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53
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Diwhu lqwurgxfwlrq ri Ht1 4144: lqwr wkh htxdwlrq ri wkh gh hfwhg olqh 41447 rqh pd| jhw lw lq wkh iroorzlqj irup1 % % 2 & 2 & 5 5 5 5 5 n2 + n n , )+ +E5 ' 2 , , , , , % % & & 2 2 5 5 5 5 n 2 n +2 n , )+2 , , , , ' iM E5 jA i+j zkhuh= ; 2 5 A , n 2 ,5 A ; < A A A 2 A M A A A A 5 5 A n ,5 , ? @ A ? , 2 , M2 , iM E5 j ' ' 2 M A A A 5 5 A A 2 > A A = , A , Me , A A 2 A A = ,5 n ,5 ,

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Dv rqh fdq vhh iurp wkh htxdwlrq 41454/ wkh g|qdplf gh hfwlrq olqh lv dssur{lpdwhg e| wkh vwdwlf gh hfwlrq olqh1 Lw vkrxog eh qrwhg wkdw wklv dvvxpswlrq lv dffhswdeoh rqo| li wkh frqvlghuhg hohphqw lv uhdvrqdeo| vkruw1 Wkh iroorzlqj pdwkhpdwlfdo pdqlsxodwlrqv duh dlphg wr uhsodfh wkh frqwlqxhv pdwkhpdwlfdo prgho ri wkh hohphqw frqvlghuhg . a Y e +E5c | Y 2 +E5c | 4 'f Y5 e Y|2 +41455,
e| lwv glvfuhhw uhsuhvhqwdwlrq dorqj wkh qrgdo frruglqdwhv d6 o i+ E|j n d& o i+ E|j ' f +41456,
Lq wkh deryh htxdwlrqv 4 vwdqgv iru wkh xqlw pdvv ri wkh qlwh hohphqw dqg d6 o dqg d& o vwdqgv iru wkh lqhuwld dqg vwlqhvv pdwul{ uhvshfwlyho|1 Wkhvh wzr pdwulfhv duh jrlqj wr eh ghyhorshg iurp wkh wzr iroorzlqj fulwhulrqv= 41 Wkh nlqhwlf hqhuj| vwruhg lq wkh frqwlqxhv sk|vlfdo prgho ri wkh qlwh hohphqw pxvw eh htxdo wr wkh nlqhwlf hqhuj| vwruhg lq lwv glvfuhhw sk|vlfdo prgho1 51 Wkh srwhqwldo hqhuj| vwruhg lq wkh frqwlqxhv sk|vlfdo prgho ri wkh qlwh hohphqw pxvw eh htxdo wr wkh srwhqwldo hqhuj| vwruhg lq lwv glvfuhhw sk|vlfdo prgho1 Wkh nlqhwlf hqhuj| vwruhg lq wkh frqwlqxhv sk|vlfdo prgho ri wkh qlwh hohphqw

lv A ' ' ' ' 2 ] , Y+E5c | 4 _5 2 f Y| ] , Y+E5c | Y+E5c | 4 _5 2 f Y| Y| ] , 4 i+ E|jA iM E5 j iM E5 jA i+ E|j _5 2 f ] , A A iM E5 j iM E5 j _5 i+ E|j i+ E|j 4 2 f 3 5 2 M M2 , M M M ] , 2 2 E 9 M2 M , M2 , M2 M , 9 i+ E|jA E 4 2 C 7 M M M M2 , M 2 f 2 Me M , Me M2 , Me M ,
75
'
6 4 M Me , 2 : F M2 Me , : _5 F i+ E|j M Me , 8 D 2 2 Me , +41457,
Lw lv hdv| wr vhh wkdw wkh odvw urz ri Ht1 41457 uhsuhvhqwv nlqhwlf hqhuj| ixqfwlrq ri wkh glvfuhhw sk|vlfdo prgho dorqj wkh qrgdo frruglqdwhv + )+ +2 )+2 zlwk wkh iroorzlqj pdwul{ ri lqhuwld1 6 2 M M M , M M M M , 2 e ] , 2 2 2 : 9 M2 M , M2 , M2 M , M2 Me , 9 : _5 ' 4 2 7 M M M M2 , M M Me , 8 f 2 2 2 Me M , Me M2 , Me M , Me , 5 6 b e2f , D 2f , .f 2 : 2 9 , , , , 2f fD e2f ef : ' 4 , 9 b 7 8 , .f e2f D 2f , 2 2 e2f , ef , 2f , fD , 5 6 b e2f , D 2f , .f 2 : 2 9 , ef , : 2f fD , e2f , ' 6 9 b 7 8 , .f e2f D 2f , 2 2 e2f , ef , 2f , fD , 5
4
+41458,
Lq wkh odvw irupxod 6 vwdqgv iru pdvv ri wkh qlwh hohphqw1 Wr wdnh dgydqwdjh ri wkh vhfrqg fulwhulrq ohw xv surgxfh h{suhvvlrq iru wkh
76
srwhqwldo hqhuj| ixqfwlrq iru wkh frqwlqxhv sk|vlfdo prgho ri wkh qlwh hohphqw1 2 2 ] , Y +E5c | T ' . a _5 2 f Y5 2 2 2 ] , Y +E5c | Y +E5c | _5 ' . a 2 f Y5 2 Y5 2 $ 2 # 2 A ] , _ M E 5 _ M E 5 ' . a i+ E|jA i+ E|j _5 2 f _5 2 _5 2 % 2 A & ] , 2 _ M E 5 _ M E 5 ' i+ E|jA . a _5 i+ E|j 2 _5 2 _5 2 f 3 5 2 6 4 M M M2 , M M M Me , ] , 9 M M , EM 2 ,2 M M , M M ,2 : F AE 2 2 e : _5 F i+ E|j E 9 2 ' i+ E|j C. a 2 7 M M 2 M M2 , EM 2 M Me , 8 D f 2 2 Me M , Me M2 , Me M , EMe 2 , +41459, Dv rqh fdq vhh iurp Ht1 41459/ wr ixooo wkh vhfrqg fulwhulrq/ wkh vwlqhvv pdwul{ dorqj wkh qrgdo frruglqdwhv + )+ +2 )+2 pxvw eh dv iroorzv1 5 2 M ] , 9 M M , 9 2 ' . a 7 M M f Me M , 5 2 S, 2 . a 9 e, 9 S, ' , 7 2 S, 2 S, 2,
M M2 , M M 2 2 EM2 , M2 M , M M2 , EM 2 2 Me M2 , Me M , 6 2 S, 2 : S, 2, : 2 S, 8 2 S, e, M Me , 2 M2 Me , M Me , 2 EMe 2 ,
6 : : _5 8
!
+4145:,
Khqfh/ wkh pdwkhpdwlfdo prgho ri wkh hohphqw frqvlghuhg fdq eh zulwwhq dv n ! ) ' ++ 4 ) A +4145;,
Wkh yhfwru + uhsuhvhqwv wkh lqwhudfwlrq irufhv ehwzhhq wkh qhljkerukrrg hohphqwv1 ++ ' -+ -)+ -+2 -)+2 +4145<,
Lq h{dfwo| wkh vdph pdqqhu rqh fdq fuhdwh pdwkhpdwlfdo prgho iru wkh qh{w wr wkh uljkw kdqgh vlgh hohphqw ri wkh vkdiw/ vd| hohphqw 1 4 ) n ! ) ' ++ +41463,

zkhuh= 5 9 4 ' 6 9 7
D 2f , b .f e2f , 2f , 2 fD , e2f , 2 ef , b .f e2f , D 2f ,
77
!
2 S, 2 S, 2 2 : 9 . 9 S, e, S, 2, : ' 7 2 S, 2 S, 8 , 2 2 S, 2, S, e, ) ' ++ ' + )+ + 2 )+ 2 A A
6 e2f , 2 : ef , : 2f , 8 2 fD , 6 +41464,
+41465, +41466,
-+ -)+ -+ 2 -)+ 2
Wkhvh wzr htxdwlrqv ri prwlrq +4145; 41463, dvvrfldwhg zlwk wkh wzr hohphqwv dqg pd| eh mrlqw rqh wr wkh rwkhu wr fuhdwh rqh pdwkhpdwlfdo prgho uhsuhvhqwlqj erwk hohphqwv1 Ghwdlov ri wklv surfhvv ri frpsrvlwlrq ri wkh pdwkhpdwlfdo prgho lv jlyhq lq fkdswhu 5 +sdjh <8,1 Lq wkh fdvh frqvlghuhg khuh/ wkh frpsdwlelolw| +frqwlqxlw| dqg htxloleulxp, frqglwlrqv ehwzhhq wkh wzr hohphqwv dqg fruuhvsrqg wr wkh ohiw kdqg vlgh qrgh ri wkh hohphqw dqg wkh uljkw kdqg vlgh qrgh ri wkh hohphqw 1 Iru wkhvh qrghv wkh frqwlqxlw| frqglwlrqv wdnh irup +2 + + +41467, ' ' )+2 )+ )+ dqg wkh htxloleulxp frqglwlrqv duh -+2 -+ f n ' -)+2 -)+ f Wkh| uhvxowv lq wkh iroorzlqj pdwkhpdwlfdo prgho ri wkh mrlqw hohphqwv1 n ! ) ' ++ 4 ) zkhuh= 5 9 9 9 4 ' 9 9 9 7 6 : : : : : : 8 +41469,
+41468,
D 6 2f , 6 b .f 6 e2f , 6
f f
2f , 6 2 fD , 6 e2f , 6 2 ef , 6
f f
e2f , 6 f f 2 ef , 6 f f b E 6 n 6 E , 6 n , 6 6 D 2f .f e2f , 6 2 2 2 ef , 6 2f E, 6 n, 6 fD E, 6 n , 6 e2f , 6 b 2f , 6 .f 6 e2f , 6 D 6 2 2 e2f , 6 ef , 6 2f , 6 fD , 6
b .f 6 e2f , 6
78
+4146:, 5
2 ., S .,2 S .,2 e ., 2 ., S .,2 S .,2 2 .,
9 9 9 . . . . . . . 9 2b . S 2E n SE n S 2 2 2 2 , 9 , , , , , , ,2 ! ' 9 . . . . . . . . 9 S 2 2 SE n eE n S 2 2 2 2 , , , , , , , , 9 9 . . . . 9 f f 2 S 2 S 2 2 , , , , 7 . . . . f f S ,2 2 , S ,2 e ,

f f
f f
6 : : : : : : : : : : 8
+4146;, ) ' + ' + )+ + )+ + 2 )+ 2 -+ -)+ f f -+ 2 -)+ 2 A A +4146<, +41473,
Uhshwlwlrq ri wkh ghvfulehg surfhgxuh wr doo hohphqwv ri wkh vkdiw uhvxowv lq wkh pdwkhpdwlfdo prgho ri wkh vkdiw lq wkh sodqh +5 1 4K ) K n!K )K ' f +41474,
Li wkh vkdiw lv v|pphwulf/ lwv prwlrq lq wkh sodqh %5 dqg +5 lv jryhuqhg e| htxdwlrq wkdw fdq eh frpsrvhg ri wkh ghulyhg pdwulfhv 4K dqg !K 1 4 n ! ' f zkhuh 4' !' +41476, +41475,
4K f f 4K
!K f f !K
A ' % c )% c % c )% c % c )% c + )+ c + )+
+41477,
Jhrphwulfdo lqwhusuhwdwlrq ri wkh qrgdo frruglqdwhv dsshdulqj lq wkh Ht1 41477 lv jlyhq lq Ilj1 531Wkh frruglqdwhv % c )% c + c )+ duh dvvrfldwhg zlwk qrghv zklfk duh orfdwhg dw wkh hqgv ri wkh qlwh hohphqwv1 Lqwurgxfwlrq ri wkh h{whuqdo irufhv Vlqfh wkh qlwh hohphqw lv frqvlghuhg hodvwlf/ wkh wuhdwphqw ri wkh h{whuqdo irufhv suhvhqwhg lq wkh suhylrxv vhfwlrq fdq qrw eh dssolhg1 Lq wklv fdvh rqh kdv wr wdnh dgydqwdjh ri wkh sulqflsoh ri wkh yluwxdo zrun1 Lw vd|v wkdw wkh yluwxdo zrun surgxfhg e| d irufh 6 +vhh Ilj1 54, rq wkh glvsodfhphqw

element 1 Oi z node 1 x node i x i yi xi yi y Iljxuh 53 node N element i element N-1
79
ai 1 yi1
Fi Ei Ji Ai i
z yi2
yi1
li y
Iljxuh 54
yi2
+ lv htxdo wr wkh yluwxdo zrun surgxfhg e| d vhw ri irufhv dorqj wkh frruglqdwhv + )+ +2 )+2 Khqfh < ; + A A A A @ ? )+ +41478, Y` ' 8 + E@ c | ' i8 c c 82 c 2 j +2 A A A A = > )+2 Exw dffruglqj wr 41454 ; 2 @ @ A n 2 A , , A A A 2 A A @ @ A n @ , ? , 2 , , A 2 +E@ c | ' iM E@ j i+ E|j ' A @ @ A 2 A , , A A 2 A A A = @ , n @ , ,

<A A A A A ; A A A A + A @ A ? )+ A A A A +2 A = A )+2 A A A A >
< A A @ A A >
+41479,

; 2 @ @ A n 2 A , , A A A 2 A A @ @ A n @ , ? , 2 , , 2 Y` ' 8 A A @ 2 @ A , , A A A 2 A @ A = @ , n , ,

7:
Lqwurgxfwlrq ri wkh deryh h{suhvvlrq lqwr wkh h{suhvvlrq iru wkh yluwxdo zrun |lhogv <A A A A A A A A A @ A A A A A A A A > ; + A A ? )+ +2 A A = )+2 < A A @ A A >
+4147:,
Khqfh/ wkh yhfwru ri irufhv dorqj wkh qrgdo frruglqdwhv lv ; 2 @ @ A A A , n 2 , ; < A A 2 A 8 A A A @ @ A A A , n @ ? @ ? , 2 , , 2 ' 8 82 A A A A A A @ 2 @ > = A , , A 2 A 2 A A A = n @ @ , , ,

< A A A A A A A A @ A A A A A A A A >
+4147;,
Wklv irufhv kdyh wr eh lqwurgxfhg lqwr wkh htxdwlrq ri prwlrq 41475 4 n ! ' 6r n 6E| +4147<,
zkhuh/ vlploduo| dv ehiruh/ 6r vwdqgv iru wkh vwdwlf irufhv dqg 6E| vwdqgv iru wkh h{flwdwlrq irufhv1 41515 Prghoolqj ri uhvlgxdo shupdqhqw gh hfwlrq Wkh pdwkhpdwlfdo prgho 4143; zdv ghyhorshg dvvxplqj wkdw wkh fhqwuhv ri furvv0 vhfwlrq ri wkh vkdiw frlqflgh ruljlqv ri doo wkh orfdo v|vwhpv ri frruglqdwhv %- +- 5- +vhh Ilj1 55d,1 Gxh wr wkh pdqxidfwxulqj dffxudf| dqg wkh wkhupdo wuhdw0 phqw/ wkh vkdiw lv shupdqhqwo| gh hfwhg dv lw lv vkrzq lq Ilj1 55e1 Wklv gh hfwlrq fdq eh ghwhuplqhg e| wzr yhfwruv @% dqg @+ 1 6 1 1 1 : 9 9 @% : @% ' 9 : 7 k% 8 1 1 1 5 6 1 1 1 : 9 9 @+ : @+ ' 9 : 7 k+ 8 1 1 1 5
+41483,
Wr lqfoxgh wklv shupdqhqw gh hfwlrq ri wkh vkdiw lq lwv pdwkhpdwlfdo prgho ohw xv ghwhuplqh irufhv wkdw fdxvh wklv gh hfwlrqv dorqj wkh orfdo v|vwhpv ri frruglqdwhv %- +- 5- 1 Dffruglqj wr Ht1 41<;/ wkhvh irufhv duh dv iroorzv 6@%- ' !K @% 6@+- ' !K @+ +41484,

O Ci Oi z
7;
xR yR O yRi Oi ayi axi
xR
a)
i
xR yR O
xi Ci
yR i
yi xR i
b)
Ci Oi Fa xRi Fa xR
yRi
c)
xR i
yR
yR i
Iljxuh 55
Ci Oi Fa yRi
Fa x
Fa xRi Fa y i
xi
t
xRi
yR i
yi
Iljxuh 56
7<
Wkhvh irufhv urwdwh zlwk wkh vkdiw zlwk wkh dqjxodu yhorflw| l1 Khqfh/ wkhlu frp0 srqhqwv dorqj wkh vwdwlrqdu| v|vwhp ri frruglqdwhv %+5 / dffruglqj wr Ilj1 56 duh dv iroorzv 6@% 6@%- ULt l| 6@+- t? l| !K @% ULt l| !K @+ t? l| 6@ E| ' ' ' 6@%- t? l| n 6@+- ULt l| !K @+ ULt l| n !K @% t? l| 6@+ 5 6 1 1 1 : 9 +41485, ' 7 8@? ULtEl| n )@? 8 1 1 1 Wkh deryh yhfwru uhsuhvhqwv h{flwdwlrq irufh gxh wr wkh uhvlgxdo shupdqhqw gh hfwlrq dqg kdv wr eh lqfoxghg lq wkh pdwkhpdwlfdo prgho 4143;1 4 n ! ' 6@ E| +41486,
Lq wkh frqvlghudwlrq deryh/ wkh qxpehu ri frruglqdwhv wkh shupdqhqw gh hfwlrq zdv ghwhuplqhg dorqj zdv htxdo wr qxpehu ri frruglqdwhv dgrswhg iru wkh pdwkhpdwlfdo prgho1 Qrw dozd|v wklv uhtxluhphqw lv ixoo1 Wkhuhiruh ohw xv qrz frqvlghu fdvh zkhq wkh shupdqhqw gh hfwlrq ri d vkdiw jlyhq e| pdwkhpdwlfdo prgho 4143; 4K f f 4K ) n !K f f !K
-
)
'
f f
+41487,
lv ghwhuplqhg dorqj vrph ri wkh frruglqdwhv frruglqdwhv1

-
dqg )- ri wkh urwdwlqj v|vwhp ri +41488,
'
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)- '
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Ohw -@ dqg )-@ eh wkhvh frruglqdwhv wkh shupdqhqw gh hfwlrq lv ghwhuplqhg dorqj1 E| @% dqg @+ ohw xv ghqrwh yhfwruv ri wkh shupdqhqw gh hfwlrq lq sodqh %- 5 dqg +- 5 ri wkh urwdwlqj v|vwhp ri frruglqdwhv uhvshfwlyho| +vhh Ilj 55,1 Wkh htxlydohqw vhw ri irufhv 6@%- / zklfk fdxvhv wkh gh hfwlrq lq wkh sodqh %- 5 / kdv irup 6@- ' 6%-@ f +41489,
Wkh yhfwru 6%-@ kdv wr ixoo wkh iroorzlqj uhodwlrqvkls= !K@@ !K@o !Ko@ !Koo @%
-o
'
6%-@ f
+4148:,
zklfk lv htxlydohqw wr
83
!K@@ @% n !K@o !Ko@ @% n !Koo Vhfrqg htxdwlrq |lhogv

-o
-o -o
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+4148;,
' !3 Koo E!Ko@ @%
+4148<,
Lqwurgxfwlrq ri htxdwlrq 4148< lqwr wkh uvw htxdwlrq ri wkh v|vwhp 4148; surgxfhv wkh zdqwhg h{suhvvlrq iru 6%-@
6%-@ ' !K@@ @% n !K@o E!3 Koo E!Ko@ @%
+41493,
Vlploduo|/ wkh htxlydohqw yhfwru ri irufhv lq sodqh +- 5 lv 6+-@ 6@+- ' f zkhuh
6+-@ ' !K@@ @+ n !K@o E!3 Koo E!Ko@ @+
+41494,
+41495,
Htxlydohqw yhfwru ri irufhv dorqj wkh vwdwlrqdu| v|vwhp ri frruglqdwhv/ dffruglqj wr Ht1 41485 lv 6@% 6@%- ULt l| 6@+- t? l| +41496, 6@ E| ' ' 6@+ 6@%- t? l| n 6@+- ULt l| 41516 Prghoolqj ri uhvlgxdo xqedodqfh Lq wkh deryh prghoolqj zh kdyh dvvxphg wkdw wkh fhqwuh ri judylw| ri hdfk vhfwlrq C frlqflghv d{lv ri urwdwlrq ri wkh vkdiw dqg sulqflsdo d{hv ri hdfk vhfwlrq frlqflgh d{hv ri urwdwlrq1 Wklv dvvxpswlrq lv qhyhu vwulfwo| ixooohg1 Wkh uhvlgxdo xqedodqfh
Gi Oi xi yi x
xi yi
Iljxuh 57 ri hdfk urwru vhfwlrq / dffruglqj wr wkh frqvlghudwlrq fduulhg rxw vhfwlrq 416 ri wkh
84
fkdswhu 4/ dorqj frruglqdwhv % c )% c + c )+ +vhh Ilj1 57,/ uhvxowv lq yhfwru ri h{whuqdo h{flwdwlrq 6 7 ULtEl| n )7 9 ( ULtEl| n )( : : ' l2 9 7 7 t?El| n )7 8 ( t?El| n )( 5
6L
+41497,
Khqfh/ yhfwru ri h{flwdwlrq ri wkh zkroh vkdiw lv ri wkh iroorzlqj irup 5 6 9 7 ULtEl| n )7 : 9 : 5 6 9 ( ULtEl| n )( : : 9 : ' l2 7 8L? ULtEl| n )L 8 6L E| ' l2 9 ? 9 : 9 7 t?El| n )7 : : 9 7 ( t?El| n )( 8
+41498,
Dgglqj wklv yhfwru wr wkh pdwkhpdwlfdo prgho 41486 rqh fdq prgli| wkhvh htxdwlrqv wr wkh iroorzlqj irup 4 n ! ' 6@ E| n 6L E| 41517 Lqwhudfwlrq irufhv +41499,
O Mx i
Oi
x
Rx i
x y
My i R yi yi
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Iljxuh 58 Li wkh vkdiw lv wr eh frqqhfwhg dorqj d qxpehu ri frruglqdwhv zlwk rwkhu hoh0 phqwv ru irxqgdwlrq +vhh Ilj1 58,/ rqh kdyh wr lqwurgxfh lqwhudfwlrq irufhv zklfk dfw rq wkh vkdiw1 Li wkh lqwhudfwlrq irufhv duh ghqrwhg e| +/ wkh jryhuqlqj htxdwlrqv wdnh wkh iroorzlqj irup 4 n ! ' + n 6@ E| n 6L E| n 6C

O Oi bxi byi x y yi
Iljxuh 59
85
Bi
xi
41518 Erxqgdu| frqglwlrqv Ohw xv dvvxph wkdw wkh vkdiw lv uljlgo| vxssruwhg xsrq vhyhudo vxssruwv +vhh Ilj1 59, zklfk lqvwdqwdqhrxv srvlwlrq lv ghwhuplqh zlwk uhvshfw wr wkh vwdwlrqdu| v|vwhp ri frruglqdwhv %+5 e| frruglqdwhv K% E| dqg K+ E| 1 Ohw xv ghqrwh e| M yhfwru ri vxfk frruglqdwhv1 5 6 1 1 1 9 : 9 K% E| : +4149:, M'9 : 7 K+ E| 8 1 1 1 Ohw xv uhrujdql}h yhfwru ri frruglqdwhv ri wkh vkdiw A ' % c )% c %? c )%? c % c )% c + )+ c + )+ lq vxfk d zd| wkdw lwv xsshu sduw uljlgo| vxssruwhg dqg lwv orzhu sduw
K
+4149;,
frqwdlqv frruglqdwhv dorqj zklfk wkh vkdiw lv o frqwdlqv doo wkh uhpdlqlqj frruglqdwhv K +4149<, '
o
dqg ohw xv dvvxph wkdw wkh pdwkhpdwlfdo prgho ri wkh vkdiw lv rujdql}hg zlwk uhvshfw wr wkh deryh yhfwru ri frruglqdwhv1 4 n ! ' + n 6 zkhuh= 6 ' 6@ E| n 6L E| n 6C Xsrq sduwlwlrqlqj wkh deryh htxdwlrq 4KK 4Ko K !KK !Ko n 4oK 4oo o !oK !oo ' n +414:5, +414:4, +414:3,
K o
+K +o
6K 6o

rqh fdq rewdlq wzr vhwv ri htxdwlrqv 4KK K n 4Ko o n !KK 4oK K n 4oo o n !oK n !Ko K n !oo
K o o
86
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+414:6,
Vlqfh yhfwru K kdv wr eh/ lq wkh fdvh frqvlghuhg/ htxdo wr wkh yhfwru M/ vxevwlwxwlrq ri wklv uhodwlrqvkls lqwr wkh vhfrqg htxdwlrq ri Htv1 414:6 |lhogv htxdwlrqv ri prwlrq ri wkh urwru lq wkh iroorzlqj irup1 4oo o n !oo
o
K !or MK ' +o n 6o 4oK M
+414:7,
Prwlrq ri wkh v|vwhp vxssruwhg xsrq wkh vxssruwv dorqj wkh frruglqdwhv o lv jryhuqhg e| vroxwlrq ri wkh htxdwlrq 414:71 Li rqh ghqrwh wklv prwlrq e| jo E|/ wkh uvw htxdwlrq ri Htv1 414:6 rhuv wkh g|qdplf uhdfwlrqv dorqj frruglqdwhv wkh vkdiw lv vxssruwhg xsrq1 n 4Ko j o n !KK M n !Ko jo E| 6K +K ' 4KK M +414:8,
Lw lv hdv| wr qrwlfh wkdw wkh htxdwlrq ri prwlrq ri wkh vxssruwhg vkdiw Ht1 414:7 kdv wkh vdph irup dv wkh xqvxssruwhg rqh1 4 n ! ' + n 6 zkhuh= K !or MK 6 ' 6@ E| n 6L E| n 6* 4oK M +414::, +414:9,
Wkh odvw wzr whupv uhsuhvhqw wkh h{whuqdo h{flwdwlrq fdxvhg e| prwlrq ri wkh vxssruwv 1 41519 Frqvwudlqwv lpsrvhg e| uljlg erglhv Dffruglqj wr wkh dgrswhg dvvxpswlrqv/ prwlrq ri wkh hohphqwv dorqj wkh d{lv 5 lv qhjohfwhg dqg urwdwlrq derxw d{lv 5 lv dvvxphg wr eh nqrzq1 Wkhuhiruh/ d uljlg erg| kdv lq wkh sodqh %5 wzr ghjuhh ri iuhhgrp dqg lq wkh sodqh +5 kdv dqrwkhu wzr ghjuhh ri iuhhgrp1 H1j11 frruglqdwhv +o dqg )o xqltxho| ghwhuplqh srvlwlrq ri wkh uljlg erg| lq wkh +o 5 sodqh ri wkh urwdwlqj v|vwhp ri frruglqdwhv %o +o 5 +vhh Ilj1 5:,1 Khqfh/ li rqh fkrrvh wkhp dv wkh lqghshqghqw frruglqdwhv/ srvlwlrq ri wkh erg| dorqj wkh frruglqdwhv +o2 c )o2 c +o c )o c +oe c )oe fdq eh h{suhvvhg dv ixqfwlrqv ri +o dqg )o / glphqvlrqv ri wkh erg| ,23 c , c dqg sdudphwhuv uh hfwlqj wkh dffxudf| ri lwv pdqxidfwxulqj ko+ +o2 )o2 +o )o +oe )oe ' ' ' ' ' ' +o n ,23 )o )o +o2 n , )o n ,2 E)o ko+ ' +o n E,23 n , n ,2 )o n E,2 ko+ )o ko+ +o n ,e3 E)o ko+ ' +o n E,23 n , n ,2 n ,e3 )o n E,2 ,e3 ko+ +414:;, )o ko+

x 1 2 3 4 yr3 y 4 r z y yr xr x xr z
87
yr1 y r 2
= r1
r2
= r3
r4
l 1-2
l1 l2 l 3-4
ry
yr
t
y yr
Iljxuh 5: Wkh deryh frqvwudlqwv pd| eh uhzulwwhq lq wkh pdwul{ irup1 6 6 5 5 5 ,23 f +o2 : 9 9 )o2 : 9 f f : 9 : 9 9 : 9 +o : 9 9 ,23 n , n ,2 E,2 ko+ : +o n 9 : 9 9 : )o 9 9 )o : ' 9 f f ko+ : 9 : 9 9 7 E,2 ,e3 ko+ 7 +oe 8 7 ,23 n , n ,2 n ,e3 8 )oe f ko+
6 : : : : : : 8 +414:<,
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)o_ 0 yhfwru ri wkh ghshqghqw frruglqdwhv )o 0 yhfwru ri wkh lqghshqghqw frruglqdwhv @_ 0 uhfwdqjxodu pdwul{ ri sdudphwhuv @_+ 0 yhfwru ri sdudphwhuv1 Lw lv hdv| wr qrwlfh/ e| h{dplqdwlrq ri Ht1 414:</ wkdw wkh uhfwdqjxodu pdwul{ zklfk h{suhvvhv wkh frqvwudlqwv lq wkh sodqh %o 5 lv lghqwlfdo zlwk wkdw lq wkh sodqh +o 5 Khqfh
o_
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o
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+414;4,
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wkh frqvwudlqwv dorqj wkh vwdwlrqdu| v|vwhp ri frruglqdwhv %+5 duh
_
88
' E@_ o n @_% ULt l| E@_ )o n @_+ t? l| ' E@_ E ULt l| n ) t? l| n @_% ULt l| E@_ E) ULt l| ' @_ n @_% ULt l| @_+ t? l|
t? l| n @_+ t? l|
)_ ' E@_ )o n @_+ ULt l| n E@_ o n @_% t? l| ' E@_ E) ULt l| t? l| n @_+ ULt l| n E@_ E ' @_ ) n @_% t? l| n @_+ ULt l|
ULt l| n ) t? l| n @_% t? l|
+414;6,
Wkh deryh uhodwlrqvklsv shuplw wkh ghshqgdqw frruglqdwhv wr eh holplqdwhg iurp wkh pdwkhpdwlfdo prgho ri wkh urwru1 Wr gr lw ohw xv dvvxph wkdw wkh pdwkhpdwlfdo prgho ri wkh urwru ehiruh wkh frqvwudlqwv duh lqwurgxfhg fdq eh dgrswhg dv iroorzv 4 f U f ! f +% 6% +414;7, n n ' n ++ 6+ f 4 ) f U ) f ! ) zkhuh= 5 6 4__ 4_ 4_o 4 ' 7 4_ 4 4o 8 ( 4o_ 4o 4oo 5 '7
_ o
6 U__ U_ U_o U ' 7 U_ U Uo 8 ( Uo_ Uo Uoo 5 6 +%_ +% ' 7 +% 8 ( +%o 6 6+_ 6+ ' 7 6+ 8 6+o 5 5
6 !__ !_ !_o ! ' 7 !_ ! !o 8 !o_ !o !oo 6 ++_ ++ ' 7 ++ 8 ++o 5
6 8(
6 )_ ) ' 7 ) 8 ( )o 6 6%_ 6% ' 7 6% 8 ( 6%o 5
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Lq wkh irupxodh deryh/ wkh vxevfulswv _/ / dqg o fruuhvsrqg wr wkh ghshqgdqw/ lqghshqghqw dqg uhpdlqlqj frruglqdwhv uhvshfwlyho|1 Wkh srwhqwldo hqhuj| ixqfwlrq iru wkh urwru lv= 5 65 6 ! ! ! __ _ _o _ A A A 7 ! T ' E _ _ ! !o 8 7 8 n o 2 !o_ !_ !oo o 5 65 6 ! ! ! ) __ _ _o _ A A )A 7 ! ) +414;9, n )_ _ ! !o 8 7 ) 8 o !o_ !_ !oo )o Lqwurgxfwlrq ri Ht1 414;6 lqwr 414;9 doorzv wr holplqdwh wkh ghshqghqw frruglqdwhv iurp wkh h{suhvvlrq ri wkh srwhqwldo hqhuj| ixqfwlrq1

89
@A !__ @_ n @A !_ n !_ @_ n ! c @A &_o n !o _ _ _ n T ' !o_ @_ n !o c !oo o A A A @_ !__ @_ n @A ) A _ !_ n !_ @_ n ! c @_ !_o n !o )o n n ) !o_ @_ n!o c !oo )o A A A nE A E@_ !__ @_% n!_ @_% n ) E@_ !__ @_+ n!_ @_+ n A n A o E!o_ @_% n )o E!o_ @_+ ULt l|n A A A nE A E@_ !__ @_+ n!_ @_+ n ) E@_ !__ @_% n!_ @_% n A A o E!o_ @_+ n )o E!o_ @_% t? l| +414;:,
2E
A
A o
Vlploduo|/ wkh nlqhwlf hqhuj| ri wkh qrw frqvwudlqhg urwru lv 5 65 6 4__ 4_ 4_o _ A A 7 4 . ' E A _ 4 4o 8 7 8 n o _ 2 4o_ 4_ 4oo o 5 65 6 4 4 4 ) __ _ _o _ A A ) A 7 4 o 8 n ) _ ) _ 4 4o 8 7 ) 4o_ 4_ 4oo ) o Glhuhqwldwlrq ri wkh frqvwudlqwv 414;6 |lhogv _ ' @_ @_% l t? l| @_+ l ULt l| ) _ ' @_ ) n @_% l ULt l| @_+ l t? l|
+414;;,
+414;<,
+414<3,
Lqwurgxfwlrq ri wkh deryh frqvwudlqwv lqwr wkh h{suhvvlrq iru wkh nlqhwlf hqhuj| ixqf0 wlrq uhvxowv lq wkh iroorzlqj nlqhwlf hqhuj| ixqfwlrq ri wkh frqvwudlqhg urwru1 @A 4__ @_ n@A 4_ n4_ @_ n4 @A 4_o n4o _ _ _ .' n 4o_ @_ n4o 4oo o A A A @_ 4__ @_ n@A ) A _ 4_ n4_ @_ n4 @_ 4_o n4o n ) ) o n 4o_ @_ n4o 4oo ) o A A E A A E@_ 4__ @_% n4_ @_% n ) E@_ 4__ @_+ n4_ @_+ n nA A o E4o_ @_% n ) o E4o_ @_+ l t? l|n A A A A nE E@_ 4__ @_+ n4_ @_+ n ) E@_ 4__ @_% n4_ @_% n A A o E4o_ @_+ n ) o E4o_ @_% l ULt l| +414<4,
2E
A
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|lhogv=
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A A @A _ 4__ @_ n@_ 4_ n4_ @_ n4c @_ 4_o n4o 4o_ @_ n4o 4oo
+414<:,
A A @A _ U__ @_ n@_ U_ nU_ @_ nU c @_ U_o nUo Uo_ @_ nUo Uoo A A @A _ !__ @_ n@_ !_ n!_ @_ n! c @_ !_o n!o !o_ @_ n!o !oo
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@A _ U__ @_+ n4_ @_+ n Uo_ @_ + @A !__ @_% n!_ @_% _ nEn !o_ @_% @A _ U__ @_% n4_ @_% n Uo_ @_ % @A !__ @_+ n!_ @_+ _ nEn !o_ @_+ @A _ U__ @_% n4_ @_% n Uo_ @ _% !__ @_+ n!_ @_+ @A _ nE !o_ @_+ @A _ U__ @_+ n4_ @_+ n Uo_ @_ + @A !__ @_% n!_ @_% _ nEn !o_ @_% +41533,
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Wkh h{suhvvlrqv 41533 uhsuhvhqwv h{flwdwlrq irufhv gxh wr wkh lqdffxudf| ri wkh uljlg hohphqw + @_% c @_+ ,1 Iru l ' f wkh deryh irupxodh |lhog pdwkhpdwlfdo prgho ri wkh frqvwudlqhg dqg qrw urwdwlqj hohphqw1

4151: Sureohpv Sureohp 7
8<
Wkh g|qdplf surshuwlhv ri wkh iuhh0iuhh ehdp duh ghwhuplqhg e| wkh iroorzlqj
1 a1=0 x b1=0 b2 b4=0 Z 2 a2 3 a3 4 a4 5 z a5=0
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b)
X
Iljxuh 5; pdwkhpdwlfdo prgho 4n! zkhuh= 5 9 9 4'9 9 7 6 : : :c : 8 'f 5 9 9 !'9 9 7 6 : : :c : 8 +41534, 5 6 : : : : 8
6 62 6 6e 6D
62 622 62 6e2 6D2
6 62 6 6e 6D
6e 62e 6e 6ee 6De
6D 62D 6D 6eD 6DD
& &2 & &e &D
&2 &22 &2 &e2 &D2
& &2 & &e &D
&e &2e &e &ee &De
&D &2D &D &eD &DD
% 9 %2 9 '9 9 % 7 %e %D +41535,
Wkh ehdp lv shupdqhqwo| gh hfwhg lq sodqh %5 dv vkrzq lq Ilj1 66d, Wkh shupdqhqw gh hfwlrq lv ghwhuplqhg e| wkh yhfwru @1 @ ' d@ c @2 c @ c @e c @D oA +41536,
Wkh ehdp lv vxssruwhg uljlgo| xsrq wkuhh vxssruwv1 Frqjxudwlrq ri wkhvh vxssruwv lv vkrzq lq Ilj1 66e,1 M' K K2 Ke A +41537,
Fdofxodwh wkh vwdwlf gh hfwlrq olqh ri wkh vxssruwhg ehdp dqg lwv qdwxudo iuhtxhqflhv1

Vroxwlrq Vlqfh wkh htxlydohqw wr wkh shupdqhqw gh hfwlrq vhw ri irufhv lv 6@ ' !@ wkh htxdwlrq ri wkh iuhh0iuhh dqg gh hfwhg ehdp lv 4n! ' 6@
93
+41538,
+41539, wkh yhfwru M |lhogv 65 &e & &D % 9 %2 &2e &2 &2D : :9 9 &ee &e &eD : : 9 %e &e & &D 8 7 % &De &D &DD %D 6 : : : : 8
Uhrujdql}dwlrq ri wklv pdwkhpdwlfdo prgho zlwk uhvshfw wr 5 65 6 5 6 62 6e 6 6D % & &2 9 62 622 62e 62 62D : 9 % : 9 9 : 9 2 : 9 &2 &22 9 6e 6e2 6ee 6e 6eD : 9 % : 9 9 : 9 e : n 9 &e &e2 7 6 62 6e 6 6D 8 7 % 8 7 & &2 6D 6D2 6De 6D 6DD % D &D &D2 65 6 5 6 5 @ - & &2 &e & &D 9 &2 &22 &2e &2 &2D : 9 @2 : 9 -2 : :9 : 9 9 : : 9 @e : n 9 -e : & & & & & ' 9 e e2 ee e eD :9 : 9 : 9 7 & &2 &e & &D 8 7 @ 8 7 f 8 &D &D2 &De &D &DD @D f ru 4KK 4Ko 4oK 4oo K o n !KK !Ko !oK !oo
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n
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zkhuh=
6 6 62 6e 6KK ' 7 62 622 62e 8 c 6e 6e2 6ee 6oK ' 6 62 6e 6D 6D2 6De 5 c
6 6 6D 6Ko ' 7 62 62D 8 c 6e 6eD 6oo ' 5 6 6D 6D 6DD c
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o
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wkh deryh htxdwlrqv diwhu sduwlwlrqlqj wdnhv wkh iroorzlqj irup 4KK f n 4Ko o n!KK M n !Ko 4oK f n 4oo o n!oK M n !oo
o o
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+41544, +41545,
Qrz/ wkh htxdwlrq 41545 fdq eh uhzulwwhq lq irup 4oo o n!oo

o
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+41546,
Wkh htxdwlrq 41546 jryhuqv wkh iuhh prwlrq ri wkh ehdp1 Lwv sduwlfxodu vroxwlrq zklfk uhsuhvhqwv wkh gh hfwlrq olqh ri wkh ehdp fdq eh suhglfwhg dv d frqvwdqw yhfwru jo
o'
jo
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Lqwurgxfwlrq ri Ht1 41547 lqwr 41546 |lhogv

jo ' !3 oo E!oK @K n!oo @o !oK M
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Wkh vwdwlf uhdfwlrqv dw wkh vxssruwv fdq eh frpsxwhg iurp htxdwlrq 415441 +K ' !KK M n !Ko jo !KK @K !Ko @o Vroxwlrq ri wkh krprjhqhrxv htxdwlrq 41546 4oo o n!oo
o'
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+4154:,
rhuv wkh fkdudfwhulvwlf htxdwlrq iru wkh qdwxudo iuhtxhqflhv ri wkh ehdp /1 3 4oo !oo /2 ' f +4154;,

Sureohp 8
95
Wkh pdwkhpdwlfdo prgho ri d iuhh0iuhh vkdiw/ vkrzq lq Ilj1 5</ dorqj frrugl0 qdwhv % c %2 c % c %e lv dv iroorzv= 4 n ! ' f 6 9 62 4 '9 7 6 6e 5 62 622 62 6e2 6 62 6 6e 6 6e 62e : :( 6e 8 6ee & 9 &2 ! '9 7 & &e 5 &2 &22 &2 &e2 6 & 6e &2 &2e : :( & &e 8 &e &ee 5 +4154<, 6 % 9 %2 : : '9 7 % 8 %e +41553,
Wklv vkdiw lv vxssruwhg xsrq wkuhh uljlg shghvwdov dorqj frruglqdwhv % c %2 c % dv

1 2 3 4
x1
x2
x3
x4
Iljxuh 5< vkrzq lq Ilj1 631 Wkhlu prwlrq zlwk uhvshfw wr wkh lqhuwldo v|vwhp ri frruglqdwh
1 2 3 a3 X a2 sin t Z
Iljxuh 63 v|vwhp lv jlyhq e| wkh iroorzlqj htxdwlrqv= f ' f f2 ' @2 t? /| f ' @
+41554,
Ghulyh h{suhvvlrqv iru = 41 wkh vwdwlf gh hfwlrq fxuyh/ 51 wkh lqwhudfwlrq irufhv ehwzhhq wkh vkdiw dqg wkh shghvwdov zlwk uhvshfw wr wkh lqhuwldo v|vwhp ri frruglqdwhv
96
Vroxwlrq= Sduwlwlrqlqj ri wkh htxdwlrqv 4154< zlwk uhvshfw wr wkh yhfwru ri erxqgdu| frqglwlrqv 41554 uhvxowv lq wkh iroorzlqj 4 n ! ' + 4 42 42 422 2 n ! !2 !2 !22
2
+41555, ' + +2 +41556,
6 5 6 6 62 6 6e 4 ' 7 62 622 62 8 ( 42 ' 7 62e 8 ( 42 ' 6e 6e2 6e ( 422 ' 6ee 6 62 6 6e +41557, 6 & &2 & ! ' 7 &2 &22 &2 8 ( & &2 & 5 5 6 &e !2 ' 7 &2e 8 ( &e 5 !2 ' &e &e2 &e (
!22 ' &ee +41558,
6 % ' 7 %2 8 ( % ru
2 '%e (
6 - + ' 7 -2 8 ( -
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+41559,
4 n 42 2 n ! 42 n 422 2 n !2
n !2 n !22
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+4155:, +4155;,
Lqwurgxfwlrq ri erxqgdu| frqglwlrqv 41554 lqwr wkh htxdwlrq 4155; |lhogv 5 6 5 6 % % 6ee % e n &ee %e ' 6e 6e2 6e 7 % 2 8 &e &e2 &e 7 %2 8 +4155<, % % zkhuh 6 5 6 % f 7 % 2 8 ' 7 @2 /2 t? /| 8 ( % f 5 ru 6ee % e n &ee %e ' E6e2 @2 /2 &e2 @2 t? /| &e @ +41564, 5 6 5 6 % f 7 %2 8 ' 7 @2 t? /| 8 % @
+41563,
97
Wkh vwdwlf gh hfwlrq lv gxh wr wkh wlph lqghshqghqw whup &e @ lq wkh uljkw kdqg vlgh ri htxdwlrq 415641 6ee % e n &ee %e ' &e @ Wkh sduwlfxodu vroxwlrq ri 41565 lv %e ' %r &ee %r ' &e @ %r ' &e @ &ee +41566, +41567, +41568, +41565,
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3 a3
4 Z xs
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Iljxuh 64
ri wkh vxssruw 5 +f2 ' @2 t? /|, lv uhsuhvhqwhg e| wkh sduwlfxodu vroxwlrq gxh wr wkh wlph ghshqgdqw whup1 6ee % e n &ee %e ' E6e2 @2 / 2 &e2 @2 t? /| Iru wkh deryh htxdwlrq/ wkh sduwlfxodu vroxwlrq pd| eh suhglfwhg dv iroorzv %e ' %_ t? /| +4156:, +41569,
Lpsohphqwdwlrq ri wkh vroxwlrq 4156: lqwr wkh htxdwlrq 41569 |lhogv wkh zdqwhg dp0 solwxgh ri wkh irufhg yleudwlrq %_ 1 %_ ' E6e2 @2 /2 &e2 @2 / 2 6ee n &ee +4156;,
Wkh uhvxowdqw prwlrq ri wkh v|vwhp frqvlghuhg lv vkrzq lq Ilj1 65Wklv prwlrq fdxvhv lqwhudfwlrq irufhv dorqj wkhvh frruglqdwhv wkh v|vwhp lv dwwdfkhg wr wkh edvh1 Wkhvh irufhv fdq eh frpsxwhg iurp htxdwlrq 4155:1 4 n 42 2 n ! Lq wklv htxdwlrq

n !2
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+4156<,
vwdqgv iru wkh jlyhq erxqgdu| frqglwlrqv

1 2 3 a3 X 4 xs Z
98
a2 sin t
Iljxuh 65
xd sin t
6 5 6 % f ' 7 %2 8 ' 7 @2 t? /| 8 % @
6 5 6 % f ( ' 7 % 2 8 ' 7 @2 /2 t? /| 8 % f
+41573,
dqg
2
uhsuhvhqwv/ nqrzq dw wklv vwdjh/ prwlrq ri wkh v|vwhp dorqj wkh frruglqdwh 7 _2 E%r n %_ t? /| ' %_ / 2 t? /|( 2 _| +41574,
' %e ' %r n %_ t? /| 2 ' % e '
Khqfh/ wkh zdqwhg yhfwru ri lqwhudfwlrq irufhv lv dv iroorzv 6 f + ' 4 7 @2 / 2 t? /| 8 n ! 7 @2 t? /| 8 n 42 E%_ /2 t? / n !2 E%r n %_ t? /| f @ +41575, f 6 5 5

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& lv d frpsoh{ qxpehu wkdw ghshqgv rq dpsolwxgh dqg skdvh ri wkh h{whuqdo zkhuh s? J h{flwdwlrq1 Lqwurgxfwlrq ri Ht1 61< lqwr Ht1 618 |lhogv
4 n U n ! ' u?J e/? |
+6143,
Qrz/ wkh sduwlfxodu vroxwlrq ri Ht1 6143 fdq eh suhglfwhg lq wkh frpsoh{ irup 6144
S ?
' @? e/? |
+6144,
Lqwurgxfwlrq ri Ht1 6144 lqwr Ht1 6143 surgxfhv vhw ri dojheudlf htxdwlrqv olqhdu zlwk uhvshfw wr wkh xqnqrzq yhfwru @? 1 2 +6145, /? 4 n /? U n ! @? ' u?J Lwv vroxwlrq lv 3 @? ' / 2 4 n / U n ! u?J ? ?
+6146,
VWDELOLW\ RI PRWLRQ 0 IUHH YLEUDWLRQV

Wkhuhiruh/ dffruglqj wr Ht1 6144/ wkh uhvsrqvh ri wkh v|vwhp irufh u? lv
S ? S ?
445
gxh wr wkh frpsoh{ +6147,
' E+iE@? n W4E@? EULt /? | n t? / ? |

?
Khqfh/ uhvsrqvh ri wkh v|vwhp vroxwlrq 61471

?
gxh wr wkh uhdo h{flwdwlrq 6? lv wkh uhdo sduw ri wkh +6148,
' +iE@? ULt /? | W4E@? t? /? |
Prwlrq ri wkh v|vwhp frqvlghuhg dorqj wkh frruglqdwh %& ? / dffruglqj wr 6148 lv
& & %& ? ' %?J ULtE/ ? | n q ?J
+6149,
zkhuh %& ?J ' 616 s

2 & 2 +iE@& ? n W4E@?
q& ?J ' @oS |@?
W4E@& ? & +iE@?
+614:,
Wr dqdo|}h vwdelolw| ri prwlrq ri wkh v|vwhp frqvlghuhg ohw xv wudqvihu wkh krprjh0 qhrxv htxdwlrq ri htxdwlrq 614 4 n U n ! ' f wr wkh vwdwh 0 vsdfh frruglqdwhv1 Ohw )' +614<, +614;,
eh wkh yhfwru ri jhqhudol}hg yhorflwlhv1 Lqwurgxfwlrq ri 614< lqwr 614; |lhogv vhw ri glhuhqwldo htxdwlrqv ri uvw rughu1 ' ) ) ' 43 ! 43 U) Wkh deryh htxdwlrqv fdq eh uhzulwwhq dv iroorzv 3 ' 3 zkhuh 3' ) c ' +6155, +6154, +6153,
f 3 4 ! 43 U
Vroxwlrq ri wkh deryh htxdwlrq fdq eh suhglfwhg lq irup 61561 3 ' 3f eo| +6156,
446
Lqwurgxfwlrq ri 6156 lqwr 6154 uhvxowv lq vhw ri wkh krprjhqhrxv dojheudlf htxdwlrqv olqhdu zlwk uhvshfw wr wkh yhfwru 3J d oo 3f ' f +6157,
Htxdwlrqv 6157 kdyh qrq0}hur vroxwlrq li dqg rqo| li wkh fkdudfwhulvwlf ghwhuplqdqw lv htxdo wr f1 md oom ' f +6158,
Surfhvv ri vhdufklqj iru vroxwlrq ri htxdwlrq 6158 lv fdoohg hljhqydoxh sureohp dqg surfhvv ri vhdufklqj iru wkh fruuhvsrqglqj yhfwru 3f lv fdoohg hljhqyhfwru sureohp1 Erwk ri wkhp fdq eh hdvlo| vroyhg eh phdqv ri frpphufldoo| dydlodeoh frpsxwhu surjudpv1 Wkh urrwv o? duh xvxdoo| frpsoh{ dqg frqmxjdwhg1 o? ' ? /? ? ' +6159,
zkhuh lv qxpehu ri frruglqdwhv +qxpehu ri ghjuhh ri iuhhgrp, lq wkh qdo pdwkh0 pdwlfdo prgho 516;1 Wkh sduwlfxodu vroxwlrqv fruuhvsrqglqj wr wkh frpsoh{ urrwv 6159 duh 3? ' e? | E+iE3? ULt / ? | W4E3? t? / ? | 3?2 ' e? | EW4E3? ULt /? | n +iE3? t? /? | ? ' +615:,
+iE3f? dqg W4E3f? duh uhdo dqg lpdjlqdu| sduw ri wkh frpsoh{ dqg frqmxjdwhg hljhqyhfwru 3f? dvvrfldwhg zlwk wkh urrwv 6159 uhvshfwlyho|1 Dv rqh fdq vhh iurp wkh irupxodh 6159/ wkh lpdjlqdu| sduw ri urrwv o? uhsuhvhqwv qdwxudo iuhtxhqf| ri wkh v|vwhp iuhh yleudwlrqv dqg lwv uhdo sduw uhsuhvhqwv udwh ri ghfd| ri wkh iuhh yleudwlrqv1 Judsklfdo lqwhusuhwdwlrq ri wkhvh vroxwlrqv lv jlyhq lq Ilj1 5 iru srvlwlyh dqg qhjdwlyh pdjqlwxgh ri ? 1 Li doo urrwv o? ri wkh htxdwlrq 6158 kdyh wkhlu uhdo sduw ohvv wkhq }hur/ wkh v|vwhp frqvlghuhg kdv vwdeoh htxloleulxp srvlwlrq1 Li dw ohdvw rqh urrw kdv lwv uhdo sduw srvlwlyh/ wkh htxloleulxp srvlwlrq ri wkh v|vwhp frqvlghuhg lv xqvwdeoh1
30 25 20 15 10 5 0 -5 -10 -15 -20 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 0.8
z
1
h>0
0.6 0.4 0.2 0
h<0
-0.2 -0.4
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
1.1 1.2 1.3 1.4 1.5 1.6
Tn =2 /n
-0.6 -0.8
Tn =2 /n
Iljxuh 5
SUREOHPV
617 SUREOHPV Sureohp 45
447
x m=50kg 0.05 z z yy = I =15kgm 2 I z =10kgm b = 0.0001m 0.3 a 0.7 x 0.3 a = 0.65 m Ixx = I 2
Iljxuh 6 Wkh guxp vkrzq lq Ilj1 6/ fdq eh frqvlghuhg dv uljlg erg|1 Wkh wrohudqfh
0.05[m]
y6
y7
y14
y15
0.1 0.1 0.1 0.1 0.1
0.3
0.1 0.10.1 0.1 0.1 0.1 0.1
0.3
0.1 0.1 0.1 0.1 0.1 [m]
y y y y y y 1 2 3 4 5 6
y y y y y y y y
7
8 9 10 11 12 13 14
y y y y y y
15 16 17 18 19 20
Iljxuh 7 ri doljqphqw ri wkh krohv lv K ' ffffd6o1 Wklv guxp lv frqqhfwhg wr wkh h{leoh vkdiw dqg vxssruwhg dv vkrzq lq Ilj1 71 Wkh g|qdplf surshuwlhv ri wkh vkdiw duh dv iroorzv= _ ' ffD6 0 gldphwhu ri wkh vkdiw . ' f2 f2 *62 0 \rxqj prgxoxv C ' ffSSS f2 *62 0 vkhdu prgxoxv D ' f 0 Srlvvrq qxpehu 4 ' .Hff&}*6 0 ghqvlw| Fuhdwh wkh pdwkhpdwlfdo prgho ri wkh v|vwhp dqg frpsxwh wkh irufhg uhvsrqvh ri wkh v|vwhp gxh wr wkh plvdoljqphqw K1
SUREOHPV
448
Vroxwlrq1 Wkh pdwkhpdwlfdo prgho ri wkh xqfrqvwudlqhg dqg iuhh0iuhh urwru fdq eh dgrswhg dv iroorzv 4 f ! f +% f +615;, n ' n f 4 ) f ! ) ++ B zkhuh 6 4__ 4_ 4_o 4 ' 7 4_ 4 4o 8 ( 4o_ 4_ 4oo
_ o
6 !__ !_ !_o ! ' 7 !_ ! !o 8 !o_ !_ !oo 6 ++_ ++ ' 7 ++ 8 ( ++o 5 6 B_ B ' 7 B 8 Bo +615<, 5
5 '7
6 8(
6 )_ ) ' 7 ) 8 ( )o
6 +%_ +% ' 7 +% 8 ( +%o
' d%. c )%. c %e c )%e c %D c )%D oA A 0 yhfwruv ri wkh ghshqghqw frruglqdwhv )_ ' +. c )+. c +e c )+ e c +D c )+D A ' d%S c )%S o A 0 yhfwruv ri wkh lqghshqghqw frruglqdwhv ) ' +S c )+S A o ' d% c %2 c % c %e c %D c %H c %b c %f c % c %2 c % c +S c %. c %H c +b c +2f o 0 yhfwruv ri wkh )o ' d+ c +2 c + c +e c +D c +H c +b c +f c + c +2 c + c +S c +. c +H c +b c +2f oA qrw hqjdjhg frruglqdwhv1 Vroxwlrq ri wkh hljhqydoxh dqg hljhqyhfwru sureohp iru wkh deryh pdwkhpdwlfdo prgho uhvxowv lq wkh iroorzlqj qdwxudo prghv dqg qdwxudo iuhtxhqflhv ri wkh xqfrq0 vwudlqhg dqg iuhh 0 iuhh urwru1 Dffruglqj wr Ilj1 6/ wkh frqvwudlqw htxdwlrqv fdq eh
_
= 266.9 rad/s
=735.5rad/s
a)
b)
Iljxuh 8 dgrswhg lq wkh iroorzlqj irup= +. ' +S n f)+S )+. ' )+ S +e ' +S n Ef n f.)+ S n ffff )+e ' )+S +D ' +S n Ef n f. n f)+ S n ffff )+D ' )+S
+6163,
SUREOHPV
ru lq wkh pdwul{ irup )_ ' @_ + n @_+ zkhuh 5 9 9 9 @_ ' 9 9 9 7 f f f f 6 : : : :c : : 8 5 9 9 9 '9 9 9 7 f f ffff f ffff f 6 : : : : : : 8
449
+6164,
@_+
+6165,
Rqh pd| dvvxph wkdw lq sodqh %5 wkh plvdoljqphqw lv htxdo wr }hur1 Khqfh/ @_% ' f +6166,
Dffruglqj wr frqvlghudwlrqv lq vxe0vhfwlrq 41519 +sdjh 86,/ wkh htxdwlrqv ri prwlrq ri wkh vkdiw diwhu lqwurgxfwlrq ri wkh frqvwudlqwv 6164 dqg 6166 duh 4S f S !S f S n f 4S ) S f ! S )SS r +6167, +%S f 6%S 6%S ' n n ULt l| n t? l| 6S 6r ++S BS +S +S zkhuh
S
'
o
( )S '
) )o
Ilj1 9 vkrzv wzr uvw qdwxudo prghv ri wkh vkdiw +zlwkrxw wkh guxp, lq wkh sodqh +5 diwhu wkh frqvwudlqw htxdwlrqv kdyh ehhq lqwurgxfhg1 Dffruglqj wr Ht1 414: +sdjh
b)
a)
= 1027 rad/s
= 1427 rad/s
Iljxuh 9 47,/ wkh htxdwlrq ri prwlrq ri wkh guxp dorqj wkh lqghshqghqw frruglqdwhv duh 4_ f f U_ +% f n ' n f 4_ ) U_ f ) ++ B_

dqg ) +6168,
SUREOHPV
zkhuh 4_ ' 6 6@ 6@ U n 6@2 c U_ ' f f f U5 l c B_ ' 6} 6}@
44:
+6169,
Dssolfdwlrq ri wkh frpsrvlwlrq uxohv wr wkh htxdwlrq 6167 dqg 6167 |lhogv htxdwlrq ri prwlrq ri wkh iuhh0iuhh vkdiw 0 guxp pdwkhpdwlfdo prgho1 S S S n} n! 4S_ ) S S_ ) S S_ )S r +616:, 6S 6%S +%S_ f %S n n ULt l | n t? l ' BS_ ++S_ 6S 6r +S +S Wkh qdwxudo prghv ri wkh iuhh0iuhh vkdiw 0 guxp vxe0v|vwhp duh vkrzq lq Ilj1 :1 Lqwurgxfwlrq ri wkh erxqgdu| frqglwlrqv +vhh sdjh 85, uhvxowv lq wkh iroorzlqj
a)
b)
= 937 rad/s
= 1069 rad/s
Iljxuh : pdwkhpdwlfdo prgho1 S r 6% 6% S S f S 4 n} n! ' n ULt l| n t? l| ) S ) S )S B 6S 6r + +
+616;,
Wkh qdwxudo prghv dqg wkh qdwxudo iuhtxhqflhv ri wkh vxssruwhg vkdiw0guxp vxe0 v|vwhp duh vkrzq lq Ilj1 ;1 Wkh sduwlfxodu vroxwlrq ri wkh iroorzlqj qrq0 krprjhqhrxv htxdwlrq S S f S +616<, n} n! ' 4 ) S ) S )S B uhsuhvhqwv wkh vwdwlf gh hfwlrq olqh gxh wr wkh judylw| irufhv1 Lw lv vkrzq lq Ilj1 <1 Durxqg wklv htxloleulxp srvlwlrq wkh urwru shuirupv wkh irufhg yleudwlrq gxh wr wkh qrq }hur wrohudqfh K +vhh Ilj1 6,1 Wkh irufhg yleudwlrqv/ gxh wr wkh lqdffxudf| ri wkh guxp/ duh dssur{lpdwhg e| wkh sduwlfxodu vroxwlrq ri wkh iroorzlqj qrq0krprjhqhrxv htxdwlrq1 S r 6% 6% S S S +6173, 4 n} n! ' ULt l| n t? l| S ) S ) S )S 6+ 6r +
SUREOHPV
44;
= 420.4 rad/s =194.3 rad/s

a) b)
Iljxuh ;
1x10 -4
static deflection [m] 2x10 -4
Iljxuh < Dpsolwxgh ri wkh irufhg yleudwlrq dorqj wkh frruglqdwh +S +vhh Ilj1 7, dv d ixqfwlrq ri wkh dqjxodu yhorflw| l lv suhvhqwhg lq Ilj1 431 Gxh wr wkh jhrphwulfdo v|pphwu| ri wkh v|vwhp frqvlghuhg/ wkh uvw fulwlfdo vshhg +lSo ' bedo@_*ro, frlqflghv zlwk wkh uvw qdwxudo iuhtxhqf| zkhuhdv wkh vhfrqg fulwlfdo vshhg + lSo2 ' DSHdo@_*ro , lv gxh wr wkh j|urvfrslf hhfw/ kljkhu1
SUREOHPV
10
44<
amplitude x 10 4 [m]
0 100 200 300 400 500 600
[rad/s]
Iljxuh 43 Sureohp 46 Wzr ehdpv= ehdp @ dqg ehdp K/ vkrzq lq Ilj1 44d, dqg Ilj1 44e, uhvshf0 wlyho|/ duh mrlqhg wrjhwkhu dorqj wkh frruglqdwhv +2e e| wkh xqlyhuvdo mrlqw +vhh Ilj1 44f,,1 Wkh g|qdplf surshuwlhv ri wkhvh ehdpv duh dv iroorzv . ' f2 f2 *62 0 \rxqj prgxoxv C ' ffSSS f2 *62 0 vkhdu prgxoxv D ' f 0 Srlvvrq qxpehu 4 ' .Hff&}*6 0 ghqvlw| Wkh dvvhpeo| lv vxssruwhg xsrq irxu vxssruwv vkrzq lq Ilj 15dg,1 Prwlrq ri wkh vxssruwv zlwk uhvshfw wr wkh lqhuwldo iudph +5 lv dv iroorzv + ' fffD ULt ff| +. ' fff ULt ff| +f ' ffD +ee ' ffD Frpsxwh= 41 Vwdwlf htxloleulxp srvlwlrq ri wkh urwru v|vwhp 51 Qdwxudo prghv dqg fruuhvsrqglqj qdwxudo iuhtxhqflhv 61 Uhvsrqvh ri wkh urwru v|vwhp gxh wr prwlrq ri wkh vxssruwv=
+6174,
SUREOHPV
0.08
1 2 3 4 5 6 7 8
453
0.05
0.04
0.1
0.04
0.06
0.05
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24
a)
24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46
b) c)
0.1 2.4 1 2 0.05 3 4 z
d)
Iljxuh 44 Vroxwlrq1 Wkh pdwkhpdwlfdo prgho ri wkh ehdpv @ dqg K duh dv iroorzv @ @ @ @ @ 4 4@ ) ! !@ ) B 2 2 n ' @ @ @ @ @ @ 42 622 + 2e !2 &22 +2e C@ 2e
K 6K 42 K 42 4K 22
+6175,

K + 2e K ) 2
n
K & !K 2 K !2 !K 22

K +2e K )2
'
CK 2e B@ 2
+6176,
zkhuh=
@ ' d+ c +2 c c +22 c +2 oA c ) K )2 ' d+2D c +2S c c +e c +ee o
+6177,
Qdwxudo prghv dqg wkh fruuhvsrqglqj qdwxudo iuhtxhqflhv ri wkh ehdp @ dqg ehdp Dssolfdwlrq ri wkh frpsrvlwlrq uxohv K duh vkrzq lq Ilj1 45 dqg 46 uhvshfwlyho|1 |lhogv pdwkhpdwlfdo prgho ri wkh wzr ehdpv mrlqhg dv vkrzq lq Ilj1 44f, 5 @ 65 6 5 @ 65 6 5 6 4 4@ f ) ! !@ f ) B@ 2 2 @ K K 87 + @ K K 8 7 + 8 ' 7 C@ n CK 8 7 4@ 2e 8 n 7 !@ 2e 2 622 n 6 42 2 &22 n & !2 2e 2e K K K f 42 422 ) 2 f !2 !K ) BK 2 22 2 +6178, Ilj1 47 suhvhqwv wkh qdwxudo prghv dqg wkh fruuhvsrqglqj qdwxudo iuhtxhqflhv ri wkh vxe0v|vwhp wkdw lv jryhuqhg e| htxdwlrq 61781 Diwhu uhrujdql}dwlrq ri htxdwlrqv 6178
SUREOHPV
454
1=230.3rad/s 2=757.8rad/s
Iljxuh 45
1 =215.8rad/s 2 =719.1rad/s
Iljxuh 46
SUREOHPV
455
1=142.8rad/s =217.9rad/s 2
Iljxuh 47 zlwk uhvshfw wr wkh vxssruwhg frruglqdwhv ) ' d+ c +. c +f c +ee o wkh| fdq eh uhzulwwhq dv iroorzv 4 4e ) ! !e ) B + n ' n 4e 4ee ) e !e !ee )e Be f Erxqgdu| frqglwlrqv iru wkh htxdwlrq 617: fdq eh irupxodwhg dv iroorzv ) ' Mf n MS ULt ff| zkhuh 6 f 9 f : : Mf ' 9 7 ffD 8 c ffD 5 6 fffD 9 fff : : MS ' 9 7 8 f f 5 +617;, +6179,
+617:,
+617<,
Lqwurgxfwlrq ri wkh erxqgdu| frqglwlrqv 617; lqwr wkh htxdwlrqv 617: |lhogv wkh pdwk0 hpdwlfdo prgho ri wkh vxssruwhg v|vwhp1 4 MS ff2 ULt ff| n 4e ) e n ! MJ n ! MS ULt ff| n !e )e B ' + +6183, 4ee ) e n !ee )e ' Be !e Mf !e MS ULt ff| n 4e MS ff2 ULt ff| Vroxwlrq ri wkh krprjhqhrxv htxdwlrq 6184 4ee ) e n!ee )e ' f +6185, +6184,
SUREOHPV
456
1 =113.9rad/s 2 =388.6rad/s
Iljxuh 48 rhuv wkh qdwxudo prghv dqg wkh qdwxudo iuhtxhqflhv wkdw duh vkrzq lq Ilj1 481 Wkh sduwlfxodu vroxwlrq ri htxdwlrq= 4ee ) e n!ee )e ' Be !e Mf +6186,
surgxfhv htxloleulxp srvlwlrq ri wkh v|vwhp frqvlghuhg1 Lw lv vkrzq lq Ilj1 491 Wkh sduwlfxodu vroxwlrq ri htxdwlrq 4ee ) e n!ee )e ' !e MS ULt ff|n4e MS ff2 ULt ff| +6187,
doorzv dpsolwxghv ri wkh irufhg yleudwlrqv gxh wr wkh hqylurqphqwdo h{flwdwlrq wr eh frpsxwhg1 Wkh| duh vkrzq lq Ilj1 4:1
SUREOHPV
457
0.00 0.01 0.02 0.03 0.04 0.05 0.06
Iljxuh 49
amplitudes of the kinematic excitation amplitudes of vibrations [m] x 10 2
Iljxuh 4:
SUREOHPV
Sureohp 47
458
Wr prgho wkh urwru v|vwhp vkrzq lq Ilj1 4;d,/ wkh v|vwhp kdv ehhq vsolw lqwr wzr vxe0v|vwhpv vkrzq lq Ilj1 4;e,1 Wkh pdwkhpdwlfdo prgho ri wkh iuhh0iuhh vkdiw 4 +wrjhwkhu zlwk ehdulqjv 6 ,
a)
1 z
1 y1 1 y2
y31
y41
0.02
2 a
y51 z
2 0.04 y5 0.05 0.06
b)
y32
y42
0.04
0.01
0.03
mass of bearings 3 - 0.15 [kg] missalignment a=0.00001 [m] Young modulus E= 0.2 x 10 12 [N/m 2 ] Shear modulus G=0.066 x 10 12 [N/m 2 ] dencity d=7800 [kg/m 3 ] all dimension are in meters
Iljxuh 4; kdv ehhq frqghqvhg dorqj frruglqdwhv wr wkh qrghv 4/5/6/7/81 Dorqj frruglqdwhv % c %2 c % c %e c %D dqg + c +2 c + c +e c +D wkh pdwkhpdwlfdo prghov duh uhvshfwlyho| 4 4 ! ! +% 2 2 +6188, n ' 42 422 2 !2 !22 + 2 2%
4 42 4 2 422

) ) 2
n
! !2 ! 2 !22

) )2
'
B B 2

+ + + 2+
+6189,
SUREOHPV
zkhuh=

459
'
% % 2
c
6 % 7 % 8c % e 2 ' %D
+ '
+ +2
c
6 + 8 +2 ' 7 +e +D
+618:,
Wkh pdwkhpdwlfdo prgho ri wkh vkdiw 5/ frqghqvhg wr wkh qrghv 6/7/8/ lv dv iroorzv 42 2 n!2
2
' +2 %
+618;, +618<,
42 ) 2 n!2 )2 ' B2 n+2 + zkhuh=

2
6 %2 8c ' 7 %2 e %2 D
6 2 + 2 8 )2 ' 7 +e 2 +D
+6193,
Wkh wrohudqfh ri pdqxidfwxulqj krxvlqjv ri wkh ehdulqjv 6 lv @ +vhh Ilj1 4;e,,1 Khqfh wkh yhfwru ri wkh shupdqhqw gh hfwlrq lq wkh sodqh %5 dq +5 pd| eh dvvxphg lq wkh iroorzlqj irup 5 6 5 6 f f 2 7 8 7 8 f @ +6194, ' c @ ' @2 % + f f Wkh vkdiw 5 urwdwhv zlwk wkh dqjxodu yhorflw| l dqg wkh vkdiw 4 lv vwdwlrqdu|1 Ghyhors pdwkhpdwlfdo prgho ri wkh v|vwhp1
SUREOHPV
45:
Vroxwlrq1 Vlqfh wkh vkdiw 4 lv vxssruwhg dorqj frruglqdwhv / ohw xv sduwlwlrq wkh htxd0 wlrqv 6188 dqg zlwk uhvshfw wr wklv yhfwru dqg lqwurgxfh wkh erxqgdu| frqglwlrqv ' f1
4 2 2 n!2 4 22 2 n!22 2 2
' + % ' + 2%
+6195,
D vlplodu wuhdwphqw ri htxdwlrqv 6189 |lhogv

4 2 n! 2 )2 ' B n++ 2 ) 4 2 n! 22 )2 ' B2 n+2+ 22 )
+6196,
Wkh orzhu htxdwlrqv 6195 dqg 6196 irup wkh pdwkhpdwlfdo prgho ri wkh vxssruwhg vkdiw 41
4 22 2 n!22 2 ' +2% 4 2 n! 22 )2 ' B2 n+2+ 22 )
+6197,
Dw wklv vwdjh ri frpsrvlwlrq wkh| duh qrw frxsohg dqg wkh sduwlfxodu vroxwlrq ri
4 2 n! 22 )2 ' B2 22 )
+6198,
|lhogv vwdwlf gh hfwlrq ri wkh vkdiw 4 dqg wkh jhqhudo vroxwlrq surgxfhv lwv qdwxudo iuhtxhqflhv dqg qdwxudo prghv1 Wkh| duh vkrzq lq Ilj1 4< dqg Ilj1 53 uhvshfwlyho|1 Wkh vkdiw 5 vkrxog eh frqvlghuhg dv shupdqhqwo| gh hfwhg vkdiw1 Wkh shupdqhqw gh hfwlrq +vhh sdjh 7:, fdxvhv yhfwru ri h{whuqdo h{flwdwlrq ghwhuplqhg e| wkh irupxod 414851 Lq wkh fdvh frqvlghuhg wklv yhfwru ri h{flwdwlrq lv 6% ' !2 @2 + t? l| 6+ ' !2 @2 + ULt l| +6199, dqg wkh pdwkhpdwlfdo prgho ri wkh vkdiw 5 wdnhv wkh iroorzlqj irup 42 2 n!2
2 2 42 ) 2 n!2 )2 ' B2 n !2 @2 + ULt l| n ++ 2 ' !2 @2 + t? l| n +%
+619:,
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t
yR
R
xR
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R
yR
Iljxuh 5 81415 Ghyhorsphqw ri wkh pdwkhpdwlfdo prgho hC ' - E%- n >%- n - E+- n >+- +814,
Vlqfh wkh yhfwru hC lv uhvroyhg dorqj wkh urwdwlqj v|vwhp ri frruglqdwhv/ wkh Frulrolv vwdwhphqw kdv wr eh xvhg wr rewdlqhg frpsrqhqwv ri wkh devroxwh yhorflw| yhfwru1 3- f f l ' h C ' hC n l hC ' - % - n - + - n %- n >% +- n >+ f +815, ' - E% - l+- l>+- n - E+ - n l%- n l>%-
C
Frpsrqhqwv ri dffhohudwlrq ri wkh judylw| fhqwuh/ dffruglqj wr wkh Frulrolv vwdwhphqw/ duh= @C ' C ' C n l C ' - E %- l+ - n - E +- n l% 3- f f l n % - l+- l>+ + - n l%- n l>% f ' - E %- 2l+ - l %- l >%- n - E +- n 2l% - l2 +- l2 >+- +816, 6E %- l+ - l2 %- l2 >%- ' 8%6E +- n l% - l2 +- l2 >+- ' 8+2
-
Wdnlqj dgyhqwdjh ri wkh Qhzwrq*v odz/ rqh fdq zulwh wkdw +817,
PRGHOOLQJ
48;
zkhuh 8%- dqg 8+- uhsuhvhqw frpsrqhqwv ri wkh uhvxowdqw irufh 6- dfwlqj rq wkh sduwlfoh frqvlghuhg1 Wklv irufh fdq eh dgrswhg dv iroorzv 6- ' +- n6e%- n 6?- n Bzkhuh= +818,
+- uhsuhvhqwv wkh uhdfwlrq ri wkh vkdiw/ 6e%- dqg 6?- vwdqgv iru irufhv gxh wr wkh h{whuqdo dqg wkh lqwhuqdo gdpslqj uhvshfwlyho|/ B- uhsuhvhqwv wkh judylw| irufh dfwlqj rq wkh hohphqw1 Wkh uhdfwlrq +- ghshqg rq wkh sulqflsdo vqhvvhv ri wkh vkdiw &% dqg &+ 1 +- ' - &% %- - &+ ++819,
Dffruglqj wr Ht1 716</ wkh frpsrqhqwv ri wkh h{whuqdo gdpslqj irufh dorqj wkh vwdwlrqdu| frruglqdwhv %+ duh
% ' Se% % 8e% + 8e% ' Se% +
+81:,
Xvlqj wkh frpsoh{ qrwdwlrqv wkh deryh h{suhvvlrq wdnhv irup= 8e% ' Se% 5 +81;,
Dffruglqj wr wkh irupxodh 714: dqg 714; +sdjh 467,/ wkh frpsoh{ irufh dorqj wkh urwdwlqj v|vwhp ri frruglqdwhv lv 8e%- enl| ' Se% E5 - enl| n 5- lenl| +81<,
Wkhuhiruh/ frpsrqhqwv ri wklv irufh dorqj wkh urwdwlqj v|vwhp ri frruglqdwhv duh= 6e%- ' - Se% E% - l+- - Se% E+ - n l%- +8143,
Dffruglqj wr wkh frqvlghudwlrq fduulhg rxw lq sdjh 473/ wkh irufh gxh wr wkh lqwhuqdo gdpslqj fdq eh dgrswhg dv iroorzlqj 6?- ' - S?% % - - S?+ + +8144,
Wkh judylw| irufh B- / dffruglqj wr wkh gudzlqj lq Ilj1 5/ dorqj wkh urwdwlqj v|vwhp ri frruglqdwhv kdv wkh iroorzlqj frpsrqhqwv B- ' - 6} t? l| n - 6} ULt l| +8145,
Lqwurgxfwlrq ri Ht*v1 8145/ 8144/ 8143 dqg 819 lqwr 817 |lhogv wkh htxdwlrq ri prwlrq ri wkh v|vwhp frqvlghuhg dorqj wkh urwdwlqj v|vwhp ri frruglqdwhv1
2 % - 2l+ - n E/2 - 2e% l+- ' ^% n } t? l| % l %- n 2Ee% n ?% % 2 2 + - n 2l% - n E/ + l +- n 2Ee% n ?+ + - n 2e% l%- ' ^+ n } ULt l|+8146, +8147,
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DQDO\VLV
815 DQDO\VLV
493
81514 Dqdo|vlv ri wkh iuhh yleudwlrqv 0 vwdelolw| dqdo|vlv Wkh krprjhqhxrv sduw ri htxdwlrq 815; jryhuqv wkh iuhh prwlrq ri wkh urwru frqvlghuhg dqg kdv wkh iroorzlqj irup 4- - nU- - n!-'
+8154,
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f 3 ! 4 43 - - U-
Wkh lpdjlqdu| sduw / - dqg wkh uhdo sduw ri wkh frpsoh{ urrwv o dv d ixqfwlrq ri wkh urwdwlqj vshhg l duh suhvhqwhg lq jxuhv 6 7 81
DQDO\VLV
494
Lq Ilj1 6 uhvxowv ri dqdo|vlv ri wkh xqgdpshg fdvh Ee% ' ?% ' ?+ ' f duh vkrzq iru /J ' Dd*ro dqg 0 ' fS1 Iru wkh dqjxodu vshhg zlwklq wkh udqjh f l l, ? wkhuh h{lvwv irxu qdwxudo iuhtxhqflhv +lpdjlqdu| sduwv, zklfk fruuhvsrqg wr wkh uhdo sduw htxdo wr f1 Wkhuhiruh zlwklq wklv uhjlrq wkh htxloleulxp srvlwlrq ri wkh urwru lv vwdeoh1 Iru udqjh l, ? l l? wkhuh h{lvw wzr qrq0}hur uhdo sduwv zklfk fruuhvsrqg wr wkh lpdjlqdu| sduwv htxdo wr }hur1 Rqh ri wkhvh uhdo sduwv lv srvlwlyh1 Wkhuhiruh wkh yleudwlrq ri wkh urwru zloo jurz wr lqqlw| dqg lwv htxloleulxp srvlwlrq lv xqvwdeoh1 Iuhtxhqf| ri wklv yleudwlrq/ dv lw fdq eh vhhq iurp wkh urwdwlqj v|vwhp ri frruglqdwhv/ lv htxdo wr }hur E/- ' f1 Lw phdqv wkdw wklv iuhtxhqf| zlwk uhvshfw wr wkh vwdwlrqdu| frruglqdwhv / lv htxdo wr wkh dqjxodu vshhg ri wkh urwru l +vhh Ht1 7169 sdjh 46;,1 Uhjlrq ri wkh dqjxodu vshhg zlwklq zklfk iuhtxhqf| ri yleudwlrq jurzlqj wr lqqlw| lv htxdo wr wkh dqjxodu vshhg lv fdoohg vlpsoh lqvwdelolw| uhjlrq1 Iru wkh dqjxodu vshhg juhdwhu wkdq l ? wkh htxloleulxp srvlwlrq ri wkh urwru lv vwdeoh1
40 20
R [1/s]
0 -20 -40 0 10 20 30
a)
[1/s]
4 2 h [1/s] 0 -2 -4 0
n
l
b)
10
20 simple instability region
30
[1/s]
Iljxuh 6
DQDO\VLV
495
Wkh lq xhqfh ri wkh h{whuqdo gdpslqj rq vwdelolw| ri wkh htxloleulxp srvl0 wlrq lv suhvhqwhg lq Ilj1 7 Wkh gldjudp ri wkh qdwxudo iuhtxhqflhv/ frpsxwhg iru / J ' Dd*ro/ 0 ' fSc e% ' 2d*ro/ ?% ' ?+ ' f dqg vkrzq lq Ilj1 7d ,/ lv doprvw xqfkdqjhg exw wkh zlgwk ri wkh lqvwdelolw| uhjlrq +vhh Ilj1 7e ,, lv juhdwo| dhfwhg1 Wkh zlgwk ri wkh vlpsoh lqvwdelolw| uhjlrq dv d ixqfwlrq ri wkh frh!flhqw ri sdudphwulfdo h{flwdwlrq 0 lv suhvhqwhg lq Ilj1 7f , iru glhuhqw pdjqlwxghv ri wkh h{whuqdo gdpslqj1 Iurp wklv gldjudp rqh fdq vhh wkdw iru vx!flhqwo| odujh h{whuqdo gdpslqj wkh lqvwdelolw| uhjlrq lv vxssuhvvhg wr }hur1
40 20
R
[1/s] -20 -40
a)
0 2 0 h [1/s] -2 -4 -6 0
10
20
30
[1/s]
b)
[1/s]
l 10 n
20
u n
30
simple instability region

0.8 0.6
0.4
0.2 0 0 10 20
h ex= 0 [1/s] h ex= 2 [1/s] h ex= 5 [1/s] 30
c)
[1/s]
Iljxuh 7
DQDO\VLV
496
Wkh lqwhuqdo gdpslqj +?% ' 2d*roc ?+ ' d*ro, +Ilj1 8, dhfwv wkh vlpsoh lqvwdelolw| uhjlrq dqg fdxvhv wkh lqvwdelolw| wkuhvkrog iru kljkhu dqjxodu vshhg ri wkh urwru1 +frpsduh zlwk uhvxowv ri dqdo|vlv lq sdjh 479 Ilj1 4<,
40 20
R
[1/s] -20 -40
a)
0 2 0 h [1/s] -2 -4 -6 0
10
20
30
[1/s]
n n
10 20 30
l
t
[1/s]
b)
simple instability region instability threshold

0.8 0.6
0.4 0.2 0 0 10 20 30
c)
[1/s]
Iljxuh 8
DQDO\VLV
81515 Dqdo|vlv ri wkh irufhg yleudwlrqv Irufhg yleudwlrqv fdxvhg e| lpedodqfh
497
Dffruglqj wr Ht1 8153 wkh irufhg yleudwlrq fdxvhg e| lpedodqfh duh jryhuqhg e| wkh iroorzlqj htxdwlrq1 4- - nU- - n!zkhuh= 6 ' 6^ '
-'
+8157,
^% ^+
+8158,
Wkh sduwlfxodu vroxwlrq ri wkh deryh htxdwlrq fdq eh suhglfwhg dv d yhfwru ri frqvwdqw pdjqlwxghv
-^
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+8159,
Lqwurgxfwlrq ri Ht1 8158 lqwr Ht1 8157 |lhogv wkh sduwlfxodu vroxwlrq lq irup ^% %-^ 3 ' -^ ' !^+ +-^ zkhuh !- '
2 /2 2e% l J E n 0 l 2 n2e% l / J E 0 l2
+815:,
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Hyhqwxdoo|/ prwlrq ri wkh urwru frqvlghuhg dorqj wkh vwdwlrqdu| v|vw|p ri frruglqdwhv %+ gxh wr lwv lpedodqfh lv= %^ ' %-^ ULt l| +-^ t? l| +^ ' %-^ t? l| n +-^ ULt l| +8164,
zkhuh %-^ dqg +-^ duh jlyhq e| Ht1 815:1 Wkh deryh htxdwlrqv duh htxlydohqw wr %^ ' t?El| n ) +^ ' ULtEl| n ) zkhuh= +8165,
DQDO\VLV
498
0 vwdqgv iru dpsolwxgh ri wkh irufhg yleudwlrq/ ) 0 lv wkh skdvh ehwzhhq wkh h{flwdwlrq irufh dqg wkh v|vwhp uhvsrqvh1 t ?K ' E%-^ 2 n E+-^ 2 %-^ 3 +8166, ) ' |@? +-^ Dv rqh fdq vhh iurp 8164/ wkh iuhtxhqf| ri wkh irufhg yleudwlrq fdxvhg e| wkh uhvlgxdo lpedodqfh lv htxdo wr wkh dqjxodu vshhg l ri wkh urwru dqg wkh dpsolwxgh ri wklv yleudwlrq lv lqghshqghqw ri wkh lqwhuqdo gdpslqj1 Wkh dpsolwxgh dv d ixqfwlrq ri wkh dqjxodu vshhg ri wkh urwru lv suhvhqwhg lq Ilj1 9 iru wkh iroorzlqj qxphulfdo gdwd /J ' Ddo@_*roc 0 ' fSc e% ' 2d*roc ?% ' 2d*roc ?+ ' d*ro +8167,
Wkh wzr fulwlfdo vshhgv frlqflgh wkh ohiw dqg uljkw lqvwdelolw| uhjlrq zlwklq zklfk wkh vroxwlrq 8165 duh xqvwdeoh1 Irufhg yleudwlrqv fdxvhg e| judylwdwlrq Wkh irufhg yleudwlrqv fdxvhg e| judylwdwlrq duh jryhuqhg e| wkh iroorzlqj htxdwlrq1 4- - nU- - n!zkhuh= 6 ' 6} ' ' t? l| n ULt l| ' }r t? l| n }S ULt l| +8169,
-'
+8168,
} t? l| } ULt l|
} f
f }
Wkh sduwlfxodu vroxwlrq ri wkh htxdwlrq 8168 fdq eh suhglfwhg lq wkh iroorzlqj irup1
-}
' 5 t? l| n ULt l|
+816:,
Lqwurgxfwlrq ri wkh deryh h{suhvlrq lqwr wkh htxdwlrq 8168 |lhogv dojheudlf vhw ri htxd0 wlrqv olqhdu zlwk uhvshfw wr wkh frqvwdqw 5 dqg Wklhu vroxwlrq rhuv pdjqlwxghv ri hohphqwv ri wkh pdwulfhv 5 dqg 5 6 7 % 3 2 9 7+ : 5 l 4 n ! l U } r : +816;, '9 7 % 8 ' nlUl2 4- n !}S + Khqfh/ wkh vroxwlrq dorqj wkh urwdwlqj v|vwhp ri frruglqdwhv fdq eh zulwwhq dv iroorzv %-} ' 7% t? l| n % ULt l| +-} ' 7+ t? l| n + ULt l|
DQDO\VLV
2 0 h [1/s] -2 -4 -6 0
499
nu nl
10 20 30
t
[1/s]
a)
0.1
0.08
stable solutions
A unb [m]
0.06 unstable solutions 0.04
b)
0.02
cr = nl
10
20
u= cr nu
30
[1/s]
Iljxuh 9 ru lq wkh frpsoh{ irup1 5-} ' %-} n +-} ' E7% n 7+ t? l| n E% n + ULt l| Vlqfh dffruglqj wr wkh Hxohu irupxodh t? l| ' el| e3l| ( 2 ULt l| ' el| n e3l| 2 +8173, +816<,
wkh frpsoh{ vroxwlrq fdq eh wudqviruphg wr eh % n 7+ + 7% l| % 7+ + n 7% 3l| 5-} ' n e n n e 2 2 2 2
+8174,
DQDO\VLV
49:
Wkh frpsoh{ sduwlfxodu vroxwlrq dorqj wkh vwdwlrqdu| v|vwhp ri frruglqdwhv/ dffruglqj wr 714; sdjh 467/ duh dv iroorzv1 + 7% 2l| + n 7% % n 7+ % 7+ l| +8175, 5} ' 5-} e ' n e n n 2 2 2 2 Vhsdudwlrq ri wkh uhdo sduw iurp wkh lpdjlqdu| sduw lq wkh h{suhvvlrq 8175 |lhogv prwlrq ri wkh urwru dorqj wkh % dqg + d{hv ri wkh vwdwlrqdu| v|vwhp ri frruglqdwhv1 %} ' +} % 7+ + 7% % n 7+ t? 2l| n ULt 2l| ' %r n }o t?E2l| n ) 2 2 2 + n 7% % n 7+ + 7% ' n t? 2l| n ULt 2l| ' +r }o ULtE2l| n ) 2 2 2 +8176,
Lq wkh deryh irupxod %r dqg +r duh uhihuhg wr dv wkh htxloleulxp srvlwlrq ri wkh urwru1 Lq jhqhudo wklv htxloleulxp srvlwlrq ghshqgv rq wkh lqwhuqdo gdpslqj dqg wkh urwru*v dqjxodu vshhg l +frpsduh zlwk uhvxowv ri dqdo|vlv ri lq xhqfh ri lqwhuqdo gdpslqj rq sdjh 477,1 %r ' +r % 7+ 2 + n 7% ' 2
+8177,
}o vwdqgv iru wkh dpsolwxgh ri wkh irufhg yleudwlrqv fdxvhg e| wkh judylwdwlrq1 v 2 2 + 7% % n 7+ }o ' n 2 2 Skdvh ri wklv yleudwlrqv lv ghqrwhg e| ) % n 7+ 3 ) ' |@? + 7%
+8178,
DQDO\VLV
49;
Uhvxowv ri wkh qxphulfdo frpsxwdwlrq ri wkh irufhg yleudwlrqv fdxvhg e| judy0 lwdwlrq/ suhvhqwhg lq Ilj*v1 : dqg ;/ fruuhvsrqg wr wkh iroorzlqj gdwd= /J ' Ddo@_*roc 0 ' fSc e% ' 2d*roc ?% ' 2d*roc ?+ ' d*ro +8179,
Lq Ilj1 : dpsolwxgh ri wkh irufhg yleudwlrqv lv suhvhqwhg dv d ixqfwlrq ri wkh urwru*v dqjxodu vshhg1 Iuhtxhqf| ri wkhvh yleudwlrqv/ dffruglqj wr Ht1 8176 lv wzlfh wkh dqjxodu vshhg l1 Fulwlfdo vshhg dsshduv dw wkh dqjxodu vshhg htxdo wr kdoi ri. wkh dyhudjh qdwxudo iuhtxhqf| ri wkh urwru / J 1 Vxfk d uhvrqdqfh +fulwlfdo vshhg, lv fdoohg vxekduprqlf uhvrqdqfh +vxekduprqlf fulwlfdo vshhg ,1
2 0 h [1/s] -2 -4 -6 0
n nl
10 20
t
30
a)
[1/s]
0.1
0.08
stable solutions
0.06
A gr [m]
0.04
unstable solutions
b)
0.02
10 1 _ = o cr 2
20
30
[1/s]
Iljxuh :
DQDO\VLV
49<
Ilj1 ; vkrzv wudmhfwru| ri wkh htxloleulxp srvlwlrq dv d ixqfwlrq ri wkh urwru*v dqjxodu vshhg l1
-0.06 -0.05 -0.04 -0.03 -0.02 -0.01 x [m] 0.01 0.02 0.03 0.04 = 6 [rad/s] = 40 [rad/s] = 0 [rad/s] 0.05 0.06 0.07 0.08 y [m]
Iljxuh ;
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Iljxuh 4 Ohw xv frqvlghu urwru vkrzq lq Ilj1 41 Dvvxph wkdw wkh vkdiw V ri wklv urwru lv h{leoh dqg pdvvohvv1 Wkh hohphqw H fdq eh frqvlghuhg dv d uljlg erg| dwwdfkhg wr wkh vkdiw dw wkh srlqw R1 Wkh srlqw R lv fkrvhq wr eh dq ruljlq ri wkh devroxwh v|vwhp ri frruglqdwhv [\]1 Wkh fhqwuh ri judylw| J lv e| @ dsduw iurp wkh ruljlq R1 Wklv hohphqw srvvhvvhv pdvv 6 dqg wkh d{lv ] lv lwv d{lv ri v|pphwu|1 Wkhuhiruh wkh prphqwv ri lqhuwld derxw d{lv f dqg t duh htxdo wr hdfk rwkhu dqg duh ghqrwhg e| U% ' U dqg U+ ' U uhvshfwlyho|1 Wkh urwru urwdwhv zlwk wkh frqvwdqw dqjxodu yhorflw| l Wkh pdwkhpdwlfdo prgho/ iru wkh deryh vwdwhg dvvxpswlrq/ zhuh ghulyhg lq sduw 4 +Ht1 41;5, wr eh dv iroorzv1 n Uj n !j ' 6C 4j zkhuh= 6 6 f 6@ f 9 f 6 f 6@ : : 4'9 2 7 6@ f U n 6@ 8 f 2 f 6@ f U n 6@ f 9 f U'9 7 f f 5 6 f f f f f f : : f f U5 l 8 f U5 l f 5 5 & 9 f ! '9 7 &2 f 5 f & f &2 5 &2 f &22 f 6 f &2 : : f 8 &22 +914,
6 f 9 t : : j'9 7 )f 8 )t
6 f 9 6} : : 6C ' 9 7 f 8 6}@
+915,
PRGHOOLQJ
4:4
Iru ixuwkhu dqdo|vlv ohw xv dvvxph wkdw wkh hohphqw H lv vwdwlfdoo| dqg g|qdplfdoo| xqedodqfh1 Wkhuhiruh/ dffruglqj wr wkh frqvlghudwlrqv fduulhg rxw lq sduw 4/ lw lv qhfhvvdu| wr lqfoxgh lq wkh pdwkhpdwlfdo prgho wkh iroorzlqj yhfwru uhsuhvhqwlqj wkh h{whuqdo h{flwdwlrq 6L +Ht1 4198,1 5 6 5 6 L 8% 7 l2 ULtEl | n )7 9 L 8+ : 9 7 l2 t?El | n )7 : : 9 : +916, 6L ' 9 7 L % 8 ' 7 (l2 ULtEl | n )( 8 (l2 t?El | n )( L+ Khqfh wkh pdwkhpdwlfdo prgho ri wkh v|vwhp frqvlghuhg fdq eh dgrswhg lq irup n Uj n !j ' 6C n 6L 4j Wkh sduwlfxodu vroxwlrq ri wkh iroorzlqj htxdwlrq n Uj n !j ' 6C 4j |lhogv frruglqdwhv ri wkh htxloleulxp srvlwlrq ri wkh v|vwhp1 Lw lv 5 6 fr 9 tr : 3 : jr ' 9 7 )f 8 ' ! 6C r )tr Li rqh lqwurgxfh qhz qrwdwlrqv +vhh Ilj1 ,
S O E Ys Z
Ys
+917, +918,
+919,
z Y
Iljxuh 5 j ' jr n wkh htxdwlrqv ri prwlrq fdq eh uhzulwwhq lq wkh iroorzlqj irup 4 n U n ! ' 6L zkhuh +vhh Ilj1 5, 6 % 9 + : : '9 7 )% 8 )+ 5 +91;, +91:,
+91<,
DQDO\VLV
4:5
Wkh yhfwru ghwhuplqhv wkh lqvwdqwdqhrxv srvlwlrq ri wkh glvn zlwk uhvshfw wr wkh vwdwlrqdu| v|vwhp ri frruglqdwhv %+5 vkrzq lq Ilj1 51 Lqwurgxfwlrq ri 91< wr 91; |lhogv 6% n 6@) % n & % n &)% ' 7 l2 ULtEl | n )7 6+ n 6@) + n & + n &)+ ' 7 l2 t?El | n )7 )% n U5 l) + n &% n &22 )% ' (l2 ULtEl | n )( 6@% n EU n 6@2 6@+ n EU n 6@2 )+ U5 l) % n &+ n &22 )+ ' (l2 t?El | n )( +9143,
+9144,
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91514 Iuhh yleudwlrqv Li rqh qhjohfwv lq Ht1 9145 wkh h{whuqdo h{flwdwlrq gxh wr wkh uhvlgxdo xqedodqfh +7 ' f dqg ( ' f,/ wkh iroorzlqj krprjhqhrxv htxdwlrqv zloo jryhuq wkh iuhh prwlrq ri wkh urwru frqvlghuhg1 65 n 6@) 5 n & 5 n &)5 ' f 6@5 n EU n 6@ )5 U5 l) 5 n &5 n &22 )5 ' f
2
+9147,
Lwv sduwlfxodu vroxwlrq fdq eh suhglfwhg lq wkh iroorzlqj irup1 5 ' e/| )5 ' e/|
+9148,
Lq wkh deryh htxdwlrq/ / uhsuhvhqw wkh qdwxudo iuhtxhqflhv ri wkh urwru1 Wr hvwdeolvk wkh uhodwlrqvkls ehwzhhq wkhvh qdwxudo iuhtxhqflhv dqg wkh dqjxodu yhorflw| ri wkh urwru/ ohw xv lqwurgxfh wkh suhglfwhg vroxwlrq 9148 lqwr wkh htxdwlrq ri prwlrq 91471 Wklv lqwurgxfwlrq |lhogv d vhw ri wkh dojheudlf htxdwlrqv olqhdu zlwk uhvshfw wr wkh frqvwdqwv dqg 1 E/2 6 n & n E/2 6@ n & ' f E/2 6@ n & n E/ 2 EU n 6@2 n U5 l/ n &22 ' f +9149,
DQDO\VLV
Wkh deryh vhw ri htxdwlrq kdv qrq0}hur vroxwlrqv li dqg rqo| ghwhuplqdqw lv htxdo wr }hur1 /2 6 n & / 2 6@ n & m{E/c lm ' /2 6@ n & /2 EU n 6@2 n U5 l/ n &22
4:6
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+914:,
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+ 1
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+ 1
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+ 2
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DQDO\VLV
4:7
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+914<,
Wkh sduwlfxodu vroxwlrq ri wkh deryh htxdwlrqv fdq eh suhglfwhg lq wkh iroorzlqj irup +9153,
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+9155,
+9156, +9157, +9158,
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DQDO\VLV
4:8
cr2 cr1
cr1 cr2
Iljxuh 8
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PRGHOOLQJ
4::
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+:18,
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4:;
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+:145,
wr wkh Ht*v :1<1 Dv d uhvxow ri dssolfdwlrq ri wkh deryh wudqvirupdwlrq/ rqh fdq jhw wkh iroorzlqj vhw ri htxdwlrqv1 6E 5- n 25 - l 5- l2 n 6@E )5- n 2) 5- l )5- l2 n & 5- n &2 )5- ' 6}e3l|
> > > 6@E 5- n 25 - l 5- l2 n EUJ n 6@2 E )5- n 2) 5- l )5- l2 {U E) 5- 2 ) 5- l )5- l2 > > U5 lE) 5- n )5- l 2{U lE) 5- )5- l n &2 5- n &22 )5- ' 6}@e3l| +:146,
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6C-
+:147,
DQDO\VLV
6 6 f 6@ f 9 f : 6 f 6@ : 4- ' 9 7 6@ f UJ n 6@2 {U 8 f 2 f 6@ UJ n 6@ n {U 6 f 26l f 26@l 9 26l : f 26@l f : U- ' 9 7 f 26@l f d2EUJ n 6@2 U5 ol 8 26@l f d2EUJ n 6@2 U5 ol f & 6l2 f 9 f & 6l2 ' 9 2 7 &2 6@l f f &2 6@l2 5 5 5
4:<
!-
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6C-
+:148,
:15
DQDO\VLV
:1514 Iuhh yleudwlrqv0 Vwdelolw| ri prwlrq Xqgdpshg fdvh Wkh iuhh prwlrq ri wkh urwru/ zlwk uhvshfw wr wkh urwdwlqj v|vwhp ri frruglqdwhv/ lv jryhuq e| wkh krprjhqhrxv htxdwlrq ri Ht1 :147 4- - nU- - n!-'
+:149,
Wkh frpsoh{ qdwxudo iuhtxhqflhv o/ pd| eh rewdlq iurp wkh fkdudfwhulvwlf htxdwlrq zklfk dffruglqj wr frqvlghudwlrq surylghg lq sduw5 fkds14 +sdjh 446,/ kdv wkh iroorz0 lqj irup1 md oom ' f zkhuh ' +:14;, +:14:,
f 3 43 ! 4 - - U-
DQDO\VLV
4;3
30 20 10
R [1/s]
0 -10 -20 -30
(a)
0.3 0.2 0.1
h [1/s]
0 -0.1 -0.2 -0.3
(b)
60
40
[1/s] 20
(c)
0
-20 0 4 8 l n1 12 16 u n1
[1/s]
simple instability region
Iljxuh 5
DQDO\VLV
4;4
30 20 10
R [1/s]
0 -10 -20 -30
(a)
0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8
h [1/s]
(b)
50 40 30
[1/s]
20 10 0 -10
(c)
0 l n1
8 u n1 l n2
12
16
[1/s]
u n3
u n2
n3
combined instability region simple instability regions
Iljxuh 6
DQDO\VLV
4;5
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UJ ' f&}62 c
U5 ' 2f&}62 c
{U ' e&}62
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& ' f fff*6c
&22 ' fff*6c
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@ ' fc
6 ' Df&}c +:154,
UJ ' 2f&}62 c
U5 ' f&}62 c
{U ' e&}62
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Lq xhqfh ri wkh h{whuqdo gdpslqj Dffruglqj wr wkh frqvlghudwlrq fduulhg rxw lq fkdswhu 5/ +sdjh 473, wkh gdpslqj irufhv gxh wr wkh h{whuqdo gdpslqj dorqj frruglqdwhv %c +c )% c )+ ri wkh vwdwlrqdu| v|vwhp ri
DQDO\VLV
frruglqdwhv pd| eh dgrswhg dv iroorz
% 8e% ' Se% % % e% ' S)e% ) % + 8e% ' Se% + + e% ' S)e% ) +
4;6
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+:156,
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+:157,
Vhsdudwlrq ri wkh uhdo sduw iurp wkh lpdjlqdu| sduw/ uhvxowv lq wkh gdpslqj irufhv dorqj wkh urwdwlqj d{hv1
%+8e% ' Se% E% - +- l 8e% ' Se% E+ - n %- l %+e% ' S)e% E) %- )+- l e% ' S)e% E) +- n )%- l
+:158,
Lpsohphqwdwlrq ri wkh deryh irufhv lq wkh pdwkhpdwlfdo prgho :147/ hyhqwxdwhv lq wkh iroorzlqj prglfdwlrq ri wkh vwlqhvv dqg lqhuwld pdwulfhv1 5 6 Se% 26l f 26@l 9 26l : Se% 26@l f : U- ' 9 2 7 f 26@l S)e% d2EUJ n 6@ U5 ol 8 26@l f d2EUJ n 6@2 U5 ol S)e% & 6l2 Se% l 9 Se% l & 6l2 ' 9 2 7 &2 6@l f f &2 6@l2 5
!-
6 &2 6@l2 f : f &2 6@l2 : 2 2 8 &22 EUJ n {U n 6@ U5 l S)e% l 2 2 S)e% l &22 EUJ {U n 6@ U5 l +:159,
Wkh vlpsoh dqg frpelqhg lqvwdelolw| uhjlrqv dv d ixqfwlrq ri {U iru wkh vhw ri gdwd :154 dqg glhuhqw pdjqlwxghv ri wkh gdpslqj frh!flhqwv duh vkrzq lq Ilj1 71 Dv rqh fdq vhh iurp wklv gldjudp/ wkh h{whuqdo gdpslqj qduurzlqj wkh lqvwdelolw| uhjlrqv dqg hyhqwxdoo| oltxlgdwhv wkhp frpsohwho|1
DQDO\VLV
10 8
4;7
I[kgm ]
6 4 2 0 0 2 4 6 c=0, c =0 c=200 [Nm s], c =20[Nms]

-1
10
12
14
16
-1
18
[1/s]
c=100 [Nm s], c =10[Nms] c=300 [Nm s], c =30[Nms]

-1
Iljxuh 7 :1515 Sduwlfxodu vroxwlrq 0 Htxloleulxp srvlwlrq Wkh yhfwru 5 6 6} t? l| 9 6} ULt l| : : 6C- ' 9 7 6}@ t? l| 8 6}@ ULt l|
+:15:,
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Sureohp 4;
a)
b)
1 2
k m
c 3
c)
1 y1 , y1 1 2 y 2 , y 2
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9 2 '9 7 e
2 22 2 e2
2 e
g 9 g2 k '9 7 g ge
g2 g22 g2 ge2
g g2 g ge
Surgxfh wkh pdwkhpdwlfdo prgho ri wkh vxe0dvvhpeo| vkrzq lq Ilj1 :e,

Sureohp 4<
= A sin t
R O 1 2
54;
a)
A B
2 A
b)
y1 , y1
y2 , y2
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Wkh h{leoh ehdp 5 lv uljlgo| dwwdfkhg wr wklv vkdiw dw wkh srlqw dqg lw lv vlpso| vxssruwhg dw wkh srlqw 1 Wkh pdwkhpdwlfdo prgho ri wkh iuhh0iuhh ehdp 5/ vkrzq lq Ilj1 ;e,/ lv dv iroorzv ) n k) ' f zkhuh 5 6 e 2e : :( e 8 ee 5 6 ge g2e : :( ge 8 gee 6 + 9 )+ : : ) '9 7 +2 8 )+ 2 5
9 2 '9 7 e
2 22 2 e2
2 e
g 9 g2 k '9 7 g ge
g2 g22 g2 ge2
g g2 g ge
Surgxfh h{suhvvlrq iru wkh lqwhudfwlrq irufh dw wkh vxssruw 1

Sureohp 53
54<
Iljxuh < vkrzv d ghvljq ri wkh ulj iru whvwlqj wkh rlo op mrxuqdo ehdulqj1 Wkh mrxuqdo 4 lv uljlgo| vxssruwhg dqg urwdwhv zlwk wkh dqjxodu yhorflw| l@4333- 1 Wkh udgldo fohdudqfh o ri wkh rlo ehdulqj lv htxdo wr 313338p dqg rlo ylvfrvlw| # lv htxdo wr 3135r*62 1 Wkh ehdulqj lv ordghg e| phdqv ri wkh dup 51 Lwv pdvv lv 6@9&} dqg lwv prphqw ri lqhuwld derxw wkh srlqw lv U '315&}62 1 Wkh srvlwlrq ri wkh fhqwuh ri judylw| ri wkh dup lv ghwhuplqhg e| wkh glvwdqfh K1 Wkh vwdwlf dqg g|qdplf fkdudfwhulvwlf ri wklv ehdulqj lv jlyhq lq Ilj1 43 dqg 44 uhvshfwlyho|1 Lq wkhvh jxuhv= S ' e*o 0 qrq0glphqvlrqdo hffhqwulflw| 8J o2 Vrpphuihog qxpehu 7 ' 2 u# l 7o l 7 & ' 8J & > S 7 ' 7o 8J S 0 qrq0glphqvlrqdo vwlqhvv dqg gdpslqj frh!flhqw uhvshfwlyho| Fdofxodwh wkh htxloleulxp srvlwlrq E%c ) ri wkh dup 5 dqg surgxfh htxdwlrq iru wkh qdwxudo iuhtxhqflhv ri wkh ulj1
L=0.025[m]
1 r

R=0.025[m] a=.5[m]
!
b=.3[m] x
Iljxuh <

10 9 8 7 6
553
a)
5 4 3 2 1 0 0 -1 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-0.8
-0.6
b)
-0.4
-0.2
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
_ xo
0.2
0.4
0.6
0.8
_1 yo
Iljxuh 43
10 9 8 7 6 5 4 3 2 1 0
a)
c
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
30 25 20 15 10 5 0 -5 -10 -15 -20 0 35 30 25 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
yy yx xy xx
_ k
b)
yy
_ 20 c 15
10 5 0 -5 -10 0 0.1 0.2 0.3 0.4 0.5
yx
xy
xx
c)
c
0.6
0.7
0.8
0.9
Iljxuh 44

Sureohp 54
554
a)
1 2 G
b)
G
y
y
c)
y1 y2
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Sureohp 55
555
a)
y1a
a y2 a y3 b y3
y 4b
y5b
b)
b y1a A
a y2 a y3 b y3
a B
y 4b C
y5b
c)
y
Iljxuh 46
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6 5 @ 6 5 @ 6 5 @ 6 @ @ @ &@ 6@ & &2 C + 62 6 @ @ @ @ @ @ @ @ @ @ @ @ 8 7 8 7 8 7 8 7 4 ' 62 622 62 ( ! ' &2 &22 &2 ( 6C ' C2 ( ) ' +2 @ @ @ @ @ @ @ @ 6 62 6 & &2 & C + 6 5 K 6 5 K 6 5 K 6 K K K K 6K & &2 & C + 62 6 K K K @ K K K K K K K K 8 7 8 7 8 7 8 7 4 ' 62 622 62 ( ! ' &2 &22 &2 ( 6C ' C2 ( ) ' +2 K K K K K K K K 6 62 6 & &2 & C + 5
Wkhvh vkdiwv duh shupdqhqwo| gh hfwhg dqg wkhlu shupdqhqw gh hfwlrq lv ghwhuplqhg e| wkh sdudphwhuv @ dqg K +vhh Ilj1 46e,,1 Wkhvh vkdiwv zhuh frqqhfwhg wr hdfk rwkhu e| phdqv ri d xqlyhuvdo mrlqw dqg vxssruwhg dv vkrzq lq Ilj1 46f,1 Wklv urwru v|vwhp urwdwhv zlwk d frqvwdqw dqjxodu yhorflw| l1 Surgxfh h{suhvvlrq iru wkh uhdfwlrq irufh dw wkh vxssruw gxh wr wkh shupdqhqw gh hfwlrq ri wkhvh vkdiwv1

Sureohp 56
a)
556
b)
C K
c)
y1
y2
y3
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6 5 6 & &2 & 6 62 6 4 ' 7 62 622 62 8 ( ! ' 7 &2 &22 &2 8 6 62 6 & &2 & 5 6 5 6 5 6 % + C ' 7 %2 8 ( ) ' 7 +2 8 ( B ' 7 C2 8 % + C 51 c gc 0 pdvv/ vwlqhvv dqg gdpslqj frh!flhqw ri wkh gdpshu 61 l 0 dqjxodu yhorflw| ri wkh urwru 71 6 0 vwdwlf xqedodqfh ri wkh urwru lq sodqh 61

Sureohp 57
557
a)
1 2 0.3m 0.5m
b)
1 2 0.3m 0.5m
R=0.025m
L=0.025m
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Sureohp 58
558
a)
y1a
a y2 a y3 b y2
y 3b
y4b
b)
y2 y3 M
c)
y2
Iljxuh 49
y3
Wkh pdwkhpdwlfdo prghov ri wkh wzr iuhh0iuhh ehdp hohphqwv vkrzq lq Ilj1 49d, duh frqghqvhg dorqj yhfwru ri frruglqdwhv )@ dqg )K uhvshfwlyho|1 Wkh fruuh0 vsrqglqj pdwulfhv ri lqhuwld/ vwlqhvv dqg judylw| duh dv iroorzv 5 @ 6 5 @ 6 5 @ 6 5 @ 6 @ @ &@ 6 6@ & &2 C + 2 6 @ @ 8 ( !@ ' 7 & @ & @ & @ 8 ( 6@ ' 7 C@ 8 ( )@ ' 7 + @ 8 6 6 4@ ' 7 6@ 2 22 2 2 22 2 2 2 C @ @ @ &@ &@ @ @ 6@ 6 6 & C + 2 2 6 5 K 6 5 K 6 5 K 6 K K K K 6K & &2 & C + 62 6 K K 8 ( !K ' 7 & K K K 8 ( 6K ' 7 CK 8 ( )@ ' 7 + K 8 6 6 & & 4K ' 7 6K 2 22 2 2 22 2 2 2 C K K K K K K K 6K 6 6 & & & C + 2 2 Wkhvh wzr hohphqwv zhuh mrlqhg wrjhwkhu wr irup d eulgjh vkrzq lq Ilj1 49e,1 Li d shuvrq ri pdvv lv vwdqglqj dw wkh srvlwlrq vkrzq lq Ilj1 49f,/ ghwhuplqh wkh vwdwlf gh hfwlrq ri wkh eulgjh dorqj wkh frruglqdwhv +2 dqg + dv zhoo dv lwv qdwxudo iuhtxhqflhv1 5

Sureohp 59
559
a)
Z y1a y2a y3a
b)
b y1
b y3b Z c2 y3 c3
y 2b
c)
y1 c1 y2
Iljxuh 4: Wkh pdwkhpdwlfdo prgho ri wkh irxqgdwlrq vkrzq lq Ilj1 4:d, lv 4@ ) @ n U@ ) @ n!@ )@ ' f zkhuh 6 @ @ 6@ 62 6 @ @ 8( 4@ ' 7 6@ 2 622 62 @ @ 6 62 6@ 5 6 @ &@ &@ & 2 @ &@ &@ 8 ( !@ ' 7 &2 22 2 @ &@ &@ & 2 6 @ + @ 8 )@ ' 7 +2 @ + Wkh prwlrq ri wklv irxqgdwlrq dorqj wkh yhfwru frruglqdwhv )@ lv 5 6 5 6 er eS i ' 7 er2 8 t? /| n 7 eS2 8 ULt /| ' ir t? /| n iS ULt /| er eS Wkh pdwkhpdwlfdo prgho ri wkh iuhh0 iuhh ehdp vkrzq lq Ilj1 4:e, lv frqghqvhg dorqj wkh yhfwru ri frruglqdwhv )K dqg kdv wkh iroorzlqj irup 4K ) K n!K )K ' 6C 5 5 6 @ @ S@ S2 S @ @ 8 U@ ' 7 S@ 2 S22 S2 @ @ S S2 S@ 5

zkhuh 5
55:
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Sureohp 5:
55;
a)
1 3 5 4
b)
3 k y3
2
5 k5 y5
3
4 k y
4 4
c)
y1 1
1 y2
y1 3
y2 3
y2 4
2 y 5
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6 g g2 g k ' 7 g2 g22 g2 8 g g2 g
Wkh vwlqhvv ri wkh vsulqjv 6/ 7 dqg 8 duh uhvshfwlyho| &/ &/ dqg &D 11 Surgxfh wkh pdwkhpdwlfdo prgho ri wkh eulgjh dqg wkh htxdwlrq iru lwv qdwxudo iuhtxhqflhv1

Sureohp 5;
2
55<
a)
z 1 y5
b)
y1
1
y21
1 y3
y41
c)
y22
y52
y3
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9 2 ' 9 7 e
2 22 2 e2
2 e
g 9 g2 k ' 9 7 g ge
g2 g22 g2 ge2
g g2 g ge
Wklv vkdiw lv shupdqhqwo| gh hfwhg lq wkh sodqh +5 dqg wkh | yhfwru ri wkh shupdqhqw gh hfwlrq dorqj wkh frruglqdwhv ) lv @ ' f @2 @ f 1 Prwlrq ri wkh iuhh0iuhh vkdiw 5 +vhh Ilj1 4<f,, lv jryhuqhg e| wkh iroorzlqj htxdwlrq 2 ) 2 n k2 )2 ' f

zkhuh 6 2 2 2 22 2 2D 2 2 2 8 D 2 ' 7 2 2 2 2 D2 D DD 5 6 2 2 2 g22 g2 g2D 2 2 2 8 g gD k ' 7 g2 2 2 2 gD2 gD gDD 5 6 2 + 2 8 ) ' 7 + 2 +D 5
563
Wklv vkdiw lv shupdqhqwo| gh hfwhg lq wkh sodqh +5 dqg | wkh yhfwru ri wkh shupdqhqw f gh hfwlrq dorqj wkh frruglqdwhv )2 lv @2 ' f @2 1 Surgxfh wkh h{suhvvlrq iru wkh irufhg yleudwlrqv ri wkh dvvhpeo| dorqj wkh frruglqdwh+D 1

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