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2008
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2008 .
.. , - .-. , .
: .. , - .-. , .
.. , . .-. , .
.. : ; . . - . .. .
, 2008. 30 .
,
.
,
..
: , ,
.
22.311
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.. 2008 .
1. .
G .
G, (x, y, z)
, (q1, q2, q3)
Q ,
(q1, q2, q3) ,
(q1, q2, q3)
Q G.
,
(q1, q2, q3). (x, y, z)
q1, q2, q3
(1.1)
G
G
G G
r = i x + j y + k z,
(1.2)
(1.1)
G G
r = r (q1, q2, q3).
, (1.3)
:
(1.3)
,
x
q1
( x, y, z )
x
=
( q1 , q 2 , q 3 ) q 2
x
q3
y
q1
y
q2
y
q3
z
q1
z
0.
q2
z
q3
(1.4)
qi = qi (x, y, z), (i = 1, 2, 3).
(q1 , q2 , q3 )
, (1.1) (1.3)
.
(1.3) -
, , q2 q3 , q1
, ,
q1-.
q2 q3-.
,
. ,
,
.
.
q2 q3 , .. q2 = q20 q3 = q30 .
G G
r = r (q1 , q20 , q30 )
(1.5)
G
r
q1,
q1
G
r1 q1- (. 2).
,
G
G
r
rj =
,
q j ( j = 1, 2, 3).
G
, rj
G x y z
,
,
.
rj =
q q q
j
j
j
(1.6)
(1.7)
.2.
G G G
, r1, r2 , r3 , ..
(rGi , rGj ) = 0,
i j
(1.8)
x x y y z z
+
+
= 0.
q i q j q i q j qi q j
(1.9)
G
Hi ri
x
G
H i = ri =
qi
y
+
qi
z
+
qi
(1.10)
Hi .
G
G
ri
G
1 r
=
ei =
, (i = 1, 2, 3).
H i H i qi
(1.11)
, .
,
dl2
dl2 = dx2+ dy2+ dz2.
(1.12)
(1.1)
dx =
x
x
x
dq 1 +
dq 2 +
dq 3 ,
q3
q1
q2
dy =
y
y
y
dq 1 +
dq 2 +
dq 3 ,
q1
q2
q3
dz =
z
z
z
dq 1 +
dq 2 +
dq 3 .
q1
q2
q3
(1.13)
(1.12)
(1.9), ,
dl 2 = H12 dq12 + H2 2 dq2 2 + H32 dq32 .
(1.14)
,
dli = Hi dqi .
(1.15)
, d ij , i- j- ,
dV
d ij = Hi H j dqi dq j ,
dV = H1 H2 H3dq1dq2 dq3 .
(1.16)
(1.17)
2.
G
(M).
, G
G
P ,
G
P = grad .
(2.1)
G , P
:
Px =
, Py =
, Pz =
.
x
y
z
(2.2)
G
, P .
,
(grad , eGi ) ,
(i = 1, 2, 3) .
(2.3)
G
ei
,
G
(1.11). P
G
1
(grad , rGi ) =
Pi = ( grad , ei ) =
Hi
=
1 x
1
y
z
.
+
+
=
y qi
z qi
H i x qi
H i qi
(2.4)
,
3
grad =
i =1
1 G
ei .
i qi
(2.5)
, ,
,
, , ,
G
Hi ei .
3.
,
, V,
M0:
G
G G
1
(
.
divP (M 0 ) =
P
, n )d =
V
V
(3.1)
G
P
M0.
V
.3.
,
(.3). V
(1.7)
V = H1 H2 H3q1q2 q3 .
(3.2)
, G
q1 . n1 ,
G
G
n2 . P
,
(3.3)
2
23
= Pn2 (q1 ) H2 (q1 ) H3 (q1 ) q2 q3 .
(3.4)
23
1
2
23 = 23
+ 23
= Pn1 H2 H3 q
1 + q1
+ Pn2 H2 H3 q q2 q3 .
1
23
23 = Pn1 H 2 H 3 q
1 + q1
(3.5)
Pn1 H 2 H 3 q q2 q3 .
1
(3.6)
df d 2 f d 3 f
f =
+
+
+...
1!
2!
3!
(3.7)
,
23 =
( P1 H2 H3 ) q1q2 q3 ,
q1
(3.8)
P1 = Pn1 . ,
13 =
12 =
( P2 H1 H3 ) q1q2 q3 ,
q2
( P3 H1 H2 ) q1q2 q3 .
q3
(3.9)
(3.10)
= 23 + 13 + 12 =
= ( P1 H2 H3 ) +
( P2 H1 H3 ) +
( P3 H1 H2 ) q1q2 q3 .
q2
q3
q1
10
V,
, (3.1)
G
divP =
1
H1 H 2 H 3
H1 H 2 H 3
(
).
P
H
q
i =1
i
i
3
(3.11)
4.
, ,
,
, L,
G
n
G
1
rot n P ( M 0 ) =
G G
P
L dl = .
(4.1)
,
L qi
qj, ij = H i H j qi q j . L,
,
G G
= dl = Pl l.
L
(4.2)
11
G,
,
0
(. 13).
q1-.
(4.1)
.4.
G ABCD
rot q1 P =
.
23
(4.3)
23 (1.16)
23 = H2 H3q2 q3 .
(4.4)
ABCD . ,
ABCD = Pdl
= P2 dl2 + P3dl3 + P2 dl2 + P3dl3 .
l
ABCD
AB
BC
CD
(4.5)
DA
G
li = Hi qi , P q1 = const ,
:
AB = P2 dl2 = P2 (q3 ) H2 (q3 )q2 ,
AB
12
(4.5)
,
( P H ) ( P2 H2 )
ABCD = 3 3
q2 q3 .
q
q
2
3
(4.6)
ABCD 23 (4.3),
G
rot q1 P =
1 ( P3 H 3 ) ( P2 H 2 )
.
H 2 H 3 q2
q3
(4.7)
,
G
rot q2 P =
1 ( P1H 1 ) ( P3 H 3 )
,
H 3 H 1 q3
q1
(4.8)
G
rot q3 P =
1 ( P2 H 2 ) ( P1H 1 )
.
H 1H 2 q1
q2
(4.9)
G
rotP =
1
H2H3
( P3 H 3 ) ( P2 H 2 ) G
e1 +
q
q
2
3
1 ( P1 H 1 ) ( P3 H 3 ) G
1
e2 +
q1
H 3 H 1 q3
H1H 2
(4.10)
( P2 H 2 ) ( P1 H 1 ) G
q
e3 .
q
1
2
13
5.
= div grad.
(5.1)
(3.11)
Pi =
1
,
H i qi
(5.2)
H 1 H 2 H 3
H 2 q .
i
i
(5.3)
1
=
H1H 2 H 3
i =1 q i
3
,
1
=
H1H 2 H 3
14
i =1 q i
3
H1H 2 H 3
H 2 q .
i
i
(5.4)
6. .
, ,
:
x = r cos ,
y = r sin
z = z , r = x 2 + y 2 , tg = y
(0 r , 0 2 , z ).
(6.1)
(1.11)
G
G
G
er = i cos + j sin ,
G
G
G
e = i sin + j cos ,
G
G
ez = k .
(6.3)
G G
G
i = er cos e sin ,
G G
G
j = er sin + e cos ,
G G
k = ez .
(6.4)
15
,
r
grad =
1
,
r
grad z =
,
z
G 1 (rPr ) 1 P Pz
divP =
,
+
+
r r
r
z
G 1 Pz P
G P P
G 1 (r P ) Pr
rot r P =
, rot P = r z , rot z P =
,
r
r r
z
r
z
r
1
1 2 2
2
.
=
+ 2
+
r
r 2 z 2
r
7. .
, ,
:
x = r sin cos , y = r sin sin , z = r cos
(0 r , 0 , 0 2 ).
(7.1)
H = r ,
H = r sin ,
d l 2 = dr 2 + r 2 d 2 + r 2 sin 2 d 2 ,
d r = r 2 sin d d , d = r sin dr d , d = r dr d
dV = r 2 sin dr d d .
16
(7.2)
G
G
G G
er = i sin cos + j sin sin + k cos ,
G
G
G
G
e = i cos cos + j cos sin k sin ,
G
G
G
e = i sin + j cos .
(7.3)
grad r =
1
1
, grad =
, grad =
.
r
r
r sin
(7.4)
G 1 r 2 Pr
1 (P sin )
1 P
divP = 2
+
+
.
r sin
r sin
r
(7.5)
1 (P sin ) P
r sin
G 1 1 Pr (rP )
rot P =
,
r
r sin
G 1 (rP ) Pr
.
rot P =
r r
G
rot r P =
(7.6)
17
2
r
r
1
2 = 2
r
r
sin
+ 1
sin
1 2
= .
sin 2 2
(7.7)
8.
.
, , -
G G G
G
r ( t ) = ix + jy + kz =
G
G
G
= i r sin cos + j r sin sin + k r cos .
G
( t ) :
G
G
G
G G
( t ) = r = i r sin cos + i r cos cos i r sin sin +
G
G
G
+ j r sin sin + j r cos sin + i r sin cos +
G
G
G
G
G
r + re + r sin e .
+ k rcos k r sin = re
(7.9)
(7.10)
,
,
:
18
G
G
G
G
G
G
er = i cos cos + j cos sin k sin + sin ( i sin + j cos ) =
G
G
= e + sin e ,
G
G
G
G
G
G
e = i sin cos + j sin sin + k cos + cos ( i sin + j cos ) =
G
G
= er + cos e ,
G
G
G
G
G
e = ( i cos + j sin ) = sin er cos e .
G
G
G G
sin er = i sin 2 cos + j sin 2 sin + k cos sin
G
G
i
j sin
+
=
+
cos
G
G
G G
2
2
cos e = i cos cos + j cos sin k cos sin
. , ,
.
19
G
G
G
G
G
G
G
G
r + re + re + re + r sin e + r sin e
a =
rer + re
G
G
cos e + r sin e .
+ r
,
ar =
r r 2 + 2 sin 2 ,
1 d 2
a = 2r + r r 2 sin cos =
r r 2 sin cos ,
r dt
(7.11)
1 d 2
cos + r sin =
a = 2r sin + 2r
r sin 2 ) .
(
r sin dt
( )
20
21
22
23
24