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M
Σ
M
Σ
M
c
(ω)
M
f
(t)
˙
θ(t)=ω;
J ˙ω(t)=cΦi
− M
c
(ω) − M
f
(t);
u
= i r + L
˙
i
(t)+cωΦ;
u
= f
1
(Φ)r +2pw
˙
Φ(t),
θ ω i Φ
u u f
1
(Φ)
r r
L J
w c p
θ ω i Φ
u u
M
f
(t) M
f
(t)
M
f
(t)
z
1
(t)
˙z
1
(t)=h
1
(θ, ω, i , Φ,z
1
,...z
r
);
˙z
r
(t)=h
r
(θ, ω, i , Φ,z
1
,...z
r
).
z
1
,...,z
r
Ψ =0
u u
ψ
1
= i − ϕ
1
(θ, ω, z
1
)=0;
ψ
2
=Φ− ϕ
2
(θ, ω, z
1
)=0.
ϕ
1
(θ, ω, z
1
) ϕ
2
(θ, ω, z
1
)
ψ
1
=0 ψ
2
=0
T
1
˙
ψ
1
(t)+ψ
1
=0;
T
2
˙
ψ
2
(t)+ψ
2
=0.
u = a
3
i + a
1
ωΦ+
1
T
1
a
4
(ϕ
1
− i )+
+
1
a
4
∂ϕ
1
∂θ
ω+
∂ϕ
1
∂ω
(a
1
i Φ−M
c
−z
1
)a
2
+
∂ϕ
1
∂z
1
h
1
;
u
= a
5
f
1
(Φ) +
1
T
2
a
6
(ϕ
2
− Φ)+
+
1
a
6
∂ϕ
2
∂θ
ω+
∂ϕ
2
∂ω
(a
1
i Φ−M
c
−z
1
)a
2
+
∂ϕ
2
∂z
1
h
1
.
T
1
> 0 T
2
> 0
ψ
1
=0 ψ
2
=0 a
1
= c a
2
=1/J a
3
= R
a
4
=1/L a
5
= R a
6
=1/(2pw )