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621.01.

62-50
.., .., ..

-,
-

, ,
.


[1].
,
[2 4]. [5, 6] (. [4])



,
.
[7].

,
,

..

,
( ) [8,9].
,
, ..
.

..
[10, 11],
,
.
. ,
. [12, 13]

.

[14-16] .

.
, [4-7],

, .
,

(..

).

. :


, ,
, .


.1.
1 2,
.
x . 3
c
.
(., , [3], . 143)

I&& = L (& ) R (& ) + m &&


x sin ,

M&x& + x& + cx = m & 2 cos + && sin .

(1)
(2)

; x ;
; m ; I ; M = M + m
;

L (& )

* ); R (& ) . ,

.
,

= 1 = t , x = x1 =Psint + Q cos t ,

(3)

& , ,

= ( t ) , P Q , x1
.
[3]
,

I & = L ( ) R ( ) + V ( ) .

(4)

( m )
V ( ) = m &&
x1 sin t =
M

n 3
2

2 2

+ 4n
2

= n MA2

(5)

,
, ,
. , ,
(. ).
(5)
T = 2 = t
m 2

p = c / M , 2n = / M , A =
2

(p

2 2

+ 4n
2

(6)

, (3)

M&&
x1 + x&1 + cx1 = m 2 sin t ,

(7)

(2) = 1 =t .
A P Q ,
(3),
A = P2 + Q2 ,

(8)

m 2
2n
P=
;
M ( p 2 2 )2 + 4n 2 2

m 2
p2 2
Q=
. (9)
M ( p 2 2 )2 + 4n 2 2

, ..

& << ,

(10)

, , = const .
(4) 1 , 2 , 3 ,
3 (. .2), L

).

1 < p

, 2 > p , 3
. 1 3 ,
2 . 3
.
L1
1 ( ), L3
. L2
1
3 .
,
( . [3]).

& . ,
1 < p
L * ,
.
.

(1) (2)

= 2 = t + ,

x = x2 = x1 + y ,

(11)

, x1 (4) (7).
y :

I&& + k& = m &&


x1 sin (t + ) &&
x1 sin t + m &&
y sin (t + ) ,
&& + y& + cy = m (& + && ) sin (t + ) + ( + & ) cos t 2 cos t .
My

(12)
(13)

, L R
& = :
L ( + & ) = L ( ) k L& ,

k = kL + kR

R ( + & ) = R ( ) + k R& ,

( k L > 0, k R > 0 )

(14)

.
(12), (13)
,

= + ,

y =Y + ,

(15)

Y , 2 - = t
= t

= 0,

=0.

(16)

(15) (12) (13),


, , ,
,
.
,
,
, y x1 . ,

. ,
(15) (12), :

&& + k
& = m &&
I
x1 ( sin t cos + cos t sin ) &&
x1 sin t .
(3) (9),

2
2
&& + 2n
&

= 0,
1 + b sin sin
2

(17)


2n1 = k I ;

( m )
b=

2 2

2MI

(p

p2 2
2

( m )
=

2 2

MI

2 2

+ 4n 2 2
2n

1M 2
p 2 ) A2 ;
(
2 I

( p 2 2 ) + 4n2 2
2

M
2n A2 .
I

(18)

A , ,
, (6).
(10)
, < p

q = b = M ( p2 2 ) / 2I A

(19)

(
). ,
p =.
(17) , q
, ..
x 1 . ,

1
q / < .
3

(20)


z ( ) =

1 2

(21)

m
,
2 MI

(22)

(1 )

+ 4 2 2

n
,
p

2 2

.3; , (20) = 1 3
. = 1 1 + 2
,

0,5 (1 + ) . , (20)

= p ,
4
(1 + ) > 2
9

(23)


(6) (22),

m 2 2 4
<
.
MI
9 Mp

(24)

,
m

MI

4 9 Mp .

(23), . 4 ().
(17).
= const

b sin 2 sin 2 / 2 = 0 .

(25)


= 1 = 0 ,

(26)

2b cos 2 2 2 sin 2 2 = 0 .

(27)

1
R = b cos 2 sin 2 > 0 ,
2

. 1 b > 0 ,
2 - b<0 (
, (27),
cos 2 / 2 ). , 1 = 0

( < p )

( > p ) ,

2 .
, (17)
( = 0 ) =1 = 0
=1 = . , ,

,
, F = m 2 sin t
(
). (17)
. ,
.

,

(4), ( )
(18).

.
(10), q (18)

) . .5
.
, (17)

&& + 2n1& + W sin = 2 2 ,

(28)

= + 0 , 0 W

b = W cos 0 , 2 2 = W sin 0 .
(28) ,
.

& ,

[17]. , ,
,
const. ,
, (4),
,
W ,
0 p
( , (18), b).
,
& . ,
2 .
:
2 / ,

1
2
M ( A )
2

1 2
I .
2

&

MA2 / 2 I .

6,

(. ).
, ,
[3]. , (17)

&& + k
& = V ( ),
I

V ( ) = dV d = b sin + 2 sin 2 ,
- ,

V = b cos ( sin ) 2

.
( )
:
,
(1), (2).


. 6,
(1), (2).
& (t ) L( ) R ( ) = 0.51 / (
) 0.50 (). (1), (2) (14)
-2 [9]:
m = 1.5 , M = 12 , I = 0.014 , = 0.04 , = 5300 /, = 0.005 ,
k = 5.

(19) q = 5.7 1 ,

. . 6

2 , .
( 05-08-01500)
22 ( 1.8).

1.

..

// . 1953. .16. .49


72.
2. .. . .: , 1971.
896 .
3. .. . .: , 1994. 400 .
(. : Vibrational Mechanics. Singapore-New Jersey-LondonHong Kong: World Scientific. 2000. 509 p.
4. Fidlin A. Nonlinear Oscillations in Mechanical Engineering. Berlin,
Heidelberg. Springer-Verlag. 2006. 358 p.
5. .. //
. 1975. .221. C. 301 304.
6. ..
// . 1986. .290. 1, .
12 15.
7. Neishtadt A. Scattering by resonances // Seles tial Mechanics and Dynamical
Astronomy. 1997. V.65. P. 1 20.
8.

..,

..,

..


// , 1996, 4, . 4 17.
9.

..,

..,

..,

..,

.., .., .., ..

,
. 216076, 27.12.200, . 36.

10. .., .., .., .., ..


.
/ 255760 28.X.1969, 33.
11. .., ..
.
. . 58. .: , 1981. . 42 46.
12.

..,

..

//

, 1983, 4, . 36 41.
13. .., .. . .:
, 1992.
14. Rand R.H., Kinsey R.J., Mingori D.L. Dynamics of spinup through
resonance // Intern. J. of Nonlinear Mechanics, vol. 27, Ni. 3, 1992, pp. 489
502.
15. Tomchina O.P. Passing through resonances in vibratory actuators by speedgradient control and averaging // Proc. Int. Conf. Control of Oscillations
and Chaos, IEEE, St. Petersburg, 1997, v. 1, pp. 138 141.
16. .., ..
//
, 5, 2005, . 66 71.
17. .., ..
. .: , 2000, 400 .
18. Blekhman I.I., Bortsov Yu.A, Burmistrov A.A., Fradkov A.L., Gavrilov S.V.,
Kononov O.A., Lavrov B.P., Shestakov V.M., Sokolov P.V., Tomchina O.P.

Computer-controlled vibrational set-up for education and research. In: Proc.


of 14th IFAC World Congress, 1999, Vol.M, pp.193-197.

m, I

LR

.1, .

L3

L3
L2

R V

L1

.2, .

.3, .

.4, .

& / <

q < /3

.5, .

.6, .


.. , .. , ..

.1.
.2. (
)
.3.

.4.

()
.5.

.6.
( ): 1 ; 2
( ).