d F-L=mgL2+mhg 4f, mgoh=OSF dt d F2L=mgL1-mwui% △F mg 0.38F (L2+1)=(L2+h29b) L dt L d (L )=(L1-hg9b) L dt L du (其中 162/16 z g z g h dt d u F L mgL m h dt d u F L mgL m = − = + 2 1 1 2 2 2 1 1 0.38 0.9 z g z z g z h F L m g F h F L m g F  = − = −  = =   ( ) ( ) ( ) ( ) 2 1 1 1 2 2 g b g z g b g z L h L mg d t d u g h L L mg F L h L mg d t d u g h L L mg F   = − = − = + = + ) 1 ( dt du g g dt du 其中 ＝ b b = Fz1 F z2 Fxb1 Fxb2 g mg h Fw Fj L L1 L2