Professional Documents
Culture Documents
..
..
..
..
-
,
652000
071800 ,
210300
:
.
.. , .. ,
.. , ..
..
..
2005
621.865.8
32.816
66
:
071800 ,
. ..
..
,
.
( )
..
,
..
-
, . .
66 : . / . . ,
. . , . . , . . ; . .
. . ; . . -. : - . .
-, 2005. 276 .
ISBN 5-89368-619-5
071800
, 210300 .
.
220401 (071800), 220402 (210300),
220301 (210200) 200201 (072300) ,
.
. 155. . : 71 .
621.865.8
32.816
ISBN 5-89368-619-5
2
, 2005
................................................................................................. 5
......................................................................................................... 9
1.
.......... 15
1.1.
.................................................................................... 15
1.2. - ........................................................ 30
1.3.
......... 48
1.4. ................................................................................................. 61
2.
...................... 80
2.1. ...................... 80
2.2. ................. 94
2.3. ........... 99
2.4.
......................................................................................... 112
2.5. .......................... 118
3.
......... 130
3.1.
............................................................................................... 130
3.2. .................................................. 145
3.3.
- ........................................ 160
3.4.
........................... 169
3
4.
............................................................................... 181
4.1. ....................................... 181
4.2. .............................................................................................. 192
4.3.
- ................................................ 204
4.4. .............................................................. 222
4.5. .......................................... 232
5.
- ................................... 248
5.1. ................... 248
5.2. ............................................................................................ 260
5.3. .......................... 266
.............................................................................................. 270
.......................................................... 271
, , . , ,
, , , ,
.
20 ,
. ,
, -
-. , , .
,
.
,
1976 .
5
,
.
, , ,
,
,
- - .
- , . : (. , . , . ),
(.. , .. , .. ), (.. ,
.. , .. ), (.. ),
(.. , .. ,
.. .),
(.. , .. , .. .),
.
(.. , .. ),
(.. ).
,
,
. , : 6
, ,
, , .
.
1 .
. , , -
, .
,
.
.
2
.
3 - .
4 , ,
.
5
- . : 1) , 7
; 2) .
- .
.
:
.. , 1.1 1.3, 3.1, 3.2, 4.1, 4.3, 4.5;
.. 2.2, 2.3, 3.1, 4.2, 4.3;
.. 2.1, 2.3 2.5, 3.1, 3.33.5, 4.2 4.4, 5.1 5.3;
.. 2.1, 2.3, 2.5, 3.1, 3.4, 3.5, 4.3 4.5, 5.1 5.3.
2.1, 3.1 3.5 .. ; 1.3, 4.3 .. ; 1.4 .. ; 3.4.
.
.
- , .
,
,
.
,
,
. -, - .
() , .. , ( () ) , ; , ; , . , , -
.
.
, , . 9
, .
.
. ,
.
, ,
.
, .
()
.
() (),
(). ,
.
: , , - .
, , , .
.
.
( ) 10
, .
(-) .
() . ()
, , ,
; -
; , , .
. , 15 50 60 %. 40 % . ( 90 %) 0,01 1 . , 50 70 %.
, .
.
RH
(REIS, ), ,
- , ; U
(Kawasaki, ), (Smart Comav, )
, ; Amart-35 , ; 36.25 R (Comav,
)
11
, ; NRS-10 (AITEC, )
, , .
, -25 .
SCARA, SKILAM,
PUMA, ASEA, , , .
.
,
, , .
,
(), () .
, ,
.
, , , .
.
:
() ;
(, , , , ..);
(
, , ..);
, ..
: , , .
, , , , 12
() , ,
, -
.
.
- , , , .
, ,
, , ..
, , , , , , , , ..
, , .
() .
,
.
()
,
, . , , 13
() () :
; (),
; .
-
. , ,
.
,
:
, .. , ;
, ;
.
- , () ,
, , .
. ,
, , .
, , , :
;
F (t) 0 0 t F (t) = 0 t >,
; , ; , , .
14
1.
1.1.
.
[62]. () , ,
, . ()
,
( , , ..). () , . () , . ,
.
, , .
, , , ,
(, ()) [27].
15
, . () () , , ..
,
.
g (t)
,
. g (t)
()
, - -
. g (t)
[59]. ,
, [39]
. ,
, .
[39, 59], , , .
, , , , . . ,
. , . , . , . , .
16
() [22]
, .
, , . .
, .
0 (t)
; , ;
( ),
;
,
,
; , ;
.
, . , . .
. S. Arimoto, F. Migazaki, .. ,
.. , .. ,
-.
.. , ,
100 130 .
17
-,
.
.
, .
, , ,
, ,
, .. .. .
.
, ,
[22],
(. 1.1).
. 1.1.
18
,
.
(. 1.2)
[22]. . ,
S0 (t).
.
q(t)
Fa (t)
q(t)
F
F 0(t)
m
f(t)
F(t)
S 0(t)
k1
..
S 0(t)
..
S0 (t)
k2
S(t)
.
S 0(t)
.
S(t)
S(t)
.
S(t)
. 1.2.
, F0 (t).
[34, 35, 36]
g ( p ) f ( p ) W ( p ) V ( p ) .
1
V ( p)
( p) =
g ( p) +
f ( p) .
1 + W ( p)
1 + W ( p)
19
(1.1)
g (p) g
(p). [36]
.
f (p) :
1) 2 ()
g (p);
2) g (p) 2 ();
3) 2 () g (p).
, 2 ()
L( p )f ( p )
g ( p) =
.
B2 ( p )
. , , .
, XOZ ,
, , ,
,
H x ( p ) x ( p ) = Bx ( p ) g xz ( p ) + Lx ( p ) f xz ( p ),
H z ( p ) z ( p ) = Bz ( p) g zx ( p ) + Lz ( p ) f zx ( p ),
(1.4)
gxz (p), gzx (p); fxz (p), fzx (p) G (x,z) F (x,z) .
(1.4)
H x ( p) x( p) = Bx ( p) gxz ( p) + Lx ( p) f xz ( p) + Lx ( p)f xz ( p) + B2x ( p)gxz ( p);
(1.5)
21
(1.5)
fxz (p), fzx (p)
L x ( p)f xz ( p) + B2 x ( p)g x ( p ) = 0;
L z ( p)f zx ( p ) + B2 z ( p )g z ( p ) = 0.
( )
,
. (1.5) gx (p), gz (p) :
;
(- );
( .
(1.3), (1.5)
.
,
.
.
, . , (), () -.
.
,
22
,
.
, , ( ), .
- .
= bFTc-1. = 1
(0) , 0 ,
0 << F .
.
,
. 1.3 1.4.
, , .. ,
.. , .. , .. , .. ,
.. , .. . , .
1. : , F ( S S ) , , (0, N0) - . , -
.
,
[27].
23
24
. 1.3.
25
. 1.4.
2. : .
, , () .
, .
3. , ,
, , .
4. .
- [1] : () ,
;
, -, , ;
, .
,
- .
.
, (), .
.. . .. .
.
26
. ,
, ()
. , , , : , , , , .
, ,
,
.
(), ,
.
(). - () , , : -
, ,
; -
..., ..., .
,
.
.
27
, , . ,
,
. ,
, ,
, . , , , ,
.
, , .
, , , .
,
, ..
,
,
F , S , S , 0
.
28
, , .
. . ,
; ; ; , ,
,
; , ..
[11],
. .
29
1.2. -
- 0 N0 - () [28]. H. Asada, H. Kazerooni, M. Liu,
M. Vukobratovic, A. West, .. , .. , .. ,
.. . , ()
T
() F = [ FM ]T , S = SS
.
.
S
/ S F (),
() () .
() () S / S ,
F ;
S / S F , .. ; S / S F . () .
(impedance control), - (position / force control), (force control),
30
( S ),
( S ) ( F ).
() , , - [27].
[29].
() , , .
- -, . , .
.
, , () .
31
32
Fo V ( So, Soc)
Fo, Foc
So V S oc
S o, S oc
S o , S oc
1 2
. 1.5.
.
() , (
) 1 2.
2 .
.
.
,
, - ,
,
.
, .
, , ,
, , .. .. [54].
. , .
U ,
[16].
33
, ()
- ,
.
, , U () .
i F j
S / S
U = ( F0 J T (q)WPF U 0 i ) ( S 0 J 1(q)WPS S J 1(q)WPS
0
U = 0 j ,
(1.6)
FO = ( Fo - F ), SO = ( So - S ), S 0 = ( S0 S )
; WPF ,WPS ,WPS , ; J .
,
1W + J T F )]g ( F , S )
[ FO J T WPF D + SO J 1WPS (1 D) ( SJ
0 0
PS
U =
, (1.7)
T
T
1
[
J
W
D
J
W
(1
D
)
J
F
]
g
(
F
,
S
)
FO
PF
0 0
SO
PS
D ,
.
D, .
F0 S / S .
D
, .
34
, F0 S 0 / S0 F0
/ S / S ; F / S / S ; 0
A0 / N 0 , F0 , S 0 ,
S ; .
0
(1.6) (1.7).
,
[27]
F > F0 ;
SOS > S0 S > S0 ;
F = FO
S = SO
0S S0 S > S0 .
0F F0 ;
. g ( g 1, g 2 ) g 1, g 2:
(1.8)
F0 , S 0 , S0 , ,
A0 / N 0 (1.8) , F0 = F , S 0 = S
S = S .
0
() .
1. g ( N 0 , F0 ) ,
F 0 J T (q)WPFV ( N0 N ) J 1(q)WPN (.1.6, );
(1.9)
U =
T
1
F 0DJ (q)WPF + ( N0 N )(1 D) J (q)WPN (.1.6, ) D = 0 1;
35
1
(. 1.6, ) S0 = N 0 F0 ( D = 0 1).
2. g ( N 0 , S0 ) ,
( N0 N ) J T (q)WPN J 1(q)W (.1.6, );
S0
PS
(1.10)
U =
1
T
N
N
DJ
q
W
D
J
q
W
(
)
(
)
(1
)
(
)
(.1.6,
)
0
1;
0
PN
S 0
PS
F 0 J T (q)WPF J 1(q)W (.1.7, ) F0 = N0 S01;
S0
PS
( D = 0 1).
3. g ( A0 , F0 ) ,
F 0 J T (q)WPF ( A0 A) J 1(q)WPA(.1.7, );
(1.11)
U =
T
1
F 0DJ (q)WPF + ( A0 A)(1 D) J (q)WPA(.1.7, , ) D = 0 1;
F 0 J T (q)WPF S 0 J 1(q)WPS (. 1.7, ) S0 = A0 F01;
( D = 0 1).
4. g ( A0 , S 0 ) ,
S 0 J 1(q)WPS ( A0 A) J T (q)WPA(.1.7, );
(1.12)
U =
T
1
DJ
(
q
)
W
(
A
A
)(1
D
)
J
(
q
)
W
(.1.7,
)
D
0
1;
S 0
PS
0
PA
F 0 J T (q)WPF S 0 J 1(q)WPS (.1.7, ) F0 = A0 S01;
( D = 0 1).
F , S , S .
. 1.6. . 1.6,
,
1 2 . ,
. 1.6, , 0
N0 .
2 0 N0.
, . 1.6,
N0 F. 1
(). () -
, .
F0 K 2 K 4 F S > Sc S < 0.
14 ; S
(),
. F S (, ) F S , .
37
F0
U1
T
J T (qq)W PF
PF
1
S0 S0
S S
J J (q(q)W
)WPSPF W PS
1 T
U2
)
A0
F0
JJTT (q )W
WPF
PF
U1
N0
S0
JJT1((qq))W PF
PS
S
S
F
U2
A0
)
N0
S0
JJTT (q )W
WPF
PF
U1
1
F0
JJT1((qq))W PF
PS
S
W
F
U2
)
. 1.6.
38
F0,
,
:
sW psU = 0,
U 1 = F (1 + ) 1WPF U 0 ( F0 K F ) < 0,
FWPF U 0 ( F0 K F ) > 0;
( S + *s )W psU = 0 t > t2 .
: S = ( S 0 S ), s* = ( S 0 (1 + Tp)-1 S ), F = ( F 0 F )
; WPS, WPF
; U
; S So ; ; t2 ; > 1.
, S , S , S F = [ F ; M ]T .
( - 1 = S/F),
( = F / S ) ( m = F / S ).
. F (s) S (s), F (s) S (s ) .
.
, .
39
, ( S S ),
U [( 1 J 1 ( q )W PS S J 1 ( q ) K S J T ( q ) F ); ( 2 J 1 ( q )W PS J T ( q ) F );
( 1 J 1 ( q )W PS + 2 J 1 ( q )W PS S J 1 ( q ) K S J T ( q ) F );
(( S 0W PS S ) J 1 ( q )W PS I I K ) J T ( q )W P1 ]
1 = 1 3 : 1 = ( S 0 K ) ( S 0 S K ); 3 = S 0 : S 0 = A0 F 1 ;
2 = 2 4 : 1 = ( S 0W PS S ) ( S 0 S K ), 4 = S 0 : S K = N 0 F 1 ;
S 0 = ( S0 S ); S 0 = ( S0 S ); I 0 = ( I 0 I );
I 0 = ( S 0WPS S ) J 1(q )WPS .
1 , 2 g ,
.
. 1.7
, ,
R.J. Anderson, N. Hogan, H. Kazerooni.
,
( F ),
S
: FK ( S ) = S W1 ( F , S ) S f1 ( S ); FK ( S ) = S W1 ( F , S ) S f1 ( S )
FK ( S ) = S 0W2 ( F , S ) S 0 f 2 ( S );
FK ( S , N 0 ) = N 0 S 1W1 ( F , S ); FK ( S , A0 ) = FK ( S );
S = A0 F 1; FK ( S , N 0 ) = FK ( S ); S = N 0 F 1
40
M 2
1
p
0
k2(T2p+1)
p
M1
c
R(T1p+1)
1
J1p
1
Up
M2
c+ bp
ce
Jp2
c1 +b1p
)
. 1.7.
() ()
41
1. g (t ) = F0 (t );
( F 0 + FK ) ( F 0 FK ): FK = FK (S ) FK (S ) ( A0S 1 N0S 1);
F =
F 0F = A0S 1 N0S 1;
F 0 : F = 0, F = A0S 1 N0S 1.
2. g (t ) = S0 (t ) F0 (t );
( F 0 + FK ) ( F 0 FK ) : FK = ( FK ( S ) FK ( S , A0 ));
F =
F 0 S = ( F 0 J T (q )WPF f (q ) S0 ).
3. g (t ) = S (t ) F (t );
0
F = [( F 0 + FK ) ( F 0 FK ) : FK = ( FK ( S ) FK ( S , N 0 )].
4.g (t ) = (S S ) F ;
0
F = [( F 0 + FK ) ( F 0 FK )]: FK = ( FK ( S ) FK ( S , A0 )) + ( FK ( S )
FK ( S , N0 )).
, (S S ) F0
.
.
S S F
, .
.
A0 N 0
( S S ) () F , U -:
U (1.23)( 1 = 1, 2 = 2 ) : S K , SK , I K F 0WPFi i ( F 0 ),
U
i = 1S K , i = 2SK ,
i = 3I K F : F f ( A0 , N 0 ) ( F = A0 S 1 N 0 S 1)];
U (1.24)[( F 0 J T (q )WPF + S0 ) = 0, F0 F 0 = F 0 ,
42
FK = (( FK ( S ) FK ( S )) ( FK ( S , A0 ) FK ( S , N 0 ))]:
S f ( A0 ) S = A0 F 1, S f ( N 0 ) S = N 0 F 1;
.
F = const. (0 = const) (N0 = const).
, , ,
, .
.
1. g = F0 , g = F,
F 0 J T (q )WPF | F || F |;
1
1
T
[ F0 J (q )WPF : F0 = A0 S N 0 S ] | F |<| F |;
2. g = S S ,
0
1
1
: S 0 = A0 F ] [ S0 J 1 ( q)WP S :
{[ S 0 J ( q)WPS
U =
S = N 0 F 1 ] [ F0 J T ( q)WPF : F0 = A0 S 1 N 0 S 1 ]}
| U |>| U | .
F , U
,
.
. 1.8. (. 1.8, ) ,
0 N0. (. 1.8, )
.
.
() -
43
. ,
, , . , .
J 1 (q )[WPS WPS ]
J T (q )WPF
F0
A0 N 0
F0
JJ T (qq)WPF
PF
A0 N 0
S 0 S 0
S
S
F
J T (q )W PF
A0 N 0
F0
A0 N 0
S 0 S 0
WP S ]
J 1 (q )[WPS
S0
J 1 (q )WPS
S0
J 1 (q )WPS
)
. 1.8.
44
S
S
F
. , - -
,
, , , .
, -
, ,
.
,
.
- [27]
J = J1 + J, J1, J ; () . ,
. .
.
. 1.9.
F0 , S0 , S0
- . -
. 1,
45
() , . 2 5 . Wps, WPF, ,
, .
- / ,
/ .
- ,
,
,
.
. , ..
.. , ,
- F , S
, , , .
, -
, , ,
, - , .
, .
46
47
S0
F0
J 1WPS
1
WPS
PF
1-D
N0
N0
A0
JT
J 1K S
A0
. 1.9.
J TW
S
1.3.
, , : 1)
; 2) ; 3) ; 4) ;
5) ; 6) [51]. , , ,
- .
.
.
.
- .
.
.
. ,
FN
FZ.
Nn = Fz V = const,
Vn = Nn / Fz.
48
.
.
.
.
(. 1.10) , (U 0)
(
) . ,
,
, , ,
.
(FN)
(Fo) . Vn, ( ) .
, J (kch)1.
Fz
.
Vn = Nn / Fz, Nn , .
()
. , , , .
49
[37]
(. 1.11, ). USo , UNo
.
. 1.10.
50
U SO
UK
U *N
U NO
UN
a)
S F
U SO U FO
PC PF
UK
PN
U *N
U NO
)
F0
F
F
S0
S
)
N0
S0 F0
PC PF
F0 S0
PC PF
S
2
)
. 1.11.
51
UK USo UN >UNo. .
N0
(. 1.11, ) , . 1.11, . , , N0 = const (. 1.11, , ). , . 1.11, ,
.
()
F0 S0. . 1.12 J ( h) -1: W1 = K7 (T + 1) -1; W2 = (J1p) -1;
W3 = (Up) -1; W4 = (JHp) -1; W5 = K (T + 1) -1; W6 = U (K4 + K3K5) K3-1; W7 = U-1.
, ,
(, ),
, U1:
K1U S U = 0;
U = K1U F U 0 U1 U > 0;
K1U S U 0 U1 U 0.
, .
1.13, ,
.
, , . .
() S0 S . ,
.
( ), .
. = S0 S .
52
53
W1
K5
CE
W2
W3
W7
C1 + b1 p
W7
%
W5
MH
. 1.12.
W7
W7
W4
Z
Z
K2
KC h
S
S0
F0
S0
S
SGN
2
F0
+ F
)
. 1.13.
> 0, , 0, .
1, S0 , 54
2. 1,
U > 0;
U 1 =
0 0,
U , .
,
,
, , . .
. ,
, .. , ,
.
,
, , .. .
.
- 1 2. ( 1.13, )
, F0,
1 , ,
F0. , F0 > 0, 1 .
, ,
,
, , ,
, . . , 55
. , . -
.
, . N1
N2 .
,
().
,
. .
U, . , Nn.
,
.. [9, 10]. .. .
(. 1.14).
U
(t) (. 1.15).
h < 0. 1
1
Us3 (t). , h > Us (t) .
56
S0
I
I
I
M
dt
S
S
K
S
dt
. 1.14.
S
U S (t )
U S
Sk1
Sk 2
I
h
h0 (t )
. 1.15.
57
2, 3, ,
2 2 (. . 1.15) .
, ,
(J = J/Kch) ,
, 2, 2 1. , J . .
, F 2 2 3 , , 1 Sk1 = J, . J, 2
.
2 Skz = h. h ,
, 1
Sk2 2 .. .
,
(. 1.16).
, , - . 1.17.
. ( )
( )
( )
,
.
58
W1
2
MH
K1
MH
2
1
Jp
W2
J
i
JH
2
uJ1
p-1
2
. 1.16.
Kqi
1
2
3
1
2
+1
-1
F
FZ
FN
Nn=const
J-1
1
1
2
&
5
3
1
. 1.17.
59
1 2 .
, .
Fn = F0 ,
s > 0. , 2
2 . 1 2.
. , . , . 3
Vn, N = const Vn = N/Fz. () -1
J ,
( )
. ,
Vn < V, . , , .
1 2.
,
.
, , , , .
60
1.4.
-
, () () () ,
, [32]. - [1].
- , : ()
; ,
() ().
-
- () (. 1.18) (),
() , () .
, , , , , () -.
(),
, .
() (), . , , , .
61
: - -;
, ,
,
, .
()
()
. 1.18. -
()
, , .
- , ,
.
62
, .
. 1.19 : 1 ; 2 ; 21
; 3 ; 4 ; 5 ; 6 .
(. 1.19, ),
. .
3
2
a)
b)
3
1
5
4
c)
4
2
)
. 1.19.
-
(. 1.19, ) ,
.
, . .
, .
(), 63
,
. ,
.
.
-, .
: (. 1.19, ), (. . 1.19, ), , , . (. . 1.19, ),
,
.
: ,
.
: ,
, .
, , .
.
, , , , , . 1.20,
: 1 ; 2 ; 3 ; 4 .
64
L/ , ,
L// , Q(t ) , Q (t ) .
L/ L// L/
n
R = LI + Li + LII , R - , Li
i =1
i- .
Y0
Z0
O
L
2
Xd
B
l1
2
L1
l2
4
4
L3
X0
A
Xb
. 1.20.
, N = n + 1 Li 0 ; N = 1 Li = 0 , L/ L//
; N = 0 Li = 0 , L/ L//
.
, N = 2 ( N = 1 N = 0 )
65
R = LI + L1 + LII , L1 , LI LII D B, .
X 0Y0 Z 0 , X 0 , D B , . , k (k = 1...4) l j ( j = 1...3) , , ,
,
(k , l j ) =
= B (k , l j ) M BA ( L/II ) . , (k , l j ) 44
LII
X 0Y0 Z 0 , k , l j ; B (k , l j )
R1 R2 P3 R 4 R5 ; R1 P2 R3 R 4 R5 .
66
Pi Ri : , , : ,
, ( 2
4 ).
,
.
- ,
.
.
.
.
- . 1.21, Si
(
) () ; i
, ; Fi
(
) () ; U i
~
; Pi , ; Pi ,
- ; P .
i
67
S ,
F
:
B1
SF
SF
0
= 0
0
0
0
OO
SF
B2
SF
0
SF
SF
S
0
1
0
0
0
B4
SF
0
S
0
1
SF
SF
B3
0
0
0
0
SF
2
0
SF
0
SF
B5
0
SF
SF
2
0
SF
0
0
0
B6
SF
SF
0
S
0
S
SF
SF
B7
0
0
0
SF
0
SF
SF
0
B8
U4
P4
P1
P6
P1
S6
U2
1
P1
U2
F1
P U1
F6
P7
S1
P2
F2
OP
MO
S2
P2
S3
P5
P3
P3
F7
S7
S 4 S5
F5
P U2
F4
F3
U3
P4
1.21.
-
68
: 0
; i
( ).
, , - . ,
Ti = C i + i p; i = 1,2.
-
1 = J1T (q1, 1 ) F12 + J 3T (q1, q3 , 1 ) N3 FTC ;
22 = J 2T (q2 , 2 ) F12 ;
F12 = T1[q1N1 (q1, 1 ) q2 N 2 (q2 , 2 )];
F = F #M
Ti = diag Ci + i p ,6 6.
69
( ) , -
T
T
1 = J 1 F1 ; H 2 = J 2 F2 ;
T
J 0T F1 = H 0 p 2 S + G 0 + J 02
F2 + FmC ;
F1 = T1 ( q1 N 1 S10 );
F2 = T2 ( q N 2 S 20 );
,
T
FPO = ( S mC , S O ) T3 ( S mC J 01
S O ) + FTP + FO ;
m0 E 0
T
H0 =
; S 0 S 0 # 0 6 6 ;
0 J 0 E 6 6
G 0T = m 0 g T w0 ( J 0 w0T ) ,
m0, J0 ; FTP .
-
-
;
.
- , ,
, , , . , () .
- (. . 1.19, a, )
.
70
,
.
, .
, ,
. ,
, .
.
,
.
(. . 1.19, ), (. . 1.19,
) (. . 1.19, ). ,
.
. . , 71
. , , - .
, ..
.
. , . . , , , - .
,
,
(. 1.22, ) , . 1,22, .
, .
. 1, 2 .
- .
( 1) ,
. ( 2) 72
. ( ) , .
)
. 1.22. - :
;
73
(1), . (. 1.23) j = l .
j = l , X Y
, .
, ,
. , . ,
,
j + 1. ,
, . , ( ) ,
j + 1. ,
, ,
, j + 1 , ,
.
,
,
. (1), 5 (2), 5 . , , , j + 1 . ,
. j + jk, .
( 2) , , , . 1.24.
74
75
i=ik
i+1
-?
-5
. 1.23. - 1
i=1
+5
76
. 1.24. - 2
. , ,
, , ,
; .
3 ,
,
. 1.25.
j = l
, 1, 2 3 F1 = F2 = F3 = 0.
Fj (j = l, 2, 3).
.
1. 1 (FIX) ), F2 = F3 = 0, Y . 1 Z,
1 2 (F1 > 0, F2 > 0). Y
X 3 (F3 > 0).
F1 > 0, F2 > 0, F3X3: Z 1,5
.
2. 2 (F2 > 0), F1 = F3 = 0. 1 Y
X.
3. 3 (F3 > 0).
Y 1 2.
1 2 .
j + 1.
77
( Fj > 0),
1, 2 3.
.
. 1.25. - 3
78
,
. , , , , , -, ,
.
.
1. . .
2.
. ,
.
3. , . ,
,
.
, : , .
79
2.
2.1.
() .
, .
. , .. ,
.. , .. , .. , .. , H. Van
Brussel, J.P. Merlit .
: ;
, ; ; , ,
; ;
,
.
, ,
,
. , .
, .
.
80
. ,
.
.
.
, .
.
,
. .
. , , .
, , .
,
.. , .. , .. ,
.. , .. , .. , . Van Brussel, C. Lee,
J. Simons, R. Smith, D.T. Pham, P. Watson, D.E. Whitney .
,
, .
. .
, .
E 81
, : E E ; , E
.
. ,
, . , . , ( .).
, , .
, . . J.L. Nevins, D.E. Whitney, D.T. Pham, J. Simons, . Van
Brussel .
() , J.L. Nevins D.E. Whitney
(. 2.1, ).
, (RCC), , , .
(RCC)
. 2.1, , , .
, ,
, .
82
, ,
.
. 2.1.
1...2 ,
.
. ,
, ,
,
. .
, .
, ,
[20]. , ,
, . , . 83
, ,
.
.
.. , .. , . Inoue, W. Khalil, P. Borrel, P.C. Bolles,
R. Paul .
, , ,
,
.. . -, , -,
, , ,
..
[24].
, , .
, [24, 56]. -5,
.
.
, PUMA , (. 2.2). . .
84
,
,
, , . (. 2.3), ,
.
PUMA
. 2.2. PUMA
. 2.3.
, ,
. X = X (t ) 85
G,
, G = G .
- , ,
G.
() [31].
()
. , , , .
.
. , ,
.
. , .
.
86
: ; , ; , ;
; ,
; ;
- ; , .
, .
, , .
-
.
.
.
. 2.4, : 1 ; 2 ; 3 ; 4 ; 5 ; 6
; 7 ; 8 ; 9 ; 10 ; 11 ; 12 .
, .
: ;
87
; ; .
12
4
5
11
10
6
7
. 2.4.
88
, , , ,
.
- .
: ,
, .
.
.
.
, . (
412 6 ) , , , . .
X, Y 5 , 0,38 . .
-440,
-1000, -1500 10 , 10, 100...200 .
,
() (. 2.5).
: 1, 2 ; ; ; ;
; ;
I, II, III ; X, Y, Z ; , .
XOY X Y , , .
89
,
. Z ,
.
,
,
, . ,
.
Z
C
II
III
I
2
. 2.5.
90
: ( X, Y, Z);
( ); (
).
,
; , . ,
, , . ,
, , .
,
.
,
, .
1
,
.
2
. 2.6, : 1 ; 2 ;
3
3 . 4
X Y,
() .
. 2.6.
91
.
90.
[46] (. 2.7),
Y
, X
Z 0
,
(1) (3) 1
,
2
(2) ( 3
Y
), '
Z 0
X
.
' '
'
. 2.7.
.
Z, ,
.
, , , (. 2.8),
- -
,
, ,
. (, , )
. 92
. .
-
X,Y,Z
. 2.8.
93
2.2.
. , X Y
,
.
. XYZ
n
{ X i 0 , Yi 0} . -
i =1
{Xi,Yi}
i=1
, ..
n
i =1
i =1
{ X i 0 , Yi 0} { X i , Yi } .
,
,
. ,
.
,
.
[64].
, ,
() .
, , . - , 94
. , , . , . , , , , . , ,
. .
,
,
. .
.
,
, ,
.
,
. , .
,
.
. ,
,
, .
.
,
95
, .
.
, ,
: -.
. 2.9.
,
.
-. , . ,
. : ( ) ( )
, .
. ()
.
.
- .
,
. .
, , . , .
, , , : 96
( , Z, ) ( ).
. 2.9.
97
, .
, . .
, . ,
.
,
,
.
, -.
( X +, X-, Y +, Y-, ,
..).
.
- . ,
.
, , , , . , .
.
. 98
(). -
() .
,
, , .
2.3.
. . 2.10. X,Y Tk1 (x1,y1) x y,
. Z
( VZ)
.
{Kx1, Kx2, Ky1,
Ky2} . ,
zi
aj = 1. , .
,
.. a j = 4 .
j
Z
( z x1, z x 2 , z y1, z y 2 ) .
x y :
x = f (l , d , d , z x ), y = f (l , d , d , z y ),
l ; d ;
d ; z x = z x 2 z x1 , z y = z y 2 z y1
Z X
Y .
99
Vz
" - - "
Zi
a1=1
a1=1
Kx1=1
Zx1
a2=1
Zx2
a3=1
a3=1
Kx2=1
a2=1
Ky1=1
Zy1
a4=1
Zy2
x,y
a4=1
Ky2=1
Vz=0
Sai=4
. 2.10.
100
-
, .
, .
.
, ,
.
. 2.11. Z.
- Tki ( xi , yi )
Z , Z . Pz
x0 , y0 .
x = xi +1 xi ,
y = yi +1 yi
.
F (Pz , x , y ) = 1.
x y x , y
, .
,
.
101
Vz
" -
- "
PZ>0
X0,Y0
Xi,Yi
P-Pz>0
Xi+1-Xi>0
a=1
Yi+1-Yi>0
b=1
c=1
f=abc
f =1
X,Y
VZ=0
K
. 2.11.
102
.
, .
,
[30],
.
: , ,
.
, ,
. 2.12. Z
(. 2.12, ).
x , y x , y
x y , .
X 0O0Y0 .
x , y ,
Z x , y . ( X)
(. 2.12, ).
.
2x, x X Y Z. , Y .
,
Z (. 2.12, ).
Y y, X
(. 2.12, ). Z 103
.
. Z Z,
, .. x = x , y = y . -
.
,
X (, , ),
.
Y =Y+Y
Z
Y
Z
Y =Y+Y
X
X
X
X=X+X
Y
X
Y =Y +Y
Z ,Z
X
X
)
. 2.12.
104
U 0 Vx (p ) sgn Px1 = 1;
Gx = U 0 Vx (p ) sgn Px 2 = 1;
0 (sgn P sgn P ) = 1 t = t .
x1
x2
2
Gx = x2 x1 ,
Gx
2
= Gx (p ) .
Gx (p) , .
. 2.13, : zi Z; ; 0 ; Pz, P ; z Z.
, . , - ;
X, Y, Z.
: - Tki Z , X Y X+, X-, Y+, Y-.
X Y. Z,
Z .
105
V z
" - "
P z i
Z i
Z -Z i 0
V z=0
a=0
b=1
f1 = a b
DX-X < d0
Pz -P >0
DY-Y < d 0
f1 = 1
. 2.13.
106
. 2.14 .
N
, K(1) K(4).
. 2.14.
Pz = 0.
,
107
, ,
-, (. 2.15).
.
. 2.15.
BP1 BP4,
, X Y . X i Yi
. z Z , , X Y
. Px Py,
x x ,
y y (. 2.15, ), Px1 = Px2, Py1 = Py2.
108
(. 2.15, ), x, y .
. 2.16.
: , , X, Y, Z
W V,
.
:
X i = 0,
Yi = 0.
( x xi )
( y yi )
Ux =
Uy =
K (Y2 Y1 ) Yi 0;
K (X 2 X1) X i 0;
( z zi ) X i = 0 Yi = 0,
,
Uz =
(
P
P
)
X
0
Y
0,
z
i
i
x, y, z - Tki ( xi , yi , zi ) ,
Pz = Kf (X + Y ) .
. 2.16.
. 2.17. .
f1 Z,
f2 f3 .
109
Vz
" - "
Px
|Px1-Px2|>0
a=1
Py
a=0
|Py1-Py2|>0
a=1
Pz
b=1
Pz<P
c=1
Vz=0
x,y
K
f1=abc
f1=1
f2=abc
f2=1
f3=abc
f3=1
. 2.17.
110
x y :
0 X1 X 2 Y1 Y2
U =
.
1
X
=
Y
=
1
2
1
2
X Y . X . 2.18.
Vx, x Px1 = Px2.
. 2.18.
X
111
2.4.
. , .. , .. ,
.. , .. , .. , .. .
. ,
, q q .
F ,
.
,
q . q , , ,
.
f .
, F , ,
:
F = F (q, q , q , q , f ) .
f
q
q
F
. 2.19.
q
q
. 2.19.
.
112
,
X cos + Z sin R = 0,
P X p , Z p (. 2.20), ,
D = X p cos + Z p sin R .
P O
Z
,
A
D
P( X p , Z p )
D > 0 , , D < 0 .
,
P C
, D < 0 .
R
B
D = 0 D > 0 P( X p , Z p )
X
N - 0
N
,
. 2.20.
.. N = CD , C
.
Z
,
R2
.
4
O
5
. 2.21.
D
3
XOZ 6
B
, C
. X0, Z0
1
A
O
2
H
R1
.
, .. X
, 0
XOZ,
()
. 2.21.
OZ.
113
X, Z O , .
A, B, C, D ,
. 2.21 1...6. :
A:
X a = X 0 + H sin + R1 cos ; Z a = Z 0 H cos + R1 sin ;
B:
C:
D:
1:
( X X 0 ) cos + ( Z Z 0 ) sin + R1 = 0 ;
2:
( X X 0 ) cos + ( Z Z 0 ) sin R1 = 0 ;
3:
( Z Z 0 ) cos ( X X 0 ) sin + H = 0 ;
4:
( X X ) cos + ( Z Z ) sin + R2 = 0 ;
5:
( X X ) cos + ( Z Z ) sin R2 = 0 ;
6:
( Z Z ) cos ( X X ) sin H = 0 ,
(2.1)
R1, R2 ; H .
,
.
. = > 0 .
.
1. C 3, D1 > 0 .
2. B 6 D2 < 0 .
3. A 5 D3 < 0 .
4. D 1 D4 < 0 .
. = < 0 .
.
5. D 3, D5 > 0 .
6. A 6 D6 < 0 .
7. B 4 D7 > 0 .
8. C 2 D8 > 0 .
114
Ni, ,
: Ni = CDi ,
i = 1...8, C Di:
(2.2)
Ni = sgn(i )CDi ,
Di A, B, C, D
(2.1). , 1 ( C
3)
D1 = (Z + H cos + R2 sin Z 0 ) cos ( X H sin + R2 cos X 0 ) sin + H .
N1 = 1 CD1 .
Ni
. ,
XOZ;
YOZ.
Ni , , Ni
.
6 > 0 6 < 0 .
, Ni (2.2). , ,
M M , O () -
O ().
:
1. F1 X = N1 f ;
F1Z = N1 ;
M1 = N1( H ( f + ) ( R2 + X )) ;
M1 = N1( H ( f ) R2 (1 + f )) ,
; X 115
X.
.
2. F2 X = N 2 + N 2 f ;
F2 Z = N 2 N 2 f ;
M 2 = N 2 ( H ( f + ) + R1(1 f )) ;
M 2 = N 2 ( R1 fH X ) .
3. F3 X = N 2 ( + f ) + N3 ( f 1) ;
F3Z = N 2 (1 f ) + N3 ( f + ) ;
M3 = N 2 ( H ( f + ) + R1(1 f )) + N3 ( H ( f 1) R1( f + )) ;
M3 = N 2 (2 R1 R2 fH ) + N3 ( H 2 R1 fR2 ) .
4. F4 X = N3 f N3 ;
F4 Z = N3 f + N3 ;
M 4 = N3 ( H ( f 1) R1( f + )) ;
M 4 = N3 (( R2 R 1 X ) / fR2 ).
5. F5 X = N 4 ;
F5Z = N 4 f ;
M5 = N 4 ( fR1 + R2 + Z H ) ;
M5 = N 4 ( R2 ( f + ) + H ( f 1)) .
6. F6 X = N3 ( f 1) + N 4 ;
F6 Z = N3 ( f + ) + N 4 f ;
:
4
F i = Bi N j ,
(2.3)
j =1
f
1
B1 =
H ( f + ) R2 X
+ f
0 0 0
0
0 0
0 0 0
0
1 f
0 0
; B2 =
;
0 0 0
0 H ( f + ) R1 (1 f ) 0 0
H ( f ) R2 (1 + f ) 0 0 0
R1 fH X
0 0
+ f
0
f 1
0
0
1 f
f +
0
;
B3 =
0 H ( f + ) + R1 (1 f ) H ( f 1) R1( f + ) 0
0
B4 =
2 R1 R2 fH
H 2 R1 R2 f
0 0
f 1
0 0
+ f
0 0
H ( f 1) R1( f + )
0 0 ( R2 R1 X )/ R2 f
0 0
0 0
B6 =
0 0
0 0 0
; B5 =
f 1
f +
H ( f 1) R1( f + )
0 0 H 2 R2 + 2( R2 R1) / fR2
0 0 0
f
;
fR1 + R2 H + Z
0 0 0
0 0 0 R2 ( f + ) + H ( f 1)
1
f
.
H + fR1 + 2( R2 R1) /
R2 ( f + ) + H ( f 1)
(2.2) (2.3) .
117
2.5.
,
, , ,
, .. .
, , :
; ; , , , , ;
.
, , ,
.
-
. ,
[44] .
. ,
, . : . , .
.
: > 0 < 0 .
118
1. (. 2.22, 1).
N .
2. (. 2.22, 2).
N .
3.
,
(. 2.22, 3).
,
X Z,
.
N2
N1
N2
N 3 F3
F1
N3
F2
F2
F3
F4
F4
N4
N3
F3
N4
. 2.22.
.
.
, ,
, 119
, . , .
()
, a, b,, h.
c, d,, h.
, .. . h
. , .
. , , .
S S = D d , D , d .
(. 2.23)
( ).
-ei
EI
es
em
ES+
EM
. 2.23.
H7
d8
H7
e8
H7
f7
H7
d6
H7
h6
. 2.24. S D
S D
S = f ( K , D ) , K , .
S , 1. S
1
S = Ki D e .
(2.4)
Ki .
Ki
H7
h6
0,0053
H7
g6
0,0074
H7
f7
0,0132
H7
e8
0,0214
H7
d8
0,0295
H7
c8
0,0445
121
, > (. 2.25) . ,
d DS
S
(2.5)
cos = =
=1 .
D
D
D
d
(2.4) (2.5), :
1
De
K
cos = 1 i
D
. 2.25.
Ki
; = arccos 1
1
D e
. 2.26.
-
,
H7
. ,
f7
D = 10 4,5. ,
.
,
. 2.26.
122
, .
, .
4. (. 2.22, 4).
.
5.
(. 2.22, 5). .
6. (. 2.22, 6)
: > 0 < 0 .
, . . 2.27.
Z
Z
C N1
N2 C
N1
X
0
F1
2.
Z
1.
F3 X
F4
N3 F3 X
N3
3.
4.
2.
N2 C
C
0
F2
1.
N2
F1 F
2
5.
N4
F4
F3
0C
N4
N3
6.
. 2.27.
123
(.
. 2.22).
.
1. 1 2. Z (Z = 0) Z A , ( Z H ) . : Z = H Z ,
Z = d sin , : Z = d .
Z ( H Z ) ( H C Z ),
C .
2. 4, 5 6. Z Z = H ,
Z H.
, 1 2
X. 1 FX = 0 , 2 FX = FZ / tg . M0
( > 0 < 0 ). 4, 5, 6
FX FZ
.
124
(2.3), FX FZ .
5
FZ = f FX FX = FZ / f , f .
4
FX = N 3 ( f 1) ,
FZ = N 3 ( f + ) ,
F = N3 ( H ( f 1) R1( f + )) .
M = FX H FZ R1 .
, FX, FY,
Mc, . , . 2.28.
. Z
1
. M,FX,FZ
. Z
Z >H+Z
0
. VZ
1
VZ=0
Z <H-Z
M=FXH-FZR1
. FX,FZ
. FX
1
FX=0
. MC
0
M>0
.1
>0
. MC
1
.1
<0
M>0
.2
>0
. MC
0
.2
<0
M>0
.4
>0
. MC
1
.4
<0
M>0
.5
>0
FZ=FXF
. MC
0
.5
<0
M>0
.6
>0
.6
<0
. 2.28.
,
, . . - 125
. .
,
.
.
.
() ,
.
.
,
4- 5-, 6-
2/3 .
, . 2.29, .
. 2.29.
. , 7 .
3 6 , 126
. , 0-1-4-7 0-2-5-7
3 6, .
, , 3, ,
. 2.29, .
n
{ X i 0 , Yi 0} . i =1
, (.
2.30) :
Z .
. -
( ).
X Y
().
. Tk ( x0 , y0 , z )
Tk 0 ( x0 , y0 , z0 ) .
Y
X
. 2.30.
127
(1,,5), :
1.
Z , . .
G
P ,
Z, .
X Y .
Z0.
2. (,
) Z
: - , . :
) ;
) 1;
) 3.
3.
,
, - , . ,
:
) 2;
) 5.
4.
.
X Y
, ..
. 128
X Y
:
;
, Z;
, , , .
1, 2 3.
5. :
, Z ,
2. (
); - 4, :
1 zn1.
129
3.
3.1.
, . 2. , . 3.1,
, ,
. 3.2.
( , , ),
13.
() (), , ()
() .
Ti ( xi , yi ) XOY 1 U 1
Z Vz = f (U z ) .
z i x y . Z ( Vz ),
. x , y
2, 3, X, Y Tki ( xki , y ki )
xk = x + x ,
yk = y + y ,
.
n
{ X i , Yi } .
i =1
130
H
Tk i(x i,y i)
U k1 =1
V z =f(U z )
i=1...4
z i
K i
z i
U k1 =0
-V z
DZ=0
x ,y
U k2,3 =1
x =x +x ;
y =y +y
x ,y
K
. 3.1.
131
132
Y X
K3
K2
UK2,3
Zi VZ
K1
UK1
. 3.2.
. 3.3 , . 3.4
, . z
Z, X Y x
y, , . 1 (U1 = 1) Z Vz = f ( Pz ) Z.
P Pz > 0, x y .
, 1 Z (U1 = 0),
.
, . ,
, .
, (. 3.5),
X, Y, Z, , , . x, y, z, 15
()
(). .
.
Z X Y. 4 (6) . +U .
133
H
Tk i(x i ,y i)
U k1 =1
V z =f(P z )
P -P z >0
x ,y
U k1 =0
-V z
DZ=0
x =x +x ;
y =y +y
x ,y
K
. 3.3.
134
135
X P Z
P
UK1
K1
Z
Z
CZ
. 3.4.
136
, ,
, U, .
.
, ,
.
,
X Y Tki ( xi , yi ) . 2 (3) ,
4 (6), X (Y) , ,
. Z,
, , Y
, Z z .
1 Z . ,
.
, Z
( ) ,
,
.
,
(. 3.6), X, Y, Z x,
y, z, Kx, Ky, Kz. . M 1 Z . z 2
Z . DC X Y.
Ux, Uy Kx Ky
. Ui
: DC0, DC2 + ; DC1,
DC3 -.
137
138
&
2
&
1
DC
0
1
2
3
Uz
Uy
Ux
. 3.6.
D1
Q1
D0
CT2 Q0
DC0 = 1, . X
x 2 .
DC1 = 1 .
Y
. Y
. . , Y . , 2 , DC .
X Y
1 Z .
, R Z
.
Z .
, , , , .
, , . 3.7. :
x, y, z, , 13,
; x1, x2,
y1, y2, ,
, , -
, , - RS- .
.
X x x. x 1 , x x.
139
140
R
T
Pz
K3
K2
K1
Y
Y1
X2
X1
. 3.7.
Y2
Y Z y, z
Y Z. , . .
x1, x2, y1, y2. RS-
. 3 Z Pz. Z
.
x1, x2
1 ,
.
. Y. Y Z, .
, ; ,
- . -
RS-, Y . 1
2 , RS 3. , .
, , : , ,
141
, ,
, .
, .
. 3.8. PZ, P Pmax
, ,
Z; PX PY
G
P .
,
.
G
U { g Z , g X , gY , g } gZ, gX, gY, g .
:
g Z C1 C 2 C 3;
G g Z g X gY C1 C 4 C 2 C 4 C 3 C 4;
U=
g Z g C 5;
g g X gY C 5 C 4,
15 .
.
g Z (z0 ,PZ ,P ,Pmax ) Z :
z0 VZ GZ ( p) PZ = GC ;
z0 k ( PZ ) VZ 1( PZ ) GZ ( p) GC < PZ P ;
gZ =
k ( Pmax PZ ) VZ 2 ( PZ ) VZ ( p) P < PZ < Pmax ;
z V ( p) P = P ,
Z
GZ
max
Gz (p), Vz (p) Z,
; VZ
; GC ; k k Z.
142
H
X0,Y0,ZH,a=0
Z0
PZ>GC
PX,Y>0
PZ>P
PX,Y>0
Pz>Pmax
PX,Y>0
. 3.8.
143
X Y :
0 Py < Py 0 ;
0 Px < Px 0 ;
x
x0
Y sign( Py Py 0 ) = 1,
Px0, Py0, Px, Py X Y ; X Y ,
.
X
g X ( x0 , x , PZ , PX , Smax )
x0 G X ( p ) PX < Px 0 ;
x
+
x G X ( p ) PX > Px 0 PX = 0 S < Smax ;
0
i =1
gX =
k ( P )( x + n x ) ( p ) P > 0 S < S ;
GX
Z
max
x Z 0 i
=1
x0 + xS G X ( p ) PZ > 0 S = Smax ,
Gx (p) X, ;
kx (PZ)
Z X; S Smax
; xS Smax
.
Y:
y0 G y ( p ) PY < Py 0 ;
y
y G y ( p ) PY > Py 0 PY = 0 S < Smax ;
+
j =1
gY =
k
k
P
y
(
)(
+
y Z 0 y ) G y ( p ) PZ > 0 S < Smax ;
j =1
y0 + yS Gy ( p ) PZ > 0 S = Smax ,
Gy ( p ) Y, ;
ky (PZ) ; yS Smax.
144
g X gY ,
2
n
k
S = X + Y
i =1
j =1
,
Smax =
D dC
2
d ; D ,
, , , :
D zi = z ;
D = ( z0 z )
k ( z z ) z < zi < z0 ,
0
i
D ; k .
g
0PZ GC ;
g =
G ( p)PZ = GC zi = zn1 ,
G (p) , ; zn1 .
3.2.
. , X, Y
, Z .
. ,
145
(. 3.9) XOY
.
XOY, ,
X, Y :
U S > 0;
Ux = 0
0 S < 0;
U S < 0;
Uy = 0
0 S > 0,
. 3.9.
dS
dS dS
U
S
>
0
> 0;
0
dY
dx dY
dS
dS dS
U x (t ) = U 0 <0S
> 0;
dY
dx
dY
dS dS
S
0
< 0;
dx
dY
146
dS
dS dS
U
S
>
0
< 0;
0
dY
dx dY
dS
dS dS
U y (t ) = U 0 <0 S
< 0;
dY
dx
dY
dS dS
> 0.
0
dx dY
dS (x, y ) dS (x, y )
P(x, y ) = S (x, y )
.
dx
dy
dS
dS
dS (x, y )
dS (x, y )
U =< U x ,U y >
, sgn x =
;sgn y =
.
dy
dx
dx
dy
Z
. .
, Sk, S Z , ,
.
( ) (. 3.10)
Z. C (S = 0), X x = / 2 Z ,
.
, X Z [27]:
147
U S < 0;
Ux = 0
0 S > 0;
0 S < 0 U 0;
x
U y = U g S < 0 U x = 0 , Fz Fg ;
U 0 S > 0 Fg ,
U g ,
Fg .
dS
<0
dX
. 3.10.
- , . 3.11.
, XOZ (. 3.12).
. X
V x , Z
.
S.
148
: V ,V ,F
x z
S=0
X =
2
a = Z Zi 0
b = FZ F 0
ai=1
bi=1
f=ab
f=1
. 3.11. -
149
, S < 0 - .
X Z :
U 0 S 0 Fx = 0 , U z = 0;
U x = U 0 S 0 Fx 0 , U z = 0; : x ;
2
0 U 0;
U 0 = x tg S > 0 Fz = 0; U x = 0;
U z = U g S = 0 Fz 0 , U x = 0;
0 S 0 Fz = 0 ,U x 0,
; .
. 3.12.
, , . 3.13, .
150
. 3.13. -
151
U 0 S < 0 Fx = 0;
U x = U 0 S < 0 Fx 0;
F
g S > 0 Fx = 0; 0 S < 0;
F S > 0 F 0;
x
U 0 S > 0 Fy = 0;
U y = U 0 S > 0 Fy 0;
Fg S < 0 Fy = 0;
F S < 0 F 0; 0 S > 0.
y
g
, Z .
,
()
. . ,
- - .
[30].
, ,
Z
152
. , Fz
() F z , Fk .
Z Fg .
X, Y, Fx , F y
Fg , . .
, .., .. X Y
- ,
, V x V y .
,
.
,
Z V z
.
, .
, , . . , ,
. 3.14.
() G, , RS-,
AN dF
dU, K1K3, .
153
K1
dF
dU
K2
&
K3
UA
A0
UB
B0
UN
N0
R
. 3.14.
.
dF dU ,
, . .
154
AN .
, , . K1 K2. , , .
. AN
. ,
, G
, .
, .
,
RS- ,
3, , .
, dU, . , , ,
, . ,
, .
,
,
, ,
, .
,
155
, . . , . ,
, ,
. , ,
,
,
,
,
.
RS- .
.
,
, .
Z,
X Y -
. gZ gX
:
z0 GZ ( p ) PZ = GC ;
g *Z =
k PZ 1 PZ ( p) GC > PZ ;
0 PZ = GC z = z0 ;
g *X =
AX ( z , PX )sin X ( z )t PX ( p ) GC > PZ z < z0 ,
AX ( z , PX ) X (z ) .
, 156
, . , ,
:
z0 z
AX ( z , PX ) = A0k A
,
1 + k AX PX
0 , ; k, k
.
, ,
.
X ( z) =
0 k
,
1 + ( z0 z )
0 ,
; k .
Y ( gY ) , , ( g ).
. 3.15, , ,
. 3.16. 1 : Z
, X Y ( ) -
.
157
H
X 0 ,Y 0,Z 0
V Z
Z,P X
Z i=Z k
P Z =G
P X ,P Y ,P a
VX
VY
Va
P Z =G
VZ
Z i=Z k
V Z =0
X 0 ,Y 0,Z N
K
. 3.15.
158
kP
K1
Z0
Z
Z
A0
KAX(PX,Z)
KX(Z)
K2
X0
KAY(PY,Z)
KY(Z)
CY
K3
Y0
Y
. 3.16.
159
3.3.
-
, . 2.22
2.27. ,
, . , (. . 2.22, 2),
, , 5 7 (
). 2-3-4-7 2-3-5-6-7 .
.
.
X, Z . , (-). : . .
. .
Z
FZ .
. FZ = FZ .
, - (. . 2.22, 1). Mc . , Mc < 0,
X Vx, Mc > 0, +Vx. Z. Vz = 0,
. 1 - Z FZ Vz. , 4. 160
X. , , . 3.17, :
+VxM c > 0 Vz = 0,
0Vz 0;
Vz (1) = k ( Fz Fz ) ;
(1) = 0 .
Mc > 0
V = + Vx
V = - Vx
Vz
Vz = 0
0
V = 0
4
. 3.17.
, 5-7
. . Z
FZ . 161
X . Z, , , . 2.22, 3.
. 3.18 :
k ( Fx Fx )M c > 0 Vx 0 Z H ,
V (2) = + k ( Fx Fx )M c < 0 Vx 0 Z H ,
0Z H Vx = 0 Z < H ;
Vz (2) = k ( Fz Fz ) ;
(2) = 0 .
3...6, .
:
V (3) = 0 ;
Vz (3) = k ( Fz Fz ) ;
+ k ( M M )Fx > 0 M c < M cn ,
0M c M cn M c M cn .
:
k ( Fx Fx )M c > 0 Vx 0 Z 0,
V (4) = + k ( Fx Fx )M c < 0 Vx 0 Z 0,
0Z < H Vx = 0 Z = 0;
k ( F Fz )Z 0,
Vz (4) = z
0Z = 0;
(4) = 0.
:
k ( Fx Fx )M c > 0 Vz 0 Z 0,
V (5) = + k ( Fx Fx )M c < 0 Vz 0 Z 0,
0Z < H Vz = 0 Z = 0;
k ( F Fz )Z 0,
Vz (5) = z
0Z = 0;
(5) = 0.
162
:
k ( Fx Fx )Fx > 0 Z 0,
0Z = 0;
k ( F Fz )Z 0,
Vz (6) = z
0Z = 0;
k ( M M )Fx > 0 Z 0,
0Z = 0.
- . 3.19 3.22.
Mc > 0
V = -k(F-Fx)
V = k(F-Fx)
Z
0
Z <H
V = 0
Vx
0
Vx = 0
5
V = 0
3
. 3.18.
163
F >0
x
= -k(M -M )
= k(M -M )
M <M
c cn
M <M
c cn
= 0
= 0
. 3.19.
Mc > 0
V = -k(F-Fx)
0
V = k(F-Fx)
Z
0
V
0
Vx = 0
Z=0
1
V
x
1
= 0; V =0
z
5
V
=0
6
. 3.20.
164
M >0
c
V = -k(F -F )
0
V = k(F -F )
Vz
0
Vz = 0
Z
0
V
1
Z=0
= 0
= 0; Vz=0
. 3.21.
F x
1
V
F >0
x
= -k(F -F x )
= -k(M
0
V
-M )
= k(F -F x )
= k(M
-M )
Z
0
Z=0
1
V = 0; V =0; =0
. 3.22.
165
, (. . 2.22, 3), . 1 2
(. . 2.27). 4, 5, 6
, 1, 1, 2, 2 :
1:
+VxM c > 0 Vz = 0,
0Vz 0;
Vz (1) = k ( Fz Fz );
(1) = 0.
1:
k ( Fx Fx )M c > 0 Z > H ,
0Z H ;
Vz (1a) = k ( Fz Fz );
(1a) = 0.
2:
VxM c > 0 Z > H h,
0Z H h;
Vz (2) = k ( Fz Fz );
(2) = 0.
2:
+VxM c > 0 Z > H h ,
0Z H h ;
Vz (2a) = k ( Fz Fz );
(2a) = 0.
166
- . 3.23 3.26.
1
V
Mc > 0
= + Vx
=-V
Vz
Vz = 0
0
V
= 0
1a
. 3.23. 1
( )
Mc > 0
V = -k(F-Fx)
0
V = k(F-Fx)
Z
0
Z <H
1
V
= 0
2a
. 3.24. 1a
( )
167
1
V
Mc > 0
= -V x
= +V x
Z
1
Z >H-h
0
V
= 0
. 3.25. 2
( )
1
V
Mc > 0
= +Vx
= -Vx
Z
1
Z >H-h
0
V
= 0
5
. 3.26. 2a
( )
.
168
3.4.
. . .
. , ,
, , .., ,
.
Z0 X0
Y0. . , , , . Z Z, X Y ( V X VY ).
:
;
;
( ) ;
169
,
, ;
, , ,
.
,
Tk ( x0 , y0 , z ) . .
I : ;
,
Z l .
II : ; Z .
G
U {g Z , g X , gY } g Z , g X , gY . :
G
U {g Z , g X }, X Y
. gY
g X
. .
Z .
, Z PZ = GC
.
, PZ < GC .
, A, B C . 3.27,
: z ; z , z ,
z 0 .
170
, 0
, X
PX
M . zi
PZ
Z
A, B C .
g Z Z,
Z K
g X A , g X B , g XC X Z K
,
,
Z0
A B C.
Z
g Z ( z 0 , PZ ) ,
. 3.27.
AC, :
z0 G ( p ) PZ = GC ;
Z
k PZ 0 PZ ( p ) (GC PZ ) PZ 0 ,
(3.1)
GZ ( p) , VZ ( p) , PZ ( p) Z, , ; UZ ; PZ0 PZ,
; kPC kP
Z.
Z
; (GC PZ ) < PZ 0
-; (GC PZ ) PZ 0 . A. ,
171
X MT c Z VZ ,
B. g X A ( z, PZ , M T ) X :
gX A
+U X VX ( p) (GC PZ ) PZ 0 M T > 0;
= U X VX ( p) (GC PZ ) PZ 0 M T < 0;
0 (GC PZ ) < PZ 0 ,
(3.2)
Vx (p) X, ;
UX ; .
B Z , X
G
P ; z zK
.
g X B ( z , z , PZ , PX , M T ) :
gXB
0 z = zK (GC PZ ) < PZ 0 ,
(3.3)
PX ( p) X, ;
k X ( PX ) .
g X ( z, z , PZ , PX , M T )
g XC
+U X k X ( PX )kZ ( zK z ) PX ( p)
= U X k X ( PX )kZ ( zK z ) PX ( p)
(3.4)
kZ ( zK z ) ,
172
. , zK . ,
g X = g X A g X B g XC ,
(3.5)
. G
U { g Z , g X }
. 3.28, ,
, . 3.29.
, , Z, (3.1) (3.5) ()
() .
.
: A
B (. . 3.27) ; ; , .
:
+U VX ( p) PZ < GC PX > 0;
z GZ ( p) PZ = GC ;
g X = U VX ( p) PZ < GC PX < 0;
gZ =
k PZ 0 PZ ( p) PZ < GC ;
0 PZ = GC PX = 0;
0PZ = GC PY = 0.
173
H
X0,Y0,Z0,Z,ZK,Z
VZ
P
Z
GC=PZ
z<z
VZ=0
VZ=k1PZ0
+UX
z<z
VZ=k2(GC-PZ)
MT>0
-UX
MT>0
+kXUX
GC-PZ<PZ0
VZ=k3(GC-PZ)
-kXUX
MT>0
+kXkZUX
VX=0
. 3.28.
174
-kXkZUX
GTBC
PZ0
UZ
PZ
z
z
kPC
K1
z0
kP
Z
Z
KZ
UX
x0
KC
KX
X
. 3.29.
( Z X)
. 3.30
. PZ = GC
z = zK.
.
, ,
, .
175
X0,Y0,Z0,Z
VZ
z>z
PZ=GC
VZ=0
PX
PY
PX=0
VX=0
VX=+U
PX>0
VX=-U
VY=0
PZ=GC
PY=0
VY=+U
PY>0
VY=-U
. 3.30.
176
PZ 1 Z,
G
U {gZ, gX} :
z0 GZ ( p ) PZ = GC ;
g Z = U Z k (GC PZ ) VZ ( p ) (GC PZ ) PZ 1;
0 (GC PZ ) > PZ 1;
gX
+U X k X ( PX ) PX ( p )
= U X k X ( PX ) PX ( p )
0 VX = 0 PX = 0 z = z0 ,
VX X, , .
,
PZ1 ; ,
.
Z
. 3.31. - , . 1 , 2 -, 3 . 5 Z .
X Y 4
. 3.32. S > S max
. Z X, , . 3.33 ( ).
13 ,
4 PX0, 5 xS.
177
H
X0,Y0,ZH,P,Pmax
1
Vz
PZ=GC
PZ=GC
Vz=f1(PZ)
Pz>P
PZ
Pz>P
Zi=Z0
3
4
Zi=Z0
Vz=f2(PZ)
PZ>Pmax
DZ
VZ=0
Zn1
X0,Y0,Z0
K
. 3.31. Z
178
PX
Py
|PX|>PX0
signPX=1
DX=+1
signPy=1
DX=-1
|Py|>Py0
DY=+1
DY=-1
X=X0+SDX
y=y0+SDy
kx=f(Pz,Px,z0-z)
ky=f(Pz,Py,z0-z)
S<Smax
X
Y
. 3.32. X Y 4
179
GC
PZ
2
Pmax
R
KZ
1+PZ
Z0
Zi
Z
Z
K1
Z
Z
Smax
KX
1+PZ
KX
1+PX
PX
X0
X
X
Y
PZ
Y0
. 3.33.
180
4.
4.1.
, , () . () [14] , ,
, , ,
,
, .
.
[26, 38] ,
, .
,
,
.
,
,
,
, .
181
[3, 8, 61]. ,
, , . , , ,
.
: 1 : 30000
1 : 100000, 100...250 ,
8...10-. ,
. -
, ,
-
. ,
, , - [70],
- [17, 18, 50]. -
, ,
, , .
, .
.
182
UU
UV
. 4.1.
, [40], , , : ,
; ,
; ; ,
.
183
[41, 60] . ,
,
( X Y)
( Z), (. 4.2, ), , . , ,
, , , .
Z
Z
2Z
X
1X
1Y
Y
)
1
M1
PM
)
. 4.2.
184
1 2 , . , ,
, (. 4.2, ) [40].
, ,
,
X Y
.
(. 4.3, a) [19, 69],
(. 4.3, b). [40].
UX
C1
C2
. 4.3.
X
FC ;
X = ( X 0 X X K ) J 1K P J 1KV X W
F = KE ( X XC ) ,
(4.1)
J ; X , X
; X ; F
; X 0 X
; X K ; K P , KV , W
185
, ; K E , ; K F ;
.
X
X = X 0 X K F F J 1KV J T F W
.
(4.2)
,
.
G
T
S = X X
X X , (4.1)
(4.2)
G
S = ( X 0 K F F ) J 1K P + X 0 K F F J 1KV + J T F .
(4.3)
. 4.4.
X0
J-1
XK
X0
J-1
KP
KV
M'
MK
XC
W
2
JT
XK
K'F
KE
KF
. 4.4.
. , . 186
,
: , X 0 ,
0
(
); , X 0 = 0 ,
.
[21, 48, 69].
.
. 4.5.
F0
JT
K*
SC
MK
JT
K
KE
. 4.5.
: F0 , F
; S , S C ; J *
; K F
, K E , W , K , , .
, .
,
() , . , ,
.
187
. 4.6, : , ; ,
, , , , , .
,
.
X0
X0
F0
. 4.6.
. [19, 69], ,
, :
M
(4.4)
j =1
Fij Pij
j- i- ; sj ; i ; Fj ; xj .
. .
188
,
- , .
, , . . 4.7, ( ) S F . , ,
(Z), X Y.
X,Y
S
S0
F0
U
F
U Tp
SC
. 4.7.
Z.
, (. 4.7)
(). [15], .
189
. 3 ,
Z , .
,
. ,
- .
, , . 4.1.
. ,
.
, [33].
, ,
- ,
,
. . 4.8.
X Y Z a
S0
U1
F0
U2
SC
. 4.8.
190
,
,
3
, .
4.9.
(
), i, , (
Z), , , .
K(p)
K(p)
K(p)
Y
X
. 4.9.
191
4.2.
, -
, , .
.
, , [43],
[66]. ()
.
*
X (t )
g * (t ) = L1 x * ( p ) .
(4.5)
x* ( p ) =
W ( p) *
V ( p)
M ( p)
,
g ( p)
f ( p) +
1 + W ( p)
1 + W ( p)
1 + W ( p)
(4.6)
p = d dt ;
A( p )
W ( p) =
B( p)
;
A( p) , B( p) p m n, m>n;
C ( p)
V ( p) =
D( p)
;
C ( p ) , D( p ) p k l, l > k;
192
M ( p ) , .
X * (t ) g (t ) = g m1(t )
g * (t ) . (4.6)
g * ( p) =
V ( p)
M ( p)
1 + W ( p) *
x ( p) +
f ( p)
W ( p)
W ( p)
W ( p)
(4.7)
(4.8)
g * (t )
(. 4.10, ). Ei ( p)
. .
1. g * (t )
, (. 4.10, ).
, , . (4.7)
1 + W ( p) *
V ( p)
M ( p)
x ( p) +
f ( p)
g ( p)
W ( p)
W ( p)
W ( p)
.
E0 ( p ) =
=
g ( p)
g ( p)
*
(4.9)
, , .
g * (t ) = L1 ( g * ( p )) = L1( E0 ( p )) .
(4.10)
2.
X * (t )
E1 ( p) (. 4.10, ).
1
V ( p)
M ( p)
* ( p ) =
. (4.11)
g ( p) +
f ( p) +
1 + E1 ( p )W ( p)
1 + E1 ( p )W ( p )
1 + E1( p)W ( p )
193
f
V(p)
g
E0(p)
g*
X1
W(p)
X2
X*
)
f
V(p)
g
E1(p)
X1
W(p)
X2
X*
X2
X*
X2
X*
)
f
E11(p)
g
K0
V(p)
X1
W(p)
)
f
V(p)
g
X1
W(p)
E2(p)
W 2
)
. 4.10.
194
, (4.11)
E1 ( p ) ,
g ( p) V ( p) f ( p)
E1 ( p ) = *
+
1 W ( p ) .
* ( p )
( p)
g (t ) = g m1(t ) E1( p)
B ( p ) g m + C ( p ) f ( p ) G* ( p )
.
E1 ( p ) =
A( p ) D( p ) R ( p )
(4.12)
E1 ( p) f ( p)
.
, (4.12)
g ( p)
1 W ( p )
E1 ( p ) = *
( p )
(4.13)
E1 ( p) =
B( p )[g m + E ( p)]
.
A( p) R( p )
(4.14)
(4.11) (4.14) , E1 ( p) .
.
,
F t t 0 . X * (t )
(4.7), (4.11).
, X * (t ) g (t ) = g m 1(t )
W ( p ) . , E1 ( p) = K 0 W ( p ) = K 0W0 ( p )
195
,
( ) : ,
n = 1; = 05 %; t.. = (45) /.
3.
E11 ( p ) (. 4.10, ).
* ( p ) =
1
V ( p)
g ( p) +
f ( p) .
1 + [ K 0 + E11( p )]W ( p )
1 + [ K 0 + E11( p )]W ( p)
(4.15)
g (t ) = g m1(t )
E1 ( p )
E11( p) =
gm
( p )W ( p )
V ( p)
*
( p )W ( p )
f ( p ) * ( p )[1 + K 0W ( p )] . (4.16)
K 0 = 1 , .
E11( p ) =
gm
* ( p )W ( p )
V ( p)
* ( p )W ( p )
f ( p ) * ( p )[1 + W ( p )] .
(4.17)
.
4.
E2 ( p ) .
(. 4.10, ). E2 ( p ) [60].
Hed ( p ) x( p ) = Ad ( p) g * ( p) + C ( p) f ( p) + M ( p) ,
(4.18)
Hed ( p) = [ H ( p) + E2 ( p)]D( p) .
Hed ( p )
hi = a i + bi 0 + bi 00 + ei ( g * ) ,
196
bi 0 ;
bi 00 ;
ei ( g * ) .
(4.18) .
:
1.
(
) .
2. .
[57]:
1. g * (t )
g * (t ) = g m (1 e1t1 ) + g m (1 a1 )e 2 t2 + g m (1 a1 a2 )e3t3 + ...
n 1
... + g m (1 ai )e n tn .
(4.19)
i =1
(4.19) , t i
, . ti
K i , i . (4.19) , W ( p ) [57]:
n
i =1
2. X * ( p) = L X * (t ) g * ( p) (4.7).
3. ( p) * ( p ) (4.15) g ( p)
g * ( p ) .
197
4. (t ) = L1( p) * (t ) = L1 * ( p) .
5. (t ) * (t ) * = f () ,
* .
E = f () .
.. 24 .
* (t )
[12] , [63].
, .
, .
.
g (t ) = g m 1(t )
:
1) g m m , m ;
2) g m > = m , = ( m 0) ,
, .
.
1. g m .
(4.7), (4.11) ;
, M ( p ) = 0 .
.
.
,
, . = M c K , K
,
0,5 m . , * = f ()
198
g m , . g * (t ) = g m .
2. g m > . ,
, .. << g m . g m 97 %.
= g m = m .
= M c K
K m . (4.7), (4.11) .
, .
W ( p) =
K
,
p (Tp + 1)
(4.20)
( p ) =
1
T 2 1
p + p +1
K
K
(4.21)
= 1 , .
K
1
.
4T
(4.22)
,
(4.11) m
199
g m = ,
:
t
2T + m
1
( cos t +
sin t ) e 2T K >
;
4T
2T + m
1
(4.23)
g (t ) = ( ch t +
sh t ) e 2T K <
;
4
T
( + ( 2T + m ) e 2T K = 1 .
4T
. , , = m K , .
(4.23)
m < .
(4.24)
. , : , , .
,
, ,
. 4.11, :
K = K 0 K (, t ) F1() ,
(4.25)
K (, t ) = K sin
2
2 (t ) ; K = (0,1...0,2) K 0 ; 2 (t ) = (t ) 1 ;
1
11 (t ) <
.
F1 () =
<
t
0
(
)
1
: = (0,81,0) ; 1 = (0,050,1) .
= (0,30,5) 1 . 200
,
K = F () , . 4.11, .
U ,
U ,
4
3
A2
A1
0 1 2
. 4.11.
, .
. 4.12. Fi ()
, .
S0
F1()
, S
F2()
F3()
-
.
F4()
, ,
-.
. 4.12.
, . 4.12.
. 4.13.
201
202
. 4.13.
200
150
100
50
0
-50
0.1
0.2
0.3 T,c
0.1
0.2
0.3
8
6
4
2
0
T,c
. 4.14.
203
4.3.
-
.
. , .
,
, X.
. ,
. [7, 45].
. 4.15. : ; ; ;
; ; - ;
; 13 ; ; ;
; ; ;
; F(S) ;
; .
, [25].
-. -2
2165. -8,
, .
.
.
204
205
U2
F0
U1
S0
SC
F(DS)
. 4.15.
MC
, :
1. , T (t )1 ,
T (t ) 1 =
Vx
[],
NK t
(4.26)
UPC
1
UPC
K2T2 p + 1
p
x(1)
UP
UP
U
K3T3 p + 1
p
x(2)
x(3)
x(4)
x(5)
. 4.16.
206
J p
1
ip
x(6)
x(7)
, ,
:
, ;
;
.
.
:
U = K1( K X (7)) K X (6) ;
X (7) = ;
X (6) = ;
U U C U U C
0
U
=
;
U
U
>
U
sgn
C
C
0
pX (1) = K 2U
;
0
U = X (1) + K 2T2U
;
U = U K ( I a* + I b* + I c* ) ;
I aI a 0
I a* =
;
0I a < 0
I bIb 0
;
I b* =
I
<
0
0
b
I I 0
I * =
;
I
<
0
0
U UT U UT
0
;
U
=
U
U
U
U
sgn
>
(4.27)
0
pX (2) = K3U
;
0
U = X (2) + K3T3U
;
.
1. 00 < 600 :
1.1. I b 0 :
( L + M )( pX (4) + pX (5)) + R ( I b + I c ) + Ebc = 0 ;
(4.28)
C I c cos( ) + I b cos( + ) .
2
6
6
M = M ac + M bc =
1.2. I b = 0 :
C I a cos( ) ;
2
6
2.1. I c 0 :
( L + M )( pX (4) + pX (5)) + R ( I b + I c ) + Ebc = 0 ;
(4.29)
C I b cos( ) + I c cos( + ) .
2
6
6
M = M ab + M bc =
2.2. I c = 0 :
C I a cos( ) .
2
6
208
(4.30)
C I b cos( ) + I a cos( + ) .
2
6
6
3.2. I a = 0 :
2( L + M ) pX (5) + 2 R X (5) = U Eb ;
M = M b =
C I a cos( ) .
2
6
M = M a + M bc =
(4.31)
C I cos( ) + I b cos( + ) .
2
6
6
4.2. Ib = 0 :
2( L + M ) pX (3) + 2 R X (3) = U Ea ;
M = M a =
C I c cos( ) .
2
6
(4.32)
C I a cos( ) + I c cos( + ) .
2
6
6
5.2. I = 0 :
2( L + M ) pX (4) + 2 R X (4) = U Eab ;
M = M ab =
C I a cos( ) .
2
6
(4.33)
C I c cos( ) + I a cos( + ) .
2
6
6
209
6.2. I a = 0 :
2( L + M ) pX (5) + 2 R X (5) = U Eb ;
M = M b =
C I b cos( ) .
2
6
:
1. 3000 < 3600 3;
2. 2400 < 3000 2;
3. 1800 < 2400 1;
4. 1200 < 1800 6;
5. 600 < 1200 5;
6. 00 < 600 4;
U = U
pX (6) =
U
;
K3U
M M C
J
(4.34)
X (6)
,
i
p ; U, U, U
; U U
, U
; Ia, Ib, Ic
; L M ;
R .
(4.27)
(4.34)
:
T -1 X[T], G[T], [T]
( -1 > 10);
pX (7) =
210
,
[33],
W =
1 z
,
1 + pT
(4.35)
z .
(>10 ), , ,
.
,
, . 4.17.
:
Y 1 = x K X (5) ;
Y 2 = Y 1K1 ;
Y 3 = Y 15 K Y 19 ;
Y 4 = X (1) + K 2T2Y 3 ;
Y 5 = Y 13 K Y 17 ;
Y 6 = X (2) + K3T3Y 5 ;
Y 8 = Y 18 CEY 19 ;
Y 9 = CM Y 17 ;
Y 10 = Y 9 M C ;
(4.36)
10Y 4 10;
10Y 2 10;
10 Y 2 10;
25X (3) 25;
211
300Y 6 300;
pX (1) = K 2Y 3 ;
pX (2) = K3Y 5 ;
pX (3) = (Y 8 z X (3)) T ;
pX (4) = Y 10 J ;
(4.37)
pX (5) = Y 19 i .
, , . 2165 : PM = 2,7 ;
= 17 ; N = 2000 /; I = 12 ; Im = 25 .
(3.15), (3.16) : 1 = 1,0; 2 = 700; 3 = 5500;
= 0,4 /; = 0,0477 / (); = 1,0; 2 = 0,01 ; 3 = 0,01 ;
= 0,0088 ; z = 1,0 ; = 1,4; = 1,4; J = 0,00512; I = 1.
IBM PC MATLAB. . 4.18.
V = 1 e 4 .
V = 75 c-1. 1 = 1. = 8,5 .
33 %. , .
,
. g = = 1(t ) , X = , X = .
212
213
X Y1
K1
Y2
Y15
Y3
K2 T2 p + 1
p
X(1)
Y4
F2
Y15 Y5
K3 T3 p + 1
p
X(2)
Y6
Y18 Y8
F3
T p + 1
1 Z
X(3)
F4
Y17
Y9 Y10
MC
J p
X(4)
F 5 Y19
. 4.17.
F1
1
ip
X(5)
20
0
-20
-40
0
0.1
0.2
0.3 T,c
0.1
0.2
0.3 T,c
0.1
0.2
0.3
10,
X
200
150
100
50
0
-50
0
,
8
6
4
2
0
T,c
. 4.18.
214
F(DS)
S0
U1
F0
SC
U2
. 4.19.
215
, . .
F
(s),
( , ).
:
1. .
0 ( S SC ) 0;
(4.38)
F1 ( s ) =
(
)
(
)
0.
K
S
S
S
S
>
C
C
1
2. .
0 ( S SC ) ;
F2 ( s ) =
K 2 ( S SC ) ( S SC ) > .
3. .
0 ( S SC ) 0;
K ( S S ) ( S S ) > 0 dS dt > 0;
1
C
C
F3 ( s) =
K1 ( S SC ) ( S SC ) > dS dt < 0;
0 0 < ( S SC ) < dS dt < 0.
(4.39)
(4.40)
4. .
0 ( S SC ) 0;
H 0 < ( S S ) < dS dt > 0;
C
(. . 4.17)
(4.38) (4.41). , . 4.20. : CE = 1,4; CM = 1,4; K5 = 1,0; K7 = 1,010-2; i = 1000; = 5,0105; K1 =
10; K2 = 1,0107; H = 0,08; = 1,510-4.
K4
F
K3 T3 p + 1
p
K2 T2 p + 1
p
1/ Z
T p + 1
K5
J p
1
ip
S0
F(s)
6
1/i
7
. 4.20.
(4.38) (4.41)
, . 4.21
4.24 . , ( tk = 0,3 )
,
( .. ) . , F1 (s)
, , (. 4.21). F2(s) 0,05 ,
(. 4.22).
F3(s) ,
0,12 (. 4.23).
F4(s) 0,06 ,
15 % (. 4.24). .
217
,
/
0
-5
-10
-15
-20 0
0.1
0.2
0.3
0.4
0.5 ,
0.1
0.2
0.3
0.4
0.5 ,
0.1
0.2
0.3
0.4
0.5 ,
,
/
500
400
300
200
100
0
-100
-200 0
,
0.8
0.6
0.4
0.2
0 0
. 4.21.
F1 (s)
218
,
/
0
-5
-10
-15
-20 0
0.1
0.2
0.3
0.4
0.5 ,
0.1
0.2
0.3
0.4
0.5 ,
0.1
0.2
0.3
0.4
0.5 ,
,
/
500
400
300
200
100
0
-100
-2000
,
0.8
0.6
0.4
0.2
0 0
. 4.22.
F2 (s)
219
,
/
0
-5
-10
-15
-20 0
0.1
0.2
0.3
0.4
0.5 ,
0.1
0.2
0.3
0.4
0.5 ,
0.1
0.2
0.3
0.4
0.5 ,
,
/
500
400
300
200
100
0
-100
-2000
,
0.8
0.6
0.4
0.2
0 0
. 4.23.
F3 (s)
220
,
/
0
-5
-10
-15
-20 0
0.1
0.2
0.3
0.4
0.5 ,
0.1
0.2
0.3
0.4
0.5 ,
0.1
0.2
0.3
0.4
0.5 ,
,
/
500
400
300
200
100
0
-100
-200 0
,
0.8
0.6
0.4
0.2
0 0
. 4.24.
F4 (s)
221
, ,
, , .
4.4.
,
. 4.3. -
.
,
. 4.15.
() ,
.
(. . 4.17) (4.36, 4.37). : K = K1 F1, F1 Y15; K = K2F2 ; K = K3F3 ;
K = F4/Z; KV = F5.
:
X = A X ,
(4.42)
1
A1 55:
0
k
A1 = k kT3
0
0
0
0
k
0
0
0
k k
a24
k k
a33
a34
cM kV / J 0
0
1/ i
k k k
a25
,
a35
0
0
a33 = (k k kT3 + 1) / T ;
a34 = ( k + k kk k 2T3 ) ;
a35 = k k k k k 2T3 .
, () ,
, . .
1. Fx Fz .
. 4.25.
F
+ p
1
J p
. 4.25.
: J , J = J + J + 2 , , .
2. M0
. . 4.26.
M
+ p
1|
M
1
ip
1
J p
. 4.26.
223
3. M0
. . 4.27. : J 1
, J 2
.
M
1/i
M
M
1
ip
JS 1 p
w
+ p
a
U
JS2 p
1
ip
. 4.27.
. 4.28.
,
, :
X = A X ,
(4.43)
2
A2 55:
0
0
0
k k
k
0
k k
a24
A2 = k kT3 k a33
a34
0
0
cM kV / J 0
0
0
0
k k k
a25
,
a35
kV / J
0
a34 = ( k + k kk k 2T3 ) ;
a35 = k k k k k 2T3 ; .
224
225
K T3 p + 1
p
T p + 1
1 Z
V
J p
. 4.28.
K T2 p + 1
p
KC
FY
:
k1 = 1,0; k2 = 700; k3 = 5500; k = 10 /25A = 0,4; k = 0,0477; kC = 0,01;
T2 = 0,01; T3 = 0,01; T = 0,0088; Z = 1,0 (O); c = 1,4; ce = 1,4;
J = 0,0051; = 0,001; c = 500000; kV = 1,0.
, . 4.29.
. 4.29.
,
. 20 %.
226
. , .
,
(. . 4.27).
,
,
X = A3 X ,
(4.44)
A3 77:
0
k
k kT3
A3 =
0
0
0
0
0
0
k
0
0
0
0
0
k k
a33
kV / J 1
0
0
0
k k
a24
a34
0
1/ i
0
0
a15
a25
a35
a45
0
/ J 2
0
0
a17
0
a27
0
a37
0
a47 ,
0
0
0 / J 2
1
0
a15 = k k k ; a17 = k k k ;
a24 = k k kT2 ; a25 = k k k k 2 ; a27 = k k k k 2 ;
a33 = (k k kT3 + 1) / ; a34 = ( k + k kk k 2T3 ) ;
a35 = k k k k k 2 3 ; a37 = k k k k k 2 3 ;
a45 = kV /(iJ 1) ; a47 = kV /(iJ 1) ;
c .
, . 4.30.
() .
0,2 .
, .
. 4.31 . , (0,4 /), .
227
. 4.30. ,
. 4.31.
228
. .
()
. .
. 4.32.
KC
K
F
1 Z
KT3 p + 1
p
V
J p
T p + 1
E
. 4.32.
:
X = A4 X ,
(4.45)
A4 44:
A2 =
k k
c k k
a22
a24
0
0
cM kV / J
0
0
1/ i
kV /(iJ )
0
229
, . 4.33.
. 4.33.
< 1 %
t = 0,1 . F = 50 .
, .
. . , 230
, , .
,
(. . 4.27)
X = A5 X
A5 66:
0
k k
0
a14
k
A5 =
0
0
a22
a23
kV / J 1 0
0
1/ i
a24
(4.46)
a16
a26
kV /(i / J 1) 0 kV /(i / J 1 )
,
0
0
0
/ J 2
/ J 2
a14 = k k ; a16 = k k ;
a22 = (k k kT3 + 1) / ;
a23 = k ; a24 = k k k 3 ;
a26 = k k k 3 .
, . 4.34.
, 65 %,
0,15 . ,
, ( )
.
, (4.42, 4.45, 4.46) :
X = A X ;
1
X = A4 X -
(), ;
X = A5 X , .
231
. 4.34.
,
4.5.
-
.
. ,
(. . 4.15).
, ,
. 4.35, : FSPi (S), FPSi (P) ; Si (S0,P), Pi (P,S) .
232
233
. 4.35.
-
, ,
. 4.36. : W (p)
;
W (p) ; ,
W (p) = ; Ws (p), Wp (p), WFsp (p), WFps (p)
,
.
Us
U1
Us0
Ws(p)
Us
WFsp(p)
W(p)
W(p)
2
W(p)
S0
WFps(p)
Up0
U2
Up
Wp(p)
Up
W(p)
F(s)
. 4.36.
U S (t ) U P = 0 U S 0 U P 0 U S < 0;
y=
U P (t ) U P > 0 U S > 0.
US
A(p)
US0
US
UP0
UP
K1
y
B(p)
U
UP
(4.47)
1
(p)
F(S)
. 4.37.
: U P , U S ,
.
. :
U S (t ) U P = 0 U S 0;
y = U P (t ) U P 0 U S 0;
(4.48)
U P (t ) U P > 0 U S > 0.
US0 = 0 UP0 = 0:
:
0 U P = 0 U S 0;
y =
(4.49)
K U P (t ) U P > 0 U S > 0,
235
:
0 U P > 0 U S > 0;
y =
(4.50)
K U S (t ) U P = 0 U S 0.
[69], ,
2
: , , , , .
,
.
, , , , .
S0 P0
FSP (S), FPS (P), S (S0,P), P (P,S)
FSP (S ) = sgn( K SP S );
F ( P ) = 0;
PS
S ( S0 , P) = 1;
P ( P, S ) = P0 FSP (S ),
(4.51)
SP .
. 4.38. FSP
(S) - SGN,
P (P,S) .
S0 0, . 0,
, , . 236
,
(
)
, ,
.
S
U S0
sgn
F S P ( S)
U P0
P (P, S)
U
P
. 4.38. -
. 4.39.
S0 ( 1) 0 ( 2)
( 2, 0t1).
S0,S
,P
P
0
9
S0(t)
8
7
P0(t)
5
4
S(t)
2
1
P(t)
0
t1
0.5
t2
t3
t4
T,c
. 4.39.
c
237
S , . ( t1)
. S0
, S = (S0 S). , 2 ( t1t2)
( 4), 0. S , 2 .
,
. 2, X Y , t2 , 2
S ( t2t3). , , (
), ( ), .
P (P, S) :
K P1 ( K P 2 P0 ( P0 P )) > 0;
P ( P, S ) =
1 ( K P 2 P0 ( P0 P)) 0.
(4.52)
, . 4.40,
. 4.41.
P0
t1. 1 (1 + ) -1,
.
(t1t2)
P02 = P01 mP02, t2 P10 = P0,
P.
(t2t3) P = P0, S = 0 ( 1). t2 1
, 2.
238
3 1. , 4 .
S
US0
P(P, S)
UP0
&
2
U
P
. 4.40. -
P,
V
9
P0
S0(t)
8
7
P1
5
4
V1
4
3
2
1
0
t1
0.5
t2
t3 1
T,c
. 4.41.
239
K S ( S0 S0 ) dt FPS ( P ) = 0 S0 < S0 ;
=
(
,
)
S
P
0
S 0
S F ( P) = 1 S = S ;
PS
0
0
0
P ( P, S ) = P0 FSP (S ),
(4.53)
S, KSP, KPS ;
S0 .
, ,
. 4.42. : , 2
, S, .
S 2, S0
S0, .
S
US 0
S(S0 ,P)
0 dt
sgn1 1
FPS(P)
FSP(S)
P(P,S)
2 sgn2
U P0
U
P
. 4.42. -
240
- , 2 , ,
S, S0, . S0 S0
, .
, .
, . , , (.
. 4.34),
. , ,
-
.
, . (. . 2.17)
. , , . 2, 3. . 4.43.
Z (S ) , X Y . . 241
( -)
.
S Z0
Z
S
Z
Z
PZ0
sgn
PX0
KX
Z0
X
X
SX
SZ
"-"
X1
X2
mod
Z
CX1
PZ
PX
CX2
Y1
PY0
KY
Y1
Y2
Y
SY
y=az+b
x=cz+d
PY
CY2
. 4.43.
. 4.44, .
= 60 a = kb + c ; X 10 , Y 20 .
Z .
MATLAB.
242
,
, . 4.44, . (. 4.44),
,
. 4.45. Z privodZ
- ;
Z.
Y
0
1
X
in_1
0.5
+
+
xt1
kz0
200
240
260
+
+
+
xt2
26
b2
90
100
3
in_3
130
+
+
yt1
1
xk
130
4
in_4
out_1
0.5
in_2
100
+
+
+
yt2
1
yk
2
out_2
3
out_3
4
out_4
. 4.44. :
;
swz0 int2,
sign. Z .
243
244
+
S7
privodY
+
Sum4
privodX
Int
swz0
20
sz
mz0
sz0
privodZ
Px
swz1
S8
S6
Int
-K-
Int
-K-
dz
Sign
S2
+
Int
-K-
XY
z0
24
Model
konus
20
y2
y1
10
19
x2
x1
+
dy2
+
dy1
+
dx2
+
dx1
n4
n3
n2
n1
+
+
+
+
py2
-K-
py1
-K-
Abs
Abs
px2
-K-
px1
-K-
. 4.45. -
0.5s+35
0.000011s2+0.008s+1
Py
0.1s+35
Pz
0.00011s 2+0.01s+1
-K-
0.5s+35
0.000011s2+0.008s+1
+
S3
+
S5
+
dpy
pz
-K-
+
dpx
pX, pY, pZ
iy
ix
Dpy
Dpz
Dpx
px, py, pz
x1, x2, y1, y2
Z. n1 n4 Abs Z.
Y privodX, privodY
dpx dpy ,
Y Z, .
ix iy.
.
. 4.46 ( ) . 4.47 ( ), ,
. t1 = 0,24 Y, t2 = 0,58 X. t = 1,1 .
F (s). ;
,
.
245
PZ, 10-1
180
160
140
120
100
80
60
40
20
0
0.5
T,c
T,c
PX,PY 10-1
200
150
100
50
0
PY
50
PX
-100
-150
-200
-250
0.5
. 4.46. .
246
X,Y Z,
c c
2.0 10.0
Y
1.5 7.5
Z
1.0 5.0
X
0.5 2.5
0
0
0.5
T,c
Y, c
1.5
0.5
-0.5
-1
-0.5
0.5
1.5
2.5 X, c
. 4.47. .
247
5.
-
5.1.
: , , .
:
- ;
- , ;
- ;
-
.
,
, , ().
.
, (. 5.1). , .
(
) : X .
. Z .
, ,
.
248
,
() .
Ki, .
() () .
. 5.1.
,
:
.
,
, ..
249
,
. . 5.2. ,
, () . .
.
. 5.2.
. 5.3 , .
250
, , ,
. , , ( ). ,
.
. 5.3.
.
()
.
.
,
251
-
,
(
, , /,
, ..).
, . 5.4.
,
, .
, [68].
,
( ,
, , ..) .
. .
(
) , .
, , ,
. . , ,
,
. ,
(. 5.5).
252
II
III
Z
Z
gZ
Gz(p),Vz(p)
Pz(p)
Z
Z
Z
gX
Gx(p),Vx(p)
Px(p)
X
X
X
gY
Gy(p),Vy(p)
Py(p)
X1
X
M[S]
X2
f[P]
g
G(p)
Y1
Y2
. 5.4.
253
()
)
. 5.5.
254
(. 5.5, ).
, .
(
). - . , , . ,
.
(. 5.5, , ).
. 5.5, , ,
, . ,
-. ,
. 5.5, . ,
, , , (.
5.5, ). , [67].
: ; .
, , 255
.
, .
( ) . [23] , 5 ,
5 % ,
16, 4 ,
4 . .
IBM PC.
, ,
, .
Advantech Octagon Systems. IBM,
DOS- Windows- ,
.
, CAMBASIC,
, -, , .
,
. .
.
Intel.
(. 5.6). . 5.6, . 256
, . , .
,
. (. 5.6, ) , .
(. 5.6, ).
. )
)
(. 5.6, )
)
)
(. 5.6, ),
)
)
. 5.6.
:
; ;
,
257
. (. 5.6, ) .
, .. . 5.6,
. 5.6, .
.
, ,
0,01 0,1 .
: ,
( ), , . , , . . :
( BITBUS). ,
, .
.
(. 5.7).
(), . - , .
258
M1
M2
Mi
. 5.7.
TM3
TM1
. 5.8. (RQ)
, , , :
1
;
2
R
W
;
RQ*TM2
3 ;
4
M
T
:
, ,
RW
H
.
TM4
TM3
, , . 5.8.
Philips 80552,
/
259
375 /. 58,7 ,
17 /. , ,
, , ,
, ..
2-
(, ) .
,
IBM
,
.
5.2.
, , , ,
- .
,
, . 5.9.
: / , ; ; .
. . [55]
, , .
260
gx d1
-
d1C
-
d2
-
WC
U1
d3
W
U2
W
U3
. 5.9.
( ,
, , ) : -, - . ,
,
[4, 49, 65].
:
1) ( );
2) ;
3) .
-.
, [42]:
n
; , , ; .
:
K = T ; K =
T
T
2[nT ] = [nT ] [(n 1)T ] ,
K
k
[nT ] = 1[nT ] 1[(n 1)T ] = (1) r [(n + k r )T ],
r
i =1
k
= Ckr = k ! (k r )! .
r!
r
N [49]
n
NUi = ent( K N i + K N i + K ( N i N (i 1) )) ;
i =1
N i = NU i K N xi ,
N , .
, , , , .
, (ROM) (RAM) .
262
( )
- .
:
;
;
;
;
;
Vmax.
, , ,
. ,
,
.
, .
,
, , , ,
, .
.
m
t =
wi qi
i =1
T ; qi = ti / t -
t . ,
( ), , :
t' (0,4 0,6) tc .
,
, , . (. 5.10).
,
, , . , , ,
.
,
. , [11]
7580 %. , , ,
.
( -)
, .
,
2030 % .
264
:
Intel MCS-51
(Philips, Dallas, Atmel); MCS-96; Microchip PIC; DSP- .. [13].
H
T<T
T<T
. 5.10.
-,
. -
, .
265
5.3.
, . ,
. , ,
.
() , ,
.
, , . . .
(),
, : ( , ) ( , ; /).
. : , , , , 266
. . 5.11.
K1
K3
K4
K2
. 5.11.
: 14 ; 18 -.
, :
() () 256/256 ;
;
;
;
;
, ..
;
267
.
-
. 5.12.
Nout
Nin
Nlog
Nlog>0?
Nlog>0?
(s)?
(s,loc)?
Ndb
Ndb>0?
DOS
(comp,s)?
BIN
. 5.12. -
268
:
;
;
;
;
;
, ;
.
269
- - .
- -
,
, -
- .
- , -
.
, .
..
.. .
.
: 600000, . , . , 87, ,
.
270
1. , . . : . /
. . [ .]. . : , 1991. 357 .
2.
/ . . [ .] ; . . . .
. : , 1990. 332 .
3. / . . . . , . . . . : , 1990. 544 .
4. : I . (XII .)
. : . . . : , 1995. 155 .
5. - / . . [
.] ; . . . . . : , 1975. 264 C.
6. / . . . . . : , 1988. 306 .
7. / . . //
. . 1980. 5. . 21 27.
8. , . . / . . [ .]. : , 1987. 165 .
9. . / . . // - ; . . . . . . 16. . :
, 1989. 132 .
10.
- / . . [ .].
. : . 1. 1990. 52 .
11. , . .
/ . . , . . . . : ,
1986. 106 .
12. , . . / . . , . . . . : , 1990. 512 .
13. , . . / . .
[ .]. . : , 1994. 400 . ISBN 5-85959-030-.
14. , . .
/ . . . . : , 1991. 160 . ISBN
5-283-01521-1.
271
15. , . .
/ . . , . . . . : ,
1992. 288 . ISBN 5-283-04544-7.
16. , . . / . . , . . . . : , 1986. 168 .
17. :
. . (1985 1993 .) / . . . ,
. . . : , 1995. 230 .
ISBN 5-7623-0815-4 ..
18. / . . , . . , . . ,
. . . . : , 1988. 184 .
19. , . . -
/ . . , . . , . . . . : , 1988. 240 .
20. , . . : . / . . ; . . . ,
. . . . : - . . . , 2005. 384 .
ISBN 5-7038-2207-6.
21. , . :
. / . , . . . : H, 1985. 384 .
22. , . / . , . , . . . :
, 1989. . 376.
23. , . .
/ . . , . . // : . . . . : , 1996.
. 91 97.
24. , . .
/ . . , . . , . . ; . . . , . . . . :
, 1994. 368 . ISBN 5-02-014589-0.
25. /
. . . . . : , 1975. 224 .
26. / . . [ .]. . : , 1971. 624 .
27. / . . [ .] ; . . . . . . : , 1986.
328 .
272
28. , . . - / . . // ,
. 2003. 10 . 15 20.
29. , . .
/ . . [ .] ; . . . . . : , 1980. 302 .
30. / . . , .. ,
.. // . 1981. 5. . 35 37.
31. / . . , . . // , . 2004. 4. . 28 33.
32.
- / . . , . . // ,
. 2004. 11 . 28 33.
33. , . . : . /
. . . . : , 1985. 560 .
34. , . .
/ . . // . .
1991. 12. . 73 79.
35. . / . . // . . 1992. 3 4. . 15 20.
36. . / . . // .
33. 1991. . 77 84. ( ).
37. , . . : . / . . .
. : , 1988. 392 .
38. , . . / . . ,
. . , . . . . : , 1990. 352 .
39. , . . .
.: , 1991. 332 . ISBN 5-02-014592-0.
40. , . . / . . , . . , . . ,
. . . : , 1993. 245 . ISBN 5-335-01088-6.
41. , . . / . . , . . ,
. . . : , 1990. 208 .
273
42. , . :
[. .] / . . . : , 1986. 447 .
43. , . . /
. . , . . , . . . . : , 1988.
222 .
44. , . . /
. . , . . , . . . . : ,
1985. 316 .
45. , . .
/ . . , . . // , 1979. 5. . 14 17.
46. / . . [ .];
. . . . . . : , 1989. 472 .
47. , - /
. . . . . : . . . , 2002. 744 .
ISBN 5-7038-2030-8.
48. : . /
. . . , . . . .1. /
. . , . . , . . . . : . ., 1988. 304 .
49.
/ . . [ .]. . : , 1990. 320 .
50. , . .
. . : , 1990. 304 .
51. , . . /
. . . . : , 1975. 304 .
52. / . . . . . : , 1971.
466 .
53. , . .
/ . . . . : , 1972. 199 .
54. . . : ,
2004. 333 . ISBN 5-02-032787-5.
55. , . .
/ . . //
, 1986. 5. . 59 62.
56. , . . / . . , . . , . . . . : , 1990 96 .
274
/
. . , . . , . . ; . . . . . :
, 1978. 416 .
63.
/ . . [ .]. . : , 1986. 254 .
64. , . . /
. . . . : , 1988. 332 .
65. , . . / . . , . . . . :
, 1986. 240 .
66. , . . / . . . . : , 1973. 344 .
67. . . .
/ . . . . : , 1993. 256 . ISBN 5256-00973-7.
68. , . . / . . , . . ,
. . . . : , 1987. 239 .
69.
: . / . . . , 1990. 96 .
70. , . . / . . . . : , 1982. 192 .
71. Egorov I.N., Tarasenko V.I., Umnov V.P. Radiation transporting system of technological laser robots in position-and-force uncertainty conditions of
interaction with object. PROCEEDINGS OF SPIE.1999.Vol. 3688. P. 297
302.
275
.. , .. , ..
..
.. , ..
..
020275. 22.12.05.
6084/16. . . .
. . . . 16,04. .-. . 17,13. 150 .
.
600000, , . , 87.
276