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.), F –Jyy(2.64), Fj,–(2.64),j.( J Pj )   (G i j / det( F )  ( J i )) 2 ,JPj [46]:6(2.72)i 1Gij –detFjJi (Fj), (Ji) –fijJi.,  H,( J Pj ) Hij1,1det( F )Eij –μ6i 1ijdet( F )  E i j det( Fj )   2   H i j det( F )  E i j det( Fj )   2 . (2.73)2detFj2φidetFϑφj, ϑθj -ϑi..ΔJj(JPj) Jj  K (( J P j )  ( J P j )).θ(JPj):(2.74)64μ3  I   2  L    D.–(2.75), I, L, D –μI  J xx  J yy  J zz ,L  J xx  J yy  J yy  J zz  J xx  J zz   J xy2  J xz2  J yz2  ,D  det  J (2.76),k(Jxx, Jyy, Jzz),.m–mё ,1,5.,,.0,1%0,01· 2.J0k (k=1k=3J0x, k=2J0y,J0z)( J 0 k ) c6j 12jJPj: 2Jj .cj –(2.77)kj-,,k,.cxx cyy 2k  ( J yy  J zz )   k  J yy  J zz  J y2z3   2k  2  I   k  L. 2k  ( J xx  J zz )   k  J xx  J zz  J x2z.3   k2  2  I   k  L(2.78)(2.79)65czz  2k  ( J yy  J xx )   k  J yy  J xx  J x2y3   k2  2  I   k  Lcxy cxz cyz  k2  2  J xy   k  2  J xy  J zz.(2.80)3   k2  2  I   k  L.(2.81)3   2k  2  I   k  L.(2.82)3   2k  2  I   k  L.(2.83) 2k  2  J xz   k  2  J xz  J yy 2k  2  J yz   k  2  J yz  J xx,.[J]ё[J0]ё, –.α-–,μ[M] J    M    J 0    M .T(2.84)ё,ёk.nk. J     E  nk[E] –kμ 0.(2.85).xn, yn, zn[N], N   adj J    k  E .[J]:(2.86)-k= J0k:nk,xn   J yy  J 0 k    J zz  J 0 k  ,66yn  J yz  J xz  J xy   J zz  J 0 k  ,zn  J xy  J yz  J xz   J yy  J 0 k  .αk ,rn –(2.87)μx  k  arccos  n  , rn nk:(2.88)rn  xn2  yn2  zn2 .(2.89)αkJPjJ0k:( x )  d  ( J 0 k )   d2j  2Jj ,62 20dαj –αkJ0kj=0.dj  xnj, rnj –xnj=1…6(2.90)j 1j-xnj  rn  xn  rnjrn2  sin  kj=1…6,(2.91)rnj-j=0:xn 0  2 J 0 k  J yy  J zz , xn 2  J zz  J 0 k , xn3  J yy  J 0 k , xn1  xn 4  xn5  xn 6  0, (2.92)yn 0   J xy , yn3  J xy , yn 4  J zz  J 0 k , yn5  J xz , yn 6  J yz , yn1  yn 2  0,zn 0   J xz , zn 2  J xz , zn 4  J yz , zn5  J xy , zn 6  J yy  J 0 k , zn1  zn3  0,rnj xnj  xn  ynj  yn  znj  znrn.(2.93)(2.94)(2.95),,J0k.672.2.31,.,,.(«[80].,,(«»),»).Ji ,,,.,,ё,().Ox: (i , i )  min(2.96)a, b, c,(Oxyz) –(2.12)..O(Oxyz)(Ox’y’z’)O.α, , .ϑi –Ox,φi –i-iOyzOy.682.12 ,ё,.O.,.,(3).3.μ1234545454545901φ09018027045690135№Δ ,’Jx0, %ϑ3,491,109051515151βφ9007214421651288ϑ3,581,20063636363γφ007214421663288ϑ4,210,8990909035354φ0120240601800909045905φ0180270045353004590ϑ3,700,93ϑ5,750,9269(1),.ϑ, φ,,β2.13.,βγ,γ–..))))μ 1 ( ), β2.13 -(ϑi, φi)γ ( ), 4 ( ), 5 ( ),.70.ёμ,-Ox,ϑi j, φi j.140⁰ (Oϑi =20⁰);-(Oyz).70⁰.,,.--(1: ϑ1=90⁰; 0⁰≤φ1<360⁰;2: ϑ2=80⁰; 0⁰≤φ2<φ3;3-5: ϑi=80⁰; φi-1<φi<φi+1;6: ϑ6=80⁰; φ5 <φ6<360⁰;2.14 –90⁰2.14):71--(2.15):1: ϑ1=90⁰; 0⁰≤φ1< φ2;2: ϑ2=90⁰; φ1<φ2<360⁰;3: ϑ3=80⁰; 0⁰≤φ3< φ4;4-5: ϑi=80⁰; φi-1<φi<φi+1;6: ϑ6=80⁰; φ5 <φ6<360⁰;2.15 –-1: ϑ1=90⁰; 0⁰≤φ1< φ2;2: ϑ2=90⁰; φ1<φ2< φ3;3: ϑ3=90⁰; φ2<φ3< 360⁰;4: ϑ4=80⁰; 0⁰≤φ4<φ5;5: ϑ5=80⁰; φ4<φ5<φ6;6: ϑ6=80⁰; φ5 <φ6<360⁰;(2.16):722.16 –,φiё.ё,,:,ϑi j, φi j.φi.,,.μ.φi,10⁰.,,,7310.1⁰.a=3 , b=1 , c=1,5m=1000,α=5⁰,=15⁰,=5⁰(4).–0,1%.ϑi , φi – 1’.,,ё.Ox6’.4.ϑ,123456Δα, ’φ,90707070707077070155208274±6,77ϑ,φ,9090707070708818126153206332±5,96ϑ,φ,909090707070218933724180334±6,88742,1.,,1..,2.,.,,.,.3.μ,,.,.4..,,6’.5..7533.11.,....,-.,ё.,.,,,ν,,,.,..,[94].,-76,.,,.,,.,–.,[101].,,.μ,,.,,–.1,,μ55-61 HRC ,..β0,.5.,,,.–77.,,..(10-15),.,.,,,.,[29].,.,.Д43ЖД86Ж0,5%..,–.78,,,.()..μμ,..μ.,,.,,,,..[56]..,,.79.«,»,Д2Ж,Д76, 64Ж,Д91].,,13.1.β4,3,,,5.6,ё7..3.1 –1–4–νβ–μν3–ν5–νν6–ν7–.80..,..sn = β…γβ3.21,8.Д97].ё,:,..,ν.,,,.-..81,,.- kΔxmaxPmax.Д48Ж[49Ж0,4…0,5d..,0,010,0γ%.,,,50…β00 .(3.1)100…500kk  Pmax / x./ .(3.1)().,,.,,ё() [7]...L(n)L ( n)  Fi Fin ,(3.2):Ni  N0(3.2)82Fi –, N –Fi, N0 –,n–.pL(n).,Gj,Fi,pAk, k=1…m:mAk  1 p  G j ,i 1n(3.3)M(A)Ak:M ( A)  1 m  Ak ,m(3.4)i 1( Ak  M ( A))2i 1(A):m( A)  tm(m  1),(3.5)–tp=0,95m.3.3(3.2):–,.––.,...–833.2 -(2.61).MΣ ,,().Д4]. .μ,(M 1),(M 2).M1M2.Mμ-.MνM.84,..μM M   M   M    B1   B2    M  ,B1, B2 –(3.6)νM –..,,MΣ .  U   .(3.7)U.U,Д52].μJ     ( B1  B2U )    M       M  grc  sin    0(3.8),....,,,.--()85,.[25, 26, 47].WД(s):WД( s )  K p  1 / TТ s  Td s,K –(3.9)ν Ki –ν Kd –..[7, 53]:–..–(d ):(dA)dA  6..20;d 30..600.–..ДσЖ=10%.max Amax  Amin [],Aμ σmax –ν Amax, Amin, A,.–(–10-3)....86,,,.,.MatLab Simulink..2 [57].(Kp, Ti, Td).μdAσmax,d ,,tp..,0,1,0,1%,.,,,.,,α.Rh,ρ.87,5015,0∙2γ00,01000∙ 2.–.,Ti.N0=1000.Д24Ж.,N...T1Ni 1T:NTi , (T  T )(3.10)μNS (T ) i 12iN ( N  1),(T )  t S (T ),t(3.11)μ(3.12)–p=0,95.μH=0,5 ν S=0,35 νJ0=350m0=600· 2νC=65000 · ν=1·10-4 νB1=3·10-2 · ·c; B2=1·10-2 · ·c, AH = 1.ν..–88(5).5.-,· 20,015,030,045,060,075,090,0105,0120,0135,0150,0165,0180,0195,0210,0225,0240,0255,0270,0285,0300,0M,,,J,0,050,0100,0150,0200,0250,0300,0350,0400,0450,0500,0550,0600,0650,0700,0750,0800,0850,0900,0950,01000,00,46148190,50780420,55123790,59212770,63098180,66816860,70339730,73859840,77222690,80499830,83702230,86839140,89919390,92949780,95936420,98884781,01799581,04684851,07544331,10381591,1319855--KpTiTd2,82,52,42,32,22,22,12,12,01,91,91,81,81,71,71,71,71,61,61,61,65,65,86,06,26,46,66,87,17,47,67,87,88,08,18,18,28,28,38,38,38,40,60,70,90,91,01,11,21,21,21,31,31,31,31,31,31,31,31,31,31,31,3,.(6).μ AH –ν T –ν ε(T) –.tp,26,026,025,024,024,024,023,022,022,022,021,021,021,021,021,021,020,020,020,020,020,089.6.AH, ˚0,30,40,50,60,70,80,91,01,11,21,31,41,51,61,71,81,92,02,22,5T,tp,(T),-50,50128920,50128840,50128790,50128740,50128710,50128680,50128650,50128630,50128600,50128580,50128570,50128550,50128530,50128520,50128510,50128490,50128480,50128470,50128450,50128443,38 102,68 10-52,06 10-51,91 10-51,76 10-51,45 10-51,27 10-51,25 10-51,12 10-51,11 10-51,03 10-51,01 10-59,88 10-68,57 10-66,86 10-65,68 10-65,28 10-64,92 10-64,63 10-63,79 10-68,09,010,013,014,015,018,020,021,023,024,028,030,035,045,060,070,083,0105,0135,0,.(3.3).-1170 ,,.Hameg HM 81βγ,90.PL86,1μ16.3.3 –,,400,1%(3.4).913.4 –(T,( (T),)(A,))9231.,..2.501000.,-.3.,,.,4...9344.1«»,βγ.;;ν«».–«»μ.νν.4.1.1Д23].,,[22].()..,94,.,,.4.1..1.15,-,HRC55…60.,,,[16].,.βγ.4.1 –:1–ν β, 3 –ν4–5–ν.5..в,95,«».z.,,4..,,«»««»(.».1,4.2)β1βγ5,6.47λ10,11.1β4.1γ.144.2 –15.8,96λ101415,,().,,(),.«»Д22],№ 007/№ 008/RU.0001.310066/2015RU.0001.310066/2015.«»«»(4.3).4.3 –,,,,.μJmgCx 2 T  mC x2 ,24(4.1)97m –, g –ν Cx –νT–.ΔJ(J)θ(J): J  K (( J )  ( J )).(4.2)[46]:( J ) mgCx T  (T );22(T) –(4.3)[24]:μ( J ) 1,1 bm2 2m  bc2c2  bg22g  bT2T2 ,(4.4); θm, θc,bm, bc, bg, bT θg, θT -.gCx 2T  Cx2 ;24mgbc  2 T 2  2mCx ;4mCbg  2x T 2 ;4mgCxbT T.2 2bm (4.5),(θm, θc, θg, θT),(m(T)x),(g).(4.4).β0.0λ.β016 №λββ-0386/16/116, «-β018».98,.4.4 –«»994.1.2μя5.40°,0,5° ,8,6·10410,6·104λ0%(6457λ5..)...яя...,±5”.« М К»:νν;νν.,.,ё...2.,3.100,«,»..:νν.4.24.2.1μμ,,,,.μ,,,,,.я,:.яяμ,..101MicrosШПЭEбМОХ,,,,.EбМОХVТЬЮКХ BКЬТМ ПШr Application,(,).μ().RS-βγβUSB,..,.,USBCOε,.NКЭТШЧКХ IЧЬЭЫЮЦОЧЭЬ δКЛVIEА.δКЛVIEА,,.μ..-..1024.2.2,.-,.3.,,.,,.,μ,,,,,.,,..(RS-232, RS-485, USB),.μν-ν-()νν.-«»,1 .,..41034.34.3.1,«»(4.5, 4.6) [70].4.5 –«»,,,.–0.β0,.104..,.4.6 –«».,.,,,..105«-50«» (№1/13-1»-1000γ0.10.β01γ)«γ0.10.β01γ),» (№1/13-2«[23]«»,.,Д22],№ 006/RU.0001.310066/2015.β4 ,(«- »,4.7).4.7 –.-IP67 (β47).7.β4,8.7β6-2010:0,β5…β5C3RS-23251127νβ50 ν8.7β6-β010μ γ0001γν/ .106«»-1170–-510.«-»,(4.8 –4.8) [69].-1170,,.(.).

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