.

: .
: .
: .
: 01 . : 02 . : "
"
:

" ".
: " " " "
.
: .
: .
: .
.


"
" .



.

:
:
" "

13


.
) (
.
" "
)(1
.
:

" "
" "


.

.
.
" "


.
" "
.


) (
) (.
: 01



.
" "
.
.
- ((1
) .( 63 62
.
13


.

) ( ) (
.




.

.
.
) ( .
" " " "
:
. . . .
: 02

:
.1 :




.

.2 :

13



.
. :

)( :
* )
(.
* .
*
.
" "
) ( Re
:
=
(-) +
(-) +

.
. :
)(




. ( p dp/ dt/1 ) :
: p / 1 : .
dt / dt: .0
. :

13

 " "
) (




) ( w .w= y / p :
= x


* " "

.(1

:
" "

:
" "

" ".

:
*
.
* .
*
.
*

) (.
*
:
. ()1 -1999 ) .( 327 326
13

 : = .
: / = =
.
" "
:
( Md = F ( yp, rb- rm, re- rm, Me- rm, h- rm
- - - + P
= Md .
= yp ) (.
= Rm .
= Rb .
= Re .
= Me .
= H .
: " " "
"

:
.1 " "
" "


.
.2 " " " "


.
.3 " " " "
" "





" " .rb rm :
) ( F
:

13

 .
.
.4

.5

" "
" "

.




.
" "
" "
.

) ( v
. "
" F :
V = py / md
.( yp ) = md / p
md / p V Md / p .( V = 1 / f ( yp :
y ( V = y / f ( yp
y yp .
V " "
.
) ( y
" " .
:

.1 :


13








.
" "







) ( .
F
) (



.
.2 :
M.F
:
. ) .( ...

.
" " " ".
:
13


:
.


.

.

13

13

.1
.2
.3
.4

) ( .
.2005 .
)
( . . ) .( 63 .62
) ( .
. .1999

) ( .
. .2002

13