4.

,
,
, .
, (
)
. ,

. ,
,
.

. 2.4
2., ,

.

4.1

q , (2.4.23),

d T
+ + = 0. (4.1.1)
dt q& q& q

1 2 1 2 1
T= aq& , = cq , = bq& 2 , (4.1.2)
2 2 2

(4.1.1)

aq&& + bq& + cq = 0 , (4.1.3)

q&& + 2q& + 2 q = 0 , (4.1.4)

 :

b c
2 = , 2 = . (4.1.5)
a a

(4.1.4)

q = Cet , (4.1.6)

2 + 2 + 2 = 0 (4.1.7)

(4.1.6)
(4.1.4).
:

1, 2 = 2 2 , (4.1.8)

, (4.1.6) :

q (1) = C1e 1t , q ( 2 ) = C2 e 2 t . (4.1.9)

(4.1.4)
, .,

q = C1e 1t + C2e 2 t , (4.1.10)

, 1 2 , C1 C2 . , 1 = 2 ,

q = (C1 + C2t ) e t . (4.1.11)

,
(4.1.8), .
:
 ) < .
) > .
) = . .

(4.1.8), ,
, ,
.

) . .

(4.1.8)
, :

1 = + ip, 2 = ip, (4.1.12)

p = 2 2 , (4.1.13)

(4.1.10)

q = e t (C1eipt + C2e ipt ) , (4.1.14)

q = e t ( A1 cos pt + A2 sin pt ), (4.1.15)

q = Ae t cos( pt ) (4.1.16)

:
A2
A = A12 + A22 , = arctan . (4.1.17)
A1

, :

t0 = 0, q(t0 ) = q0 , q& (t0 ) = q&0 , (4.1.18)

 :

q0 + q&0
A1 = q0 , A2 = , (4.1.19)
p

2
q + q&0 q0 + q&0
A= q02 + 0 , = arctan . (4.1.20)
p q0 p

(4.1.19) (4.1.15) (4.1.20) (4.1.16)

.
.
, (q = 0)
.
,
q& = 0. i (i = 1,2,......)
,
tk (k = 1,2,......)
, :

q( i ) = 0, (i = 1,2,...) q& (tk ) = 0, (k = 1,2,....) . (4.1.21)

(4.1.16)
:

i +1 i = (i = 1,2,...), tk +1 tk = (k = 1,2,...) (4.1.22)
p p

, ,
,
.
, ,
(4.1.22), .

2
Tp = . (4.1.23)
p
 p , (4.1.13),
.

,
, :

p = 2 2 < Tp > T . (4.1.24)

. 4.1
.

4.1

Rk ( k = 1,2,....) tk , .
:

Rk = q(tk ) , q& (tk ) = 0 (k = 1,2,....), (4.1.25)

, (4.1.16),
:

t
Rk +1 e k +1 A cos( ptk +1 )
= t . (4.1.26)
Rk e k A cos( ptk )
 (4.1.22) (4.1.23)

Tp
tk +1 = tk + = tk + , (4.1.27)
p 2

cos( ptk +1 ) = cos( ptk + ) = cos( ptk ) . (4.1.28)

(4.1.27) (4.1.26), (4.1.28),

T p

R
d = k +1 = e p
=e 2 (4.1.29)
Rk

.
(d < 1)
.
,
,
. , (4.1.29)

2 2D
= ln d = ,
Tp Tp

Tp
D = ln d = = (4.1.30)
p 2

. .

) .

( > ) (4.1.8)
, , :

1 = + k < 0, 2 = k < 0 , (4.1.31)

 k = 2 2 .

(4.1.10)

q = e t (C1e kt + C2e kt ) . (4.1.32)

e kt + e kt e kt e kt
cosh kt = , sinh kt = ,
2 2

q = e t ( A1 cosh kt + A2 sinh kt ). (4.1.33)

C1 ,C2 (4.1.32) A1 , A2
(4.1.33) :

A1 = C1 + C2 , A2 = C1 C2 .

, :

t0 = 0, q (t0 ), q& (t0 ),

q=
1 t
2k
e { }
[( + k )q0 + q&0 ]e kt + [( + k )q0 q&0 ]e kt , (4.1.34)

q&0 + q0
q = e t (q0 cosh kt + sinh kt ) . (4.1.35)
k

, .
. ,
:
 q 0, q& 0.
t t

, (q0 , q&0 ) ,
(.4.2 )

4.2
) .

= , (4.1.8) ,
, :

1 = 2 = < 0 , (4.1.36)

q = (C1 + C2t )e t . (4.1.37)

, ,

q = [q0 + (q0 + q&0 )t ]e t . (4.1.38)

.
 , ,
:

q 0, q& 0 ,
t t

, (1. ),
(q = 0) ,
,
.

4.1.1: , m 3l,
c1 = cl 2
O (Sl. 4.3). A B, m,
1 M=2m. 1 -
. O D

.

?

4.3

: .
OE :
q1 = . (1)
(. 4.3):
1
= c1 (2 + st ) 2 + mgyT 1 + mgyT 2 + C0 , (2)
2
:
 3l
yT 1 = OT1 sin(30 + ) = sin(30 + ),
2 (3)
3l
yT 2 = OT2 sin(30 + ) = sin(30 + ).
2

4.3 4.3

(3) (2) :
1
= c1 (2 + st ) 2 + C0 , (4)
2
, , :
d 2
c11 =
2
= 4c1 = 4cl 2 . (5)
d = 0
:
1 1 1 1
T = 2 J O& 2 + mv A2 + mvB2 + MvD2 , (6)
2 2 2 2
:
r r r
v A = vB = vD . (7)
A :
d (OD) l&
OD = l ctg(30 + ) vD = = 2 , (8)
dt sin (30 + )
 ( = 0 ):
v A = v B = v D = 4l& . (9)
(9) ,
A (. 4.3):
r r r
v A = v Ap + v Ar , (10)
:
l& v Ap
v Ap = OA& = = 2l& , v A = = 4l& . (11)
sin 30 sin 30
(9) (6) :
11 1 1 1
T = 2 m(3l ) 2 & 2 + 2 m(4l& ) 2 + 2m(4l& ) 2 = (70ml 2 )& 2 , (12)
23 2 2 2
:
a11 = 70ml 2 . (13)

:
1 1 1 1
= vr2 = v D2 = (4l& ) 2 = (16 l 2 )& 2 , (14)
2 2 2 2
:
b11 = 16 l 2 . (15)

- (
):
2 2 < 0 < , (16)
:
b11 c11 16 l 2 4cl 2
< < , (17)
2a11 a11 2 70ml 2 70ml 2
:
1
< 70cm . (18)
4

4.1.2: M m, CD
BC = CD = 2 R , MN
( CM = R ), N ( CN = 2 R ), MA
A (. 4.4).
.
A c O.

.

ABCD, , v0 N.

4.4

:
ABCD:
q1 = x . (1)
:
1
= mgy + c( x + f st ) 2 + C0 , (2)
2
x y M (. 4.4):
2
( R + y ) 2 + (2 R x) 2 = NM = (2 R) 2 + R 2 = 5 R 2 , (3)
:
y = R 2 + 4 Rx x 2 R ( y ) x = 0 = 0,
dy 4R 2x 2R x
y = = = ( y) x = 0 = 2, (4)
dx 2 R + 4 Rx x
2 2 y+R
d2y ( y + R) (2 R x) y 5
y = 2
= 2
( y) x = 0 = .
dx ( y + R) R
 4.4 4.4

:
d 2 5mg
c11 = 2 = mg ( y ) x = 0 + c = +c. (5)
dx x = 0 R
. 4.4 :
5mg
c11 > 0 c > . (6)
R
(. 4.4):
1 2
T = mvM , (7)
2
M NM
( ABCD)
( CD ):
r r r
vM = vMp + vMr ,
(8)
vMp = x& , vMr = ( y& ) x = 0 = ( y ) x = 0 x& = 2 x& ,
:
2 2 2
vM = vMp + vMr = 5x& 2 . (9)
(9) (7) :
1 1
T = m(5 x& 2 ) = (5m) x& 2 , (10)
2 2
:
a11 = 5m . (11)


:
r r r r r
vr = (vM v A ) MAr = (vMp + vMr v A ) MAr = vMr sin 0 . (12)
:
CM R 1
sin 0 = = = , (13)
NM 2
R + (2 R) 2 5
:
2x&
vr = . (14)
5
:
2
1 2 1 2 x& 1 4
= vr = = ( ) x& 2 , (15)
2 2 5 2 5
 :
4
b11 = . (16)
5
:
b11 2 c11 cR 5mg
= = , = = . (17)
2a11 25m a11 5mR
:
2
2 cR 5mg
2 < 2 < . (18)
25m 5mR
:
x = e t ( A1 cos pt + A2 sin pt ) , (19)
:
x0 = 0, x&0 = v0 , (20)
:
2 t
v0 cR 5mg 4 2
x= e 25 m sin( t) . (21)
cR 5mg 4 2 5mR 625m 2

5mR 625m 2

4.2
.

(2.2.6), (2.3.10)
(2.4.21),
:

d T
+ + =0 ( j = 1,2,..., s ) , (4.2.1)
dt q& j q& j q j

(a jk q&&k + b jk q& k + c jk qk ) = 0
s
( j = 1,2,..., s ) . (4.2.2)
k =1

, ,

 && + Bq& + Cq = 0 ,
Aq (4.2.3)

a11 a12 L a1s q&&1 b11 b12 L b1s q&1 c11 c12 L c1s q1 0
a a22 L a2s q&&2 b21 b22 L b2s q&2 c21 c22 L c2s q2 0
21 + + = . (4.2.4)
M M O M M M M O M M M M O M M M

as1 as2 L ass q&&s bs1 bs2 L bss q&s cs1 cs2 L css qs 0

( )

( )
( )
-
, .

.

,
, ,
.

4.2.1: . 4.5 C
m T m
R. C T

. EI x
BT = TN = CN = CM = 2 R ,
.
 4.5
: :
1 1 1
T = mvC2 + mvT2 + J T & 2
2 2 2
(1)
1 1 1 1
T = m(q&12 + q& 2 2 ) + mq&32 + ( mR 2 )q& 4 2 .
2 2 2 2
:
2 0 0 0

m 0 2 0 0
A= . (2)
2 0 0 2 0
2
0 0 0 R

4.5
:
1 2
= vrel , (3)
2
 :
r r 2 2
vrel = (vT vC ) CTr = q& 3
(q&1 + q& 2 ) . (4)
2 2
(4) (3) ,
:
1 1 1 0

1 1 1 0
B= . (5)
2 1 1 1 0

0 0 0 0

. :
C = 1 , (6)


(. 4.5).
4 R 2 12 R 2 18 R 2 3R
2 2 2
R 12 R 128 R 144 R 8R
= . (7)
3EI x 18 R 2 144 R 2 184 R 2 22 R

3R 8R 22 R 10
:
Aq&& + Bq& + 1q = 0 . (8)
(8) ,
:
Aq&& + Bq& + q = 0 , (9)
:

8R 2 24R 2 36R 2 3R3 q&&1 2R 2 2R 2 2R 2 0 q&1 q1

mR 24R 2 256R 2 288R 2 8R3 q&&2 R 4R
2
4R 2 4R 2 0 q&2 q2
+ + = 0.
6EI x 36R 2 288R2 368R 2 22R3 q&&3 6EI x 22R 22R 2 22R 2
2
0 q&3 q3

6R 16R 44R 10R 2 q&&4 11R 11R 11R 0 q&4 q4
(10)

4.3

(4.2.2) :
 q j = c j e t ( j = 1,2,..., s ) , (4.3.1)

, (4.2.3) (4.2.4), :

q1 c1
q c
q = cet 2 = 2 e t ,
M M

q s c3
(4.3.2)

c c j , .
.
,

(4.2.2) (4.2.3)
(4.2.4). , , (4.2.3)
,
(4.3.2) ,

( A2 + B + C)c = 0 , (4.3.3)

, ,
c j :

(a112 + b11 + c11)c1 + (a122 + b12 + c12)c2 + L+ (a1s2 + b1s + c1s )c1 = 0
(a212 + b21 + c21)c1+ (a222 + b22 + c22)c2 + L+ (a2s2 + b2s + c2s )c2 = 0
M
(as12 + bs1 + cs1)c1 + (as22 + bs2 + cs2 )c2 + L+ (ass2 + bss + css )cs = 0.
(4.3.4)

c0

A2 + B + C (4.3.5)

, .
 A2 + B + C = 0 . (4.3.6)

. .
2s - , .

A02 s + A12 s 1 + A22 s 2 + LL A2 s 1 + A2 s = 0 . (4.3.7)

2s
i (i = 1,2,...,2s )
(4.3.2) . ,
i
:

q (i ) = c(i )ei t (i = 1,2,...,2s ) , (4.3.8)

, (4.3.3), c(i )
() :

( A2i + Bi + C)c( i ) = 0 (i = 1,2,...,2s ). (4.3.9)

, ,
, .
(4.3.9)
,
c , :

( A2 + B + C)c = 0, ( A 2 + B + C) c = 0, (4.3.10)

c , c ,
A, B C

c T Ac2 + c TBc + c TCc = 0. (4.3.11)

(3.1.2.) ,
A C, :
 c 0 c T Ac = A > 0, c TCc = C > 0 , (4.3.12)

, , B,

c TBc = B 0, (4.3.13)

, , (
). , (3.2.15)
,

A2 + B + C = 0 . (4.3.14)

i .
(4.3.12) (4.3.13), :

A(i ) > 0, C (i ) > 0, B (i ) 0 (4.3.15)

, A(i ) , B (i ) , C (i ) , (4.3.14)
i ,
. , (4.3.14)

B B 2 4 AC
= . (4.3.16)
2A

, (4.3.16),
:
1. B 2 4 AC
( < 0).

2. B 2 < 4 AC
(Re < 0).
.
3. B = 0
(Re = 0).
.

,
. A

:

q (i ) 0 .
t
(4.3.17)

.
, ,
. ,
. :
B (i ) > 0 (i = 1,2,....,2s ) , (4.3.18)
.
A ,

(4.3.17). ,

,
.

4.3.1: . 4.6
. AB m 6R A
B OA O1 B 3R.
m R
C c -

.
x . 4.6.

4.6

:
 81 81 27
(18m 2 R 2 )4 + ( mR 2 )3 + (9m 2 gR + mR 2 c)2 + ( mgR ) +
5 5 5
(1)
27
+ mgRc = 0.
5

4.3.2: AC, 2l EI x ,
AB BC, M1 M2
m. M 1 , c, M 3 ,
m . M 2

.
.

4.7
: A
:
q = [q1 q2 q3 ]T , (1)
:
m 0 0 0 0 0
= 0 m 0 , B = 0 0 . (2)
0 0 m 0 0 0
:
1
= c(q3 q1 ) 2 , (3)
2
:
T 1
1 q 12 q1
Ad = 1 11 . (4)
2 q2 21 22 q2
,
B , FB (. 4.7)
:
fB = 0 . (5)
 4.7
A 1 , 1, 2 B :

f1 ( F1 = 1) = 11 = 11 1 + 1B FB , f 2 ( F1 = 1)

= 21 = 21 1 + 2B FB ,
(6)
f B ( F1 = 1) = B1 = B1 1 + BB

FB = 0,
:
(1B ) 2 1B 2B
11 = 11
, 21 = 21
, (7)
BB BB
ij
(. 4.7), []:
2 2
(2l )3 l 2 3 l 2
11 = ,
3EI x 2l 2l
3 l 2 3 l 2 3 l 2 2 3 l 2 2 3 l 2 l 2 3
(2l )3

21 = 1 + , (8)
6 EI x
2l 2l 2l 2l 2l

(2l )3 l 2 3 l 2
2
(2l )3
1B = , BB = .
12 EI x 2l 4 2l 48 EI x

, :
22 = 11 , 2B = 1B , (9)
(7), (8) (9) :
23 9
l3
= , (10)
3 2 EI x 9 23
9

:
24 EI x 23 9
1 = 9 23 . (11)
7l 3

(3) (4), C :
552 EI x 216 EI x
c + c
7l 3 7l 3

C = 216 EI x 552 EI x
0. (12)

7l 3 7l 3
c 0 c

 :
552 EI x 216 EI x
c+ 3
+ m2 c
7l 7l 3
216 EI x 552 EI x =0. (13)
3 3
+ + m2 0
7l 7l
c 0 c + m2

4.3.3: A B, m,
c D, .

. A
B .
.

: :
q = [ x y ]T , (1)
:
1 1
= mgy + c ( x + f1st ) 2 + c ( y + f 2 st ) 2 + C0 , (2)
2 2
:
c 0
C= . (3)
0 c

4.8 4.8

:
1 1
T = mx& 2 + my& 2 , (4)
2 2
:
 m 0
A= . (5)
0 m
:
r r 2 2 2
vr = (vB v A ) ABr = (vB ) ( v A ) = ( x& + y& ) , (6)
2 2 2
:
1 1 1 1 1 1
= vr2 = ( ) x& 2 + ( ) y& 2 + ( ) x&y& , (7)
2 2 2 2 2 2
:


B = 2 2 . (8)


2 2
:
1 1
(m2 + + c) 2 ( ) 2 = 0, (9)
2 2
:

c 2 4mc
1, 2 = i ,3, 4 = . (10)
m 2m

-
:
< 2 mc . (11)
(10) .

.

4.4 -

(4.3.7). ,
,
.

. (Edward John Routh,1831-
1907) (Adolf Hurwitz, 1859-1919),
,

:

P() A0n + A1n1 + A2n 2 + LL+ An 1 + An = 0 ( A0 > 0) , (4.4.1)

. ,
(4.4.1) n n

A1 A0 0 0 L 0 0 0
A A2 A1 A0 L 0 0 0
3
A5 A4 A3 A2 L 0 0 0
, (4.4.2)
M M M M O M M M
0 0 0 0 L An An 1 An 2

0 0 0 0 L 0 0 An

( ):

A1 A0 0 L 0
A1 A0 0 A3 A2 A1 L 0
A A0
1 = A1, 2 = 1 , 3 = A3 A2 A1 , L, n = A5 A4 A3 L 0 .
A3 A2
A5 A4 A3 M M M O M
0 0 0 L An
(4.4.3)

- :

(4.4.1)
(4.4.3) ,
:

1 > 0, 2 > 0, 3 > 0, L, n > 0. (4.4.4)

n (4.4.4)
(4.4.1)
( A0 > 0) . ,
(4.4.4) (4.4.1)
, :
 A0 > 0, A1 > 0, A2 > 0, L, An > 0 . (4.4.5)

, n ,
(4.4.4) .
(4.4.1)
(4.4.3)
.
(4.4.1)

(4.3.1) (4.3.2) (4.4.4)

n n
q = q (i ) = c(i )ei t 0 , (4.4.6)
i =1 i =1 t

. -

. ,


.

.
-
,
.
,
. ,
, ,
. ,
,
. , ,

, (4.2.2)
(4.2.3)
, -
. , (4.3.7)
2s - (4.4.2),
(n = 2 s) :
 A1 A0 0 0 L 0 0 0
A A2 A1 A0 L 0 0 0
3
M M M M O M M M

A2 S 1 A2 S 2 A2 S 3 A2 S 4 L L L L (4.4.7)
0 A2 S A2 S 1 A2 S 2 L L L L

M M M M O M M M
0 0 0 0 L A2 S A2 S 1 A2 S 2

0 0 0 0 L 0 0 A2 S

( ):

A1 A0 L 0
A1 A0 0
A1 A0 A3 A2 L 0
1 = A1 , 2 = , 3 = A3 A2 A1 , L, 2S = .
A3 A1 M M O M
A5 A4 A3
0 0 L A2 S
(4.4.8)

A0 (4.3.7) ,
(4.3.6), A ,
.

A0 = A > 0 .

(4.3.6) (4.3.7), ,
:

i 0, Re(i ) 0 (i = 1,2,...,2s ) , (4.4.9)

(4.4.8), , :

i 0 (i = 1,2,...,2s ).

, (4.4.8)
- ,
,
, . A (4.4.8)
 ,
, ,
, .

4.4.1: -
. 4.9, m,
c
= mc .

IZBACITI DVA PRIGUSIVACA SA SLIKE

4.9
: .
:
q = [ x1 x2 x3 ]T . (1)
,
:
1 1 1
= cx12 + c( x2 x1 ) 2 + c ( x3 x2 ) 2 . (2)
2 2 2
:
1 1 1
T = mx&12 + mx& 22 + mx&32 , (3)
2 2 2
:
1
= x&12 . (4)
2
(2), (3) (4) ,
:
2c c 0 m 0 0 0 0

C = c 2c c , A = 0 m 0 ,B = 0 0 0.
(5)
0 c c 0 0 m 0 0 0

,
.
:
| A2 + B + C|= 0, (6)
 :
2c + + m2 c 0
c 2c + m2 c = 0, (7)
2
0 c c + m

, ( c = 2 / m ):
(m 6 )6 + (m5 )5 + (5m 4 2 )4 + (3m3 3 )3 + (6m 2 4 )2 +
(8)
+ (m 5 ) + ( 6 ) = 0.

:
A06 + A15 + A24 + A33 + A42 + A5 + A6 = 0, (9)
:
A1 A0 0 0 0 0 m5 m6 0 0 0 0
A 3 3
3 A2 A1 A0 0 0 3m 5m 4 2 m5 m6 0 0
A5 A4 A3 A2 A1 A0 m 5
6m 2 4 3m3 3 5m 4 2 m5 m6 (10)
= .
0 A6 A5 A4 A3 A2 0 6 m 5 6m 2 4 3m 3 3 5m 4 2
0 0 0 A6 A5 A4 0 0 0 6
m 5 6m 2 4

0 0 0 0 0 A6 0 0 0 0 0 6
(8) , .
,
A0 ,
(10) . :
A0 = m6 > 0,1 = m5 > 0, 2 = 2m9 3 > 0, 3 = m12 6 > 0,
(11)
4 = 3m14 10 > 0, 5 = m15 15 > 0, 6 = m15 21 > 0,
- ,
.

4.5

i (4.3.7)
(4.3.8) , (4.3.3),
:

( Ai2 + Bi + C)c(i ) = 0 (i = 1,2,...,2 s ) , 4.5.1)

:
(a11i2 + b11i + c11)c1(i ) + (a12i2 + b12i + c12 )c2(i ) + L + (a1s i2 + b1s i + c1s )cs(i ) = 0
(a21i2 + b21i + c21)c1(i ) + (a22i2 + b22i + c22 )c2(i ) + L + (a2s i2 + b2s i + c2s )cs(i ) = 0 (4.5.2)
M
(as1i2 + bs1i + cs1 )c1(i ) + (as 2i2 + bs 2i + cs 2 )c2(i ) + L + (ass i2 + bss i + css )cs(i ) = 0
(i = 1,2,..., 2 s ) ,

2s 2 c (ji ) ( j = 1,2,..., s ) .
, ,
.
2s s 1
s 1 c (ij ) . , ,
i - (4.5.2)
c1(i ) , :

K1(ij)
c (ji ) = c (i )
(i ) 1
( j = 1,2,..., s ) , (4.5.3)
K11

K1(ij) ( j = 1,2,..., s ) i -
(4.5.2),
(4.3.5) i .
2 s.
:

c1(i ) K11
(i )
(i ) (i )
c 1 K
c (i ) = 2 , k (i ) = (i ) 12 (i = 1,2,...,2 s ) , (4.5.4)
M K11 M
(i ) (i )
cs K1s

(4.5.5) :

c (i ) = k (i ) c1(i ) . (4.5.6)

(4.2.3)
, :
 2s 2s
q = q ( i ) = c ( i ) e i t , (4.5.7)
i =1 i =1

, (4.5.6),

2s
q = k (i )c1(i )ei t . (4.5.8)
i =1

t0 , :

t0 = 0, q(t0 ) = q 0 , q& (t0 ) = q& 0 , (4.5.9)

(4.5.8) :

2s 2s
(i ) (i ) (i ) (i )
k c1 = q 0 , k c1 i = q& 0 (4.5.10)
i =1 i =1

2s c1(i ) .
(4.5.8)

q = q (t ) , (4.5.11)

s :

q j = q j (t ) ( j = 1,2,..., s ) . (4.5.12)

4.5.1: . 4.10

v0 . -
= 2mc .

4.10
: :
q = [ x1 x2 ]T . (1)
:
1 1
= cx12 + cx22 , (2)
2 2
:
1 1
T = mx&12 + mx& 22 , (3)
2 2
:
1 1 1
= x&12 + ( x& 2 x&1 )2 + x& 22 , (4)
2 2 2
, :
c 0 m 0 2
C= ,A = ,B = . (5)
0 c 0 m 2
:
Aq&& + Bq& + Cq = 0 , (6)
:
c
q = ce t = 1 e t , (7)
c2
:
m2 + 2 + c c1 0
2 = . (8)
m + 2 + c c2 0
:
3 9 2 4cm 3 7
1, 2 = = ,
2m 2 m
(9)
2 4cm 1 i
3, 4 = = .
2m 2 m
(9)
,
.
rang(A2 + B + C) = s 1 = 1 , (8)
. (4.5.6):
c2(i ) i
k 2(i ) = = (i = 1,2,3,4). (10)
c1(i ) mi2 + 2i + c
(9) (10) :
k 2(1, 2) = 1, k 2(3, 4) = 1, , (11)
 (4.5.8):
c1(1) e 1t

x 1 1 1 1 c1( 2) e 2 t
q = 1 = (1) , (12)
x2 k 2 k 2( 2) k 2(3) k2( 4) c1(3) e 3t
( 4) t
c1 e
4

:
c1(1) c1(1) 1
( 2)
0 1 1 1 1 c1 v0 1 1 1 1 c1( 2) 2
q0 = = = =
(3) 0 v 1 1 1 1 (3) ,
, q
& (13)
0 1 1 1 1 c1 0 c1 3
( 4) ( 4)
c1 c1 4
:
0 1 1 1 1 c1(1)
0 1 1
= 1 1 c1( 2)
, (14)
v0 1 2 3 4 c1(3)

v
0 1 2 3 4 c1( 4)
:
0 0
1
c1(1) 1 1 10 0
1
( 2) 0 v 0
c1 = 1 1 1 = 1 0 = v0 m i . (15)
c (3) 1 2 3 v0
4 3 4
1( 4) v0 m

c1 1 23 v
0 4 v0 i
4 3
(15) (12), :
0
0
t
x1 1 1 1 1 v0 m 2 m t t
q= = ie (cos + i sin ) ,
2m
(16)
x2 1 1 1 1 2m

t
v0 m 2 m t t
ie (cos + i sin )
2m 2m
:
2v m t t
0 e 2 m sin
x1 2m
= . (17)
t
t
x2 2v0 m 2 m
e sin
2m
4.6 .

(3.8.18),
:

1 0 L 0 12 0 L 0

0 1 L 0 0 22 L 0
A** = S T AS = , C = S CS =
** T
, (4.6.1)
M M O M M M O M

0 0 L 1 0 0 L s2

(3.8.17). ,
, ,

b11** **
b12 L b1*s*
** **
b b L b2**s
B** = S TBS = 21 22 , (4.6.2)
M M O M
** ** **

bs1 bs 2 L bss

()

A**&& + B**& + C** = 0 (4.6.3)

, (4.6.1) (4.6.2)

&&1 b11
** **
b12 L b1*s* &1 12 1 0
&& ** **
2 + b21 b22 L b2**s &2 22 2 0
+ = . (4.6.4)
M M M O M M M M
&& ** ** 2
s bs1 bs 2 &s s s 0
**
L bss

 2 + b11
**
+ 12 **
b12 L b1*s*
** 2 ** 2
b21 + b22 + 2 L b1*s*
=0 (4.6.5)
M M O M
bs*1* bs**2 L 2 + bss
**
+ s2

2s -

2 s + A1**2 s 1 + A2**2 s 2 + L + A2**s 1 + A2**s = 0 , (4.6.6)

(4.3.7) A0 , :

Ai
Ai** (i = 1,2,...,2 s ) . (4.6.7)
A0

,
(4.6.4)
(4.2.4),
( )
. .

B (4.6.2) , .

21 0 L 0
0 2 L 0
B =
** 2
. (4.6.8)
M M O M

0 0 L 2 s

, ,
. ,
, :

&&j + 2 j& j + 2j j = 0 ( j = 1,2,..., s ) . (4.6.9)

2j + 2 j j + 2j = 0 ( j = 1,2,..., s ), (4.6.10)
 2s :

j1, 2 = j 2j 2j ( j = 1,2,..., s ) . (4.6.11)

j . ,
, ,
.