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r 2 +
r 3
r 4
r 1=0
r 2 +
r 3=
r 4 +
r1
r 2 +
r 3
r 4
r 1=0
r 2 ei 2+ r 3 ei 3=r 4 ei 4 +r 1 e i1
r 2 ( cos 2 +i sen 2 ) +r 3 ( cos 3+i sen 3 )=r 4 ( cos 4 + isen 4 ) +r 1 ( cos 1+i sen 1 )
Parte Real:
r 2 cos 2 +r 3 cos 3=r 4 cos 4 + r 1 cos 1
De donde:
r 3 cos 3=r 1 cos 1+r 4 cos 4 r 2 cos 2
Ecuacin (1)
Parte Imaginaria:
r 2 sen 2 +r 3 sen 3=r 4 sen 4 + r 1 sen 1
De donde:
r 3 sen 3 =r 1 sen 1 +r 4 sen 4 r 2 sen 2
Ecuacin (2)
En este caso tenemos una ecuacin no lineal donde las variables dependientes o incgnitas
son: 3 y 4, la variable independiente es
r4 .
Ecuacin (1)
Ecuacin (2)
r 23 cos2 3=r 21 cos 2 1 +r 24 cos 2 4 +r 22 cos2 2 +2 r 1 cos 1 r 4 cos 4 2r 1 cos 1 r 2 cos 22 r 4 cos 4 r 2 cos 2
Elevando al cuadrado la ecuacin (2)
2
r 3 sen 3=r 1 sen 1 +r 4 sen 4 +r 2 sen 2 +2 r 1 sen 1 r 4 sen 4 2r 1 sen 1 r 2 sen 22 r 4 sen 4 r 2 sen 2
r 21 +r 22 +r 24r 23
k3 =
2 r4 r2
k 2=
r1
r4
k 1=
r1
r2
(
2)
sen ( ) =
[1+ tan ( 2 )]
4
2 tan
cos ( 4 )=
tan
[ ( )]
[ ( )]
1tan 2
4
2
1+ tan 2
4
2
( 2 )=x
4
sin ( 4 )=
2x
1+ x2
cos ( 4 )=
1x 2
1+ x 2
A x + Bx+C=0
A ( 2 )=k 3cos ( 1 )k 2 cos ( 2 1) + cos ( 2 )
B ( 2 )=2 k 1 sen ( 1 )2 sen ( 2 )
C ( 2 ) =k 3 + k 1 cos ( 1 )k 2 cos ( 21 ) cos ( 2 )
Resolviendo la ecuacin:
4 =2 atan ( x )
B B24 AC
x=
2A
B ( 2 ) B ( 2 )24 A ( 2 ) C ( 2 )
4 ( 2) =2 atan
2 A ( 2 )
3 ( 2 )=2 atan
E ( 2 ) E ( 2 ) 4 D ( 2 ) F ( 2 )
2 D ( 2 )
)
3
Donde:
r 24r 22 r 21r 23
k5 =
2 r2 r3
k 4=
r1
r3
r1 222
r2 100
r3 206
r4 233
1 207
180
r1
k1
r2
r1
k2
r4
k3
r1 r2 r4 r3
k5
2r4 r2
2 0 0.1 2
B 2 2 k1 sin 1 2 sin 2
C 2 k3 k1 cos 1 k2 cos 2 1
cos 2
B B 2 4 A C
2
2
2 2
4 2 2 atan
2 A 2
3 2 2 atan
E E 2 4 D F
2
2
2 2
2 D 2
r4 r2 r1 r3
2 r2 r3
r1
k4
r3
i 3
i 4
r 2 e + r 3 e =r 4 e +r 1 e
i1
r 2 i 2 e i +r 3 i 3 ei =r 4 i 4 e i
2
Ecuacin (3)
Ecuacin (4)
3 ( 2 ) =
r 2sin(2 4 ( 2 ) )
r 3sin( 4 ( 2 )3 ( 2 ))
3 ( 2 ) 4 (2)
r 4sin
r 2sin(3 ( 2 ) 2)
4 ( 2 )=
2 =200 rpm
i 2 22 r 2 e i +i 2 r 2 ei +i 2 23 r 3 e i +i 3 r 3 e i =i2 24 r 4 e i +i 4 r 4 e i
2
Parte Real:
Ecuacin (5)
(2 )
(3 )
(4 )
2
4 r 4 cos ( 4 ) 4 r 4 sin
2
3 r 3 cos ( 3 ) 3 r 3 sin=
( 2 ) 2 r 2 sin +
22 r 2 cos
Parte Imaginaria:
Ecuacin (6)
(2 )
(3 )
(4 )
2
4 r 4 sin ( 4 ) 4 r 4 cos
23 r 3 sin ( 3 ) 3 r 3 cos =
( 2 ) 2 r 2 cos +
22 r 2 sin
3 ( 2) =
4 ( 2 )=
3 y
I ( 2 )J ( 2 )G ( 2 )M (2)
G ( 2)K ( 2 ) H ( 2 )J ( 2)
I ( 2 )K ( 2 ) H ( 2 )M ( 2)
G ( 2 )K ( 2 )H ( 2 )J (2 )
Donde:
G ( 2 )=r 4 sin ( 4 ( 2) )
H ( 2 )=r 3 sin ( 3 ( 2) )
2
J ( 2 )=r 4 cos ( 4 ( 2 ) )
K ( 2 )=r 3 cos ( 3 ( 2 ) )
2