Реферат: Индикаторный гиростабилизатор телекамеры
+{2·tg(b)2 ·sin(b)2 -2·cos(b)2 +4}·sin(a)·cos(a)·Jxy2 ·wx0 ·wz0 +
+{(Jy2 -Jx2 )/cos(b)-2·Jxy2 ·sin(b)(1+tg(b)2 )}·cos(a)·wx0 ·wy2 +
+Jyz2 ·wz0 ·wz2 ·(sin(a)-cos(a))/cos(b)-
-Jxz2 ·wx0 '·cos(a)/cos(b)+
+{2·Jxy2 ·(sin(b)·tg(b)2 +sin(b))·sin(a)+(Jx2 -Jy2 )·sin(a)/cos(b)}·wy2 ·wz0 +
+Jxz2 ·wz0 '·sin(a)/cos(b)+
+{Jxz2 -Jyz2 }·wy2 ·wz2 ·tg(b)+
+{(Jy2 -Jx2 )·tg(b)+Jxy2 ·(1-tg(b)2 )}·wy2 2 -
-{Jxz2 ·tg(b)+Jyz2 }·wy2 '+
+Jz2 ·wz2 '
(9)
My1ин ={[Jxz2 ·(tg(b)4 +2/cos(b)2 -1)·cos(b)3 +Jyz1 ·tg(b)+Jxz1 ]·cos(a)2 +
+[[(Jx1 -Jz1 )-Jxy1 ·tg(b)]·cos(a)-Jxz1 ·sin(a)]·sin(a)}·wx0 2 +
+{[[Jxy1 ·tg(b)+(Jz1 -Jx1 )]·sin(a)-Jxz1 ·cos(a)]·cos(a)+
+[Jxz2 ·cos(b)3 ·[2/cos(b)2 +tg(b)4 -1]+Jyz1 ·tg(b)+Jxz1 ]·sin(a)2 }·wz0 2 +
+{(Jx1 -Jz1 )·cos(2·a)+[1-tg(b)4 -2/cos(b)2 ]·Jxz2 ·cos(b)3 ·sin(2·a)-
-[Jyz1 ·tg(b)+2·Jxz1 ]·2·sin(a)·cos(a)-
-Jxy1 ·tg(b)·cos(2·a)}·wx0 ·wz0 +
+{[Jxy2 ·sin(b)·cos(b)(tg(b)2 +1)+(Jx2 -Jz2 )]·cos(a)}·wx0 ·wz2 +
+{[Jxz2 ·sin(b)·cos(b)+Jxz2 ·sin(b)3 /cos(b)+Jyz2 ]·cos(a)+
+[Jyz1 ·cos(a)-Jxy1 ·sin(a)]/cos(b)}·wx0 ·wy2 -
-{[Jxz2 ·sin(b)·cos(b)·(1+tg(b)2 )+Jyz2 ]·sin(a)+
+[Jyz1 ·sin(a)+Jxy1 ·cos(a)]/cos(b)}·wz0 ·wy2 +
+{-[tg(b)2 +1]·sin(b)·cos(b)·Jxy2 +(Jz2 -Jx2 )]·sin(a)}·wz0 ·wz2 +
+{[Jx2 ·sin(b)·cos(b)·(1+tg(b)2 )+Jy1 ·tg(b)-(Jxy1 +
+Jxy2 )]·cos(a)-Jyz1 ·sin(a)}·wx0 '+
+{[-Jx2 ·sin(b)·cos(b)·(1+tg(b)2 )+(Jxy1 +Jxy2 )-
-Jy1 ·tg(b)]·sin(a)-Jyz1 ·cos(a)}·wz0 '+
+{Jyz2 ·sin(b)-Jxz2 ·cos(b)]·wz2 2 -