d. gorgiZe, g.

baRaTuria

analizuri meqanika

`teqnikuri universiteti”@
saqarTvelos teqnikuri universiteti

d. gorgiZe, g. baRaTuria

analizuri meqanika

damtkicebulia stu-s
saredaqcio-sagamomcemlo
sabWos mier

Tbilisi
2009
uak 531.011

wigni warmoadgens analizuri meqanikis saxel-

mZRvanelos umaRlesi teqnikur saswavleblebis sain-
Jinro specialobebis studentebisaTvis. igi Seicavs
analizuri meqanikis ZiriTad sakiTxebs. Teoriuli
masalis garda, masSi mocemulia magaliTebi, amoca-
nebi da maTi amoxsnebi, romelTa aTviseba aucilebe-
lia kursis Sesaswavlad.

recenzenti sruli profesori zurab gasitaSvili

© sagamomcemlo saxli ,,teqnikuri universiteti’’, 2009

ISBN 978-9941-14-251-2
http://www.gtu.ge/publishinghouse/

yvela ufleba daculia. am wignis arc erTi nawili (iqneba es teqsti, foto,
ilustracia Tu sxva) aranairi formiT da saSualebiT (iqneba es eleqtronuli Tu
meqanikuri), ar SeiZleba gamoyenebul iqnas gamomcemlis werilobiTi nebarTvis
gareSe.
saavtoro uflebebis darRveva isjeba kanoniT.
 Sesavali avtorebis winaSe am wignis Seqmnamde idga
metad rTuli amocana. auarebeli sakiTxebidan unda
winamdebare saxelmZTvanelo gankuTvnilia SerCeuliyo mxolod iseTi sakiTxebi, romlebic mar-
pirvel rigSi saqarTvelos teqnikuri universitetis Tlac iqneboda aucilebeli da arsebiTi. Aamas garda,
sainJinro specialobis studentebisaTvis. Aamgvari TviT gadmocemis wesic mravalnairia.
saxelmZRvanelos Seqmnis aucilo-bloba ganapiroba
wignSi moyvanili saiulistracio amocanebic da
analizuri meqanikis meTodebis farTo gamoyenebam
magaliTebic isea SerCeuli, rom maTi amoxsna moiT-
mecnierebisa da teqnikis sxvadasxva sferoSi.Q
xovs mxolod teqstSi naTqvamis uSualo gamoyene-
ase magaliTad, ganuzomlad didia analizuri bas. maTi daniSnulebaa-damtkicebuli debulebebis da
meqanikis mniSvneloba Tanamedrove teqnikis mraval formulebis Sinaarsis konkre-tuli gaSuqeba.
dargSi, rogoricaa samSeneblo meqanika, meqanizmebis
Teoria, moZraobaTa marTvis Teoria, kosmosuri meqa-
nika, avtomaturi sistemebis marTva, dabolos anali-
zuri meqanikis aparati farTod gamoiyeneba Tanamed-
rove Teoriul fizikaSi - fardobiTobis TeoraSi da
qvantur meqanikaSi, elqtrodinamikaSi.

Aanalizuri meqanika iZleva zogad meTodebs, ro-

melTa daxmarebiTac SesaZlebelia Sedgena diferen-
cialuri gantolebebi sxvadasxva sistemebisaTvis da
am meTodebis daxmarebiT srulad amovxsnaT amoca-
nebi am sistemebis moZraobaze an wonasworobaze. aqve
aRvniSnavT, rom meqanikis yvelaze rTuli da zogadi
amocanebi gamoikvleva da amoixsneba analizuri meqa-
nikis meTodebiT.

3 4
 Tavi I. analizuri meqanikis ZiriTadi cnebebi CavwerT gegmilebSi, miviRebT sistemis moZraobis
diferencialur gantolebebs:
§1. nivTier wertilTa moZraobis diferencialuri
gantolebebi mi x i= xi(g) + xi(S)

nivTier wertilTa erTobliobas ewodeba sis- mi y i=yi(g)i(S) (1.2)

tema, Tu masSi Semavali yvela wertili urTier- mi z i= zi(g) + zi(S) (i=1,2,...,n)

Tdamokidebulia, e.i. yoveli wertilis mdebareobis sadac x i, y i, z i wertilis koordinatebis meore rigis
Secvla aisaxeba yvela danarCen wertilze. sistemis warmoebulebia droiT da warmoadgenen aCqarebis
wertilTa Soris arsebobs urTierTqmedebis Zalebi. veqtoris gegmilebs sakoordinato RerZebze.
vTqvaT, nivTier wertilTa sistema Sedgeba n Tu sistema Sedgeba n wertilisagan, misi
wertilisagan. dekartes sakoordinato sistemaSi ne- moZraoba aRiwereba 3n raodenobis meore rigis
bismieri i-uri wertilis koordinatebi iqneba diferencialur gantolebaTa sistemiT.
Mi(xi,yi,zi). sistemaze moqmedi Zalebi iyofa gare da
Sida Zalebad. sistemis wertilebze moqmed Zalebs §2. Tavisufali da araTavisufali sistemebi. bmebi
ewodeba gare Zalebi, Tu isini gamowveulia mocemul da maTi klasifikacia
sistemaze sxva sistemis moqmedebiT. sistemis wer-
tilTa urTierTqmedebis Zalebs ewodeba Sida Zale- pirobebs, romelic zRudavs sistemis gadaadgi-

bi. aRiniSneba gare Zalebi F (g) da Sida Zalebi F (S). lebebsa da siCqareebs, bmebi ewodeba. bma SeiZleba

wertilTa sistemis moZraobis gantolebebi gamosaxos ZaliT, romelsac reaqciis Zala ewodeba.

veqtoruli formiT iqneba sistemaze moqmedi Zalebi SeiZleba davyoT aqtiur

da reaqciis Zalebad. maSin sistemis moZraobis
mi w i= F (g)+ F (S). (i=1,2,...,n) (1.1)
gantolebebi ase Caiwereba:
sadac mi aris Mi wertilis masa, xolo wi _
mi w i= F i R i (i=1,2,...,n) (2.1)
aCqareba. Tu F Zalis gegmilebs sakoordinato

RerZebze aRvniSnavT F (x,y,z) da (1.1) gantolebebs

5 6
sadac F i sistemis Mi wertilze moqmedi aqtiuri Tu bmis gantoleba ar Seicavs koordinatebis
warmoebulebs droiT, anu siCqareebs, maSin mas
Zalebis tolqmedia, xolo R i _ reaqciis Zalebis.
ewodeba geometriuli, anu holonomuri.
(2.1.) gantolebebi gegmilebSi ase Caiwereba:
f (xi,yi,zi;t)=0 (2.6)
mi x i = Xi+ Rxi
Tu kinematikuri bmis gantoleba (2.5) integrebiT ar
mi y i=Yi+Ryi (2.2)
daiyvaneba (2.6) gantolebaze, romelic ar Seicavs
mi z i = Zi +R zi (i=1,2,...,n)
koordinatebis warmoebulebs, maSin aseT bmebs ewo-
Tu nivTier wertilTa sistema emorCileba erT bmas,
deba araholonomuri, anu araintegrebadi. davuSvaT,
maSin analizurad es SeiZleba ase Caiweros:
bmis gantolebas aqvs saxe:
f (x1,y1,z1,...,xn,yn,zn, x 1, y 1, z 1,..., x n, y n, z n,t)≤0 (2.3) n

aq x i, y i, z i-iT aRiniSneba koordinatebis droiT ∑i =1

xi x i+ yi y i + zi z i )=0

warmoebulebi, anu siCqaris gegmilebi sakoordinato integrebiT miviRebT

RerZebze. n

Tu bma gamoisaxeba tolobiT, maSin mas ewodeba ∑

i =1
(xi² +yi²+zi²)=C

damWeri, anu ormxrivi. Tu bma utolobiTaa gamosaxu-

sadac c nebismieri mudmivia. e.i. bma geometriulia.
li, mas ewodeba calmxrivi anu aradamWeri. Semdgom-
Tu nivTier wertilTa sistema emorCileba
Si ganvixilavT mxolod ormxriv bmebs.
holonomur bmebs, maSin mas ewodeba holonomuri.
Tu bmis gantolebaSi dro cxadad ar monawi-
sistemas ewodeba araholonomuri, Tu is emorCileba
leobs, maSin aseT bmas ewodeba stacionaruli.
araholonomur bmebs.
f (xi,yi,zi)=0 (i=1,2,...,n) (2.4) magaliTebi:
bmas, romlis gantolebaSic t dro cxadad monawile- M1 wertili moZraobs vertikalur sibrtyeSi R-
obs, ewodeba arastacionaruli, anu reonormuli. radiusian wrewirze. am wertilze xisti ReroTi
f (xi,yi,zi; x i, y i, z i;t)=0 (2.5) mimagrebulia M2 wertili. aRvniSnoT M1 wertilis
aseT bmas ewodeba agreTve kinematikuri.

7 8
koordinatebi x1,y1,z1-iT, xolo M2-s x2,y2,z2-iT. maSin naxazze naCvenebi mrudmxara-barbaca meqanizmis M1 da
bmis gantolebebi iqneba M2, wertilebisaTvis bmebis gantoleba iqneba
z1=0, z2=0, y2=0
x1² + y1² + z1² - R²=0
(x2 - x1)² + (y2 - y1)² + (z2 - z1)² - ²=0

z1=0
x1² + y1² + z1² - R²=0
(x2 - x1)² + (y2 - y1)² + (z2 - z1)² - ²=0
Rero brunavs vertikaluri z RerZis irgvliv mudmi-
vi w kuTxuri siCqariT. Reros gaswvriv Tavisuflad
gadaadgildeba erTmaneTTan zambariT dakavSirebuli
ori nivTieri wertili M1 da M2. am SemTxvevaSi bme-
bi iqneba reonomuli, anu arastacionaruli, vinaidan
bmebis gantolebaSi monawileobs t dro.
z1=0, z2=0,
x1 sinwt- y1coswt=0
x2sinwt- y2coswt=0.

9 10
 §3. sistemis Tavisuflebis xarisxi. ganzogadebuli vneloba. es ricxvi tolia sistemis Tavisuflebis
koordinatebi xarisxisa.
ganzogadebuli koordinatebi ewodeba nebis-
damoukidebeli parametrebis raodenobas, rome- mieri ganzomilebis damoukidebel parametrebs, ro-
lic gansazRvravs sistemis mdebareobas drois yo- melTa ricxvi tolia sistemis Tavisuflebis xaris-
vel momentrSi, ewodeba sistemis Tavisuflebis xisa. ganzogadebuli koordinatebi avRniSnoT q-Ti.
xarisxi. magaliTad, Tu wertili moZraobs sivrceSi, Sistemis mdebareoba ganisazRvreba ganzogadoebuli
misi mdebareoba drois yovel momentSi SeiZleba koordinatebiT
ganisazRvros am wertilis x,y,z koordinatebiT. Ami- q1, q2,…,qs
tom Tavisufebis xarisxi am SemTxvevaSi iqneba samis sistemis moZraobisas ganzogadebuli koordinatebi
toli. Tu myari sxeuli brunavs uZravi RerZis gar- icvleba drois mixedviT. moZraobis kanoni ganisaz-
Semo, maSin mis mdebareobas gansazRvravs mobrunebis Rvreba gantolebebiT
kuTxe da Tavisuflebis xarisxi iqneba erTis toli. q1 = f 1(t), q2 = f 2(t), …, qs= f s(t),
Tu myari sxeuli brunavs uZravi centris garSemo, es gantolebebi warmoadgens sistemis moZraobis
maSin misi mdebareobis gansazRvrisaTvis umetes Sem- kinematikur gantolebebs ganzogadebul koordi-
TxvevaSi ganixiaven eileris kuTxeebs, romelTa natebSi.
ricxvic samis tolia. amitom am SemTxvevaSi Tavi- ganzogadebuli kordinatebis droiT warmoebulebs
suflebis xarisxi samis tolia. Tu sistema emorCi- ewodeba ganzogadebuli siCqareebi da aRiniSneba ase:
leba bmebs, maSin yoveli bma erTiT amcirebs Tavi- q 1, q 2, … q s,
suflebis xarisxs. ganzogadebuli siCqaris ganzomileba damokidebulia
vTqvaT, n nivTier wertilTa sistema emorCileba ganzogadebuli koordinatis ganzomilebaze. Tu q
k geometriul bmas, maSin cxadia, sistemis 3n koor-
wrfivi sididea, maSin q wrfivi siCqarea. Tu q
dinatidan damoukidebeli iqneba S=3n-k koordinati.
warmoadgens kuTxes, maSin q kuTxuri siCqarea. Tu q
am koordinatebs SeuZliaT miiRon nebismieri mniS-
aris farTobi, maSin q farTobuli siCqarea da a.S.

11 12
 §4. koordinatebis variacia imave argumentebisaTvis ewodeba funqciis izoqro-
nuli, anu sinqronuli variacia da aRiniSneba δ q –Ti
vTqvaT, meqanikur sistemas aqvs erTi Tavisuf- δ q =.q1(t)-q(t)=εφ(t) (4.1)
lebis xarisxi da sistemis mdebareoba ganisazRvreba
koordinatebiT Tu funqciis mniSvnelobis cvlileba damokidebu-

q = f (t ) lia, rogorc argumentis cvlilebaze, aseve TviT

funqciis cvlilebazec, maSin aseT variacias srul
am tolobis diferencirebiT miviRebT
anda asinqronul variacias uwodeben. aRvniSnoT
dq = f ' (t )dt
sruli variacia Δ q-Ti.
ganzogadebuli koordinatis diferenciali dq
Δ q= q1 (t+ Δ t)-q(t)=[ q1 (t+ Δ t) - q (t+ Δ t)] +[q (t+ Δ t) - q(t)]
Seesabameba am koordinatis cvlilebas, romelic
vinaidan
gamowveulia t drois cvlilebiT, e.i. Seesabameba
q1 (t+ Δ t) - q (t+ Δ t)= δ q
sistemis namdvil gadaadgilebas.
q (t+ Δ t) - q(t)=q Δ t
mivaniWoT q = f (t ) funqcias t argumentis fiqsi-
sruli variaciisaTvis miviRebT
rebuli mniSvnelobisTvis nebismieri nazrdi,
Δ q= δ q + q Δ t
romelic aRvniSnoT δ q -Ti:
funqciis cvlileba Δ q Sedgeba ori nawilisagan: 1)
δ q =εφ(t)
sinqronuli variacia δq da 2) qΔt _ funqciis
sadac ε nebismieri mcire ricxvia, xolo φ(t) _
nebismieri warmoebadi funqcia. MmiviRebT funqciaTa cvlileba t argumentis Δ t-Ti cvlilebisas.

ojaxs izoqronuli variacia da gawarmoeba aris

komutaturi (gadasmadi), e.i. adgili aqvs Semdeg
q1 = f (t ) + εφ(t)G
tolobas
d dq
grafikulad q1 warmoadgens q wiridan usasrulod (δq) = δ
dt dt
mcired daSorebul wirs. q1(t)-q(t) sxvaobas erTi da

13 14
 d dΔt
Δq = δq + qΔt + q
dt dt
(4.1.)-is Tanaxmad q funqciis variacia iqneba

Δ q= δq+ q Δt
amitom
dΔq dΔt
= Δq + q
dt dt
dΔq dq
aqedan gamomdinareobs, rom sazogadod ≠Δ
anu diferencirebis da varirebis operaciebis dt dt
tolobas SeiZleba hqondes adgili, rodesac
Tanmimdevroba SeiZleba Seicvalos wesiT dδ = δd .
d Δt
marTlac, Tu gavawarmoebT (4.1), miviRebT = 0 , e.i. variacia sinqronulia.
dt
d
(δq) = q (t ) − q (t )
dt
§5. namdvili, SesaZlo da virtualuri
izoqronuli variaciis (4.1.) gansazRvridan gamomdi-
gadaadgilebebi. virtualuri muSaoba. idealuri
nareobs
bmebi
⎛ dq ⎞
⎜ ⎟δ = q (t ) − q(t )
⎝ dt ⎠
vTqvaT, nivTieri wertili emorCileba bmas,
am ori tolobis SedarebiT vRebulobT
romlis gantolebac ase Caiwereba:
d ⎛ dq ⎞
(δq) = δ ⎜ ⎟ f ( x, y , z , t ) =0 (5.1)
dt ⎝ dt ⎠
vTqvaT, wertilze moqmdi ZalebiT gamowveuli
vaCvenoT, rom sruli variacia ar aris komutaturi
moZraobis gantolebebia
d ⎛ dq ⎞
(δq) ≠ Δ⎜ ⎟ x=x(t), y=y(t), z=z(t) (5.2)
dt ⎝ dt ⎠
(5.2)-is (5.1.)-Si CasmiT miviRebT igiveobas
(4.2.)-is gawarmoebiT miviRebT

15 16
 f [ x(t ), y (t ), z (t ); t ] = 0 sistemis wertilTa SesaZlo gadaadgileba ewodeba

Tu am igiveobas gavawarmoebT droiT, miviRebT veqtors

∂f ∂f ∂f ∂f D dr =dxi i +dyi j +dzi k (i=1,2,...,n) (5.6)

x+ y+ z+ =0 (5.3)
∂x ∂y ∂z ∂t vTqvaT, nivTier wertilTa sistema emorCileba bmebs
aRvniSnoT wertilis siCqare v -Ti. nivTieri werti- f α(x1,y1,z1,…xn,yn,zn;t)=0, (α=1,2,...,k) (5.7)
lis namdvili gadaadgileba ewodeba veqtors cxadia, dr (dxi+dyi+dzi) veqtoris komponentebi akmayo-
dr = v dt (5.4) fileben gantolebaTa sistemas
am veqtoris koordinatebi dx= x dt, dy= y dt, dz= z dt n
⎛ ∂fα ∂fα ∂fα ⎞ ∂fα
akmayofilebs gantolebas ∑ ⎜⎜ ∂x dxi +
∂yi
dyi + dzi ⎟ +
∂zi ⎟⎠ ∂t
dt = 0 (5.8)
i =1 ⎝ i

∂f ∂f ∂f ∂f ( α = 1,2,..., k )
dx + dy + dz + dt = 0 (5.5)
∂x ∂y ∂z ∂t
ganvixiloT drois igive momentisaTvis da sistemis
romelic miiReba (5.3)-dan dt-ze gamravlebiT.
imave mdebareobisaTvis sxva SesaZlo gadaadgileba
magram (5.5) gantoleba SeiZleba daakmayofilos
dr i=d’xi i +d’yi j +d’zi k (5.9)
dx,dy,dz sidideebis sxva erTobliobamac nebismieri
dr i gadaadgilebis komponentebi daakmayofileben
d z =dx i +dy j +dz k veqtors, romlis komponentebic
gantolebebs
akmayofileben (5.5) gantolebas, ewodeba SesaZlo
n
⎛ ∂fα ∂fα ∂fα ⎞ ∂fα
gadaadgilebis veqtori. SesaZlo gadaadgileba ewo- ∑ ⎜⎜ ∂x d ′xi +
∂yi
d ′yi +
∂zi
d ′zi ⎟⎟ + dt = 0 (5.10)
i =1 ⎝ i ⎠ ∂t
deba drois usasrulod mcire dt SualedSi Sesru-
lebul dr gadaadgilebas, romelic Tavsebadia
maSin dr i= d ′ r i-d r i=( d ′ xi-dx1, d ′ yi-dy 1 , d ′ zi-dz 1 )
bmasTan. namdvili gadaadgileba warmoadgens erTerT
daakmayofilebs gantolebas, romelic miiReba (5.10)-
SesaZlo gadaadgilebas, romelic ganxorcielebu-
dan (5.8)-s gamoklebiT
lia mocemuli ZalebiT da mocemuli sawyisi piro-
n
⎛ ∂fα ∂fα ∂fα ⎞
bebiT. ∑ ⎜⎜ ∂x δx + ∂y δy + ∂z δz ⎟⎟ = 0
i i i (5.11)
i =1 ⎝ i i i ⎠

17 18
 ( α = 1,2,..., k ) damoukidebeli. Tu sistema emorCileba k bmas, maSin

sxvaobas δz i = d ′r i − dr i ewodeba virtualuri gada- damoukidebel variaciaTa raodenoba iqneba S=3n-k.

adgilebis veqtori. virtualuri gadaadgilebis vTqvaT, sistemis wertilebze moqmedi Zalebia

δxi,δyi,δzi komponentebi akmayofilebs (5.11) sistemas. es F 1, F 2,... F n, xolo am wertilebis virtualuri

∂fα gadaadgilebebia δ r 1, δ r 2,... ,δ r n…virtualuri muSaoba
sistema ar Seicavs dt Sesakrebebs. δ r warmoad-
∂t ewodeba am Zalebis mier Sesrulebul muSaobas
gens usasrulod mcire veqtors, romelic bmis daur- virtualur gadaadgilebebze
Rvevlad gadaiyvans wertils erTi mdebareobidan n

usasrulod mcired daSorebul meore mdebareobaSi δA= ∑

i =1
F iδ r i (5.13)

drois imave momentisaTvis. δ r veqtors ewodeba r n

veqtoris variacia, xolo δxi,δyi,δzi gegmilebs _

anu δA= ∑
i =1
(xiδxi+yiδyi+ziδzi) (5.14)

koordinatebis variacia. (5.8) gantolebis Tanaxmad,

sadac (xi, yi, zi) F i Zalis gegmilebia.
stacionaruli bmebis SemTxvevaSi namdvili gadaad-
idealuri bmebi ewodeba iseT ormxriv, anu damWer
gilebis komponentebi daakmayofileben gantolebas
bmebs, rodesac reaqciis Zalebis mier Sesrulebul
n
⎛ ∂fα ∂fα ∂fα ⎞
∑ ⎜⎜
i =1 ⎝ ∂xi
dxi +
∂yi
dyi + dzi ⎟ = 0
∂zi ⎟⎠
(5.12) muSaobaTa jami nebismier virtualur
gadaadgilebaze nulis tolia.
( α = 1,2,..., k ) n

Tu SevadarebT (5.11) da (5.12) sistemebs, davaskvniT, ∑

i =1
R iδ r i=0 (5.15)

rom stacionaruli bmebis SemTxvevaSi SesaZlo

R i aris sistemis Mi wertilze modebuli reaqciis
gadaadgileba emTxveva erTerT virtualur gadaad-
Zala.
gilebas.
(2.15) piroba CavweroT gegmilebSi:
n wertilisagan Sedgenili sistema Seicavs
n

koordinatTa 3n variacias. es variaciebi ar aris ∑

i =1
(Rxiδxi+Ryiδyi+Rziδzi)=0 (5.16)

19 20
koordinatTa variaciebi akmayofilebs (5.11) k
∂fα k
∂fα k
∂fα
Rxi = ∑ λα , Ryi = ∑ λα , Rzi = ∑ λα , (5.19)
gantolebebs. Tu am sistemis TiToeul gantolebas α =1 ∂xi α =1 ∂yi α =1 ∂zi
gavamravlebT lagranJis ganusazRvrel mamravlebze
λ1, λ2,... λk, miviRebT §6. ganzogadebuli Zalebi
n
⎛ ∂fα ∂fα ∂fα ⎞
∑ λα ⎜⎜ ∂x δx + ∂y δy + ∂z δz ⎟⎟ = 0
i i i
i =1 ⎝ i i i ⎠ vinaidan ganzogadebuli koordinatebi damouki-

(α=1,2,...,k) debeli cvladebia, maTi geometriuli nazrdebi, anu

miRebuli gamosaxulebebi SevkriboT variaciebic iqneba damoukidebeli.

n ⎡ k ∂fα k
∂fα k
∂fα ⎤
gamovTvaloT sistemaze moqmedi aqtiuri Fi
∑ ⎢δxi ∑ λα + δyi ∑ λα + δzi ∑ λα ⎥=0
⎢ α =1 ∂xi ∂yi ∂zi ⎦⎥ Zalebis mier Sesrulebuli muSaoba virtualur
i =1 ⎣ α =1 α =1

(5.17) gadaadgilebebze
n
gamovakloT (2.16)-s (2.17), miviRebT
δA= ∑ F iδ r i (6.1)
⎡ ⎛⎜ k
∂fα ⎞⎟ ⎛ k
∂fα ⎞⎟⎟ ⎤ i =1

⎢δxi ⎜⎜ Rxi − ∑ λα + δyi ⎜ Ryi − ∑ λα

⎜
⎜ ⎟ ⎜
⎥ δr
n
⎢ ⎝ ∂xi ⎟⎟⎠ ⎜ ∂yi ⎟⎟⎠ ⎥ gamovsaxoT radius-veqtoris i variacia
∑
α =1 ⎝ α =1
= 0 (5.18)
⎢ ⎛ k
∂fα ⎞⎟ ⎥ ganzogadebuli koordinatebis variaciebiT
⎢+ δzi ⎜⎜ Rzi − ∑ λα
i =1 ⎜
⎟ ⎥
⎣⎢ ⎜ ∂zi ⎟⎟⎠ ⎦⎥ s
∂r i
δr i = ∑
⎝ α =1
δqj , sadac (i=1,2,...,n)
j =1 ∂qj

sistema emorCileba k bmas. damoukidebel variaciaTa (6.2.)-is gaTvaliswinebiT (6.1.)-dan miviRebT

raodenoba S=3n-k lagranJis mamravlebi λ1, λ2,... λk ise n s

∂r i s
⎛ n ∂r i ⎞
δA = ∑ Fi ∑ δqj = ∑ ⎜⎜ ∑ Fi ⎟δqj (6.3)
SevarCioT, rom k variaciebTan mdgomi koeficientebi i =1 j =1 ∂qj j =1 ⎝ i =1 ∂qj ⎟⎠
iyos nulis toli. darCenili S=3n-k varicia damo- n
∂r i
ukidebelia, amitom maTi koeficientebic unda iyos
SemovitanoT aRniSvna Qj = ∑F
i =1
i
dqj
, (j=1,2,...s) (6.4)

nulis toli. miviRebT

21 22
qj ganzogadebuli koordinatis δq variaciasTan Tavi II. meqanikis principebi. dinamikis zogadi
mdgom Qj mamravls ewodeba ganzogadebuli Zala. (3.3.) gantoleba.
toloba ase gadaiwereba
s §7. virtualur gadaadgilebaTa principi
δA= ∑
i =1
Q jδ qj =Q1δq1 + Q2δq2+Qsδqs (6.5)

(6.4)-dan ganzogadebuli Zala gegmilebSi ase sistemis moZaobis gantolebas veqtoruli

Caiwereba formiT aqvs saxe

n
⎛ ∂xi ∂yi ∂zi ⎞ mi w i= F i + R (i=1,2,...n) (7.1)
Qj = ∑ ⎜⎜ xi
i
+ yi + zi ⎟ (6.4’)
i =1 ⎝ ∂qj ∂qj ∂qj ⎟⎠ sadac F i sistemis wertilebze moqmedi aqtiuri
Zalebia, R i _ reaqciis Zalebi. sistemis wonasworo-
ganzogadebuli Zala Qj sazogadod ar warmoadgens
bisas, cxadia, w i=0, e.i. F i+ R i=0 (a). virtualur
Zalas Cveulebrivi gagebiT. Mmisi ganzomileba damo-
gadaadgilebaTa principi ase Camoyalibdeba:
kidebulia ganzogadebuli koordinatis ganzomile-
imisaTvis, rom sistema idealuri damWeri bmebiT
baze. ganzogadebuli Zalis ganzomileba muSaobis
iyos wonasworobaSi, aucilebeli da sakmarisia aqti-
ganzomilebisa da ganzogadebuli koordinatis gan-
uri Zalebis mier Sesrulebuli virtualur muSa-
zomilebis ganayofia
obaTa jami iyos nulis toli.
[ A]
[Q j ] = aucilebloba. vTqvaT, sistema wonasworobaSia. maSin
[q]
sruldeba (a) piroba. gavamravloT es toloba vir-
Tu ganzogadebuli koordinati wrfivi sididea, ma-
tualuri gadaadgilebis δ r i veqtorze skalarulad
Sin Q warmoadgens Zalas Cveulebrivi gagebiT. Tu
ganzogadebuli koordinati warmoadgens kuTxes, ( F i + R i) δ r i=0 (i=1,2,...n)

maSin ganzogadebuli Zalis ganzomileba emTxveva miRebuli gantolebebi SevkriboT

n
momentis ganzomilebas. Tu q moculobaa, maSin Q-s
∑
i =1
( F i + R i) δ r i=0
ganzomileba emTxveva wnevis ganzomilebas.

23 24
 n n xolo A bolo eyrdnoba gluv iataks. rogori Q
anu ∑
i =1
F i δr i + ∑i =1
R i δ r i=0
Zala unda movdoT A boloze horizontalurad
n imisaTvis, rom sistema iyos wonasworobaSi.
vinaidan bmebi idealuria ∑i =1
R I δ r i=0, vRebulobT
Zalebis modebis wertilebis koordinatebia
n ye= sin β + sin α
∑
i =1
F i δ r i =0
yD= sin β
sakmarisoba. vTqvaT, Sesrulebulia pirobebi xA= cos β + cos α
n n

∑
i =1
F i δ r i =0, ∑
i =1
R i δ r i=0

am tolobebis SekrebiT miviRebT

n

∑
i =1
( F i + R i) δ r i=0

vTqvaT, sistema ar aris wonasworobaSi. vinaidan

n
bmebi idealuria, ∑ i =1
R i δr i. aqtiuri Zalebis mier

Sesrulebuli muSaoba tolia kinetikuri energiis,

romelic yovelTvis dadebiTia, amitom koordinatebis variaciebi iqneba
n
l
∑i =1
F i δ r i >0 δ yE = lco s βδβ + cosαδα ,
2
l
rac ewinaaRmdegeba mocemul pirobas. e.i. sistema δ yD = cos βδβ ,
2
wonasworobaSia.
δ yE = −l sin βδβ − l sin αδα
magaliTi. ori toli Rero erTmaneTTan Seer-
SevadginoT gantoleba
Tebulia saxsrulad. TiToeulis sigrZe aris l da
wona P. C bolo mimagrebulia kedelTan saxsrulad,

25 26
 Q1δ q1 + Q2δ q2 + ⋅ ⋅ ⋅ + Qn δ qn = 0 .
− Pδ yE − Pδ yD − Qδ х A = 0, vinaidan ganzogadebuli koordinatebi damoukidebe-
⎛3 1 ⎞
P ⎜ cos βδβ + cos αδα ⎟ − Q ( sin βδβ + sin αδα ) = 0 li sidideebia, maTi variaciebic iqneba damoukide-
⎝2 2 ⎠ beli. ganvixiloT gadaadgileba, sadac
mocemuli sistemis Tavisuflebis xarisxi erTis
δ q1 = δ q2 = ⋅ ⋅ ⋅ = δ q j −1 = δ q j +1 = ⋅ ⋅ ⋅ = δ qs = 0; δ qs ≠ 0
tolia. vipovoT damokidebuleba
maSin gveqneba Q jδ q j = 0
δα da δβ variaciebs Soris.
vinaidan δ q j ≠ 0 , vRebulobT Q j = 0

OC = l sin α + l sin β , analogiur gantolebebs miviRebT nebismieri

0 = δ OC = l cos αδα + l cos βδβ , j=1,2,…,s-sTvis. Aamrigad,
cos α Q1 = 0, Q2 = 0,..., Qs = 0
δβ = − δα ,
cos β
idealuri, holonomiuri, stacionaruli bmebis Sem-
⎛ 3 1 ⎞ ⎛ cos α ⎞
P ⎜ − cos αδα + cos αδα ⎟ − Q ⎜ − sin β δα + sin αδα ⎟ = 0, TxvevaSi sistemis wonasworobisaTvis aucilebeli
⎝ 2 2 ⎠ ⎝ cos β ⎠
da sakmarisia yvela ganzogadebuli Zala iyos nu-
P
Q= .
tg β − tgα lis toli.

§9. dalamberis principi

§8. wonasworobis pirobebi ganzogadebul
koordinatebSi dinamikis zogadi gantoleba sistemis nebismi-
eri wertilisaTvis ase Caiwereba
sistemis wonasworobisaTvis aucilebeli da
mi wi = Fi + Ri , , (i = 1, 2,..., n) (9.1)
sakmarisia aqtiuri Zalebis virtualuri muSaoba
es gantoleba aseTi formiT SeiZleba Caiweros
iyos nulis toli δ A=0,
Fi + Ri + Фi = 0 , (i = 1, 2,..., n) (9.2)
anu

27 28
sadac фi = − mi wi warmoadgens inerciis Zalas. (9.2) pirveli jami warmoadgens aqtiuri Zalebis nakreb
moments centris mimarT, meore _ reaqciis Zalebis
gantolebebis SekrebiT miviRebT
n n n
nakreb moments da mesame inerciis Zalebis nakreb
∑ F +∑ R +∑ ф
i=
i
i=
i
i =1
=0 (9.3) moments.

n M oF + M oR + M oФ = 0 (9.6)
sadac F = ∑ Fi aris aqtiuri Zalebis nakrebi
i =1
drois yovel momentSi moZrav sistemaze moqmedi
n aqtiuri, reaqciis da inerciis Zalebis nakrebi
veqtori, R = ∑ Ri _ reaqciis Zalebis nakrebi
momentebis jami nulis tolia.
i =1

n magaliTi. R radiusian erTgvarovan Skivze moqmedebs

veqtori da Ф = ∑ Фi _ inerciis Zalebis nakrebi mabrunebeli momenti MM. tvirTebis masebia m1 da m2,
i =1

veqtori. (9.3)-dan vRebulobT Skivis masa m3. ganvsazRvroT Skivis kuTxuri

aCqareba. tvirTebis aCqarebebi tolia.
F + R +Ф = 0 (9.4)
amocana amovxsnaT dalamberis principis gamoyenebiT.
drois yovel momentSi sistemaze moqmedi aqtiuri
tvirTebze movdoT aCqarebis sawinaaRmdegod
Zalebis, reaqciis Zalebisa da inerciis Zalebis
mimarTuli inerciis Zalebi Ф1 = m1 w da Ф2 = m2 w ,
nakrebi veqtorebis jami nulis tolia.
avirCioT nebismierad 0 polusi da SevaerToT es ,Skivze ki inerciis Zalebis momenti m = I 0 ε , sadac

wertili sistemis yovel Mi wertlTan ri radius- m3 R 2

I0 = aris Skivis inerciis momenti, xolo ε
veqtoriT, gavamravloT (9.2) gantoleba marcxnidan 2
Skivis kuTxuri aCqarebaa. gavutoloT nuls aqtiuri
veqtorulad ri radius-veqtorze da SevkriboT
da inerciis Zalebis momentebis jami.
miRebuli tolobebi.
n n n

∑r × F + ∑r × R + ∑ r ×Ф
i =1
i i
i =1
i i
i =1
i i =0 (9.5)

29 30
 §10. dinamikis zogadi gantoleba

vTqvaT, n nivTier wertilTa sistema emorCileba

idealur, holonomiur bmebs. sistemis nebismieri
wertilis moZraobis gantoleba

mwi = Fi + Ri ( i = 1, 2,..., n )
CavweroT aseTi formiT

Fi − mwi + Ri = 0 , ( i = 1, 2,..., n ) . (10.1)

mivaniWoT sistemis wertilebs δ ri virtualuri

gadaadgilebebi. gavamravloT (10.1) gantolebebi δ ri

gadaadgilebaze skalarulad da miRebuli

gantolebebi SevkriboT.
n n

∑ ( F − m w )δ r + ∑ R δ r
i i i i i =0
m1 gR + M − Ф1 R − M i − m2 gR − Ф2 R = 0 i =1 i =1

m3 R 2 n
M − (m2 − m1 ) gR − (m1 + m2 ) wR −
2
ε =0 vinaidan bmebi idealuria ∑Rδr
i =1
i i = 0 , miviRebT

w = Rε n

M − (m2 − m1 ) gR = (m1 + m2 ) R 2 ε −
2
m3 R
ε
∑ ( F − mw ) δ r
i =1
i i i =0 (10.2)
2
(10.2) gantolebas ewodeba dinamikis zogadi
M − (m2 − m1 ) gR
ε= 2 .
R ( m1 + m2 + 0,5m3 ) gantoleba.
nivTier wertilTa sistemis moZraobisas idealuri,
damWeri bmebis SemTxvevaSi am sistemaze moqmedi
aqtiuri da inerciis Zalebis muSaobisas jami nebis-

31 32
mier virtualur gadaadgilebaze nulis tolia. Tu dginoT dinamikis zogadi gantoleba
bmebi stacionarulia, maSin dinamikis zogadi ganto-
leba warmoadgens SesaZlo gadaadgilebaTa prin-
cipisa da dalamberis principis Sedegs. dinamikis
zogadi gantoleba (10.2) gegmilebSi ase Caiwereba
n

∑ ⎡⎣( X − m х ) δ х + (Y − m y ) δ y + ( Z
i =1
i i i i i i i i i − mi zi ) δ zi ⎤⎦ = 0 (10.3)

magaliTi. amwe meqanizmis kbilana 2-ze, romlis

wonaa PP2 da inerciis radiusi ρ2 modebulia

mbrunavi momenti MM. dolze daxveulia Toki. Doli-

sa da masTan mkvidrad damagrebuli kbilana 1-is
wonaa P1 da inerciis radiusi ρ1 . kbilanebis

radiusebia r1 da r2, dolis r. A tvirTis wona udris − ( Q + ФA ) δ s A − M 1δϕ1 + ( M − M 1 ) δϕ 2 = 0 ,

Q. ganvsazRvroT A tvirTis aCqareba. δϕ 2 ω 2 r1 r

δ s A = rδϕ1 , = = , δϕ 2 = 1 δϕ1 .
sistemaze moqmedebs aqtiuri Zala Q da mbrunavi δϕ1 ω1 r2 r2
momenti MM. P1da P2 Zalebi muSaobas ar asruleben, A ⎛ w ⎞ P P r r
Q ⎜1 + A ⎟ r + 1 ρ12 ε1 + 2 ρ 22ε 2 1 − M 1 = 0,
tvirTis inercis Zala iqneba ⎝ g ⎠ g g r2 r2
w r r w
Q ε1 = A , ε 2 = 1 , ε1 = 1 A ,
ФA = wA r r2 r2 r
g
Qr P ρ2 P ρ2 r2 r
1 da 2 kbilanaze moqmedi inerciis Zalebi daiyvaneba Qr + wA + 1 1 wA + 2 2 12 wA = M 1 ,
g gr g r2 r2
wyvil Zalebze, romelTa momentebi iqneba
r1
P1 2 P M − Qr
M1 = ρ1 ε1 , M 2 = 2 ρ 22ε 2 . r2
g g wA = g.
P1 ρ12 P2 ρ 22 r12
Qr + +
mivaniWoT sistemas SesaZlo gadaadgileba da Sevad- r r r22

33 34
Tavi III meqanikuri sistemis moZraobis gantolebebi 2
1 s s s
1 n ⎛ ∂r ⎞
T2 = ∑∑
2 α =1 β =1
a q q
αβ α β , T1 = ∑
α =1
b q
α α , T0 = ∑ mi ⎜ i ⎟
2 i =1 ⎝ ∂t ⎠
§11. sistemis kinetikuri energiis gamosaxva
maSin
ganzogadebuli siCqareebiTa da koordinatebiT
T = T2 + T1 + T0 (11.3)

T2 , T1 da T0 warmoadgens Sesabamisad kvadratul,

nivTier wertilTa sistemis kinetikuri energia
ganisazRvreba tolobiT wrfiv da nulovan formebs ganzogadebuli

1 n siCqareebis mimarT. Tu bmebi stacionaluria, r

T = ∑ mi vi2 (11.1)
2 i =1 radius-veqtori droze cxadad ar aris

vi2 = vi vi , xolo ∂ri

vinaidan damokidebuli da kerZo warmoebu-lebi = 0,
∂t
dri ∂ri ∂r ∂r ∂r
vi = = q1 + i q2 + ⋅ ⋅ ⋅ + i qs + i , maSin kinetikuri energia iqneba
dt ∂q1 ∂q2 ∂qs ∂t
1 s s
amitom kinetikuri energiis (11.1) gamosaxuleba iqneba T =T = ∑∑ aαβ qα qβ
2 α =1 β =1
(11.4)
2
1 n ⎛ ∂r ∂r ∂r ∂r ⎞
T = ∑ mi ⎜ i q1 + i q2 + ⋅ ⋅ ⋅ + i qs + i ⎟ §12. lagranJis meore gvaris gantolebebi
2 i =1 ⎝ ∂q1 ∂q2 ∂qs ∂t ⎠
Tu SemovitanT aRniSvnebs gamoviyvanoT meqanikuri sistemis moZraobis
n
∂ri ∂ri n
∂r ∂r gantolebebi ganzogadebul koordinatebSi. meqanikis
aαβ = ∑ mi ,bi = ∑ mi i i ,
i =1 ∂qα ∂qβ i =1 ∂qα ∂t zogadi gantolebis Tanaxmad ganzogadebuli aqtiu-
miviRebTY ri da inerciis Zalebis mier Sesrulebul muSaobaTa
2 jami nebismier virtualur gadaadgilebaze nulis
1 s s s
1 n ⎛ ∂r ⎞
T = ∑∑ aαβ qα qβ + ∑ bα qα + ∑ mi ⎜ i ⎟ (11.2) tolia.
2 α =1 β =1 α =1 2 i =1 ⎝ ∂t ⎠
s s
aRvniSnoT
∑ δ Ak + ∑ δ Akin = 0
k =1 k =1
(12.1)

sadac

35 36
 s

∑δ A k = Q1δ q1 + Q1δ q1 + ⋅ ⋅ ⋅ + Qs δ qs ,
k =i
d ⎛ ∂rk ⎞ ∂ drk ∂vk
s ⎜ ⎟⎟ = = (12.7)
∑ δ Akin = Q1inδ q1 + Q2inδ q2 + ⋅ ⋅ ⋅ + Qsinδ qs dt ⎝⎜ ∂q j ⎠ ∂q j dt ∂q j
k =i
Tu (12.6) da (12.7) SevitanT (12.5) gamosaxulebaSi,
Q inj _ ganzogadebuli inerciis Zalebia. (12.1)-dan
miviRebT
vRebulobT
dvk ∂rk d ⎛ ∂v ⎞ ∂vk d ⎛ 1 ∂vk2 ⎞ 1 ∂vk2
= ⎜ vk k ⎟⎟ − vk = ⎜ ⎟⎟ −
(Q 1 + Q1in ) δ q1 + ( Q2 + Q2in ) δ q2 + ⋅ ⋅ ⋅ + ( Qs + Qsin ) δ qs = 0 (12.2) dt ∂q j dt ⎝⎜ ∂q j ⎠ ∂q j dt ⎝⎜ 2 ∂q j ⎠ 2 ∂q j
(12.8).

δ q1 , δ q2 ,..., δ qs damoukidebeli variaciebia, amitom (12.8) gamosaxuleba CavsvaT (12.4)-Si, miviRebT

(12.2.)-dan vRebulobT moZraobis gantolebebs d n ∂ ⎛ mk vk2 ⎞ n ∂ mk vk2

Q inj = − ∑ ⎜ ⎟+∑
dt k =1 ∂q j ⎝ 2 ⎠ k =1 ∂q j
=
Q1 + Q1in = 0 , Q2 + Q2in = 0 ,. . ., Qs + Qsin = 0 (12.3)
(12.9)
d ∂ n mk vk2 ∂ n mk vk2
vinaidan Fkin = −mk wk = − mk
dvk
da gavixsenebT
=− ∑
dt ∂q j k =1 2
+ ∑
∂q j k =1 2
dt
ganzogadebuli Zalebis gamo-saTvlel (6.4) formu- mk vk2
n
vinaidan T = ∑ warmoadgens sistemis kinetikur
las, miviRebT k =1 2
n
dvk ∂rk energias, vRebulobT, rom ganzogadebuli energiis
Q inj = −∑ mk (12.4)
k =1 dt ∂q j Zala gamoisaxeba kinetikuri energiiT
magram d ∂T ∂T
Q inj = − + (12.10)
dt ∂q j ∂q j
∂vk ∂rk d ⎛ ∂r ⎞ d ⎛ ∂rk ⎞
= ⎜ vk k ⎟⎟ − vk ⎜⎜ ⎟⎟ (12.5)
∂t ∂q j dt ⎜⎝ ∂q j ⎠ dt ⎝ ∂q j ⎠
SevitanoT (12.10) moZraobis (12.3) gantolebebSi

d ⎛ ∂T ⎞ ∂T
⎜ ⎟⎟ − = Qj , ( j = 1, 2,..., s ) (12.11)
d ( Δrk ) dr
dt ⎜⎝ ∂q j ⎠ ∂q j
Δ k
∂rk Δrk Δr ∂r ∂v
= lim = lim dt = lim dt = lim k = k = k (12.6) miRebul gantolebaTa sistema warmoadgens nivTier
∂q j Δq j d ( Δq j ) dq j Δq j ∂q j ∂q j
Δ wertilTa sistemis moZraobis diferencialur gan-
dt dt

37 38
tolebebs ganzogadebul koordinatebSi. am gantole- d ∂ (T − П ) ∂ (T − П )
− =0
bebs ewodeba lagranJis meore gvaris gantolebebi. dt ∂q j ∂q j
gantolebaTa raodenoba tolia sistemis Tavisuf-
saidanac
lebis xarisxisa. es sistema warmoadgens ganzogade-
d ∂L ∂L
buli koordinatebis mimarT meore rigis Cveulebriv − =0, ( j = 1, 2,..., s ) . (12.12)
dt ∂q j ∂q j
diferencialur gantolebaTa sistemas. Tu sistemaze
es aris lagranJis meore gvaris gantolebebi ZalTa
moqmedi Zalebi potencialuria, maSin
funqciis arsebobis SemTxvevaSi. es Ggantolebebi
∂Π
Qj = − , ( j = 1, 2,..., s ) warmoadgens ganzogadebuli koordinatebis mimarT
∂q j
meore rigis Cveulebriv erTgvarovan diferencialur
sadac Π ( q1 , q2 ,..., qs ) aris sistemis potencialuri gantolebaTa sistemas.
energia. e.i. Tu sistemaze moqmedi Zalebi potencia- amocana. OA mili Tanabrad brunavs ω kuTxis
luria, maSin ganzogadebuli Zala aris minus niSniT siCqariT horizontalur sibrtyeSi. vipovoT milSiBB
aRebuli potencialuri energiis warmoebuli ganzo- burTulas moZraobis kanoni, Tu sawyis momentSi is
gadebuli koordinatiT. daSorebuli O wertilidan a manZiliT da sawyisi
SemovitanoT funqcia L =T −П . siCqare v0 milis gaswvriv udris nuls.
L aris ganzogadebuli koordinatebisa da siCqaree-
bis funqcia da warmoadgens sistemis kinetikuri da
potencialuri energiebis sxvaobas. L-s ewodeba lag-
ranJis funqcia. potencialuri ZalebisaTvis lagran-
Jis gantolebebi miiRebs saxes

d ⎛ ∂T ⎞ ∂T ∂П
⎜ ⎟⎟ − + = 0,
dt ⎜⎝ ∂q j ⎠ ∂q j ∂q j
anu

39 40
milSi B wertilis mdebareoba ganisazRvreba х koor- amocana. mM masisa da R radiusis mqone erTgvarovani
dinatiT, amitom B wertilis moZraoba ganisazRvre- disko brunavs horizontaluri o RerZis irgvliv.
ba erTi gantolebiT. blokze gadadebulia uWimadi Toki, zromlis A
d ⎛ ∂T ⎞ ∂T bolo mimagrebulia c sixistis mqone zambarasTan,
⎜ ⎟− =Q (a)
dt ⎝ ∂х ⎠ ∂х xolo boloze mimagrebulia m1 masis tvirTi.
rodesac х koordinati Rebulobs δ х nazrds, moq- ganvsazRvroT tvirTis moZraobis kanoni, Tu sawyis

medi Zalebi muSaobas ar asruleben, e.i. δ A = 0, Q = 0 momentSi mas mieniWeba vertikalurad qveviT

absoluturi moZraobis kinetikuri energia mimarTuli v0 siCqare.

1 2
T= mvB , vB = ve + vr sadac ve aris warmtani siCqare,
2
vr _ fardobiTi siCqare. ]

ve = хω , vr = х , vB2 = vе2 + vк2 = х 2ω 2 + х 2 ,

1 ∂Т ∂Т
T= m ( х 2 + х 2ω 2 ) , = mх , = mω 2 х .
2 ∂х ∂х
Tu CavsvamT miRebul mniSvnelobebs (a) gantolebaSi,
miviRebT gantolebas

х −ω2х = 0 ,
romlis zogadi amonaxsni iqneba

х = С1еω t + С2 e −ω t .

sawyisi pirobebia: roca t = 0, maSin х0 = а , х0 = 0 ,

saidanac vRebulobT miviRoT sistemis ganzogadebul koordinatad

а ωt tvirTis vertikaluri gadaadgileba x. lagranJis

х=
2
( е + е −ω t )
meore gvaris gantoleba ase Caiwereba

41 42
 d ∂Т ∂Т ∂П ∂Т ⎛ m⎞ d ∂T ⎛ m⎞
− =− . = ⎜ m1 + ⎟ х , = ⎜ m1 + ⎟ х
dt ∂х ∂х ∂х ∂х ⎝ 2⎠ dt ∂х ⎝ 2⎠
G Zala muSaobas ar Seasrulebs. sistemaze moqmedebs lagranJis meore gvaris gantolebidan miviRebT, rom
potencialuri Zalebi: tvirTis simZimis Zala da с
х+ х = 0.
zambaris drekadi Zala. simZimis ZalisaTvis m
m1 +
П1 = −G1 х . zambaris wagrZeleba tolia fst + х. 2
aRvniSnoT
zambaris potencialuri energia iqneba
c
с сf 2 сх 2 = k2
П2 = ( f + х ) −
2
= cfх + m
2 2 2 m1 +
2
potencialuri energia da
2
сх х + к2 х = 0 ,
П = П1 + П2 = −G1 х + сfх +
2
romlis zogadi amonaxsnia
2
сх х = C1 cos kt + C2 sin kt .
vinaidan wonasworobisasGG1=cfst, miviRebT П = da
2
Tu gaviTvaliswinebT sawyisi pirobebs: roca t=0,
∂П
= сх . sistemis kinetikuri energia warmoadgens ga- maSin х0 = 0; х0 = v0 da
∂х
dataniT moZravi tvirTisa da mbrunavi diskos kine- v0
C1 = 0, C2 = .
tikuri energiebis jams R
T = T1 + T2 , v0
aqedan х = sin kt .
k
m1v 2 j0ω 2 mR 2 v 1
T1 = ,T = , j0 = , ω = , T2 = mv 2
2 2 2 R 4
§13. energiis ganzogadebuli integrali
1 1 1⎛ m⎞
T = m1v 2 + mv 2 = ⎜ m1 + ⎟ х 2 ,
2 4 2⎝ 2⎠
gantolebas

43 44
 f ( q1 , q2 ,..., qs , q1 , q2 ,..., qs , t ) = C1 (13.1) ∂L ∂L d ⎛ ∂L ⎞ ∂L d ⎛ ∂L ⎞
qj + qj = ⎜ ⎟⎟ q j + qj = ⎜ qj ⎟
ewodeba (12.12) diferencialur gantolebaTa sistemis ∂q j ∂q j dt ⎜⎝ ∂q j ⎠ ∂q j dt ⎜ ∂q
⎝ j ⎠
⎟

integrali, anu moZraobis integrali, Tu f funqcia (13.3) gamosaxuleba ase gadaiwereba

xdeba mudmivi, rodesac q1 , q2 ,..., qs ; q1 , q2 ,..., qs nacvlad dL d s ∂L ∂L

= ∑ qj + , anu
(13.1) CavsvamT (12.12) sistemis amonaxsnebs. vinaidan dt dt j =1 ∂q j ∂t

(13.1) Seicavs erT nebismier mudmivs, mas uwodeben d ⎛ s ∂L ⎞ ∂L

⎜⎜ ∑ qj − L⎟ +
⎟ ∂t
=0 (13.4)
pirvel integrals. SeiZleba arsebobdes ramdenime dt ⎝ j =1 ∂q j ⎠
pirveli integrali. am integralebis nebismieri
Tu lagranJis funqcia droze cxadad ar aris
mudmivebi ganisazRvreba sawyisi pirobebiT. aqedan
∂L
gamomdinare (12.12) sistemas SeiZleba hqondes damokidebuli, e.i. = 0 ,maSin (13.4)-dan vRebulobT
∂t
araumetes 2s pirveli integrali.
d ⎛ s ∂L ⎞
vTqvaT lagranJis funqcia, anu kinetikuri ⎜⎜ ∑ qj − L⎟ = 0
⎟
dt ⎝ j =1 ∂q j ⎠
potenciali warmoadgens ganzogadebuli
saidanac
koordinatebis, ganzogadebuli siCqareebisa da
s
∂L
drois funqcias
∑ ∂q qj − L = h (13.5)
L = L (qj , qj ;t ) ,
j =1
( j = 1, 2,..., s )
j
(13.2)
sadac h mudmivia. (13.5)-s ewodeba energiis
gavawarmooT (13.2) funqcia droiT. miviRebT
ganzogadebuli integrali, anu iakobis integrali.
dL ⎛ ∂L
s
∂L ⎞ ∂L
= ∑⎜
Tu gavixsenebT, rom
qj + qj ⎟ + (13.3)
dt ⎜
j =1 ⎝ ∂q j ∂q j ⎟⎠ ∂t ∂L ∂T
qj = qj
(12.12) gantolebidan ∂q j ∂q j

∂L d ⎛ ∂L ⎞ SeiZleba CavweroT
= ⎜ ⎟⎟ , ( j = 1, 2,..., s )
∂q j dt ⎜⎝ ∂q j ⎠
s
∂L s
∂T
∑ ∂q
j =1
qj − L = ∑
j =1 ∂q j
qj − T − П (13.6)
maSin j

45 46
reonomuli sistemisTvis adgili aqvs tolobas T+П=T2+П=h
T = T2 + T1 + T0 nivTier wertilTa sistemas, romelsac gaaCnia

amitom (13.6)-dan miviRebT energiis Cveulebrivi integrali, ewodeba

konservatuli.
s
∂L s
∂T2 s
∂T1
∑
j =1 ∂q j
q j − L = ∑
j =1 ∂q j
q j + ∑
j =1 ∂q j
q j − T2 − T1 − T0 + П (13.7)
§14. cikluri koordinatebi
erTgvarovani funqciebisTvis eileris Teoremis
Tanaxmad
Tu lagranJis funqcia L ar Seicavs romelime
s
∂T2 s
∂T1
∑
j =1 ∂q j
q j = 2T2 , ∑
j =1 ∂q j
q j = T1 ganzogadebul koordinatebs, magram Seicavs am
koordinatebis droiT warmoebulebs, anu ganzoga-
am tolobebis gaTvaliswinebiT (13.7)-dan miviRebT
debul siCqareebs, maSin aseT koordinatebs ewodeba
s
∂L
∑
j =1 ∂q j
q j − L = T2 − T0 + П cikluri. vTqvaT, q1,q2,…,ql (l≤s) cikluri koordina-
tebia, maSin lagranJis funqcia iqneba
saidanac (13.5)-s gaTvaliswinebiT vRebulobT
L = L ( ql +1 , ql + 2 ,...; qs ; q1 , q2 ..., ql , ql +1 ,..., qs ; t ) (14.1)
T2 − T0 + П = h (13.8)
lagranJis funqciaSi cxadad Semaval koordinatebs
(13.8)-s ewodeba energiis ganzogadebuli integrali.
ewodeba poziciuri.
amrigad, energiis ganzogadebuli integrali arse-
cikluri koordinatebisaTvis cxadia, gveqneba
bobs, Tu Zalebi potencialuria da lagranJis fun-
∂L
qcia droze cxadad ar aris damokidebuli. (13.8) ar = 0, ( j = 1, 2,..., l ) (14.2)
∂q j
emTxveva sistemis srul energiasE
maSin lagranJis meore gvaris gantolebebidan
E=T+П=T2+T1+T0+П
vRebulobT
skleronomuli sistemisTvis, rodesac T droze
d ⎛ ∂L ⎞
cxadad ar aris damokidebuli T=T2 da energiis ⎜ ⎟⎟ = 0 , ( j = 1, 2,..., l ) (14.3)
dt ⎜⎝ ∂q j ⎠
ganzogadebuli integrali emTxveva sistemis srul
energias saidanac

47 48
 ∂L ∂L
= C j = const ( j = 1, 2,..., l ) (14.4) = pj ( j = 1, 2,..., r ) (15.3)
∂q j ∂q j
(14.4) tolobas ewodeba cikluri integralebi. pj ewodeba ganzogadebuli impulsebi. (15.3)-is gaTva-
liswinebiT (15.2)-dan miviRebT
§15. rauTis gantolebebi ∂L
= pj ( j = 1, 2,..., r ) (15.4)
∂q j
rauTis meTodiT lagranJis meore gvaris ganto- vipovoT (15.1) funqciis sruli diferenciali
lebebidan gamoiricxeba koordinatebi. maSin ganto- s
∂L s
∂L ∂L
dL = ∑ dq j + ∑ dq j + dt (15.5)
j =1 ∂q j j =1 ∂q j ∂t
lebaTa da damoukidebel ganzogadebul koor-
dinatTa raodenoba mcirdeba cikluri koordina-
Tu miviRebT mxedvelobaSi (15.3) da (15.4) formulebs,
tebis ricxviT. jerjerobiT davuSvaT, rom yvela
maSin (15.5) ase gadaiwereba
ganzogadebuli koordinati poziciuria, maSin lag- s s
∂L r s
∂L ∂L
ranJis funqcia iqneba damokidebuli yvela ganzoga- dL = ∑ p j dq j + ∑ dq j + ∑ p j dq j + ∑ ∂q dq j + dt (5.6)
j =1 j = r +1 ∂q j j =1 j = r +1 j ∂t
debul koordinateze, ganzogadebul siCqareebze da
cxadia, rom
droze
r r r
L = L ( q1 , q2 ,..., qs ; q1 , q2 ,..., qs ; t ) (15.1) ∑ p j dq j = d ∑ p j q j − ∑ q j dp j
j =1 j =1 j =1
am SemTxvevaSi lagranJis sistema Seicavs
maSin (15.6) miiRebs aseT saxes
gantolebas r r s s
∂L
d (∑ p j q j − L) = −∑ p j dq j − ∑ dq j + ∑ q j dp j − ∑ ∂q −
d ⎛ ∂L ⎞ ∂L
⎜ ⎟⎟ − =0 ( j = 1, 2,..., s ) (15.2) j =1 j =1 j = r +1 j = r +1 j
dt ⎜⎝ ∂q j ⎠ ∂q j
∂L
− dt (15.7)
ganvixiloT lagranJis funqciis warmoebuli pirve- ∂t
li r raodenobis ganzogadebuli siCqariT r
R = ∑ p j q j − L saxis funqcias ewodeba rauTis fun-
q1 , q2 ,..., qr ;(r ≤ s ) da SemovitanoT aRniSvna j =1

qcia.

49 50
gamovTvaloT rauTis funqciis sruli diferenciali vTqvaT pirveli r ganzogadebuli koordinatebi cik-
∂R
r s
∂R r
∂R luria maSin
dR = ∑ dq j + ∑ dq j + ∑ dq j +
j =1 ∂q j j = r +1 ∂q j j =1 ∂q j ∂L
(15.8) = 0, ( j = 1, 2,..., r ) .
s
∂R s
∂R ∂R ∂q j
+∑ dq j + ∑ dp j + dt
j = r +1 ∂q j J =1 ∂p j ∂t lagranJis (15.2) gantolebebidan vRebulobT

d ⎛ ∂L ⎞
(15.7) da (15.8) tolobebis SedarebiT vRebulobT
⎜ ⎟⎟ = 0 , e.i. p j = 0 , maSin (15.9)-is pirveli ganto-
∂R ∂R ∂R dt ⎜⎝ ∂q j
= − pj , = 0, = qj ( j = 1, 2,..., r ) (15.9) ⎠
∂q j ∂q j ∂p j
∂R
lebidan = 0 , ( j = 1, 2,..., r ) .
∂R ∂L ∂R ∂L ∂q j
=− , =− , ( j = r + 1, r + 2,..., s ) (15.10)
∂q j ∂q j ∂q j ∂q j
amrigad, rauTis funqcia ar aris damokidebuli cik-
∂R ∂L
=− lur koordinatebze.
∂t ∂t
poziciuri koordinatebis gansazRvrisaTvis gvaqvs
∂R
=0 ( j = 1, 2,..., r ) pirobidan gamomdinareobs, rom rauTis n-r raodenobis gantoleba (15.11). cikluri
∂q
koordinatebi (15.9)-s mesame gantolebis mixedviT
rauTis funqcia ar aris damokidebuli pirvel r gan- ganisazRvreba formuliT
zogadebul siCqareze.
∂R
Tu (15.10) SevitanT lagranJis meore gvaris (15.2) qj = ∫ dt , ( j = 1, 2,..., r ) (15.12)
∂p j
gantolebebSi, miviRebT
daskvna. rauTis R funqcia ar Seicavs ciklur
d ⎛ ∂R ⎞ ∂R
⎜ ⎟⎟ − = 0, ( j = r + 1, r + 2,..., s ) (15.11) koordinatebsa da maT warmoebulebs droiT. rauTis
dt ⎜⎝ ∂q j ⎠ ∂q j gantolebebs aqvs lagranJis meore gvaris
am gantolebebs ewodeba rauTis gantolebebi. Ro- gantolebebis saxe da gantolebaTa raodenoba
gorc vxedavT, rauTis funqciisTvis lagranJis naklebia cikluri koordinatebis ricxviT.
meore gvaris gantolebebi saxes ar icvlis da gan-
tolebaTa raodenoba r-iT naklebia.

51 52
 1 1
T=
2
( I z + mr 2 ) ϕ 2 + mr 2
2
(a)

aqtiuri Zalebia milisa da burTulas simZimis

Zalebi. vinaidan moZraoba ganixileba horizontalur
sibrtyeSi, am Zalebis potencialuri energia П =0.
lagranJis funqcia
1 1
L =T −П =
2
( I z + mr 2 ) ϕ 2 + mr 2
2
(b)

Φ koordinati cxadad ar Sedis lagranJis

amocana. Oa mili brunavs horizontalur sibrtyeSi
funqciaSi, amitom igi warmoadgens ciklur
vertikaluri Oz RerZis irgvliv. milSi moZraobs m
koordinats. sistemis pirveli integrali iqneba
masis mqone M burTula. milis inerciis momenti z
∂L
=α ,
RerZis mimarT udris Iz-s. ganzogadebul koordi- ∂ϕ
natebad miviRoT polaruli kordinatebi r da φ. sadac α mudmivia.
vaCvenoT, rom φ aris cikluri koordinati da (b)-dan vRebulobT

(I + mr 2 ) ϕ = α
SevadginoT rauTis gantoleba.
z (g)
sistemis Tavisuflebis xarisxi oris tolia. r da φ
Tu gamoviyenebT meqanikuri energiis Senaxvis kanons
ganzogadebuli kordinatebia. sistemis kinetikuri
Т+П=С, (g)-s gaTvaliswinebiT vRebulobT
energia T=T1+T2, sadac T1 aris milis kinetikuri
1 1
energia, xolo T2_ burTulis.
2
( I z + mr 2 ) ϕ 2 + mr 2 = C ,
2
v aris nurTulis absoluturi siCqare da
saidanac
v = r ϕ + r . amitom
2 2 2 2

α2
mr 2 + =C (d)
1
T2 = m ( r 2ϕ 2 + r 2 ) I z + mr 2
2

53 54
amrigad vipoveT sistemis moZraobis pirveli sadac N N reaqciis Zalaa. Tu (16.2) gantolebas Cav-
integralebi (g) da (d) rauTis funqcia iqneba werT gegmilebSi sakoordinato RerZebze, miviRebT
R = αϕ − L , anu wertilis moZraobis diferencialur gantolebebs.
1 α2 1 mх = X + N х ,
R= − mr 2
2 I z + mr 2
2 my = Y + N y , (16.3)
Tu SevitanT R-s rauTis gantolebaSi mz = Z + N z
d ⎛ ∂R ⎞ ∂R sadac, X, Y, Z warmoadgens F Zalis gegmilebs
⎜ ⎟− = 0,
dt ⎝ ∂r ⎠ ∂r sakoordinato RerZebze.
miviRebT
N х , N y , N z , N _ reaqciis N Zalis gegmilebs, xolo
α 2
r− r = 0. х, y, z − M wertilis koordinatebia. vinaidan zedapi-
(I + mr 2 )
2
z
ri gluvia, amitom N N reaqciis Zala mimarTulia
zedapiris marTobulad mocemul wertilSi.
§16. lagranJis pirveli gvaris gantolebebi
∂f ∂f ∂f
gradf = i+ j+ k
∂х ∂y ∂z
ganvixiloT uZrav gluv zedapirze m masis niv-
warmoadgens veqtors, romelsac aqvs zedapiris
Tieri MM wertilis moZraoba F Zalis moqmedebiT.
normalis mimarTuleba. N da gradf veqtorebis
vTqvaT, zedapiris gantolebaa
kolinearobis piroebidan vRebulobT
f ( х, y , z ) = 0 (16.1)
Nх N y Nz
= = =λ,
wertilis moZraobis gantoleba veqtoruli formiT ∂f ∂f ∂f
iqneba ∂х ∂y ∂z
mw = F + N (16.2) saidanac
∂f ∂f ∂f
Nх = λ , Ny = λ , Nz =
∂х ∂y ∂z

55 56
am tolobebis gaTvaliswinebiT (16.3) miiRebs saxes analogiurad y da z RerZebze gegmilebisaTvis
∂f T T
mх = Х + λ miviRebT Ty = − y , Tz = − z , maSin (16.5) gantolebebi
∂х v v
∂f gegmilebSi ase Caiwereba:
my = Y + λ (16.4)
∂y ∂f T
mх = Х + λ − х
∂f ∂х v
mz = Z + λ
∂z ∂f T
my = Y + λ − y (16.6)
(16.4) gantolebebs ewodeba araTavisufali nivTieri ∂y v
wertilis moZraobis gantolebebi, anu lagranJis ∂f T
mz = Z + λ − z
pirveli gvaris gantolebebi. λ-s ewodeba lagranJis ∂z v
mamravli. oTxi ucnobi sididis gansazRvrisaTvis amasTan, mxedvelobaSi unda miviRoT, rom xaxunis ka-
gvaqvs oTxi gantoleba (16.4) da (16.1). nonis Tanaxmad T = μ N , sadac _ μ xaxunis koefi-
vTqvaT zedapiri ar aris gluvi, maSin reaqciis cientia.

Zalis mdgenelebi iqneba normaluri mdgeneli NN ganvixiloT n nivTier wertilTa sistema, rome-
lic emorCileba idealur da holonomur bmebs.
da mxebi mdgeneli T , anu xaxunis Zala, romelic
moZraobis diferencialur gantolebebs eqneba saxe
mimarTulia siCqaris sapirispirod. moZraobis
gantoleba veqtoruli formiT ase Caiwereba mi х = Х i + N хi

mw = F + N + T (16.5) mi yi = Yi + N yi (16.7)

xaxunis Zalis gegmili х RerZze iqneba mi zi = zi + N zi

( ) v T
Tх = T cos T , iˆ = −T cos ( v , i ) = −T х = − х ;
v v
aq mi aris Mi wertilis masa, Xi, YYi,Zi _ aris M
wertilze moqmedi aqtiuri Zalebis tolqmedis
gegmilebia, xoloNNхi, Nyi, Nzi bmis reaqciis Zalebis
gegmilebia. am gantolebebs mivuerToT bmebis
gantolebebi.

57 58
 fα ( хi , yi , zi , t ) = 0 (α = 1, 2,..., k ) (16.8) d ⎛ ∂T ⎞ ∂T
⎜ ⎟⎟ − = Q j + Q 'j , ( j = 1, 2,..., s ) (16.10)
Tu gaviTvaliswinebT (5.19) formulebs, (16.7) sistema dt ⎜⎝ ∂q j ⎠ ∂q j
miiRebs saxes: Tu bmebi idealuria, maSin (5.13) formulebis
k
∂fα Tanaxmad
mi хi = X i + ∑ λα
α =1 ∂хi l
∂f k
Rхi' = ∑ λk
k
∂fα k =1 ∂хi
mi yi = Yi + ∑ λα (16.9)
α =1 ∂yi l
∂f k
Ryi' = ∑ λk (16.11)
k
∂fα k =1 ∂yi
mi zi = Z i + ∑ λα ( i = 1, 2,..., n ) .
α =1 ∂zi l
∂f k
Rzi' = ∑ λk
(16.9) gantolebebs ewodeba lagranJis pirveli gvaris k =1 ∂zi
gantolebebi nivTier wertilTa sistemisaTvis. sadac λk lagranJis mamravlebia, xolo
vTqvaT sistemaze, romelic emorCileba k bmas,
f k = ( хi , yi , zi , t ) = 0 , ( k = 1, 2,..., l ) (16.12)
modebulia damatebiT kidev l bma. Tu sistemis
damatebiTi bmebis gantolebebia.
Tavisuflebis xarisxi iyo s=3n-k, axla iqneba 3n-k-s.
ganzogadebuli Zalis gamosaTvleli (6.4’) formulis
damatebiTi bmebis gasaTvaliswineblad CavrToT am
ZaliT
bmebis reaqciis Zalebi aqtiur ZalebSi. aRvniSnoT
n ⎛
∂хi ∂yi ∂zi ⎞
damatebiTi reaqciis Zalebi Ri' -iT. virtualuri muSa- Q 'j = ∑ ⎜ Rхi' + Ryi' + Rzi' ⎟=
⎜
i =1 ⎝ ∂q j ∂q j ∂q j ⎟⎠
oba gamoiTvleba formuliT
n ⎛
∂х l ∂f ∂y l ∂f ∂z l ∂f ⎞
n s = ∑ ⎜ i ∑ λk k + i ∑ λk k + i ∑ λk k ⎟ =
δ A = ∑ ( Fi + Ri' ) δ ri = ∑ ( Q j + Q 'j ) δ q j ⎜
i =1 ⎝ ∂q j k =1 ∂хi ∂q j k =1 ∂yi ∂q j k =1 ∂zi ⎟⎠
i =1 j =1
n ⎛
l
∂f ∂х ∂f ∂y ∂f ∂z ⎞ l ∂f
Q 'j aris Ri' = ∑ λk ∑ ⎜ k i + k i + k i ⎟ = ∑ λk k
sadac damatebiTi reaqciis ZalebiT
k =1
⎜
i =1 ⎝ ∂хi ∂qj ∂yi ∂q j ∂zi ∂q j ⎟⎠ k =1 ∂q j
ganpirobebuli ganzogadebuli Zalebi. lagranJis
maSin (16.10) gantolebebi ase Caiwereba
meore gvaris gantolebebs eqneba saxe:

59 60
d ⎛ ∂T ⎞ ∂T ∂f ∂f ∂f ∂f ∂f ∂f
⎜ ⎟⎟ − = Qj + λ 1 + λ 2 + ⋅ ⋅ ⋅ + λ l = −2 х, = −2 y , = 0.
dt ⎜⎝ ∂q j ∂х ∂y ∂z
⎠ ∂q j ∂q j ∂q j ∂q j

( i = 1, 2,..., s ) (16.13)

(16.11) gantolebaTa sistema arsebiTad warmoadgens

lagranJis pirveli gvaris gantolebebs, romelic
Cawerilia ganzogadebul koordinatebSi. gantole-
baTa ricxvi tolia s=3n-k. am gantolebebs emateba
bmebis gantolebebi (16.11). vRebulobT 3n-k-l gantole-
baTa sistemas s=3n-k ucnobi ganzogadebuli koordi-
natiT da l raodenobis lagranJis mamravliT.
amocana. m masis mqone nivTieri M wertili moZraobs
simZimis Zalis moqmedebiT r radiusiani gluvi Rru lagranJis pirveli gvaris gantolebebi iqneba
cilindris SigniT. cilindris RerZi z horizon- mх = p − 2λ х, my = −2λ y, mz = 0 (a)
taluria. lagranJis pirveli gvaris gantolebis
sadac λ lagranJis mamravlia.
gamoyenebiT gamoviyvanoT wertilis moZraobis
mesame gantolebidan z = C1 , radgan z0 = 0, C1 = 0
diferencialuri gantoleba da ganvsazRvroT reaq-
miviRebT z = C2 , e.i. wertili moZraobs cilindris
ciis Zala.
nivTier wertilze moqmedebs simZimis Zala p = mg , RerZis marTobul sibrtyeSi.
(a)-s pirveli gantoleba gavamravloT y-ze, meore х-
pх = p = mg , p y = 0, pz = 0
ze da SevkriboT
cilindris Sida zedapiri warmoadgens bmas, romlis
хy − yх = gy,
gantoleba iqneba
d
f = r 2 − х2 − y2 = 0
( хy − yх ) = gy
dt
f-is kerZo warmoebulebia SemovitanoT polaruli koordinatebi

61 62
х = r cos ϕ , y = r sin ϕ
gavawarmooT droiT 2 2 2
⎛ ∂f ⎞ ⎛ ∂f ⎞ ⎛ ∂f ⎞
Rn = λ gradf = λ ⎜ ⎟ + ⎜ ⎟ + ⎜ ⎟ ,
х = −r sin ϕϕ , y = r cos ϕϕ ⎝ ∂х ⎠ ⎝ ∂y ⎠ ⎝ ∂z ⎠
d g 2 2 2
rϕ = − g sin ϕ , ϕ = − sin ϕ (b) ⎛ ∂f ⎞ ⎛ ∂f ⎞ ⎛ ∂f ⎞
dt r gradf = ⎜ ⎟ + ⎜ ⎟ + ⎜ ⎟ = 2 х 2 + y 2 = 2r
⎝ ∂х ⎠ ⎝ ∂y ⎠ ⎝ ∂z ⎠
(b) gantoleba gavamravloT d ϕ -ze
(a)-s meore gantolebidan
dϕ g
d ϕ = − sin ϕ dϕ my
dt r λ=− ,
2y
g y
ϕ dϕ = − sin ϕ dϕ (g) Rn = − mr ,
r y
vaintegroT (g) gantoleba y = rϕ cos ϕ − rϕ 2 sin ϕ
ϕ2 g Tu SevitanT ϕ gamosaxulebas
= cos ϕ + C
2 r
Rn = mrϕ 2 + mgr cos ϕ
sawyisi pirobebia: roca t=0, maSin ϕ = ϕ 0 , ϕ 0 = 0 da
wina tolobidan vRebulobT SevitanoT am gamosaxulebaSi ϕ 2 (d)-dan

g Rn = mg ( 3cos ϕ − 2 cos ϕ 0 )
C=− cos ϕ 0,
r
(d)
g
ϕ 2 = 2 ( cos ϕ − cos ϕ 0 )
r
reaqciis Zalis gegmili normalze iqneba

63 64
 1 1 1
T= m1 ( х12 + y12 ) + m2 ( х22 + y22 ) = ( m1 + m2 ) l12ϕ 2 +
2 2 2
1
+ m2 ⎡⎣l 2 2ψ 2 + 2l1ϕ l2ψ cos (ϕ − ψ ) ⎤⎦ ;
2
∂T
= ( m1 + m2 ) l12ϕ + m2 l1l2ψ cos (ϕ − ψ ) ,
∂ϕ
∂T
= − m2 l1l2ϕψ sin (ϕ − ψ ) ;
∂ϕ
∂T
= m2 l22ψ + m2 l1l2ϕ c cos (ϕ − ψ ) ,
∂ψ
∂T
= m2 l1l2ϕψ sin (ϕ − ψ ) ;
amocana. vipovoT reaqciis Zalebi, romelic ∂
d ∂T ∂T
ganpirobebulia damatebiTi bmebis SemotaniT ormagi − = (m1 + m2 )l12ϕ + m2 l1l 2ψ cos(ϕ − ψ ) +
maTematikuri saqanisaTvis M da M tvirTebis masebia
dt ∂ϕ ∂ϕ

m1 da m2. |OM1|=l1, | M1M2|=l2 + m2 l1l 2ψ 2 sin(ϕ − ψ ) ;

jer ganvixiloT ormagi maTematikuri saqani damate- d ∂T ∂T
− = m2 l22ψ + m2 l1l2ϕ cos (ϕ − ψ ) − m2 l1l2ϕ 2 sin (ϕ − ψ )
biTi bmebis gareSe da gamoviyvanoT moZraobis dt ∂ψ ∂ψ
virtualuri muSaoba
gantolebebi. sistemis Tavisuflebis xarisxi udris
ors. ganzogadebul koordinatebad miviRoT δA = m1 gδx1 + m2 gδx 2 = − m1 gl1 sin ϕδϕ + m2 g (−l1 sin ϕδϕ −

q1 = ϕ , q2 = ψ kuTxeebi. M1 da M2wertilebis − l 2 sinψδψ ) = −(m1 + m2 ) gl1 sin ϕδϕ − m2 gl 2 sinψδψ ,

saidanac
koordinatebi iqneba
х1 = l1 cos ϕ1 , y1 = l1 sin ϕ ; Q1 = − ( m1 + m2 ) gl1 sin ϕ ;
х2 = l1 cos ϕ + l2 cosψ , y2 = l1 sin ϕ + l2 sinψ ; Q2 = − m2 gl2 sinψ
sistemis kinetikuri energia iqneba sistemis moZraobis gantolebebi iqneba

65 66
(m1 + m2 )l12ϕ + m2 l1l 2ψ cos(ϕ − ψ ) + m2 l1l 2ψ 2 sin(ϕ − ψ ) = am or diferencialur gantolebas davumatoT bmis
− (m1 + m2 ) gl1 sin ϕ , gantoleba

m2 l22ψ + m2 l1l2ϕ cos (ϕ − ψ ) − m2 l1l2ϕ 2 sin (ϕ − ψ ) = − m2 gl2 sinψ y1 = l1 sin ϕ = 0 .

bmis gantolebidan gamomdinareobs, rom ϕ ≡ 0 ,e.i.
ganvixiloT SemTxveva, rodesac damatebiTi bmis
ϕ = 0, ϕ = 0 . es ki imas niSnavs, romMwertili uZravia.
gantolebas aqvs saxe f ( х1 , y1 , z1 , х2 , y2 , z2 , t ) = y1 = 0 . meore diferencialuri gantolebidan vRebulobT
am SemTxvevisTvis (16.13) gantoleba miiRebs saxes: maTematikuri saqanis rxevis gantolebas

(m1 + m2 )l12ϕ + m2 l1l 2ψ cos(ϕ − ψ ) + m2 l1l 2ψ 2 sin(ϕ − ψ ) = g

ψ+ sinψ = 0
− (m1 + m2 ) gl1 sin ϕ , l2

m2 l22ψ + m2 l1l2ϕ cos (ϕ − ψ ) − m2 l1l2ϕ 2 sin (ϕ − ψ ) = − m2 gl2 sinψ dψ g g ψ2 g

= − sin ψ ,ψ dψ = − sinψ dψ , = cosψ + C1 .
. dt l2 l2 2 l2

sawyisi pirobebia: roca t=0, maSin ψ = 0,ψ = ψ 0

ψ 02 g
da C1 = − .
2 l2
ukanaskneli tolobis gaTvaliswinebiT
2g
ψ 2 = ψ 02 − (1 − cosψ )
l2
pirveli diferencialuri gantolebidan vpoulobT
λ–s.

λ = m2 l2 cosψ ⋅ψ − m2 l2 sin ψ ⋅ψ 2

SevitanoT ψ da ψ 2 mniSvnelobebi, miviRebT

λ = m2 l2 cosψ ⋅ψ − m2 l2 sinψ ⋅ψ 2

67 68
(6.11)-is mixedviT ki ganvsazRvroT reaqciis Zalebi Tavi IV kanonikuri gantolebebi da maTi integrebis

Rх' = 0, meTodebi

Ry' = λ = − m2 sinψ ⎡⎣l2ψ 02 − g ( 2 − 3cosψ ) ⎤⎦

§17. kanonikuri cvladebi

vTqvaT, bmebi cxadad ar aris damokidebuli

droze. maSin lagranJis funqcia anu kinetikuri
potenciali iqneba

1 s s
L= ∑∑ aij qi q j − П ( q1 , q2 ,..., qs )
2 i =1 j =1
(17.1)

SemovitanoT axali cvladebi _ ganzogadebuli ko-

ordinatebi qj da ganzogadebuli impulsebi

∂L
pj = .
∂q j

q j da p j sidideebs ewodeba kanonikuri cvladebi.

stacionaruli bmebis SemTxvevaSi ganzogadebuli
impulsi iqneba
∂T
pj = ( j = 1, 2,..., s ) (17.2)
∂q j
CavweroT es tolobebi gaSlili saxiT.
a11 q1 + a12 q2 + ⋅ ⋅ ⋅ + a1s qs = p1 ,
a21 q1 + a22 q2 + ⋅ ⋅ ⋅ + a2 s qs = p2 ,
(17.3)
..................................
as1 q1 + as 2 q2 + ⋅ ⋅ ⋅ + ass qs = ps ,

69 70
es gantolebebi SeiZleba amoixsnas ganzogadebuli maSin, rodesac yvela ganzogadebuli siCqare nulis
siCqareebis mimarT, Tu sistemis determinanti tolia. amrigad,U ganzogadebul siCqareebs gamov-
gansxvavebulia nulisagan saxavT ganzogadebuli impulsebiT, maSin lagranJis

⎛ a11 … a1s ⎞ funqcia iqneba ganzogadebuli koordinatebis, gan-

⎜ ⎟
Δ=⎜ ⎟.
zogadebuli impulsebis da drois funqcia.
⎜a ass ⎟⎠
⎝ s1 L = L ( q1 , q2 ,..., qs ; p1 , p2 ,..., ps ; t ) (17.4)
es determinanti nulis toli rom yofiliyo, maSin
erTgvarovan gantolebaTa sistemas §18. hamiltonis funqcia. hamiltonis kanonikuri
∂T ∂T ∂T gantolebebi
= 0, = 0,..., = 0,
∂q1 ∂q12 ∂qs
eqneboda nulisagan gansxvavebuli amonaxsni. s Tavisuflebis xarisxis mqone holonomuri
ganvixiloT gamosaxuleba sistemisaTvis, romelzec moqmedeben konservatiuli
∂T ∂T ∂T Zalebi, lagranJis meore gvaris gantolebebs aqvs
q1 + q2 + ⋅ ⋅ ⋅ + qs ,
∂q1 ∂q2 ∂qs saxe
romelic erTgvarovani funqciebis Sesaxeb eileris d ⎛ ∂L ⎞ ∂L
⎜ ⎟− = 0, ( j = 1, 2,..., s ) (18.1)
Teoremis Tanaxmad 2T-s tolia. e.i. dt ⎝ ∂q ⎠ ∂q j
∂T ∂T ∂T gavamravloT (18.1) sistemis TiToeuli gantoleba
q1 + q2 + ⋅ ⋅ ⋅ + qs = 2T
∂q1 ∂q2 ∂qs
Sesabamis ganzogadebul q j siCqareze da miRebuli
am tolobis Tanaxmad kinetikuri energia iqne-
gantolebebi SevkriboT. miviRebT
boda nulis toli maSin, rodesac ganzogadebuli
s ⎡ d ⎛ ∂L ⎞ ∂L ⎤
siCqareebidan zogi nulisagan gansxvavebulia. es ki
∑ ⎢ dt ⎜⎜ ∂q
j =1 ⎢
⎟⎟ q j −
∂q
qj ⎥ = 0 (18.2)
SeuZlebelia, radgan T kinetikuri energia aris ⎣ ⎝ j⎠ j ⎥⎦
ganzogadebuli siCqareebis dadebiTad gansazRvruli vinaidan
kvadratuli forma da nulis toli iqneba mxolod

71 72
 d ⎛ ∂L ⎞ d ⎛ ∂L ⎞ ∂L sazogadod hamiltonis funqcia aris 2s kanonikuri
⎜ ⎟⎟ q j = ⎜⎜ qj ⎟ − qj
dt ⎜⎝ ∂q j ⎠ dt ∂q
⎝ j ⎠
⎟ ∂q j cvladis q1 , q2 ,..., qs ; p1 , p2 ,..., ps da t drois funqcia

(18.2) gantoleba ase gadavweroT H = H ( q1 , q2 ,..., qs ; p1 , p2 ,..., ps ; t ) (18.7)

s ⎛
d s ∂L ∂L ∂L ⎞ gamovTvaloT hamiltonis funqciis warmoebuli
∑
dt J =1 ∂q j
q j − ∑ ⎜
⎜
j =1 ⎝ ∂q j
q j + qj ⎟ = 0
∂q j ⎟⎠
(18.3)
ganzogadebuli impulsiT
Tu lagranJis funqcia cxadad ar aris droze ∂H s ∂q j s
∂L ∂q j
= qj + ∑ pj −∑
damokidebuli, maSin am funqciis droiT warmoebuli ∂p j j =1 ∂p j j −1 ∂q j ∂p j
iqneba ∂L
vinaidan = p j , miviRebT
dL s ⎛
∂L ∂L ⎞ ∂q j
= ∑⎜ qj + qj ⎟
dt J =1 ⎜⎝ ∂q j ∂q j ⎟⎠ ∂H s ∂q j s ∂q j
= qj + ∑ pj −∑ p .
am ukanasknelis gaTvaliswinebiT (18.3) miiRebs saxes ∂p j j =1 ∂p j j =1 ∂p j

d ⎡ s ⎛ ∂L ⎞ ⎤ Amrigad
⎢ ∑ ⎜⎜ q j ⎟ − L⎥ = 0 (18.4)
dt ⎣⎢ j −1 ⎝ ∂q j ⎟⎠ ⎦⎥
∂H
= qj (18.8)
∂p j
Tu kvadratul frCxilebSi moTavsebul
s
gamosaxulebas aRvniSnavT HH-iT, miviRebT gavawarmooT gamosaxuleba L = ∑ pjqj − H ganzoga-
j =1
⎛ ∂L ⎞
s
H = ∑⎜ q j ⎟ − L = const (18.5) debul qj koordinatiT
⎜
j =1 ⎝ ∂q j
⎟
⎠
s ∂p
∂L ∂H s
∂H ∂p j s ∂p
=∑ −∑ =∑
j j
H funqcia ewodeba hamiltonis funqcia. es funqcia qj − qj −
∂q j j =1 ∂q j ∂q j j =1 ∂p j ∂q j j =1 ∂q j
agreTve SeiZleba Ca-iweros kanonikur cvladebSi
s ∂p
∂H ∂H
−∑
j
s − qj = −
H = ∑ pjqj − L (18.6) ∂q j j =1 ∂q j ∂q j
j =1
vinaidan,

73 74
 ∂L d ∂L dp j d ⎛ ∂T ⎞ ∂T ∂П
= = , ⎜ ⎟⎟ − =− + Q Fj ,
∂q j dt ∂q j dt dt ⎜⎝ ∂q j ⎠ ∂q j ∂q j (19.1)
amitom gveqneba ( j = 1, 2,..., s )
dp j ∂H Tu SemovitanT lagranJis funqcias, miviRebT
=− (18.9)
dt ∂q j
d ⎛ ∂L ⎞ ∂L
⎜ ⎟⎟ − = Q Fj . (19.2)
sabolood miviReT (18.8) da (18.9) gantolebaTa dt ⎜⎝ ∂q j ⎠ ∂q j

sistema
∂L dpi ∂L
dq j Tu = p j , maSin − = Q Fj , saidanac
∂H ∂q j dt ∂q j
= ,
dt ∂p j
(18.10) ∂L dpi
dp j ∂H = − Q Fj . (19.3)
=− ; ∂q j dt
dt ∂q j
∂L ∂H
( j = 1, 2,..., s ) vinaidan =− , miviRebT (19.3)-dan
∂q j ∂q j
(18.10) gantolebebs ewodeba meqanikis kanonikuri
dpi ∂H
gantolebebi, anu hamiltonis gantolebebi. es =− + Q Fj . (19.4)
dt ∂q j
gantolebebi warmoadgenen pirveli rigis Cveulebriv
mivuerToT (19.4)-s pirvelgantoleba (18.10)-dan
diferencialur gantolebaTa sistemas.
dq j ∂H
= . (19.5)
dt ∂pi
$19. kanonikuri gantolebebi arakonservatuli
(19.4) da (19.5) warmoadgenen meqanikis kanonikur
sistemisTvis
gantolebebs arakonservatuli sistemisaTvis. cxadia,
Tu sistemaze moqmedebs rogorc konservatuli
lagranJis gantolebebidan miRebuli kanonikuri
∂П
n Qj = − , ise arakonservatuli Zalebi Q Fj , lag- gantolebebi samarTliania mxolod holonomuri
∂q j
bmebisaTvis.
ranJis meore gvaris gantolebebs eqneba saxe

75 76
 $20. hamiltonis funqciis Tvisebebi s s
∂2Ω s
∂T
∑ pjqj = ∑
j =1 j =1 ∂q j
qj = ∑
j =1 ∂q j
q j = 2T .

gamovakloT (18.7) hamiltonis funqciis sruli amitom

warmoebuli droiT s
H = ∑ p j q j − L = 2T − L = 2T − (T − П ) = T + П
dH ∂H s
∂H s
∂H
= +∑ qj + ∑ pj j =1
dt ∂t j =1 ∂q j j =1 ∂p j
e.i. stacionaruli bmebis pirobebSi hamiltonis
(18.10) kanonikuri gantolebebis Tanaxmad funqcia tolia sistemis sruli meqanikuri energiisa.
dH ∂H s
∂H ∂H s
∂H ∂H ∂H amocana. m M
+∑ −∑
masis nivTier wertilze moqmedebs
= = ,
dt ∂t j =1 ∂q j ∂p j j =1 ∂p j ∂q j ∂t
drekadi Zala F = −cr ,sadac c mudmivia.
e.i.
dH ∂H
= (20.1)
dt ∂t
hamiltonis funqciis sruli warmoebuli droiT
udris amave funqciis kerZo warmoebuls droiT.
Tu sistemaze moqmedi bmebi cxadad ar aris
damokidebuli droze, maSin hamiltonis funqcia HH
dH
agreTve ar iqneba droze damokidebuli, = 0 da
dt
SevadginoT wertilis moZraobis kanonikuri
∂H
(20.1)-is mixedviT = 0, saidanac HH= const . gantolebebi.
∂t
wertilis Tavisuflebis xarisxi tolia samis da
stacionaruli bmebis SemTxvevaSi sistemis kineti-
ganzogadebul koordi-natebad miviRoT dekartis
kuri energia aris ganzogadebuli siCqareebis kvad-
koordinatebi x, y, z . e.i. q1 = х, q2 = y, q3 = z.
ratuli forma da eileris Teoremis Tanaxmad
kinetikuri energia

77 78
 1 2 1 1 с
T= mv = m ( х 2 + y 2 + z 2 ) . H= ( pх2 + p y2 + pz2 ) + ( х 2 + y 2 + z 2 )
2 2 2m 2
ganzogadebuli impulsebi SevadginoT kanonikuri gantolebebi
∂T ∂T ∂T ∂H ∂H
pх = = mх , p y = = my , pz = = mz qj = , pj = − ; ( j = 1, 2,..., s ) .
∂х ∂y ∂z ∂p j ∂q j
(a) F Zala potencialuria. wertili Tavisufalia, mocemul SemTxvevaSi gveqneba
amitom hamiltonis funqcia tolia sruli meqanikuri pх py p
х= , y= ,z = z ;
energiis m m m
H=T+П. pх = −сх , p y = −cy , pz = −cz .
potencialuri energia aris muSaoba, romelsac asru-
miviReT pirveli rigis kanonikuri gantoleba
lebs potencialuri Zala wertilis mocemuli mdeba-
х, y, z; pх , p y , pz kanonikuri cvladebisaTvis.
reobidan nulovan mdebareobaSi gadasvlisas. Ee.i.
0 0 am gantolebebidan SeiZleba miviRoT wertilis
cr 2
П = ∫ Fdr = −c ∫ rdr = . moZraobis diferencialuri gantolebebi dekartis
r r
2
koordinatebSi. amisaTvis gavawarmooT droiT
radgan r 2 = х 2 + y 2 + z 2 , amitom
pirveli sami gantoleba da CavsvaT masSi meore
с 2
П=
2
( х + y2 + z2 ) sameulidan pх , p y , pz mniSvnelobebi

da pх py p
х= ,y = ,z = z ,
m m m
1 1
H= m ( х2 + y2 + z 2 ) + c ( х2 + y2 + z 2 ) saidanac
2 2
H funqcia gamovsaxoT ganzogadebuli koordinate- mх = −сх, my = −cy , mz = −cz .
biTa da ganzogadebuli impulsebiT. amocana. horizontaluri disko brunavs centrze

py gamavali vertikaluri RerZis irgvliv. diskos dia-

pх pz
(a)-dan х= , y= , z= ;
m m m metris gaswvriv WrilSi moZraobs m masis burTula.

79 80
am burTulaze Wrilis gaswvriv moqmedebs Zala, gansaxilvel meqanikur sistemas aqvs ori Tavi-
romelic centridan burTulamde r manZilis suflebis xarisxi. ganzogadebul koordinatebad
funqciaa. SevadginoT hamiltonis funqcia da gamo- miviRoT diskos mobrunebis φ kuTxe da centridan
viyvanoT burTulas moZraobis kanonikuri gantole- burTulas daSoreba r. davuSvaT diskos inerciis
bebi. momenti brunvis RerZis mimarT aris I cz da ZalTa

funqcia U(r). sistemis kineti-kuri energia aris

diskos da burTulis kinetikuri energiebis jami
1 1
T= I cz ϕ 2 + mv 2 .
2 2
burTulas siCqaris gegmilebi polarul koordina-
tebSi iqneba
vr = r , vϕ = rϕ

v 2 = vr2 + vϕ2 = r 2 + r 2ϕ 2 ,
maSin
1 m 1
T= I cz ϕ 2 + ( r 2 + r 2ϕ 2 ) = ⎡⎣ mr 2 + ( I cz + mr 2 ) ϕ 2 ⎤⎦
2 2 2
lagranJis funqcia
1
L = T +U = ⎡ mr 2 + ( I cz + mr 2 ) ϕ 2 ⎤ + U ( r )
2⎣ ⎦
ganzogadebuli impulsebi
∂L ∂L
pr = = mr , pϕ = = ( I cz + mr 2 ) ϕ
∂r ∂ϕ
aqedan

81 82
 pr pϕ $21. puasonis frCxilebi
r= , ϕ= .
m I cz + mr 2
CavsvaT hamiltonis funqciaSi kanonikuri cvladebi vTqvaT φ da ψ funqciebi damokidebulia p, q
kanonikur cvladebze da t droze
1 ⎛ pr2 pϕ2 ⎞
H = T −U = ⎜ + ⎟ −U (r) . ϕ = ϕ ( q1 , q2 ,..., qs ; p1 , p2 ,..., ps ; t ) ,
2 ⎜⎝ m I cz + mr ⎟⎠
2

ψ = ψ ( q1 , q2 ,..., qs ; p1 , p2 ,..., ps ;t ) .
kanonikuri gantolebebi iqneba

dr ∂H p am funqciebiT Sedgenil gamosaxulebas

= = r ,
dt ∂pr m s ⎛ ∂ϕ ∂ψ ∂ϕ ∂ψ ⎞
∑ ⎜⎜ ∂q − ⎟⎟ = (ϕ ,ψ ) (21.1)
mrpϕ ∂U ( r )
2 j =1 ⎝ j ∂p j ∂p j ∂q j ⎠
dpr ∂H
=− = +
dt ∂r ( I + mr 2 ) 2
∂r ewodeba puasonis frCxilebi.
cz
puasonis frCxilebis am ganmartebidan advilad mii-
dϕ ∂H pϕ dpϕ ∂H
= = , =− =0 Reba misi zogierTi Tviseba, romelsac Semdeg gamo-
dt ∂pϕ I cz + mr 2
dt ∂ϕ
viyenebT
radgan sistemaze moqmedi bmebi stacionarulia,
1) (ϕ , −ψ ) = − (ϕ ,ψ ) = (ψ , ϕ ) . (ϕ , −ψ ) = − (ϕ ,ψ ) = (ψ , ϕ ) (21.2)
amitom hamiltonis funqcia ar aris droze cxadad
2) Tu с nebismieri mudmivia, maSin
damokidebuli da H=T –П= const .
(ϕ , c ) = 0 (21.3)
1 ⎛ pr2 pϕ2 ⎞
⎜⎜ + ⎟ −U (r) = h ,
2 ⎝ m I cz + mr 2 ⎟⎠ 3) (ϕ ,ψ ) -s kerZo warmoebuli t droiT iqneba

anu ∂ϕ ∂ϕ ∂ψ
∂() ∂( ) ∂( )
∂ Ω
2 s
∂ t ∂ψ ∂ t ∂ψ s
∂ϕ ∂t
mpϕ2 = ∑[ − ] + ∑[ −
pr2 + − 2mU ( r ) = h1 . ∂u 2 j =1 ∂q j ∂p j ∂p j ∂q j j =1 ∂q j ∂p j
I cz + mr 2 (21.4)
∂ψ
∂( )
∂ϕ ∂t ∂ϕ ∂ψ
− ] = ( ,ψ ) + (ϕ , ).
∂p j ∂q j ∂t ∂t

83 84
 $22. iakobis igiveoba Semdegi ori frCxili SeiZleba miviRoT f ,φ ,ψ
funqciebis cikluri gada-adgilebiT.
ganvixiloT p,q kanonikur cvladebze da t droze
(ϕ (ψ , f ) ) = ∂∂ϕq ⎜ ∂∂qψ∂p ∂∂pf + ∂∂ψq ∂∂p f ∂ 2ψ ∂f ∂ 2 f ∂ψ
⎛ 2 2
⎞
− − ⎟−
damokidebuli sami funqcia f ,φ ,ψ. vaCvenoT, rom ⎝
2
∂p 2 ∂q ∂p∂q ∂p ⎠
( f , (ϕ ,ψ ) ) + (ϕ , (ψ , f ) ) + (ψ , ( f , ϕ ) ) ≡ 0 . (22.1) ∂ Ω ⎛ ∂ ψ ∂f ∂ψ ∂ 2 f
2
− 2 ⎜ 2
2
+ −
∂ 2ψ ∂f ∂ψ ∂ 2 f ⎞
− ⎟.
am igiveobas ewodeba iakobis igiveoba
∂u ⎝ ∂q ∂p ∂q ∂p∂q ∂p∂q ∂q ∂p ∂q 2 ⎠

SevamowmoT es igiveoba erTi Tavisuflebis xarisxis (22.6)

mqone sistemisaTvis, e.i. rodesac f ,φ ,ψ. funqciebi ∂ψ ⎛ ∂ 2 f ∂ϕ ∂f ∂ 2ϕ ∂ 2 f ∂ϕ ∂ 2ϕ ∂f ⎞

(ψ ( f , ϕ ) ) = ∂q
⎜
∂p ∂ q ∂p
+
∂q ∂p 2
− 2
∂p ∂q
−
∂p ∂q ∂p
⎟−
damokidebulia erT p ganzogadebul koordinatze da ⎝ ⎠
erT q ganzogadebul impulsze. ∂ψ ⎛ ∂ 2 f ∂ϕ ∂f ∂ 2ϕ ∂ 2 f ∂ϕ ∂f ∂ 2ϕ ⎞
− ⎜ 2 + − − 2 ⎟
.
gamovTvaloT pirveli Sesakrebi: ∂p ⎝ ∂q ∂p ∂q ∂p∂q ∂p∂q ∂p ∂p ∂q ⎠

∂f ∂ (ϕ ,ψ ) ∂f ∂ (ϕ ,ψ ) (22.7)
( f , (ϕ ,ψ ) ) = ∂q ∂p
−
∂p ∂q
. (22.2)
advili Sesamowmebelia, rom (22.5), (22.6) da (22.7)
tolobebis SekrebiT miviRebT (22.1) igiveobas.
∂ (ϕ ,ψ ) ∂ 2ϕ ∂ψ ∂ϕ ∂ 2ψ ∂ 2ϕ ∂ψ ∂ϕ ∂ 2ψ
= + − − . (22.3)
∂p ∂q∂p ∂p ∂q ∂p 2 ∂p 2 ∂q ∂p ∂p∂q
$23. puasonis Teorema
∂ (ϕ ,ψ ) ∂ ϕ ∂ψ ∂ϕ ∂ ψ
2
∂ ϕ ∂ψ ∂ϕ ∂ ψ
2 2 2
= + − − . (22.4)
∂q ∂q ∂p ∂q ∂p∂q ∂p∂q ∂q ∂p ∂q 2
2
ganvixiloT dinamikis kanonikuri gantolebebi
Tu CavsvamT (22.3) da (22.4)-s (22.2)-Si, miviRebT
dq j ∂H dp j ∂H
∂f ⎛ ∂ ϕ ∂ψ ∂ϕ ∂ ψ ∂ ϕ ∂ψ ∂ ψ ∂ϕ ⎞
2 2 2 2 = , =− , ( j = 1, 2,...., s ) . (23.1)
( f (ϕ ,ψ ) ) = + − − dt ∂p j dt ∂q j
⎜ ⎟−
∂q ⎝ ∂q∂p ∂p ∂q ∂p 2 ∂p 2 ∂q ∂p∂q ∂p ⎠
davadginoT, ra pirobebs unda akmayofilebdes f
∂f ⎛ ∂ 2ϕ ∂ψ ∂ϕ ∂ 2ψ ∂ 2ϕ ∂ψ ∂ϕ ∂ 2ψ ⎞
− ⎜ 2 + − − ⎟ funqcia, imisaTvis rom f ( q1 , q2 ,..., qs ; p1 , p2 ,..., ps ; t ) = c
∂p ⎝ ∂q ∂p ∂q ∂p∂q ∂p∂q ∂q ∂p ∂q 2 ⎠
iyos (23.1) sistemis integrali.
(22.5)

85 86
vinaidan f funqcia mudmivia, (23.1)-dan gansazRvruli ∂ϕ ∂ψ
+ (ϕ , H ) ≡ 0 , + (ψ , H ) ≡ 0 . (23.5)
yvela p da q -saTvis gveqneba: ∂t ∂t
s ⎛
iakobis (22.1) igiveobis Tanaxmad
df ∂f ∂f ∂f ⎞
= + ∑⎜ qj + pj ⎟ ≡ 0
dt ∂t j =1 ⎜⎝ ∂q j ∂p j ⎟
⎠
(23.2)
( H , (ϕ ,ψ ) ) + (ϕ (ψ , H ) ) + (ψ ( H , ϕ ) ) ≡ 0 . (23.6)

SevitanoT (23.2) igiveobaSi (23.1) sistemidan gansaz- (23.5)-dan

∂ϕ ∂ψ
Rvruli q j da p j . (ϕ , H ) = − , (ψ , H ) = −
∂t ∂t
s ⎛ ⎞
∂f ∂f ∂H ∂f ∂H
+ ∑⎜ − ⎟⎟ ≡ 0 (23.3) miviRoT agreTve mxedvelobaSi, rom
∂t j =1 ⎜⎝ ∂q j ∂p j ∂p j ∂q j ⎠ ∂ϕ
( H , ϕ ) = − (ϕ , H ) = .
Tu visargeblebT puasonis frCxilebis gamosaxu- ∂t
lebiT, (23.3)-dan miviRebT Tu am tolobebs CavsvamT (23.6)-Si, miviRebT

( H , (ϕ ,ψ ) ) + ⎜⎛ ϕ , − ∂∂ψt ⎟⎞ + ⎜⎛ψ , ∂∂ϕt ⎟⎞ ≡ 0

∂f
+( f ,H) ≡ 0 (23.4)
∂t ⎝ ⎠ ⎝ ⎠
(23.4) warmoadgens aucilebel da sakmaris pirobas anu
imisaTvis, rom f=c iyos
( (ϕ ,ψ ) , H ) + ⎛⎜ ϕ , ∂∂ψt ⎞⎟ + ⎛⎜ ∂∂ϕt ,ψ ⎞⎟ ≡ 0 .
(23.1) kanonikuri sistemis
(23.7)
integrali. ⎝ ⎠ ⎝ ⎠
puasonis Teorema. Tu funqciebi ϕ ( q, p; t ) = a da (21.4)-is Tanaxmad

ψ ( q, p; t ) = b warmoadgens (23.1) kanonikuri sistemis ⎛ ∂ϕ ⎞ ⎛ ∂ψ ⎞ ∂ (ϕ ,ψ )

⎜ ,ψ ⎟ + ⎜ ϕ , ⎟= .
⎝ ∂t ⎠ ⎝ ∂t ⎠ ∂t
pirvel integralebs, maSin (ϕ ,ψ ) = c agreTve iqneba
am tolobis gaTvaliswinebiT (23.7)-dan vRebulobT
imave sistemis integrali.
∂ (ϕ ,ψ )
radgan φ=a da ψ=b (23.1) sistemis pirveli + ( (ϕ ,ψ ) , H ) ≡ 0 . (23.8)
∂t
integralebia, maSin (23.4) pirobis Tanaxmad adgili
(23.8) igiveobidan gamomdinareobs, rom (ϕ ,ψ ) = c aris
eqneba tolobebs:
(23.1) sistemis integrali, rac unda dagvemtkicebina.

87 88
ganvixiloT SemTxveva, rodesac HH funqcia droze Tu gvaqvs integralTa sistema
cxadad ar aris damo-kidebuli ( fi , f k ) ≡ 0, ( i, k = 1, 2,..., m ) , aseT sistemas ewodeba invo-
∂H
= 0. (23.9) luciuri. am SemTxvevaSi puasonis frCxilebis dax-
∂t
marebiT axal integralebs ver miviRebT.
vTqvaT, cnobilia droze damokidebuli pirveli
amocana. cnobilia, rom hamiltonis funqcias aqvs
integrali f(t,q,p) = c,
saxe
maSin f funqcia akmayofilebs puasonis pirobas
H = q1 p1 − q2 p2 − aq12 + bq22 .
∂f
+( f ,H) ≡ 0. SevamowmoT huasonis pirobiT, aris Tu ara funqcia
∂t
gavawarmooT es igiveoba droiT p2 − bq2
f =
q1
∂ 2 f ⎛ ∂H ⎞ ⎛ ∂f ⎞
+⎜ f, ⎟+⎜ ,H ⎟ ≡ 0 (23.10) kanonikuri gantolebebis pirveli integrali,
∂t 2 ⎝ ∂t ⎠ ⎝ ∂t ⎠
(23.9) pirobis Tanaxmad meore Sesakrebi nulis romelic Seesabameba moce-mul H funqcias.

tolia; miviRebT gamoviyenoT puasonis piroba, romlis Tanaxmad

pirveli integrali akma-yofilebs pirobas
∂ ⎛ ∂f ⎞ ⎛ ∂f ⎞
⎜ ⎟+⎜ ,H ⎟ ≡ 0 (23.11)
∂f
∂t ⎝ ∂t ⎠ ⎝ ∂t ⎠ mocemul SemTxvevaSi = 0 . SevadginoT puasonis
∂t
∂f
aqedan = c , akmayofilebs puasonis pirobas, e.i. frCxili
∂t
⎛ ∂f ∂H ∂f ∂H ⎞ ⎛ ∂f ∂H ∂f ∂H ⎞
warmoadgens sistemis pirvel integrals. SeiZleba am
( f ,H) = ⎜ − ⎟+⎜ − ⎟. (a)
gziT miviRoT sistemis pirveli integralebi, manam, ∂q
⎝ 1 1∂p ∂p1 ∂q1 ⎠ ⎝ 2 2 ∂p2 ∂q2
∂q ∂p ⎠
sanam ar miviRebT drosagan damoukidebel pirvel vipovoT warmoebulebi
integrals an ukve cnobil pirvel integrals. Tu
∂f
= 0 , maSin ( f ,H) ≡ 0 da amitom ( f ,H) ukve ar
∂t
iqneba sistemis integrali.

89 90
 beli qj cvladebiTa da am integralSi Semavali
∂f p − bq ∂f ∂f b ∂f 1 nebismieri mudmivebiT gawarmoebiT.
=− 2 2 2, = 0, =− , = ;
∂q1 q1 ∂p1 ∂q2 q1 ∂p2 q1 ganvixiloT s funqcia, romelic damokidebulia
∂H ∂H ∂H ∂H q1 , q2 ,..., qs ganzogadebul koordinatebze, t droze da
= p1 − 2aq1 , = q1 , = − p2 + 2bq2 , = − q2
∂q1 ∂p1 ∂q2 ∂p2
Seicavs a1 , a2 ,..., as +1 mudmivs. am mudmivebis raodenoba
CavsvaT es tolobebi (a)-Si, miviRebT
tolia cvladebis raodenobis t-s CaTvliT.
p − bq ⎡b 1 ⎤
( f , H ) = − 2 2 2 q1 + ⎢ q2 − ( − p2 + 2bq2 ) ⎥ = s = s ( q1 , q2 ,..., qs ; t ; a1 , a2 ,..., as , as +1 ) (24.1)
q1 ⎣ q1 q1 ⎦
bq2 bq2 2bq2 SevadginoT am funqciis kerZo warmoebulebi
= + − ≡0
q1 q1 q1 t , q1 , q2 ,..., qs cvladebiT
amrigad, f warmoadgens sistemis pirvel integrals. ∂s
= p0 ( q1 , q2 ,..., qs ; t ; a1 , a2 ,..., as +1 ) ,
∂t
∂s
= p1 ( q1 , q2 ,..., qs ; t ; a1 , a2 ,..., as +1 ) ,
$24. hamiltonis dinamikuri gantolebebis integrebis
meTodi ∂q1
∂s
(iakobis meTodi) = p2 ( q1 , q2 ,..., qs ; t ; a1 , a2 ,..., as +1 ) , (24.2)
∂q2
..........................................................
1. ZiriTadi cnebebi
∂s
meTodis ZiriTadi azri mdgomareobs SemdegSi: imi- = ps ( q1 , q2 ,..., qs ; t ; a1 , a2 , ..., as +1 ) .
∂qs
saTvis, rom vipovoT hamiltonis kanonikuri ganto-
(24.1) d (24.2) sistema Seicavs s+2 gantolebas, am
lebebis yvela pirveli integrali, sakmarisia vain-
sistemidan gamovricxoT a1 , a2 ,..., as +1 mudmivebi. am
tegriroT garkveuli pirveli rigis kerZowar-
moebuliani diferencialuri gantoleba, e.i. ganvsaz- mudmivebis gamoricxvis Sedegad dasaSvebia ori

RvroT am gantolebis sruli integrali. maSin kano- SemTxveva. pirvel SemTxvevaSi SeiZleba miviRoT

nikur gantolebaTa sistemis pirveli integralebi ∂s ∂s

erTi damokidebuleba s, , , q j , t sidideebs Soris
miiReba aRniSnuli sruli integralis damoukide- ∂q j ∂t

91 92
 ⎛ ∂s ∂s ∂s ∂s ⎞
f ⎜ t ; q1 , q2 ,..., qs ; ; , ,..., ⎟=0 (24.3)
⎝ ∂t ∂q1 ∂q2 ∂qs ⎠ am gantolebas ewodeba hamilton-iakobis gantoleba.
es aris pirveli rigis kerZowarmoebulebiani dife-
meore SemTxvevaSi SeiZleba miviRoT ramdenime
damokidebuleba. aseT SemTxvevaSi ar arsebobs erTi rencialuri gantoleba s funqciis mimarT. es fun-

diferencialuri gantoleba, romlisTvisac iqneba qcia damokidebulia s+1 cvladze, vinaidan S funqcia

sruli integrali. cxadad ar Sedis gantolebaSi, amitom srul

pirvel SemTxvevaSi (24.3) damokidebuleba integrals eqneba saxe

warmoadgens pirveli rigis kerZowarmoebulian di- S = S ( t ; q1 , q2 ,..., qs ; a1 , a2 ,..., as ) + as +1 (24.5)

ferencialur gantolebas S funqciis mimarT. am sadac a warmoadgens aditiur mudmivs.
SemTxvevaSi (24.1) tolobiT gansazRvruli S funqcia hamilton-iakobis Teorema
warmoadgens (24.3) diferencialuri gantolebis Tu cnobilia (24.4) gantolebis sruli integrali,
srul integrals. maSin kanonikuri sistemis
2. hamilton-iakobis Teorema ∂H ∂H
qj = , pj = − , ( j = 1, 2,..., s ) (24.6)
hamilton-ikobis meTodi iZleva saSualebas kanoni- ∂p j ∂q j
kuri gantolebebis 2S pirveli integralis moZebna yvela pirvel integrals eqneba saxe
daviyvanoT pirveli rigis kerZowarmoebuliani dife-
∂S
rencialuri gantolebis sruli integralis povnis = β j , ( j = 1, 2,..., s ) (24.7)
∂a j
amocanaze.
∂S
hamiltonisHH funqciis gamosaxulebaSi ganzogade- = p j ( j = 1, 2,..., s ) (24.8)
∂q j
buli impulsebi SevcvaloT ucnobi s funqciis war-
moebulebiT da SevadginoT Semdegi saxis kerZowar- sadac β j _ axali nebismieri mudmivebia.

moebulebiani diferencialuri gantoleba. damtkicebisaTvis sakmarisia yoveli (24.7), (24.8)

∂s ⎛ ∂s ∂s ∂s ⎞ gavawarmooT droiT da davrwmundeT, rom masSi (24.6)

+ H ⎜ t ; q1 , q2 ,.., qs ; , ,..., ⎟=0 (24.4)
∂t ⎝ ∂q1 ∂q2 ∂qs ⎠

93 94
kanonikuri sistemebis Casmis Semdeg miviRebT igivu- ∂2 S s
∂ 2 S ∂H ∂H ∂2 S
+∑ + = +
rad nuls. ∂q j ∂t k =1 ∂q j ∂qk ∂qk ∂qk ∂q j ∂t
gavawarmooT (24.7), (24.8) gantolebebi droiT. amasTan, s
∂H ∂H ∂ ⎡ ∂S ⎤
+∑ + = ⎢ + H ( t ; q1 , q2 ,..., qs ; a1 , a2 ,..., as ) ⎥ ≡ 0
gaviTvaliswinoT, rom qj da pj drois funqciebia. k =1 ⎛ ∂S ⎞ ∂qk ∂q j ⎣ ∂t ⎦
∂⎜ ⎟
miviRebT ⎝ ∂qk ⎠
Tu miviRebT mxedvelobaSi (24.4), es gamosaxulebac
∂2 S s
∂2 S
+∑ qk = 0 (24.9)
∂a j ∂t k =1 ∂a j ∂qk igivurad nulis tolia, r.d.g.
amocana. m masis nivTieri wertili moZraobs wrfeze
∂2 S s
∂2 S
+∑ qk − p j = 0 (24.10) centrisaken mizidulobis Zalis gavleniT. vipovoT
∂q j ∂t k =1 ∂q j ∂qk
wertilis moZraobis gantoleba hamilton-iakobis
Tu miviRebT mxedvelobaSi (24.6) kanonikur gantole-
meTodis gamoyenebiT.
bebs, (24.9)-is marcxena mxare miiRebs saxes
wertilis Tavisuflebis xarisxi erTis tolia.
∂ S
2 s
∂H ∂ S 2
+∑ , anu ganzogadebuli koordinati q iqneba manZili
∂a j ∂t k =1 ∂p j ∂a j ∂qk
centridan wertilamde. potencialuri energia
∂ S
2 s
∂ H 2
∂ S 2
+∑
iqneba-
∂a j ∂t k =1 ⎛ ∂S ⎞ ∂a j ∂qk q
∂⎜ ⎟ cq 2
⎝ ∂qk ⎠ П = ∫ cqdq = .
o
2
miRebuli gamosaxuleba warmoadgens (24.4)-is
kinetikuri energia
warmoebuls a j -Ti da igivurad nulis tolia.
mq 2
T= .
∂ ⎡ ∂S ⎛ ∂S ∂S ∂S ⎞⎤ 2
⎢ + H ⎜ t ; q1 , q2 ,..., qs ; , ,..., ⎟⎥ ≡ 0
∂a j ⎣ ∂t ⎝ ∂q1 ∂q2 ∂qs ⎠⎦ lagranJis funqcia

aqedan gamomdinare (24.2) warmoadgens igiveobas, rd.g. mq 2 cq 2

L =T −П = − .
(24.6) kanonikuri gantolebebis gaTvaliswinebiT 2 2
(24.10) ase gadaiwereba ganzogadebuli impulsi

95 96
 ∂L ∂s
p= = mq , p= = 2mh − mcq 2 .
∂q ∂q
saidanac moZraobis gantoleba iqneba
p dS mdq
q= . = −t + ∫ = t0 .
m dh 2mh − mcq 2
hamiltonis funqcia
m c
mq 2 cq 2 p 2 cq 2 t + t0 = arcsin q
H =T +П = + = + = h. c 2h
2 2 2 2
mdq
wertilis moZraobis kanonikuri gantolebebi iqneba ∫ 2mh − mcq 2
= t + t0 .
dq ∂H p dp ∂H
= = , =− = −cq 2h 2 c
dt ∂p m dp ∂q aRvniSnoT A2 = , ω = , miviRebT
c m
SevadginoT hamilton-iakobis gantoleba. AmisTvis
hamiltonis funqciaSi ganzogadebuli impulsi q = A sin ω ( t + t0 ) .

SevcvaloT ucnobi funqciis warmoebuliT aRvniSnoT ω t0 = β , maSin

q = A sin (ω t + β ) .
2
1 ⎛ ∂S ⎞
⎜ ⎟ + mcq = h
2

2m ⎝ ∂q ⎠
aqedan
dS
= 2mh − mcq 2 ,
dq
s0 = ∫ 2mh − mcq 2 dq

sruli integrali iqneba

S = −ht + ∫ 2mh − mcq 2 dq

ganzogadebuli impulsi

97 98
 Tavi V. klasikuri meqanikis variaciuli
integraluri principebi

$25. hamiltonis umciresi qmedebis principi

vTqvaT, sistema t=t1 momentSi imyofeba

konfiguraciuli sivrcis A wertilSi, xolo t=t2
momentSi B–Si, e.i. rodesac t=t1 gvaqvs

q1 = ( q1 ) A , q2 = ( q2 ) A ,..., qs = ( qs ) A , xolo, roca t=t2,

ganvixiloT dinamikis zogadi gantoleba
q1 = ( q1 ) B , q2 = ( q2 ) B ,..., qs = ( qs ) B . A-dan B–Si sistema
n
SeiZleba gadavides sxvadasxva gziT, am gzebis ∑ ( F − m w )δ r
i =1
i i i i =0
SesaZlo traeqtoriebs uwodeben. maTgan erTerTi
anu
iqneba namdvili traeqtoria. sainteresoa, gairkves
n n
is pirobebi, romelic sistemas aiZulebs imoZraos
∑ Fiδ ri + ∑ ( −mi wiδ ri ) = 0 .
i =1 i =1
namdvili traeqtoriis gaswvriv. am kiTxvaze
n
pasuxobs hamiltonis umciresi qmedebis principi, aq ∑ Fδ r
i =1
i i =δA warmoadgens mocemuli Zalebis
romelic ase Camoyalibdeba:
yvela SesaZlo traeqtoriebidan, romelic muSaobas δ ri SesaZlo gadaadgilebaze, xolo
gadis sawyis da bolo wertilebze, sistema irCevs gadaadgilebis δ ri veqtori warmoadgens ri radius-
imas, romlis gaswvrivac qmedebas aqvs eqstremaluri
veqtoris sinqronul variacias. gardavqmnaT
mniSvneloba.
skalaruli namravli

d d ⎛ d ⎞
− mi wi δ ri = −mi δ ri = − ( mi vi δ ri ) + ⎜ mi vi δ ri ⎟
dt dt ⎝ dt ⎠

99 100
 d dr δ A = −δ П ,
vinaidan variacia sinqronulia δ ri = δ i = δ vi ,
dt dt δ T + δ A = δ T − δ П = δ (T − П ) = δ L.
amitom am tolobebis gaTvaliswinebiT amrigad, konservatuli sistemisTvis (25.2)-dan
n n n
d
∑ ( −m w δ r ) = − dt ∑ ( m v δ r ) + ∑ m v δ v
vRebulobT
i i i i i i i i =
i =1 i =1 i =1 t2

d n
mv d n 2 n
∫ δ Ldt = 0 . (25.3)
=− ∑
dt i =1
( mi viδ ri ) + δ ∑
i =1 2
= − ∑ ( mi vi δ ri ) + δ T
dt i =1
i i
t1

SemovitanoT aRniSvna
amrigad, dinamikis zogadi gantoleba SeiZleba ase
t2

∫ Ldt = S .
Caiweros
n
d t1
δT + δ A = ∑ ( mi viδ ri )
dt i =1
(25.1)
S ewodeba hamiltonis qmedeba. (25.3)-dan vRebulobT
SesaZlo traeqtoriebi ikveTeba AA da BB δS =0 (25.4)
wertilebSi drois t=t1 da t=t2 momentebSi, e.i. or mocemul konfiguracias Soris sistemis nam-

δ ri ( t1 ) = δ ri ( t2 ) = 0 . dvili moZraoba imiT gansxvavdeba imave konfigu-

raciebs Soris drois imave SualedSi kinematikurad
vaintegroT (25.1) toloba (t1 , t2) sazRvrebSi
dasaSvebi moZraobebisagan, rom namdvili moZraobi-
t2 t2
⎛d n ⎞ n
∫t ( δ T + δ A ) ∫ ⎜ ∑ ( i i i ) ⎟ = ∑ ( mi viδ ri ) |tt12 =
= m v δ r dt saTvis hamiltonis qmedebis variacia nulis tolia,
t1 ⎝
dt i =1 ⎠ i =1
1 anu namdvili moZraobisaTvis hamiltonis qmedebas
n n
= ∑ mi vi ( t2 ) δ ri ( t2 ) − ∑ mi vi ( t1 ) δ ri ( t1 ) = 0 aqvs stacionaruli mniSvneloba.
i =1 i =1

miviRebT
$26. hamiltonis gantolebebis gamoyvana hamiltonis
t2

∫ (δ T + δ A)dt = 0
principidan
(25.2)
t1

Tu Zalebi konservatulia hamiltonis principis Tanaxmad

101 102
 t2 t2

δ S = δ ∫ Ldt = ∫ δ Ldt = 0 (26.1)

d ⎛ ∂L ⎞ ∂L
= 0 , ( j = 1, 2,..., s )
t1 t1
⎜ ⎟⎟ − (26.5)
dt ⎜⎝ ∂q j ∂q
lagranJis funqcia L ( q j , q j ; t ) aris ganzogadebuli ⎠ j

(26.5) warmoadgens lagranJis meore gvaris gantole-

koordinatebis, ganzogadebuli siCqareebisa da dro-
baTa sistemas.
is funqcia. am funqciis varirebiT miviRebT
hamiltonis principidan aseTive wesiT SeiZleba mivi-
t2
⎛ s ∂L s
∂L ⎞
⎜ ∑
∫t ⎜ j =1 ∂q j δ q j + ∑
j =1 ∂q j
δ q j ⎟⎟dt = 0 (26.2) RoT meqanikis kanonikuri gantolebebi. hamiltonis
1 ⎝ ⎠ qmedebis funqcias aqvs saxe
gamoviyenoT meore jamis wevrebis mimarT nawilo- t2

biTi integrebis wesi da visargebloT izoqronuli S = ∫ Ldt (26.6)

t1
variaciebiosaTvis komutaturobis piro-biT,amasTan
s

erTad, gaviTvaliswinoT, rom δ q j |tt = 0

2 vinaidan hamiltonis funqcia H = ∑ q j p j − L , aqedan
1
j =1
t2 t2 t2
∂L ∂L d ∂L
( δ qj ) = ∫ d (δ q j ) −
s
∫ ∂q
t1 j
δ q j dt = ∫
t1
∂q j dt t1
∂q j
L = ∑ qj pj − H
j =1
(26.3)
d ⎛ ∂L ⎞ d ⎛ ∂L ⎞
t2 t2
∂L CavsvaT es gamosaxuleba (26.6)-Si
= δ q j |tt12 − ∫ ⎜ ⎟⎟ δ q j dt = − ∫ ⎜⎜ ⎟⎟ δ q j dt
∂q j dt ⎜⎝ ∂q j ⎠ dt ⎝ ∂q j ⎠
t1 t1 ⎛ s t2
⎞
S = ∫ ⎜ ∑ q j p j − H ⎟ dt .
t1 ⎝ j =1 ⎠
(26.3) CavsvaT (26.2) gantolebaSi. miviRebT
t2 s ⎡ ∂L d ⎛ ∂L ⎞⎤ hamiltonis principis Tanaxmad δS=0 e,i
∫ ∑ ⎢ ∂q − ⎜
dt ⎜⎝ ∂q j
⎟⎟ ⎥δ q j dt = 0 (26.4)
⎣⎢ ⎠ ⎦⎥ ⎛ ⎞
t2 s
t1 j =1 j
δ ∫ ⎜ ∑ q j p j − H ⎟ dt = 0 anu
vinaidan integrebis intervali nebismieria, xolo t1 ⎝ j =1 ⎠
δ q j variaciebi damoukidebelia, amitom am integra- t2
⎛ s ⎞ t2

δ ∫ ⎜ ∑ q j p j ⎟ dt − δ ∫ Hdt = 0 . (26.7)
lis nulTan tolobidan gamomdinareobs integral- t1 ⎝ j =1 ⎠ t1

qveSa funqciis nulTan toloba, miviRebT

103 104
miviRoT mxedvelobaSi, rom ganzogadebuli siCqare-
ebi da ganzogadebuli impulsebi damoukidebeli miRebuli gantolebebi warmoadgens meqanikis kanoni-
d kur gantolebebs.
cvladebia, δ qj = δ qj da t=t1 da t=t2
dt
momentebisaTvis - δ q j = 0 . $27. mopertui-lagranJis umciresi qmedebebis

t2 s t2 s t2 principi
d s
δ ∫ ∑ q j p j dt = ∫ (∑ p j δq j + ∑ q j δp j )dt = ∫ (∑ p j q j )dt −
t1 j =1 t1 j =1 t1
dt j =1
t

∫
t2 t2 t2
s s s s
funqcias w = 2Tdt ewodeba qmedeba lagranJis
− ∫ ∑ p j δq j dt + ∫ ∑ q j δq j dt = ∑ p j δq j / tt12 + ∫ ∑ (q j δp j − 0
t1 j =1 t1 j =1 j =1 t1 j =1
t2 s
mixedviT. polonomuri konservatuli sistemis nam-
− p j δq j )dt = ∫ ∑ (q j δp j − p j δq j )dt dvili moZraobisas or AA daBB konfiguracias
t1 j =1
Soris. w-s aqvs eqstremumi am funqciebis mniSvnelo-
(26.8)
basTan SedarebiT sxva kinematikurad SesaZlo gada-
(26.7)-is meore integralis variacia iqneba
adgilebaze, romelic xdeba imave konfigura-ciebs
t2 t2
⎛ ∂H t2 s
∂H ⎞
δ ∫ Hdt = ∫ δ Hdt = ∫ ∑ ⎜ δ qj + δ p j ⎟dt (26.9) Soris imave energiiT.
⎜ ∂q j ∂p j ⎟
t1 t1 t1 j =1 ⎝ ⎠ erTmaneTTan vadarebT iseT SesaZlo traeq-
Tu SevitanT (26.8) da (26.9)-s (26.7)-Si, miviRebT toriebs, romelTaTvisac energiis variacia nulis
t2
⎡ s ⎛ ∂H ⎞ s ⎛
∂H ⎞ ⎤ tolia, rac imas niSnavs, rom namdvil da virtu-
∫t ⎢⎢∑ ⎜⎜ q j −
j =1 ⎝ ∂p j
⎟⎟ δ p j − ∑ ⎜⎜ p j +
∂q j
⎟⎟ δ q j ⎥dt = 0 .
⎥⎦
(26.10)
alur gzebze sistemas hqondes erTi da igive ener-
1 ⎣ ⎠ j =1 ⎝ ⎠
gia, amitom sistemis mdebareobas namdvil da virtu-
vinaidan δ p j da δ q j damoukidebeli variaciebia, in-
alur gzebze aRar Seesabameba drois erTi da igive
tegralis nulTan tolobidan gamomdinareobs maTi
momenti. Gvaqvs δ E = 0 da unda moviTxovoT, rom δt≠0.
koeficientebis nulTan toloba. aqedan vRebulobT
AA--dan AB konfiguraciaSi gadasvlis dros sxva-
∂H ∂H
qj = , pj = − , ( j = 1, 2,..., s ) (26.11) dasxva kinematikurad SesaZlo moZraobisaTvis sxva-
∂p j ∂q j

105 106
dasxvaa. amitom integralis sazRvari t cvladis si-
didea. s ⎛ d ∂L ⎞ d ⎛ s ∂L ⎞ s ∂L d
∑ ⎜⎜ Δ
⎟⎟ j
q = ⎜∑
dt ⎜⎝ j =1 ∂q j
Δq j ⎟⎟ − ∑ ( Δq j ) =
j =1 ⎝ dt ∂q j ⎠ ∂
imisaTvis, rom w integrali iyos stacionaruli, q dt
⎠ j =1 j
(27.4)
aucilebelia misi sruli variacia iyos nulis
d ⎛ s ∂L ⎞ s ∂L ⎡ d ⎤
= ⎜∑ Δq j ⎟⎟ − ∑ ⎢⎣ Δq j + q j dt Δq j ⎥⎦,
toli. dt ⎜⎝ j =1 ∂q j ⎠ j =1 ∂q j
t
Δw = Δ ∫ 2Tdt = 0 (27.1) (27.2)-is Tanaxmad
0 s
∂L s
∂T
vinaidan konservatuli sistemisaTvisTT+H=h, xolo ∑
j =1 ∂q j
Δq j = 2 ∑
j =1 ∂q j
Δq j (27.5)

lagranJis funqcia L=T-П,Lgveqneba

gamoviyenoT eileris Teorema erTgvarovani
L=2T-П (27.2)
funqciebisaTvis
stacionaruli qmedebis principis dasadgenad
s ⎛ ∂L ⎞d d s ⎛
∂T ⎞ d
visargebloT lagranJis meore gvaris gantolebebiT ∑ ⎜⎜ ∂q q j ⎟ Δt = ( Δt ) ∑ ⎜
⎟ dt dt ⎜
j =1 ⎝ ∂q j
q j ⎟ = 2T Δt
⎟ dt
(27.6)
j =1 ⎝ j ⎠ ⎠
d ⎛ ∂L ⎞ ∂L
⎜ ⎟⎟ − = 0, ( j = 1, 2,..., s ) Tu (27.5) da (27.6) SevitanT (27.4)-Si, miviRebT
dt ⎜⎝ ∂q j ⎠ ∂q j
s ⎛ d ∂L ⎞ d ⎛ s ∂L ⎞ s
∂T d
gavamravloT TiToeuli gantoleba Δqj–ze da ∑ ⎜
⎜ ⎟
⎟
j =1 ⎝ dt ∂q j ⎠
Δq j = ⎜ ∑
dt ⎜⎝ j =1 ∂q j
Δq j ⎟
⎟
− 2 ∑
j =1 ∂q j
Δq j − 2T Δt (27.7)
dt
SevkriboT.
⎠
gardavqmnaT (27.3)-is meore jami
s
d ⎛ ∂L ⎞ s
∂L
∑ ⎜⎜ ⎟⎟Δq j − ∑ Δq j = 0 . s
∂L s
∂T
j =1 dt ⎝ ∂q j ⎠ j = 1 ∂q j ∑ ∂qj =1
Δq j = 2∑
j =1 ∂q j
Δq j (27.8)
j
(27.3) gardavqmnaT pirveli jami
(27.7) da (27.8) CavsvaT (27.3)-Si

d ⎛ s ∂L ⎞ s
∂T d s
∂T
⎜⎜ ∑ Δq j ⎟ − 2∑
⎟
Δq j − 2T ( Δt ) − 2∑ Δq j = 0 ,
dt ⎝ j =1 ∂q j ⎠ j =1 ∂q j dt j =1 ∂q j

saidanac

107 108
 d ⎛ s ∂L ⎞ s ⎡ ∂ ( 2T ) ∂ ( 2T ) ⎤ d ( Δt ) SesaZlo traeqtoriebis boloebSi ganzogadebuli
⎜⎜ ∑ Δq j ⎟ = ∑⎢
⎟ j =1 ⎢ ∂q j
Δq j + Δq j ⎥ + 2T .
dt ⎝ j =1 ∂q j ⎠ ⎣ ∂ q j ⎥
⎦ dt koordinatebis sruli variacia udris nuls, saida-
nac
aq
s
∂L
s ⎡ ∂ ( 2T ) ∂ ( 2T ) ⎤ ∑ ∂q Δq j |t0 = 0
∑ ⎢ Δq j + Δ q j ⎥ = Δ ( 2T ) . j =1 j
⎢ ∂q j
j =1 ⎣ ∂q j ⎦⎥
amitom (27.11)-dan vRebulobT
amitom t

d ( Δt ) Δ ∫ 2Tdt = 0
d ⎛ s ∂L ⎞ (27.12)
⎜⎜ ∑ Δq j ⎟ = ( Δ 2T ) + 2T
⎟
(27.9) 0
dt ⎝ j =1 ∂q j ⎠ dt
e.i. namdvili moZraobisaTvis qmedebas lagranJis
gavamravloT (27.9) gantolebis orive mxare dt -ze da mixedviT aqvs stacionaruli mniSvneloba.
vaintegroT 0-dan t-mde. amasTan qmedeba lagranJis mixedviT
s
∂L ⎡
t
d ( Δt ) ⎤ t t n
∑ ∂q Δq j |t0 = ∫ ⎢ Δ ( 2T ) + 2T
dt ⎦
⎥dt (27.10) w = ∫ 2Tdt = ∫ ∑ mi vi2 dt
j =1 j 0 ⎣ 0 0 i =1

integralis sruli variaciisTvis gvaqvs formula yovelTvis dadebiTi funqciaa.

t t t
d
Δ ∫ ϕ dt − ∫ Δϕ dt = ∫ ϕ ( Δt ) dt
0 0 0
dt
t
⎡ d ( Δt ) ⎤ t
amitom ∫0 ⎢⎣Δ ( 2T ) + 2T dt ⎥⎦dt = Δ ∫0 2Tdt , (27.10)-dan

miviRebT
t s
∂L
Δ ∫ 2Tdt = ∑ Δq j |t0 (27.11)
0 j =1 ∂q j

109 110
 gamoyenebuli literatura: sarCevi

Sesavali 3
1. a. gorgiZe, Teoriuli meqanikis kursi. dinamika Tavi I.analizuri meqanikis ZiriTadi cnebebi 5
$ 1 nivTieri wertilis moZraobis gantolebebi. 5
2. n. vekua, Teoriuli meqanikis kursi
$ 2. Tavisufali da araTavisufali sistemebi.
3. v. mamasaxlisovi, g. WilaSvili _ Teoriuli bmebi da maTi klasifikacia 6
$ 3 sistemis Tavisuflebis xarisxi. ganzogadebuli
fizika, I, meqanika, Tsu gamomcemloba, Tbilisi,
Koordinatebi 11
1967 $ 4. koordinatTa variacia. 13
$ 5. Nnamdvili, SesaZlo da virtualuri gadaadgile-
4. Н.А. Кильчевский, Курс теоретической механики, Т.
bebi. virtualuri muSaoba. idealuri bmebi. 16
Изд-во `Наука~, М 1977 $ 6. Gganzogadebuli Zalebi 22
Tavi II . meqanikis principebi. dinamikis zogadi
5. Н.Н.Бухгольц, Оснавной курс теоретической механики
gantoleba 24
часть Изд-во `Наука~, М 1966 $ 7. virtualur gadaadgilebaTa principi 24
$ 8. wonasworobis pirobebi ganzogadebul koordi-
6. Н.Б.Бутенин, Л.Л. Лунц, Д.P. Маркин, Курс
natebSi. 27
теоретической механики, Т. Изд-во `Наука~, М. 1979 $ 9. dalamberis principi 28
$ 10. dinamikis Zogadi gantoleba 32
7. А.А.Яблонский, Курс теоретической механики, часть,
Tavi III. Mmeqanikuri sistemis mozraobis
Изд-во `Наука~, М 1984 gantolebebi. 35
8. Н.И.Бать, Г.Ю. Джанелидзе, А.С. Кельзон, $ 11 sistemis kinetikuri energiis gamosaxva
ganzogadebuli siCqareebiTa da koordinatebiT 35
Теоретическая механика в примерах и задачах, Т.II, Изд- $ 12. lagranJis meore gvaris gantolebebi. 36
во `Наука~, М. 1965 $ 13 energiis ganzogadebuli integrali 44
$ 14. cikluri koordinatebi 48
9. Ф.Р. Гантмахер, Лекции по аналитической механике, $ 15 rauTis gantolebebi 49
Изд-во `Наука~, М 1965 $ 16. lagranJias pirveli gvaris gantolebebi 55
Tavi IV. Kkanonikuri gantolebebi da maTi
10. Н.Б.Бутенин, Н.А. Фуфев, Введение в аналитическую integrebis meTodebi 70
механику, Изд-во `Наука~, М 1991 $ 17 kanonikuri cvladebi 70
$ 18 hamiltonis funqcia. hamiltonis kanonikuri
11. В.В. Добронравов, Основы аналитической механики, gantolebebi 72
Изд-во `Высшая школа~, М. 1976 $ 19 kanonikuri gantolebebi arakonservatuli
sistemebisaTvis 75

111 112
$ 20 hamiltonis funqciis Tvisebebi 77
$ 21 puasonis frCxilebi 84
$ 22 iakobis igiveoba 85
$ 23 puasonis Teorema 86
$ 24 hamiltonis dinamikuri gantolebebis
integrebis meTodebi (iakobis meTodi) 91
Tavi V. klasikuri meqanikis variaciuli
integraluri principebi 99
$ 25. hamiltonis umciresi qmedebis principi 99
$ 26.MmoZraobis gantolebebios gamoyvana
hamiltonis principidan 102
$ 27 mopertiu- lagranJis umciresi qmedebis
principi 106
gamoyenebuli literature 111

113
 ibeWdeba avtorTa mier warmodgenili saxiT

gadaeca warmoebas 26.03.2009. xelmowerilia dasabeWdad

28.04.2009. qaRaldis zoma 60X84 1/16. pirobiTi nabeWdi Tabaxi 7.
tiraJi 100 egz.

sagamomcemlo saxli `teqnikuri universiteti~, Tbilisi,

kostavas 77