ‪G(a + 1) = aG(a‬‬ ‫)‪(1-146‬‬
‫ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﻣﻲ ﻧﻮﻳﺴﻴﻢ ‪:‬‬
‫‪¥‬‬ ‫‪a‬‬ ‫‪a‬‬
‫‪G(a + 1) = ò xa e - x dx = lim (- xa e - x ) + lim a ò xa -1e - x dx‬‬
‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬
‫‪a ®¥‬‬ ‫‪a ®¥‬‬
‫‪¥‬‬
‫) ‪a ò xa -1e - x dx = aG(a‬‬
‫‪0‬‬
‫ﺣﺎﻝ ﺍﮔﺮ ‪ a= n‬ﮐﻪ ﻋﺪﺩﻱ ‪ n‬ﻋﺪﺩﻱ ﻃﺒﻴﻌﻲ ﻣﻲ ﺑﺎﺷﺪ ﺁﻧﮕﺎﻩ ﻣﻄﺎﺑﻖ ﻓﺮﻣﻮﻝ )‪ (1-146‬ﺩﺍﺭﻳﻢ‬
‫)‪G(n + 1) = nG (n) = n(n - 1)G(n - 1) = ...... = n(n - 1)......2G(1‬‬
‫ﺍﺯ ﻃﺮﻓﻲ‬
‫‪¥‬‬ ‫‪a‬‬
‫‪G(1) = ò e - x dx = lim - e‬‬ ‫‪-x‬‬
‫‪=1‬‬
‫‪0‬‬ ‫‪0‬‬
‫‪a ®¥‬‬
‫ﺩﺭ ﻧﺘﻴﺠﻪ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‬
‫!‪G(n + 1) = n‬‬ ‫)‪(1-147‬‬
‫ﺣﺎﻝ ﺑﻪ ﮐﻤﮏ ﺗﺎﺑﻊ ) ‪ a !, G(a‬ﺭﺍ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺑﺮﺍﻱ ﻣﻘﺎﺩﻳﺮ ‪ a > o‬ﺗﻌﺮﻳﻒ ﻣﻲ ﮐﻨﻴﻢ ‪.‬‬
‫)‪a!= G(a + 1‬‬
‫ﺑﺎ ﺗﻐﻴﻴﺮ ﻣﺘﻐﻴﺮ ‪ x = X 2‬ﻭ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻌﺎﺩﻟﻪ )‪ (1-145‬ﻣﻲ ﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﮐﻪ‬
‫‪1‬‬ ‫)‪(1-148‬‬
‫‪G( ) = p‬‬
‫‪2‬‬
‫ﺑﺮﺍﻱ ﺍﺛﺒﺎﺕ ﺁﻥ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﻋﻤﻞ ﻣﻲ ﮐﻨﻴﻢ ‪.‬‬
‫‪1‬‬
‫‪1‬‬ ‫‪¥‬‬ ‫‪-‬‬ ‫‪¥‬‬
‫)‪(1-149‬‬
‫‪I = G( ) = ò x 2 e - x dx = 2 ò e - X dX‬‬
‫‪2‬‬
‫‪2‬‬ ‫‪0‬‬ ‫‪0‬‬
‫ﺁﻧﮕﺎﻩ‬
‫‪I 2 = æç 2ò e - X dX ö÷æç 2 ò e -Y dY ö÷ = 4 ò‬‬

‫‪¥‬‬ ‫‪¥‬‬ ‫‪¥‬‬ ‫‪¥‬‬
‫)‪(1-150‬‬
‫‪ò‬‬
‫‪2‬‬ ‫‪2‬‬ ‫‪2‬‬
‫) ‪+Y2‬‬
‫‪e -( X‬‬ ‫‪dXdY‬‬
‫‪0‬‬ ‫‪è‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪øè‬‬ ‫‪ø‬‬ ‫‪0‬‬
‫ﮐﻪ ﺑﺎ ﺗﻐﻴﻴﺮ ﻣﺘﻐﻴﺮ ﺩﺭ ﻣﺨﺘﺼﺎﺕ ﻗﻄﺒﻲ ‪ r , q‬ﺩﺍﺭﻳﻢ‬

‫‪p‬‬ ‫‪p‬‬ ‫‪¥‬‬
‫‪¥‬‬ ‫‪æ 1 -r 2 ö‬‬
‫‪I = 4ò‬‬
‫‪2‬‬ ‫‪2‬‬
‫‪ò‬‬ ‫‪e‬‬ ‫‪-r 2‬‬
‫‪rdrdq = 4 ò‬‬ ‫‪2‬‬
‫‪ç - e ÷ dq‬‬
‫‪0 0‬‬ ‫‪0‬‬
‫‪è 2‬‬ ‫‪ø0‬‬
‫‪p‬‬
‫‪2ò 2 dq = p‬‬
‫‪0‬‬
‫ﭘﺲ‬
‫‪I2 =p‬‬
‫‪1‬‬
‫‪I = G( ) = p‬‬
‫‪2‬‬
‫‪ 1- 7- 7‬ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ‬
‫ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ‬
‫)‪(1-152‬‬
‫‪x 2 y" + xy ' + ( x 2 - p 2 ) y = 0‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ ، p ³ 0‬ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ ﻣﺮﺗﺒﻪ ‪ p‬ﻧﺎﻣﻴﺪﻩ ﻣﻲ ﺷﻮﺩ ‪ .‬ﺍﺯ ﺭﻭﺵ ﻓﺮﻭﺑﻴﻨﻴﻮﺱ ﺑـﺮﺍﻱ ﺣـﻞ ﻣﻌﺎﺩﻟـﻪ‬
‫ﺑﺴﻞ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﮐﻨﻴﻢ ‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﮐﻪ ﺍﺯ ﺻﻮﺭﺕ ﻣﻌﺎﺩﻟﻪ ) ‪ (1-151‬ﻣﺸﺎﻫﺪﻩ ﻣﻲ ﮔـﺮﺩﺩ ﻧﻘﻄـﻪ ‪ x= o‬ﻳـﮏ‬
‫ﻧﻘﻄﻪ ﺗﮑﻴﻦ ﻣﻨﻈﻢ ﺑﺮﺍﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺬﮐﻮﺭ ﺍﺳﺖ‪ .‬ﺟـﻮﺍﺏ ﻫـﺎﻱ ﻣﻌﺎﺩﻟـﻪ ) ‪ (1-151‬ﺭﺍ ﺑـﺮ ‪ x > 0‬ﺑﺪﺳـﺖ ﻣـﻲ‬
‫ﺁﻭﺭﻳﻢ ‪ .‬ﺍﺑﺘﺪﺍ ﻣﻌﺎﺩﻟﻪ ﺷﺎﺧﺺ ﺭﺍ ﺗﺸﮑﻴﻞ ﻣﻲ ﺩﻫﻴﻢ ‪.‬‬
‫‪r 2 - p2 = 0‬‬ ‫)‪(1-152‬‬
‫ﮐﻪ ﺩﺍﺭﺍﻱ ﺩﻭ ﺭﻳﺸﻪ ‪ r = p‬ﻭ ‪ r = - p‬ﻣﻲ ﺑﺎﺷﺪ ‪ ،‬ﺑﻪ ﺍﻳﻦ ﺗﺮﺗﻴﺐ ﻳﮏ ﺟﻮﺍﺏ ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ ﺑﺼﻮﺭﺕ ﺯﻳﺮ‬
‫ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ ‪.‬‬
‫‪¥‬‬
‫‪a0 ¹ 0‬‬ ‫‪y1 ( x) = x p å a n x n‬‬ ‫)‪(1-153‬‬
‫‪n =0‬‬
‫ﺑﺎ )‪ ، y1 ( x‬ﺑﺴﺘﮕﻲ ﺑﻪ ﻣﻘﺪﺍﺭ ‪ r1 - r2 = 2 p‬ﺩﺍﺭﺩ‪ .‬ﺳـﻪ ﺣﺎﻟـﺖ ﺩﺭ ﻧﻈـﺮ‬ ‫ﺟﻮﺍﺏ ﻣﺴﺘﻘﻞ ﺧﻄﻲ )‪y2 ( x‬‬
‫ﻣﻲ ﮔﻴﺮﻳﻢ ‪:‬‬
‫‪¥‬‬
‫‪y2 ( x) = x - p å bn x n‬‬ ‫‪ (i‬ﺍﮔﺮ ‪ 2p‬ﻋﺪﺩﻱ ﺻﺤﻴﺢ ﻧﺒﺎﺷﺪ ‪ ،‬ﺁﻧﮕﺎﻩ‬
‫‪n= 0‬‬
‫‪¥‬‬
‫‪y2 ( x) = y1 ( x) Lnx + å bn x n‬‬ ‫‪ (ii‬ﺍﮔﺮ ‪ 2 p = 0‬ﺁﻧﮕﺎﻩ‬
‫‪n =0‬‬
‫‪¥‬‬
‫‪y2 ( x) = Cy1 ( x) Lnx + x - p å bn x n‬‬ ‫‪ (iii‬ﺍﮔﺮ ‪ 2p‬ﻋﺪﺩﻱ ﺻﺤﻴﺢ ﻭ ﻣﺜﺒﺖ ﺑﺎﺷﺪ‪ ،‬ﺁﻧﮕﺎﻩ‬
‫‪n= 0‬‬
‫ﺣﺎﻝ ﺑﻪ ﻣﺤﺎﺳﺒﻪ ﺿﺮﺍﻳﺐ ﺩﺭ)‪ (1-153‬ﻣﻲ ﭘﺮﺩﺍﺯﻳﻢ‪ ،‬ﺩﺍﺭﻳﻢ‬
‫‪¥‬‬
‫‪y1 ( x) = å a n x n+ p‬‬
‫‪n= 0‬‬
‫ﺑﺎ ﻣﺤﺎﺳﺒﻪ ﻣﺸﺘﻘﺎﺕ )‪ y1 ( x‬ﻭ ﺟﺎﻳﮕﺬﺍﺭﻱ ﺁﻧﻬﺎ ﺩﺭ )‪ (I‬ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‬
‫‪a 1 (1 + 2 p ) x p+1 + å [(n 2 + 2np )a n + a n -2 ]x n+ p = 0‬‬

‫‪¥‬‬
‫)‪(1-154‬‬
‫‪n= 2‬‬
‫ﻛﻪ ﺍﺯ ﺁﻥ ﺩﺍﺭﻳﻢ‬
‫‪1‬‬ ‫)‪(1-155‬‬
‫‪n = 2,3,....‬‬ ‫‪an = -‬‬ ‫‪a n-2‬‬ ‫‪a 1 (1 + 2 p) = 0‬‬
‫)‪n(2 p + n‬‬
‫ﭼﻮﻥ ‪ p ³ 0‬ﭘﺲ ‪ a 1 = 0‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﺯ ﻓﺮﻣﻮﻝ ﺑﺎﺯﮔﺸﺘﻲ ﻓﻮﻕ ﺩﺍﺭﻳﻢ‬
‫‪a 3 = a 5 = a 7 = .... = 0‬‬
‫‪- a0‬‬ ‫‪- a0‬‬
‫= ‪a2‬‬ ‫=‬
‫)‪2(2 p + 2) 2.2( p + 1‬‬
‫‪- a2‬‬ ‫‪a0‬‬
‫= ‪a4‬‬ ‫‪= 4‬‬
‫)‪4(2 p + 2) 2 2!( p + 1)( p + 2‬‬
‫ﻭ ﺩﺭ ﺣﺎﻟﺖ ﻛﻠﻲ‬
‫‪(-1) a 0‬‬ ‫‪n‬‬
‫)‪(1-156‬‬
‫= ‪a 2n‬‬
‫)‪2 n!( p + 1)( p + 2).....( p + n‬‬
‫‪2n‬‬
‫ﭘﺲ ﺟﻮﺍﺏ )‪ y1 ( x‬ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲ ﺁﻳﺪ‪.‬‬

‫‪(-1) n a 0‬‬
‫‪a0 ¹ 0‬‬ ‫‪y1 ( x) = a 0 x p å‬‬ ‫)‪(1-157‬‬
‫)‪22n n!( p + 1)( p + 2)....(p + n‬‬
‫ﺷﻌﺎﻉ ﻫﻤﮕﺮﺍﻳﻲ ﺳﺮﻱ ﻓﻮﻕ ‪ R = ¥‬ﺑﻮﺩﻩ ﻭ ﺟﻮﺍﺏ ﻓﻮﻕ ﺑﺮﺍﻱ ‪ x > 0‬ﺑﺮﻗﺮﺍﺭ ﺍﺳﺖ‪.‬‬
‫ﺗﻌﺮﻳﻒ ‪ - 1- 7‬ﺗﺎﺑﻊ ﺑﺴﻞ ﻧﻮﻉ ﺍﻭﻝ ﻣﺮﺗﺒﻪ ‪ P‬ﺭﺍ ﺑﺎ )‪ J p ( x‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﻭ ﺑﺎ ﺍﻧﺘﺨﺎﺏ‬
‫‪1‬‬ ‫‪1‬‬ ‫)‪(1-158‬‬
‫= ‪a0‬‬ ‫‪= p‬‬
‫!‪2 G( p + 1) 2 p‬‬
‫‪p‬‬
‫ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ ﻛﻨﻴﻢ‪:‬‬

‫‪2n - p‬‬
‫‪1‬‬ ‫‪¥‬‬
‫‪(-1) x‬‬‫‪n‬‬
‫= )‪J p ( x‬‬ ‫‪å‬‬
‫)‪2 p p! n 2 n n!( p + 1)( p + 2)......( p + n‬‬
‫‪=0‬‬
‫‪2‬‬
‫ﻛﻪ ﺁﻧﺮﺍ ﺑﻔﺮﻡ ﺯﻳﺮ ﻣﻲ ﻧﻮﻳﺴﻴﻢ‪.‬‬

‫‪¥‬‬
‫‪(-1) n‬‬ ‫‪x‬‬ ‫)‪(1-159‬‬
‫‪J p ( x) = å‬‬ ‫‪( ) 2 n+ p‬‬
‫‪n = 0 n!G( n + p + 1) 2‬‬
‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺟﻮﺍﺏ ﺩﻳﮕﺮ ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ ﺑﻪ ﺍﺯﺍﻱ ‪ r = - p‬ﺩﺭ ﻣﻌﺎﺩﻟﻪ )‪ (II‬ﺑﻪ ﺟﺎﻱ ‪ p,- p‬ﻗـﺮﺍﺭ‬
‫ﺩﺍﺩﻩ ﻭ ﺑﺎ ﻣﺸﺘﻖ ﮔﺮﻓﺘﻦ ﺍﺯ ﺁﻥ ﻭ ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﺩﺭ )‪ (1-159‬ﻭ ﻃﻲ ﻣﺮﺍﺣﻠﻲ ﻣﺸﺎﺑﻪ ﺣﺎﻟﺖ ﻗﺒـﻞ ﺑـﻪ ﺟـﻮﺍﺏ‬
‫ﺯﻳﺮ ﻣﻲ ﺭﺳﻴﻢ‪.‬‬
‫‪¥‬‬
‫‪(-1) n x 2n‬‬
‫‪y2 ( x) = a 0 x - p å‬‬
‫) ‪n = 0 2 n!( p + 1)( p + 2)...(- p + n‬‬
‫‪2n‬‬
‫‪1‬‬
‫= ‪ a 0‬ﺟﻮﺍﺏ ﻓﻮﻕ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲ ﺁﻳﺪ‪.‬‬ ‫‪-p‬‬
‫ﻛﻪ ﺑﺎ ﺍﻧﺘﺨﺎﺏ‬
‫)‪2 G(- p + 1‬‬
‫‪2n- p‬‬
‫‪¥‬‬
‫‪(-1) n‬‬ ‫‪æ xö‬‬
‫‪y2 ( x) = J - p ( x) = å‬‬ ‫÷ ‪ç‬‬ ‫)‪(1-160‬‬
‫‪n = 0 n!G ( n - p + 1) è 2 ø‬‬
‫ﻛﻪ ﺳﺮﻱ ﻓﻮﻕ ﺑﺮﺍﻱ ‪ x > 0‬ﻫﻤﮕﺮﺍﺳﺖ‪.‬ﺿﻤﻨﺎ ﻭﻗﺘﻲ ﻛﻪ ‪ x ® 0‬ﺁﻧﮕﺎﻩ ‪J - p ( x) ® ¥‬‬
‫ﺗﻌﺮﻳﻒ ‪ ::2- 7‬ﻫﺮ ﺟﻮﺍﺏ ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ ﻛﻪ ﺑﺎ ﺟﻮﺍﺏ )‪ J p ( x‬ﺩﺭ )‪(III‬ﺑﺮ ﺑﺎﺯﻩ ‪ x > 0‬ﻣﺴﺘﻘﻞ ﺧﻄﻲ ﺑﺎﺷـﺪ‬
‫ﺗﺎﺑﻊ ﺑﺴﻞ ﻧﻮﻉ ﺩﻭﻡ ﻣﺮﺗﺒﻪ ‪ p‬ﻧﺎﻣﻴﺪﻩ ﻣﻲ ﺷﻮﺩ ﻭ ﺁﻧﺮﺍ ﺑﺎ )‪ Yp ( x‬ﻧﺸﺎﻥ ﻣﻲ ﺩﻫﻴﻢ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺟﻮﺍﺏ ﻋﻤﻮﻣﻲ‬
‫ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ ﺭﺍ ﺑﻔﺮﻡ ﺯﻳﺮ ﻣﻲ ﻧﻮﻳﺴﻴﻢ‪.‬‬
‫)‪y = C1 J p ( x) + C 2Yp ( x‬‬ ‫)‪(1-161‬‬
‫ﺑﻪ ﺍﺯﺍﻱ ‪ p=0‬ﺍﺯ )‪ (III‬ﺗﺎﺑﻊ ﺑﺴﻞ ﻣﺮﺗﺒﻪ ﺻﻔﺮ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪.‬‬
‫‪¥‬‬
‫‪(-1) x 2 n‬‬
‫‪n‬‬
‫‪x‬‬ ‫‪1 x 4‬‬
‫‪J 0 ( x) = å‬‬ ‫‪2‬‬
‫‪( ) = 1 - ( )2 +‬‬ ‫‪( ) - .......‬‬ ‫)‪(1-162‬‬
‫) !‪n = 0 (n‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫‪(2!) 2 2‬‬
‫ﻫﻤﭽﻨﻴﻦ ﺑﻪ ﺍﺯﺍﻱ ‪ p=1‬ﺗﺎﺑﻊ ﺑﺴﻞ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪.‬‬
‫‪¥‬‬
‫‪(-1) n‬‬ ‫‪x‬‬ ‫‪x 1 x‬‬ ‫‪1 x 5‬‬
‫‪J 1 ( x) = å‬‬ ‫‪( ) 2n +1 = - ( ) 3 +‬‬ ‫‪( ) - .....‬‬ ‫)‪(1-163‬‬
‫‪n = 0 n!( n + 1)! 2‬‬ ‫‪2 2! 2‬‬ ‫‪2!3! 2‬‬
‫ﻣﺜﺎﻝ ‪ :1- 11‬ﺟﻮﺍﺏ ﻋﻤﻮﻣﻲ ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ ﺯﻳﺮ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫‪1‬‬
‫‪x 2 y" + xy ' + ( x 2 - ) y = 0‬‬
‫‪4‬‬
‫‪1‬‬
‫‪ J‬ﺟﻮﺍﺑﻬﺎﻱ ﻣﺴﺘﻘﻞ ﺧﻄـﻲ‬ ‫‪1‬‬ ‫= ‪ p‬ﺍﺳﺖ ﭘﺲ )‪ J 1 ( x‬ﻭ )‪( x‬‬ ‫ﺣﻞ‪ :‬ﻣﻌﺎﺩﻟﻪ ﻓﻮﻕ‪ ،‬ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ ﻣﺮﺗﺒﻪ‬
‫‪-‬‬
‫‪2‬‬ ‫‪2‬‬
‫‪2‬‬
‫ﻣﻌﺎﺩﻟﻪ ﺑﺴﻞ ﻓﻮﻕ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺟﻮﺍﺏ ﻋﻤﻮﻣﻲ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺖ‪.‬‬
‫)‪y = C1 J 1 ( x) + C 2 J 1 ( x‬‬
‫‪-‬‬
‫‪2‬‬ ‫‪2‬‬
‫ﻛﻪ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ )‪ (III‬ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‬

‫‪1‬‬ ‫‪1 ¥‬‬
‫‪¥‬‬
‫‪(-1) n‬‬ ‫‪x‬‬ ‫‪2n +‬‬ ‫‪x‬‬ ‫‪(-1) n x 2 n‬‬
‫‪J 1 ( x) = å‬‬ ‫) (‬ ‫‪2‬‬
‫‪= ( )2 å‬‬
‫‪1 2‬‬ ‫‪2 n =0‬‬ ‫‪3‬‬
‫‪2‬‬ ‫‪n= 0‬‬
‫) ‪n!G(n + 1 +‬‬ ‫) ‪2 2 n n!G(n +‬‬
‫‪2‬‬ ‫‪2‬‬
‫ﺍﺯ ﻃﺮﻓﻲ‬
‫‪3‬‬ ‫‪3 é3 5‬‬ ‫‪2n + 1ù‬‬ ‫)‪3 3.5....(2n + 1‬‬
‫‪G( n + ) = G ( ) ê‬‬ ‫‪.....‬‬ ‫‪ú‬‬ ‫) (‪= G‬‬
‫‪2‬‬ ‫‪2 ë2 2‬‬ ‫‪2 û‬‬ ‫‪2‬‬ ‫‪2n‬‬
‫‪3‬‬ ‫‪1 1‬‬ ‫‪p‬‬
‫= ) (‪ G‬ﺑﻨﺎﺑﺮﺍﻳﻦ‬ ‫= ) (‪G‬‬ ‫ﻭ ﻫﻤﭽﻨﻴﻦ ﻣﻲ ﺩﺍﻧﻴﻢ ﻛﻪ‬
‫‪2‬‬ ‫‪2 2‬‬ ‫‪2‬‬
‫‪3‬‬ ‫‪p é 3.5....(2n + 1) ù‬‬
‫= )‪G( + n‬‬
‫‪2‬‬ ‫‪2 êë‬‬ ‫‪2n‬‬ ‫‪úû‬‬
‫ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﻋﺒﺎﺭﺕ ﻓﻮﻕ ﺩﺭ )‪ J 1 ( x‬ﻭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ‬

‫‪2‬‬
‫!)‪2 n!(3)(5).....(2n + 1) = (2)(3)( 4)....(2n)(2n + 1) = (2n + 1‬‬

‫‪n‬‬
‫‪2‬‬ ‫‪(-1) n x 2 n +1‬‬
‫‪¥‬‬
‫‪2‬‬
‫= )‪J 1 ( x‬‬ ‫‪å‬‬
‫!)‪px n= 0 (2n + 1‬‬
‫=‬
‫‪px‬‬
‫‪Sinx‬‬
‫‪2‬‬
‫ﺑﻪ ﻫﻤﻴﻦ ﺗﺮﺗﻴﺐ ﻣﻲ ﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﻛﻪ‬

‫‪2‬‬ ‫‪(-1) n x 2 n‬‬
‫‪¥‬‬
‫‪2‬‬
‫= )‪J 1 ( x‬‬
‫‪-‬‬
‫‪å‬‬
‫!)‪px n=0 (2n‬‬
‫=‬
‫‪px‬‬
‫‪Cosx‬‬
‫‪2‬‬
‫ﭘﺲ ﺟﻮﺍﺏ ﻋﻤﻮﻣﻲ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲ ﺁﻳﺪ‪:‬‬

‫‪2‬‬
‫)‪y = (C1 Sinx + C 2 Cosx‬‬
‫‪px‬‬
‫‪ 1- 7- 8‬ﺧﻮﺍﺹ ﺗﺎﺑﻊ ﺑﺴﻞ‬

‫)‪i ) d dx [x p J p ( x)] = x p J p -l ( x‬‬
‫)‪ii ) d dx [x - p J p ( x)] = - x - p J p -l ( x‬‬
‫ﺗﻤﺮﻳﻦ ‪1- 8‬‬
‫‪ -1‬ﻧﺸﺎﻥ ﺩﻫﻴﺪ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻫﺎﻱ ﻟﮋﺍﻧﺪﺭ ﺩﺭ ﺭﺍﺑﻄﻪ ﺑﺎﺯﮔﺸﺘﻲ ﺯﻳﺮ ﺻﺪﻕ ﻣﻲ ﻛﻨﺪ‪.‬‬
‫)‪(n + 1) Pn +1 ( x) = (2n + 1) xPn ( x) + nPn-1 ( x‬‬
‫‪ -2‬ﺛﺎﺑﺖ ﻛﻨﻴﺪ ﻣﺠﻤﻮﻋﻪ ﭼﻨﺪ ﺟﻤﻠﻪ ﺍﻱ ﻟﮋﺍﻧﺪﺭ ﺑﺮ ﺑﺎﺯﻩ)‪ (-1,1‬ﻳﻚ ﻣﺠﻤﻮﻋﻪ ﻣﺘﻌﺎﻣﺪ ﻫﺴﺘﻨﺪ‪.‬‬
‫‪1‬‬
‫‪m¹ n‬‬ ‫‪ò‬‬
‫‪-1‬‬
‫‪Pn ( x) Pm ( x)dx = 0‬‬
‫‪ 1- 8‬ﺗﺎﺑﻊ ﮔﺮﻳﻦ‬
‫ﺩﺭ ﺣﻞ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﻫﻤﮕﻦ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﺒﺪﻳﻠﻬﺎﻱ ﻓﻮﺭﻳﻪ ﻭ ﻻﭘـﻼﺱ ﻣـﻲﺗـﻮﺍﻥ ﻣﻌـﺎﺩﻻﺕ ﺭﺍ ﺣـﻞ‬
‫ﻧﻤﻮﺩ‪ .‬ﺑﺮﺍﻱ ﺣﻞ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ )ﻣﻌﻤﻮﻟﻲ ﻭ ﺟﺰﻳﻲ( ﻏﻴﺮ ﻫﻤﮕﻦ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﻳـﮏ ﺗﺒـﺪﻳﻞ ﺍﻧﺘﮕﺮﺍﻟـﻲ ﮐـﻪ‬
‫ﺗﻮﺳﻂ ﺗﺎﺑﻌﻲ ﺑﻪ ﻧﺎﻡ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕـﺮ ﺍﮔـﺮ ﺑـﺮﺍﻱ ﻳـﮏ ﻣﻌﺎﺩﻟـﻪ‬
‫ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﻏﻴﺮ ﻫﻤﮕﻦ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺁﻥ ﺭﺍ ﺑﺪﺍﻧﻴﻢ ﺑﻪ ﺭﺍﺣﺘﻲ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺁﻥ ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺭﺍ ﺑﺎ ﻳﮏ ﺗﺒﺪﻳﻞ‬
‫ﺍﻧﺘﮕﺮﺍﻟﻲ ﺣﻞ ﻧﻤﺎﻳﻴﻢ‪ .‬ﺑﺮﺍﻱ ﺭﻭﺷﻦ ﺷﺪﻥ ﻣﻮﺿﻮﻉ ﻳﮏ ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﮐﻠﻲ ﺯﻳﺮ ﺩﺭ ﻧﻈـﺮ‬
‫ﺑﮕﻴﺮﻳﺪ‪:‬‬
‫)‪L( x)u ( x) = f ( x‬‬ ‫)‪(1-164‬‬
‫ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ )‪ L(x‬ﺍﭘﺮﺍﺗﻮﺭ ﺩﻳﻔﺮﺍﻧﺴﻴﻠﻲ ﺧﻄﻲ ﺍﺳﺖ ﮐﻪ ﺑﺮ ﺗﺎﺑﻊ )‪ u(x‬ﻋﻤﻞ ﻣﻲﮐﻨﺪ ﻭ )‪ f(x‬ﻳـﮏ‬
‫ﺗﺎﺑﻊ ﻣﺸﺨﺺ ﺩﺭ ﻃﺮﻑ ﺩﻭﻡ ﻣﻌﺎﺩﻟﻪﻱ ﻧﺎﻫﻤﮕﻦ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻫﺪﻑ ﻳﺎﻓﺘﻦ )‪ u(x‬ﺍﺳﺖ ﺑﻪ ﻃـﻮﺭﻱ ﮐـﻪ‬
‫ﺩﺭ ﺭﺍﺑﻄﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻠﻲ )‪ (1-164‬ﺻﺪﻕ ﮐﻨﺪ‪ .‬ﺑﺮﺍﻱ ﺣﻞ ﻣﻌﺎﺩﻟﻪ )‪ (1-164‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ ‪:‬‬
‫)‪u ( x) = L-1 ( x) f ( x‬‬ ‫)‪(1-165‬‬
‫ﮐﻪ ‪ L‬ﻣﻌﮑﻮﺱ ﺍﻧﺘﮕﺮﺍﻟﻲ ﺑﺮﺍﻱ ﺍﭘﺮﺍﺗﻮﺭ ﺩﻳﻔﺮﺍﻧﺴﻴﻠﻲ ‪ L‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﻣﻲﺗﻮﺍﻥ ﻧﺘﻴﺠﻪ ﮔﺮﻓﺖ‪:‬‬ ‫‪-1‬‬
‫‪L L = LL-1 = I‬‬

‫‪-1‬‬
‫)‪(1-166‬‬
‫ﮐﻪ ‪ I‬ﺍﭘﺮﺍﺗﻮﺭ ﻫﻤﺎﻧﻲ‪ 5‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﮐﻨﻮﻥ ﺍﭘﺮﺍﺗﻮﺭ ﻣﻌﮑﻮﺱ ﺍﻧﺘﮕﺮﺍﻟﻲ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﻣﻌﺎﺩﻟﻪﻱ )‪ (1-166‬ﺗﻌﺮﻳﻒ‬
‫ﻣﻲﮐﻨﻴﻢ‪ .‬ﻫﻤﺎﻧﻨﺪ ﺍﭘﺮﺍﺗﻮﺭﻱ ﮐﻪ ﺩﺭ ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﺑﻪ ﮐﺎﺭ ﻣﻲﺭﻭﺩ ﺍﻳﻦ ﺍﭘﺮﺍﺗﻮﺭ ﻧﻴﺰ ﺑﻴﺎﻧﮕﺮ ﺿـﺮﺏ ﻭ ﺍﻧﺘﮕـﺮﺍﻝ‬
‫ﮔﻴﺮﻱ ﻳﮏ ﺗﺎﺑﻊ ﻫﺴﺘﻪﺍﻱ‪ 6‬ﺩﺭ ﺗﺎﺑﻊ ﺍﭘﺮﺍﻧﺪ‪ 7‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺩﺭ ﺍﭘﺮﺍﺗﻮﺭ ﺗﺒـﺪﻳﻞ ﻻﭘـﻼﺱ ﺍﺯ ﺗـﺎﺑﻊ ﻫـﺴﺘﻪﺍﻱ ‪e - jwx‬‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﺷﻮﺩ ﻭ ﺩﺭ ﺍﻳﻨﺠﺎ )‪ G ( x; x¢‬ﺑﻌﻨﻮﺍﻥ ﺗﺎﺑﻊ ﻫﺴﺘﻪﺍﻱ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫‪L-1{ f } = ò G (x; x¢) f (x¢ )dx¢‬‬ ‫)‪(1-167‬‬
‫ﻫﺴﺘﻪﻱ )‪ G ( x; x¢‬ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺍﭘﺮﺍﺗﻮﺭ ‪ L‬ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪ .‬ﺩﻗﺖ ﮐﻨﻴﺪ ﮐﻪ ﺗـﺎﺑﻊ )‪ G ( x; x¢‬ﻳـﮏ‬
‫ﺗﺎﺑﻊ ﺍﺯ ﺩﻭ ﻣﺘﻐﻴﺮ ‪ x‬ﻭ ‪ x¢‬ﺍﺳﺖ‪ x¢ .‬ﻳﮏ ﻧﻘﻄﻪﻱ ﺩﻟﺨﻮﺍﻩ ﺭﻭﻱ ﺩﺍﻣﻨﻪﻱ ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ )‪ u(x‬ﺍﺳﺖ ﮐﻪ ﺍﻧﺘﮕﺮﺍﻝ‬
‫ﻧﺴﺒﺖ ﺑﻪ ﺁﻥ ﮔﺮﻓﺘﻪ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺍﮐﻨﻮﻥ ﺑﻪ ﺭﺍﺑﻄﻪﻱ ‪ 1-166‬ﺗﻮﺟﻪ ﮐﻨﻴﺪ‪ .‬ﺍﭘﺮﺍﺗﻮﺭ ﻫﻤﺎﻧﻲ ‪ I‬ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ﺑﻪ ﺻﻮﺭﺕ ﺗﺎﺑﻊ ﺩﻟﺘﺎ‪ 8‬ﺗﻌﺮﻳﻒ ﻣـﻲ‪-‬‬
‫ﮔﺮﺩﺩ؛ ﺯﻳﺮﺍ ﻫﻤﺎﻧﻄﻮﺭ ﮐﻪ ﻣﻲﺩﺍﻧﻴﻢ‬
‫‪¥‬‬
‫‪-¥‬‬
‫)‪ò d (x - x¢) f ( x¢)dx¢ = f ( x‬‬ ‫)‪(1-168‬‬
‫‪¥‬‬
‫‪-¥‬‬
‫‪ò d (x¢)dx¢ = 1‬‬
‫ﺑﺎ ﺟﺎﻳﮕﺰﻳﻨﻲ ﺍﭘﺮﺍﺗﻮﺭﻫﺎ ﺩﺭ ﺭﺍﺑﻄﻪﻱ )‪ (1-166‬ﻣﻲﺗﻮﺍﻥ ﻧﺘﻴﺠﻪ ﮔﺮﻓﺖ‪:‬‬
‫)‪L( x)G (x; x¢) = d (x - x¢‬‬ ‫)‪(1-169‬‬
‫ﺍﮐﻨﻮﻥ ﺣﻞ ﻣﻌﺎﺩﻟﻪ )‪ (1-165‬ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺭﺍﺑﻄﻪﻱ )‪ (1-169‬ﺑﺪﺳﺖ ﺁﻭﺭﺩ‪:‬‬
‫‪¥‬‬
‫= )‪u ( x‬‬ ‫‪ò G (x; x¢ ) f (x¢ )d x¢‬‬

‫‪-¥‬‬
‫)‪(1-170‬‬
‫‪¥‬‬ ‫‪¥‬‬ ‫‪¥‬‬
‫ﺯﻳﺮﺍ ‪Lu( x) = L ò G( x; x¢) f ( x¢)dx¢ = ò LG(x; x¢) f (x¢)dx¢ = ò d ( x - x¢) f (x¢)dx¢ = f ( x) :‬‬
‫‪-¥‬‬ ‫‪-¥‬‬ ‫‪-¥‬‬
‫‪5‬‬
‫‪Identity Operator‬‬
‫‪6‬‬
‫‪Kernel Function‬‬
‫‪7‬‬
‫‪Operand‬‬
‫‪8‬‬
‫‪Delta Function‬‬
‫ﺑﺎﻳﺪ ﺩﻗﺖ ﮐﺮﺩ ﮐﻪ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺩﺭ ﻣﻌﺎﺩﻟﻪﻱ )‪ (1-165‬ﺻﺪﻕ ﻧﻤﻲﮐﻨﺪ ﻭ ﺟـﻮﺍﺑﻲ ﺍﺯ )‪ u(x‬ﻧﻴـﺴﺖ‪ ،‬ﺑﻠﮑـﻪ ﺍﻳـﻦ‬
‫ﺗﺎﺑﻊ ﺩﺭ ﻣﻌﺎﺩﻟﻪ )‪ (1-168‬ﺻﺪﻕ ﻣﻲﮐﻨﺪ‪ .‬ﺑﻪ ﻃﻮﺭ ﮐﻠـﻲ ﺍﮔـﺮ ﻣﻌﺎﺩﻟـﻪ ﺩﻳﻔﺮﺍﻧـﺴﻴﻠﻲ )‪ (1-165‬ﺭﻭﻱ ﺑـﺎﺯﻩﻱ‬
‫]‪ [a,b‬ﺑﺎ ﺷﺮﺍﻳﻂ ﻣﺮﺯﻱ‪:‬‬
‫‪Au (a ) + Bu(b) = 0‬‬
‫ﺗﻌﺮﻳﻒ ﺷﺪﻩ ﺑﺎﺷﺪ ﻭ ‪ x¢‬ﻳﮏ ﻧﻘﻄﻪ ﺩﺭ ﺍﻳﻦ ﺑﺎﺯﻩ ﺑﺎﺷﺪ‪ ،‬ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺁﻥ ﺩﺍﺭﺍﻱ ﻣﺸﺨﺼﺎﺕ ﺯﻳﺮ ﺍﺳﺖ ‪:‬‬
‫‪ (1‬ﺗﺎﺑﻊ )‪ G ( x; x¢‬ﺩﺭ ﺑﺎﺯﻩﻫﺎﻱ ‪ a £ x < x¢‬ﻭ ‪ x¢ < x £ b‬ﺟﻮﺍﺑﻲ ﺍﺯ ﻣﻌﺎﺩﻟـﻪ ‪Lu ( x) = 0‬‬
‫ﺍﺳﺖ‪.‬‬
‫‪ G ( x; x¢) (2‬ﺩﺭ ﺷﺮﻁ ﻣﺮﺯﻱ )‪ (8‬ﺻﺪﻕ ﻣﻲﮐﻨﺪ ﻳﻌﻨﻲ ‪AG (a , x¢) + BG (b, x¢) = 0‬‬
‫)‪ G ( n - 2 ) ( x; x¢) ، ... ، G¢( x; x¢) ، G ( x; x¢‬ﺭﻭﻱ ]‪ [a,b‬ﭘﻴﻮﺳﺘﻪﺍﻧﺪ‪.‬‬ ‫‪(3‬‬
‫‪ G‬ﺑــﺮﺭﻭﻱ ﺗﻤــﺎﻡ ]‪ [a,b‬ﭘﻴﻮﺳــﺘﻪ ﺍﺳــﺖ ﻣﮕــﺮ ﺩﺭ ‪ x = x¢‬ﮐــﻪ ﺩﺭ ﺁﻧﺠــﺎ ﭘــﺮﺵ‬ ‫‪( x; x¢) (4‬‬
‫)‪( n -1‬‬
‫)‪ - 1 / a 0 ( x¢‬ﺩﺍﺭﺩ‪.‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﮑﻪ ﺑﺮﺍﻱ ﺻﺪﻕ ﺗﺎﺑﻊ )‪ u(x‬ﺩﺭ ﻣﻌﺎﺩﻟﻪ ‪ Lu ( x) = 0‬ﻻﺯﻡ ﺍﺳﺖ )‪ u(x‬ﻭ ﻣﺸﺘﻘﺎﺕ ﺍﻭﻝ ﺗﺎ )‪n-‬‬
‫‪ (1‬ﺍﻡ ﺁﻥ ﺑﺮ ﺑﺎﺯﻩﻱ ﺗﻌﺮﻳﻒ ﭘﻴﻮﺳﺘﻪ ﺑﺎﺷﻨﺪ‪ ،‬ﺗﺎﺑﻊ ‪ G‬ﺩﺭ ﻣﻌﺎﺩﻟﻪﻱ ﻫﻤﮕﻦ ﻧﻴﺰ ﺻﺪﻕ ﻧﻤﻲﮐﻨﺪ )ﺑـﻪ ﻣﺸﺨـﺼﻪ‬
‫‪ 1‬ﺩﻗﺖ ﮐﻨﻴﺪ(‪.‬‬
‫ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺑﺮﺍﻱ ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﺍﭘﺮﺍﺗﻮﺭﻫﺎﻱ ﺩﻳﻔﺮﺍﻧﺴﻴﻠﻲ ﮐﺎﺭﺑﺮ ﺩﻱ ﺩﺍﺭﺍﻱ ﺗﻌﺒﻴﺮﻓﻴﺰﻳﮑﻲ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﺮﺍﻱ ﻣﺜﺎﻝ‬
‫ﺍﭘﺮﺍﺗﻮﺭ ﻻﭘﻼﺳﻴﻦ ﺩﻭ ﺑﻌﺪﻱ ﺭﺍ ﻣﻄﺎﺑﻖ ﻣﻌﺎﺩﻟﻪﻱ ﺯﻳﺮ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬
‫‪¶ 2u ¶ 2u‬‬
‫= ‪Ñ 2u‬‬ ‫‪+‬‬
‫‪¶x12 ¶x22‬‬
‫ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺑﺮﺍﻱ ﺍﻳﻦ ﺍﭘﺮﺍﺗﻮﺭ ﺑﺎ ﺭﺍﺑﻄﻪﻱ ﺯﻳﺮ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ‪:‬‬
‫÷‪r = æç x1 - x1¢ ö÷ + æç x2 - x2¢ ö‬‬

‫‪1‬‬
‫‪, G ( x; x¢) = -‬‬ ‫‪ln r‬‬ ‫)‪(1-171‬‬
‫‪è‬‬ ‫‪ø è‬‬ ‫‪ø‬‬ ‫‪2p‬‬
‫ﺍﻳﻦ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﭘﺘﺎﻧﺴﻴﻞ ﺭﺍ ﺩﺭ ﻧﻘﻄﻪﻱ ‪ x‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﻨﺒﻊ ﺑﺎﺭ ﻧﻘﻄﻪﺍﻱ ﮐﻪ ﺩﺭ ‪ x¢‬ﻗﺮﺍﺭ ﺩﺍﺭﺩ ﺑﻴﺎﻥ ﻣـﻲﮐﻨـﺪ‪.‬‬
‫ﭼﻨﺎﻧﮑﻪ ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺗﻨﻬﺎ ﺑﻪ ﻓﺎﺻﻠﻪ )ﺗﻔﺎﺿﻞ ﺑﺮﺩﺍﺭﻱ( ﺑﻴﻦ ﻧﻘﻄـﻪﻱ ﻣﻨﺒـﻊ ﻭ ﻧﻘﻄـﻪﻱ ﻣﺤـﻞ‬
‫ﻣﻴﺪﺍﻥ ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ‪.‬‬
‫ﺑﻌﻨﻮﺍﻥ ﻳﮑﻲ ﺩﻳﮕﺮ ﺍﺯ ﺗﻌﺒﻴﺮﻫﺎﻱ ﻓﻴﺰﻳﮑﻲ‪ ،‬ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺑﺮﺍﻱ ﻣﺜـﺎﻝ ﺩﺭ ﺗﺤﻠﻴـﻞ ﺍﻻﺳـﺘﻴﮑﻲ‪ 9‬ﺑﻴـﺎﻧﮕﺮ ﺟﺎﺑﺠـﺎﻳﻲ‬
‫ﻧﻘﻄﻪﻱ ‪ x‬ﺍﺯ ﺟﺴﻢ ﺍﻻﺳﺘﻴﮏ ﺩﺭ ﻧﺘﻴﺠﻪ ﺍﻋﻤﺎﻝ ﻭﺍﺣﺪ ﻧﻴﺮﻭ ﺩﺭ ﻧﻘﻄﻪ ‪ x¢‬ﺍﺳﺖ‪ ،‬ﻭ ﻳﺎ ﺩﺭ ﺍﻧﺘﻘـﺎﻝ ﺣـﺮﺍﺭﺕ ﺗـﺎﺑﻊ‬
‫ﮔﺮﻳﻦ ﺩﻣﺎ ﺭﺍ ﺩﺭ ﻧﻘﻄﻪ ‪ x‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﻨﺒﻊ ﮔﺮﻣﺎ ﺩﺭ ﻧﻘﻄﻪ ﻣﻨﺒﻊ ‪ x¢‬ﺑﻴﺎﻥ ﻣﻲﮐﻨﺪ‪.‬‬
‫‪ 1- 8- 1‬ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺩﺭ ﻓﻀﺎﻱ ﺑﻴﻨﻬﺎﻳﺖ ﻭ ﺩﺭ ﻓﻀﺎﻱ ﻣﺤﺪﻭﺩ‬
‫‪9‬‬
‫‪Elastostatics‬‬
‫ﺩﺭ ﺑﺮﺭﺳﻲ ﻫﺎﻳﻲ ﮐﻪ ﺗﺎ ﮐﻨﻮﻥ ﺍﻧﺠﺎﻡ ﺷﺪ ﺍﺷﺎﺭﻩﺍﻱ ﺑﻪ ﺷﺮﺍﻳﻂ ﻣﺮﺯﻱ ﺩﺭ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﻧﮑﺮﺩﻳﻢ‪.‬‬
‫ﺍﻳﻨﮕﻮﻧﻪ ﺗﺤﻠﻴﻞ ﻫﻨﮕﺎﻣﻲ ﺻﺤﻴﺢ ﺍﺳﺖ ﮐﻪ ﺑﻪ ﺩﻧﺒﺎﻝ ﻳﮏ ﺟﻮﺍﺏ ﻋﻤﻮﻣﻲ ﺑﺮﺍﻱ ﻣﻌﺎﺩﻟﻪ )‪ (1-169‬ﺑﺎﺷﻴﻢ؛‬
‫)‪L( x)G (x; x¢) = d (x - x¢‬‬
‫ﺟﻮﺍﺏ ﻋﻤﻮﻣﻲ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﻣﺴﺘﻘﻞ ﺍﺯ ﻫﺮﮔﻮﻧﻪ ﺷﺮﺍﻳﻂ ﻣﺮﺯﻱ ﻣﻲﺑﺎﺷﺪ ﻭ ﺑﻪ ﻫﻤﻴﻦ ﺩﻟﻴﻞ ﺑﻪ ﺁﻥ ﺗﺎﺑﻊ ﮔﺮﻳﻦ‬
‫ﺩﺭ ﻓﻀﺎﻱ ﺑﻴﻨﻬﺎﻳﺖ )ﺑﺪﻭﻥ ﻣﺮﺯ(‪ 10‬ﮔﻔﺘﻪ ﻣﻲﺷﻮﺩ‪ .‬ﺑﺎ ﺍﻳﻦ ﻭﺟﻮﺩ ﻣـﻲﺗـﻮﺍﻧﻴﻢ ﺗـﺎﺑﻊ ﮔـﺮﻳﻦ ﺭﺍ ﺑـﺮﺍﻱ ﺷـﺮﺍﻳﻂ‬
‫ﻭﺍﻗﻌﻲ ﺩﺭ ﻓﻀﺎﻱ ﻣﺤﺪﻭﺩ ﺑﺎ ﺍﺿﺎﻓﻪ ﮐﺮﺩﻥ ﺟﻮﺍﺏ ﺧﺼﻮﺻﻲ ﺑﻪ ﺁﻥ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪:‬‬
‫) ‪G (x; x¢) = G0 (x; x¢ ) + GR (x; x¢‬‬ ‫)‪(1-172‬‬
‫ﮐﻪ ‪:‬‬
‫‪L( x)GR (x; x¢) = 0‬‬ ‫)‪(1-173‬‬
‫)‪L( x)G0 (x; x¢ ) = d (x - x¢‬‬
‫‪ G0‬ﭘﺎﺳﺦ ﻋﻤﻮﻣﻲ ﻭ ‪ GR‬ﭘﺎﺳﺦ ﺧﺼﻮﺻﻲ ﺍﺳﺖ‪ .‬ﺍﺯ ﺁﻧﺠﺎ ﮐﻪ ‪ GR‬ﻳﮏ ﭘﺎﺳﺦ ﻫﻤﮕﻦ ﺍﺳﺖ‪ ،‬ﺷﺎﻣﻞ ﻣﻘﺎﺩﻳﺮ‬
‫ﺛﺎﺑﺖ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﮐﻪ ﺷﺮﺍﻳﻂ ﻣﺮﺯﻱ ﺭﺍ ﺑﺮﺍﻱ ﻣﺴﺎﻟﻪ ﺑﺮﺁﻭﺭﺩﻩ ﻣﻲﺳﺎﺯﻧﺪ‪.‬‬
‫ﻣﺜﺎﻝ‪ 1-12‬ﻣﻌﺎﺩﻟﻪﻱ ﻫﻠﻢ ﻫﻮﻟﺘﺰ ﺭﺍ ﺩﺭ ﺷﺮﺍﻳﻂ ﺳﻪ ﺑﻌﺪﻱ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪(Ñ‬‬ ‫‪2‬‬
‫)‬
‫‪+ k2 u = 0‬‬
‫‪¶2‬‬ ‫‪¶2‬‬ ‫‪¶2‬‬
‫= ‪ . Ñ 2‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﻋﻤﻮﻣﻲ ﺭﺍ‬ ‫‪+‬‬ ‫‪+‬‬ ‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ Ñ 2‬ﺍﭘﺮﺍﺗﻮﺭ ﻻﭘﻼﺳﻴﻦ ﺍﺳﺖ‪:‬‬
‫‪¶x12 ¶x22 ¶x32‬‬
‫ﺑﺮﺍﻱ ﺍﻳﻦ ﻣﻌﺎﺩﻟﻪ ﺑﺪﺳﺖ ﺁﻭﺭﻳﻢ‪ .‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﻌﺎﺩﻟﻪ )‪ ( (1-169‬ﺩﺍﺭﻳﻢ‪:‬‬
‫) ‪L( x)G (x; x¢) = d (x - x¢‬‬
‫ﺩﻗﺖ ﮐﻨﻴﺪ ﮐﻪ ﺗﺎﺑﻊ ﺩﻟﺘﺎ ﺩﺭ ﺍﻳﻨﺠﺎ ﺳﻪ ﺑﻌﺪﻱ ﺍﺳﺖ ﻭ ﺍﺯ ﺿﺮﺏ ﺗﺎﺑﻊ ﺩﻟﺘـﺎ ﺑـﺮﺍﻱ ﻫﺮﻳـﮏ ﺍﺯ ﺑﻌـﺪ ﻫـﺎ ﺑـﺎ ﻫـﻢ‬
‫ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪:‬‬
‫) ‪d (x - x¢) = d (x1 - x1¢ ).d (x2 - x¢2 ).d (x3 - x3¢‬‬ ‫)‪(1-174‬‬
‫ﺍﻳﻦ ﺗﺎﺑﻊ ﻓﻘﻂ ﺩﺭ ﻣﺒﺪﺍ ﻣﺨﺘﺼﺎﺕ ﺩﺍﺭﺍﻱ ﻣﻘﺪﺍﺭ ﻳﮏ ﻭ ﺩﺭ ﺑﻘﻴﻪ ﻧﻘﺎﻁ ﻓﻀﺎ ﺻﻔﺮ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺑﺪﺳـﺖ ﺁﻭﺭﺩﻥ‬
‫ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﻋﻤﻮﻣﻲ ﺑﺮﺍﻱ ﺍﻳﻦ ﻣﺴﺎﻟﻪ ﺍﺯ ﺗﺒﺪﻳﻞ ﻓﻮﺭﻳﻪ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﮐﻨﻴﻢ‪:‬‬
‫‪¥‬‬
‫‪1‬‬
‫= ) ‪Uˆ (q‬‬
‫‪(2p ) ò‬‬
‫‪-iqr‬‬
‫‪u (r )e‬‬
‫‪3‬‬
‫‪dr‬‬
‫‪-¥‬‬
‫)‪(1-175‬‬
‫‪¥‬‬
‫‪u (r ) = ò Uˆ (q)eiqr dq‬‬
‫‪-¥‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ ﻫﺮ ﻳﮏ ﺍﺯ ﻣﺘﻐﻴﺮﻫﺎﻱ ‪ r‬ﻭ ‪ q‬ﺑﺮﺩﺍﺭﻫﺎﻱ ﺳﻪ ﺑﻌﺪﻱ ﻫﺴﺘﻨﺪ‪.‬‬

‫‪L( x) = Ñ 2 + k 2‬‬ ‫)‪(1-176‬‬
‫‪10‬‬
‫‪Free Space Green’s Function‬‬
‫ﺑﺎ ﺑﻪ ﮐﺎﺭﮔﻴﺮﻱ ﺗﺒﺪﻳﻞ ﻣﺴﺘﻘﻴﻢ ﻓﻮﺭﻳﻪ ﺑﺮﺍﻱ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪‬‬
‫(‬ ‫)‬
‫= )‪- q 21+ q 22 + q 23 Gˆ (q) + k 2Gˆ (q‬‬
‫‪1‬‬
‫(‬ ‫)‬
‫= )‪Þ q 2 = q 21+ q 22 + q 23 Þ q 2 - k 2 G (q‬‬
‫‪1‬‬
‫) ‪(2p‬‬ ‫‪3‬‬
‫‪(2p )3‬‬
‫‪1‬‬
‫= )‪Þ Gˆ (q‬‬ ‫)‪(1-177‬‬
‫) ‪(2p ) (q 2 - k 2‬‬
‫‪3‬‬
‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺩﺭ ﺣﻮﺯﻩ ﺯﻣﺎﻥ )ﻓﻴﺰﻳﮑﻲ( ﺍﺯ ﺗﺒﺪﻳﻞ ﻣﻌﮑﻮﺱ ﻓﻮﺭﻳﻪ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﮐﻨﻴﻢ‪:‬‬
‫‪¥‬‬
‫‪1‬‬ ‫‪e jqr‬‬
‫= ) ‪G (r‬‬
‫) ‪(2p )3 -ò¥ (q 2 - k 2‬‬
‫‪dq‬‬ ‫)‪(1-178‬‬
‫‪11‬‬
‫ﺍﺳﺖ ﮐﻪ ﻋﻼﻭﻩ ﺑﺮ ﺍﻧﺪﺍﺯﻩ‪ ،‬ﺑﻪ ﺟﻬﺖ ‪ q‬ﻧﻴﺰ ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ‪ .‬ﺑﺮﺍﻱ‬ ‫ﺍﻳﻦ ﻳﮏ ﺍﻧﺘﮕﺮﺍﻝ ﻓﻮﺭﻳﻪﻱ ﺍﻳﺰﻭﺗﺮﻭﭘﻴﮏ‬
‫ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺍﻳﻦ ﺍﻧﺘﮕﺮﺍﻝ‪ ،‬ﺑﺎﺭﺗﻮﻥ‪ 12‬ﭘﺎﺳﺦ ﻋﻤﻮﻣﻲ ﺍﻧﺘﮕﺮﺍﻝ ﺍﻳﺰﻭﺗﺮﻭﭘﻴﮏ ﻓﻮﺭﻳﻪ ﺭﺍ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺍﺭﺍﺋﻪ‬
‫ﺩﺍﺩﻩ ﺍﺳﺖ‪:‬‬
‫‪¥‬‬ ‫‪¥‬‬
‫‪4p‬‬
‫‪ò‬‬
‫‪-¥‬‬
‫= ‪f (q)e jqr dq‬‬
‫‪R‬‬ ‫‪ò q. f (q )sin( qR)dq‬‬
‫‪0‬‬
‫)‪(1-179‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ R‬ﺍﻧﺪﺍﺯﻩﻱ ﺑﺮﺩﺍﺭ ‪ r‬ﻭ ‪ q‬ﺍﻧﺪﺍﺯﻩ ﺑﺮﺩﺍﺭ ‪ q‬ﺍﺳﺖ‪ .‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫)‪(1-180‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﮑﻪ ﺍﻧﺘﮕﺮﺍﻧﺪ ﻳﮏ ﺗﺎﺑﻊ ﺯﻭﺝ ﺍﺳﺖ‪:‬‬
‫)‪(1-181‬‬
‫ﺍﮐﻨﻮﻥ ﺑﺎ ﺑﺴﻂ )‪ sin(qR‬ﺩﺍﺭﻳﻢ‪:‬‬

‫‪eiqR - e-iqR‬‬
‫= )‪sin(qR‬‬ ‫‪Þ‬‬ ‫)‪(1-182‬‬
‫‪2i‬‬
‫‪4p 1 ì‬‬ ‫‪ü 4p 1‬‬
‫‪¥‬‬ ‫‪¥‬‬
‫‪qeiqR‬‬ ‫‪qe-iqR‬‬
‫= ) ‪G(r‬‬ ‫‪í‬‬ ‫‪ò‬‬ ‫‪dq‬‬ ‫‪-‬‬ ‫‪ò‬‬ ‫= ‪dqý‬‬ ‫} ‪{I - I‬‬
‫‪(2p ) 4iR î-¥ (q - k )(q + k ) -¥ (q - k)(q + k) þ (2p )3 4iR 1 2‬‬
‫‪3‬‬
‫ﺍﻧﺘﮕﺮﺍﻟﻬﺎﻱ ‪ I1‬ﻭ ‪ I2‬ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻣﺎﻧﺪﻩﻫﺎ ﻣﻲﺗﻮﺍﻥ ﺑﺪﺳﺖ ﺁﻭﺭﺩ‪:‬‬
‫‪11‬‬
‫‪Isotropic‬‬
‫‪12‬‬
‫] ‪Barton, [Elements of Green’s Functions and Propagation, Oxford Science Press, 1989‬‬
¥
qeiqR qeiqR
I1 = ò-¥ (q - k )(q + k ) dq = 2pi å
Re s _ Im( q ) > 0 (q - k )(q + k )
= pieikR , I 2 = -pieikR
(1-183)
:‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎﺑﻊ ﮔﺮﻳﻦ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‬
4p 1
G (r ) = {
pie ikR + pieikR = }
1 ikR
e (1-184)
(2p ) 4iR
3
4pR

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‫ﻣﻘﺪﻣﻪ‪:‬‬

‫ﺗﺠﺰﻳﻪ ﻭ ﺗﺤﻠﻴﻞ ﺳﻴﺴﺘﻢ ﻫﺎ ﺑﺎ ﺳﻪ ﻣﺮﺣﻠﻪ ﺯﻳﺮ ﻋﻤﻠﻲ ﻣﻲ ﮔﺮﺩﺩ‪.‬‬

‫ﻣﺪﻝ ﻛﺮﺩﻥ ‪Modeling‬‬

‫‪é a 11 a 12 ....... a 1n ù‬‬

‫‪ 1-1-2‬ﻋﻤﻠﻴﺎﺕ ﺟﺒﺮﻱ ﺭﻭﻱ ﻣﺎﺗﺮﻳﺴﻬﺎ‬

‫‪ 1-1-4‬ﺿﺮﺏ ﺍﺳﻜﺎﻟﺮ ﻳﻚ ﻣﺎﺗﺮﻳﺲ‬

‫‪ 1-1-7‬ﺩﺗﺮﻣﻴﻨﺎﻥ ﻣﺎﺗﺮﻳﺲ ﻣﺮﺑﻌﻲ ‪3*3‬‬

‫‪éa11 a12 a13 ù‬‬ ‫)‪(1-7‬‬

‫‪det A = a 11 C11 + a 12 C12 + a13 C13‬‬ ‫)‪(1-8‬‬

‫‪Cofactor (aij) =Cij= (-1) i+j‬‬ ‫)‪(1-9‬‬

‫‪1- l‬‬ ‫‪0‬‬ ‫‪-1‬‬

‫‪ 1-1-8‬ﺧﻮﺍﺹ ﺩﺗﺮﻣﻴﻨﺎﻥ ﻫﺎ‪:‬‬

‫‪a 11 x 1 + a 12 x 2 + ........ + a 1 n x n = b 1‬‬ ‫)‪(1-12‬‬

‫‪ 1-1-10‬ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻭ ﺑﺮﺩﺍﺭﻫﺎﻱ ﻭﻳﮋﻩ‪:‬‬

‫‪æ- 5 2 ö‬‬ ‫‪æy ö‬‬

‫‪y = x e wt‬‬ ‫ﺑﺮﺍﻱ ﺣﻞ ﺍﻳﻦ ﻣﻌﺎﺩﻟﻪ‬

‫‪Þ w 2 Xe wt = Axe wt Þ Ax = lx‬‬ ‫) ‪(l = w‬‬ ‫‪2‬‬

‫ﺍﺯ ﺭﺍﺑﻄﻪ ﻓﻮﻕ ﻧﺘﻴﺠﻪ ﻣﻲ ﮔﺮﺩﺩ ﻛﻪ‪:‬‬

‫‪é2 1ù‬‬ ‫‪é2 - l‬‬ ‫‪1 ù‬‬

‫‪é l1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0 ù‬‬

êë0 0 - 7úû êë1 1 -1úû

:‫ ﺣﻞ ﺳﻴﺴﺘﻢ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺧﻄﻲ‬1-1-11

‫ﺑﻪ ﺍﻳﻦ ﺗﺮﺗﻴﺐ‬ u1 = 3u 2 2 Þ if u 2 = 2 Þ V2 = [3 2]T

‫‪é 1 ù -t‬‬ ‫‪é3ù 4t‬‬ ‫‪é 1 ù -t‬‬ ‫‪é3ù 4t‬‬

‫‪dt‬‬ ‫‪ê ú‬‬ ‫‪ê ú‬‬ ‫‪ê ú‬‬

‫‪ (2‬ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﻣﻮﻫﻮﻣﻲ‬

‫‪X1 = V1e l t , X 2 = V 1 e l‬‬

‫ﻣﺜﺎﻝ‪ :1- 5‬ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺧﻄﻲ ﺭﻭﺑﺮﻭ ﺭﺍ ﺣﻞ ﻛﻨﻴﺪ‪.‬‬

‫‪év ù‬‬ ‫‪ì(1- 2i)v1 - v2 = 0‬‬ ‫‪é 1 ù‬‬

‫‪x1 = [1 1 - 2i ]T e (5+ 2i )t‬‬ ‫‪, x2 = [1 1 + 2i ] e ( 5- 2 i ) t‬‬

‫ﺍﻟﻒ( ‪ Þ X = c1 [1 1 - 2i ]e (5 + 2 i ) t + c 2 [1 1 + 2i ]e (5 -2 i )t‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺟﻤﻊ ﺁﺛـﺎﺭ ﻣﻼﺣﻈـﻪ‬

‫‪é k1 + k2‬‬ ‫‪k2 ù‬‬

‫‪ë2û‬‬ ‫‪ë2û‬‬ ‫‪ë1û‬‬ ‫‪ë1 û‬‬

‫‪ 1-1-12‬ﻗﻄﺮﻱ ﻛﺮﺩﻥ ﻳﻚ ﻣﺎﺗﺮﻳﺲ‬

‫ﻣﺜﺎﻝ‪ :1- 6‬ﻣﺎﺗﺮﻳﺲ ﺯﻳﺮ ﺭﺍ ﻗﻄﺮﻱ ﻛﻨﻴﺪ‪:‬‬

‫‪é- 5 - l‬‬ ‫‪9‬‬ ‫‪ù‬‬

‫‪é3 1ù‬‬ ‫‪é 1 - 1ù‬‬

‫ ﻣﺸﺘﻘﺎﺕ ﺑﺮﺩﺍﺭﻫﺎ ﻭ ﻣﺎﺗﺮﻳﺴﻬﺎ ﻭ ﺗﻮﺍﺑﻊ ﺁﻧﻬﺎ‬1- 2

X ‫ ﻧﺴﺒﺖ ﺑﻪ‬Y ‫ﻣﺸﺘﻖ‬

æ ¶y1 / ¶X ö æ ¶y1 / ¶x1 ¶y1 / ¶x2  ¶y1 / ¶xn ö

æ ¶a 11 / ¶xi ¶a 12 / ¶xi  ¶a 1m / ¶xi ö

‫‪(lAˆ )x = lAˆ x = Aˆ lx‬‬ ‫)‪(1-35‬‬

‫ﺟﻤﻊ ﻭ ﺗﻔﺮﻳﻖ ‪:‬‬ ‫·‬

‫ﺑﻪ ﺗﺮﺗﻴﺐ ﺗﺎﻧﺴﻮﺭﻫﺎﻱ ‪ A‬ﻭ ‪ B‬ﺗﻮﺟﻪ ﮐﻨﻴﺪ‪.‬‬

‫‪k =1‬‬ ‫)‪(1-42‬‬

‫‪[P ]F = [P. f 1 , P . f 2 , P. f 3 ]T‬‬ ‫ﺑﺮﺩﺍﺭ ﻣﻮﻗﻴﻌﺖ ﺩﺭ ﺩﺳﺘﮕﺎﻩ ﺛﺎﺑﺖ‬

‫‪ 1-4-2‬ﺗﻐﻴﻴﺮ ﺣﺎﻟﺖ ﻣﺨﺘﺼﺎﺕ‪:‬‬

‫‪[P ]F‬‬ ‫] ‪= A[P‬‬

‫‪é f 1 .m1‬‬ ‫‪f 1.m2‬‬ ‫‪f 1 .m3 ù‬‬

‫) ‪YPR(f ) = R3 (f 3 ) R2 (f 2 ) R1 (f1‬‬ ‫)‪(1-46‬‬

‫ﻗﻀﻴﻪ ‪ : . 1- 4- 2‬ﻣﻌﺎﺩﻝ ﻣﺤﻮﺭ ﺯﺍﻭﻳﻪ ﺍﻱ ‪:‬‬

‫ﻗﻀﻴﻪ‪ : 1- 4- 3‬ﺩﻭﺭﺍﻥ ﭘﺎﻳﻪ‪:‬‬

‫‪ 1-5-1‬ﻣﻮﻗﻌﻴﺖ ﻭ ﺟﻬﺖ ﻳﻚ ﺟﺴﻢ ﺻﻠﺐ‬

‫ﻭ ﻫﻤﭽﻨﻴﻦ ﺩﺍﺭﺍﻱ ﻃﻮﻝ ﻭﺍﺣﺪﻧﺪ‪:‬‬

‫‪én T n n T t‬‬ ‫‪n T bù‬‬ ‫‪é1 0 0ù‬‬

‫ﺷﻜﻞ‪ :1-3‬ﺗﺒﺪﻳﻞ ﻣﺨﺘﺼﺎﺕ‬

‫‪R -1 = RT‬‬ ‫)‪(1-62‬‬

‫‪éxù‬‬ ‫‪éu ù‬‬