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(1)
(2)
( ) ( ) ( )
( ) ( )
x ( ) ( ) () ( ) (
y t l t( ) () (
p p( )(( )
( ) (3)U M gl t(cosM glM gl
(4)1 ( ) ( )K Mx1 (r
J Kx(
2 2( ) 1
cKKmprrm gJ KJ2
2
22
+)Mx1 (2
( )Mx( 2
(5)1 ( )K M x1 (2
cKK cMM 2
(6)( ( ) 2 ( ) ( ) ( ) ( ) ) 1 ( )cosK M x t l x t t t l t I t21
2p p p p p
2 2 2 2a a a a= - + +
(7)( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )cosK M M x t M l x t t t t M l I t21
21
c p p p p p p2 2 2 2a a a a= + - + + +
(8)( ) ( )cos cosL M M x M l x M l I M gl21
21
c p p p p p p p p2 2 2 2a a a a a= + - + + + -
( )
dtd
xL
xL F B x
dtd L L B 9
eq
p
22
22
22
22
a aa
- = -
- =-
oo
oo
`
`
j
j
( )
( ) ( )
( )
sin
sin cos
sin cosx
M M I M M l M l
I M l B x M l I M l M l B
M l g I M l F2
c p p c p p p p
p p p eq p p p p p p p p
p p p p p
2 2 2 2
2 2 3 2
2 2
a
aa a a
a a=
+ + +
- + - + -
+ + +p
o o o= G
( )( )
( ) ( )
cos cos
M M I M M l M l sin
M M M l gsin M M B M l sin cos
M l B x M l F10
c p p c p p p p
c p p p c p p p p
p p eq p p
2 2 2 2
2 2 2
aa
a a a a a
a a- +=
+ + +
+ - + -
p
o o
o= G
( ) ( )x
( )M M I M M l
M l g I M l B x M l B I M l F2 2 2 2
c p p c p p
p p p p p eq p p p p p p
2
a a- + - + +=
+ +p
o o6 @
( )( )
( ) ( )
I M M l( )(
M M M l g M l B x M M B M L F( )( ( )
c p p c p p) M M lM M
) ) M LM L2
a =I) p) I)
M l g M l B x M M BM l B x M M B) ( )(M lM l) M l BM l B B)p
o o6 @
( )
Fr p
n K T
T n K I
IR
V K
rrg g mK TK T
m m t mT n K IT n K I
mIIm
m mKK ~
=
=
( )Fr R
n K n KV
r R
n K n K Kx
2
2
mp mr Rrg g m tK n KK n K
mp mr Rrg g m t mK n K KK n K
= -
1 3
2 4
( )( )
( )
( )
zI M M l)
M l gz I M l B( )r R
n K n K Kz M l B z
r Rn K n K
V
2c p p c p p) M M lM M
M lM l eq)mp mr Rr
g g m t mK n K KK n K Kp p pM l BM l B
p p p
mp mr Rrg g m tK n KK n K
3
2 2ll 2
2
2
3 4
2
=I) p) I)
+BeqBI M l( ))
+(
cc mR
T
SRR
SSS
SSSSS
TTSSTTTT
SSSS
V
X
WVV
WWW
WWWWW
XXWWXXXX
WWWW
( )
( ))
( )
zI M M l)
M M M l gz M l B)r R
n K n K Kz M M B z( )
M lr R
n K n KV
c p p c p p) M M lM M
) eq
mp mr Rrg g m t mK n K KK n K K
c p p)B)
p pM lMmp mr Rr
g g m tK n KK n K
4 2
2
2
3 4
=I) p) I)
+BeqBM l gz M l)M lM l) M lM l (
+
cc mR
T
SRR
SSS
SSSSS
TTSSTTTT
SSSS
V
X
WVV
WWW
WWWWW
XXWWXXXX
WWWW
( )( )X X u(
0
0
0
0
0
0
2 1972.
27 6669.
1
0
16 797.
38 7034.
1
1
0 0071.
0 0891.
0
0
2 206.
5 083.
=-
-
-+
R
T
SRR
SSS
SSS
SSSSTT
SS
R
T
SRR
SSS
SSS
SSSSTT
SS
V
X
WVV
WWW
WWW
WWWWXX
WW
V
X
WVV
WWW
WWW
WWWWXX
WW
X AX BU
16.8861 26.4438 379.6803 ( )P S 16.8861CPP4 3 2
SS 26 443826 4438
, , ,0 4 8338 4 583638 17 136288. , . , .. , . ,1 ,,, 4 83384 8338
( )M B AB A B A B2 3B AB A6 @
(1 )
0
0
2
5
2
5
36
84
36
84
588
1479
588
1479
9539
23982
=-
-
-
-
-
-
R
T
SRR
SSS
SSS
SSSSTT
SS
V
X
WVV
WWW
WWW
WWWWXX
WW
( )
356 0866.
26 6641.
15 9762.
1
26 6641.
15 9762.
1
0
15 9762.
1
0
0
1
0
0
0
=
-
-
-R
T
SRR
SSS
SSS
SSSSTT
SS
V
X
WVV
WWW
WWW
WWWWXX
WW
( )
51 4716.
0
0
0
0 1657.
0 0015.
51 4716.
0
2 2772.
5 247.
0 1657.
0 0015.
0
0
2 2772.
5 247.
=
-
-
R
T
SRR
SSS
SSS
SSSSTT
SS
V
X
WVV
WWW
WWW
WWWWXX
WW
. . . . ( )23. . . . (. . . (= 6 @
( )
. . . . ( )
K
K
(23 0667 166 125 402 4901 479 1006. . . .. . T
(9. . . .. . .
1=
= -
-66
@@@
( )e e u 24eC U= +
A
C
B
0
0
0
C
U
=-
=
=
;
G
E
1 0 0 0= 6 @
K1 ( )kiK 25= -6 @
(26). . . . .K 90 635 124 292 53 5441 29 5463 96 08121 = - - -6 @
(2 )( )x X u yB L)X u yu y1 = -( ) uu)X uuXX
( )
. .221 1.
19 2.
1497 2.
4553 3.
1 2.
226 2.
175 6.
5222 9.
=-
-
-
R
T
SRR
SSS
SSS
SSSSTT
SS
V
X
WVV
WWW
WWW
WWWWXX
WW
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