Mmrudwiruli moZraoba

• bunebaSi da teqnikaSi Zalian xSiria iseTi

moZraoba romlis traeqtoria aris mrudi wiri
da ara wrfe. aseT moZraobas mrudwiruli
moZraoba ewodeba.
• Mmrudwirulia kosmosur sivrceSi planetebis
da xelovnuri Tanamgzavrebis moZraoba, xolo
dedamiwaze yovelgvari transportis, manqanebis
da meqanizmebis nawilebis, mdinareebis,
atmosferos haeris moZraoba
• Mmrudwiruli moZraobisas meqanikis amocanis
amoxsna ufro Znelia, vinaidan igi wrfiv
moZraobaze ufro rTulia. Mmrudwiruli
moZraobis aRwera mxolod erTi koordinatiT
SeuZlebelia, magaliTad Tu sxeuli sibrtyeze
moZraobs icvleba misi ori koordinati x da y.
 Ggadaadgileba da siCqare mrudwiruli
moZraobisas

• davuSvaT A-dan B-sken moZraobs raRac sxeuli

mrudwirul traeqtoriaze. sxeulis mier gavlili
manZili iqneba AB rkali, xolo gadaadgileba AB
veqtrori, romelic qordis gaswvriv aris mimarTuli. Am
dros sxeulis siCqaris mimarTuleba ar emTxveva
gadaadgilebis veqtoris mimarTulebas.
• A da B wertilebs Soris gavavloT ramdenime qorda da
armovidginoT rom sxeuli moZraobs am qordaze.
TviToeul maTganze sxeuli wrfivad moZraobs da
Sesabamisi siCqaris veqtori mimarTulia qordis e.i.
gadaadgilebis veqtoris gaswvriv.
• Ees wrfivi ubnebi (qordebi) SevamciroT. TviToeul
qordaze siCqaris veqtori kvlav qordis gaswvriv iqneba
mimarTuli, magram rogorc vxedavT es texili wiri axla
ukve mdovre mruds hgavs. cxadia, Tu wrfivi ubnebis
Semcirebas ganvagrZobT isini TiTqmis wertilebad iqceva
da texili wiri mrudad gardaiqmneba. siCqare ki am
mrudis nebismier wertilSi mimarTuli iqneba amave
wertilSi gavlebuli mxebis gaswvriv.
• Mmrudwiruli traeqtoriis nebismier wertilSi sxeulis
moZraobis siCqare mimarTulia am wertilSi gavlebuli
mxebis gaswvriv.
• Mmrudwiruli moZraobisas ganuwyvetliv icvleba
sxeulis siCqaris mimarTuleba imisda miuxedavad rom
sxeuli SeiZleba moduliT mudmivi siCqriT moZraobdes.
• vinaidan siCqare veqtoruli sididea, xolo mrudwiruli
moZraobisas ganuwyvetliv icvleba sxeulis siCqaris
mimarTuleba, amis gamo mrudwiruli moZraoba yovelTvis
aCqarebuli moZraobaa
• Mmrudwiruli moZraoba SegviZlia
warmovidginoT sxvadasxva radiusis wrewiris
rkalebze moZraoba.
 wrewirze Tanabari moZraoba

• ganvixiloT nivTieri wertlis Tanabari

moZraoba wrewirze, rodesac am wertlis
siCqare ar icvleba.
• vinaidan wrewirze moZraoba mrudwiruli
moZraobaa amitom sxeulis siCqare wrewiris
mocemul wertilSi mimarTuli iqneba am
wertilSi gavlebuli mxebis gaswvriv.
• Wrewirze moZraobisas siCqare mocemul wertliSi
mimarTulia am wertilSi gavlebuli mxebis gaswvriv.
Aamis gamo Seicvleba siCqaris mimarTuleba, amis gamo
wrewirze moZraoba aCqarebuli moZraobaa.
 Mmobrunebis kuTxe

wrewirze moZraoba SeiZleba davaxasiaToT sxeulis mier

t droSi gavlili S manZiliT da mobrunebis

θ kuTxiT

S = rθ
 kuTxis radianuli zoma

• kuTxis sazom erTeuls warmoadgens gradusi romelic tolia

wrewiris 1/360 nawilis.
• zogierT SemTxvevaSi SegviZlia visargebloT sxva erTeuliT
romelsac radiani ewodeba. 1 radiani kuTxe Seesabameba
wrewiris rkals, romlis sigrZe wrewiris r radiusis tolia
• Sesabamisad 360 gradusi tolia 2π radianis
• Aamrigad 1 radiani= 360/ 2π =57,3 graduss
• wrewiris sigrZe C tolia:
• C = 2π r
 kuTxuri siCqare

Tu sxeuli Tanabrad
moZraobs wrewirze wertlidan
romlis mdebareoba wrewirze ganisazRvreba θ1

kuTxiT wertilamde romlis mdebareoba wrewirze ganisazRvreba

θ2 kuTxiT ∆t = t2 − t1 drois intervalSi, maSin kuTxuri siCqare:

θ 2 − θ1 ∆θ
ω =
t2 − t1 ∆t
 Bbrunvis periodi

• Bbrunvis periodi ewodeba

T dros romlis drosac
wrewirze moZraobisas
sruldeba erTi sruli
bruni.
• KkavSiri kuTxur siCqaresa
• Dda periods Soris
Semdegia
∆θ = 2π
∆t =T
θ 2 − θ1 ∆θ
ω = ω=
2π
t2 − t1 ∆t T
 siCqare wrewirze moZraobisas
vinaidan Tanabari moZraobisas siCqare
ganisazRvreba rogorc gavlili manZili Sefardebuli drosTan

S
v=
t
vinaidan wrewirze moZraobis dros S = rθ
S rθ
amitom v= = = rω
t t
amrigad wrewirze Tnabari
moZraobis dros nivTieri wrtilis
siCqare mimarTulia mxebis gaswvriv da tolia:

v = rω
 Bbrunvis sixSire

• erT wamSi Sesrulebul brunvaTa ricxvs brunvis

sixSire ewodeba da aRiniSneba f asoTi
• cxadia brunvis periods T da brunvis sixSires Soris
arsebobs aseTi damokidebuleba f=1/T
 centriskenuli aCqareba

• rogorc viciT aCqareba Semdegi formuliT ganisazRvreba

  
 v − v0 ∆v
=a =
∆t ∆t
• Tu sxeuli moZraobs aCqarebis gareSe es imas niSnavs rom
misi siCqare ar icvleba e.i. siCqaris veqtoris sidide da
mimarTuleba ucvleli rCeba. Sesabamisad Tu siCqaris
cvlileba xdeba, aucileblad unda gvqondes aCqareba. Aar
aris aucilebeli siCqarem Seicvalos ricxviTi
mniSvneloba. siCqaris veqtoris mimarTulebis cvlileba
maSinac ki rodesac misi sidide ucvleli rCeba
ganpirobebulia aCqarebiT. Sesabamisad sxeuli romelic
Tanabrad moZraobs wrewirze ganicdis aCqarebas.
 uZraobis fardobiToba

• AaTvlis sxeulad SegviZlia avirCioT nebismieri sxeuli

da TviToeul maTgans davikvSiroT koordinatTa
sakuTari sistema. Amitom erTi da imave sxeulis
mdebareoba SeiZleba ganvixiloT sxvadasxva
koordinatTa sistemaSi.
• cxadia erTi da igive sxeulis mdebareoba aTvlis
sxvadasxva sxeulis mimarT koordinatTa sxvadasxva
sistemaSi gansxvavebuli iqneba.
• Ees niSnavs, rom sxeulis mdebareoba fardobiTia:
sxeulis mdebareoba gansxvavebulia aTvlis sxvadasxva
sxeulisa da am sxeulebTan dakavsirebul koordinatTa
sxvadasxva sistemis mimarT.
magaliTad am suraTze avtomobilis mdebareoba sxvadasxva aTvlis
sistemis mimarT gansxvavebulia. is imyofeba 1 dasaxlebuli
punqtidan l1 manZilze CrdiloeTiT, maSin rodesac 2 dasaxlebuli
punqtidan aRmosavleTiT l2 manZilze.
 moZraobis fardobiToba

• fardobiTia ara marto sxeulebis mdebareoba aramed

moZraobac.
• MmagaliTad matarebelSi myofi mgzavri uZravia
matarebelTan myofi aTvlis sistemis mimarT da moZraobs
dedamiwasTan dakavSirebul aTvlis sistemis mimarT
matareblis siCqariT.
sxeulis moZraobis traeqtoria aTvlis sxvadasxva
sistemaSi erTmaneTisagan gansxvavebulia
ganvixiloT navis moZraoba mdinaris dinebis marTobulad, warmovidginoT
rom navis moZraobas akvirdeba ori damkvirvebeli: erTi uZravi romelic
napirzea O wertilSi, meore ki tivzea, romelic dinebas miyveba. wylis
mimarT tivi uZravia, xolo napiris mimarT moZraobs dinebis siCqariT. O
wertilSi gavavloT XOY koordinatTa sistema, X mivmarToT napiris
gaswvriv Y RerZi dinebis marTobulad. Ees iqneva uZravi sistema. tivs
davukavSiroT X’Y’Z’ aTvlis sistema, romlis X’ da Y’ RerZebi X da Y
RerZebis paraleluria. Ees iqneba moZravi aTvlis sistema
 Ggadaadgilebis Sekrebis formula

uZravi aTvlis sistemis mimarT s gadaadgileba

 
s1 da s2
gadaadgilebebTan dakavSirebulia Semdegi formuliT:
  
s= s1 + s2
 siCqareebis Sekrebis formula
  
Tu s= s1 + s2 tolobas gavyofT t droze miviRebT
    
 s s1 + s2 s1 s2   
v= = = + anda v= v1 + v2
t t t t

am formulas siCqareebis Sekrebis formula ewodeba:

sxeulis siCqare uZravi aTvlis sistemis mimarT
tolia moZravi aTvlis sistemis mimarT siCqarisa
da uZravi sistemis mimarT moZravi sistemis
siCqaris geometriuli jamisa.
Ggalileis gardaqmnebi erTmaneTTan akavSirebs
sxeulis koordinatebs siCqares da aCqarebas
aTvlis sxvadasxva inerciuli sistemebis mimarT.