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𝑄𝑄𝑖𝑖𝑖𝑖 − 𝑊𝑊𝑜𝑜𝑜𝑜𝑜𝑜 = ∆𝐸𝐸𝑠𝑠𝑠𝑠𝑠𝑠 = (∆𝑈𝑈 + ∆𝐾𝐾𝐾𝐾 + ∆𝑃𝑃𝑃𝑃)𝑠𝑠𝑠𝑠𝑠𝑠
𝑉𝑉 2 𝑉𝑉 2
𝑄𝑄̇𝑖𝑖𝑖𝑖 − 𝑊𝑊̇𝑜𝑜𝑜𝑜𝑜𝑜 + � 𝑚𝑚̇(ℎ + + 𝑔𝑔𝑔𝑔) − � 𝑚𝑚̇(ℎ + + 𝑔𝑔𝑔𝑔) = (𝑑𝑑𝑑𝑑/𝑑𝑑𝑡𝑡)𝑠𝑠𝑠𝑠𝑠𝑠
𝑖𝑖𝑖𝑖 2 𝑜𝑜𝑜𝑜𝑜𝑜 2
𝑄𝑄𝑘𝑘,𝑖𝑖𝑖𝑖
� + 𝑆𝑆𝑔𝑔𝑔𝑔𝑔𝑔 = ∆𝑆𝑆𝑠𝑠𝑠𝑠𝑠𝑠
𝑇𝑇𝑘𝑘
𝑄𝑄̇𝑘𝑘,𝑖𝑖𝑖𝑖
� ̇
+ � 𝑚𝑚̇𝑠𝑠 − � 𝑚𝑚̇𝑠𝑠 + 𝑆𝑆𝑔𝑔𝑔𝑔𝑔𝑔 = (𝑑𝑑𝑑𝑑/𝑑𝑑𝑡𝑡)𝑠𝑠𝑠𝑠𝑠𝑠
𝑇𝑇𝑘𝑘 𝑖𝑖𝑖𝑖 𝑜𝑜𝑜𝑜𝑜𝑜
𝑇𝑇𝑜𝑜
� �1 − � 𝑄𝑄 − (𝑊𝑊𝑜𝑜𝑜𝑜𝑜𝑜 − 𝑃𝑃𝑜𝑜 ∆𝒱𝒱) − 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = ∆X𝑠𝑠𝑠𝑠𝑠𝑠
𝑇𝑇𝑘𝑘 𝑖𝑖𝑖𝑖,𝑘𝑘
𝑇𝑇𝑜𝑜
� �1 − � 𝑄𝑄̇ − 𝑊𝑊̇𝑜𝑜𝑜𝑜𝑜𝑜 + � 𝑚𝑚̇𝜓𝜓 − � 𝑚𝑚̇𝜓𝜓 − 𝑋𝑋̇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = (𝑑𝑑X/𝑑𝑑𝑑𝑑)𝑠𝑠𝑠𝑠𝑠𝑠
𝑇𝑇𝑘𝑘 𝑘𝑘,𝑖𝑖𝑖𝑖 𝑖𝑖𝑖𝑖 𝑜𝑜𝑜𝑜𝑜𝑜
𝑃𝑃𝑃𝑃 𝑇𝑇 𝑃𝑃 𝑣𝑣
𝑃𝑃𝑃𝑃 = 𝑚𝑚𝑚𝑚𝑚𝑚; 𝑃𝑃𝑃𝑃 = 𝑛𝑛𝑅𝑅𝑢𝑢 𝑇𝑇; 𝑃𝑃𝑃𝑃 = 𝑅𝑅𝑅𝑅; 𝑃𝑃𝑣𝑣̅ = 𝑅𝑅𝑢𝑢 𝑇𝑇; 𝑍𝑍 = ; 𝑇𝑇𝑅𝑅 = ; 𝑃𝑃𝑅𝑅 = ; 𝑣𝑣𝑅𝑅 =
𝑅𝑅𝑅𝑅 𝑇𝑇𝑐𝑐𝑐𝑐 𝑃𝑃𝑐𝑐𝑐𝑐 𝑅𝑅𝑇𝑇𝑐𝑐𝑐𝑐 /𝑃𝑃𝑐𝑐𝑐𝑐
𝑚𝑚 2
∆𝑈𝑈 = 𝑚𝑚(𝑢𝑢2 − 𝑢𝑢1 ); ∆𝐾𝐾𝐾𝐾 = (𝑉𝑉 − 𝑉𝑉12 ); ∆𝑃𝑃𝑃𝑃 = 𝑚𝑚(𝑔𝑔𝑔𝑔2 − 𝑔𝑔𝑔𝑔1 );
2 2
𝜕𝜕𝜕𝜕 𝜕𝜕ℎ 𝜕𝜕𝑢𝑢� 𝜕𝜕ℎ� 𝐶𝐶𝑝𝑝
𝐶𝐶𝑣𝑣 = � � ; 𝐶𝐶𝑝𝑝 = � � ; 𝐶𝐶𝑣𝑣̅ = � � ; 𝐶𝐶𝑝𝑝̅ = � � ; 𝑅𝑅 = 𝐶𝐶𝑝𝑝 − 𝐶𝐶𝑣𝑣 ; 𝑘𝑘 =
𝜕𝜕𝜕𝜕 𝑣𝑣 𝜕𝜕𝜕𝜕 𝑝𝑝 𝜕𝜕𝜕𝜕 𝑣𝑣 𝜕𝜕𝜕𝜕 𝑝𝑝 𝐶𝐶𝑣𝑣
𝑉𝑉 2 𝑉𝑉 2
ℎ = 𝑢𝑢 + 𝑃𝑃𝑃𝑃; 𝜙𝜙 = (𝑢𝑢 − 𝑢𝑢𝑜𝑜 ) + 𝑃𝑃𝑜𝑜 (𝑣𝑣 − 𝑣𝑣𝑜𝑜 ) − 𝑇𝑇𝑜𝑜 (𝑠𝑠 − 𝑠𝑠𝑜𝑜 ) + + 𝑔𝑔𝑔𝑔; 𝜓𝜓 = (ℎ − ℎ𝑜𝑜 ) − 𝑇𝑇𝑜𝑜 (𝑠𝑠 − 𝑠𝑠𝑜𝑜 ) + + 𝑔𝑔𝑔𝑔
2 2
2
𝛿𝛿𝛿𝛿 𝛿𝛿𝛿𝛿
𝑓𝑓𝑓𝑓𝑓𝑓 𝑎𝑎𝑎𝑎 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝: 𝑑𝑑𝑑𝑑 = ; 𝑆𝑆2 − 𝑆𝑆1 = � ;
𝑇𝑇 1 𝑇𝑇
2 2
𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑔𝑔𝑔𝑔𝑔𝑔: 𝑢𝑢2 − 𝑢𝑢1 = � 𝐶𝐶𝑣𝑣 𝑑𝑑𝑑𝑑 ≈ 𝐶𝐶𝑣𝑣,𝑎𝑎𝑎𝑎 (𝑇𝑇2 − 𝑇𝑇1 ); ℎ2 − ℎ1 = � 𝐶𝐶𝑝𝑝 𝑑𝑑𝑑𝑑 ≈ 𝐶𝐶𝑝𝑝,𝑎𝑎𝑎𝑎 (𝑇𝑇2 − 𝑇𝑇1 )
1 1
2 𝑇𝑇
𝑑𝑑𝑑𝑑 𝑃𝑃2 𝑃𝑃2 𝑇𝑇2 𝑃𝑃2 𝑑𝑑𝑑𝑑
𝑠𝑠2 − 𝑠𝑠1 = � 𝐶𝐶𝑝𝑝 − 𝑅𝑅𝑅𝑅𝑅𝑅 = (𝑠𝑠2𝑜𝑜 − 𝑠𝑠1𝑜𝑜 ) − 𝑅𝑅𝑅𝑅𝑅𝑅 ≈ 𝐶𝐶𝑝𝑝,𝑎𝑎𝑎𝑎 𝑙𝑙𝑙𝑙 − 𝑅𝑅𝑅𝑅𝑅𝑅 ; 𝑠𝑠 𝑜𝑜 = � 𝐶𝐶𝑝𝑝
1 𝑇𝑇 𝑃𝑃1 𝑃𝑃1 𝑇𝑇1 𝑃𝑃1 𝑜𝑜 𝑇𝑇
2 𝑇𝑇
𝑑𝑑𝑑𝑑 𝑃𝑃2 𝑃𝑃2 𝑇𝑇 𝑃𝑃 𝑑𝑑𝑑𝑑
𝑠𝑠̅2 − 𝑠𝑠̅1 = � 𝐶𝐶𝑝𝑝̅ ̅ 𝑙𝑙𝑙𝑙 2 − 𝑅𝑅𝑢𝑢 𝑙𝑙𝑙𝑙 2 ; 𝑠𝑠̅ 𝑜𝑜 = � 𝐶𝐶𝑝𝑝̅
− 𝑅𝑅𝑢𝑢 𝑙𝑙𝑙𝑙 = (𝑠𝑠̅2𝑜𝑜 − 𝑠𝑠̅1𝑜𝑜 ) − 𝑅𝑅𝑢𝑢 𝑙𝑙𝑙𝑙 ≈ 𝐶𝐶𝑝𝑝,𝑎𝑎𝑎𝑎
1 𝑇𝑇 𝑃𝑃1 𝑃𝑃1 𝑇𝑇1 𝑃𝑃1 𝑜𝑜 𝑇𝑇
2
𝑑𝑑𝑑𝑑 𝑣𝑣2 𝑇𝑇2 𝑣𝑣2
𝑠𝑠2 − 𝑠𝑠1 = � 𝐶𝐶𝑣𝑣 + 𝑅𝑅𝑅𝑅𝑅𝑅 ≈ 𝐶𝐶𝑣𝑣,𝑎𝑎𝑎𝑎 𝑙𝑙𝑙𝑙 + 𝑅𝑅𝑅𝑅𝑅𝑅
1 𝑇𝑇 𝑣𝑣1 𝑇𝑇1 𝑣𝑣1
𝑇𝑇2 𝑣𝑣1 𝑘𝑘−1 𝑇𝑇2 𝑃𝑃2 (𝑘𝑘−1)/𝑘𝑘 𝑃𝑃2 𝑣𝑣1 𝑘𝑘 𝑃𝑃2 𝑃𝑃𝑟𝑟2 𝑣𝑣2 𝑣𝑣𝑟𝑟2 𝑜𝑜
𝑖𝑖𝑖𝑖 𝑠𝑠 = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐: =� � ; =� � ; =� � ; = ; = ; 𝑃𝑃𝑟𝑟 = 𝑒𝑒 𝑠𝑠 /𝑅𝑅
𝑇𝑇1 𝑣𝑣2 𝑇𝑇1 𝑃𝑃1 𝑃𝑃1 𝑣𝑣2 𝑃𝑃1 𝑃𝑃𝑟𝑟1 𝑣𝑣1 𝑣𝑣𝑟𝑟1
2
𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠: 𝑢𝑢2 − 𝑢𝑢1 = � 𝐶𝐶𝑑𝑑𝑑𝑑 ≈ 𝐶𝐶𝑎𝑎𝑎𝑎 (𝑇𝑇2 − 𝑇𝑇1 ); ℎ2 − ℎ1 = (𝑢𝑢2 − 𝑢𝑢1 ) + 𝑣𝑣(𝑃𝑃2 − 𝑃𝑃1 )
1
2
𝑑𝑑𝑑𝑑 𝑇𝑇2
𝑠𝑠2 − 𝑠𝑠1 = � 𝐶𝐶 ≈ 𝐶𝐶𝑎𝑎𝑎𝑎 𝑙𝑙𝑙𝑙 ; 𝑖𝑖𝑖𝑖 𝑠𝑠 = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑇𝑇2 = 𝑇𝑇1
1 𝑇𝑇 𝑇𝑇1
𝑚𝑚𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣
𝑓𝑓𝑓𝑓𝑓𝑓 𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑦𝑦: 𝑦𝑦 = 𝑦𝑦𝑓𝑓 + 𝑥𝑥𝑦𝑦𝑓𝑓𝑓𝑓 ; 𝑦𝑦𝑓𝑓𝑓𝑓 = 𝑦𝑦𝑔𝑔 − 𝑦𝑦𝑓𝑓 ; 𝑥𝑥 =
𝑚𝑚𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
𝑈𝑈 = 𝑚𝑚𝑚𝑚 = 𝑛𝑛𝑢𝑢�; 𝐻𝐻 = 𝑚𝑚ℎ = 𝑛𝑛ℎ�; 𝑆𝑆 = 𝑚𝑚𝑚𝑚 = 𝑛𝑛𝑠𝑠̅ ; 𝒱𝒱 = 𝑚𝑚𝑚𝑚 = 𝑛𝑛𝑣𝑣̅ ; 𝑈𝑈̇ = 𝑚𝑚̇𝑢𝑢 = 𝑛𝑛̇ 𝑢𝑢� 𝑒𝑒𝑒𝑒𝑒𝑒
𝒱𝒱 1 𝑉𝑉𝑉𝑉 𝒱𝒱 𝑉𝑉𝑉𝑉
𝑚𝑚 = 𝜚𝜚𝒱𝒱 = ; 𝑣𝑣 = ; 𝑚𝑚̇ = 𝜚𝜚𝜚𝜚𝜚𝜚 = ; 𝑛𝑛 = ; 𝑛𝑛̇ =
𝑣𝑣 𝜚𝜚 𝑣𝑣 𝑣𝑣̅ 𝑣𝑣̅
𝐼𝐼 = 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 ; 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑊𝑊𝑟𝑟𝑟𝑟𝑟𝑟 − 𝑊𝑊𝑢𝑢,𝑜𝑜𝑜𝑜𝑜𝑜 ; 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑊𝑊𝑢𝑢,𝑖𝑖𝑖𝑖 − 𝑊𝑊𝑟𝑟𝑟𝑟𝑟𝑟 ; 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇𝑜𝑜 𝑆𝑆𝑔𝑔𝑔𝑔𝑔𝑔
Mixtures
𝑚𝑚𝑖𝑖 𝑛𝑛𝑖𝑖
𝑚𝑚𝑓𝑓,𝑖𝑖 = ; 𝑦𝑦𝑖𝑖 = ; 𝑃𝑃𝑖𝑖 = 𝑦𝑦𝑖𝑖 𝑃𝑃; 𝒱𝒱𝑖𝑖 = 𝑦𝑦𝑖𝑖 𝒱𝒱; 𝑀𝑀 = � 𝑦𝑦𝑖𝑖 𝑀𝑀𝑖𝑖 ; 𝑃𝑃𝑖𝑖 𝑣𝑣 = 𝑅𝑅𝑅𝑅 ; 𝑃𝑃𝑖𝑖 𝒱𝒱 = 𝑛𝑛𝑖𝑖 𝑅𝑅𝑢𝑢 𝑇𝑇 ; 𝑃𝑃𝑣𝑣𝑖𝑖 = 𝑅𝑅𝑅𝑅
∑ 𝑚𝑚𝑖𝑖 ∑ 𝑛𝑛𝑖𝑖
𝑢𝑢� = � 𝑦𝑦𝑖𝑖 𝑢𝑢�𝑖𝑖 (𝑇𝑇); 𝑢𝑢 = � 𝑚𝑚𝑓𝑓,𝑖𝑖 𝑢𝑢𝑖𝑖 (𝑇𝑇); ℎ� = � 𝑦𝑦𝑖𝑖 ℎ�𝑖𝑖 (𝑇𝑇); ℎ = � 𝑚𝑚𝑓𝑓,𝑖𝑖 ℎ𝑖𝑖 (𝑇𝑇);
ψ
� = � 𝑦𝑦𝑖𝑖 ψ
� 𝑖𝑖 (𝑇𝑇, 𝑃𝑃𝑖𝑖 ); ψ = � 𝑚𝑚𝑓𝑓,𝑖𝑖 ψ𝑖𝑖 (𝑇𝑇, 𝑃𝑃𝑖𝑖 ) … 𝑒𝑒𝑒𝑒𝑒𝑒 𝑓𝑓𝑓𝑓𝑓𝑓 𝑜𝑜𝑜𝑜ℎ𝑒𝑒𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
𝑃𝑃𝑖𝑖 𝑃𝑃𝑖𝑖
𝑠𝑠̅𝑖𝑖 (𝑇𝑇, 𝑃𝑃𝑖𝑖 ) = 𝑠𝑠̅𝑖𝑖𝑜𝑜 (𝑇𝑇, 𝑃𝑃𝑖𝑖 ) − 𝑅𝑅𝑢𝑢 𝑙𝑙𝑙𝑙 ; 𝑠𝑠𝑖𝑖 (𝑇𝑇, 𝑃𝑃𝑖𝑖 ) = 𝑠𝑠𝑖𝑖𝑜𝑜 (𝑇𝑇, 𝑃𝑃𝑖𝑖 ) − 𝑅𝑅𝑅𝑅𝑅𝑅
𝑃𝑃𝑜𝑜 𝑃𝑃𝑜𝑜
𝑃𝑃2 𝑇𝑇 𝑃𝑃
𝑜𝑜
𝑠𝑠̅𝑖𝑖,2 − 𝑠𝑠̅𝑖𝑖,1 = (𝑠𝑠̅𝑖𝑖,2 𝑜𝑜
− 𝑠𝑠̅𝑖𝑖,1 ) − 𝑅𝑅𝑢𝑢 𝑙𝑙𝑙𝑙 ̅ 𝑙𝑙𝑙𝑙 2 − 𝑅𝑅𝑢𝑢 𝑙𝑙𝑙𝑙 𝑖𝑖,2
≈ 𝐶𝐶𝑝𝑝,𝑎𝑎𝑎𝑎
𝑃𝑃1 𝑇𝑇1 𝑃𝑃𝑖𝑖,1
∆𝑈𝑈 = 𝑈𝑈2 − 𝑈𝑈1 = � 𝑛𝑛𝑖𝑖 ( 𝑢𝑢�𝑖𝑖,2 − 𝑢𝑢�𝑖𝑖,1 ) = � 𝑚𝑚𝑖𝑖 ( 𝑢𝑢𝑖𝑖,2 − 𝑢𝑢𝑖𝑖,1 ); … 𝑒𝑒𝑒𝑒𝑒𝑒 𝑓𝑓𝑓𝑓𝑓𝑓 𝑜𝑜𝑜𝑜ℎ𝑒𝑒𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
𝑚𝑚̇(𝑢𝑢2 − 𝑢𝑢1 ) = � 𝑚𝑚̇𝑖𝑖 ( 𝑢𝑢𝑖𝑖,2 − 𝑢𝑢𝑖𝑖,1 ) = 𝑛𝑛̇ (𝑢𝑢�2 − 𝑢𝑢�1 ) = � 𝑛𝑛̇ 𝑖𝑖 ( 𝑢𝑢�𝑖𝑖,2 − 𝑢𝑢�𝑖𝑖,1 ); … 𝑒𝑒𝑒𝑒𝑒𝑒
1
𝑓𝑓𝑓𝑓𝑓𝑓 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠, 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑: 𝑊𝑊𝑟𝑟𝑟𝑟𝑟𝑟 = 𝑅𝑅𝑤𝑤 𝑇𝑇𝑜𝑜 𝑚𝑚𝑤𝑤 ln( )
𝑦𝑦𝑤𝑤
Air Conditioning
𝑚𝑚𝑣𝑣 𝑃𝑃𝑣𝑣
𝜔𝜔 = = 0.622
𝑚𝑚𝑎𝑎 𝑃𝑃 − 𝑃𝑃𝑣𝑣
𝑛𝑛𝑣𝑣 𝑃𝑃𝑣𝑣 𝜔𝜔𝜔𝜔
𝜙𝜙 = = =
𝑛𝑛𝑠𝑠𝑠𝑠𝑠𝑠 𝑃𝑃𝑠𝑠𝑠𝑠𝑠𝑠 (0.622 + 𝜔𝜔)𝑃𝑃𝑠𝑠𝑠𝑠𝑠𝑠
ℎ = ℎ𝑎𝑎 + 𝜔𝜔ℎ𝑣𝑣 ; ℎ𝑎𝑎 = 1.005𝑇𝑇; ℎ𝑣𝑣 = 2500.9 + 1.82𝑇𝑇
𝐶𝐶𝑝𝑝 (𝑇𝑇𝑤𝑤𝑤𝑤 − 𝑇𝑇𝑑𝑑𝑑𝑑 ) + 𝜔𝜔𝑤𝑤𝑤𝑤 ℎ𝑓𝑓𝑓𝑓,𝑤𝑤𝑤𝑤 𝑃𝑃𝑠𝑠𝑠𝑠𝑠𝑠,𝑤𝑤𝑤𝑤
𝜔𝜔 = ; 𝜔𝜔𝑤𝑤𝑤𝑤 = 0.622
ℎ𝑔𝑔,𝑑𝑑𝑑𝑑 − ℎ𝑓𝑓,𝑤𝑤𝑤𝑤 𝑃𝑃 − 𝑃𝑃𝑠𝑠𝑠𝑠𝑠𝑠,𝑤𝑤𝑤𝑤
𝑅𝑅𝑅𝑅𝑅𝑅 = 𝑄𝑄̇𝑆𝑆 = 𝑚𝑚̇𝑎𝑎 𝐶𝐶𝑝𝑝 �𝑇𝑇𝑟𝑟𝑟𝑟𝑟𝑟 − 𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠 �; 𝑅𝑅𝑅𝑅𝑅𝑅 = 𝑄𝑄̇𝐿𝐿 = 𝑚𝑚̇𝑎𝑎 ℎ𝑓𝑓𝑓𝑓 �𝜔𝜔𝑟𝑟𝑟𝑟𝑟𝑟 − 𝜔𝜔𝑠𝑠𝑠𝑠𝑠𝑠 �
𝐻𝐻 = � 𝑛𝑛𝑖𝑖 ℎ�𝑖𝑖∗
𝑆𝑆 = � 𝑛𝑛𝑖𝑖 𝑠𝑠̅𝑖𝑖
𝑃𝑃𝑖𝑖 𝑦𝑦𝑖𝑖 𝑃𝑃
𝑠𝑠̅𝑖𝑖 (𝑇𝑇, 𝑃𝑃𝑖𝑖 ) = 𝑠𝑠̅𝑖𝑖𝑜𝑜 (𝑇𝑇, 𝑃𝑃𝑜𝑜 ) − 𝑅𝑅𝑢𝑢 𝑙𝑙𝑙𝑙 = 𝑠𝑠̅𝑖𝑖𝑜𝑜 (𝑇𝑇, 𝑃𝑃𝑜𝑜 ) − 𝑅𝑅𝑢𝑢 𝑙𝑙𝑙𝑙
𝑃𝑃𝑜𝑜 𝑃𝑃𝑜𝑜