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Mathcad - ТЭА-динамик2.3
Mathcad - ТЭА-динамик2.3
6
AS1 J1
4 5 =2 =2 E := 1
AS2 J2
m 1 m
q := 5
P2 := 24
h := 6m
6
l := 4m
4 1 6
m := 20
4 4
⎛1 0 0 0 0 ⎞
⎜ −1 1 1 0 0 ⎟
Б ү х зангилааны
⎜ ⎟ цэгийн вектор
−1 0 ⎛0 0 ⎞
S := ⎜
0 1 0 ⎟ матриц хэлбэрт
⎜0 12 ⎟
⎜0 −1 0 ⎟ бичвэл.
0 0
⎜ ⎟
⎜0 ⎟ −4
x := ⎜
0 −1 0 1 12 ⎟
⎜ ⎟ ⎜ −4
⎝0 0 0 0 −1 ⎠ 0 ⎟
⎜4 12
⎟
Зангилааны цэгийн координатын векторыг тодорхойлоё. ⎜ ⎟
⎛0⎞ ⎛0⎞ ⎛ −4 ⎞ ⎛ −4 ⎞ ⎛4⎞ ⎛4⎞ ⎝4 0 ⎠
x 1 := ⎜ ⎟ x 2 := ⎜ ⎟ x 3 := ⎜ ⎟ x 4 := ⎜ ⎟ x 5 := ⎜ ⎟ x 6 := ⎜ ⎟
⎝0⎠ ⎝ 12 ⎠ ⎝ 12 ⎠ ⎝0 ⎠ ⎝ 12 ⎠ ⎝0⎠
T T T T T
l1 := p 1 ⋅ p 1 = 12 l2 := p2 ⋅ p2 = 4 l3 := p3 ⋅ p3 = 4 l4 := p 4 ⋅ p 4 = 12 l5 := p 5 ⋅ p 5 = 12
1 ⎛0⎞ 1 ⎛ −1 ⎞ 1 ⎛1⎞ 1 ⎛0 ⎞ 1 ⎛0 ⎞
c1 := ⋅ p1 = ⎜ ⎟ c2 := ⋅ p2 = ⎜ ⎟ c3 := ⋅ p3 = ⎜ ⎟ c4 := ⋅ p4 = ⎜ ⎟ c5 := ⋅ p5 = ⎜ ⎟
l1 ⎝1⎠ l2 ⎝0 ⎠ l3 ⎝0⎠ l4 ⎝ −1 ⎠ l5 ⎝ −1 ⎠
⎛ x1 ⎞ ⎛ x2 ⎞ ⎛ x3 ⎞ ⎛ y4 ⎞
a1 := acos⎜ ⎟ = 90⋅ deg a2 := acos⎜ ⎟ = 180 ⋅ deg a3 := acos⎜ ⎟ = 0⋅ deg a4 := asin⎜ ⎟ = −90⋅ deg
⎝ ⎠
l1
⎝ ⎠
l2
⎝ ⎠
l3
⎝ ⎠
l4
⎛ y5 ⎞
a5 := asin⎜ ⎟ = −90⋅ deg
⎝ l5 ⎠
Төгсгөл өг элементүү дийн дотоод хөшүү ний матрицийг байгуулбал.
⎛ E⋅ AS1 ⎞
⎜ 0 ⎟ ⎛ E⋅ AS2 ⎞
0
⎜ 0 ⎟
⎜ l1 ⎟ 0
⎜ l2 ⎟
⎜ ⎟ ⎛ 48 0 0 ⎞ E⋅ J
4E⋅ J1 2E⋅ J1 ⎜ ⎟ ⎛ 48 0 0 ⎞ E⋅ J
⎜ ⎟ k1 = ⎜ 0 4 2 ⎟ ⋅
1 4E⋅ J2 2E⋅ J2
k 1 := 0 ⎜ ⎟ k2 = ⎜ 0 4 2 ⎟ ⋅
2
⎜ l1 l1 ⎟ ⎜ ⎟ l k 2 := 0
⎝ 0 2 4⎠ 1 ⎜ l2 l2 ⎟ ⎜ ⎟ l2
⎜ ⎟ ⎝ 0 2 4⎠
2E⋅ J1 4E⋅ J1 ⎟ ⎜ ⎟
⎜ 2E⋅ J2 4E⋅ J2 ⎟
⎜
⎜ 0 l1 ⎟
⎝ l1
⎠ ⎜ 0 l2 ⎟
⎝ l2
⎠
⎛ E⋅ AS2 ⎞
⎜ 0 0 ⎟
⎜ l3 ⎟
⎜ 4E⋅ J2 2E⋅ J2
⎟ ⎛ 48 0 0 ⎞ E⋅ J
k 3 := ⎜ 0 ⎟ k3 = ⎜ 0 4 2 ⎟ ⋅
2
⎜ l3 l3 ⎟ ⎜ ⎟ l3
⎜ ⎟ ⎝ 0 2 4⎠
⎜ 2E⋅ J2 4E⋅ J2 ⎟
⎜ 0 l3 ⎟
⎝ l3
⎠
⎛⎜ E⋅ AS1 ⎞ ⎛⎜ E⋅ AS1 ⎞
0 ⎟ 0 ⎟
⎜ l4 ⎟ ⎛ 48 0 ⎞ E⋅ J1 ⎜ l5 ⎟
k 4 := ⎜ ⎟ k4 = ⎜ ⎟⋅ k 5 := ⎜ ⎟ ⎛ 48 0 ⎞ ⋅ E⋅ J1
⎜ 0 3E⋅ J1
⎟ ⎝ 0 3 ⎠ l4 ⎜ 0 3E⋅ J1
⎟
k4 = ⎜ ⎟
⎝ 0 3 ⎠ l5
⎜ l4 ⎟ ⎜ l5 ⎟
⎝ ⎠ ⎝ ⎠
Статикийн матриц буюу Дотоод х ү члэл ба гадаад ачааны хоорондын хамааралыг ү зүү лэх
матрицыг бичвэл
⎛ 0 1 0 ⎞ ⎛ 0 1 0 ⎞
⎜ ⎟ ⎜ ⎟
⎜ −cos a ( )
sin a1 sin( a1 )
⎟ ⎜ −cos a ( )
sin a2 sin( a2 )
⎟
⎜ ( 1) l1 l1 ⎟ ⎜ ( 2) l2 l2 ⎟
⎜ ⎟ ⎜ ⎟
⎜ ( )
−cos a1 −cos( a1 ) ⎟ ⎜ ( )
−cos a2 −cos( a2 ) ⎟
⎜ −sin( a1) l1 l1 ⎟ ⎜ −sin( a2) l2 l2 ⎟
A1 := ⎜ ⎟ A2 := ⎜ ⎟
⎜ 0 0 1 ⎟ ⎜ 0 0 1 ⎟
⎜ ⎟ ⎜ ⎟
⎜ cos( a ) ( )
−sin a1 −sin( a1 )
⎟ ⎜ cos( a ) ( )
−sin a2 −sin( a2 )
⎟
⎜ 1 l1 l1 ⎟ ⎜ 2 l2 l2 ⎟
⎜ ⎟ ⎜ ⎟
⎜ ( )
cos a1 cos( a1 ) ⎟ ⎜ ( )
cos a2 cos( a2 ) ⎟
⎜ sin( a1) ⎟ ⎜ sin( a2) ⎟
⎝ l1 l1
⎠ ⎝ l2 l2
⎠
⎛ 0 ⎞ ⎛ 0 1 ⎞
⎜
1 0
⎟ ⎛ 0 1 ⎞ ⎜ ⎟
⎜ −cos a ( )
sin a3 sin( a3 )
⎟ ⎜ sin( a4 ) ⎟ ⎜ −cos( a5 ) ( )⎟
sin a5
⎜ ( 3) ⎟ ⎜ −cos( a4 ) ⎟ ⎜ l5 ⎟
l3 l3 ⎜ l4 ⎟
⎜ ⎟ ⎜ ⎟
⎜ ⎟ cos( a5 )
⎜ ( )
−cos a3 −cos( a3 ) ⎟ cos( a4 ) A5 := ⎜
−sin( a5 )
⎟
⎜ −sin( a3)
A4 := ⎜ ⎟
⎟ −sin( a4 ) ⎜ ⎟
l3 l3 ⎜ ⎟ l5
A3 := ⎜ ⎟ ⎜ ⎟
l4
⎜ ⎟
⎜ 0 ⎟ ⎜ cos( a5 ) −sin( a5 ) ⎟
0 1
⎜ cos( a4 ) −sin( a4 ) ⎟
⎜ ⎟ ⎜ sin a ⎟
( )
−sin a3 −sin( a3 ) ⎜ sin a ⎟ ⎝ ( 5) cos( a5 )
⎝ ( 4) cos( a4 )
⎜ cos( a ) ⎟ ⎠
⎠
⎜ 3 l3 l3 ⎟
⎜ ⎟
⎜ ( )
cos a3 cos( a3 ) ⎟
⎜ sin( a3) ⎟
⎝ l3 l3
⎠
Гадаад хөшүү ний матриц байгуулая
T
K1 := A1 ⋅ k 1 ⋅ A1
⎛ 4 0.5 0 2 −0.5 0 ⎞
⎜ 0.5 0.083 0 0.5 −0.083 −0 ⎟
⎜ ⎟
−0 −48 ⎟ E⋅ J1
K1 = ⎜
0 0 48 0
⋅
⎜ 2 0.5 0 4 −0.5 0 ⎟ l1
⎜ −0.5 −0.083 −0 −0.5 0.083 0
⎟
⎜ ⎟
⎝ 0 −0 −48 0 0 48 ⎠
T
T K3 := A3 ⋅ k 3 ⋅ A3
K2 := A2 ⋅ k 2 ⋅ A2
T T
K4 := A4 ⋅ k 4 ⋅ A4 K5 := A5 ⋅ k 5 ⋅ A5
⎛ 3 −0.25 0 3 ⎞ 0 ⎛ 3 −0.25 0 3 0 ⎞
⎜ ⎟ ⎜ ⎟
⎜ −0.25 0.021 −0 −0.25 0
⎟ E⋅ J1 ⎜ −0.25 0.021 −0 −0.25 0
⎟ E⋅ J1
K4 = ⎜ 0 −0 48 0 −48 ⎟ ⋅ K5 = ⎜ 0 −0 48 0 −48 ⎟ ⋅
⎜ 3 −0.25 0 3 −0 ⎟ 4
l
⎜ 3 −0.25 0 3 −0 ⎟ 4
l
⎜ ⎟ ⎜ ⎟
⎝ 0 0 −48 −0 48 ⎠ ⎝ 0 0 −48 −0 48 ⎠
(
K1 := submatrix K1 , 3 , 5 , 3 , 5 ) (
K4 := submatrix K4 , 0 , 2 , 0 , 2 ) (
K5 := submatrix K5 , 0 , 2 , 0 , 2 )
K4 K5 Z6 Z4 Z3 Z1 Z9
I II III IV V VI VII VIII XI I II III IV V VI VII VIII XI Z7
3 2 2 3 5
I I
II II Z5 Z2 Z8
III III
IV IV
6
V V
4 5
VI VI
VII VII 1
VIII VIII
XI XI
6
1
4 6
4 4
⎛⎜ 4 −0.5 0 0 0 0 0 0 0⎞
⎟ ⎛⎜ 4 0 1.5 2 0 −1.5 0 0 0 ⎞
⎟
⎜ −0.5 0.083 0 0 0 0 0 0 0⎟ ⎜ 0 48 −0 0 −48 0 0 0 0⎟
⎜ 0 0 48 0 0 0 0 0 0⎟ ⎜ 1.5 −0 0.75 1.5 0 −0.75 0 0 0 ⎟
⎜ 0 0 0 0 0 0 0 0 0
⎟ ⎜ 2 0 1.5 4 0 −1.5 0 0 0
⎟
⎜ ⎟ E⋅ J1 ⎜ ⎟ E⋅ J2
K1'' := ⎜ 0 0 0 0 0 0 0 0 0 ⎟⋅ K2'' := ⎜ 0 −48 0 0 48 −0 0 0 0⎟
⎜ 0 0 0 0 0 0 0 0 0⎟ 1
l
⎜ −1.5 0 −0.75 −1.5 −0 0.75 0 0 0⎟ 2
l
⎜ ⎟ ⎜ ⎟
⎜ 0 0 0 0 0 0 0 0 0⎟ ⎜ 0 0 0 0 0 0 0 0 0⎟
⎜ 0 0 0 0 0 0 0 0 0⎟ ⎜ 0 0 0 0 0 0 0 0 0⎟
⎜⎝ 0 0 0 0 0 0 0 0 0 ⎟⎠ ⎜⎝ 0 0 0 0 0 0 0 0 0 ⎟⎠
⎛⎜ 4 0 −1.5 0 0 0 2 ⎞⎟
0 1.5
⎜ 0 48 0 0 0 0 0 −48 0 ⎟
⎜ −1.5 0 0.75 0 0 0 −1.5 0 −0.75 ⎟
⎜ 0 0 0 0 0 0 0 0 0
⎟
⎜ ⎟ E⋅ J2
K3'' := ⎜ 0 0 0 0 0 0 0 0 0 ⎟
⎜ 0 0 0 0 0 0 0 0 0 ⎟ 3
l
⎜ ⎟
⎜ 2 0 −1.5 0 0 0 4 0 1.5 ⎟
⎜ 0 −48 0 0 0 0 0 48 0 ⎟
⎜⎝ 1.5 0 −0.75 0 0 0 1.5 0 0.75 ⎟⎠
⎛⎜ 0 0 0 0 0 0 0 0 0⎞
⎟ ⎛⎜ 0 0 0 0 0 0 0 0 ⎞⎟ 0
⎜0 0 0 0 0 0 0 0 0⎟ ⎜0 0 0 0 0 0 0 0 0 ⎟
⎜0 0 0 0 0 0 0 0 0⎟ ⎜0 0 0 0 0 0 0 0 0 ⎟
⎜0 0 0 3 −0.25 0 0 0 0
⎟ ⎜0 0 0 0 0 0 0 0 0
⎟
⎜ ⎟ E⋅ J1 ⎜ ⎟ E⋅ J1
K4'' := ⎜ 0 0 0 −0.25 0.021 0 0 0 0 ⎟⋅ K5'' := ⎜0 0 0 0 0 0 0 0 0 ⎟⋅
⎜0 0 0 0 0 48 0 0 0 ⎟ l4
⎜0 0 0 0 0 0 0 0 0 ⎟ 5
l
⎜ ⎟ ⎜ ⎟
⎜0 0 0 0 0 0 0 0 0⎟ ⎜0 0 0 0 0 0 3 −0.25 0 ⎟
⎜0 0 0 0 0 0 0 0 0⎟ ⎜0 0 0 0 0 0 −0.25 0.021 0 ⎟
⎜⎝ 0 0 0 0 0 0 0 0 0 ⎟⎠ ⎜⎝ 0 0 0 0 0 0 0 0 48 ⎟⎠
K := K1'' + K2'' + K3'' + K4'' + K5''
⎛⎜ 16 −0.5 0 3 0 −2.25 3 0 ⎞⎟
2.25
Маснаас үүсэх нэгж хүчний ачаа болон гадаад ачааны векторыг байгуулая. Бид
зангилааны бус ачаанаас үйлчлэх тулгуур дээрх реакцийн утгаар хүчлэлээ авсан
тул эсрэг утгатай ачаагаар байгуулсан болно. Иймд урвуу утгыг авч тооцно.
тэгш хэмт эсрэг тэгш хэмт
Гадаад ачаа
⎛ 0 ⎞ ⎛ 0 ⎞ эсрэг тэгш хэмт
⎜ 0 ⎟ ⎜ 0 ⎟
⎜ ⎟ ⎜ ⎟ ⎛⎜ 0 ⎞⎟ ⎛0⎞ ⎛ 0 ⎞
⎜ ⎟ ⎜ ⎟
⎜ 0 ⎟ ⎛⎜ 0 ⎞⎟ ⎜ 0 ⎟ ⎛⎜ 0 ⎞⎟ ⎜1⎟ ⎜0⎟ ⎜ 0 ⎟
⎜ 3⋅ l4 ⎟ ⎜ 0 ⎟ ⎜ 3 ⋅ l4 ⎟ ⎜ 0 ⎟ ⎜0⎟ ⎜0⎟ ⎜ 0 ⎟
⎜ ⎟ ⎜ ⎟
⎜ 16 ⎟ ⎜⎜ 0 ⎟⎟ ⎜ 16 ⎟ ⎜⎜ 0 ⎟⎟ ⎜0⎟ ⎜0⎟ ⎜ ⎟
⎜ ⎟ ⎜ ⎟ ⎜ 0 ⎟
⎜ −11 ⎟ ⎜ 2.25 ⎟ ⎜ 11 ⎟ ⎜ 2.25 ⎟ Pm2m := −⎜ 0 ⎟ Pp := −⎜ P2 ⎟ = ⎜ −24 ⎟
−
Pm1 := ⎜ 16 ⎟ = ⎜ −0.688 ⎟ Pm2 := ⎜ 16 ⎟ = ⎜ −0.688 ⎟ ⎜0⎟ ⎜0⎟ ⎜ 0 ⎟
⎜ ⎟ ⎜ ⎟
⎜ 0 ⎟ ⎜⎜ 0 ⎟⎟ ⎜ 0 ⎟ ⎜⎜ 0 ⎟⎟ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟
⎜0⎟ ⎜0⎟ ⎜ 0 ⎟
⎜ −3⋅ l5 ⎟ ⎜ −2.25 ⎟ ⎜ 3 ⋅ l5 ⎟ ⎜ 2.25 ⎟ ⎜0⎟ ⎜0⎟ ⎜ 0 ⎟
⎜ ⎟ ⎜ ⎟
⎜ 16 ⎟ ⎜⎜
0.688 ⎟
⎜ 16 ⎟ ⎜⎜
−0.688 ⎟ ⎜⎝ 0 ⎟⎠ ⎜ ⎟ ⎜⎝ 0 ⎟⎠
⎝0⎠
⎜ 11 ⎟ ⎝ 0 ⎟⎠ ⎜ 11 ⎟ ⎝ 0 ⎟⎠
⎜ 16 ⎟ ⎜ − 16 ⎟
⎜ ⎟ ⎜ ⎟
⎝ 0 ⎠ ⎝ 0 ⎠
11*F/16 11*F/16 11*F/16 11*F/16 P2=24
F=1
4 4 4 4 4 4 4 4
⎛ Z4.1 ⎞ ⎛ Z7.1 ⎞
⎜ ⎟ ⎜ ⎟
⎜ Z5.1 ⎟ ⎛ 0 ⎞ ⎜ Z8.1 ⎟ ⎛ 0 ⎞
⎛ 0.543 ⎞ ⎛ 0.543 ⎞
S4.1 := k 4 ⋅ A4 ⋅ ⎜ Z ⎟ − ⎜ 3 ⋅ l4 ⎟ = ⎜ S5.1 := k 5 ⋅ A5 ⋅ ⎜ Z ⎟ + ⎜ 3 ⋅ l4 ⎟ = ⎜
T T
⎜ 6.1 ⎟ ⎜ ⎟ ⎝ −1.473 ⎟⎠ ⎜ 9.1 ⎟ ⎜ ⎟ ⎝ 1.473 ⎟⎠
⎜ 0 ⎟ ⎝ 16 ⎠ ⎜ 0 ⎟ ⎝ 16 ⎠
⎜ ⎟ ⎜ ⎟
⎝ 0 ⎠ ⎝ 0 ⎠
Зангилааны бус хү члэлийг 4 ба 5 шилбэн дээр олбол.
0.698
2.264
4 5 4 5
F=1 F=1
1 1 m
m
1 4 1 6
4 6
4 4
⎛ 0 ⎞ ⎛ Z1.2 ⎞ ⎛ Z1.2 ⎞
⎜ 0 ⎟ ⎜ ⎟ ⎜ ⎟
⎜ ⎟ ⎜ Z2.2 ⎟ ⎜ Z2.2 ⎟
⎜ 0 ⎟ ⎛ −0 ⎞ ⎜ Z ⎟ ⎛ 0.416 ⎞ ⎜ Z ⎟ ⎛ −0.416 ⎞
S1.2 := k 1 ⋅ A1 ⋅ ⎜ Z ⎟ = ⎜ 5.43 ⎟
T
T ⎜ 3.2 ⎟ ⎜
= −2.307 ⎟
T ⎜ 3.2 ⎟ ⎜
= −2.307 ⎟
⎟ ⎜⎝ 4.613 ⎟⎠
1.2 S2.2 := k 2 ⋅ A2 ⋅ S3.2 := k 3 ⋅ A3 ⋅
⎜ ⎜ Z4.2 ⎟ ⎜ ⎟ ⎜ Z7.2 ⎟ ⎜ ⎟
⎜ Z2.2 ⎟ ⎜ ⎟ ⎝ −0.978 ⎠ ⎜ ⎟ ⎝ −0.978 ⎠
⎜Z ⎟ ⎜ Z5.2 ⎟ ⎜ Z8.2 ⎟
⎝ 3.2 ⎠ ⎜Z ⎟ ⎜Z ⎟
⎝ 6.2 ⎠ ⎝ 9.2 ⎠
⎛ Z4.2 ⎞ ⎛ Z7.2 ⎞
⎜ ⎟ ⎜ ⎟
⎜ Z5.2 ⎟ ⎛ 0 ⎞ ⎜ Z8.2 ⎟ ⎛ 0 ⎞
⎛ −0.821 ⎞ ⎛ 0.821 ⎞
S4.2 := k 4 ⋅ A4 ⋅ ⎜ Z ⎟ − ⎜ 3 ⋅ l4 ⎟ = ⎜ S5.2 := k 5 ⋅ A5 ⋅ ⎜ Z ⎟ − ⎜ 3 ⋅ l4 ⎟ = ⎜
T T
⎜ 6.2 ⎟ ⎜ ⎟ ⎝ 0.978 ⎟⎠ ⎜ 9.2 ⎟ ⎜ ⎟ ⎝ 0.978 ⎟⎠
⎜ 0 ⎟ ⎝ 16 ⎠ ⎜ 0 ⎟ ⎝ 16 ⎠
⎜ ⎟ ⎜ ⎟
⎝ 0 ⎠ ⎝ 0 ⎠
⎛ Z4.2m ⎞ ⎛ Z7.2m ⎞
⎜ ⎟ ⎜ ⎟
⎜ Z5.2m ⎟ ⎜ Z8.2m ⎟
S4.2m := k 4 ⋅ A4 ⋅ ⎜ Z
T ⎟ = ⎛ −0.951 ⎞ S := k ⋅ A T ⋅ ⎜ ⎟ ⎛ 0.951 ⎞
⎜ 6.2m ⎟ ⎜⎝ 1.843 ⎟⎠ 5.2 5 5 ⎜ Z9.2m ⎟ = ⎜ 1.843 ⎟
⎝ ⎠
⎜ 0 ⎟ ⎜ 0 ⎟
⎜ ⎟ ⎜ ⎟
⎝ 0 ⎠ ⎝ 0 ⎠
⎛ 0 ⎞ ⎛ Z1.p ⎞ ⎛ Z1.p ⎞
⎜ 0 ⎟ ⎜ ⎟ ⎜ ⎟
⎜ ⎟ ⎜ Z2.p ⎟ ⎜ Z2.p ⎟
⎜ 0 ⎟ ⎛ 0.02 ⎞ ⎜ Z ⎟ ⎛ 20.272 ⎞ ⎜ Z ⎟ ⎛ 3.723 ⎞
S1.p := k 1 ⋅ A1 ⋅ ⎜ Z ⎟ = ⎜ 105.423 ⎟
T
T ⎜ 3.p ⎟ ⎜
= −47.065 ⎟
T ⎜ 3.p ⎟ ⎜
= −47.039 ⎟
⎟ ⎜⎝ 94.104 ⎟⎠
1.p S2.p := k 2 ⋅ A2 ⋅ S3.p := k 3 ⋅ A3 ⋅
⎜ ⎜ Z4.p ⎟ ⎜ ⎟ ⎜ Z7.p ⎟ ⎜ ⎟
⎜ Z2.p ⎟ ⎜ ⎟ ⎝ −44.264 ⎠ ⎜ ⎟ ⎝ −44.209 ⎠
⎜Z ⎟ ⎜ Z5.p ⎟ ⎜ Z8.p ⎟
⎝ 3.p ⎠ ⎜Z ⎟ ⎜Z ⎟
⎝ 6.p ⎠ ⎝ 9.p ⎠
⎛ Z4.p ⎞ ⎛ Z7.p ⎞
⎜ ⎟ ⎜ ⎟
⎜ Z5.p ⎟ ⎜ Z8.p ⎟
⎛ −22.832 ⎞ ⎛ 22.812 ⎞
S4.p := k 4 ⋅ A4 ⋅ ⎜ Z ⎟ = ⎜ S5.p := k 5 ⋅ A5 ⋅ ⎜ Z ⎟ = ⎜
T T
⎜ 6.p ⎟ ⎝ 44.264 ⎟⎠ ⎜ 9.p ⎟ ⎝ 44.209 ⎟⎠
⎜ 0 ⎟ ⎜ 0 ⎟
⎜ ⎟ ⎜ ⎟
⎝ 0 ⎠ ⎝ 0 ⎠
F=1
4 5
42.714/2
F=1 F=1
1
3.489 3.489
5.43
4.393 105.423
4 1 6
⎛ M 1 1
− ⋅ M 52.1 − ⋅ l5 0 ⎞⎟
1 1
⎜ 12.1 −M21.1 −M23.1 M32.1 2
⋅ M 32.1 −
4
⋅ l4 0 M 25.1 −M 52.1
2 4
⎜ ⎟
M 1 := ⎜ M 12.2 −M 21.2 −M 23.2 M 32.2 − ⋅ l 0 M 25.2 −M 52.2 − ⋅ M 52.2 + ⋅ l5 0 ⎟
1 1 1 1
⋅M
⎜ 2 32.2 4 4 2 4 ⎟
⎜ 1 1 ⎟
⎜ M12.2m −M21.2m −M23.2m M32.2m ⋅ M 32.2m 0 M 25.2m −M 52.2m − ⋅ M 52.2m 0⎟
⎝ 2 2 ⎠
⎛M −1
⋅ M 52.p 0 ⎞⎟
1
M F := ⎜ 12.p −M21.p −M23.p M32.p ⋅ M32.p 0 M25.p −M52.p
⎝ 2 2 ⎠
Нэгж х ү чнүүү д гадаад хү чний моментийн векторыг хэвлэвэл
0 1 2 3 4 5 6 7 8 9
MF = 0 1 2 3 4 5 6 7 8 9
0 105.423 -94.104 47.065 -44.264 -22.132 0 -47.039 44.209 22.105 0
l3 ⎛ 2
⎜ 0 0 0 0 480 960 0 0 0 0 ⎟
1 ⎞ ⎛ 640 320 ⎞ ⎜ 0 ⎟
D25 := ⋅⎜ ⎟=⎜ ⎟ 0 0 0 0 0 640 320 0 0
6E⋅ J2 ⎝ 1 2 ⎠ ⎝ 320 640 ⎠ ⎜ ⎟
⎜ 0 0 0 0 0 0 320 640 + 960 480 0 ⎟
l5 ⎛ 2 1 0 ⎞ ⎛ 960 480 0 ⎞
D56 := ⋅ ⎜ 1 4 1 ⎟ = ⎜ 480 1920 480 ⎟
6E⋅ J1 ⎜ ⎟ ⎜ ⎟
⎝ 0 1 2 ⎠ ⎝ 0 480 960 ⎠
Динамик х ү чний шилжилтүү дийг тодорхойлоё. Тэгш хэмт хэлбэрийн моментийг эсрэг тэгш хэмт
моментоор ү ржүү лбэл 0 болох нь харагдана
⎛ 19522.775 0 0 ⎞ ⎛⎜ δ0 , 0 δ0 , 1 δ0 , 2 ⎞⎟
T ⎜
δ := M 1 ⋅ D⋅ M 1 = 0 84976.929 47310.07 ⎟ ⎜δ ⎟
⎜ ⎟ δ δ
⎝ 0 47310.07 34432.182 ⎠ ⎜ 1, 0 1, 1 1, 2 ⎟
⎜ δ2 , 0 δ2 , 1 δ2 , 2 ⎟
⎝ ⎠
Динамик ачаанаас үү сэх шилжилтүү д
⎛ Δp0 ⎞
⎜ ⎟
⎛ 42.802 ⎞ ⎜ Δp ⎟
Δp := M 1 ⋅ D⋅ M F = ⎜ 1135538.131 ⎟
T
⎜ 1⎟
⎜ ⎟
⎝ 826426.817 ⎠ ⎜ Δp ⎟
⎝ 2⎠
Массын матриц байгуулая
⎛⎜ 1 0 0 ⎞⎟
⎛m ⎞ ⎜ ω2 ⎟
⎜2 0 ⎟
0
⎜ ⎟
⎜ ⎟ ⎛⎜ 10 0 0 ⎞⎟ 1
Mass := ⎜
1 ⎜ ⎟
m ⎟ = ⎜ 0 10 0 ⎟ ⋅ identity( 3 ) → 0 0
0 0 ⎜ 2 ⎟
⎜ ⎟ ⎝ 0 0 40 ⎠ 2 ω
⎜
2
⎟
ω
⎜ ⎟
⎝0 0 2m ⎠ ⎜ 0 0 1 ⎟
⎜⎝ ω ⎟⎠
2
⎛ −0.00226 ⎞
⎜ 0.00226 ⎟
⎜ ⎟
solve , ω −0.000691 ⎟
δ⋅ Mass −
1
⋅ identity( 3 ) = 0 → ⎜
2 float , 3 ⎜ 0.000691 ⎟
ω
⎜ −0.00276 ⎟
⎜ ⎟
⎝ 0.00276 ⎠
Зонхилох хэлбэзлзлийн давтамж нь эсрэг тэгш хэмт хэлбэлзэл байна.
min( −0.00226 , 0.00226 , −0.000691 , 0.000691 , −0.00276 , 0.00276 ) = 0.00069 ωmin := 0.00069
m 1 solve , ω ⎛ −0.00226 ⎞
δ ⋅ − ⋅ identity( 1 ) = 0 →⎜ ⎟
0, 0 2 float , 3
ω
2 ⎝ 0.00226 ⎠
⎛⎜ −0.000691 ⎞⎟
⎛δ δ
1, 2 ⎞
⎛ m ⎞
⎜ 1, 1 ⎟ ⋅ ⎜ 2 0 ⎟ − 1 ⋅ identity( 2) = 0 solve , ω→ ⎜ 0.000691 ⎟
⎜ δ2 , 1 δ ⎟⎜ ⎟ 2 float , 3 ⎜ −0.00276 ⎟
⎝ 2 , 2 ⎠ ⎝ 0 2m ⎠ ω
⎜ 0.00276 ⎟
⎝ ⎠
−1 ⎛ 0 ⎞
X := −⎛⎜ δ⋅ Mass − identity( 3 ) ⋅
1 ⎞
⎟ ⋅ Δp = ⎜ 263.598 ⎟
⎜ ⎜ ⎟
ωmin ⎟
2
⎝ ⎠ ⎝ 173.604 ⎠
Үндсэн хэлбэлзлийн хэлбэр нь эсрэг тэгш хэмт хэлбэлзэл байгаа нь инерцийн хү чнээс харагдаж
байна.
⎛⎜ −1 1 0 0 0 0 ⎞⎟
0 0 0 0 0
0 2299.43
⎜ 12 12 ⎟
⎜ 1 −1 ⎟
1 -1990.99 ⎜ 0 0 4 4 0 0 0 0 0 0
⎟
2 995.51 ⎜ ⎟ ⎛ −357.535 ⎞
⎜ ⎟
⎜ 0 0 0 1 −1 0 0 0⎟
3 -622.03 0 0 ⎜ 404.384 ⎟
T T ⎜ 6 6 ⎟
M := M 1 ⋅ X + M F = 4 -1101.81 ⎜ 79.964 ⎟
⎜ 1 −1 ⎟
5 0 Q := ⎜ 0 0 0 0 0 0 0 0 ⎟ ⋅M = ⎜ −183.635 ⎟
6 6 ⎜ ⎟
⎜ ⎟
6 -995.48 ⎜ −404.364 ⎟
⎜ 0 0 0 0 0 0 1 −1 ⎟
7 621.97 0 0 ⎜ 79.968 ⎟
⎜ ⎟
4 4 ⎜ −183.63 ⎟
8 1101.78 ⎜ ⎟ ⎝ ⎠
−1 1
9 0 ⎜ 0 0 0 0 0 0 0 0⎟
⎜ 6 6 ⎟
⎜ −1 1 ⎟
⎜⎝ 0 0 0 0 0 0 0 0
6 6 ⎟⎠
Дотоод дагуу хү чний матрицийг байгуулая. Хү чний индексийн утга нь 1дугаар утга нь элементийн дугаар
2дугаар утга нь ачааны дугаар болно.
⎛ N1.1 N2.1 N3.1 N4.1 N5.1 ⎞ ⎛ −1.086 0.623 0.623 0.543 0.543 ⎞
⎜ ⎟
N1 := ⎜ N1.2 N2.2 N3.2 N4.2 N5.2 ⎟ = ⎜ −0 0.416 −0.416 −0.821 −0.821 ⎟
⎟ ⎝ −0 −0.155 0.155 −0.951 −0.951 ⎟⎠
⎜
⎜N
⎝ 1.2m N2.2m N3.2m N4.2m N5.2m
⎠
( )
Np := N1.p N2.p N3.p N4.p N5.p = ( 0.02 20.272 3.723 −22.832 −22.832 )
Энд дээр массаас ирж байгаа дагуу хү чнүү д тооцогдоогү й байгаа нэмж эпьюр байгуулна.
⎛ 0.02 ⎞
⎜ ⎟
103.094
T T
⎜ ⎟
N := N1 ⋅ X + Np = ⎜ −79.099 ⎟
⎜ −404.384 ⎟
⎜ ⎟
⎝ −404.384 ⎠
79.9
79.9
1101
(-)
1101 Md Q N
(-) (-)
-357
-183
-183
4 4 4 4 4 4
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