80 80

2004 3

1
3
5
7
9
9
21
30
36
49
69
80
80
90
95
110
117
129
144
157
157
162
196
214
223
231
231
234
255
263
270
279
287
287
i

 290
297
305
315

ii

20mm

7 10

1132
1259 ()

1332
()

13
16 17
18 1742

19
1823
1846
1854 1877

1872

600

20
1

7 ,
200 24 4
300
,
50 12000 9800
8060 900 80
70 3000 50

90

,
60 70
,

,
2

21 ,

700 ,

6 1
1 1 1 1

25000K36000K 250 MPa

700MPa 200 m/s2000m/s
1000 3000 200 500
15000
6000
37mm 0.3 69
85mm 3
326 152mm
13 940

60

6070

---

3
4

2-1

1.

2.

3.

2-1

4.

5.

6.

7.

2-2

2-2

2-1

2-3

10

1.

2-3

2.

3.

10

11


Fr

2-4

1.

2-4

2.

3.

F pt FJ
F F f Fs 2-5
Fpt Fz Ft
Fk
FT

2-5

1 Fpt
1 Fz

Fz = nN (sin + f cos )

12

(2-1)

N
n

f f =0.1
FZ 0.02 ptm S ptm S
Fz
2 Fk

Fk = pt ( S t S )

(2-2)

pt
St
3 FT

FT = (1 x) p g S

(2-3)

x 1 x > 1
p g
F pt

F pt = Ft Fk Fz

Ft = pt S t
2-2

F pt = p t S Fz

(2-4)

Fz 0.02 ptm S

F ptm 0.98 p tm S

(2-5)

F pt = Ft Fk FT

(2-6)

2 FJ

m0

d 2x
= F pt FR
dt 2

m0
13

d 2x
a
dt 2
FR
FR = F f + F + Fs m0 g sin F f F Fs

FR =

1
1
~
F ptm FJ FR
20 40

am =

F ptm

2-7

m0

2-6 FJI A-A

FJI
A-A FJI FJI a
m sg

FJI = m sgI a

2-6

2-52-7 A-A

FJ Im = 0.98

m sgI
m0

ptm S

m sgI
m0

ptm S

(2-8)

F = F 0 + m a

(2-9)

Ff = Ff 0 + m f a
14

(2-10)

F 0
m f
F f 0
F R f

M hz
Ft

Ft = N (cos f sin )

(2-11)

FtFt ( d + t ) / 2 tn

M hz = nN (cos f sin )

d +t
2

(2-12)

M hz M hz

pt > p x > p d
p x
2-7 p x p d

2-7

x2

p x = p d 1 +
(1 2 ) 2-13
L
21 q
L
x

1 1.02
15

 pt p d

pt = p d 1 +
21 q

(2-14)

p = p d 1 +
31 q

(2-15)

p
pt > p > p d 2-7

p-l p-l

l ys

pm

pg

L = l + l ys
p-L 2-8
Lm

p m

Lg
l ys L m L m + (2~ 3)d
1 p-l
2

2-8

Lm L g p-l
Lm
23d

1
2

16


1
p l
p d l2-15
ptm

ptm = (1 + 1

1
) pm
1 q

2-16

1
1
g +

x =
x
= a + 2
1 =
2
q
2(1 + g )
3(1 + g )
g +

Lsg Lsg < 25d a = 1.06 25d < Lsg < 40d a = 1.05

Lsg > 40d a = 1.03 x = l 0 / l ys l 0 = w0 / S

l ys 0 S g = l g / l 0

l g

p dm

p tm

p dm

Lm 1.5d
ptm p dm

p dk

p dm

p d~L
p dg

pdk 2-9

1 L = 0 Lm + 1.5d ptm p dm

Lm
0

2Lm + 1.5d Lk p dm pdk

L m + 1 .5 d L k

2-9

Lg

3 Lk Lg pd -L pdk pdg
2

+15+50
-40
tt = t -15 t = +50t = +35 t = -40
t = -55

p mt = p m + p m
p m

p m = mt t p m

p mt = (1 + mt t ) p m

(2-17)

mt u1
17

 I k = e1 / u1 e1
I k u1 I k I k
mt mIk

mt = 0.0027m Ik
mt = 0.0035m Ik

mIk p m 2-1 mIk

2-1

mIk

pm
500
1000
1500
2000
2500
3000
3500
4000
4500

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.92
1.02

1.02
1.28
0.96
0.59

1.00
1.33
1.40
1.41
1.28
0.98
0.50

0.92
1.41
1.50
1.53
1.50
1.40
1.23
1.03
0.80

0.80
1.32
1.43
1.49
1.50
1.50
1.45
1.36
1.24

0.70
1.19
1.32
1.40
1.46
1.50
1.51
1.48
1.42

0.63
1.08
1.22
1.32
1.40
1.46
1.50
1.50
1.48

0.57
0.98
1.13
1.24
1.33
1.40
1.44
1.46
1.47

+50+40-40
(2-17)

+50
40
2-162-17 p tm

p tm

p d+50 ~ l p d40 ~ l

p d+50 ~ L p d ~ L

p d+40 ~ L
2-10

2-10
t = +50
t = -40

(1) L = 0 L = L+m50 +1.5d

18

2-10

+50
+50
p tm
p dm

+50

+50
+50
(2) L = L+m50 + 1.50 d L = LK p dm
p dk

+50

40

t
(3) L = LK L = LK p dK
L t = +50

-40
40

(4) L = LK L = L g p d40 L
k = k / g 0.7 -40
40

p d

t=-40

p-l
p m (T )
12%

p tm = 1.12 p m(T )

(2-18)

ptm
p m(T ) p m

pm =

1.12

1 (1 + 1
)
1 q

(2-19)

p m( T )

p m 3%
0.5%
p m 2-19 0.97
3%

pm =

0.97 1.12

)
1 (1 + 1
1 q

p m(T ) =

1.086

)
1 (1 + 1
1 q

p m(T )

(2-20)

1 =1.02 1

pm =

1.065

1 + 1

p m(T )

(2-21)

q
19

p +t 5m0

+50

p dm

ptd k ~ L

p +d5k0

t
(ABCDE) p dk
L p d40 L

-4 0

p d~ L
p -4d k0

2-11

p -4d g0

A B B C
t
p dk
l C D p d40 L

D E

0
L+m5+
1 .5 d L +k 5 0

2-11

-4 0

Lg

Lk

1+mtt2-192-202-21 pm(T ) p m(T ) = (1 + mt t ) p m(T )

t

p m p m p ~ l p d ~ l 2-18
+50

+50

ptkm = 1.12 p m(T )

p d+50 L p dt L p d40 L

40

t=-40 l k

> l g -40

I g = I k
t g

g = k B p mg
t

p m = p mg p m
t

t =

p m
mt p m

t = t g 15C

tg =

p m
+ 15C
mt p m

(2-22)

t g l k = l g
t t g

20

3
4

5%10%
8
30%

1
2
3
4
5
6
7
8

2-12

21

1.

2-12

2.

3.

2-13

2-13

1/401/120
1/51/10

0.350.37mm 0.20.8mm 0.20.5mm

22

2-14

2-14

2-15

2830 x
2-16

1.

2.

3.

2-15

2-16

2-17

1.

2-17

2.

23

 1/51/10

2-18
1/10
1/301/60

1.

2-18

2.

1
W0
W0
W0
2 l ys
l ys l0 x
l ys = l 0 / x l0 = W0 / / S

l ys l ys
l ys
l ys

3
4

2-19

2-19

tg =

BC d
=
=
AC d

24

2-19
AB AC d

2-20(a)
y = ax y = ax
2

3/ 2

y = a sin bx a b

(a)

(b) 1.

2.

2-20

2-20(b)

2-21
a

2-21

25

b t d d1 R

(t / d )

n n =

d
a+b

1 1 1

1 = arctg

1 <730 1

1 >730

1
N

2
3

0 = ( 2 g 2.84 g2 + 1.84 g3 ) 1,

0 = (0.21 + 0.65 g ) 1
g =

p pj
pm

p pj

p m

y = ax 0 1
2

ltx 2-22 MM 1

a x 0
26

2-22

dy
= 2ax = tg x = x0 tg = tg 0 2ax0 = tg 0 x = x1 tg = tg 1
dx
2ax1 = tg 1
tg 1 tg 0 tg 1 tg 0
=
a=
2( x1 x0 )
2l tx

x0 =

tg 0
ltx tg 0
=
2a
tg 1 tg 0

y=

tg 1 tg 0 2
x
2ltx

x = x0 + l x , l x

1 v 0 800 m/s a b 3a > b > 2a

t t = ( 0.01 ~ 0.015)d n =

d
a+b

n = 4d n = 3d

2 v0 > 800 m/s a b 2.1a > b > 1.4a

t = ( 0.015 0.02 )d

2-23a

2-23b

(a) (b)

2-23
27


N fN
N fN

2-24

d
= nrN (cos f sin )
dt
2
A = m m

A

2-24

n
r

f f f = 0.10
r
r v
= tg
v
vtg

=
r
dtg dx 1 dv
d 1 dv
2 dtg
= tg + v
= tg + v

dx
dx dt r dt
dt
r dt
x
A = m
2

m 2

1 dv
2 dtg
tg + v
= nrN (cos f sin )
r dt
dx

1
N=
n r
m

dv
dtg
tg + mv 2
dt
dx
cos f sin

dv

dt

dv
= p d S nN (sin + f cos )
dt

p d
S

S=

a b
28

( ad 2 + bd12 )
4

( a + b)

d1
d

dv
= pd S
dt

dtg
1
dx
N=
n r
cos f sin
6 ~ 8 cos f sin 1
2

p d Stg + mv 2

dtg
1
p d Stg +

dx
n r
2

N=

1
N = p d Stg
n r
2

N=

1 2
( ) ( p d Stg + mv2a )
n r

N 2-25

1 N 1
N

N 2

2-25 N

N N 3
1 N

2 N
N n N

N max
29

 N max
2-26

t
N max ,
2
=
W

W =

1 2
ha
6

a
h

2-26

N max
ah

fy =

N max
ht

2 max =

W2 + 4 2 p p

1
2
3
4
5

30

r1r2
p1p2 2-27

oxyz
z
x,y O

2-27

M rz

d z d r

r+dr 2-28 t r
z

r t z

2-28

O d Ox
Oy O Oz

r t z r t z

1
X =0

31

( r + d r )( r + dr )ddz r r ddz 2 t sin

d r drddz , d

r +r

d
drdz = 0
2

d
d
sin

2
2

d r
t = 0
dr

(2-23)

Z =0

( z + d z )rdrd z rdrd = 0

d z = 0

z =

(2-24)

Y =0 M =0

( r t z )
E

1
t = ( t z r )
E

1
z = ( z r t )

r =

(2-25)

2-25 z r t
r t

d z
=0
dr

(2-26)

2-25

d z
d 1

= ( z r t ) = 0
dr
dr E

d
( r + t ) = 0
dr

r + t = 2C1
2C12-23 t

32

(2-27)

2 r + r

d r
= 2C1
dr

rdr

2 r rdr + r 2 d r = 2C1 rdr

d ( r 2 r ) = d (C1 r 2 )
C 2

r 2 r = C1 r 2 C 2

r = C1

C2
r2

(2-28)

2-282-27

C2
r2

(2-29)

1
1+

C1 (1 ) C 2 2 z
E
r

1
1+

t = C1 (1 ) + C 2 2 z
E
r

z = (2C1 + z )

(2-30)

t = C1 +
2-25

r =

2-282-292-30C1C2
= 0.25 ~ 0.3 = 1 / 3 2-30

1 4 C2 2
1

(
+ C1 z )
2
E 3r
3
3

1 4 C2 2
1

t = ( 2 + C1 z )
E 3r
3
3

1 2

z = ( C1 + z )

E 3

r =

(2-31)

2-282-31

r + t = 2C1
( t r )r 2 = 2C 2

2
2
r + t = [(1 )C1 z ] =
(2C1 z )
3E
E

2
8

2
( t r )r = (1 + )C 2 =
C2

3E
E

(2-32)

C1C2C1C2
33


3C1C2
p1 p 2

r1 = p1

r 2 = p2

r = r1
r = r2

(2-33)

2-28

C2

p1 =C 1 r 2
1

C
p 2 = C1 22
r2

p1 r12 p 2 r22

r22 r12

2 2
( p p )r r
C 2 = 1 2 2 21 2

r2 r1

C1 =

(2-34)

C1C2 p - r

r12 r22 r 2
r22 r 2 r12
p = r = p1 2 2
+ p2 2 2
r r2 r12
r r2 r12
r12 r22 + r 2
r22 r 2 + r12
t = p1 2 2
p2
r r2 r12
r r22 r12
z =
2
2
r12 (1 + )r22 (1 ) r 2
r22 (1 )r (1 + )r1

(2-36)

z (2-37)
r r
r
r r

2
2

r22 (1 )r + (1 + )r1
1 r 2 (1 + )r22 + (1 )r 2
t = p1 12
p

z
(2-38)
2 2
2
2
2
2

E r
r2 r1
r
r2 r1

1 2 ( p1 r12 p 2 r22 )
+ z
z =
(2-39)
2
2
E
r2 r1

r =

1
p1 2
E
r

(2-35)

2
2

2
1

p2

2
2

2
1

= 1
3

1 2 r12 2r22 r 2 2 r22 r 2 2r12 1

r = p1 2 2 2 p 2 2 2 2 z
E 3 r r2 r1
3 r r2 r1
3
1 2 r12 2r22 + r 2 2 r22 r 2 + 2r12 1
p2
z
t = p1 2 2
E 3 r r2 r12 3 r 2 r22 r12 3

z =

1 2 p1r12 p2 r22

+ z
2
2
E 3
r2 r1

34

(2-40)
(2-41)
(2-42)

1
2r2
3
p2=0 z

r12
r2
r2
t = p1 12
r
p = p1

r22 r 2
r22 r12
r22 + r 2
r22 r12

(2-43)
(2-44)

2 r12 2r22 r 2
p1
3 r 2 r22 r12
r12 2r22 + r 2
2
E t = p1 2
3
r
r22 r12

E r =

(2-45)

(2-46)

E
E r E t 2-452-46
E t

p1 p 2
2-29 z

z =

p1r12 p 2r22
r22 r12
2-29

z =

p1 r12 p 2 r22
r22 r12

(2-47)

p 2 = 0

z =

p1 r12
r22 r12

(2-48)

r d r dz 2-30 2-31

AAuBB u + du
CCDD + d

35

 2-30

2-31

1
AB = dr AB = dr u + u + du = dr + du

r =

AB AB ( dr + du ) dr
=
AB
dr

r =

du
dr

(2-49)

2
2r 2 ( r + u ) t

t =

2 ( r + u ) 2r
2r

t =

u
r

(2-50)

z =

C D CD ( dz + d ) dz
=
CD
dz

z =

d
dz

(2-51)

36

1 r1
r2 2-32
2
3

2-32

max

max P
P =

P
E

p E

E max P
E max = P

E t
r = r1 2-46

2 2r22 + r12
E t1 = p1 2
3
r2 r12
p1 E t1 = P p1 = P1

P1 =
a =

r2 r2
3
P 22 1 2
2
2r2 + r1

2-52

r2

r1
37

a2 1
3
P1 = P 2
2-53
2
2a + 1
P P1
a

1 3
P / 2

max =

1 3

P =

P
2

1 3 P
t1
r1

t1 r1 p

t1 = p1

r22 + r12
r22 r12

r1 = p1

P1 t1 r1
t1 r1 = P p1=P1
P1 = P

r22 r12
2r22

2-54

P1 = P

a2 1
2a 2

2-55

1
( 1 2 ) 2 + ( 2 3 ) 2 + ( 3 1 ) 2 [ ]
2
[ ] [ ] = P
38

 1 = t1 ,

2 = 3 = 0, 3 = r1

t21 t1 r 1 + r21 P
P1 t1 r1
P1= P1
P 1 = P

r22 r12
3r24 + r14

2-56

P 1 = P

a2 1
3a 4 1

2-57

P1
Z p 2 = 0 2-47

Z =

p1r12
r22 r12

E t1 =
=

2 2r22 + r12 1
Z
p1 2
3
r2 r12 3
r12
2 2r22 + r12 1

p1 2
p
1
3
r2 r12 3 r22 r12

1 4r22 + r12
p1 2
3
r2 r12
E t1 = P P1 = P1Z Z
=

39

r22 r12
P1Z = 3 P 2
4r2 + r12

2-58

r22 r12
P1Z
4r22 + r12
4r22 + 2r12
=
=
>1
P1
r22 r12
4r22 + r12
3
P 2
2
2r2 + r12
3 P

Z
P1 Z =

1
3

r22 r12
r22

2-59

P1

3
a2 1
P1 = P 2
2
2a + 1
a

dP1 3
( 2a 2 + 1)2a ( a 2 1)4a 3
6a
= P
= P
>0
2
2
2
da 2
2
( 2a + 1)
( 2a + 1) 2
P1 a a P1
r2

1
3
3
a 1
a 2 = 3 = 0.75
= lim P
lim P1 = lim P 2
P
P
a
a 2
1
4
2a + 1 a 2
2+ 2
a
r2 a P1
2

40

 0.75 P 2-2 P1 / P
2-2

P1 / P

r2 r1
d1

0.1

0.25

0.50

0.75

1.00

1.25

1.50

1.75

2.00

r2
r1

1.2

1.5

2.0

2.5

3.0

3.5

4.0

4.5

5.0

P1 / P

0.17

0.34

0.50

0.58

0.63

0.66

0.68

0.69

0.70

0.75

r2

1
lim P1 = P = 0.5 P
a
2
lim P1 =

1
3

P = 0.577 P

2-33

m sg

r2

msg = (r22 r12 ) = r12 22 1

r1

m1 = r12

r
= 2 1
m1
r1
2-33 r2 / r1
3 r2 / r1
msg

. r2

/ r1

/ P r2 / r1
.P r2 / r1
.P / P r2 / r1

. P1
1

2-33 P1 / P r2 / r1

r2 / r1 3 r2 / r1
2.03.0 1.72.0
2-46 ( r = r1 )

2 2r22 + r12 2 2a 2 + 1
E t1 = p1 2
= p1 2
3
3
r2 r12
a 1
( r = r2 )

E t 2 = p1

2r12
2
= p1 2
2
2
r2 r1
a 1

41

E t1 1
= ( 2a 2 + 1)
E t 2 3

2-34

r2 / r1 = 3
6.33 r2 / r1 > 3

2-34

1
20.81.2MPa

3
4

n P1 p

n = P1 / p
n > 1.0

n > n > n

n = 1.2 n = 1.35 n = 2 ~ 2.5

n = 1
42

n = 1.1 n = 1.2 n = 1.9

, n = 1.7

1.1 1.2 1.9 1.7 2-35

2-35

1.0

2-36
43

1
2-36 abc

P1 = 1.2 p m
P1 = 1.35 p

P1 = ( 2.0 ~ 2.5) p g
P1

ABCDEFG

2-37
abcdef

ABCDEF

2-37

()

1
2

4 P b

5
6
7

YB47564WJ163386GJB122091 PCrNi1MoPCrNi3Mo
44

PCrNi3MoVPCrNi3MoVA P

1
P s 0.1

3
a k a k
a k
2

3 J/cm -40 a k 2 J/cm

p m

()

(1)
(2)
(3)
(4)
(5)

(6)

1.

2-38

1.

2. 3. 4.

2-38
45

35mm

2.

2-39(a) 2-39(b)

1.

2.

2-39
3.

l.

2-40

2-40

jx .

46

 2-41

1.

2.

3.

4.

5.

2-41

4.

1/4
1/3

1
23 2-42

2-42

2
1 / 2
2-43

1 + 2 + 3 2
h = h
4(1 + + 2 )

h =

1 + 2 + 3 2
r
=

R
4(1 + + 2 )

2-43

47

l=

m I l I + m II l II + L m1 l1 m2 l 2 L
m sg

m sg

mmm1m2

l,l,l1l2

r1

1.

2.

3. P

P
4.

r2 = r1

3 P + 2 P1
3 P + 2nP
= r1
3 P 4 P1
3 P 4nP

13

5.

2
3

6.

7.

P1s
48

r22 r12
3
P1s = P 2
2
2r2 + r12
8.
P1s p ns

ns =

P1s
p

ns > n

P1s ns 2-3
2-3

d 2

d1

P1s

ns

1
2
3

9.

( r2 / r1 > 3 )

2-41 r = r1

49

2r22
2 2r22 + r12
E t1 = p1 2
p2 2
3
r2 r12
r2 r12
E t1 = P

r2 r2
3r 2
3
P1 = P 2 2 1 2 + p 2 2 2 2
2
2r2 + r1
2r2 + r1
3r22
( > 0)
2r22 + r12

2-53 p 2

P =700MPa r2 / r1 = 2.31
P1 2-4
2-4

p 2 (MPa)

P1 (MPa)

p 2 = 0
%

10

20

30

40

50

60

70

80

90

390

403

418

431

445

459

473

486

500

514

3.6

7.2

10.5

14.1

17.7

21.3

24.6

28.2

31.8

p 2 = 50MPa 17.7% p 2 = 90MPa

31.8% p 2 = 90MPa P1 = 390MPa P 480MPa P

31.8%

2-44

2-45
2-46

1.

2.

2-44
50

 2-45

1.

2.

3.

4.

2-46

2-47
q 2

q 2 = d 21 d 22 = 2(| u 21 | +u 22 )
d 21

d 22
u 21
u 22
2-47

q2
u
u
u
u
= 2(| 21 | + 22 ) =| 21 | + 22
d2
d2
d2
r2
r2
d 2 2r2 u

2 =

t =

u
r

t21 =

u 21
r2

t22 =

u 22
r2

51

 2 =| t21 | + t22

2-60

t21 t22

400450
t t
= k k
0.552.5

t = (1 + k )

2-61

1+ k

2-5
20400 =1310

2 =

-6

1/k=1 t =400
6

13 10 400
= 2.6 10 3
1+1

0.001 0.0025
2-5

( 10 61 / C )

20100
10.612.2
11.2

20200
11.313
11.8

20300
12.113.5
12.4

20400
12.913.9
13

20600
13.514.3
13.6

1
2
3
4

E
1.
p 2 p 2

t21 2-41

52

 t21 =

r 2 + 2r12
2
p 2 2 2
3E
r2 r12

2-62

p 2 t22
2-41

t22 =

2r32 + r22
2

p2 2
3E
r3 r22

2-63

2-622-632-60 p 2

p 2 = E 2

( r32 r22 )( r22 r12 )

2r22 ( r32 r12 )

2-64

2-64
p 2

2-48

2 p 2

E t p r
2-48
E t

2.
r1 r3
p1

2-49

2-49

r12 r32 r22

r22 r32 r12

2-65

2 2r32 + r12
p1 2
3
r3 r12

2-66

p 2 = p1

E t1 =
3.

53

p = p + p
E t = E t + E t
E r = E r + E r

2-67
2-68

2-69

2-50
2-50 p1 r1

r3 E t
E t

E t

E t = E t | E t |
E t

2-50

2-50
E t E t

4.
t1

E t1 p 2 2-40
2-41 C1 C2
2-282-292-30

C2
C1
r2
C
t = 22 + C1
r
C
3
1
E t = 22 + C1
4
2
r
C
3
1
| E r |= 22 C1
4
2
r
p=

2-34

p1 r12 p 2 r22
C1 =
r22 r12
C2 =

( p1 p 2 )r12 r22
r22 r12

p1 > p 2 2-34 C 2 > 0 C1

54


1 C1 > 0 p 2 < p1

r12
r22

t >

3
3
E t > | E r |> p
4
4

t1 >

3
3
E t1 > | E r1 |> p1
4
4

E t1

E t1 = P1

3
p1 < P1
4
p 2 <

r12
p1
r22

3/42-64
2-65 p 2 = p 2 + p 2
2 C1 < 0 p 2 > p1

r12
r22

p1 >

3
3
| E r1 |> E t1 > t1
4
4

| E r1 |> E t1

| E r1 |= P1

p1 >
p 2 >

r12
r22

3
P1
4

p1

3/4
3 C1 = 0 p 2 = p1

r12
r22

p1 =

3
3
| E r1 |= E t1 = t1
4
4

| E r1 |= E t1
55

3
p1 = P1
4

1 C1 > 0 p 2 < p1

r12
3
p1 < P1 E t1 >| E r1 |
2
4
r2

E t1
2 C1 < 0 p 2 > p1

r12
3
p1 > P1 E t1 <| E r1 |
2
4
r2

| E r1 |

r12
3
3 C1 = 0 p 2 = p1 2 p1 = P1 E t1 =| E r1 |
4
r2

C1 > 0 E t1 >| E r1 C1 < 0 | E r1 |> E t1

1.

( P1 )
E t1 P1 E t1 = P1 E t 2 = P 2

r2 r3
P2 2-53

P2 =

r2 r2
3
P2 3 2 2 2
2
2r3 + r2

2-70

2-41

2r22
2 2r22 + r12

P
P1 2
2 2
3
r2 r12
r2 r12
2-70 P1

P1 =

r32 r22
3r22
r22 r12
3
3
+ P2 2
P1 = P1 2
2
2r2 + r12 2
2r3 + r22 2r22 + r12

2-71

2-72

P1 < 3 P1
4
E r1 P1 E r1 = P1 E r 2 = P 2
P1
56

r32 r22
r22 r12
r22
3
3
P1 = P1 2
+ P2 2
2
2r2 r12 2
2r3 + r22 2r22 r12

2-73

P1 > 3 P1
4
2.

( Pk )
E t1 Pk

E t1 = E t1 + E t1 = P1

2-74

2r22
E t1 = p 2 2
r2 r12

2-75

2-41

p 2 2-64

E t1 = E 2

r32 r22
r32 r12

2-76

T1 = E t1

r32 r22
r32 r12
2-662-762-74 p1 PK
T1 = E t1 = E 2

PK =

r2 r2 r2 r2
3
P1 + E 2 32 22 3 2 1 2
2
r3 r1 2r3 + r1

2-77

3
P1
4
E r1 PK E r1 = E r1 + E r1 = P1

Pk <

PK =
Pk >

r2 r2 r2 r2
3
1
P1 + E 2 32 22 3 2 1 2
2
3
r3 r1 2r3 r1

2-78

3
P1
4

3.

( PK )

r2 r2
3
P 2 3 2 2 2 p 2 = p 2 + p 2 2-64
2
2r3 + r2
2-65 p1 = PK
P2 =

r22 r32 r12

r22 r12
3
PK = P 2 2 2
E 2
2
r1 2r3 + r22
2r12

2-79
57

 E t1 >| E r1 | | E r1 |> E t1
4.
1 T1 T1 = E t1

1
P1
4
2
T1 T1 P1
3
T1
1
2
2-80
P1 T1 P1
4
3
2 PK = P1
T1 2
T1

r32 r12
2 =
T1
E( r32 r22 )

2-81

E t1 >| E r1 |

2 2r32 + r12
P1 2
P1
3
r3 r12

2-82

2r32 r12
T1 = 2 P1 2
3 P1
r3 r12

2-83

T1 =
| E r1 |> E t1

3 PK 2

T1
4
1
22-81 2

4 2 = 0

r1
d 2
58

1. P1
n P1

P1 = np1
n 1.2 1.1
1.3
2. 2r2

2 r3

r3 = 2.22.6 r1

2r2 = 2 r1 r3

2 r2 = 2.83.6 r1

1/1000
3.

p1 = 1.5 p m

P1 < 3 P1 2-72
4

P2

r22 r12 2r32 + r22

2 2r32 + r22 2r22 + r12
P1 2
= P1 2
3
r3 r22
3r22
r3 r22 3r22

P1 > 3 P1 2-73
4

P2 =

r22 r12 2r32 + r22

2 2r32 + r22 2r22 r12
P1 2

P1 2
3
r3 r22
r22
r3 r22
r22

P 2 P1 P1 P1

P 2 =0.800.85 P1 P1 P 2 = P1

4.
Pk <

3
P1 2-77
4

59

2r32 + r12
2
T1 = PK 2
P1
3
r3 r12
3
P1 2-78
4
2r 2 r12
T1 = 2 PK 23
3 P1
r3 r12
PK = P1 T1 T1 T1
Pk >

2 =

T1 r32 r12
E r32 r22

2 0.0010.0025
0.0025

q 2 = 2r2 2
q 0.025mm
160mm
0.040.05mm 160mm 0.06
0.1mm
50mm

5.

Ps Ps Ps

q N q

q 2 = q N q

q 2 max = q N + q

q 2 min = q N - q

2 max =

60

q 2 max
d2

 2 min =

q 2 min
d2

r32 r22
r32 r12

T1min = E 2 min

2-77

Ps =

r2 r2
3
( P1 + T1min ) 3 2 1 2
2
2r3 + r1

2-78

Ps =

r2 r2
3
1
( P1 + T1min ) 3 2 1 2
2
3
2r3 r1

n1 =

Ps
P

1.2 1.1
1.3
2

p 2 max = E 2 max

( r32 r22 )( r22 r12 )

2r22 ( r32 r12 )

2-70

r2 r2
3
P2 = P 2 3 2 2 2
2
2r3 + r1

Ps = ( P2 p 2 max )

r22 r22 r12

r12 r32 r22

n1 =

Ps
P

1.0
1.3

Ps Ps

61

2
3

2-51 1
3

1.

2.

3.

2-51

1
2 0.10.2
3 P 800MPa

2-3

1
20.20.5
3 P 650MPa
62

2-52

2-52

1
1/2001/400

2
3
4

()

2
3

2-53 ()
4

2-53
r1 r2 r3 2e

1.

p1
u e

u = e

2-84
63

2e
2

2-85

t
0

t0 =

t0 =

2-86

E t0 =

2 0 r12 2 2 + r 2
p1
3 r 2 2 r12

r =

E t0 = p10

2r12
2 r12

p10 = E t0

2 r12
2r12

t p1
0

p10 = E

2 r12

2-87

2r12

2-87
0

p1

p1

E t01 =

2 0 2 2 + r 2
p1 2
3
r12

2-54
0

p1
E t
0

E t0 =
0

2 0 r12 2 2 + r 2
p1 2 2
3
r r12

64

2-54

p 0 = r = p10

r12 2 2 r 2
r 2 2 r12

r r1
2.

r1 r3 p1
0

p1

p1 = p1 p10

2-88

p1

p1 r1 r3
p1

r12 r32 r 2
r 2 r32 r12

2-89

r12 r32 2
2 r32 r12

2-90

p = p1

r =

p = p1

r12 2r32 + r 2
p = ( p1 p ) 2
r32 r12
0
1

E t =

2 r12 2r32 + r 2
p1
3 r 2 r32 r12

2-55
3.

p = p 0 + p

E t = E t0 + E t

2-55

2-56

65

1.

2-56

P K PK

p1

p1

E t1 = E t01 + E t1
0

p1

E 0 t 1 =

2
2
2 0 2 + r1
p1 2
3
r12

p1

E t1 =

2 2r32 + r12
p1 2
3
r3 r12

E t1 P1 p1
PK E t1 E t1 E t1
0

P1

2
2
2
2
2 0 2 + r1
2
0 2 r3 + r1
= p1 2
+ ( PK p1 ) 2
3
r12 3
r3 r12

2-84

P1

2 r12 2 2 + r12 2 2r32 + r12 2

2 r12 2r32 + r12
2
= E
+ PK 2
E
3
3
r12
2r12
2r12
r3 r12 3
r32 r12

r32 2 r32 r12

3

PK = P1 E 2
2
r3 r12 2r32 + r12
66

2-91

2-91
2-77

2.
P 2

min P1

r3 = r1
a =

r1

3( P1 E min a 2 ) + 2 PK
3( P1 E min ) 4 PK

2-92

r3

r3

p = p1

r12 r32 2
2 r32 r12

p = ( PK p10 )

r12 r32 2
2 r32 r12

p1

p = PK

2 r12 r32 2
r12 r32 2

2 r32 r12
2 2 r32 r12

2-93

2-93
P

p = PK

r12 r32 2
2 r32 r12

2-94

67

2
3

P 2 = P

2r32 + r22
r32 r22

2-95

P 2

0.020.05mm
0.10.3mm

max

r32 r12 2
2r32 + r12
1

= P1 2
PK 2
E
r3 2 3
r3 r12

2-96

2emax = 2 max

max

max < t
t Pn

t =

2r 2
1
Pn 2 1 2
E r1

2 r12
3
Pn = P1
2
2 2 + r12
2-96

r32 2 r32 r12

3

PK = P1 E 2
2
r3 r12 2r32 + r12
PK
2
2
2
2
P1 2e A = 3 r3 r1 B = 3 E r3
2 2r32 + r12
2 2 2r32 + r12

PK = A P1 B 2e
PK 2e

68

2-97

P
A
P1 K
B
B
2-57 2e = 0 PK = A P1
r2 r2
3
PK = P1 3 2 1 2
2
2r3 + r1
r1 r3
2e =

P1 M

PK = 0 2e = ( A / B) P1 ON 2e
N M N
2e

2e 2e
PK PK

2-57

2-57

2 r12
3
Pn = P1
2
2 2 + r12
OM Pn M MN K K
L
OL
OL

69

1
1
2

s 280350MPa

s 450560

MPa

11001130MPa
1400MPa

()

2-58

2-59

70

1.

2.

2-58

1.

2.

3.

2-59
2

2-60

1300MPa
1400MPa

1.
5.

2.

3.

6.

4.

7.

2-60

()

2-61

P1

2-62

1/4
1. 2. 3.

2-61

71

()

1.O

2-63

4.

1%6%

2.

5.

3.

6.

2-62

(a)

1.

(b)

2.

2-63

3.

4.

5.

1
2
1 = t 3 = r p = r
1
1
1
m = ( 1 3 ) = ( t r ) = ( t + p )
2
2
2

m s

2 m = t + P s
2 m

1
2
3

72


s
s
2-64
E = tg

s
2-64

2-64

~ r2 r1 < < r2
= r2

r = r1 ~ r =

1. ( ~ r2 )

2 2r2 p
2-54

p = s

r22 2
2r22

2-98

2-43

p = p

2 r22 r 2
r 2 r22 2

2-98 p

p =s

2 r22 r 2
r2

2r22

2-99

2-44

t = p

2 2 + r2
r 2 r22 2

t =s

2 r22 + r 2
r2

2r22

2-100

2 = 1 3 = t + p
2-99
2-100

2 = s

2
r2

2-101
73

2. ( r1 ~

2 = t r = s

2-102

2-232-102

r
r

d r
=s
dr

2-103

d ( r ) = s

dr
r

p = s ln

+ p

2-98 p

r22 2

p = s ln +
2

r
2
r
2

2-104

2-1042-102

t = s 1 ln

r22 2

2r22

2-105

r = r1 2-104

r2 2
P1 = s ln + 2 2
2r2
r1

2-106

2-1042-992-1012-102
2-65 a
= r2 2-104

p = s ln

r2
r

2-107

2-107

P1 = s ln

r2
r1

2-108

2-1072-102

2-65 b

74

a.

b.

2-65

P1 =

P1 =

r22 2

+ ln
2
r1
2r2

2-109

s ln

r2
r
1.16 s ln 2
r1
r1

2-110

P1 = K s ln

r2
r1

2-111

K K = 1.08

p = p + p

2-112

p P1
2-43
r2 r2 r2
2-113
p = P1 12 22
r r2 r12
2-112

p = p P1

r12 r22 r 2
r 2 r22 r12

2-114

p
2-104 p 2-106 P1

r22 2
r22 2
r12 r22

2-115
p =s
1
ln
ln
+
+

2
2
2 2

2r 2
r
r
r
2
r
r
r

1
2
2
1
2

2-99 p 2-106 P1 2-114

r2
2
r2
p = s 22 1 2 2 1 2
r
2r2 r2 r1

r22 2

ln
+
2
2r
r1
2

2-116

r22 + 2
r12

ln

2
r r22 r12
2r2

t = s

r22
r 2 2

2 + 1 2 2 + ln
r
2r
r1
2

2-117

75

2
r12

+
2
2r 2 r 2 r 2
2
1
r
2

r22 2

2r 2 + ln r
1
2

2
2 = t + p
r22

t = s

2-118

2-1152-116

2r 2 r 2 r 2 2

2 = s 1 2 21 2 2 2 2 + ln
r1
r (r2 r1 ) 2r2

2-119

2-1162-118

2
2r 2 r 2 r 2 2

2 = s 2 2 21 2 2 2 2 + ln (2-120
r1
r (r2 r1 ) 2r2
r

2-66

2 1 2-119
2-106

2 1 = s P1

2r22
r22 r12

2-121
2-66

p1 2 p

r12 r22 r 2
r 2 r22 r12
r 2 2r 2
2 = p1 12 2 2 2
r r2 r1
p = p1

2-122
2-123

2 p

2 = 2 + 2
p = p + p

2-67

p1

P1 p1 P1
76

2-67


| 2 1 | s

2-105

2r22
s
| 2 1 |= s P1 2
r2 r12

P1 s

r22 r12
a2 1
1

= s 1 2
s
2
2
r2
a
a

2-124

( = r2 ) 2-1082-124

s ln

r2
r2 r2
s 2 2 1
r1
r2

r2 / r1 = a

a 2 ln a a 2 + 1 0

2-125

a 2.2184 2.22

2-126

2.22
2.0
1

2-992-100

( r = r2 ) 1.08

r 2= p2 = 0
2
t 2 = 1.08 s 2

2-127

r2

t =

1
( t r )
E

2-127

77

t2 =

1.08 s 2
Er22

= r2

E t 2
1.08 s

2-128

2-106 1.08

E t 2 r22
E t 2

P1 = 0.54 s 1 + ln

2-129
2
1
.
08

1
.
08

r
s
1
s

d 2 r2 = 2 2-50

r2 d 2
=
r2
d2
d 2 r2 t 2

t2 =

t 2 P1
( ~ r1 ) ( r2 r1 ) Z

Z = [( r1 ) /( r2 r1 )] 100%
(2-130)

Z = 0 Z = 1
Z = 30% ~ 70%
P1 t 2 u 2
P1 ~ t 2 P1 ~ u 2

s a,b
1. Z
2-130 = Z (b a ) + a

b2 2

P1 = s ln +
2b 2
a
2. t 2 u 2 P1
3.
4.
p1

2
1 P1s
2-1222-125 P1s
78

 r22 2

P1s = s ln +
2r22
r1

2-131

r22 2

P1s =
s ln +
2r22
3 r1
2 2 s = sd
sd = 2 s 2 s
2

2-132

2-1192-120

r 2 2
2r 2 r 2
2 s = s 1 2 12 2 2 ln + 2 2
2r2
( r2 r1 ) r1

2-133

2-123

2 s = p1

2r12 r22
2 (r22 r12 )

2-134

3 P1e

P1e = s

r22 r12
2r22

2-135

P1e = s

r22 r12

2-136

3r24 + r12

n1e = P1e / p1
n1s = P1s / p1
nsd = s / sd
p
2-6
2-6

d2

d1

P1s

P1e

sd

p1

nsd
n1e
n1s

1
2
3

79

80

3-1

3-1

3-2

3-2

81

3-3

10%15%

82

83

3-4

3-4

3-5

3-5
2

3-6

84

3-6

3-7

3-7

3-8

b
d

1. 2. 3.

4. 5. 6.

3-8

85

3-9

3-9

3-10

3-10
86

3
3-11

3-11

3-12
4
4

< 20

2034

> 34

87

3-12

1
3-13

3-13

88

3-14

3-14

1-45
+50

89

5
6
-M
-M

10

90

+ ( v ) = 0
t

3-1

d
+ v = 0
dt

3-2

v v = ui + vj + wk

= i +
j+ k
x
y
z

= 0
t
(v ) = 0

3-3

v =

u v w
+
+
=0
x y z

3-4

Q = v1 A1 = v 2 A2

3-5

Q v1 v2 12 A1 A2 12

G = 1v1 A1 = 2 v 2 A2

3-6

G 1 2 12

v
1
+ (v )v = F p
t

3-7

91

v2
U+
+P=C
2
P P =

dp

3-8

3-8

v2 p
+ =C
2

gz +

3-9

3-9

v12 p1
v 22 p 2
gz1 +
+
= gz 2 +
+
+ hf
2

3-10

12
h f 1 2
3-10

gz1 +

1v12
2

p1

= gz 2 +

2 v 22
2

p2

+ hw

3-11

hw 1 2 1 2

= 1

> 1

p T

= RT

92

3-12


( A ) + ( A v ) = 0
t
x

3-13

( A v ) = 0
x

G = Av =

3-14

G A

A
( Av ) + ( Av 2 + Ap ) = p
t
x
x

3-15

G F N
+
=
t x x

3-16

F = Gv + Ap A Gv A
Ap N =

p x dx

A
= 0 , N = 0
x

( v ) + ( v 2 + p ) = 0
t
x

3-17

A
( Av 2 + Ap ) = p
x
x

p + v 2 =

3-18

v 2 dp
d +
=0
2

3-19

l E l f

v 2 dp
d +
+ dl E + dl f = 0
2

3-20

dq = dh

dp

3-21
93

 u h = u +

dl f dq f

v2
dq = dh + d + dlE
2

3-22

v2
= h0
2

3-23

dq = 0

h+

h0 v = 0 v = 0
0 T0 p0

p Th p 0 0 T0 h0

p
a 2 =
= kRT

v
*

a *2 = kRT *

M =

v
a

v
a*

M
M

2 2

2
+
1
k
M =
k 1 2

1
k +1

3-24

T0
k 1 2
= 1+
M

2
T
k
p
k 1
1
k

0
M2
= 1 +

2
p

k 1
1
k

0 = 1 +
M2

2

94

3-25

T0
p

p0

p
0
T *

T0
p*

p0
*

= 1

k 1 2

k +1
k

k 1 2 k 1

= 1
k +1

3-26

k 1 2 k 1

= 1
k +1
=

2
k +1
k

2 k 1
=

k +1

3-27

2 k 1
=

k +1

t < t k F pt t t k
F pt = 0 Wmax

95

 mhW + mwd + K = 0

3-28

m h W m wd K

1
K = (wd W )
2

m hW

W + mwd +

wd = 0

m + 0.5
wd
mh + 0.5
m + 0.5
L=
x
m h + 0.5
W =

3-29

L x

wd = v W
x=lL
v l

m + 0.5
v
mh + m +
m + 0.5
L=
l
mh + m +

W =

3-30

m h m

m + 0.5
v
mh
m + 0.5
l
L=
mh

W =

3-31

t = t g

Wg =

m + 0.5
v0
mh

3-32

v0

W = Wg +

t

Fg b
1 e b

m h

t =
96

3-33

Wmax

Fg b
1 e b
= Wg +

m h

3-34

b
p k = 0.1764 MPa

Fpt = Fg e

Ap g e

= Apk

= b ln

pg
pk

= 2.303b lg

pg
pk

Wmax =

m +
v0
mh

3-35

3-35

3-353-323-34

b=

( 0.5)v0
A( p g p k )

( 0.5)v0
Fg

3-36

b
3-353-35

mv0 + v0 mhWmax = 0

v0 v 0

v pj

v pj
v0

3-36

I h

A
v0

3-37

A A A=1300
A=12501275
3-37
97


Wmax v0 m

mhWmax mv0
v0

3-38

T v0 WKT

WKT =

m + T
v0
mh

3-39

mh
2
2
2
Wmax
WKT
2
m + T
WKT
2

T =
= 1 2 = 1
3-40
mh 2
m +
Wmax

Wmax
2
Wmax WKT T T T
T 3-40

T =

(m + )

1 T m

3-41

I hT
I h

I
= hT =
Ih

F
0

pt ,T

dt

pt dt

m h (W KT W g )

m h (Wmax W g )

W KT W g
Wmax W g

T 0.5
0. 5

3-42

F pt ,T W g Wmax

WKT T

F pt mh g
98

 M hz Fh
F f F FN 1 FN 2

FT 1 FT 2 FT M hz

1 M hz
2
3

d2 X
dV
= mh
= F pt Fh F f F FT + mh g sin
2
dt
dt
X V
mh

3-42

FR = Fh + F f + F + FT m h g sin

3-43

FR

d2 X
dV
3-44
= mh
= F pt FR
2
dt
dt
F pt
FR
F pt FR
FR
mh

F pt >> FR
F pt = FR F pt < FR
V = 0
3-44 t = 0 V = 0
t

mhV = F pt dt FR dt

3-45

F pt FR
t = t h V = 0

th

th

Fpt dt = FR dt

3-46

t k = t g + t > t k F pt = 0
99

3-102

tk

tk

th

F pt dt = FR dt

3-47

th

F pt dt FR dt 3-47
0

t h
t k << t h FR max << F pt max

F pt FR

FR max =0.030.05 F pt max

3-44 X = 0 V = 0
X
X
1
mhV 2 = F pt dX FR dX
0
0
2

3-48

0X F pt FR
X = V = 0

F pt dX = FR dX

3-49

X X k F pt = 0 3-49

Xk

Xk

Fpt dX = FR dX

3-50

Fpt dX FR dX
0

3-50

X k << FR max << F pt max

F pt FR

F pt M hz m z g

100

1
2 0 M hz

3-15

F pt

3-15

m z g A FNA
B FNB B FTB
F pt FR

dV

dt

dV

dt
dV
G mh

dt
mh

F pt G
Le Le
F pt Le F pt mh

dV

dt

G FR F pt Le
3-16
L

B
L A B
h
FR B

3-16

101

 B H
x y

X =0
Y = 0
M = 0

FR cos FTB = 0
FNA + FNB m z g FR sin = 0
F pt Le + FR h + FNA L m z gL = 0

FTB = FR cos
m z gL F pt Le FR h
FNA =
L
L
L
h

FNB = FR sin + + F pt e + m z g 1
L
L
L

3-51
3-52
3-53

FR
FR
2
3-51
FR FR cos

[FT ] FR cos
3-54
[FT ] [FT ] x
Az p t
pt = 0.250.45MPa

[FT ] = pt Az

3-55

= 0 FR

[FT ] FR max

3-56

3-52

FNA =

m z gL F pt Le FR h
L

m z gL F pt Le + FR h

3-57

m z gL
F pt Le FR h B

3-57 L h X
102

 B L
X L0 X = 0
B L0 X = 0
B L X B

m j L j
B L j
m z = m h + m j

m z gL0 = (m h L0 + m j L j )g

m z gL = (m h L X + m j L j )g

m z g (L0 L ) = m h g (L0 L X ) L0 L X = X cos

m z gL = m z gL0 m h gX cos

3-58

3-583-57

m z gL0 m h gX cos F pt Le + FR h

3-59

X
FR B h
H r Lr B

Ld H B

h = (H r + H )cos Lr sin + Ld

3-60

h h FR h
h FR h

h FR h
j
j
= j j

h j = (H r + H )cos j Lr sin j + Ld

3-61

= j 3-58

m z gL0 j m h gX cos j = F pt Le + FRj h j

3-62

FRj =

m z gL0 j m h gX cos j
hj

F pt Le

3-63

hj

FRj FR
FRj

FR FRj =

m z gL0 j m h gX cos j
hj

F pt Le

3-64

hj
103


FR j
FRj X

FR = 0.9 FRj = 0.9

m z gL0 j m h gX cos j
hj

0.9

F pt Le

3-65

hj

j FRj
j = 0
j

FR
FR
t X

1
2
3
4
5

3-17a
FR 0

3-17b
FR = FR 0
FR = FRg =

0 t t g

104

3-17

3-18

0 t t g FR 0

3-18

FRg t g < t t k FRg

FRk (t k < t t ) FRk FR

m z gL0 j m h gX g cos j
3-66
FRg = 0.9
hj
FRk = 0.9

m z gL0 j m h gX k cos j

3-67

hj

FR = 0.9

m z gL0 j m h gX cos j

3-68

hj

F pt Le
Le 0

3-19

t g t a = (1.4

3-19

1.5) t g

FRa = 0.9
FRk = 0.9

m z gL0 j m h gX a cos j

3-69

hj
m z gL0 j m h gX k cos j

3-70

hj

FR = 0.9

m z gL0 j m h gX cos j

3-71

hj

105

3-20

FR = FRk 3-20
FRk = 0.9

m z gL0 j m h gX k cos j

3-72

hj

d2 X
dV
mh 2 = mh
= F pt FR
dt
dt

106

3-73

1 1
1+
Ap

F pt = t t 2 m
g

Fg e b
1
1
Fg = 1 +
Ap g
2 m

FR = FR (t ) FR ( X )

0 t tg

3-74

t g < t < tk
3-75

3-76

VtVX Xt
2

d2 X
dV
= mh
= F pt FR
2
dt
dt
1 1
0 t tg
1 + 2 m Ap

F pt =
t t g

t g < t < tk
Fg e b
1
1
Fg = 1 +
Ap g
2 m

FR = Fh + F f + F + FT m h g sin
mh

Fh = f (a x )V 2
F f = F f (X )

3-77

3-78

3-79
3-80
3-81
3-82

Fh F f

FR t FR X VtVX Xt
3
X

dX
=V
dt
dV
1
(Fpt FR )
=
dt
mh

3-83
3-84

-
Runge-Kutta-

107

6 14

6
1
2 = 0

3 N k

4 O1 N X N Y

5 O1

6 O2

108

6
3-21

3-21

3
4
5
6
6

Kane

14

14
1
2
3
4
5

6
7
14 3-22

109

1 6
3 3

2 6
3 3

14

3-22

14

ADAMS

FR = Fh + F f + F + FT m R g sin
m h g sin
F

+ FT
FT = fmh g cos

110

F = m h g
f f = 0.16 0.20
= 0.3 0.5

= 0
F f

= j

F f
X

Fh 3-23
F f X

3-23

Fh = FR F f F FT + m h g sin

3-85

Fh

1
2

3
F f 0
E f

F f

F f = F f 0 + CX

3-86

F f 0 C X
X =
111

F f = F f 0 + C

3-87

F f F f 0 C m

Cm =

F f
Ff 0

C=

F f 0 + C

3-88

Ff 0

(C m 1)F f 0

3-89

F f 0 C m F f 0 C m

3-89

F f 0 C m

F f 0 > m h g (sin max + f cos max + ) = m h g

3-90

F f 0

C m
F f 0

E=

1
F f ( L0 + )
2

3-91

L0 F f = C m F f 0

L0 =

Ff 0
C

= Ff 0

(C m 1)F f 0

Cm 1

3-92

3-923-91

E=

C m2
1
Ff 0
2
Cm 1

3-93

F f 0 E C m
3-93 E C m = 2
C m 2

F f 0 C m
112

 C
60Si2MnWA65MnWA60Si2A

[ ] = 900 1100 MPa

F f

p f V n = p f 0V0 n =

3-94

p f p f 0 V V0
n n = 1.3
n = 1.11.2
3-94

V
Ff = Af p f = Af p f 0 0
V

3-95

A f
V X

V = V0 A f X
3-95
n

V0
V0

= Ff 0
Ff = Af p f 0
V A X
V A X
0
f
f
0

3-96

3-24

113

F f

V0

= Ff 0
V A
0
f

3-97

LS
LS =

V0
LS
Af

A f

3-24

LS

LS

= F f 0
LS

LS
F f = F f 0
LS X
F f

3-98

3-99

C m

Cm =

F f
Ff 0

V0
LS

=
=
V A
0
f
LS

V0

V0 =

Af

1 Cm

1
n

= A f LS

3-100

C m n V0

F f 0
C m
F f 0 F f 0
p f 0
p f 0 5MPa
p f 0
72

F f 0 p f 0 A f

114

Af =

Ff 0
pf0

3-101

C m 3-100 C m
A f V0
C m
E f

E f = F f dX =

LS
F f 0
LS X

n 1
F L

dX = f 0 S C m n 1
n 1

3-102

p f 0V0 n 1
=
C m n 1
n 1

T0 T

n 1

n 1
p f n
= T0 C m n
T = T0
3-103
p
0
f

3-1023-103 E f T C m E f T

C m
C m V0 C m
C m = 1.5 2.5 C m = 2.5 3
C m
F f

F f = C m F f 0 FR ( F + F T mh g sin )

3-104

C m
F f 0 C m p f 0
A f V0 A f V0

1
2

115

F f 0 C m F f
F f 0 C m
F f 0 p f 0 C m
V0 V0
Vy

p f 0V0 = p flVl

V0 = Vz Vy
Vl = Vz Vy A f l
Vz Vy

p fl =

V zV y
V0
pf0 =
pf0
Vl
V zV y A f l

3-105

l p fl p f 0 p f 0

p fl p fl p f 0

tan =

V zV

3-106

V zV y A f l

A f l Vz Vy Vy1 < Vy

tan 1 =

116

V zV

y1

V zV y1 A f l

=
1

1
Af l
V zV

< tan
y1

 Vy 2 > Vy

tan 2 =

V zV

y2

V zV y 2 A f l

1
Af l

=
1

V zV

> tan
y2

Vy Vy1
Vy 2 3-106 3-25
p f 0

p f 0 p fl

3-25

F f

Fh = FR F f (F + FT m h g sin )

3-26

I I
3-26

117


a x II
III

II
p 2 = 0
d T DT
A0 =

(D
4

2
T

d T2 d1 A fj =

d p A p =
d x Ax =

a x = A p Ax =

(d

2
p

d12

d p2 A1
d x2

d x2

1
2
3
4
5
6

1
V dt dX
I

A0 dX + (A fj Ax )dX

a x II w2
w2 a x dt A fj dX

A0 dX + ( A fj Ax )dX = w2 a x dt + A fj dX

3-107

w2 =
118

A0 Ax
V
ax

3-108

w2 w2
A Ax
V V
w2 = w2 V = 0
ax
A0 A p
V
3-109
w2 =
ax
w2
A1 w3

A fj dX = A1 w3 dt

3-110

A fj

w3 =

A1

3-111

w3
2
1 = 2 = 1

p1

w12 p 2 w22
=
+
+ H r1
2

w1 = 0 p 2 = 0 3-111

H r1

p1

w22
= 1
2

2
(
1 + 1 ) (A0 A p ) 2
V
=

a x2

3-112

w12 p3 w32
+
=
+
+ H r2

p1

w1 = 0 3-111 2

H r2 = 2

w32
2

p1 p3

(1 + 2 ) A fj
=
2

2
A V
1

3-113

K1
119

 1 + 1 K 2 1 + 2

K (A0 A p ) 2
p1 = 1
V
2
a x2
2

K A fj
p1 p3 = 2
2 A1

3-114

2
V

3-115

3-1143-115

K (A0 A p ) 2 K 2 A fj

p3 = 1
V
2
2 A1
a x2
2

2
V

3-116

3 Fh

3-27
p3 A fj p1
A0
p1

3-27

A0 + A fj A p

Fh = p1 (A0 + A fj A p ) p 3 A fj

Fh = p1 (A0 A p ) + ( p1 p 3 )A fj

3-117

3-1143-1153-117

3
K1 (A0 A p ) 2 K 2 A fj 2
V +
=
V
2
2 A12
a x2
3

Fh

Fh

K
= 1
2

(A0 A p )3 K A3fj 2
+ 2 2 V

2
K1 A1
a

3-118

3-118
a x V

Fh = f (a x )V 2

(A0 A p )3 K A3fj
+ 2 2
3-119

2
K1 A1
a

x
f (a x ) f (a x ) a x
Fh
a 0
K
f (a x ) = 1
2

120

az = ax +

a0
3

3-118 a x

(A

ax =

A p )2
3

3
2 Fh K 2 A fj

K1 V 2 K1 A12

3-120

A0 A p A fj A1
K1 K 2
Fh
3-120 a xX
3-28

ax =

(d
4

2
p

d x2

d x

d x = d p2

ax

3-121

d xX 3-28
3-28

FR Fh a x d x

p3 > 0 3-116

2
K1 (A0 A p ) 2 K 2 A fj 2
V
V >0
2
2 A12
a x2
2

A fj
K2
ax
K1 A0 Ap

3-122

K2 2
V
A fj (A0 + A fj A p )
2
Fh

3-123

A1 >
3-1203-122

A1 >

3-1223-123 A0 A p A fj
121

 A1 A1

a x max Vmax A1

K K

K
K

K
1 K
K1 K 2
K1 K 2 K

1
2
3
4
K1 K 2 K1 = 1.21.6 K 2 = (2 4)K1
2 K

K
K
K

FRX

K
K X K a x K a x V

122


d xX

L
DT d T
d1
d1
3-29

3-29

1 L
3-29

L = max + l + 2e

max l l (0.5 0.7 )DT DT

l = (0.5 0.7 )d d e

e 2030mm
2 A0

A0 A0
p1max A0
F
A0 = h max
3-124
p1max
Fh max Fh max
Fh = FR F f (F + FT m h g sin )

p1max
35MPa
O 100MPa

2C
1C 90110C

W y W y
123

 A0 p1max A0
A0 A0
3 DT d T

A0 A0 =

( DT2 d T2 ) DT d T

DT
dT
y 1.72.3 A0 y DT
y=

d T A fj
y
y d T DT
d T DT
A0
4 d1
d1

4 (Fh + FI )max + Fmz

3-125

[ ]
d 2 X mg

F pt m g Fmz
FI FI = m g
mh
dt 2
[ ] 2.53.5
40Cr 35CrMoA s = 550 600 MPa3-125
FI = 0 (Fh + FI )max F pt max Fh max
d1 = d T2

p 3 f max

2 2d T2 + (d1 + 2hm )
p3 f max [ ]
3 d T2 (d1 + 2hm )2
2

p 3 f max p 3 f max =

Ff max
A fj

Ff max

Ff max 0.9 F f m h gf F f

mh gf hm [ ]
1
[ ] = s
3
5 d p
124

d p
d1 > d p A1
A1 d1 d p

d p = d 1 (4 ~ 6 ) mm

d1 d p d p = d 1
6
d x 3-1203-121

Flj = K

EI min
l2

Flj l l = jx jx
E E = 2.06 10 5 MPa I min
I min =

64

d x4min K

K = 2 2 = 19.72
Fff max
n 5

n=

Flj
Fff max

= 510

d T d1

7 DT

DT p1max
DT DT

2
p1max
3
4
[ ] p1max
3

[ ] +

40Cr 35Cr = 500 550 MPa [ ] =

1
s
3

5mm
2

1
125


R a 0.40.8m

a x A1
A1 510mm a x
a x

2
1 a x

510mm

a x

3
20%50%
815min 815min

a xX d xX

1 d xX
126

 = 0 X 0 X V = 0 a x = 0
= max
10%
V > 0 a x = 0 p1

V > 0 a x = 0

2 d xX

1 a x
a x
F pt >> FR FR FR

a x

d x min

3-30 l
l = 10 mm
d xc

d xc d p 2 mm

3-30

d x min d xc

2 a x jx
jx X = jx a x > 0

jx = (1.081.20 )

5% jx

d x max d p d x max < d p

ax > 0
3
127

 mm
0.1mm

3-31

3-31

1
K 1X K 2X

a x2
p1
2
K
=
1
2
(A0 A p ) V 2

2
K = 2 A1 p1 p3
2 A 2fj V 2

3-126

2 F m h
FT mh g sin
3 K 1X K 2X V X F f X FRX
d xX
V X

FRX

128

 F mh K

F
mh F
K
3-1
3-1

= j = 0 = j = 0

mh F

m
mh

F f

3-32 mh F f
FN 1 FN 2 FT 1 FT 2
129

F
Ff
Fof

Fof = 0 Fff

3-32

Fkf
3-32

dU
d 2
= mh 2 = F f Ff (F + FT + mh g sin )
3-127
dt
dt
U
= X
mh

FRf = F + FT + m h g sin

3-128

FRf

FRf = m h g ( + f cos + sin )

3-129

F f FRf Fsh

Fsh = F f FRf = F f (F + FT + m h g sin )

3-130

F sh Ff

mh

dU
d 2
= mh 2 = Fsh Ff
dt
dt

3-131

mh

dU
d 2
= mh 2 = Fr
dt
dt

3-132

Fr = Fsh Ff

F sh Ff
3-33
Fr

Fr > 0 Fsh > Ff

Fr = 0 Fsh = Ff
U = U max Fr < 0

Fsh < Ff
130

3-33

 Fsh E

E = Fsh d
0

3-133

Fsh
E
E

U = 0

3-33 1 = 2

= 0 = 0

1 = 0
2
3

1
I f

I f = mh

d 2
= Fr
dt 2

3-134

3-34 m p
I f FNB FTB

FNA

131

FRh
3-34

Fr

FRh Fr

FRh = F f + Fh + F + FT mh g sin
Fr = F f Ff F FT m h g sin
FRh >> Fr
Fr FRh

I f

Fr

3-35

3-35

I f

3-35 I f

m p g FNA FTA
FNB FTB FTB

3-35

X =0
Y = 0
M = 0
A

FTA + FTB I f cos = 0

3-135

FNA + FNB m p g + I f sin = 0

3-136

FNB L0 m p g (L L ) + I f h f = 0

3-137

f
132

FTA = FNA
FTB = fFNB

3-138
3-139

I f Fr I f = Fr FTA FTB Fr

f
FNB
cos
cos
1
1 + f tan
FNA =
mp g
FNB
1 + tan
1 + tan
m p g (L L ) Fr h f
FNB =
L
Fr =

FNA +

3-140
3-141
3-142

3-140

Fr Fr = FNA + fFNB

3-143

Fr 3-1413-1423-143
= 0

m
m p g L L00 + h ( )
mp
L

Fr =
3-144
f
1
hf 0
L
= 1 = 0
f = 0.3 0.4

m p g

Fr , =0

m
fm p g L L00 + h ( )
mp

=
L + fh f 0

3-145

3-142 FNB 0

m p g (L L ) Fr h f

3-146

m p g L L Fr h f

Fr Frp

1
m p g (L L )
hf

3-147

m p gL = m p gL0 m h gX cos

X =

m p g (L L ) = m p g (L L0 ) + m h g ( )cos

3-35 I f A h f
133

h f = H z cos + d + (L Ldz ) sin

Frp =

m p g (L L0 ) + mh g ( )cos
H z cos + d + (L Ldz ) sin

3-148

Frp
= Frp

Frp =

m p g (L L0 )

H z cos + d + (L Ldz ) sin

3-149

Frp
3-149

f = tan 1

L Ldx
Hz

f = sin 1

L Ldz

(L Ldz )2 + H z2

3-150

f j

f f
f
f
Frj

Frj =

m p g (L L0f ) + m h g ( )cos f
H z cos f + d + (L Ldz ) sin f

3-151

Frj f

Fr < Frj

3-152

Fr = Frj

3-153

= 0.85 0.95

Fr Fr =0 Frj

Fr > Frj > Fr =0

3-154

Fr , =0
134


Frj < Fr Fr < Frj

Fr Ff
Fr

F f = Fsh Fr = Fsh + Fr Fsh + Frj

3-155

Ff Fsh F rj
3-155

1
Fsh
Ff Fr = Fsh Ff
Fr

3-36

3-36 L II
Fsh > Ff Fr > 0 Fsh < Ff Fr < 0

Fsh d = Ff d
0

Fr d = Fr d

3-156

1 = 2 + 2

3-157

3-36

U = 0.1 0.15 m/s

= 0
max
135

F r < Frj
Fsh + Frj L
Ff = 0 Frj
f

Ff
Ff

L
2

Ff Fof
Fff
Fkf L Ff Fsh

Ff Fof Ff
Fsh
L

VB =

d T2

3-158

p1 p3 II
I
L

136

(D
4

2
T

d p2

VB =

(D
4

2
T

L =

d p2 L =

d T2

d T2

DT2 d p2

3-159

dT
1
1
1 1
=

L = L
DT 1.7 2.2
3 5
L

d T2
L > 2

DT d p2

3-160

L L

3
3-37
L Fr = Fsh

Fof

F r = Fsh Fof 1
3-37

Fff Fr = Fsh Fof Fff 1

01

3-38

0L 0 L 2 3 Fr
L 0L 2 3 Fr = 0
Fsh = Ff
Fr = 0
U L

Fr = 0

3-38

137

d 2
dU
= mh
= Fsh Ff = Fr
2
dt
dt
Fsh = F f m h g ( + f cos + sin )
mh

Fr = Fr ( )

3-161
3-162
3-163

U t U
t
2

d 2
dU
= mh
= Fsh Ff = Fr
2
dt
dt
Fsh = F f (F + FT + m h g sin )

3-165

Ff = Fof + Fff + Fkf

3-166

mh

Fof = f f (a x )U 2

Fff = f f (a f )U 2

> L

Fkf = f f (a k )U 2

3-164

3-167
3-168
3-169

Frt Fr U t U t
3

X V

Fh Fr XV

138

3-39

Fff
Fof
Ff
3-39
A0 f

A0 f =

(D
4

2
T

d p2 A fj A fj =

d12 DT d p

d T p 2 f p 3 f
w2
a x w2

a x
w3
a f
3-39

a x

(A

0f

+ a x )d = a x w2 dt

w2 =

A0 f + a x
ax

w2 = w2 U =

U
A0 f
ax

3-170

w2

p2 f

A0 f
=

2 ax
K1 f

2
U

3-171
139

 K 1 f 1.41.6

Fof = A0 f p 2 f =

K1 f
2

A03 f
a

U 2 = f f ( a x )U 2

2
x

3-172

f f (a x ) =

K1 f
2

A03 f

3-173

a x2

a f

(A

fj

+ a f )d = w3 a f dt

w3 =

A fj + a f
af

3-174

w3
2

K 2 f A fj + a f 2

U
3-175
p3 f =

2 a f

K 2 f K 2 f = (3 4) K 1 f

Fff

A fj + a f
=
A fj
a2
2
f

K2 f

2
U = f f ( a f )U 2

3-176

A fj + a f
f f (a f ) =
A fj
a2
2
f

K2 f

3-177

Fr = Fsh Ff = Fsh Fof Fff

Fff = Fsh Fof Fr

3-178

Fof Fr
a f Fff
Fr U a f 3-175

af =

A fj
2

3-179

Fff

K 2 f A fj U 2

a f a f
1mm
0.1mm

140

3-38
L 2

3-40

3-40

0L a f 0 Fff

L Ll a f 0
a x Ff = Fof + Fff

Ll
a f
1 a f 0
a f 0 L U
Ff a f 0 L U
Fof
a f 0 L
a f 0
a f 0 a f 0 1mm 0.1mm
0L L

Fr
Fr

= Fsh Fof Fff

Frj

3-180

3-180 a f 0 a f 0

0L L Fr a f 0
a f 0 L
a f 0 0Ll
2 Ll
Ll a f
141

Frj Frl

Ll
1 cos
3-181

L
2

Ll Ll 0Ll
Fr = Frl +

Ll 0Ll Ll
Ll = 0.8 3-181 Ll Ll
U

U = 0.1 0.15 m/s Ll Ll

U Ll Ll
Ll 3-181 Ll Ll
3-179 a f Ll
a f 1mm 0.1mm

Ll

Fr = Frl +

Frj Frl
Ll

( Ll )

3-182

Ll Ll Ll
Ll = (0.6 0.7 )

1
Fr

Fkf
Fff
a f
2

3 mh

142

 Fkf

3-41

3-42
3-41

p f

a k p

3-42

a k p fk F fk

F fk = p fk A f = ( p f p ) A f = F f Fkf

3-183

Fkf = pA f Ff

Ff = Fof + Fff + Fkf

3-184

A f d = a k w k dt

wk =

Af
ak

3-185

wk

K Af
= k
2 ak

2
U

3-186

3
K k Af 2
U = f f ( a k )U 2
=
2 a k2

3-187

p = p f p fk

Fkf

3
Kk Af
f f (ak ) =
2 a k2

K k p U 3-186

a k L
143

 a f 0 a k
a k a f 0
a k
2 3 a k
L a f 0

12
3
4

v0 v0

144

20%

t = 0
p g T g g

1
2
3
4 A = A v = a *
*

=0
x

2
1

v = a * (t )
2

x
L

3-188

x2
p x = pt pt p 2
L
*

3-189

3
145

1 p

3k
x 2
p x = 1 +
k 1 2 p *
4
L

3-190

p=

1 L
3 k *
p x dx = 1 +
kp

L 0
6

2 G *

G* = A

k
3k
1+
k
6

k +1

p 2k

p 1g/ k

3-191

3 F

F* =

k +1
Ap
3k
1+
k
6

3-192

p = p g (1 + Bt )

2k
k 1

3-193

B=A

k 1
2

k
g pg
3k
k
1+
6

= g (1 + Bt )

2
k 1

T = Tg (1 + Bt )

3-194
3-195

F pt

F pt = Ap

4k
4

k +1
3k
1+
k
6

= 0. 5 +
146

4k
2k

pg 1
1
k
3 k
g v0
1+
k
6

3-196

= 0.5 +

4k
2k

ag
1
3 k v0
1+
k
6

3-197

a g

Fpt F pt ,T

F pt ,T = A T p

3-198

T =

4 k
4

k +1
3 k
k
1+
6

WT =

m + T
v0
mh

WT

T = 0.5 +

4 k
2k

ag
1
3 k v0
k
1+
6

3-199

3-1993-197

T = 0. 5 +

4 k
( 0.5)
4k

3-200

147

2
3-43

3-43

1.3

3-44

3-44

-
1.3
3-45

3-45

1
3-46

148

3-46

 F1 F2
F2

A* Ak A0 Ak
A1 1-1 A2 Ak

012 A0A1A2 K 0K 1K 2

A0A1A2 F0F1F2 A0A1A2

F0
K0
*
*
*
F0 = K 0 F F1 = K 1 F F2 = K 2 F F2 =
K2 =

cos
cos
k +1 *
F* =
Ga =
k
1
1
K = +

= K + K2 1

0* =

20 =

)]

A
k (k 1) K + K 1 K
=
*
A
K + K 2 1

A0
A*

[k (k 1)(K
=

1
k 1

) ]

+ K 02 1 K 0

1
k 1

3-201

K 0 + K 02 1

(
(

)
)

K 0 + K 1 k (k 1) K 0 + K 1 K 0
A2

=
A0 K + K 2 1 k (k 1) K 2 + K 22 1 K 2
2
2

2
0

2
0

1
k 1

3-202

0* 20 3-47

A0 Ak
=
sin
3-203
A* A*
A
sin( + )
20 = 2 =
3-204
sin
A0
3-201 K 0
K 2 F2
K0
3-202 K 2
3-204
cos

0* =

3-47

149

k 1

K 0 + K 02 1
k (k 1)K 0 K 0 + K 02 1
20 =

2
2

K
3-205

K
K
K
K
0
0
0
0
0

+
1 k (k 1)
+
1
2

cos
cos 2
cos

cos

cos

+
sin(

)
=
20
sin

K 0

K 0 = 1 3-205

tan

= arctan
1
1 + sin

1 sin

1 k sin

1
k 1

3-206

Ak 3-204 0* 3-202
K 0 3-206 K 2 F2
2


1
3-48
A A B B

k +1 *
Ga
k
k +1
3-48
F1 =
G1 a * K 1
k
k +1
k +1
F 2 =
G 2 a * K 2 F 3=
G3 a * K 3
k
k
k +1
F cp 3=
G cp 3 a * K cp 3 G G1 G2 G3
k
Gcp 3 K1 K 2 K 3 K cp 3

F * =

FT =

F1
F2
( 2 + 2 ) + F3 cos( 3 + 3 ) + Fcp3 3-207
cos( 1 + 1 ) +
cos 1
cos 2
cos 3

1 2 3 1 2
3
3-49
150

i =

Gcpi
Gcpi 1

Gcpi
Gcpi + Gi

Gcpi 1 Gi
Gcpi 1

i = 1
2
Lm

3-208

i i Gcpi i
Gi i i = 1
Gcpi 1 = Gcpo = G

G = G1 + G2 + G3 + Gcp 3

G1 = (1 1 )G

G2 = 1 (1 2 )G
G3 = 1 2 (1 3 )G
Gcp 3 = 1 2 3G

3-49

3-207

FT = F *

= K cp 3 1 2 3 + K 1 (1 1 )

cos( 1 + 1 )
cos 1

cos( 3 + 3 )
cos( 2 + 2 )
+ K 2 1 (1 2 )
+ K 3 1 2 (1 3 )
cos 2
cos 3
m
m

= K cpm 1 2 L m + 1 2 L i 1 (1 i )K i
i =1

cos( i + i )
cos i

3-209

3-210

i K cpi i K i i
2 i

i
i
g i

i = gi l c 3-50
g

3-211
i = g gi
l
g
c
3-51 l
c

3-50

151

d
4

3-51 g 3-211
i g 1

l
1 g = 1
c
3 ci K ci cpi K cpi
1 ci

3-51

i ci

ci =

Aki
Acpi 1

3-212

Aki i Acpi i Acp 0

2 ci

i
cpi 1 ci cpi 1

k 1 2 k 1
cpi 1 1
cpi 1
k +1

ci =
1
k 1 2 k 1
ci 1
ci
k +1

3-213

ci cpi 1 ci ci
cp 0 = 1
3 K ci

K ci =

1
1

ci +
2
ci

3-214

4
K ci K ci

K ci = u [1 + ci (K ci 1)]

u 0.98

cos 2 ci
0.34202

ci =
152

ci < 35
ci 35

3-215

 ci i
5 ci
ci = K ci + K ci 1
2

3-216

6 cpi K cpi

cpi = ci
1
1
K cpi = cpi +

2
cpi

4 i

3-217

3-218

i =

Gcpi
Gcpi 1

Gcpi
Gcpi + Gi

1
G
1+ i
Gcpi

Gcpi = Acpi ( v ) cpi

Gi = Ai cos 90 o i + i (v )i

3-52

Ai Acpi i i

3-52 (v )i (v )cpi

i =

(v )i
(v )cpi

i =

A
1 + i i cos 90 o i + i
Acpi

3-219

i
3-53 i i < 90
vi = vci cos i vci vi i
ci i i 90

vi = 0

i
3-53

153

k +1

2 ( k 1)
1
k

cpi
1

1
k
+

k 1 2
ci cos 2 i
i = 1

k +1
k +1
k 1
2( k 1)
1 1
2cpi
k + 1

i < 90

3-220

i 90

1 = 0.85 1 = 1
i 3-219 i

5 K i
K i i i

1 ei
i i

ei =

Aei cos( ei + 90 i )
(1 i )Acpi 1

3-221

Aei i ei 3-52
2 i
cpi 1 i

ei
1

ei =

k 1 2 k 1

cpi 1 1
cpi 1
k +1

3-222

1
k 1

k 1 2

i
k +1

ei cpi 1 i i

i1

3 K i

K i =

1
1
i +
2
i

3-223

K i = u [1 + ci i (K i 1)]

u 0.98

cos 2 i
0.34202

i =
154

i < 35
i 35

3-224

 i i
6 i

K 0 3-205 i
i 3-50
1 i ei < 90

= i ei = g gi ei

i > 0

3-225

2 i ei > 90

= 180 i + ei = 180 o g gi + ei

i < 0

3-226

K i K 0 3-205
i i
i K cpi i K i i 3-209
3-199 T T

1
2 T

3 T
4

5
Dk Lk

T d cp Ai
155

l
c
c
1 d cp d cp

2 Ai
3

l
> 0.8
c

4 c
2 c = 15 30

156

6000 /

157

4.1

4.2

4.1

4.2

158

4.3

4.4

4.3

4.4

4.5

4.5

4.6

159

T
4.7

4.6

1.

2.

4.7
160

3.

4.

4.8

1.

2.
6.

P.

W.

3.
7.

8.

4.
9.

TU.

4.8

5.

RNQS.

161

162

4.9

4.9

4.10

0.

1.

3.

5.

7.
10.

2.

4.

8.

6.
9.

11.

12.

4.10

i
xi x xi = f i ( x )

163

n + 1 3(n + 1)

x& i x&i (i = 1,L, n )

i (i = 1,L, n )
0 i

x& i
x&

(i =1,L, n)

4-1

dxi
dx
K i = dt = i
dx
dx
dt

(i = 1,L, n)

4-2

Ki =

i i

i x& i

x1 = f (x ) K1 x1 = f (x ) x = a

K1 = tg (a ) 4.11

4.11

4.12
0 1
164

4.12

 x x1 x& x&1 0
0 1

k1 =

dx1 x&1
=
x&
dx

r
r r
x&1 = x& + x& 01
r
r
r
x& x&1 x& 01 0 1
r
p p x& pa
r
r
x& a 0 1 ab x& 01 p x&1
b 4.13 pb x&1 ab x& 01 pab

K1 =

x&1 pb
=
= tg
x&
pa

K1

K1 x

4.12 0 1
4.13
x x1 x& x&1
0 F
F1

0 1

Fx F1x1 = 0

Fdx F1 dx1 = 0

F dx1
=
= K1
F1 dx
4-14

4.14

F
K1 =
= tg
F1
4.15 i

Ki =

dxi
dx
165

dx
dx
dx1 dx2 dx3

L i 1 i
dx dx1 dx2
dxi 2 dxi 1
= K 1 K 1,2 K 2,3 L K i 2,i 1 K i 1,i
=

= K j 1, j
j =1

K j 1, j =

dx j
dx j 1

( j = 1, L , i)

4.15

j 1 j

4.16 O
F 1 F1
m x x& &x&
m1 x1 x&1 &x&1
4.17

4.16

4.17

R = F m&x&
166

(4-3)

R1 = F1 + m1 &x&1

(4-4)

0 1

R x R1x1 = 0

R dx R1dx1 = 0

R = R1

dx1
dx

4-2

R = R1K1
1 0
1

1 =

R'1 dx1
R' dx

(4-5)

1 0 1 0 1
1 1 1

4-5

1 R dx R1dx1 = 0

R =

R1

dx1 K1
=
R1
dx 1

4-6

4-34-44-6

m&x& +

K1

m1 &x&1 = F

K1

F1

x&1 = K1 x&

dK 1
x&
dt
dK 1 dx
= K 1 &x& +
x&
dx dt
dK 1 2
x&
= K 1 &x& +
dx

&x&1 = K 1 &x& +

167

(m +

K 12

m1 ) &x& +

K1

m1

K
dK1 2
x& = F 1 F1
1
dx

4-7

m&x& = F

4-8

K12

K12

m1

1
K1
F1
1
K1

1
K 12

m1

dK 1 2
x&
dx

m = m +

K 12

m1

1
K
K
dK
F = F 1 F 1 m1 1 x& 2
dx
1
1

T=

K1

F+

K 12

m1 &x& +

K1

m1

dK1 2
x&
dx

K1

4-8

4.18 O
F 1

F1 m x x& &x&
J 1 x1 x&1 &x&1
4.19
168

 4.18

4.19

R = F m&x&
R1 = F1 + J 1 &x&1

4-6

R =

K1

R1

(m +

K 12

J 1 ) &x& +

K1

J1

K
dK1 2
x& = F 1 F1
1
dx

4-9

m&x& = F

4-7 m1
x1 x&1 &x&1
F1 K1
4-94-74-7
4-7

23-1

0 n

169

R = F m&x&

Ri = Fi mi &x&i

(i = 1,2,L, n)

F
Fi i

m
m1 i
x x& &x&
xi x& i &x&i i

K i (i = 1,2, L , n)

i (i = 1,2,L, n)
n
K
R = Ri i
4-10
i
i =1

4-10

(m +
i =1

K i2

mi ) &x& +
i =1

Ki

mi

n
K
dK i 2
x& = F i Fi
dx
i =1 i

4-11

m&x& = F

K i2

i =1

Ki

i =1
n

i =1

Fi

Ki

mi

mi

dK i 2
x&
dx
n

m = m +

K i2

mi

i
n
n
K
K
dK i 2
F = F i Fi i mi
x&
dx
i =1 i
i =1 i
i =1

T =
i =1

K i2

mi &x& +
i =1

Ki

mi

dK i 2 n K i
x& +
Fi
dx
i =1 i

K i (i = 1,2, L , n)

i (i = 1,2,L, n) 0

i (i = 1,2, L , n) 0 i
170

4-20
0 F

4.20
x
F1 1 1
0 0 m x x&
&x& 1 m1 1 x1 x&1 &x&1
1 C1 O1 l1 l1 x

1 1

C1 J c1 1 O1 J 1
1 O1
O1

r
r
r
r
G1 = Ge1 + Gr1 + Grn1

M 1 = Ge1l1 sin 1 + J 1 &x&1

Ge1 = m1 &x& 0 1
Gr1 = m1l1 &x&1 1 C1 O1 1
0

G rn1 = m1l1 x&12 1 C1 O1 1

0
x

G1x = Ge1 + G rn1 cos 1 + G r1 sin 1

G1y = Grn1 sin 1 Gr1 cos 1

R = F m&x& G1x fG1y

= F (m + m1 )&x& m1 1 &x&1 + 1 x&12

1 = l1 (sin 1 f cos 1 )
171

 1 = l1 (cos 1 + f sin 1 )
O1

R1 = F1 + M 1
= F1 + J 1 &x&1 + 1 m1 &x&

1 = l1 sin 1

4.21
4-6

R =

K1

4.21

R1

R R1

(m + m1 +

K 12

J 1 + 1

K1

m1 + 1 K 1 m1 ) &x& +

K 1 dK 1

dK 1
K

J1
+ 1 m1
+ 1 K 12 m1 x& 2 = F 1 F1
dx
dx
1
1

m&x& = F

m = m + m1 +

F = F

4-12

K 12

J 1 + 1

K1

m1 + 1 K 1 m1

K
dK
dK
F 1 J 1 1 + 1 m1 1 + 1 K12 m1 x& 2
dx
1
dx

1
K1

l1 =0 1

1 =0 1 =0 1 =04-12

(m + m1 +

K 12

J 1 ) &x& +

K1

m1

dK1 2
K
x& = F 1 F1
1
dx

4-13

4-13
m1 1
l1 l1 =0 m1
m

0 n n 1 n1
172

 n1 + 1 n 2 n2 + 1 n

i (i = 1,2,L, n)

K i (i = 1,2, L , n)
4-10
n

R = Ri
i =1

Ki

n1
n
n

K2
K2
K
m + i mi + i J i + 1 + i K i + i i mi &x&

i
i =1 i
i = n1 +1 i
i = n2 +1

n
n
n1 K i
dK i
K i dK i
dK i

+
+
+ i
+ i K i2 mi x& 2
mi
Ji
dx i = n1 +1 i
dx i = n2 +1
dx

i =1 i
n
K
= F i Fi
i =1

4-14

i = li (sin i f cos i ) (i = n2 + 1,L, n)

i = li (cos i + f sin i ) (i = n2 + 1,L, n)
i = li sin i (i = n2 + 1,L, n)

m&x& = F

n1

K i2

i =1

m = m +

mi +

i = n1 +1

K i2

Ji +

1 + K

i = n2 +1

+ i

Ki
mi
i

n
n
n
n1 K
K
dK i
K
dK i
dK i

+ i Ji
+ i
+ i K i2 mi x& 2 i Fi
F = F i mi
dx i = n1 +1 i
dx i = n2 +1
dx

i =1 i
i =1 i

li =0 (i = n2 + 1, L, n) i (i = n2 + 1, L, n)

i =0 i =0 i =0 (i = n2 + 1,L, n) 4-14

n1
n
n
n
n1 K

K2
K2
dK i
Ki
dK i 2
x&
m + i mi + i J i + mi &x& + i mi
Ji
+

dx
dx

i =1
i = n1 +1
i = n2 +1
i = n1 +1 i
i
i

i =1 i

4-15
n
Ki
= F
Fi
i =1

mi (i = n2 + 1, L, n) m
173

 mi (i =, L , n)
xi x& i &x&i (i =, L , n)
Fi (i =, L , n) K i (i =, L , n)
4-15
n
n
n

K i2
K
dK i 2
K
m0 +
mi &x& + i mi
x& = F i Fi
dx
i =1 i
i =1 i
i =1 i

4-16

MX&& = F

4-17

m12
m
M = 11

m21 m22
&x&
X&& = &&

Fx
F =
F

m11
m12
m21
m22
&x&
&&
Fx
F

174

1 =

R1dx1
R dx

R dx =

R1dx1

( F m&x&)dx =

(F1 + m1 &x&1 )dx1

m&x&dx + m1 &x&1 dx1 + (

1) m1 &x&dx1 = Fdx F1 dx1 (

1) F1 dx1

dT = m&x&dx + m1 &x&1 dx1

1
1
= d ( mx& 2 ) + d ( m1 x&12 )
2
2
= dT0 + dT1
dA = Fdx F1 dx1 = dA0 dA1
175

dW = (

1)m1 &x&1 dx1 + (

1)F1 dx1 = (

1)dT1 + (

1)dA1

dA0 = Fdx

dA1 = F1 d1 x1
dA = dA0 dA1
1
dT0 = d ( mx& 2 )
2
1
2
dT1 = d ( m1 x&1 )
2
dT = dT0 + dT1
1
( 1)dT1
1

1) dA1

dW = (

1) dT1 + (

1) dA1

dA = dT + dW

(4-18)

dA dT dW

m&x&dx

1
m&x&dx = d ( mx& 2 ) = dT0
2
m1 &x&1 dx1

1
m1 &x&1 dx1 = d ( m1 x&12 ) = dT1
2
1
1
F1 dx1 ( 1) dT1 + ( 1) F1 dx1

176

R
R1 O 1
R

f fR
R fR
N 0 N1
f 0 N 0

f 1 N 1 4-22
R
fR
f 0 N 0 f 1 N 1

4-22

0 1

1 =

R1dx1 R1
=
K1
R dx R

4-22
1

N 1 = R (sin + f cos )
R1 = R(cos f sin ) f 1 N 1
= R[cos ( f + f 1 ) sin ff 1 cos ]
0

N 0 = R (cos f sin )
R = R(sin + f cos ) + f 0 N 0
= R[sin + ( f + f 0 ) cos ff 0 sin
R
cos ( f f1 ) sin ff1 cos
1 = 1 K1 =
K1
R
sin + ( f + f 0 ) cos ff 0 sin

(4-19)
177

 K 1 = tg

1 =

1 ( f + f 1 )tg ff 1
1 + ( f + f 0 )ctg ff 0

K1 = (

R
) | f =0
R1

(4-20)

1 =14-6
(4-21)

K1

R
R1

(4-22)

K 12

R R
( ) f =0
R1 R1

(4-23)

4-22 R R1
4-22 R
R1 R R1

R =
i =1

Ki

Ki

Ri

R R j

178

x&1 = K1 x&
K1 x&
t 0
x&1 (t 0 )

R =0
R =0

m&x& = F
m1 &x&1 = F1

4-24
4-25

m1 ( K1 &x& +

dK1 2
x& ) = F1
dx

4-26

K1

&x&1 = K1 &x&
4-244-25

F1 m1
=
K1
F
m

K1 = K1 ( x )
K1 ( x )

dK1
dK1
|
0 |
dx
dx
179

 K1 K1 ( x )
K1 ( x )

K1 ( x )

1 O 1 0
K1

K1 =

1
1
x&
=
=
x&1 x&1 K1
x&

1 0 0 1
1 R1
0 R
1 0

1 =

R dx R
=
K 1
R1dx1 R1

K1

1
K 1 R1
=
1 R

1
R1 0
R

4-23
0

N 0 = R(cos + f sin )
R = R(sin f cos ) f 0 N 0

= R[sin ( f + f 0 ) cos ff 0 sin ]

1
180

4-23

N1 = R(sin f cos )
R = R(cos + f sin ) + f1 N1
= R[cos + ( f + f1 ) sin ff1 cos ]

K1 cos + ( f + f 1) sin ff 1 cos

=
1 sin ( f + f 0 ) cos ff 0 sin

K1 = ctg

1 =

1 ( f + f 0 )ctg ff 0
1 + ( f + f 1 )tg ff 1

R1 =

K1
R
1

R =

K 1

R1

= K 11 R1

1 =

1
1

R =

K1
R1
1

1 =

1 + ( f + f 1 )tg ff 1
1 ( f + f 0 )ctg ff 0

4-27

4-20

1 =

1 ( f + f 1 )tg ff 1
1 + ( f + f 0 )ctg ff 0

181

-1

0 1 1 1 1

23-1

182

4-24 A

B m A

m B V V1
V V1
()
A B
4-24

m AV + m BV1 = m AV + m BV1

4-28

V V1

b=

V1 V
V V1

4-29

183

 b ,
b 0 1 b =0

b =0 b =1

()
b =1 0 b 1
b =0.30.55
b b =0.4
m A m B V V1

V V1 4-284-29
m1
V =V
(1 + b)(V V1 )
m + m1
m
V1 = V1 +
(1 + b)(V V1 )
m + m1

4-30

b =0 V V1

V = V1 =

mV + m1V1
m + m1

4-31

b =1

V1 V = V V1

V V1

V =V

2m1
(V V1 )
m + m1

4-32

2m
V1 = V1 +
(V V1 )
m + m1

E
A B

E =

1
1
m V 2 V 2 m1 V1 2 V12
2
2

4-33

(4-30) V V1

E =

1 mm1
2
1 b 2 (V V1 )
2 m + m1

4-34

184

4-25

0 1
F F1
V V1
V

V1
K1
K1

4-25

0 1

V1
V
0 1 V 1
K1
K1
V
V 1 0 1 0
K1
V =

Rdt = (F m&x&)dt

= Fdt m&x&dt
F

dv
dt
dt
0
= m(V V )

m&x&dt = m
0

V O

Rdt = m(V V )
0

R1dt = (F1 + m1 &x&1 )dt

185

= F1dt + m1 &x&1dt
F1

dv1
dt
0 dt
= m1 (V1 V1 )

m1 &x&1dt = m1
0

V1 1

R1dt = m1 (V1 V1 )
0

4-5

K1

R dt =

K1

K1

R1dt

K1

R dt =
0

K1

R1dt
0

m(V V ) =

K1

m1 (V1 V1 )

4-35

1 m1

K1

K12

K1

K12

m1 1 F1

F1 1

K1

4-35

m(V V ) =

m =
*
1

186

K 12

m1

K 12

m1 (

V1 V1
)
K1 K1

4-36

V1
K1

V
V*1 = 1
K1

V *1 =

m(V V ) = m *1 (V * 1 V *1 )

4-37

4-25 V sin V1 cos

V1 cos V sin

V1 cos V sin
V sin V1 cos
sin
4-25 K 1 =

cos
V1
V
K1
b=
V
V 1
K1
b=

4-38

4-39

4-364-39

K12

V =V

m+

m1

K12

(1 + b )(V

m1

V1
)
K1

1
V1 V1
V
m
=
+
(1 + b)(V 1 )
2
K1 K1
K1
K
m + 1 m1
1

4-40

K12

m1

V1

K1

1 = 1
K1 = 1 1 = 1
K1 = 1

b = 1

187

V1
V
V = V 1
K1
K1
2

V =V

K12

m1

m+

K12

(V

m1

V1
)
K1

4-41

b = 1 b = 0

V1
=V
K1
mV +

K12

V =
m+

K12

m1

V1
K1

4-42

m1

n + 1
4-26 0 k 1
0 k 1 k
k n

4-26

m mi 0 i
V Vi 0 i
V Vi 0 i
K i i 0 i
K ki ki k i
0 k 1 1 k 1 0
0 k 1 0 m0

188

k 1

m0 = m +
i =1

K i2

mi

k n k n n
k n k m0 k

m0 k = m k +

K k2,i

i = k +1

mi

k ,i

0
n

m(V V ) =
i =1

Ki

mi (Vi Vi )

k 1

m(V V ) =
i =1

Ki

mi (Vi Vi ) +
i =k

Ki

mi (Vi Vi )

4-43

0 k 1
k n k 1 k
0 k 1

Vi = K iV
Vi = K iV

(i = 1, , k 1)

k n

Vi = K k ,iVk

(i = k + 1, , n)

Vi = K k ,iVk

K i = K k K k ,i (i = k + 1, , n )
0
k 1
n

K2
K2 V V
m + i mi (V V ) = i mi k k
i =1 i
i =k i
Kk Kk

n K2
V V
K k2
k ,i
mk +
mi k k
K
k
i = k +1 k ,i
k K k

m0 (V V ) =

V V
m0 k k k
k
Kk Kk

K k2

4-44

0 k 1
0 k

k 0
189

 k
k 1 k k 1
k

k 1 k
Vk
Vk1
K k 1,k
b=
V
Vk 1 k
K k 1,k

4-45

Vk1 = Kk1V
Vk1 = Kk1V
Kk1 = Kk1,kKk

Vk
V
Kk
b=
V
V k
Kk

4-46

4-44-46

K k2

V =V

m0 +
Vk Vk
=
+
Kk Kk

m0 k

2
k

m0 +

(1 + b)(V
m0 k

m0
K k2

Vk
)
Kk
4-47

(1 + b)(V
m0 k

Vk
)
Kk

V =V

K i2

i =k

mi
2
i

i =1

m+

k 1

Vk Vk
=
+
Kk Kk

(1 + b)(V

m+
i =1

mi
K i2

i
2
i

i =1

m+

Vk
)
Kk
4-48

mi
(1 + b)(V

mi

Vk
)
Kk

190


m0 O V

K k2

m0 k

Vk

Kk

k 1 k
b = 0

Vk
=V
Kk
k 1
n

K2
K2
V
m + i mi V + i mi k
Kk
i =1 i
i =k i

V =
2
n
K
m + i mi
i =1

4-49

Kk b = 0
k 0 k
Kk Kk

Vk = KkV

b = 0

Vk
=V
Kk
k 1

V =

m+
i =1

K i2

mi +
i =k
2
i

i =1

m+

K i2

mi

K k
Kk

4-50

mi

191

b
b b =0.30.55

4-27

4-27

192

193

4-28

4-11

dv
= &x& = f 1
dt
dx
= v = f2
dt

4-28

dt
= 1 = f0
dt

{ X& } = {F }
{ X& } { X }

{F } {F }
4-29

194

4-29

195

()

196

2
3

4
5

4-30

4-30

1 4-31

59 57mm 23-1

2 4-32

E-20
GDF-001 35mm

4-31
197

4-32

4-33

65 37 23-2

4-33

198

P = pt

d 22

p t

d 2

4-34
P
T1

4-34

f1 T1 = f1 P
I
G m g G = mg
N
T2 f 2 T2 = f 2 N

X = 0
Y = 0

P I N cos T2 sin = 0
G T1 + N sin T2 cos = 0

N=

PI
cos + f1 sin

G + N sin = f1 P + Nf 2 cos

G + N sin < f1 P + Nf 2 cos

N

P(sin f1 cos f 2 cos f1 f 2 sin ) < I (sin f 2 cos ) mg (cos + f 2 sin )

f1 f 2 P I G
199

sin f1 cos f 2 cos < 0

tg < f1 + f 2

= arctgf

< 1 + 2

tg f
f

[ ] jy A

A=

N max
[ ] jy

N max

[ ] jy
[ ] jy
[ ] jy 0.70.8 s
[ ] jy
A

= 2 arcsin

b
D

2535
200

()

1
1
2
3
4
2

57G 37G

1
2
3
4
5
6

201

1
1

4-35a
4-35b

4-35c K

v A v B
t1 t 2

202

4-35

4-36

4-37 -

4-36

4-38

4-39

4-37

4-38

4-40

4-41

4-39

4-40

4-42
203


4-43

4-41

4-43

4-42

2
1

3
4
3
-

204

1
V (t ) X (t )
2 t 0 p 0
p 0 40MPa60MPa t 0
X 0 = X (t 0 ) V0 = V (t 0 )

3 t j t j
X

X j 0.85

( )

X j t j = t X

( )

V j = V t j

4 Vij

Vij Vij 1015m/s

5 K i (t )

K 0 = K i (t 0 ) =1

( )

Vij K ij = K i t j =

Vij
Vj

K i (t ) Vi (t ) = K i (t )V (t )
t

X i (t ) = X 0 + Vi (t )dt i (t ) = X i (t ) X (t )
t0

6 l1 l 2 0 A B C A
B C

0 l1 l 2

0
0 =1015

7 t X (t )

X i (t )

i (t )

t
, 4-44

1 A B C A

2 X 0 A0 B0 C 0

3 t X (t ) X i (t )
A i Bi A i
l1 Bi Bi A i Ai Bi

A i l 2 C i C i

205

X a = X (t )
Ya = 0
X b = X i (t ) X b 0

X b0 X b + X a
l1

= arccos

Yb = l1 sin ( )
X c = X a l 2 cos( 0 )
Yc = l 2 sin ( 0 )

Xi
Xi2
Xi1
Xi0
B1
Xb

B0

Yb

XC

Xb0
A

B2

A0

C0

C1

C2

A1
C

A2

A
YC

X0
X1
X2
X
4-44
9

206

37mm 23-1 23-2 25

23-2 23-1
5 8

37mm 57 37
30kg 4 5

30mm

207

4-45

4-45

57

37

4-46

4-46

4-47

4-47

208

ZU-23-4
3
1

100mm

4-48

4-48

4-49

4-50

4-51
4-52

209

 4-49

4-50

4-51

4-52

1
1
2
2
1
2
3
4
5
3
1
2
3
4
210

1
2
3
5
1
2
3

4
5
4

211

4-53

4-53

4-54

4-54

4-55

4-56

4-55
4

4-56
2
1

2
2u
2 u
=a
t 2
x 2

a =
2

a E

x
x
u ( x, t ) = f (t + ) + f 1 (t )
a
a

x
f (t + ) a
a

x
f 1 (t ) a
a

f 1 (t
212

x
) =0
a

x
u ( x , t ) = f (t + )
a
t1 x1

u ( x1 , t1 ) = f (t1 +

x1
)
a

x1 x 2
x 2
a
x
x x2 x2
x
u ( x 2 , t 2 ) = f (t 2 + 2 ) = f (t1 + 1
+ ) = f (t1 + 1 ) = u ( x1 , t1 )
a
a
a
a
x x2
x 2 x1 1

a
t 2 = t1 +

u ( x,0) = 0

u ( x ,0 ) = 0
t

x (0, l )
x (0, l )

u (l , t ) = f t + = (t )
a
l
d
d
f t + = & (t )
u (l , t ) =
dt a
dt

u (0, t ) = 0
x

t =
t =

2l

lx
x
a

l x
u ( x, t ) = t

Px = E
x = l

u E l x
= t

x a
a

Pl =

E
E
(t ) = V p
a
a
213

 V p
a E k
m

P = kmV p

P = kmV p + Nmg (sin + f cos )

Mq&& = F + SX

M
q&&
F
S
X

P = k1 ( q0 q1 ) + c1 ( q& 0 q&1 )

1
2
3
4
214

4-57

4-58

1:2
34 5

4-57

1:2
3 4 5

4-58

215

1 l
2 S
3 S h
4 S
5 W0
6 m0
7

l S
S h W0
S

dt
dQ dQ l
dQs dA
dE 4-59

dQ = dQl + dQs + dA + dE 4-51

4-59

dQ = C p T1G1dt

4-52

G1
T1
C p

dQl = C p TG 2 dt

216

4-53

G2
T

dQ s = (T T2 ) S q dt

4-54

dA = pS h dx

4-55

T2
S q

S h
x
p

E = em = C v TW

W
C v

= RT

R = C p Cv
k=

Cp
Cv

E = Cv

1
p
W =
pW
R
k 1

dE =

1
d ( pW )
k 1

4-56

C p T1G1 dt = C p TG 2 dt + (T T2 ) S q dt + pS h dx +

1
d ( pW )
(k 1)

4-57

C pT = C p

p
k p
=
R k 1
217

4-57

p1

k
p k
p
1
G1 dt =
G2 dt + ( T2 ) S q dt + pS h x&dt +
d ( pW )
1 k 1
k 1
R
(k 1)

4-58

W = W0 + S h x
4-58

dp 1 kG1 p1 kG2 p
p
=

(k 1) S q ( T3 ) kpS h x&

dt W 1
R

4-59

(G1 G2 )dt = d ( W )

G1 G 2 =

d
d
( W ) = W
+ S h x&
dt
dt

1
d
= (G1 G 2 S h x& )
dt W

4-60

x x&

G1 G2
p p1
p1 p p p1
p1 p

p1
p

k + 1 k 1
=

2
k

p
k + 1 k 1
k =1.25
1.8 1 =1.8
p
2
p
p
1 1.8 1 1.8
p
p

G1
1

k +1
2kp1 1 p 2
p k 2
k
(
)
(
)
G1 = 1 S

p1
k 1 p1

G1

218

4-61

k +1

2 2( k 1)
G1 = 1 S (
)
kp1 1
k +1

p
1.8 G1
p1

2kp
G1 = 1 S
k 1

4-62

k +1
p1 k2
p1 k 2
(
)
(
)

p

p

4-63

p
1.8 G1
p1
k +1

2 2 ( k 1)
G1 = 1 S (
)
kp
k +1

4-64

G2
p
1.8 G2
p0
p0
2
k +1

2 p p k p k
G2 = S

k 1 p 0
p0

4-65

p
1.8 G2
p0
k +1

2 2(k 1)
G2 = S
kp

k + 1

4-66

1 G1 G1 G2
4-60
2 1

1 <1 <1

1
3
S S S h W0

4-60

219

p = p m Ze 1 Z

4-67

Z=

t
tm

p m
t m
p m t m p m t m
I

I0
4-61

I 0 =

4-61

I0 =

t1 +

p1dt
tk

I = I 0 I = pdt p m et m
0

t = t k 0.1MPa p k = p m Z k e
p m t m
220

1 Z k

= 0.1

t
t


p = p e b 1 e b

4-68

b b
b
4-62

4-62

1 l

4-63
2 S

221

4-64
3 S

4-65

4-64

4-63

4-65

4 m0

4-66
5 W0

4-67

4-66

222

4-67

1/31/2

223

50
75
2

224

--

225

1 X oi i = 2, , N
X min i X oi X min i t

X oi 0 i = 2, , N
2

4-69

xo

1 N
( X oi X 0 ) 2
N 2 2

xo =

4-70

X0 =

1 N
X oi
N 1 2

3
X& 0 i i = 2, , N X min i
t X oi

X& 0 i 0 i = 2, , N
4

4-71

X&
0

X& =
0

1 N &
( X 0i X& 0 ) 2

N 2 2

4-72

1 N &
X oi
N 1 2
5 X mi X m
X& o =

X =
m

226

1 N
( X mi X m ) 2
N 2 2

4-73

Xm =

1 N
X mi
N 1 2

1 4-68

4-68

4-69

4-70

2 4-69

3 4-70

3
4
5

227

1 X max
X max X max

X max
2

F f 0 = m0 g =1.55



Ff 0

F 0 = f (a x )v a x
2

228


FR X

229

230

231


2
3

6
7

()

()

232

Kane

Kane

()

2
233

()()

()()

(
)

234

5-1
()

5-1

5-2

235

 5-2

2
()

236

5-3

5-4

0.2mm0.4mm

()

237

 5-3

5-4

()

1
0.1s
35

4
238

50

1 0.1mm
2 1000mm 0.25mm
3 0.1mm0.2mm
239

4 0.2mm
5 0.1mm0.2mm

360

5-5

5-5

5-6 5-7
240

 5-6

5-7

5-8 5-9
5-10

5-8

241

 5-9

5-10

()

242

60()

243

(
)

( 0.2 )

( 0.80.9)

=0 = c
= max X m

=0 = max X m X Rm
=0
510
X m X Rm
X Rm

244

K=23
4

5
6
F p Fu Fs

Fu Fs FR
F pt Le F p Fu Fs
F p

Fu Fs FR
245

F pt Le FQ
FQ
5-11 FQ
FN FQ
FQ FN 1 FN 2
FN 1 = FN 2

FQ l Q = FN 1l

lQ

l FN 1 FN 2
FR F pt Le FQ
FN FN 1 FN 2 5-12

5-11

5-12

FR C FN 2 l h

X =0
Y = 0
M = 0

FR cos + FN 1 FN 2 = 0
FR sin + FN FQ = 0
FR l h + F pt Le FN 1l FQ l Q = 0

FN = FR sin + FQ

1
(FR l h + Fpt Le FQ lQ )
l
FN 2 = FR cos + FN 1

FN 1 =

FR l h + F pt Le FQ l Q FN 1 FN 2
246

 FN 1 FN 2
l Q

max lQ min

lQ FN 1 FN 2

FR
F pt Le FQz M t
FR F pt Le M t x y
z
FR
F pt Le M t

FS 1 FS 2 FS1x FS 1 y

FS1z FS 2 x FS 2 y FS 2 z c1 c2
H
FN 1 FN 2
5-13
FR F pt Le FQz M t x
M t

FR FQz x
FR
FQz FR L
LE x L F
z L d
B l c1 c2 H
r

X = 0

FR cos cos FSx1 FSx 2 = 0

247

 5-13

Y = 0
Z = 0

FSy1 + FSy 2 + FN 1 + FN 2 FR sin FQz = 0

FR cos sin FSz1 + FSz 2 = 0

c2

= 0

FR H cos sin + FR L F sin +

1
l B
FQz l FSy1l FN 1 +
2
2 2

l B
FN 2 + F pt Le sin + M t cos cos = 0
2 2

= 0

FR L E cos sin + FR L F cos cos FSx1 l M t sin = 0

= 0

FR L E sin FR H cos cos + FQz Ld

FN1 L FN 2 L F pt Le cos + M t cos sin = 0

FN 1 = FN 2

248

FSy1l a FSz1l b = FSy 2 l a FSz 2 l b

FSz 2
= tg
FSx 2
FSx 2 FSz 2
2

FSz 2 sin 1
=
FSz1 sin 2

F pt Le M t F pt Le
M t FRm F pt Le ( Le
) M t FR FQz

()

249

1 =

M Fn
+
[ ]
W
A

M
W
Fn
A

[ ]

=
Ft

[ ]

[ ]

Ft
[ ]
A

H = 12 + 4 2 [ ]

[ ] = s
s n

1 5-14
F f 1 + f F 1 + FN 1 FN 2 f FN 1 f FN 2 F p

M t

2 5-14

3 5-14
--
--
----

4
5-14
1

250

 5-14

Ai yi z i

M yi = Ai y i M zi = Ai z i

A = Ai M y = M yi M z = M zi y 0 =

My
A

z0 =

Mz

5-15

5-15
J 0 yi

J 0 zi :
J yi = J 0 yi + Ai (z i z 0 )

J zi = J 0 zi + Ai ( yi y 0 )

J y = J yi

:
251

J z = J zi

2
5-14

- Z M Wz :

M Wz = FN 2 x 2 + fFN 2 y 2
- FQ :

FQ = fFN 2
- FS :

FS = FN 2
-
5-15
A B :

M Wz y A FQ

Jz
A
FQ
M y
B = Wz B
Jz
A

A =

y A y B A B Z
A -
J z - Z
M Wy AAB B
:

M Wz y A M Wy z A FQ

Jz
JY
A
M Wy z A FQ
M y
A' = Wz A m

Jz
JY
A
M Wy z B FQ
M y
B = Wz B

Jz
JY
A
M Wy z B FQ
M y
B ' = Wz B m

Jz
JY
A
FQ F f F FN 1 FN 2 x

A =

MW

x = min

= min = max X m

252

 X Rm

n=

max

s
max

ZG35
s =350MPa400MPa 20CrMnMo 25Ni3
600MPa
2

PCrMo20CrMnSi

1
Fr F p Fu 5-16
2
253

3 I-I
II-II Fr
III-III F p Fu
F p Fu

I-I Fr

Fr
5-16

Fr I-I M W = Fr l r Fr I-I
I-I Fr Fr Fr Fr W
I-I A I-I C I-I l r
Fr

M W Fr
+
[ ]
W
A

Fr
[ ]
A

H = 2 + 4 2 [ ]

[ ]

[ ]

[ ]

H [ ]

[ ] = s
s
254

max ns

ns = s
max

ns n

ZG3540 2

255

1
2

3
4

5-17

M q = Fq l q cos

Fq

lq

M p = F p l p sin

lp

Fp

Fq

l q

5-17

F p
l p

M q
M p
M = M q M p

2
3

256

5-18
5-19

5-18

5-19

5-20

5-20

257

5-21

5-21

5-22

5-22

258

123

F p l p

Fp l p

O
A
B
ra O A

rb
l

O B
A B
OA OB
O AB
259


k
m q
G G xq yq
l q = x q2 + y q2

OG

F p
5-23 0 = 0 j j m

5-23
5-23

j = 0 + j
j = 0 + j
l j = ra2 + rb2 2ra rb cos j = ra L j
L j = 1 +

rb2
r
2 b cos j
2
ra
ra
h j = ra sin OA j B = ra

H j =

sin j
Lj

sin j
rb
sin j = rb
= rb H j
lj
Lj

M q = Fq l q cos

260

M p = F p h j = k j

ra rb
rr
sin j = k j a b sin( 0 + 0 j )
lj
lj

j M q M p j l j

j j M q

0 + 0 90 M p

l j j

M p M q

M q M p

Fq l q = kra rb

k=

Fq l q
ra rb

k=

Fq l q

ra rb
l j j

0 + 0 90
ra rb 0 ra rb 0
AOB

0 + 0 90 0
0 OA OB
0 =0 OA OB k =

0 90- 0 OG

Fq l q
ra rb

l j j

l j = lm +

j = m +
l m m l j j

m A B
l j j
l j j

k 0

m ra rb 0 i i =1
261

25 M ( i ) =0 i =125

M m M m

ra rb 0 1 2 M (1 ) =0

M ( 2 ) =0 1 2 F p1 F p 2

k 0 m
ra rb 1 2 3 M ( i ) =0 i =1
23 0 k 0 m

1
2

M m

262

1
2

263

 70100W
3

-3-5
-10
2535 3545 65
70
60( 30) 360
-585 85 85
90 360
4

3
5

14 l64

264

5-24

5-25

5-24

5-25

265


5-26

5-27

5-26

360

5-27

360

l
2
3
4

2
266

3
23
4
35 2 12

6
7
8

10

11

2 1.52

GJB703-89 2030cm

1 80cm 30cm
267

 78N 3949N
2
90cm 58N 39N
3
110cm 69N 49N

M R

Fs =

MR
ir

i
r

Fgd =0
Fgd

M 1 = Fgd cos

M 2 = 9750i

268

P
n

M Nm
P kW
n r/min
i
M 1 M 2

300N

E=

1
J hz & 2
2

J hz
&

l
l2 2
Fz
U = 1 +
2 E1 A1 2 E 2 A2

l1 l 2
E1 E2
A1 A2
Fz
U = E
1

l
l2 &

Fz = J hz 1 +
2 E1 A1 2 E 2 A2

Fz Fz max l1 = l1min
1

Fz max

l
l2 &

= J hz 1min +
2 E1 A1 2 E 2 A2

Fz max

269

42446688

270

2045

5-28
3

5-28
271

5-29

5-29

272

1 H K
2
3 R
4 Pj Pm = KPj

[]

5 d l

m =

KPj R
0 .2 d 3

[ ]

d 3

KPj R

0.2[ ]

j =

Pj Rl
0.1Gd 4

KPj Rl
Pm Rl
=
0.1Gd 4 0.1Gd 4
h = m j

m =

(K 1)Pj Rl
H
h = m j =
R
0.1Gd 4

l=

0.1GHd 4
(K 1)Pj R 2

1
45CrNiMoVA YB476-97
45CrNiMoVA

45kmh 2030km
h 1020kmh
2

273

 36 l
3

3
D1.151.3d

3
30 90

1
1

274

1215

275

l
2

3
4
5

2
3
4
5
6
7

276

APU

5-30

5-30
(
)

277

()
()

FH77 80hp
4

FH77

66 - 88
-

278

5-31

279

 5-31

1
2
3
4
5
6

280

5-32 60
(
)

5-32

12.7mm 7.62mm
281

 25mm
12.7mm

1
3
2
3
4
5

6
360

5-33

5-34

5-33

5-35

282

 5-34

5-35

90 V
45

1
2
3
4

2
3
283

69

0.02mm HRC6266
HRC52 HRC5256
HRC3547

1
2
3

284

50

285

1 -40 +50 98
2
3 4 /
4 15s
1mg/L 2h 0.05mg/L

3
4

286

()()

/
2m

40km
120km
160km
()(
)()

3 1

287

100m 200m 1000m

200m
1.5

10s30s
1
FH70 155mm 6r/min 6r/13s
2r/ min1
23 20mm 6000r/ min

155mm
40T50T 60km/h 1m 3m
30 15

288

()

155mm
90 750m

289

2
3

1
2
3

4
5
6

W =

290

E
C

W
E
C

C =

E0
d3

C
1
E 0 = mV02
2
m
V0

E =

E0
mZ

E
E0

mZ

I =

Ip
mZ

I
I p = m 0WT = ( m + m w ) 1 T V0
m0

WT
m
m w

T
V0
291

mZ

1
2
3

292

C0 = Ci

C0
C i

E = ADC a

E
A
D

C a
A D C a
m n i

A = (a1, , a n )
m

a i = Rij
j =1

Rij j i

D = [d ij ]nxn
d ij i j
d 11

293

d
j =1

ij

=1

i = 1, L , n

6-1 1
2 3
12
3 d 11

6-1

d 11 = R1 R2 R3

d 12
1 2

d12 = (1 R1 ) R2 R3 + R1 (1 R2 ) R3 = R2 R3 + R1 R3 2 R1 R2 R3
d 13
d13 = R(1 R1 )(1 R2 ) R3 + R1 R2 (1 R3 ) + (1 R1 ) R2 (1 R3 )
+ R1 (1 R2 )(1 R3 ) + (1 R1 )(1 R2 )(1 R3 )
= 1 R1 R3 R2 R3 + R1 R2 R3
= 1 d 11 d12

d 21 1 2

d 21 =0

d 22 1 2
1 3 2 3

d 22 = R1 R3
d 23

d 23 = 1 d 21 d 22 = 1 d 22
d 31

d 31 =0
d 32

d 32 =0

d 33

d 33 =1

294

d11 d12
D = 0 d 22

0
0

d13
d 23

C1

Ca = M
C
n

C i = Pij
j =1

i = 1, L , n

Pij

V R m U R n U V R R
m

X U XR Y V

Y = XR

n n
1
1 0 1

10 0 10

5
0810 5 045

295

RO GO RV GL
CH

V = (RO, GO, RV , GL, CH )

PW MV EC SV

U = (PW , MV , EC , SV )

6-1
6.1

} = {0.1,

0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9}

0.3
0.7
R=
0.6

0.7

0.7
0.7
0.5
0.6

0.8
0.3
0.3
0.2

0.9
0.7
0.2
0.2

0.2
0.6
0.7

0.7

X = (, , , ) = (0.8, 0.3, 0.5, 0.5)

Y = X R
Y

y j = ( xi rij )
i =1

296

j = 1,L, m

l ij = ( xi rij ) = min (xi , rij )

y j = (lij ) = max(l1 j , L, l nj )
n

i =1

Y = X R = (0.5, 0.7, 0.8, 0.8, 0.5)

297

2
3

1
2
3

1
2
3

1
1
2
3
2
1

3
1
298

4
1

5
1

1
2
3
299

4
5
6
7
8
9
10

1
2

300

1
2

3
4
5

9
10
2

3
4

5
301

6
7

3
1

2
3

2
3
4

4
302

30

303

2
3

4
5
6

304

1
2
3
4
5
6
7
8
5

1
2
3
4
5
6

305

1
2
3
4
5
6
7
8

306

80

1
2
3

CAD
CAD
CAD

CAD

CAD

307

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16

308

309

m0
mZ
m
i = i
mZ

i i

i =

mi

m0

m0

mZ
mi i
1
310

 E0

E E

mZ =

E0

I p

I =3070

I
mZ =

Ip

m0 = mZ
=0.30.5 =0.5 mZ
m j j ET

mj =

ET

ps

m ps = ps m Z

m ps = m0
=0.850.97
2
1
= 0

2
= 0

5
311

()

()

312

12.7
360

()

(GPSGL0NASS)

313

314


[1] 21. 21 . 1996.5.
[2] . . 1997.3.
[3]. ,.
1992.1.
[4] . . 1992.7.
[5] . . 1993.2.
[6] . . 1993.5.
[7] . . 1987.
[8] . . 1990.
[9] . . 1995.
[10] M.A.. ..1959.
[11] 103 . . 1977.
[12] . . 1983.
[13] . . 1977.
[14] . (). 1990.
[15] . . 1997.
[16] . . 1990.8.
[17] George M. Chinn (). . 418 . 1974.
[18] . . 1988
[19] 412 . . 1975.5.
[20] . . 1995.
[21] .. 1988
[22] . . 1995
[23] .....1982
[24] .2003.
[25] .2003.

315