6β1.γ96.96(075.8) MATHEMATICAL MODEL OF MOTION OF A MILITARY TRACKED VEHICLE WITH COMBINED POWER INSTALLATION. V.V.

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1 , :. :., , /..,..,....: -, γ0β. 8.,.. - / -..: -, β006. γγ6. MAHEMAICAL MODEL OF MOION OF A MILIAY ACKED VEHICLE WIH COMBINED POWE INSALLAION V.V. Zakharov Abstract. he article investigates the process of military tracked vehicle movement with a combined power plant. he proposed mathematical model allows to study curved, controlled movement of military tracked vehicle and its components: an internal combustion engine, the generator, the traction motors. Implementation of the proposed model approach, the most accurate method to determine the main parameters of the combined power plant, military tracked vehicle. Keywords: military tracked vehicle mobility, energy storage, traction motors. eferences 1. Aleksakov Yu.F. Prospects of equipment and weapons / Yu.F. Aleksakov military thought. // Militarytheoretical journal, s Losik O.A. Are tanks future? // Arms and equipment Sergeev, L.V. heory tank / L.V. Sergeev. - Moscow: Publishing House of the Academy of Armored Forces, p. 4. Boldyrev,.N. Side loads on the bearing rollers military tracked vehicle in a turn / NBoldyrev, S. Kondakov // Herald of armored vehicles β. - s Kondakov, S.V. Simulation of motion bystrohodoy tracked vehicle with electric transmission SV Kondakov, BN Gomberg, S.V. Kondakov, LS Nosenko, OO Pavlovskaya // Vestnik of SU- SU. "Engineering" series Vol number 37 - Chelyabinsk: Acad. SUSU. - s Kondakov, S.V. Increasing the mobility of highspeed tracked vehicle by automating the curvilinear motion control system: a monograph. - Chelyabinsk: Acad. South Ural State University, p. 7. Isakov, P.P. Electro-mechanical transmission track tractors / PP Isakov, PN Ivanchenko, A.D. Egorov. - L.: Engineering, p. 8. Ovchinnikov, I.E. Valve electric motors and drives on their basis / Lecture Course. - SPb.: Crown- Century, p. (,..-,), -.., (-,.,. 8,. autovic81@rambler.ru.) Zakharov Victor Yiktorovich (ussian Federation, Sankt-Peterburg) - an associate, Military Academy material and technical support named after General A.V.Hruleva Army.(Sankt-Peterburg, embankment Makarova 8, autovic81@rambler.ru) 6β1.γ96.96(075.8).. 1,.. 1, ,, Аи. -. /GPS ,. -. -, -. /GPS -. Кеые :,, GPS,,. 18 Веи СиАДИ, ы 5 (51), 2016

, - () - /GPS -, - Z S 2 X S. - - - Д1, β, γ, 4, 5Ж. 3 Y S l 3 1 O S l 1 l 2 X 0 arget Пх З Z 0 arget П Y 0 O 0. 1. arget (), O 0X 0Y 0Z 0 O SX SY SZ S Д1, 2, 3, 4, 5Ж.,, /GPS,.

2 , - () - /GPS -, - Z S 2 X S Д1, β, γ, 4, 5Ж. 3 Y S l 3 1 O S l 1 l 2 X 0 arget Пх З Z 0 arget П Y 0 O arget (), O 0X 0Y 0Z 0 O SX SY SZ S Д1, 2, 3, 4, 5Ж.,, /GPS,. - O 0 X 0 Y 0 Z 0, - -. O 0 Z 0 -, O 0 X 0 O 0 Y 0 -. arget, O 0 X 0 Y 0 Z , - O 0 X 0 Y 0 Z 0 - : Дx 01 ; y 01 ; z 01 Ж 1, Дx 02 ; y 02 ; z 02 Ж β [x 03 ; y 03 ; z 03 Ж γ. ( 1, β γ) arget: l 1, l 2, l 3 (. 1), - /GPS-, arget. - arget [x 0 ; y 0 ; z 0 Ж O 0 X 0 Y 0 Z 0, Д1, 2, 5]., 5 (51),

3 , Z S 2 X S 3 l S12 Y S x S O S 1 l 2 l 1 l 3 arget. β. - O S X S Y S Z S, 1, β γ. O S X S Y S Z S : O S X S 1 β, O S 1. γ O S X S Y S (. β). O S X S Y S Z S - - -,.., -. O S X S Y S Z S, arget [x S ; y S ; z S Ж O S X S Y S Z S. : ( 1, β γ) arget: l 1, l 2, l 3 O S X S Y S Z S : Д0; 0; 0Ж 1, [x S2 ; 0; 0Ж β Дx S3 ; y S3 ; 0Ж γ l S12 1 β. - : l S12 =x S2. (1) β. p, 1, β, arget. -, 1 arget 2 arget - l 1 l 2, p : p=(l 1 +l 2 +l S12 )/2. (2) γ. 1 β arget, arget 1 β. - Д6]: 2 p ( p ls12) ( p l1) ( p l2). (3) ls12 -,, - O S Y S Z S, Дx S ; 0; 0]. 4. x S arget Д6] (sgn ): 20 Веи СиАДИ, ы 5 (51), 2016

4 , 2 2 x sgn( l l ) l. (4) S arget, - Дx S ; 0; 0Ж l 3 - arget 3: ys zs ; ( xs3 xs ) ( ys3 ys ) ( zs ) l3. (5) (5) arget y S z S. 6. (5) y S : y S =(x S3 2 β x S3 x S +x S 2 +y S l 3 2 )/(β y S3 ). (6) Z 0 X 0 7. (5) z S, - z S : 2 2 z y. (7) S -, (4), (6) (7) - Дx S ; y S ; + z S еж Дx S ; y S ; z S ]. - -, - Д2, 3, 7Ж. 1. Z S S 2 X S 013 Y 0 O 0 = 012 Y S 3 O S 1. γ., O SX SY SZ S O 0X 0Y 0Z 0 1. [x 01 ; y 01 ; z 01 Ж 1, Дx 02 ; y 02 ; z 02 ] β Дx 03 ; y 03 ; z 03 Ж γ, O 0 X 0 Y 0 Z 0 - (. γ): 1 2: 1 x x ; y y ; z z 012 [ x012; y012; z012; 1] ; 1 γ:, (8) 013 [ x013; y013; z013;1] x03 x01 ; y03 y01 ; z03 z 01 ;1, (9) [ ; ; ;1] x y z 012, -, O S X S O S X S Y S Z S , ,,, - O S Z S, 5 (51),

5 , O S X S Y S Z S. Д6Ж : - y012 z013 z012 y013 z012 x013 x012 z [ x; y; z;1]. (10) x012 y013 y012 x013 1 γ., -,, O S Y S O S X S Y S Z S. Д6] : z y y z x z z x [ ; ; ;1] x y z. y x x y 1 (11) (8), (10) (11) O 0 X 0 Y 0 Z 0 -,, - O S X S, O S Y S O S Z S O S X S Y S Z S -. 4.,, : x 2 y 2 z 2 ; (12) x y z ; (13) x 2 y 2 z 2. (14) 5.,, - : [ ; ; ;1] / ; / ; / ; 1 xбs y БS zбs x БS БS y БS БS zбs БS ; (15) [ ; ; ;1] / ; / ; / ; 1 xвs yвs zвs x ВS ВS yвs ВS zвs ВS ; (16) [ ; ; ;1] / ; / ; / ; 1 xгs yгs zгs x ГS ГS yгs ГS zгs ГS. (17) 6. Д8Ж, -, - O S X S Y S Z S, - O 0 X 0 Y 0 Z 0, -, O S X S Y S Z S - O 0 X 0 Y 0 Z 0. A S0 - O S X S Y S Z S O 0 X 0 Y 0 Z 0 : x xвs xгs x01 y yвs yгs y01 A S0. (18) z zвs zгs z A 0S - O 0 X 0 Y 0 Z 0 - O S X S Y S Z S, A S0 [9]: 1 1 0S S0 S0 AS 0 A A A, (19) 22 Веи СиАДИ, ы 5 (51), 2016

6 , еa S0 A S0 ; A S0 A S0 [9]. 8. -, - O 0 X 0 Y 0 Z 0 : [ x ; y ; z ;1] 1, [ x ; y ; z ;1] β 03 [ x03; y03; z 03;1] γ ( ) - O S X S Y S Z S : [ x ; y ; z ;1] A (20) S1 S1 S1 S1 0S 01 [ x ; y ; z ;1] A ; (21) S2 S2 S2 S2 0S 02 [ x ; y ; z ;1] A. (22) S3 S3 S3 S3 0S 03 - x S2, x S3 y S3, ,. S1=[x S ; y S ; + z S ; 1] S 2 =[x S ; y S ; z S ; 1]. 10. S1 S 2 O S X S Y S Z S O 0 X 0 Y 0 Z 0 : [ ; (23) 1 x 1; y1; z 1; 1] AS 0 S1 [ x ; y ; z ;1] A. (24) S0 S arget z 1 z hreshold - : z 1 е hreshold; (25) z 2 е hreshold. (26) hreshold arget -, - arget -. ( ),...,. 10, - (β5), (β6), arget MALAB ( 15 ) /GPS. 1.,.. GPS/: /.. -:, β01β. 1γ6. β. /..,..,...; ,...:, γ.. - /..., ,...:, : - - /..,.. -,..,..,.. - ;.....: - -, β010. β9β GPS NAVSA. : -, β005. β7β. 6.,... /..,..,....:, β006. γβ0. 7., : - /... :, γ80. 8.,.. /..,....:, β007. γβ8., 5 (51),

7 , 9., Б. : :.. / Б.,.,.,..:., β005. 1β96. MEHOD FO DEEMINING COODINAES OAD AND BUILDING CAS ON EAH'S SU- FACE A A DISANCE BASIS UNIL HEE SA- ELLIES M.S. Korytov 1, V.S. Scherbakov 1,.Y. Suharev 1 Abstract. Describes a method for determining the coordinates of points on the surface based on the distance to three satellites. he method for determining the coordinates of the road and construction machinery on the surface of the Earth with the help of global positioning system GLONASS / GPS. he mathematical apparatus of homogeneous coordinates. Used welcome replacement for the original formulation of the solutions of the problem areas of the three equations in Cartesian coordinates to the simplified with additional constraints on the direction of the coordinate axes. he solution simplified the task acts as a stage solving the original problem. Performed computer check of the developed method, which has proved its adequacy and efficiency. he minimum number of GLONASS / GPS satellite using the developed method can be reduced from four to three to known techniques. Keywords: satellite navigation, GLONASS, GPS, coordinates, distance. eferences 1. Bogdanov, M.. GPS/GLONASS Applications: A utorial / M.. Bogdanov - Dolgoprudny: Publishing House "Intellect", p. 2. Network satellite radio navigation system / V.S. Shebshaevich, P.P. Dmitriev, N.V. Ivantsevich etc.; Ed. V.S. Shebashevich. - 2 nd ed., evised. and ext. - M.: adio and Communications, p. 3. GLONASS. he principles of construction and operation / Ed. A.I. Perov, V.N. Kharisov. Ed. 4th, evised. and ext. - M.: adio Engineering, p. 4. he equipment of high-precision positioning of the signals of global navigation satellite systems: receivers consumers of the navigation information / A.D. Boriskin, A.V. Veytsel, V.A. Veytsel, M.I. Zhodzishsky, D.S. Milutin; Ed. M.I. Zhodzishsky. - M.: Publishing House of the MAI-PIN, p. 5. Yatsenko V.S. Fundamentals of satellite navigation. Systems GPS NAVSA and GLONASS. - M: Hotline elecom, p. 6. Gusev, V.A. Geometry. Complete eference / V.A. Gusev, I.B. Kozhukhov, A.A. Prokopiev. - M.: Swallowtail, p. 7. Korytov, M.S. Automation of synthesis of optimal trajectories of movement of goods by mobile cranes in an inhomogeneous organized threedimensional space: a monograph / M.S. Korytov. - Omsk: SibADI, p. 8. Prasolov V.V. Geometry / V.V. Prasolov, V.M. ikhomirov. - M.: MsNMO, p. 9. Kormen, homas X. Algorithms: construction and analysis: transl. from English / homas X. Kormen, Charles I. Leiserson, onald L. ivest, Clifford Stein. - M.: Publishing. House "Williams", p. (, ),, «, -» «-»(644080,.,.,5, kms142@mail.ru). Щ (, ),, (644080,.,.,5, sherbakov_vs@sibadi.org). (, ),, - «-» (644080,.,.,5,) Korytov Mikhail Sergeevich (ussian Federation, Omsk) Doctor of echnical Sciences, Professor, Professor of a university department "Automobiles, construction materials and technologies", he Siberian Automobile and Highway Academy (644080, Omsk, pr. Mira, 5, kms142@mail.ru). Sherbakov Vitaliy Sergeevich (ussian Federation, Omsk) Doctor of echnical Sciences, Professor, president of a university faculty "Oil-and-gas and building technology", he Siberian Automobile and Highway Academy (644080, Omsk, pr. Mira, 5, sherbakov_vs@sibadi.org). Sukharev oman Yur'evich (ussian Federation, Omsk) Candidate of echnical Sciences, Associate Professor of the Department "Automation of production processes and Electrical Engineering" he Siberian Automobile and Highway Academy (644080, Omsk, pr. Mira, 5, sherbakov_vs@sibadi.org). 24 Веи СиАДИ, ы 5 (51), 2016

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