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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
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]+