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ïðè      a = - 0.785 ðàä.

            b = 1 ðàä.

            wx0 = wz0 = 1 ðàä/ñ.

            wx0' = wz0' = 0.2 ðàä/ñ2.

            wy0  = 0.167 ðàä/ñ.

            wy0' = 0.167 ðàä/c2

 

            Âêëàä Ìöá â ñóììàðíûé âîçìóùàþùèé ìîìåíò ñîñòàâèë:

 

                   Ìöá

     Ê =                        × 100 % = 100 % 

              Ìèí + Ìöá

 

 

3) Ðàáîòà ÃÑ íà ïîäâèæíîì îñíîâàíèè ïðè óïðàâëÿåìîé ïëàòôîðìå.

 

            Ïðè ïîäâèæíîì îñíîâàíèè è óïðàâëÿåìîé ïëàòôîðìå èíåðöèîííûå âîçìóùàþùèå ìîìåíòû îïðåäåëÿþòñÿ âûðàæåíèÿìè (9).

 

MZ2ÈÍ={cos(2·b)-2}·cos(a)2·tg(b)2·Jxy2(·wx02+wz02)+

+{2·tg(b)2·sin(b)2-2·cos(b)2+4}·sin(a)·cos(a)·Jxy2·wx0·wz0+

+{(Jy2-Jx2)/cos(b)-2·Jxy2·sin(b)(1+tg(b)2)}·cos(a)·wx0·wy2+

+Jyz2·wz0·wz2·(sin(a)-cos(a))/cos(b)-

-Jxz2·wx0'·cos(a)/cos(b)+

+{2·Jxy2·(sin(b)·tg(b)2+sin(b))·sin(a)+(Jx2-

-Jy2)·sin(a)/cos(b)}·wy2·wz0+

+Jxz2·wz0'·sin(a)/cos(b)+

+{Jxz2-Jyz2}·wy2·wz2·tg(b)+

+{(Jy2-Jx2)·tg(b)+Jxy2·(1-tg(b)2)}·wy22-

-{Jxz2·tg(b)+Jyz2}·wy2'+

+Jz2·wz2'

 

 

MY1ÈÍ={[Jxz2·(tg(b)4+2/cos(b)2-1)·cos(b)3+Jyz1·tg(b)+

                 +Jxz1]·cos(a)2+

     +[[(Jx1-Jz1)-Jxy1·tg(b)]·cos(a)-Jxz1·sin(a)]·sin(a)}·wx02+

 +{[[Jxy1·tg(b)+(Jz1-Jx1)]·sin(a)-Jxz1·cos(a)]·cos(a)+

     +[Jxz2·cos(b)3·[2/cos(b)2+tg(b)4-1]+

 

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