(* Content-type: application/mathematica *) (*** Wolfram Notebook File ***) (* http://www.wolfram.com/nb *) (* CreatedBy='Mathematica 7.0' *) (*CacheID: 234*) (* Internal cache information: NotebookFileLineBreakTest NotebookFileLineBreakTest NotebookDataPosition[ 145, 7] NotebookDataLength[ 76771, 2263] NotebookOptionsPosition[ 71623, 2085] NotebookOutlinePosition[ 72002, 2101] CellTagsIndexPosition[ 71959, 2098] WindowFrame->Normal*) (* Beginning of Notebook Content *) Notebook[{ Cell[TextData[StyleBox["1. \:041b\:0438\:043d\:0435\:0430\:0440\:0438\:0437\ \:0430\:0446\:0438\:044f \:0443\:0440\:0430\:0432\:043d\:0435\:043d\:0438\ \:044f \:043d\:043e\:0440\:043c\:0430\:043b\:044c\:043d\:044b\:0445 \:0441\ \:0438\:043b", FontSize->24, FontWeight->"Bold"]], "Text", CellChangeTimes->{{3.5006570718227777`*^9, 3.500657133569309*^9}, { 3.5017386862756367`*^9, 3.501738694928131*^9}}], Cell[TextData[StyleBox["\:0414\:0438\:043d\:0430\:043c\:0438\:0447\:0435\:0441\ \:043a\:0438\:0435 \:0443\:0440\:0430\:0432\:043d\:0435\:043d\:0438\:044f \ \:0432\:0440\:0430\:0449\:0430\:0442\:0435\:043b\:044c\:043d\:043e\:0433\:043e\ \:0434\:0432\:0438\:0436\:0435\:043d\:0438\:044f", FontSize->18]], "Text"], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{ RowBox[{"MatrixForm", "[", RowBox[{"TI", "=", RowBox[{"{", RowBox[{ RowBox[{"{", RowBox[{"Ixx", ",", RowBox[{"-", "Ixy"}], ",", RowBox[{"-", "Ixz"}]}], "}"}], ",", RowBox[{"{", RowBox[{ RowBox[{"-", "Iyx"}], ",", "Iyy", ",", RowBox[{"-", "Iyz"}]}], "}"}], ",", RowBox[{"{", RowBox[{ RowBox[{"-", "Izx"}], ",", RowBox[{"-", "Izy"}], ",", "Izz"}], "}"}]}], "}"}]}], "]"}], " ", RowBox[{"(*", RowBox[{ "\:0422\:0435\:043d\:0437\:043e\:0440", " ", "\:0438\:043d\:0435\:0440\:0446\:0438\:0438"}], "*)"}]}]], "Input", CellChangeTimes->{{3.500657155536566*^9, 3.5006571564006147`*^9}}], Cell[BoxData[ TagBox[ RowBox[{"(", "\[NoBreak]", GridBox[{ {"Ixx", RowBox[{"-", "Ixy"}], "0"}, { RowBox[{"-", "Ixy"}], "Iyy", "0"}, {"0", "0", "Izz"} }, GridBoxAlignment->{ "Columns" -> {{Center}}, "ColumnsIndexed" -> {}, "Rows" -> {{Baseline}}, "RowsIndexed" -> {}}, GridBoxSpacings->{"Columns" -> { Offset[0.27999999999999997`], { Offset[0.7]}, Offset[0.27999999999999997`]}, "ColumnsIndexed" -> {}, "Rows" -> { Offset[0.2], { Offset[0.4]}, Offset[0.2]}, "RowsIndexed" -> {}}], "\[NoBreak]", ")"}], Function[BoxForm`e$, MatrixForm[BoxForm`e$]]]], "Output", CellChangeTimes->{3.5007948323705673`*^9, 3.501739025756054*^9, 3.5017411681205897`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"Ixz", "=", RowBox[{"Izx", "=", RowBox[{"Iyz", "=", RowBox[{"Izy", "=", "0", " ", RowBox[{"(*", RowBox[{ "\:041e\:0441\:044c", " ", "OZ", " ", "\:043f\:0435\:0440\:043f\:0435\:043d\:0434\:0438\:043a\:0443\:043b\ \:044f\:0440\:043d\:0430", " ", "\:043f\:043b\:043e\:0441\:043a\:043e\:0441\:0442\:0438", " ", "\:0441\:0438\:043c\:043c\:0435\:0442\:0440\:0438\:0438", " ", "XOY"}], "*)"}]}]}]}]}]], "Input", CellChangeTimes->{{3.500657160696861*^9, 3.5006571679842777`*^9}}], Cell[BoxData["0"], "Output", CellChangeTimes->{3.5007948324485674`*^9, 3.501739025953065*^9, 3.5017411683066006`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"Iyx", "=", "Ixy"}]], "Input", CellChangeTimes->{{3.500657172849556*^9, 3.500657179420932*^9}}], Cell[BoxData["Ixy"], "Output", CellChangeTimes->{3.500794832479768*^9, 3.50173902604207*^9, 3.5017411684116063`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{ RowBox[{"MatrixForm", "[", "TI", "]"}], " ", RowBox[{"(*", RowBox[{ "\:041e\:043a\:043e\:043d\:0447\:0430\:0442\:0435\:043b\:044c\:043d\:043e\ \:0435", " ", "\:0432\:044b\:0440\:0430\:0436\:0435\:043d\:0438\:0435", " ", "\:0434\:043b\:044f", " ", "\:0442\:0435\:043d\:0437\:043e\:0440\:0430", " ", "\:0438\:043d\:0435\:0440\:0446\:0438\:0438"}], "*)"}]}]], "Input", CellChangeTimes->{{3.500657182211091*^9, 3.500657200757152*^9}, { 3.500657364333508*^9, 3.5006573832935925`*^9}}], Cell[BoxData[ TagBox[ RowBox[{"(", "\[NoBreak]", GridBox[{ {"Ixx", RowBox[{"-", "Ixy"}], "0"}, { RowBox[{"-", "Ixy"}], "Iyy", "0"}, {"0", "0", "Izz"} }, GridBoxAlignment->{ "Columns" -> {{Center}}, "ColumnsIndexed" -> {}, "Rows" -> {{Baseline}}, "RowsIndexed" -> {}}, GridBoxSpacings->{"Columns" -> { Offset[0.27999999999999997`], { Offset[0.7]}, Offset[0.27999999999999997`]}, "ColumnsIndexed" -> {}, "Rows" -> { Offset[0.2], { Offset[0.4]}, Offset[0.2]}, "RowsIndexed" -> {}}], "\[NoBreak]", ")"}], Function[BoxForm`e$, MatrixForm[BoxForm`e$]]]], "Output", CellChangeTimes->{3.5007948325265675`*^9, 3.5017390261380754`*^9, 3.5017411685156126`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"w", "=", RowBox[{"{", RowBox[{ RowBox[{"wx", "[", "t", "]"}], ",", RowBox[{"wy", "[", "t", "]"}], ",", RowBox[{"wz", "[", "t", "]"}]}], "}"}], " ", RowBox[{"(*", RowBox[{ "\:0412\:0435\:043a\:0442\:043e\:0440", " ", "\:0443\:0433\:043b\:043e\:0432\:043e\:0439", " ", "\:0441\:043a\:043e\:0440\:043e\:0441\:0442\:0438", " ", "\:041b\:0410", " ", "\:0432", " ", "\:0441\:0432\:044f\:0437\:0430\:043d\:043d\:043e\:0439", " ", "\:0441\:0438\:0441\:0442\:0435\:043c\:0435", " ", "\:043a\:043e\:043e\:0440\:0434\:0438\:043d\:0430\:0442"}], "*)"}]}]], "Input", CellChangeTimes->{{3.5006572489009056`*^9, 3.500657249721953*^9}}], Cell[BoxData[ RowBox[{"{", RowBox[{ RowBox[{"wx", "[", "t", "]"}], ",", RowBox[{"wy", "[", "t", "]"}], ",", RowBox[{"wz", "[", "t", "]"}]}], "}"}]], "Output", CellChangeTimes->{3.500794832557768*^9, 3.5017390262270803`*^9, 3.5017411686146183`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{ RowBox[{"MatrixForm", "[", RowBox[{"K", "=", RowBox[{"TI", ".", "w"}]}], "]"}], " ", RowBox[{"(*", RowBox[{ "\:0413\:043b\:0430\:0432\:043d\:044b\:0439", " ", "\:043c\:043e\:043c\:0435\:043d\:0442", " ", "\:043a\:043e\:043b\:0438\:0447\:0435\:0441\:0442\:0432", " ", "\:0434\:0432\:0438\:0436\:0435\:043d\:0438\:044f", " ", "\:0432", " ", "\:0441\:0432\:044f\:0437\:0430\:043d\:043d\:043e\:0439", " ", "\:0441\:0438\:0441\:0442\:0435\:043c\:0435", " ", "\:043a\:043e\:043e\:0440\:0434\:0438\:043d\:0430\:0442"}], "*)"}]}]], "Input", CellChangeTimes->{{3.500657219049198*^9, 3.5006572197712393`*^9}}], Cell[BoxData[ TagBox[ RowBox[{"(", "\[NoBreak]", TagBox[GridBox[{ { RowBox[{ RowBox[{"Ixx", " ", RowBox[{"wx", "[", "t", "]"}]}], "-", RowBox[{"Ixy", " ", RowBox[{"wy", "[", "t", "]"}]}]}]}, { RowBox[{ RowBox[{ RowBox[{"-", "Ixy"}], " ", RowBox[{"wx", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"wy", "[", "t", "]"}]}]}]}, { RowBox[{"Izz", " ", RowBox[{"wz", "[", "t", "]"}]}]} }, GridBoxAlignment->{ "Columns" -> {{Center}}, "ColumnsIndexed" -> {}, "Rows" -> {{Baseline}}, "RowsIndexed" -> {}}, GridBoxSpacings->{"Columns" -> { Offset[0.27999999999999997`], { Offset[0.5599999999999999]}, Offset[0.27999999999999997`]}, "ColumnsIndexed" -> {}, "Rows" -> { Offset[0.2], { Offset[0.4]}, Offset[0.2]}, "RowsIndexed" -> {}}], Column], "\[NoBreak]", ")"}], Function[BoxForm`e$, MatrixForm[BoxForm`e$]]]], "Output", CellChangeTimes->{3.5007948326045675`*^9, 3.5017390263190856`*^9, 3.5017411687076235`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"M", "=", RowBox[{"{", RowBox[{"Mx", ",", "My", ",", "Mz"}], "}"}], " ", RowBox[{"(*", RowBox[{ "\:0420\:0435\:0437\:0443\:043b\:044c\:0442\:0438\:0440\:0443\:044e\:0449\ \:0438\:0439", " ", "\:043c\:043e\:043c\:0435\:043d\:0442", " ", "\:0430\:044d\:0440\:043e\:0434\:0438\:043d\:0430\:043c\:0438\:0447\:0435\ \:0441\:043a\:0438\:0445", " ", "\:0441\:0438\:043b", " ", "\:0438", " ", "\:0442\:044f\:0433\:0438", " ", "\:0432", " ", "\:0441\:0432\:044f\:0437\:0430\:043d\:043d\:043e\:0439", " ", "\:0441\:0438\:0441\:0442\:0435\:043c\:0435", " ", "\:043a\:043e\:043e\:0440\:0434\:0438\:043d\:0430\:0442", RowBox[{"(", RowBox[{ RowBox[{ "\:041c\:043e\:043c\:0435\:043d\:0442", " ", "\:0441\:0438\:043b\:044b", " ", "\:0442\:044f\:0436\:0435\:0441\:0442\:0438"}], ",", " ", RowBox[{ "\:0446\:0435\:043d\:0442\:0440\:043e\:0431\:0435\:0436\:043d\:044b\ \:0445", " ", "\:0438", " ", "\:043a\:043e\:0440\:0438\:043e\:043b\:0438\:0441\:043e\:0432\:044b\ \:0445", " ", "\:0441\:0438\:043b", " ", "\:0438\:043d\:0435\:0440\:0446\:0438\:0438", " ", "\:0432\:043e\:043a\:0440\:0443\:0433", " ", "\:0446\:0435\:043d\:0442\:0440\:0430", " ", "\:043c\:0430\:0441\:0441", " ", "\:041b\:0410", " ", "\:0440\:0430\:0432\:0435\:043d", " ", "\:043d\:0443\:043b\:044e"}]}], ")"}]}], "*)"}]}]], "Input", CellChangeTimes->{{3.5006572705591445`*^9, 3.5006572714001923`*^9}}], Cell[BoxData[ RowBox[{"{", RowBox[{"Mx", ",", "My", ",", RowBox[{"Mrz", "-", RowBox[{"P", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}]}]}], "}"}]], "Output", CellChangeTimes->{3.500794832635768*^9, 3.5017390265881014`*^9, 3.501741168788628*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"Mz", "=", RowBox[{"Mrz", "-", RowBox[{"P", "*", "yp", "*", RowBox[{"Cos", "[", "fip", "]"}]}]}]}]], "Input", CellChangeTimes->{{3.5006593549133625`*^9, 3.5006593560114255`*^9}}], Cell[BoxData[ RowBox[{"Mrz", "-", RowBox[{"P", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}]}]], "Output", CellChangeTimes->{3.500794832729368*^9, 3.501739026675106*^9, 3.5017411688806334`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"lchudvd", "=", RowBox[{ RowBox[{"D", "[", RowBox[{"K", ",", "t"}], "]"}], "+", RowBox[{"Cross", "[", RowBox[{"w", ",", "K"}], "]"}], " ", RowBox[{"(*", RowBox[{ "\:041f\:043e\:043b\:043d\:0430\:044f", " ", "\:043f\:0440\:043e\:0438\:0437\:0432\:043e\:0434\:043d\:0430\:044f", " ", "\:043f\:043e", " ", "\:0432\:0440\:0435\:043c\:0435\:043d\:0438", " ", "\:0433\:043b\:0430\:0432\:043d\:043e\:0433\:043e", " ", "\:0432\:0435\:043a\:0442\:043e\:0440\:0430", " ", "\:043c\:043e\:043c\:0435\:043d\:0442\:0430", " ", "\:043a\:043e\:043b\:0438\:0447\:0435\:0441\:0442\:0432", " ", "\:0434\:0432\:0438\:0436\:0435\:043d\:0438\:044f"}], "*)"}]}]}]], "Input", CellChangeTimes->{{3.500657284677952*^9, 3.500657285527001*^9}, { 3.501741146308342*^9, 3.501741147230395*^9}}], Cell[BoxData[ RowBox[{"{", RowBox[{ RowBox[{ RowBox[{"Ixy", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wz", "[", "t", "]"}]}], "-", RowBox[{"Iyy", " ", RowBox[{"wy", "[", "t", "]"}], " ", RowBox[{"wz", "[", "t", "]"}]}], "+", RowBox[{"Izz", " ", RowBox[{"wy", "[", "t", "]"}], " ", RowBox[{"wz", "[", "t", "]"}]}], "+", RowBox[{"Ixx", " ", RowBox[{ SuperscriptBox["wx", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], "-", RowBox[{"Ixy", " ", RowBox[{ SuperscriptBox["wy", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}], ",", RowBox[{ RowBox[{"Ixx", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wz", "[", "t", "]"}]}], "-", RowBox[{"Izz", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wz", "[", "t", "]"}]}], "-", RowBox[{"Ixy", " ", RowBox[{"wy", "[", "t", "]"}], " ", RowBox[{"wz", "[", "t", "]"}]}], "-", RowBox[{"Ixy", " ", RowBox[{ SuperscriptBox["wx", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{ SuperscriptBox["wy", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}], ",", RowBox[{ RowBox[{ RowBox[{"-", "Ixy"}], " ", SuperscriptBox[ RowBox[{"wx", "[", "t", "]"}], "2"]}], "-", RowBox[{"Ixx", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wy", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wy", "[", "t", "]"}]}], "+", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"wy", "[", "t", "]"}], "2"]}], "+", RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["wz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}]}], "}"}]], "Output", CellChangeTimes->{3.5007948327605677`*^9, 3.5017390267731113`*^9, 3.5017411689696383`*^9}] }, Open ]], Cell[TextData[StyleBox["\:041f\:043e\:043b\:043d\:0430\:044f \:043f\:0440\ \:043e\:0438\:0437\:0432\:043e\:0434\:043d\:0430\:044f \:0433\:043b\:0430\ \:0432\:043d\:043e\:0433\:043e \:0432\:0435\:043a\:0442\:043e\:0440\:0430 \ \:043c\:043e\:043c\:0435\:043d\:0442\:0430 \:043a\:043e\:043b\:0438\:0447\ \:0435\:0441\:0442\:0432 \:0434\:0432\:0438\:0436\:0435\:043d\:0438\:044f \ \:0440\:0430\:0432\:043d\:0430 \:0433\:043b\:0430\:0432\:043d\:043e\:043c\ \:0443 \:043c\:043e\:043c\:0435\:043d\:0442\:0443 \:0432\:043d\:0435\:0448\ \:043d\:0438\:0445 \:0441\:0438\:043b, \:0434\:0435\:0439\:0441\:0442\:0432\ \:0443\:044e\:0449\:0438\:0445 \:043d\:0430 \:0442\:0435\:043b\:043e.", FontSize->16]], "Text", CellChangeTimes->{{3.5006573007108693`*^9, 3.5006573015319157`*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"UrT", "=", RowBox[{ RowBox[{"lchudvd", "[", RowBox[{"[", "3", "]"}], "]"}], "\[Equal]", RowBox[{"M", "[", RowBox[{"[", "3", "]"}], "]"}], " ", RowBox[{"(*", RowBox[{ "\:0423\:0440\:0430\:0432\:043d\:0435\:043d\:0438\:0435", " ", "\:043c\:043e\:043c\:0435\:043d\:0442\:0430", " ", "\:0442\:0430\:043d\:0433\:0430\:0436\:0430"}], "*)"}]}]}]], "Input", CellChangeTimes->{{3.5006573104704275`*^9, 3.500657332071663*^9}, { 3.5006573960903244`*^9, 3.5006574083980284`*^9}}], Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{ RowBox[{"-", "Ixy"}], " ", SuperscriptBox[ RowBox[{"wx", "[", "t", "]"}], "2"]}], "-", RowBox[{"Ixx", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wy", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wy", "[", "t", "]"}]}], "+", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"wy", "[", "t", "]"}], "2"]}], "+", RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["wz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}], "\[Equal]", RowBox[{"Mrz", "-", RowBox[{"P", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}]}]}]], "Output", CellChangeTimes->{3.501741169086645*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{ RowBox[{"-", "Ixy"}], " ", SuperscriptBox[ RowBox[{"wx", "[", "t", "]"}], "2"]}], "-", RowBox[{"Ixx", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wy", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wy", "[", "t", "]"}]}], "+", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"wy", "[", "t", "]"}], "2"]}], "+", RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["wz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}], "\[Equal]", RowBox[{"Mrz", "-", RowBox[{"P", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}]}]}]], "Input", CellChangeTimes->{{3.5017401043997483`*^9, 3.5017401056928225`*^9}}], Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{ RowBox[{"-", "Ixy"}], " ", SuperscriptBox[ RowBox[{"wx", "[", "t", "]"}], "2"]}], "-", RowBox[{"Ixx", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wy", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"wx", "[", "t", "]"}], " ", RowBox[{"wy", "[", "t", "]"}]}], "+", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"wy", "[", "t", "]"}], "2"]}], "+", RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["wz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}], "\[Equal]", RowBox[{"Mrz", "-", RowBox[{"P", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}]}]}]], "Output", CellChangeTimes->{3.5017411692686553`*^9}] }, Open ]], Cell[TextData[StyleBox["Clear[vx,vy,vz];\nV={vx[t],vy[t],vz[t]}; (*\:0432\ \:0435\:043a\:0442\:043e\:0440 \:0441\:043a\:043e\:0440\:043e\:0441\:0442\ \:0438 \:041b\:0410*)\nQ=m*D[V,t]", "Input", FontSize->16]], "Text", Evaluatable->True, CellChangeTimes->{{3.5006583694859996`*^9, 3.500658392289304*^9}, { 3.500658426295249*^9, 3.50065842928942*^9}, {3.500658892689925*^9, 3.500658910979971*^9}, {3.500658979408885*^9, 3.500658991920601*^9}, { 3.5017401104980974`*^9, 3.50174015792581*^9}, {3.501740374466195*^9, 3.5017403758322735`*^9}, {3.501740412747385*^9, 3.5017404909948606`*^9}, { 3.5017410985096083`*^9, 3.5017411193768015`*^9}, {3.5017420548783092`*^9, 3.501742055521346*^9}, {3.501742200483638*^9, 3.501742205303913*^9}}], Cell[TextData[StyleBox["R={}", "Input", FontSize->16]], "Text", Evaluatable->True, CellChangeTimes->{{3.5006583694859996`*^9, 3.500658392289304*^9}, { 3.500658426295249*^9, 3.50065842928942*^9}, {3.500658892689925*^9, 3.500658910979971*^9}, {3.500658979408885*^9, 3.500658991920601*^9}, { 3.5017401104980974`*^9, 3.50174015792581*^9}, {3.501740374466195*^9, 3.5017403758322735`*^9}, {3.501740412747385*^9, 3.5017404909948606`*^9}, { 3.5017410985096083`*^9, 3.5017411193768015`*^9}, {3.5017420548783092`*^9, 3.501742055521346*^9}, {3.501742200483638*^9, 3.5017422141754208`*^9}, { 3.501742689762623*^9, 3.501742690726678*^9}}], Cell["\<\ \:0423\:0440\:0430\:0432\:043d\:0435\:043d\:0438\:044f \:0434\:0432\:0438\ \:0436\:0435\:043d\:0438\:044f \:0446\:0435\:043d\:0442\:0440\:0430 \:043c\ \:0430\:0441\:0441 \:041b\:0410 \:043f\:043e\:043b\:0443\:0447\:0438\:043c \ \:043e\:0441\:043d\:043e\:0432\:0430\:043d\:0438\:0438 \:0437\:0430\:043a\ \:043e\:043d\:0430 \:0438\:0437\:043c\:0435\:043d\:0435\:043d\:0438\:044f \:043a\:043e\:043b\:0438\:0447\:0435\:0441\:0442\:0432\:0430 \:0434\:0432\ \:0438\:0436\:0435\:043d\:0438\:044f \:0446\:0435\:043d\:0442\:0440\:0430 \ \:043c\:0430\:0441\:0441: dQ/dt=\ \>", "Text", Evaluatable->True, CellChangeTimes->{{3.5006583694859996`*^9, 3.500658392289304*^9}, { 3.500658426295249*^9, 3.50065842928942*^9}, {3.500658892689925*^9, 3.500658910979971*^9}, {3.500658979408885*^9, 3.500658991920601*^9}, { 3.5017401104980974`*^9, 3.50174015792581*^9}, {3.501740374466195*^9, 3.5017403758322735`*^9}, {3.501740412747385*^9, 3.5017404909948606`*^9}, { 3.5017410985096083`*^9, 3.5017411193768015`*^9}, {3.5017420548783092`*^9, 3.501742055521346*^9}, {3.501742200483638*^9, 3.5017422141754208`*^9}, { 3.501742689762623*^9, 3.501742723001524*^9}}], Cell[BoxData[ RowBox[{"{", RowBox[{ RowBox[{"m", " ", RowBox[{ SuperscriptBox["vx", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], ",", RowBox[{"m", " ", RowBox[{ SuperscriptBox["vy", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], ",", RowBox[{"m", " ", RowBox[{ SuperscriptBox["vz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}], "}"}]], "Output", CellChangeTimes->{3.5017404917239017`*^9, 3.501741169375662*^9, 3.501742196063385*^9}], Cell[TextData[{ StyleBox["\:0418\:0441\:0445\:043e\:0434\:043d\:043e\:0435 ", FontSize->16], StyleBox["\:043e\:0441\:043d\:043e\:0432\:043d\:043e\:0435", FontSize->16, FontWeight->"Bold"], StyleBox[" \:0443\:0440\:0430\:0432\:043d\:0435\:043d\:0438\:0435 \:043c\ \:043e\:043c\:0435\:043d\:0442\:0430 \:0442\:0430\:043d\:0433\:0430\:0436\ \:0430 :", FontSize->16] }], "Text", CellChangeTimes->{{3.5006583694859996`*^9, 3.500658392289304*^9}, { 3.500658426295249*^9, 3.50065842928942*^9}, {3.500658892689925*^9, 3.500658910979971*^9}, {3.500658979408885*^9, 3.500658991920601*^9}, { 3.5017401104980974`*^9, 3.5017401332774*^9}}], Cell[CellGroupData[{ Cell[BoxData[{ RowBox[{ RowBox[{"w", "=", RowBox[{"{", RowBox[{ RowBox[{"wx0", "[", "t", "]"}], ",", RowBox[{"wy0", "[", "t", "]"}], ",", RowBox[{"wz0", "[", "t", "]"}]}], "}"}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{"MatrixForm", "[", RowBox[{"K", "=", RowBox[{"TI", ".", "w"}]}], "]"}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{"M", "=", RowBox[{"{", RowBox[{"Mx0", ",", "My0", ",", "Mz0"}], "}"}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{"Mz0", "=", RowBox[{"Mrz0", "-", RowBox[{"P0", "*", "yp", "*", RowBox[{"Cos", "[", "fip", "]"}]}]}]}], ";"}], "\[IndentingNewLine]", RowBox[{"IOU", "=", RowBox[{ RowBox[{ RowBox[{ RowBox[{"D", "[", RowBox[{"K", ",", "t"}], "]"}], "[", RowBox[{"[", "3", "]"}], "]"}], "+", RowBox[{ RowBox[{"Cross", "[", RowBox[{"w", ",", "K"}], "]"}], "[", RowBox[{"[", "3", "]"}], "]"}]}], "\[Equal]", RowBox[{"M", "[", RowBox[{"[", "3", "]"}], "]"}]}]}]}], "Input", CellChangeTimes->{{3.5006590460196953`*^9, 3.500659046567726*^9}, 3.500659304612486*^9, {3.500659504332909*^9, 3.500659682659109*^9}, { 3.5006607685202165`*^9, 3.50066077558362*^9}, {3.5006610469231405`*^9, 3.5006610496182947`*^9}, {3.5006611272247334`*^9, 3.500661134635157*^9}}], Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{ RowBox[{"-", "Ixy"}], " ", SuperscriptBox[ RowBox[{"wx0", "[", "t", "]"}], "2"]}], "-", RowBox[{"Ixx", " ", RowBox[{"wx0", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"wx0", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "+", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"wy0", "[", "t", "]"}], "2"]}], "+", RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["wz0", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}], "\[Equal]", RowBox[{"Mrz0", "-", RowBox[{"P0", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}]}]}]], "Output", CellChangeTimes->{3.5007948328385677`*^9, 3.5017390270511274`*^9, 3.501741169488668*^9}] }, Open ]], Cell[TextData[{ StyleBox["\:0418\:0441\:0445\:043e\:0434\:043d\:043e\:0435 ", FontSize->16], StyleBox["\:0432\:043e\:0437\:043c\:0443\:0449\:0435\:043d\:043d\:043e\:0435", FontSize->16, FontWeight->"Bold"], StyleBox[" \:0443\:0440\:0430\:0432\:043d\:0435\:043d\:0438\:0435 \:043c\ \:043e\:043c\:0435\:043d\:0442\:0430 \:0442\:0430\:043d\:0433\:0430\:0436\ \:0430 :", FontSize->16] }], "Text", CellChangeTimes->{{3.5006608473157234`*^9, 3.500660885978935*^9}, { 3.5006628222566833`*^9, 3.5006628307381687`*^9}}], Cell[CellGroupData[{ Cell[BoxData[{ RowBox[{ RowBox[{"w", "=", RowBox[{"{", RowBox[{ RowBox[{"wx1", "[", "t", "]"}], ",", RowBox[{"wy1", "[", "t", "]"}], ",", RowBox[{"wz1", "[", "t", "]"}]}], "}"}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{"MatrixForm", "[", RowBox[{"K", "=", RowBox[{"TI", ".", "w"}]}], "]"}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{"M", "=", RowBox[{"{", RowBox[{"Mx1", ",", "My1", ",", "Mz1"}], "}"}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{"Mz1", "=", RowBox[{"Mrz1", "-", RowBox[{"P1", "*", "yp", "*", RowBox[{"Cos", "[", "fip", "]"}]}]}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{ RowBox[{"wx1", "[", "t", "]"}], "=", RowBox[{ RowBox[{"wx0", "[", "t", "]"}], "+", RowBox[{"dwx", "[", "t", "]"}]}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{ RowBox[{"wy1", "[", "t", "]"}], "=", RowBox[{ RowBox[{"wy0", "[", "t", "]"}], "+", RowBox[{"dwy", "[", "t", "]"}]}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{ RowBox[{"wz1", "[", "t", "]"}], "=", RowBox[{ RowBox[{"wz0", "[", "t", "]"}], "+", RowBox[{"dwz", "[", "t", "]"}]}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{"Mrz1", "=", RowBox[{"Mrz0", "+", "dMrz"}]}], ";"}], "\[IndentingNewLine]", RowBox[{ RowBox[{"P1", "=", RowBox[{"P0", "+", "dP"}]}], ";"}], "\[IndentingNewLine]", RowBox[{"IVU", "=", RowBox[{ RowBox[{ RowBox[{ RowBox[{"D", "[", RowBox[{"K", ",", "t"}], "]"}], "[", RowBox[{"[", "3", "]"}], "]"}], "+", RowBox[{ RowBox[{"Cross", "[", RowBox[{"w", ",", "K"}], "]"}], "[", RowBox[{"[", "3", "]"}], "]"}]}], "\[Equal]", RowBox[{"M", "[", RowBox[{"[", "3", "]"}], "]"}]}]}]}], "Input", CellChangeTimes->{{3.500660014598095*^9, 3.500660015185128*^9}, { 3.500660293819065*^9, 3.500660351687375*^9}, {3.5006607853241777`*^9, 3.500660840114311*^9}, {3.5006610579647717`*^9, 3.5006610656822133`*^9}, { 3.500661140483492*^9, 3.500661144442718*^9}, {3.50066138680158*^9, 3.5006613942780075`*^9}}], Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{ RowBox[{"-", "Ixy"}], " ", SuperscriptBox[ RowBox[{"dwx", "[", "t", "]"}], "2"]}], "-", RowBox[{"Ixx", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"dwy", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"dwy", "[", "t", "]"}]}], "+", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"dwy", "[", "t", "]"}], "2"]}], "-", RowBox[{"2", " ", "Ixy", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"wx0", "[", "t", "]"}]}], "-", RowBox[{"Ixx", " ", RowBox[{"dwy", "[", "t", "]"}], " ", RowBox[{"wx0", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"dwy", "[", "t", "]"}], " ", RowBox[{"wx0", "[", "t", "]"}]}], "-", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"wx0", "[", "t", "]"}], "2"]}], "-", RowBox[{"Ixx", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "+", RowBox[{"2", " ", "Ixy", " ", RowBox[{"dwy", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "-", RowBox[{"Ixx", " ", RowBox[{"wx0", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"wx0", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "+", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"wy0", "[", "t", "]"}], "2"]}], "+", RowBox[{"Izz", " ", RowBox[{"(", RowBox[{ RowBox[{ SuperscriptBox["dwz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "+", RowBox[{ SuperscriptBox["wz0", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], ")"}]}]}], "\[Equal]", RowBox[{"Mrz0", "+", RowBox[{"dalpha", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "alpha", "]"}]}], "+", RowBox[{"drv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "drv", "]"}]}], "+", RowBox[{"dzak", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "dzak", "]"}]}], "+", FractionBox[ RowBox[{"dv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "Mah", "]"}]}], "a"], "+", RowBox[{"wz", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "wz", "]"}]}], "+", RowBox[{ RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "]"}]}], "-", RowBox[{"yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{"(", RowBox[{"P0", "+", RowBox[{"dsg", " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dsg", "]"}]}], "+", RowBox[{"dv", " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dv", "]"}]}]}], ")"}]}]}]}]], "Output", CellChangeTimes->{3.500794832869768*^9, 3.501739027164134*^9, 3.501741169595674*^9}] }, Open ]], Cell[TextData[{ StyleBox["\:041f\:043e\:043b\:0443\:0447\:0430\:0435\:043c \ \:0432\:043e\:0437\:043c\:0443\:0449\:0435\:043d\:043d\:043e\:0435 \:0443\ \:0440\:0430\:0432\:043d\:0435\:043d\:0438\:0435 \:043c\:043e\:043c\:0435\ \:043d\:0442\:0430 \:0442\:0430\:043d\:0433\:0430\:0436\:0430, \:0442.\:0435. \ \:0443\:0440\:0430\:0432\:043d\:0435\:043d\:0438\:0435 \:0432 ", FontSize->16], StyleBox["\:0432\:0430\:0440\:0438\:0430\:0446\:0438\:044f\:0445:", FontSize->16, FontWeight->"Bold"] }], "Text", CellChangeTimes->{{3.500661896897756*^9, 3.5006619830126815`*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"UrVD", "=", RowBox[{ RowBox[{ RowBox[{"IVU", "[", RowBox[{"[", "1", "]"}], "]"}], "-", RowBox[{"IOU", "[", RowBox[{"[", "1", "]"}], "]"}]}], "\[Equal]", RowBox[{"Simplify", "[", RowBox[{ RowBox[{"IVU", "[", RowBox[{"[", "2", "]"}], "]"}], "-", RowBox[{"IOU", "[", RowBox[{"[", "2", "]"}], "]"}]}], "]"}]}]}]], "Input", CellChangeTimes->{{3.5006615282366695`*^9, 3.5006616497146177`*^9}, { 3.5006617414878674`*^9, 3.500661766455295*^9}, {3.5006620917879033`*^9, 3.5006621357194157`*^9}}], Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{ RowBox[{"-", "Ixy"}], " ", SuperscriptBox[ RowBox[{"dwx", "[", "t", "]"}], "2"]}], "-", RowBox[{"Ixx", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"dwy", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"dwy", "[", "t", "]"}]}], "+", RowBox[{"Ixy", " ", SuperscriptBox[ RowBox[{"dwy", "[", "t", "]"}], "2"]}], "-", RowBox[{"2", " ", "Ixy", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"wx0", "[", "t", "]"}]}], "-", RowBox[{"Ixx", " ", RowBox[{"dwy", "[", "t", "]"}], " ", RowBox[{"wx0", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"dwy", "[", "t", "]"}], " ", RowBox[{"wx0", "[", "t", "]"}]}], "-", RowBox[{"Ixx", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "+", RowBox[{"Iyy", " ", RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "+", RowBox[{"2", " ", "Ixy", " ", RowBox[{"dwy", "[", "t", "]"}], " ", RowBox[{"wy0", "[", "t", "]"}]}], "-", RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["wz0", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], "+", RowBox[{"Izz", " ", RowBox[{"(", RowBox[{ RowBox[{ SuperscriptBox["dwz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "+", RowBox[{ SuperscriptBox["wz0", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], ")"}]}]}], "\[Equal]", RowBox[{ RowBox[{"dalpha", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "alpha", "]"}]}], "+", RowBox[{"drv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "drv", "]"}]}], "+", RowBox[{"dzak", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "dzak", "]"}]}], "+", FractionBox[ RowBox[{"dv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "Mah", "]"}]}], "a"], "+", RowBox[{"wz", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "wz", "]"}]}], "+", RowBox[{ RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "]"}]}], "-", RowBox[{"dsg", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dsg", "]"}]}], "-", RowBox[{"dv", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dv", "]"}]}]}]}]], "Output", CellChangeTimes->{3.5007948329633684`*^9, 3.5017390275061536`*^9, 3.5017411700547004`*^9}] }, Open ]], Cell[TextData[StyleBox["\:0418\:0441\:0445\:043e\:0434\:043d\:043e\:0435 \ \:043e\:0441\:043d\:043e\:0432\:043d\:043e\:0435 \:0434\:0432\:0438\:0436\ \:0435\:043d\:0438\:0435 \:041b\:0410 - \:043f\:0440\:044f\:043c\:043e\:043b\ \:0438\:043d\:0435\:0439\:043d\:044b\:0439 \:0433\:043e\:0440\:0438\:0437\ \:043e\:043d\:0442\:0430\:043b\:044c\:043d\:044b\:0439 \:043f\:043e\:043b\ \:0435\:0442: wx0[t]=0, wy0[t]=0 ,wz0[t]=0, wz0'[t]=0.\n\:041f\:0440\:0435\ \:043d\:0435\:0431\:0440\:0435\:0436\:0435\:043c \:0432\:0442\:043e\:0440\ \:044b\:043c \:043f\:043e\:0440\:044f\:0434\:043a\:043e\:043c \:043c\:0430\ \:043b\:043e\:0441\:0442\:0438, \:0442.\:0435. \:043f\:0440\:043e\:0438\:0437\ \:0432\:0435\:0434\:0435\:043d\:0438\:044f \:0432\:0430\:0440\:0438\:0430\ \:0446\:0438\:0439 \:0438 \:0438\:0445 \:0441\:0442\:0435\:043f\:0435\:043d\ \:0438 \:0432\:044b\:0448\:0435 1-\:0439 \:043f\:0440\:0438\:0440\:0430\:0432\ \:043d\:044f\:0435\:043c \:043a \:043d\:0443\:043b\:044e.", FontSize->16]], "Text", CellChangeTimes->{{3.5006622816487627`*^9, 3.500662428154142*^9}, 3.5006626005280013`*^9, 3.5006627816793623`*^9, {3.500662946746804*^9, 3.5006629823538404`*^9}, {3.5006630258623295`*^9, 3.500663035357872*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"UrVD", "=", RowBox[{"ReplaceAll", "[", RowBox[{"UrVD", ",", RowBox[{"{", RowBox[{ RowBox[{ RowBox[{"wx0", "[", "t", "]"}], "\[Rule]", "0"}], ",", RowBox[{ RowBox[{"wy0", "[", "t", "]"}], "\[Rule]", "0"}], ",", RowBox[{ RowBox[{"wz0", "[", "t", "]"}], "\[Rule]", "0"}], ",", RowBox[{ RowBox[{ SuperscriptBox["wz0", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "\[Rule]", "0"}], ",", RowBox[{ SuperscriptBox[ RowBox[{"dwx", "[", "t", "]"}], "2"], "\[Rule]", "0"}], ",", RowBox[{ SuperscriptBox[ RowBox[{"dwy", "[", "t", "]"}], "2"], "\[Rule]", "0"}], ",", RowBox[{ RowBox[{ RowBox[{"dwx", "[", "t", "]"}], " ", RowBox[{"dwy", "[", "t", "]"}]}], "\[Rule]", "0"}]}], "}"}]}], "]"}]}]], "Input", CellChangeTimes->{{3.500661726192992*^9, 3.5006617399907813`*^9}, { 3.5006617921987677`*^9, 3.500661862363781*^9}, {3.500662037084774*^9, 3.500662078478142*^9}, {3.5006621754346876`*^9, 3.5006622521680765`*^9}, { 3.5006628682593145`*^9, 3.5006628694613833`*^9}}], Cell[BoxData[ RowBox[{ RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["dwz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], "\[Equal]", RowBox[{ RowBox[{"dalpha", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "alpha", "]"}]}], "+", RowBox[{"drv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "drv", "]"}]}], "+", RowBox[{"dzak", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "dzak", "]"}]}], "+", FractionBox[ RowBox[{"dv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "Mah", "]"}]}], "a"], "+", RowBox[{"wz", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "wz", "]"}]}], "+", RowBox[{ RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "]"}]}], "-", RowBox[{"dsg", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dsg", "]"}]}], "-", RowBox[{"dv", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dv", "]"}]}]}]}]], "Output", CellChangeTimes->{3.500794833010168*^9, 3.501739027634161*^9, 3.5017411701897078`*^9}] }, Open ]], Cell[TextData[StyleBox["\:0422.\:043a. \:0441\:0438\:043b\:044b \:0438 \:043c\ \:043e\:043c\:0435\:043d\:0442\:044b \:0437\:0430\:0432\:0438\:0441\:044f\ \:0442 \:043e\:0442 \:043f\:0430\:0440\:0430\:043c\:0435\:0442\:0440\:043e\ \:0432 \:043f\:043e\:043b\:0435\:0442\:0430 \:0438 \:0441\:043e\:043e\:0442\ \:0432\:0435\:0442\:0441\:0442\:0432\:0435\:043d\:043d\:043e, \:043d\:0430 \ \:0438\:0445 \:0432\:0435\:043b\:0438\:0447\:0438\:043d\:044b \:0432\:043b\ \:0438\:044f\:044e\:0442 \:0447\:0430\:0441\:0442\:043d\:044b\:0435 \:043f\ \:0440\:043e\:0438\:0437\:0432\:043e\:0434\:043d\:044b\:0435 \:043e\:0442 \ \:044d\:0442\:0438\:0445 \:043f\:0430\:0440\:0430\:043c\:0435\:0442\:0440\ \:043e\:0432, \:0442\:043e \:043c\:043e\:0436\:043d\:043e \:0437\:0430\:043f\ \:0438\:0441\:0430\:0442\:044c:", FontSize->16]], "Text", CellChangeTimes->{{3.5007912084721923`*^9, 3.500791225398222*^9}, { 3.500791345761634*^9, 3.500791347477637*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"dMrz", "=", RowBox[{ RowBox[{ RowBox[{"D", "[", RowBox[{ RowBox[{"Mrz", "[", "wz", "]"}], ",", "wz"}], "]"}], "*", "wz"}], "+", RowBox[{ RowBox[{"D", "[", RowBox[{ RowBox[{"Mrz", "[", "alpha", "]"}], ",", "alpha"}], "]"}], "*", "dalpha"}], "+", RowBox[{ RowBox[{"D", "[", RowBox[{ RowBox[{"Mrz", "[", "Mah", "]"}], ",", "Mah"}], "]"}], "*", RowBox[{"dv", "/", "a"}]}], "+", RowBox[{ RowBox[{"D", "[", RowBox[{ RowBox[{"Mrz", "[", RowBox[{"D", "[", RowBox[{ RowBox[{"alpha", "[", "t", "]"}], ",", "t"}], "]"}], "]"}], ",", RowBox[{"D", "[", RowBox[{ RowBox[{"alpha", "[", "t", "]"}], ",", "t"}], "]"}]}], "]"}], "*", RowBox[{"D", "[", RowBox[{ RowBox[{"alpha", "[", "t", "]"}], ",", "t"}], "]"}]}], "+", RowBox[{ RowBox[{"D", "[", RowBox[{ RowBox[{"Mrz", "[", "drv", "]"}], ",", "drv"}], "]"}], "*", "drv"}], "+", RowBox[{ RowBox[{"D", "[", RowBox[{ RowBox[{"Mrz", "[", "dzak", "]"}], ",", "dzak"}], "]"}], "*", "dzak"}]}]}]], "Input", CellChangeTimes->{{3.5006630798254156`*^9, 3.5006631319883995`*^9}, { 3.5006631692305293`*^9, 3.500663200945343*^9}, {3.500663269020237*^9, 3.5006633777094536`*^9}, 3.500663954178426*^9, {3.5006639889854164`*^9, 3.500663994171713*^9}, {3.5006642279610853`*^9, 3.5006642952269325`*^9}, { 3.5006643387294207`*^9, 3.50066448330569*^9}, {3.500664667673235*^9, 3.500664672686522*^9}, {3.500664717602091*^9, 3.500664782324793*^9}, { 3.5006648457294197`*^9, 3.5006648892579093`*^9}, 3.50066493228537*^9, { 3.500665019546361*^9, 3.5006650224015245`*^9}, {3.5006664042505617`*^9, 3.500666456191533*^9}, 3.50078998897005*^9, 3.5007903961931653`*^9, 3.5007905027101526`*^9}], Cell[BoxData[ RowBox[{ RowBox[{"dalpha", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "alpha", "]"}]}], "+", RowBox[{"drv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "drv", "]"}]}], "+", RowBox[{"dzak", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "dzak", "]"}]}], "+", FractionBox[ RowBox[{"dv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "Mah", "]"}]}], "a"], "+", RowBox[{"wz", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "wz", "]"}]}], "+", RowBox[{ RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "]"}]}]}]], "Output", CellChangeTimes->{3.5007948330569687`*^9, 3.501739027736167*^9, 3.501741170555729*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"dP", "=", RowBox[{ RowBox[{ RowBox[{"D", "[", RowBox[{ RowBox[{"P", "[", "dsg", "]"}], ",", "dsg"}], "]"}], "*", "dsg"}], "+", RowBox[{ RowBox[{"D", "[", RowBox[{ RowBox[{"P", "[", "dv", "]"}], ",", "dv"}], "]"}], "*", "dv"}]}]}]], "Input", CellChangeTimes->{{3.5006650616797714`*^9, 3.5006651210421667`*^9}}], Cell[BoxData[ RowBox[{ RowBox[{"dsg", " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dsg", "]"}]}], "+", RowBox[{"dv", " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dv", "]"}]}]}]], "Output", CellChangeTimes->{3.5007948331037683`*^9, 3.5017390277971706`*^9, 3.5017411706857367`*^9}] }, Open ]], Cell[TextData[StyleBox["\:0423\:0442\:043e\:0447\:043d\:0435\:043d\:043d\:043e\ \:0435 \:0443\:0440\:0430\:0432\:043d\:0435\:043d\:0438\:0435 \:0438\:043c\ \:0435\:0435\:0442 \:0432\:0438\:0434:", FontSize->16]], "Text", CellChangeTimes->{{3.5007914865050807`*^9, 3.5007915168007345`*^9}}], Cell[CellGroupData[{ Cell[BoxData["UrVD"], "Input", CellChangeTimes->{{3.500665511882521*^9, 3.5006655192449427`*^9}}], Cell[BoxData[ RowBox[{ RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["dwz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], "\[Equal]", RowBox[{ RowBox[{"dalpha", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "alpha", "]"}]}], "+", RowBox[{"drv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "drv", "]"}]}], "+", RowBox[{"dzak", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "dzak", "]"}]}], "+", FractionBox[ RowBox[{"dv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "Mah", "]"}]}], "a"], "+", RowBox[{"wz", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "wz", "]"}]}], "+", RowBox[{ RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "]"}]}], "-", RowBox[{"dsg", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dsg", "]"}]}], "-", RowBox[{"dv", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dv", "]"}]}]}]}]], "Output", CellChangeTimes->{3.5007948331505685`*^9, 3.501739027859174*^9, 3.5017411708207445`*^9}] }, Open ]], Cell[TextData[StyleBox["\:0412\:044b\:0447\:0442\:0435\:043c \:0438\:0437 \ \:043b\:0435\:0432\:043e\:0439 \:0447\:0430\:0441\:0442\:0438 \:0443\:0440\ \:0430\:0432\:043d\:0435\:043d\:0438\:044f \:043f\:0440\:0430\:0432\:0443\ \:044e \:0438 \:0440\:0430\:0437\:0434\:0435\:043b\:0438\:043c \:043f\:043e\ \:043b\:0443\:0447\:0438\:0432\:0448\:0435\:0435\:0441\:044f \:0443\:0440\ \:0430\:0432\:043d\:0435\:043d\:0438\:0435 \:043d\:0430 \:043a\:043e\:044d\ \:0444\:0444\:0438\:0446\:0438\:0435\:043d\:0442 \:043f\:0440\:0438 \:043f\ \:0440\:043e\:0438\:0437\:0432\:043e\:0434\:043d\:043e\:0439 \:0443\:0433\ \:043b\:043e\:0432\:043e\:0439 \:0441\:043a\:043e\:0440\:043e\:0441\:0442\ \:0438 \:0442\:0430\:043d\:0433\:0430\:0436\:0430:", FontSize->16]], "Text", CellChangeTimes->{{3.5007915243043475`*^9, 3.500791524756748*^9}, { 3.5007916107908993`*^9, 3.5007916122573023`*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"UrVD", "=", RowBox[{ RowBox[{ RowBox[{"(", RowBox[{ RowBox[{"UrVD", "[", RowBox[{"[", "1", "]"}], "]"}], "-", RowBox[{"UrVD", "[", RowBox[{"[", "2", "]"}], "]"}]}], ")"}], "/", "Izz"}], "\[Equal]", "0"}]}]], "Input", CellChangeTimes->{{3.500665257111949*^9, 3.500665312395111*^9}, { 3.5006653467050734`*^9, 3.500665436764225*^9}, {3.5006656499604187`*^9, 3.500665662620143*^9}}], Cell[BoxData[ RowBox[{ FractionBox[ RowBox[{ RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["dwz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], "-", RowBox[{"dalpha", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "alpha", "]"}]}], "-", RowBox[{"drv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "drv", "]"}]}], "-", RowBox[{"dzak", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "dzak", "]"}]}], "-", FractionBox[ RowBox[{"dv", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "Mah", "]"}]}], "a"], "-", RowBox[{"wz", " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "wz", "]"}]}], "-", RowBox[{ RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], " ", RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "]"}]}], "+", RowBox[{"dsg", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dsg", "]"}]}], "+", RowBox[{"dv", " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dv", "]"}]}]}], "Izz"], "\[Equal]", "0"}]], "Output", CellChangeTimes->{3.5007948331973686`*^9, 3.501739028000182*^9, 3.501741170973753*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[{ RowBox[{"Clear", "[", RowBox[{"M", ",", "P"}], "]"}], "\[IndentingNewLine]", RowBox[{"UrVD", "=", RowBox[{"ReplaceAll", "[", RowBox[{"UrVD", ",", RowBox[{"{", RowBox[{ RowBox[{ RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "alpha", "]"}], "\[Rule]", SubsuperscriptBox["M", "z", "\[Alpha]"]}], ",", RowBox[{ RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "drv", "]"}], "->", SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0412"]]}], ",", RowBox[{ RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "dzak", "]"}], "->", SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0417"]]}], ",", RowBox[{ RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "Mah", "]"}], "->", SubsuperscriptBox["M", "z", "M"]}], ",", RowBox[{ RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", "wz", "]"}], "->", SubsuperscriptBox["M", "z", SubscriptBox["\[Omega]", "z"]]}], ",", RowBox[{ RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dsg", "]"}], "\[Rule]", SuperscriptBox["P", SubscriptBox["\[Delta]", "\:0421\:0413"]]}], ",", RowBox[{ RowBox[{ SuperscriptBox["P", "\[Prime]", MultilineFunction->None], "[", "dv", "]"}], "\[Rule]", SuperscriptBox["P", "v"]}], ",", RowBox[{ RowBox[{ SuperscriptBox["Mrz", "\[Prime]", MultilineFunction->None], "[", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}], "]"}], "->", SubsuperscriptBox["M", "z", OverscriptBox["\[Alpha]", "."]]}]}], "}"}]}], "]"}]}]}], "Input", CellChangeTimes->{{3.5007885092986517`*^9, 3.5007885468323174`*^9}, { 3.500788663957323*^9, 3.5007886981681833`*^9}, {3.5007887818623304`*^9, 3.500788786885539*^9}, {3.5007888530296555`*^9, 3.50078895233943*^9}, { 3.5007890871392665`*^9, 3.500789246965947*^9}, {3.500789296293234*^9, 3.500789323172081*^9}, {3.500789395072607*^9, 3.500789513306415*^9}, { 3.500789551932083*^9, 3.500789777059278*^9}, {3.5007898121437397`*^9, 3.5007898179313498`*^9}, {3.5007921871851115`*^9, 3.500792188464314*^9}}], Cell[BoxData[ RowBox[{ FractionBox[ RowBox[{ RowBox[{"dv", " ", SuperscriptBox["P", "v"], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}], "+", RowBox[{"dsg", " ", SuperscriptBox["P", SubscriptBox["\[Delta]", "\:0421\:0413"]], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}], "-", FractionBox[ RowBox[{"dv", " ", SubsuperscriptBox["M", "z", "M"]}], "a"], "-", RowBox[{"dalpha", " ", SubsuperscriptBox["M", "z", "\[Alpha]"]}], "-", RowBox[{"drv", " ", SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0412"]]}], "-", RowBox[{"dzak", " ", SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0417"]]}], "-", RowBox[{"wz", " ", SubsuperscriptBox["M", "z", SubscriptBox["\[Omega]", "z"]]}], "-", RowBox[{ SubsuperscriptBox["M", "z", OverscriptBox["\[Alpha]", "."]], " ", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], "+", RowBox[{"Izz", " ", RowBox[{ SuperscriptBox["dwz", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}]}], "Izz"], "\[Equal]", "0"}]], "Output", CellChangeTimes->{3.500794833306569*^9, 3.5017390280751863`*^9, 3.5017411711267614`*^9}] }, Open ]], Cell[TextData[StyleBox["\:041b\:0438\:043d\:0435\:0430\:0440\:0438\:0437\:043e\ \:0432\:0430\:043d\:043d\:043e\:0435 \:0443\:0440\:0430\:0432\:043d\:0435\ \:043d\:0438\:0435 \:043c\:043e\:043c\:0435\:043d\:0442\:0430 \:0442\:0430\ \:043d\:0433\:0430\:0436\:0430:", FontFamily->"Times New Roman", FontSize->16, FontWeight->"Bold"]], "Text", CellChangeTimes->{{3.5007925577093644`*^9, 3.5007926208786755`*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"U1", "=", RowBox[{ RowBox[{ RowBox[{"(", RowBox[{ RowBox[{"{", RowBox[{ SubscriptBox[ OverscriptBox["\[Omega]", "."], "z"], ",", SubscriptBox["\[Omega]", "z"], ",", OverscriptBox["\[Alpha]", "."], ",", "\[Alpha]", ",", "\[CapitalDelta]v", ",", SubscriptBox["\[Delta]", "\:0412"], ",", SubscriptBox["\[Delta]", "\:0421\:0413"], ",", SubscriptBox["\[Delta]", "\:0417"]}], "}"}], ".", RowBox[{"{", RowBox[{ RowBox[{"{", "1", "}"}], ",", RowBox[{"{", "c1", "}"}], ",", RowBox[{"{", "c5", "}"}], ",", RowBox[{"{", "c2", "}"}], ",", RowBox[{"{", "e3", "}"}], ",", RowBox[{"{", "\:04413", "}"}], ",", RowBox[{"{", "r3", "}"}], ",", RowBox[{"{", "c12", "}"}]}], "}"}]}], ")"}], "[", RowBox[{"[", "1", "]"}], "]"}], "\[Equal]", "0"}]}]], "Input", CellChangeTimes->{{3.5007911059488125`*^9, 3.5007911068068137`*^9}, { 3.5007917464175377`*^9, 3.5007919239002495`*^9}, {3.5007920122620044`*^9, 3.5007920129640055`*^9}, 3.5007943786125703`*^9}], Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{"-", FractionBox[ RowBox[{"\[Alpha]", " ", SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", "\[Alpha]"], " ", SubscriptBox["Sb", "A"]}], RowBox[{"2", " ", "Izz"}]]}], "-", FractionBox[ RowBox[{"\[Rho]V", " ", OverscriptBox["\[Alpha]", "."], " ", SubsuperscriptBox["m", "z", OverscriptBox["\[Alpha]", "."]], " ", SubsuperscriptBox["Sb", "A", "2"]}], RowBox[{"2", " ", "Izz"}]], "+", FractionBox[ RowBox[{"\[CapitalDelta]v", " ", RowBox[{"(", RowBox[{ RowBox[{ SuperscriptBox["P", "v"], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}], "-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", "M"], " ", SubscriptBox["Sb", "A"]}], RowBox[{"2", " ", "a"}]]}], ")"}]}], "Izz"], "-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Delta]", "\:0412"]], " ", SubscriptBox["Sb", "A"], " ", SubscriptBox["\[Delta]", "\:0412"]}], RowBox[{"2", " ", "Izz"}]], "-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Delta]", "\:0417"]], " ", SubscriptBox["Sb", "A"], " ", SubscriptBox["\[Delta]", "\:0417"]}], RowBox[{"2", " ", "Izz"}]], "+", FractionBox[ RowBox[{ SuperscriptBox["P", SubscriptBox["\[Delta]", "\:0421\:0413"]], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", SubscriptBox["\[Delta]", "\:0421\:0413"]}], "Izz"], "-", FractionBox[ RowBox[{"\[Rho]V", " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Omega]", "z"]], " ", SubsuperscriptBox["Sb", "A", "2"], " ", SubscriptBox["\[Omega]", "z"]}], RowBox[{"2", " ", "Izz"}]], "+", SubscriptBox[ OverscriptBox["\[Omega]", "."], "z"]}], "\[Equal]", "0"}]], "Output", CellChangeTimes->{3.500794833337769*^9, 3.5017390281531906`*^9, 3.5017411712797704`*^9}] }, Open ]], Cell[TextData[StyleBox["\:041a\:043e\:044d\:0444\:0444\:0438\:0446\:0438\:0435\ \:043d\:0442\:044b \:043b\:0438\:043d\:0435\:0439\:043d\:043e\:0433\:043e \ \:0443\:0440\:0430\:0432\:043d\:0435\:043d\:0438\:044f:", FontFamily->"Times New Roman", FontSize->16, FontWeight->"Bold"]], "Text", CellChangeTimes->{{3.5007926377423053`*^9, 3.5007926812987823`*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"c1", "=", RowBox[{"D", "[", RowBox[{ RowBox[{"UrVD", "[", RowBox[{"[", "1", "]"}], "]"}], ",", "wz"}], "]"}]}]], "Input", CellChangeTimes->{{3.5006656708966165`*^9, 3.500665695915047*^9}, { 3.5006658219692574`*^9, 3.50066584579762*^9}, {3.5007884987530327`*^9, 3.500788503089841*^9}, {3.5007900368465343`*^9, 3.500790046846152*^9}, 3.5007904111691914`*^9}], Cell[BoxData[ RowBox[{"-", FractionBox[ SubsuperscriptBox["M", "z", SubscriptBox["\[Omega]", "z"]], "Izz"]}]], "Output", CellChangeTimes->{3.500794833368969*^9, 3.501739028215194*^9, 3.5017411715327845`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"c2", "=", RowBox[{"D", "[", RowBox[{ RowBox[{"UrVD", "[", RowBox[{"[", "1", "]"}], "]"}], ",", "dalpha"}], "]"}]}]], "Input", CellChangeTimes->{{3.5006656396728306`*^9, 3.5006656403038664`*^9}, { 3.5006658573732824`*^9, 3.500665885425887*^9}, 3.500665922869028*^9, 3.5006662896430063`*^9, {3.500666354248702*^9, 3.500666359297991*^9}, { 3.5007904368780365`*^9, 3.500790440856044*^9}, 3.500790492492134*^9}], Cell[BoxData[ RowBox[{"-", FractionBox[ SubsuperscriptBox["M", "z", "\[Alpha]"], "Izz"]}]], "Output", CellChangeTimes->{3.5007948334313693`*^9, 3.5017390282751975`*^9, 3.501741171657792*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"\:04413", "=", RowBox[{"D", "[", RowBox[{ RowBox[{"UrVD", "[", RowBox[{"[", "1", "]"}], "]"}], ",", "drv"}], "]"}]}]], "Input", CellChangeTimes->{{3.500790525657793*^9, 3.5007905579822493`*^9}}], Cell[BoxData[ RowBox[{"-", FractionBox[ SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0412"]], "Izz"]}]], "Output", CellChangeTimes->{3.500794833462569*^9, 3.501739028334201*^9, 3.5017411717878*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"c5", "=", RowBox[{"D", "[", RowBox[{ RowBox[{"UrVD", "[", RowBox[{"[", "1", "]"}], "]"}], ",", RowBox[{ SuperscriptBox["alpha", "\[Prime]", MultilineFunction->None], "[", "t", "]"}]}], "]"}]}]], "Input", CellChangeTimes->{{3.5007905667026653`*^9, 3.500790589946706*^9}}], Cell[BoxData[ RowBox[{"-", FractionBox[ SubsuperscriptBox["M", "z", OverscriptBox["\[Alpha]", "."]], "Izz"]}]], "Output", CellChangeTimes->{3.500794833493769*^9, 3.501739028386204*^9, 3.5017411719078064`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"c12", "=", RowBox[{"D", "[", RowBox[{ RowBox[{"UrVD", "[", RowBox[{"[", "1", "]"}], "]"}], ",", "dzak"}], "]"}]}]], "Input", CellChangeTimes->{{3.5007905959839163`*^9, 3.5007905963583174`*^9}, { 3.5007906365595875`*^9, 3.500790658696027*^9}}], Cell[BoxData[ RowBox[{"-", FractionBox[ SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0417"]], "Izz"]}]], "Output", CellChangeTimes->{3.500794833524969*^9, 3.501739028435207*^9, 3.5017411720158124`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"e3", "=", RowBox[{"D", "[", RowBox[{ RowBox[{"UrVD", "[", RowBox[{"[", "1", "]"}], "]"}], ",", "dv"}], "]"}]}]], "Input", CellChangeTimes->{{3.5007906630640345`*^9, 3.5007907017989025`*^9}}], Cell[BoxData[ FractionBox[ RowBox[{ RowBox[{ SuperscriptBox["P", "v"], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}], "-", FractionBox[ SubsuperscriptBox["M", "z", "M"], "a"]}], "Izz"]], "Output", CellChangeTimes->{3.5007948335561695`*^9, 3.501739028479209*^9, 3.5017411721208186`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"r3", "=", RowBox[{"D", "[", RowBox[{ RowBox[{"UrVD", "[", RowBox[{"[", "1", "]"}], "]"}], ",", "dsg"}], "]"}]}]], "Input", CellChangeTimes->{{3.500790712890522*^9, 3.5007907237013407`*^9}, { 3.5007907616874075`*^9, 3.50079076288861*^9}}], Cell[BoxData[ FractionBox[ RowBox[{ SuperscriptBox["P", SubscriptBox["\[Delta]", "\:0421\:0413"]], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}], "Izz"]], "Output", CellChangeTimes->{3.5007948335873694`*^9, 3.5017390285232115`*^9, 3.5017411722208242`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"U2", "=", RowBox[{ RowBox[{ RowBox[{"(", RowBox[{ RowBox[{"{", RowBox[{ SubscriptBox[ OverscriptBox["\[Omega]", "."], "z"], ",", SubscriptBox["\[Omega]", "z"], ",", OverscriptBox["\[Alpha]", "."], ",", "\[Alpha]", ",", "\[CapitalDelta]v", ",", SubscriptBox["\[Delta]", "\:0412"], ",", SubscriptBox["\[Delta]", "\:0421\:0413"], ",", SubscriptBox["\[Delta]", "\:0417"]}], "}"}], ".", RowBox[{"{", RowBox[{ RowBox[{"{", "1", "}"}], ",", RowBox[{"{", "c1", "}"}], ",", RowBox[{"{", "c5", "}"}], ",", RowBox[{"{", "c2", "}"}], ",", RowBox[{"{", "e3", "}"}], ",", RowBox[{"{", "\:04413", "}"}], ",", RowBox[{"{", "r3", "}"}], ",", RowBox[{"{", "c12", "}"}]}], "}"}]}], ")"}], "[", RowBox[{"[", "1", "]"}], "]"}], "\[Equal]", "0"}]}]], "Input", CellChangeTimes->{{3.5007908094546914`*^9, 3.500791061629134*^9}, { 3.500791095075593*^9, 3.5007910977275977`*^9}, 3.500791945977488*^9, { 3.5007919925903697`*^9, 3.5007920071919956`*^9}, {3.500794372029359*^9, 3.5007943757265654`*^9}}], Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{"-", FractionBox[ RowBox[{"\[Alpha]", " ", SubsuperscriptBox["M", "z", "\[Alpha]"]}], "Izz"]}], "-", FractionBox[ RowBox[{ OverscriptBox["\[Alpha]", "."], " ", SubsuperscriptBox["M", "z", OverscriptBox["\[Alpha]", "."]]}], "Izz"], "+", FractionBox[ RowBox[{"\[CapitalDelta]v", " ", RowBox[{"(", RowBox[{ RowBox[{ SuperscriptBox["P", "v"], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}], "-", FractionBox[ SubsuperscriptBox["M", "z", "M"], "a"]}], ")"}]}], "Izz"], "-", FractionBox[ RowBox[{ SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0412"]], " ", SubscriptBox["\[Delta]", "\:0412"]}], "Izz"], "-", FractionBox[ RowBox[{ SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0417"]], " ", SubscriptBox["\[Delta]", "\:0417"]}], "Izz"], "+", FractionBox[ RowBox[{ SuperscriptBox["P", SubscriptBox["\[Delta]", "\:0421\:0413"]], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", SubscriptBox["\[Delta]", "\:0421\:0413"]}], "Izz"], "-", FractionBox[ RowBox[{ SubsuperscriptBox["M", "z", SubscriptBox["\[Omega]", "z"]], " ", SubscriptBox["\[Omega]", "z"]}], "Izz"], "+", SubscriptBox[ OverscriptBox["\[Omega]", "."], "z"]}], "\[Equal]", "0"}]], "Output", CellChangeTimes->{3.5007948336185694`*^9, 3.5017390285692143`*^9, 3.5017411723268304`*^9}] }, Open ]], Cell[TextData[StyleBox["\:0417\:0430\:043f\:0438\:0448\:0435\:043c \:043a\ \:043e\:044d\:0444\:0444\:0438\:0446\:0438\:0435\:043d\:0442\:044b \:0432 \ \:043f\:0440\:0438\:043d\:044f\:0442\:043e\:0439 \:0444\:043e\:0440\:043c\ \:0435 :", FontSize->16]], "Text", CellChangeTimes->{{3.5007942541847515`*^9, 3.5007942803943977`*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"c1", "=", RowBox[{"ReplaceAll", "[", RowBox[{"c1", ",", RowBox[{ SubsuperscriptBox["M", "z", SubscriptBox["\[Omega]", "z"]], "\[Rule]", RowBox[{ SubsuperscriptBox["m", "z", SubscriptBox["\[Omega]", "z"]], FractionBox["\[Rho]V", "2"], SubsuperscriptBox["Sb", "A", "2"]}]}]}], "]"}]}]], "Input", CellChangeTimes->{{3.5007929710224905`*^9, 3.5007929895709233`*^9}, { 3.5007930255445867`*^9, 3.500793062844252*^9}, {3.5007931416867905`*^9, 3.500793177738454*^9}, {3.500793211980514*^9, 3.500793257048993*^9}}], Cell[BoxData[ RowBox[{"-", FractionBox[ RowBox[{"\[Rho]V", " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Omega]", "z"]], " ", SubsuperscriptBox["Sb", "A", "2"]}], RowBox[{"2", " ", "Izz"}]]}]], "Output", CellChangeTimes->{3.50079483364977*^9, 3.5017390286242175`*^9, 3.501741172510841*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"c2", "=", RowBox[{"ReplaceAll", "[", RowBox[{"c2", ",", RowBox[{ SubsuperscriptBox["M", "z", "\[Alpha]"], "\[Rule]", RowBox[{ SubsuperscriptBox["m", "z", "\[Alpha]"], FractionBox[ SuperscriptBox["\[Rho]V", "2"], "2"], SubscriptBox["Sb", "A"]}]}]}], "]"}]}]], "Input", CellChangeTimes->{{3.50079326670541*^9, 3.500793311040688*^9}, { 3.500793341148741*^9, 3.5007933476539526`*^9}}], Cell[BoxData[ RowBox[{"-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", "\[Alpha]"], " ", SubscriptBox["Sb", "A"]}], RowBox[{"2", " ", "Izz"}]]}]], "Output", CellChangeTimes->{3.5007948336809697`*^9, 3.5017390286712203`*^9, 3.501741172612847*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"\:04413", "=", RowBox[{"ReplaceAll", "[", RowBox[{"\:04413", ",", RowBox[{ SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0412"]], "\[Rule]", RowBox[{ SubsuperscriptBox["m", "z", SubscriptBox["\[Delta]", "\:0412"]], FractionBox[ SuperscriptBox["\[Rho]V", "2"], "2"], SubscriptBox["Sb", "A"]}]}]}], "]"}]}]], "Input", CellChangeTimes->{{3.500793406341255*^9, 3.5007934069028563`*^9}, { 3.500793444047722*^9, 3.500793504466628*^9}}], Cell[BoxData[ RowBox[{"-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Delta]", "\:0412"]], " ", SubscriptBox["Sb", "A"]}], RowBox[{"2", " ", "Izz"}]]}]], "Output", CellChangeTimes->{3.5007948337121696`*^9, 3.501739028720223*^9, 3.5017411727108526`*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"c5", "=", RowBox[{"ReplaceAll", "[", RowBox[{"c5", ",", RowBox[{ SubsuperscriptBox["M", "z", OverscriptBox["\[Alpha]", "."]], "\[Rule]", RowBox[{ SubsuperscriptBox["m", "z", OverscriptBox["\[Alpha]", "."]], FractionBox["\[Rho]V", "2"], SubsuperscriptBox["Sb", "A", "2"]}]}]}], "]"}]}]], "Input", CellChangeTimes->{{3.5007935240446625`*^9, 3.5007935692223415`*^9}, 3.500793607099208*^9, {3.5007936375816617`*^9, 3.500793651387686*^9}}], Cell[BoxData[ RowBox[{"-", FractionBox[ RowBox[{"\[Rho]V", " ", SubsuperscriptBox["m", "z", OverscriptBox["\[Alpha]", "."]], " ", SubsuperscriptBox["Sb", "A", "2"]}], RowBox[{"2", " ", "Izz"}]]}]], "Output", CellChangeTimes->{3.5007948337433696`*^9, 3.501739028769226*^9, 3.501741172812858*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"c12", "=", RowBox[{"ReplaceAll", "[", RowBox[{"c12", ",", RowBox[{ SubsuperscriptBox["M", "z", SubscriptBox["\[Delta]", "\:0417"]], "\[Rule]", RowBox[{ SubsuperscriptBox["m", "z", SubscriptBox["\[Delta]", "\:0417"]], FractionBox[ SuperscriptBox["\[Rho]V", "2"], "2"], SubscriptBox["Sb", "A"]}]}]}], "]"}]}]], "Input", CellChangeTimes->{{3.500793802513958*^9, 3.5007938305940075`*^9}, { 3.500793873821683*^9, 3.5007938985009265`*^9}}], Cell[BoxData[ RowBox[{"-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Delta]", "\:0417"]], " ", SubscriptBox["Sb", "A"]}], RowBox[{"2", " ", "Izz"}]]}]], "Output", CellChangeTimes->{3.5007948337745695`*^9, 3.5017390288202286`*^9, 3.501741172917864*^9}] }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"e3", "=", RowBox[{"ReplaceAll", "[", RowBox[{"e3", ",", RowBox[{ SubsuperscriptBox["M", "z", "M"], "\[Rule]", RowBox[{ SubsuperscriptBox["m", "z", "M"], FractionBox[ SuperscriptBox["\[Rho]V", "2"], "2"], SubscriptBox["Sb", "A"]}]}]}], "]"}]}]], "Input", CellChangeTimes->{{3.500794103098486*^9, 3.5007941418801537`*^9}}], Cell[BoxData[ FractionBox[ RowBox[{ RowBox[{ SuperscriptBox["P", "v"], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}], "-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", "M"], " ", SubscriptBox["Sb", "A"]}], RowBox[{"2", " ", "a"}]]}], "Izz"]], "Output", CellChangeTimes->{3.50079483380577*^9, 3.5017390288722315`*^9, 3.5017411730498714`*^9}] }, Open ]], Cell[TextData[StyleBox["\:041e\:043a\:043e\:043d\:0447\:0430\:0442\:0435\:043b\ \:044c\:043d\:043e\:0435 \:0432\:044b\:0440\:0430\:0436\:0435\:043d\:0438\ \:0435 \:0438\:043c\:0435\:0435\:0442 \:0432\:0438\:0434 :", FontSize->18]], "Text", CellChangeTimes->{{3.5007943282240815`*^9, 3.50079435001772*^9}}], Cell[CellGroupData[{ Cell[BoxData[ RowBox[{"U3", "=", RowBox[{ RowBox[{ RowBox[{"(", RowBox[{ RowBox[{"{", RowBox[{ SubscriptBox[ OverscriptBox["\[Omega]", "."], "z"], ",", SubscriptBox["\[Omega]", "z"], ",", OverscriptBox["\[Alpha]", "."], ",", "\[Alpha]", ",", "\[CapitalDelta]v", ",", SubscriptBox["\[Delta]", "\:0412"], ",", SubscriptBox["\[Delta]", "\:0421\:0413"], ",", SubscriptBox["\[Delta]", "\:0417"]}], "}"}], ".", RowBox[{"{", RowBox[{ RowBox[{"{", "1", "}"}], ",", RowBox[{"{", "c1", "}"}], ",", RowBox[{"{", "c5", "}"}], ",", RowBox[{"{", "c2", "}"}], ",", RowBox[{"{", "e3", "}"}], ",", RowBox[{"{", "\:04413", "}"}], ",", RowBox[{"{", "r3", "}"}], ",", RowBox[{"{", "c12", "}"}]}], "}"}]}], ")"}], "[", RowBox[{"[", "1", "]"}], "]"}], "\[Equal]", "0"}]}]], "Input", CellChangeTimes->{{3.5007943037476387`*^9, 3.500794322296071*^9}, 3.5007943816545753`*^9}], Cell[BoxData[ RowBox[{ RowBox[{ RowBox[{"-", FractionBox[ RowBox[{"\[Alpha]", " ", SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", "\[Alpha]"], " ", SubscriptBox["Sb", "A"]}], RowBox[{"2", " ", "Izz"}]]}], "-", FractionBox[ RowBox[{"\[Rho]V", " ", OverscriptBox["\[Alpha]", "."], " ", SubsuperscriptBox["m", "z", OverscriptBox["\[Alpha]", "."]], " ", SubsuperscriptBox["Sb", "A", "2"]}], RowBox[{"2", " ", "Izz"}]], "+", FractionBox[ RowBox[{"\[CapitalDelta]v", " ", RowBox[{"(", RowBox[{ RowBox[{ SuperscriptBox["P", "v"], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}]}], "-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", "M"], " ", SubscriptBox["Sb", "A"]}], RowBox[{"2", " ", "a"}]]}], ")"}]}], "Izz"], "-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Delta]", "\:0412"]], " ", SubscriptBox["Sb", "A"], " ", SubscriptBox["\[Delta]", "\:0412"]}], RowBox[{"2", " ", "Izz"}]], "-", FractionBox[ RowBox[{ SuperscriptBox["\[Rho]V", "2"], " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Delta]", "\:0417"]], " ", SubscriptBox["Sb", "A"], " ", SubscriptBox["\[Delta]", "\:0417"]}], RowBox[{"2", " ", "Izz"}]], "+", FractionBox[ RowBox[{ SuperscriptBox["P", SubscriptBox["\[Delta]", "\:0421\:0413"]], " ", "yp", " ", RowBox[{"Cos", "[", "fip", "]"}], " ", SubscriptBox["\[Delta]", "\:0421\:0413"]}], "Izz"], "-", FractionBox[ RowBox[{"\[Rho]V", " ", SubsuperscriptBox["m", "z", SubscriptBox["\[Omega]", "z"]], " ", SubsuperscriptBox["Sb", "A", "2"], " ", SubscriptBox["\[Omega]", "z"]}], RowBox[{"2", " ", "Izz"}]], "+", SubscriptBox[ OverscriptBox["\[Omega]", "."], "z"]}], "\[Equal]", "0"}]], "Output", CellChangeTimes->{3.50079483383697*^9, 3.501739028929235*^9, 3.5017411731668787`*^9}] }, Open ]] }, WindowSize->{1264, 665}, WindowMargins->{{0, Automatic}, {Automatic, 0}}, Magnification->0.8999999761581421, FrontEndVersion->"7.0 for Microsoft Windows (32-bit) (February 18, 2009)", StyleDefinitions->"Default.nb" ] (* End of Notebook Content *) (* Internal cache information *) (*CellTagsOutline CellTagsIndex->{} *) (*CellTagsIndex CellTagsIndex->{} *) (*NotebookFileOutline Notebook[{ Cell[545, 20, 407, 7, 37, "Text"], Cell[955, 29, 312, 4, 31, "Text"], Cell[CellGroupData[{ Cell[1292, 37, 731, 22, 27, "Input"], Cell[2026, 61, 764, 22, 62, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[2827, 88, 557, 13, 27, "Input"], Cell[3387, 103, 121, 2, 27, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[3545, 110, 119, 2, 27, "Input"], Cell[3667, 114, 120, 2, 27, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[3824, 121, 528, 10, 27, "Input"], Cell[4355, 133, 766, 22, 62, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[5158, 160, 710, 17, 27, "Input"], Cell[5871, 179, 266, 7, 27, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[6174, 191, 679, 15, 27, "Input"], Cell[6856, 208, 1149, 35, 62, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[8042, 248, 1516, 30, 46, "Input"], Cell[9561, 280, 273, 7, 27, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[9871, 292, 214, 5, 27, "Input"], Cell[10088, 299, 210, 5, 27, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[10335, 309, 869, 19, 27, "Input"], Cell[11207, 330, 1973, 58, 48, "Output"] }, Open ]], Cell[13195, 391, 771, 10, 28, "Text"], Cell[CellGroupData[{ Cell[13991, 405, 539, 13, 27, "Input"], Cell[14533, 420, 752, 23, 27, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[15322, 448, 779, 23, 27, InheritFromParent], Cell[16104, 473, 754, 23, 27, "Output"] }, Open ]], Cell[16873, 499, 749, 11, 66, "Text", Evaluatable->True], Cell[17625, 512, 645, 10, 28, "Text", Evaluatable->True], Cell[18273, 524, 1165, 18, 43, "Text", Evaluatable->True], Cell[19441, 544, 534, 16, 27, "Output"], Cell[19978, 562, 645, 14, 29, "Text"], Cell[CellGroupData[{ Cell[20648, 580, 1349, 38, 100, "Input"], Cell[22000, 620, 812, 24, 27, "Output"] }, Open ]], Cell[22827, 647, 524, 12, 29, "Text"], Cell[CellGroupData[{ Cell[23376, 663, 2128, 63, 190, "Input"], Cell[25507, 728, 3430, 101, 77, "Output"] }, Open ]], Cell[28952, 832, 576, 11, 29, "Text"], Cell[CellGroupData[{ Cell[29553, 847, 577, 16, 27, "Input"], Cell[30133, 865, 3105, 90, 77, "Output"] }, Open ]], Cell[33253, 958, 1219, 16, 47, "Text"], Cell[CellGroupData[{ Cell[34497, 978, 1164, 30, 30, "Input"], Cell[35664, 1010, 1681, 49, 41, "Output"] }, Open ]], Cell[37360, 1062, 940, 13, 28, "Text"], Cell[CellGroupData[{ Cell[38325, 1079, 1862, 49, 46, "Input"], Cell[40190, 1130, 1127, 34, 41, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[41354, 1169, 381, 12, 27, "Input"], Cell[41738, 1183, 381, 11, 27, "Output"] }, Open ]], Cell[42134, 1197, 291, 4, 28, "Text"], Cell[CellGroupData[{ Cell[42450, 1205, 98, 1, 27, "Input"], Cell[42551, 1208, 1683, 49, 41, "Output"] }, Open ]], Cell[44249, 1260, 879, 12, 28, "Text"], Cell[CellGroupData[{ Cell[45153, 1276, 457, 13, 27, "Input"], Cell[45613, 1291, 1767, 51, 50, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[47417, 1347, 2519, 62, 52, "Input"], Cell[49939, 1411, 1309, 37, 53, "Output"] }, Open ]], Cell[51263, 1451, 412, 7, 29, "Text"], Cell[CellGroupData[{ Cell[51700, 1462, 1155, 29, 27, "Input"], Cell[52858, 1493, 2158, 62, 56, "Output"] }, Open ]], Cell[55031, 1558, 361, 6, 29, "Text"], Cell[CellGroupData[{ Cell[55417, 1568, 409, 9, 27, "Input"], Cell[55829, 1579, 223, 6, 42, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[56089, 1590, 458, 9, 27, "Input"], Cell[56550, 1601, 201, 5, 42, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[56788, 1611, 236, 6, 27, "Input"], Cell[57027, 1619, 224, 6, 46, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[57288, 1630, 328, 9, 27, "Input"], Cell[57619, 1641, 224, 6, 45, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[57880, 1652, 286, 7, 27, "Input"], Cell[58169, 1661, 228, 6, 46, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[58434, 1672, 232, 6, 27, "Input"], Cell[58669, 1680, 317, 9, 53, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[59023, 1694, 281, 7, 27, "Input"], Cell[59307, 1703, 279, 7, 44, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[59623, 1715, 1201, 30, 27, "Input"], Cell[60827, 1747, 1535, 45, 55, "Output"] }, Open ]], Cell[62377, 1795, 331, 5, 28, "Text"], Cell[CellGroupData[{ Cell[62733, 1804, 593, 14, 41, "Input"], Cell[63329, 1820, 323, 9, 44, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[63689, 1834, 457, 12, 43, "Input"], Cell[64149, 1848, 317, 9, 44, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[64503, 1862, 531, 14, 43, "Input"], Cell[65037, 1878, 347, 10, 47, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[65421, 1893, 521, 13, 41, "Input"], Cell[65945, 1908, 325, 9, 46, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[66307, 1922, 525, 14, 43, "Input"], Cell[66835, 1938, 347, 10, 47, "Output"] }, Open ]], Cell[CellGroupData[{ Cell[67219, 1953, 395, 11, 43, "Input"], Cell[67617, 1966, 436, 13, 54, "Output"] }, Open ]], Cell[68068, 1982, 307, 4, 31, "Text"], Cell[CellGroupData[{ Cell[68400, 1990, 1049, 28, 27, "Input"], Cell[69452, 2020, 2155, 62, 56, "Output"] }, Open ]] } ] *) (* End of internal cache information *)