1、cosNNPNUNINfNn2()9550( /min)NNNP kWTnrU1 V1 W1U1 V1 W1W2 U 2 V2W2 U2 V2160 fnp( /min)rNS1nn1nNS0n 1nn1n11nnsnn1ns1nn1nmFmBAXBYCZ1UmImFm1E11E11mUI R與平衡mBmBmFmFmBAXBYCZ1110.92mmwN ImFkp0mmBF1114.44wmEjfN k 1()mmmmmEI ZIRjX 111mEjI X 1E11111111111()()()mmmmmmmmmUEEI REIRjXIRjXIRjXI ZI Z mRmXmmmZRjX1R1X

2、111ZRjX,AjmFmImBm1E1E1U1mI R1mjI X11U1I1Fm1E11E111UI R與平衡mB2sI2FmF2sE2 s1 sE1m（相）2m（相）22sI R與平衡1m2m1f2f2f11nnnsn1216060p snp nfsfs150f 21 2.5f2F221160/nfpsnnn 2F2F2n21nnnm0mi1F2F12mFFF1n2F222220.92swN ImFkp2Fn11nnnsn1sf2sE2sI2s2FAXaxbyczamB11()n( )n11()n()n2F2j2sEms2sI2s0290s222, aj0290smBms2sE2F2sI

3、mB2F0290s12211 1121120.90.9(0.9)222mswwwN IN ImN Immkkkppp 222122111()()wmsmswm N kIIIIIm N k 12mFFF12()mFFF 12()msIII 11mLIII1ImI()mmB1LI2sI2FmB2s2FmB2sE21fsf222sssEjI X 22212222sXf Lsf LsX22222222222()()ssEsEIRsXRsX222arctanssXR1()mmmmmEI ZIRjX 11111()UEI RjX 2222()ssEIRjsX212212224.44(4.44)swmswm

4、Esf N ksf N ksE2E1s m21()fsf1f2F2F2F22222222222()sssEsEEIIRjXRjsXRjXs11()sff22, aj0290smBms2sE2F2sI2F2F2sI2sI1U1I1R1jX1E2sE2sI2R1111,wm N kf2222,wm N kf2jsXn2jX2221,wm N kf1U1I1R1jX1E2R21sRs1111,wm N kf2E2I0n 2sI2I2221RsRRss2sE2E22RjsX22RjXs2f1f21sRs2Rs2R21sRs22221sm IRs2F02AXaxAaAa120290mB2F21m2m1E

5、2E2I1j02902mB12mm jaA11E2E2I2F2F2F0290011 1112221120.90.9(0.9)222mwwwmN ImN ImN Ikkkppp 222122111()()wmmwm N kIIIIIm N k 222,wm N k111,wm N k2222221111wwim N kIIIm N kk11 2222120.90.922wwmN ImN Ikkpp2F2222114.444.44mwwEEjfN kjfN k1122222wewN kEEk EN k 221 22222m I Rm I R22222221 2eim IRRk k Rm I2222

6、2221 2eim IXXk k Xm I22222221 2111eim IsssRRk kRsm Iss2jX1111,wm N kf1U1I1R1jX1E2R21sRs1111,wm N kf2E2I0n ekikeik k1122wewN kkN k111222wiwm N kkm N k1U1I2I1E1R1jXmRmjX2R2jXmI21sRs2E2I222RIs22jI X12EEmI1I2I1E11I R11jI X1m1U1111UI ZE 2222EI ZU12mIII 12mmEEI Z 1U1I2I1R1jX2cR2cjXmI21scRsmcZ1111mmZXcZX c

7、 1P1U1I2I1R1jXmRmjX2R2jXmI21 sRs1P1Cup2CupFepMPP1CupFepMP2CupP11CuFeMPppP111 11cosPmU I211 11Cupm I R21Femmpm I R22122222221 2coscosMRPm E Im E Im Is2MCuPpP2221 22222Cupm I Rm I R221 2222211ssPm IRm IRss2CuMpsP(1)MPs P2()maPPpp2()mappPP20TTT22221 221 221 21111122 (1)2606060MRssm IRm IRm IsssPPsTnnn1

8、2222212212cos , 2 , MwmfPm E IEf N kp 22222221coscos2mTmwpN kTCmII2m22222111 122wdpN kN k k mmmZRjXmpFep01CuFemPppp1U0()mII1E1R1jXmRmjX1(1.20.3)NNUUU0P0I01()Pf U01()If U1U0P01()If U001()Pf U0I1NU001CuFemPPppp201()Pf U01CuFemPppp201()Pf U21U0P0mpFep0mpFep1UmpFepmpFepmmmZRjX0I0P00203mPpRI22000XZR100UZ

9、I0P0I1U01mXXX01mRRRkkkZRjX1s 10.4NUU1UkIkP1U1UkI1R1jXmRmjX2R2jX1kkUZI23kkkPRI22kkkXZRkPkI1U12kRRR12kXXX1UkIkP1()kIf U1()kPf U012222112()()UIRRXXs2212112MRm IPsTfp221122211122()() Rm pUsTRfRXXs1c 221122211122()() Rm pUsTRfRXXs()Ts TnTnssnTTssnT0msNs101nNTmaxTstT101(0)snn10()snn1(0)snTsTssnTmsNs10NTma

10、xTstTABCD0n stTTmaxTTmnn1nn0T NnnNTTTs(,)NNTnNPNn2()()9550()2( / min)60NNNNNNP kWP kWTTNmnnr/0dTds 211max2211112122() m pUTfRRXX ms222112()mRsRXX Tsmax , mTnTsmax , mTn21R212()XX1R211max1124()m pUTf XX 212()mRsXX maxT21Ums1NUmkmaxmNTkT2()jRRmsmaxT2()jRRTsmax , mTnTs , 0stTn (0,1)ns211222112122()() s