0 0 φp
ψ' = 0 θ' = θp φ' = 0
ψp 0 0
φp − ψp ⋅ sin( θ)
θp ⋅ cos( φ) + ψp ⋅ cos( θ) ⋅ sin( φ)
ψ ⋅ cos( φ) ⋅ cos( θ) − θ ⋅ sin( φ)
p p
ωxL φp − ψp ⋅ sin( θ)
ω ⋅ sin( φ) θ ⋅ cos( φ) + ψ ⋅ cos( θ) ⋅ sin( φ) ⋅ sin( φ)
yL cos( θ) ( p p ) cos( θ)
cos( φ)
cos( φ)
ωzL⋅ ( ψp ⋅ cos( φ) ⋅ cos( θ) − θp ⋅ sin( φ) ) ⋅
cos( θ) cos( θ)
ωyL⋅
sin( φ)
cos( θ)
+ ωzL⋅
cos( φ)
cos( θ)
(cos(φ)2 + sin(φ)2)⋅ψp
ωxL⋅ cos( φ) + ωyL⋅ −sin( φ) (θp⋅ cos(φ) + ψp⋅ cos(θ)⋅ sin(φ))⋅ cos( φ) + (ψp⋅ cos(φ)⋅ cos(θ) − θp⋅ sin(φ) )⋅ −sin( φ)
ωyL⋅ cos( φ) + ωzL⋅ −sin( φ) (cos(φ)2 + sin(φ)2)⋅θp
ωxL + ωyL⋅
sin( φ) cos( φ)
+ ωzL⋅ ⋅ sin( θ) φp
cos( θ) cos( θ)
ωyL⋅
sin( φ)
+ ωzL⋅
cos( φ)
ψp cos( θ) cos( θ)
θp = ωyL⋅ cos( φ) + ωzL⋅ −sin( φ)
φ
p ωxL + ω ⋅ sin( φ) + ω ⋅ cos( φ) ⋅ sin( θ)
yL cos( θ) zL cos( θ)
d v
dt x
Fx + Tx 0 ωz −ωy vx
d v = 1 ⋅ F +
Ty + −ωz 0 ωx ⋅ vy
dt y m y ω −ω 0 v
Fz + Tz
y x z
d vz
dt
J ⋅ d ω − J ⋅ d ω
x dt x xz dt z
Mx + MxT Jy⋅ ωy⋅ ωz − Jz⋅ ωy⋅ ωz + Jxz⋅ ωx⋅ ωy
d
Jy⋅ ωy = M y + M yT + J ⋅ ω 2 − J ⋅ ω 2 − J ⋅ ω ⋅ ω + J ⋅ ω ⋅ ω
M + M
d t xz z xz x x x z z x z
z zT Jx⋅ ωx⋅ ωy − Jy⋅ ωx⋅ ωy − Jxz⋅ ωy⋅ ωz
Jz⋅ d ωz − Jxz⋅ d ωx
dt dt
Jxz
2
1 Jxz Jy − Jx
⋅ ( M z + M zT) − ωy⋅ ωz⋅ Jz − Jy +
d
ωx = ⋅ M x + M xT + − ωx⋅ ωy⋅ Jxz⋅ − 1
Jz
Jxz
Jz
dt
2
Jz
1 − ( J ⋅ J ) ⋅ Jx
x z
Jx − Jz Jxz
⋅ ωx − ωz
1
( )
d 2 2
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅ −
dt Jy Jy Jy
Jxz
2
Jz − Jy
1 Jxz
⋅ ( M z + M zT) + ⋅ ( M x + M xT) − ωx⋅ ωy⋅ Jy − Jx −
d
ωz = − ωy⋅ ωz⋅ Jxz⋅ + 1
Jx
Jxz
Jx
dt
2
Jx
1 − ( J ⋅ J ) ⋅ Jz
x z
Prima forma a ecuatiilor de miscare
1
d
dt
vx = ⋅
m
(Fx + Tx) − vz⋅ ωy + vy⋅ ωz
1
d
dt
vy = ⋅
m
(Fy + Ty) − vx⋅ ωz + vz⋅ ωx
1
d
dt
vz = ⋅
m
(Fz + Tz) − vy⋅ ωx + vx⋅ ωy
Jxz Jy − Jx
2
1 Jxz
⋅ ( M z + M zT) − ωy⋅ ωz⋅ Jz − Jy +
d
ωx = ⋅ M x + M xT + − ωx⋅ ωy⋅ Jxz⋅ − 1
Jz
Jxz
dt 2 Jz Jz
1 − ( J ⋅ J ) ⋅ Jx
x z
Jx − Jz Jxz
⋅ ωx − ωz
1
( )
d 2 2
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅ −
dt Jy Jy Jy
Jxz
2
1 Jxz Jz − Jy
⋅ ( M z + M zT) + ⋅ ( M x + M xT) − ωx⋅ ωy⋅ Jy − Jx −
d
ωz = − ωy⋅ ωz⋅ Jxz⋅ + 1
Jx
Jxz
Jx
dt
2
Jx
1 − ( J ⋅ J ) ⋅ Jz
x z
d
x = vx⋅ cos( ψ) ⋅ cos( θ) − vy⋅ cos( φ) ⋅ sin( ψ) + vz⋅ sin( φ) ⋅ sin( ψ) + vz⋅ cos( φ) ⋅ cos( ψ) ⋅ sin( θ) + vy⋅ cos( ψ) ⋅ sin( φ) ⋅ sin( θ)
dt
d
y = vy⋅ cos( φ) ⋅ cos( ψ) − vz⋅ cos( ψ) ⋅ sin( φ) + vx⋅ cos( θ) ⋅ sin( ψ) + vz⋅ cos( φ) ⋅ sin( ψ) ⋅ sin( θ) + vy⋅ sin( φ) ⋅ sin( ψ) ⋅ sin( θ)
dt
d
z = vz⋅ cos( φ) ⋅ cos( θ) − vx⋅ sin( θ) + vy⋅ cos( θ) ⋅ sin( φ)
dt
d sin( φ) cos( φ)
ψ = ωy⋅ + ωz⋅
dt cos( θ) cos( θ)
d
θ = ωy⋅ cos( φ) − ωz⋅ sin( φ)
dt
d
dt
( )
φ = ωx + ωy⋅ sin( φ) + ωz⋅ cos( φ) ⋅ tan( θ)
A doua forma a ecuatiilor la miscare
vx = V⋅ cos( α) ⋅ cos( β)
vy = V⋅ sin( β)
vz = V⋅ sin( α) ⋅ cos( β)
1
d
dt
( )
( V⋅ cos( α) ⋅ cos( β) ) = ⋅ Fx + Tx − V⋅ sin( α) ⋅ cos( β) ⋅ ωy + V⋅ sin( β) ⋅ ωz
m
1
d
dt
( )
( V⋅ sin( β) ) = ⋅ Fy + Ty − V⋅ cos( α) ⋅ cos( β) ⋅ ωz + V⋅ sin( α) ⋅ cos( β) ⋅ ωx
m
1
d
dt
( )
( V⋅ sin( α) ⋅ cos( β) ) = ⋅ Fz + Tz − V⋅ sin( β) ⋅ ωx + V⋅ cos( α) ⋅ cos( β) ⋅ ωy
m
1
d
dt
d d
( )
V ⋅ cos( α) ⋅ cos( β) − V⋅ sin( α) ⋅ cos( β) ⋅ α − V⋅ cos( α) ⋅ sin( β) ⋅ β = ⋅ Fx + Tx − V⋅ sin( α) ⋅ cos( β) ⋅ ωy + V⋅ sin( β) ⋅ ωz
dt dt m
1
d
dt
d
( )
V ⋅ sin( β) + V⋅ cos( β) ⋅ β = ⋅ Fy + Ty − V⋅ cos( α) ⋅ cos( β) ⋅ ωz + V⋅ sin( α) ⋅ cos( β) ⋅ ωx
dt m
1
d
dt
d d
( )
V ⋅ sin( α) ⋅ cos( β) + V⋅ cos( α) ⋅ cos( β) ⋅ α − V⋅ sin( α) ⋅ sin( β) ⋅ β = ⋅ Fz + Tz − V⋅ sin( β) ⋅ ωx + V⋅ cos( α) ⋅ cos( β) ⋅ ωy
dt dt m
Fx + Tx Fy + Ty Fz + Tz
d V ⋅ cos( α) ⋅ cos( β) + ⋅ sin( β) + ⋅ sin( α) ⋅ cos( β)
dt m m m
sin( α) x F + T cos( α) z F + T
d α =
x z
ωy − ⋅ + ωz⋅ sin( β) + ⋅ − ωx⋅ sin( β)
dt cos( β) V⋅ m cos( β) V⋅ m
Fy + Ty x x
F + T z
F + T
d β ⋅ cos( β) − ⋅ sin( β) + ωz ⋅ cos( α) −
z
⋅ sin( β) − ωx ⋅ sin( α)
dt
V⋅ m V⋅ m V⋅ m
Jxz
2
Jy − Jx
1 Jxz
⋅ ( M z + M zT) − ωy⋅ ωz⋅ Jz − Jy +
d
ωx = ⋅ M x + M xT + − ωx⋅ ωy⋅ Jxz⋅ − 1
Jz
Jxz
Jz
dt
2
Jz
1 − ( J ⋅ J ) ⋅ Jx
x z
Jx − Jz Jxz
⋅ ω − ωz
1
d
dt Jy
(
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅) Jy
−
Jy x
2 2
Jxz
2
1 Jxz Jz − Jy
⋅ ( M z + M zT) + ⋅ ( M x + M xT) − ωx⋅ ωy⋅ Jy − Jx −
d
ωz = − ωy⋅ ωz⋅ Jxz⋅ + 1
Jx
Jxz
Jx
dt
2
Jx
1 − ( J ⋅ J ) ⋅ Jz
x z
d
x = V⋅ cos( α) ⋅ cos( β) ⋅ cos( ψ) ⋅ cos( θ) − V⋅ sin( β) ⋅ ( cos( φ) ⋅ sin( ψ) − cos( ψ) ⋅ sin( φ) ⋅ sin( θ) ) + V⋅ sin( α) ⋅ cos( β) ⋅ ( sin( φ) ⋅ sin( ψ) + cos( φ) ⋅ cos( ψ) ⋅ sin( θ) )
dt
d
y = V⋅ cos( α) ⋅ cos( β) ⋅ cos( θ) ⋅ sin( ψ) + V⋅ sin( β) ⋅ ( cos( φ) ⋅ cos( ψ) + sin( φ) ⋅ sin( ψ) ⋅ sin( θ) ) + V⋅ sin( α) ⋅ cos( β) ⋅ ( cos( φ) ⋅ sin( ψ) ⋅ sin( θ) − cos( ψ) ⋅ sin( φ) )
dt
d
z = V⋅ sin( α) ⋅ cos( β) ⋅ cos( φ) ⋅ cos( θ) − V⋅ cos( α) ⋅ cos( β) ⋅ sin( θ) + V⋅ sin( β) ⋅ cos( θ) ⋅ sin( φ)
dt
d sin( φ) cos( φ)
ψ = ωy⋅ + ωz⋅
dt cos( θ) cos( θ)
d
θ = ωy⋅ cos( φ) − ωz⋅ sin( φ)
dt
d
dt
( )
φ = ωx + ωy⋅ sin( φ) + ωz⋅ cos( φ) ⋅ tan( θ)
d
x = vx⋅ cos( ψ) ⋅ cos( θ) − vy⋅ cos( φ) ⋅ sin( ψ) + vz⋅ sin( φ) ⋅ sin( ψ) + vz⋅ cos( φ) ⋅ cos( ψ) ⋅ sin( θ) + vy⋅ cos( ψ) ⋅ sin( φ) ⋅ sin( θ)
dt
d
z = vz⋅ cos( φ) ⋅ cos( θ) − vx⋅ sin( θ) + vy⋅ cos( θ) ⋅ sin( φ)
dt
d
θ = ωy⋅ cos( φ) − ωz⋅ sin( φ)
dt
Fx + Tx Fy + Ty Fz + Tz
d
V= ⋅ cos( α) ⋅ cos( β) + ⋅ sin( β) + ⋅ sin( α) ⋅ cos( β)
dt m m m
d sin( α) Fx + Tx cos( α) Fz + Tz
α = ωy − ⋅ + ωz⋅ sin( β) + ⋅ − ωx⋅ sin( β)
dt cos( β) V⋅ m cos( β) V⋅ m
Jx − Jz Jxz
⋅ ωx − ωz
1
( )
d 2 2
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅ −
dt Jy Jy Jy
d
θ = ωy⋅ cos( φ) − ωz⋅ sin( φ)
dt
vx = V⋅ cos( α) ⋅ cos( β)
vz = V⋅ sin( α) ⋅ cos( β)
Fx + Tx Fz + Tz
d
V= ⋅ cos( α) + ⋅ sin( α)
dt m m
d Fx + Tx Fz + Tz
α = ωy − sin( α) ⋅ + cos( α) ⋅
dt V⋅ m V⋅ m
1
d
dt
(
ωy = ⋅ M y + M yT
Jy
)
d
θ = ωy
dt
vx = V⋅ cos( α)
vz = V⋅ sin( α)
vz
tan( α) =
vx
Varianta
Fτ + Tτ
d
V=
dt m
Fν + Tν
d
γ=
dt V⋅ m
1
d
dt
(
ωy = ⋅ M y + M yT
Jy
)
d
θ = ωy
dt
vx = V⋅ cos( θ − γ)
vz = V⋅ sin( θ − γ)
Jxz
2
1 Jxz Jz − Jy
⋅ ( M z + M zT) + ⋅ ( M x + M xT) − ωx⋅ ωy⋅ Jy − Jx −
d
ωz = − ωy⋅ ωz⋅ Jxz⋅ + 1
Jx
Jxz
Jx
dt
2
Jx
1 − ( J ⋅ J ) ⋅ Jz
x z
d
y = vy⋅ cos( φ) ⋅ cos( ψ) − vz⋅ cos( ψ) ⋅ sin( φ) + vx⋅ cos( θ) ⋅ sin( ψ) + vz⋅ cos( φ) ⋅ sin( ψ) ⋅ sin( θ) + vy⋅ sin( φ) ⋅ sin( ψ) ⋅ sin( θ)
dt
d sin( φ) cos( φ)
ψ = ωy⋅ + ωz⋅
dt cos( θ) cos( θ)
d
dt
( )
φ = ωx + ωy⋅ sin( φ) + ωz⋅ cos( φ) ⋅ tan( θ)
Forma simplificata a ecuatiilor miscarii laterale
1
d
dt
( )
vy = ⋅ Fy + Ty − vx⋅ ωz + vz⋅ ωx
m
1
d
dt
(
ωx = ⋅ M x + M xT
J
)
x
1
d
dt
((
ωz = ⋅ M z + M zT
Jz
))
d
y = vx⋅ ψ + vy − vz⋅ φ
dt
d
ψ = ωz
dt
d
φ = ωx
dt