{"id":5473,"date":"2022-03-16T18:55:25","date_gmt":"2022-03-16T10:55:25","guid":{"rendered":"http:\/\/mgspace.wiki\/docs\/?post_type=docs&#038;p=5473"},"modified":"2022-03-16T18:55:26","modified_gmt":"2022-03-16T10:55:26","slug":"%e9%ba%a6%e5%85%8b%e7%ba%b3%e5%a7%86%e8%bd%ae","status":"publish","type":"docs","link":"http:\/\/mgspace.wiki\/docs\/?docs=%e9%ba%a6%e5%85%8b%e7%ba%b3%e5%a7%86%e8%bd%ae","title":{"rendered":"\u9ea6\u514b\u7eb3\u59c6\u8f6e"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\"><strong>\u4ec0\u4e48\u662f\u9ea6\u514b\u7eb3\u59c6\u8f6e<\/strong><\/h2>\n\n\n\n<p>\u5728\u7ade\u8d5b\u673a\u5668\u4eba\u548c\u7279\u6b8a\u5de5\u79cd\u673a\u5668\u4eba\u4e2d\uff0c\u5168\u5411\u79fb\u52a8\u7ecf\u5e38\u662f\u4e00\u4e2a\u5fc5\u9700\u7684\u529f\u80fd\u3002\u300c\u5168\u5411\u79fb\u52a8\u300d\u610f\u5473\u7740\u53ef\u4ee5\u5728\u5e73\u9762\u5185\u505a\u51fa\u4efb\u610f\u65b9\u5411\u5e73\u79fb\u540c\u65f6\u81ea\u8f6c\u7684\u52a8\u4f5c\u3002\u4e3a\u4e86\u5b9e\u73b0\u5168\u5411\u79fb\u52a8\uff0c\u4e00\u822c\u673a\u5668\u4eba\u4f1a\u4f7f\u7528\u300c\u5168\u5411\u8f6e\u300d\uff08Omni Wheel\uff09\u6216\u300c\u9ea6\u514b\u7eb3\u59c6\u8f6e\u300d\uff08Mecanum Wheel\uff09\u8fd9\u4e24\u79cd\u7279\u6b8a\u8f6e\u5b50\u3002<\/p>\n\n\n\n<p>\u5168\u5411\u8f6e\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/80\/083fe21a6f279c1557449b5b98e86144_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><a href=\"https:\/\/link.zhihu.com\/?target=http%3A\/\/www.makeblock.cc\/100mm-mecanum-wheel\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u9ea6\u514b\u7eb3\u59c6\u8f6e<\/a>\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/80\/c0afec3dbaf170e179b240af4b78f22f_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5168\u5411\u8f6e\u4e0e\u9ea6\u514b\u7eb3\u59c6\u8f6e\u7684\u5171\u540c\u70b9\u5728\u4e8e\u4ed6\u4eec\u90fd\u7531\u4e24\u5927\u90e8\u5206\u7ec4\u6210\uff1a\u8f6e\u6bc2\u548c\u8f8a\u5b50\uff08roller\uff09\u3002\u8f6e\u6bc2\u662f\u6574\u4e2a\u8f6e\u5b50\u7684\u4e3b\u4f53\u652f\u67b6\uff0c\u8f8a\u5b50\u5219\u662f\u5b89\u88c5\u5728\u8f6e\u6bc2\u4e0a\u7684\u9f13\u72b6\u7269\u3002\u5168\u5411\u8f6e\u7684\u8f6e\u6bc2\u8f74\u4e0e\u8f8a\u5b50\u8f6c\u8f74\u76f8\u4e92\u5782\u76f4\uff0c\u800c\u9ea6\u514b\u7eb3\u59c6\u8f6e\u7684\u8f6e\u6bc2\u8f74\u4e0e\u8f8a\u5b50\u8f6c\u8f74\u5448 45\u00b0 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alt=\"\"\/><\/figure>\n\n\n\n<p>\u8ba1\u7b97\u8fc7\u7a0b\u5982\u4e0b\uff0c\u4f9b\u53c2\u8003\uff0c\u5b66\u9738\u53ef\u70b9\u5f00\u5927\u56fe\u9a8c\u7b97\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/80\/693092f7ca548af79d2eff49aa04be4c_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u9ea6\u8f6e\u7684\u5e94\u7528\u9010\u6e10\u589e\u591a\uff0c\u7279\u522b\u662f\u5728 Robocon\u3001FRC \u7b49\u673a\u5668\u4eba\u8d5b\u4e8b\u4e0a\u3002\u8fd9\u662f\u56e0\u4e3a\u9ea6\u514b\u7eb3\u59c6\u8f6e\u53ef\u4ee5\u50cf\u4f20\u7edf\u8f6e\u5b50\u4e00\u6837\uff0c\u5b89\u88c5\u5728\u76f8\u4e92\u5e73\u884c\u7684\u8f74\u4e0a\u3002\u800c\u82e5\u60f3\u4f7f\u7528\u5168\u5411\u8f6e\u5b8c\u6210\u7c7b\u4f3c\u7684\u529f\u80fd\uff0c\u51e0\u4e2a\u8f6e\u6bc2\u8f74\u4e4b\u95f4\u7684\u89d2\u5ea6\u5c31\u5fc5\u987b\u662f 60\u00b0\uff0c90\u00b0 \u6216 120\u00b0 \u7b49\u89d2\u5ea6\uff0c\u8fd9\u6837\u7684\u89d2\u5ea6\u751f\u4ea7\u548c\u5236\u9020\u8d77\u6765\u6bd4\u8f83\u9ebb\u70e6\u3002\u6240\u4ee5\u8bb8\u591a\u5de5\u4e1a\u5168\u5411\u79fb\u52a8\u5e73\u53f0\u90fd\u662f\u4f7f\u7528\u9ea6\u514b\u7eb3\u59c6\u8f6e\u800c\u4e0d\u662f\u5168\u5411\u8f6e\uff0c\u6bd4\u5982\u8fd9\u4e2a\u56fd\u4ea7\u7684\u53c9\u8f66\uff1a&nbsp;<a href=\"https:\/\/link.zhihu.com\/?target=http%3A\/\/v.youku.com\/v_show\/id_XMTM2MTIxMTQyMA%3D%3D.html\" target=\"_blank\" rel=\"noreferrer noopener\">\u5168\u5411\u79fb\u52a8\u5e73\u53f0 \u9ea6\u514b\u7eb3\u59c6\u8f6e\u53c9\u8f66 \u7f8e\u79d1\u65af\u53c9\u8f66<\/a><\/p>\n\n\n\n<p>\u53e6\u5916\u4e00\u4e2a\u539f\u56e0\uff0c\u53ef\u80fd\u662f\u9ea6\u8f6e\u7684\u9020\u578b\u6bd4\u5168\u5411\u8f6e\u8981\u9177\u70ab\u5f97\u591a\uff0c\u770b\u8d77\u6765\u6709\u4e00\u79cd\u4e0d\u660e\u89c9\u5389\u7684\u611f\u89c9\u2026\u2026<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/80\/1769f1b8857493026e9de0f76fed8cc3_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u7684\u786e\uff0c\u7b2c\u4e00\u6b21\u770b\u5230\u9ea6\u8f6e\u8fd0\u8f6c\u8d77\u6765\uff0c\u4e0d\u5c11\u4eba\u90fd\u4f1a\u60ca\u53f9\u3002\u4ee5\u4e0b\u89c6\u9891\u76f4\u89c2\u5730\u8bf4\u660e\u4e86\u9ea6\u8f6e\u5e95\u76d8\u5728\u5e73\u79fb\u548c\u65cb\u8f6c\u65f6\u7684\u8f6e\u5b50\u65cb\u8f6c\u65b9\u5411\u3002<br><a href=\"https:\/\/link.zhihu.com\/?target=http%3A\/\/v.youku.com\/v_show\/id_XMTM2MDk4MzYyMA%3D%3D.html\" target=\"_blank\" rel=\"noreferrer noopener\">\u9ea6\u514b\u7eb3\u59c6\u8f6e\u5de5\u4f5c\u539f\u7406\u2014\u5728\u7ebf\u64ad\u653e\u2014\u4f18\u9177\u7f51\uff0c\u89c6\u9891\u9ad8\u6e05\u5728\u7ebf\u89c2\u770b\u89c6\u9891<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u9ea6\u8f6e\u7684\u5b89\u88c5\u65b9\u6cd5<\/strong><\/h2>\n\n\n\n<p>\u9ea6\u8f6e\u4e00\u822c\u662f\u56db\u4e2a\u4e00\u7ec4\u4f7f\u7528\uff0c\u4e24\u4e2a\u5de6\u65cb\u8f6e\uff0c\u4e24\u4e2a\u53f3\u65cb\u8f6e\u3002\u5de6\u65cb\u8f6e\u548c\u53f3\u65cb\u8f6e\u5448\u624b\u6027\u5bf9\u79f0\uff0c\u533a\u522b\u5982\u4e0b\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/80\/7cefff1e7fe3e983bea8de216060033e_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5b89\u88c5\u65b9\u5f0f\u6709\u591a\u79cd\uff0c\u4e3b\u8981\u5206\u4e3a\uff1aX-\u6b63\u65b9\u5f62\uff08X-square\uff09\u3001X-\u957f\u65b9\u5f62\uff08X-rectangle\uff09\u3001O-\u6b63\u65b9\u5f62\uff08O-square\uff09\u3001O-\u957f\u65b9\u5f62\uff08O-rectangle\uff09\u3002\u5176\u4e2d X \u548c O 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\u8f74\u8f6c\u52a8\u529b\u77e9\uff0c\u4f46\u8f6c\u52a8\u529b\u77e9\u7684\u529b\u81c2\u4e00\u822c\u4f1a\u6bd4\u8f83\u77ed\u3002\u8fd9\u79cd\u5b89\u88c5\u65b9\u5f0f\u4e5f\u4e0d\u591a\u89c1\u3002<\/li><li><strong>O-\u6b63\u65b9\u5f62<\/strong>\uff1a\u56db\u4e2a\u8f6e\u5b50\u4f4d\u4e8e\u6b63\u65b9\u5f62\u7684\u56db\u4e2a\u9876\u70b9\uff0c\u5e73\u79fb\u548c\u65cb\u8f6c\u90fd\u6ca1\u6709\u4efb\u4f55\u95ee\u9898\u3002\u53d7\u9650\u4e8e\u673a\u5668\u4eba\u5e95\u76d8\u7684\u5f62\u72b6\u3001\u5c3a\u5bf8\u7b49\u56e0\u7d20\uff0c\u8fd9\u79cd\u5b89\u88c5\u65b9\u5f0f\u867d\u7136\u7406\u60f3\uff0c\u4f46\u53ef\u9047\u800c\u4e0d\u53ef\u6c42\u3002<\/li><li><strong>O-\u957f\u65b9\u5f62<\/strong>\uff1a\u8f6e\u5b50\u8f6c\u52a8\u53ef\u4ee5\u4ea7\u751f yaw \u8f74\u8f6c\u52a8\u529b\u77e9\uff0c\u800c\u4e14\u8f6c\u52a8\u529b\u77e9\u7684\u529b\u81c2\u4e5f\u6bd4\u8f83\u957f\u3002\u662f\u6700\u5e38\u89c1\u7684\u5b89\u88c5\u65b9\u5f0f\u3002<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u9ea6\u8f6e\u5e95\u76d8\u7684\u6b63\u9006\u8fd0\u52a8\u5b66\u6a21\u578b<\/strong><\/h2>\n\n\n\n<p>\u4ee5O-\u957f\u65b9\u5f62\u7684\u5b89\u88c5\u65b9\u5f0f\u4e3a\u4f8b\uff0c\u56db\u4e2a\u8f6e\u5b50\u7684\u7740\u5730\u70b9\u5f62\u6210\u4e00\u4e2a\u77e9\u5f62\u3002\u6b63\u8fd0\u52a8\u5b66\u6a21\u578b\uff08forward kinematic model\uff09\u5c06\u5f97\u5230\u4e00\u7cfb\u5217\u516c\u5f0f\uff0c\u8ba9\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u56db\u4e2a\u8f6e\u5b50\u7684\u901f\u5ea6\uff0c\u8ba1\u7b97\u51fa\u5e95\u76d8\u7684\u8fd0\u52a8\u72b6\u6001\uff1b\u800c\u9006\u8fd0\u52a8\u5b66\u6a21\u578b\uff08inverse kinematic model\uff09\u5f97\u5230\u7684\u516c\u5f0f\u5219\u662f\u53ef\u4ee5\u6839\u636e\u5e95\u76d8\u7684\u8fd0\u52a8\u72b6\u6001\u89e3\u7b97\u51fa\u56db\u4e2a\u8f6e\u5b50\u7684\u901f\u5ea6\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5e95\u76d8\u7684\u8fd0\u52a8\u53ef\u4ee5\u7528\u4e09\u4e2a\u72ec\u7acb\u53d8\u91cf\u6765\u63cf\u8ff0\uff1aX\u8f74\u5e73\u52a8\u3001Y\u8f74\u5e73\u52a8\u3001yaw 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\u8f74\u81ea\u8f6c\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5e95\u76d8\u7684\u8fd0\u52a8\u4e5f\u53ef\u4ee5\u5206\u89e3\u4e3a\u4e09\u4e2a\u91cf\uff1a<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=v_%7Bt_x%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u8868\u793a X \u8f74\u8fd0\u52a8\u7684\u901f\u5ea6\uff0c\u5373\u5de6\u53f3\u65b9\u5411\uff0c\u5b9a\u4e49\u5411\u53f3\u4e3a\u6b63\uff1b<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=v_%7Bt_y%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u8868\u793a Y \u8f74\u8fd0\u52a8\u7684\u901f\u5ea6\uff0c\u5373\u524d\u540e\u65b9\u5411\uff0c\u5b9a\u4e49\u5411\u524d\u4e3a\u6b63\uff1b<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=+%5Cvec%7B%5Comega%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u8868\u793a yaw \u8f74\u81ea\u8f6c\u7684\u89d2\u901f\u5ea6\uff0c\u5b9a\u4e49\u9006\u65f6\u9488\u4e3a\u6b63\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u4e09\u4e2a\u91cf\u4e00\u822c\u90fd\u89c6\u4e3a\u56db\u4e2a\u8f6e\u5b50\u7684\u51e0\u4f55\u4e2d\u5fc3\uff08\u77e9\u5f62\u7684\u5bf9\u89d2\u7ebf\u4ea4\u70b9\uff09\u7684\u901f\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/80\/3ce8a6a3875b19fb0000fe05920da1d4_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u4e8c\u3001\u8ba1\u7b97\u51fa\u8f6e\u5b50\u8f74\u5fc3\u4f4d\u7f6e\u7684\u901f\u5ea6<\/strong><\/p>\n\n\n\n<p>\u5b9a\u4e49\uff1a<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cvec%7Br%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u4e3a\u4ece\u51e0\u4f55\u4e2d\u5fc3\u6307\u5411\u8f6e\u5b50\u8f74\u5fc3\u7684\u77e2\u91cf\uff1b<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cvec%7Bv%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u4e3a\u8f6e\u5b50\u8f74\u5fc3\u7684\u8fd0\u52a8\u901f\u5ea6\u77e2\u91cf\uff1b<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cvec%7Bv_r%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u4e3a\u8f6e\u5b50\u8f74\u5fc3\u6cbf\u5782\u76f4\u4e8e&nbsp;<img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cvec%7Br%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u7684\u65b9\u5411\uff08\u5373\u5207\u7ebf\u65b9\u5411\uff09\u7684\u901f\u5ea6\u5206\u91cf\uff1b<br><\/p>\n\n\n\n<p>\u90a3\u4e48\u53ef\u4ee5\u8ba1\u7b97\u51fa\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cvec%7Bv%7D%3D%5Cvec%7Bv_t%7D%2B%5Cvec%7B%5Comega%7D+%5Ctimes+%5Cvec%7Br%7D\" alt=\"[\u516c\u5f0f]\"\/><\/figure>\n\n\n\n<p>\u5206\u522b\u8ba1\u7b97 X\u3001Y \u8f74\u7684\u5206\u91cf\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cbegin%7Bequation%7D%0A%5Cbegin%7Bcases%7D%0Av_x%3Dv_%7Bt_x%7D-%5Comega+%5Ccdot+r_y+%5C%5C%0Av_y%3Dv_%7Bt_y%7D%2B%5Comega+%5Ccdot+r_x+%5C%5C%0A%5Cend%7Bcases%7D%0A%5Cend%7Bequation%7D\" alt=\"[\u516c\u5f0f]\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/80\/99df1225217acf4d3add5d305cc7d700_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u540c\u7406\u53ef\u4ee5\u7b97\u51fa\u5176\u4ed6\u4e09\u4e2a\u8f6e\u5b50\u8f74\u5fc3\u7684\u901f\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/80\/2b90eb6fdcab1c67324afa54471be580_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u4e09\u3001\u8ba1\u7b97\u8f8a\u5b50\u7684\u901f\u5ea6<\/strong><\/p>\n\n\n\n<p>\u6839\u636e\u8f6e\u5b50\u8f74\u5fc3\u7684\u901f\u5ea6\uff0c\u53ef\u4ee5\u5206\u89e3\u51fa\u6cbf\u8f8a\u5b50\u65b9\u5411\u7684\u901f\u5ea6&nbsp;<img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cvec%7Bv_%5C%7C%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u548c\u5782\u76f4\u4e8e\u8f8a\u5b50\u65b9\u5411\u7684\u901f\u5ea6&nbsp;<img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cvec%7Bv_%5Cperp%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u3002\u5176\u4e2d&nbsp;<img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=+%5Cvec%7Bv_%5Cperp%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u662f\u53ef\u4ee5\u65e0\u89c6\u7684\uff08\u601d\u8003\u9898\uff1a\u4e3a\u4ec0\u4e48\u5782\u76f4\u65b9\u5411\u7684\u901f\u5ea6\u53ef\u4ee5\u65e0\u89c6\uff1f\uff09\uff0c\u800c<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cvec%7Bv_%5C%7C%7D%3D%5Cvec%7Bv%7D+%5Ccdot+%5Chat%7Bu%7D%3D%28v_x%5Chat%7Bi%7D%2Bv_y%5Chat%7Bj%7D%29%5Ccdot%28-%5Cfrac%7B1%7D%7B%5Csqrt%7B2%7D%7D%5Chat%7Bi%7D%2B%5Cfrac%7B1%7D%7B%5Csqrt%7B2%7D%7D%5Chat%7Bj%7D%29%3D-%5Cfrac%7B1%7D%7B%5Csqrt%7B2%7D%7Dv_x%2B%5Cfrac%7B1%7D%7B%5Csqrt%7B2%7D%7Dv_y\" alt=\"[\u516c\u5f0f]\"\/><\/figure>\n\n\n\n<p>\u5176\u4e2d&nbsp;<img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Chat%7Bu%7D\" alt=\"[\u516c\u5f0f]\">&nbsp;\u662f\u6cbf\u8f8a\u5b50\u65b9\u5411\u7684\u5355\u4f4d\u77e2\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/80\/05324c0f199de5828dbd2246ab6973cb_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u56db\u3001\u8ba1\u7b97\u8f6e\u5b50\u7684\u901f\u5ea6<\/strong><\/p>\n\n\n\n<p>\u4ece\u8f8a\u5b50\u901f\u5ea6\u5230\u8f6e\u5b50\u8f6c\u901f\u7684\u8ba1\u7b97\u6bd4\u8f83\u7b80\u5355\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=v_w%3D%5Cfrac%7Bv_%5C%7C%7D%7Bcos+45%5E%5Ccirc%7D%3D%5Csqrt%7B2%7D%28-%5Cfrac%7B1%7D%7B%5Csqrt%7B2%7D%7Dv_x%2B%5Cfrac%7B1%7D%7B%5Csqrt%7B2%7D%7Dv_y%29%3D-v_x%2Bv_y\" alt=\"[\u516c\u5f0f]\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/80\/d0046824705493ee1e4e710fcdb2fb31_720w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6839\u636e\u4e0a\u56fe\u6240\u793a\u7684&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=a\" alt=\"[\u516c\u5f0f]\"\/><\/figure>\n\n\n\n<p>&nbsp;\u548c&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=b\" alt=\"[\u516c\u5f0f]\"\/><\/figure>\n\n\n\n<p>&nbsp;\u7684\u5b9a\u4e49\uff0c\u6709<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cbegin%7Bequation%7D%0A%5Cbegin%7Bcases%7D%0Av_x%3Dv_%7Bt_x%7D%2B%5Comega+b+%5C%5C%0Av_y%3Dv_%7Bt_y%7D-%5Comega+a+%5C%5C%0A%5Cend%7Bcases%7D%0A%5Cend%7Bequation%7D\" alt=\"[\u516c\u5f0f]\"\/><\/figure>\n\n\n\n<p>\u7ed3\u5408\u4ee5\u4e0a\u56db\u4e2a\u6b65\u9aa4\uff0c\u53ef\u4ee5\u6839\u636e\u5e95\u76d8\u8fd0\u52a8\u72b6\u6001\u89e3\u7b97\u51fa\u56db\u4e2a\u8f6e\u5b50\u7684\u8f6c\u901f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/www.zhihu.com\/equation?tex=%5Cbegin%7Bequation%7D%0A%5Cbegin%7Bcases%7D%0Av_%7Bw_1%7D%3Dv_%7Bt_y%7D-v_%7Bt_x%7D%2B%5Comega%28a%2Bb%29+%5C%5C%0Av_%7Bw_2%7D%3Dv_%7Bt_y%7D%2Bv_%7Bt_x%7D-%5Comega%28a%2Bb%29+%5C%5C%0Av_%7Bw_3%7D%3Dv_%7Bt_y%7D-v_%7Bt_x%7D-%5Comega%28a%2Bb%29+%5C%5C%0Av_%7Bw_4%7D%3Dv_%7Bt_y%7D%2Bv_%7Bt_x%7D%2B%5Comega%28a%2Bb%29+%5C%5C%0A%5Cend%7Bcases%7D%0A%5Cend%7Bequation%7D\" alt=\"[\u516c\u5f0f]\"\/><\/figure>\n\n\n\n<p>\u4ee5\u4e0a\u65b9\u7a0b\u7ec4\u5c31\u662fO-\u957f\u65b9\u5f62\u9ea6\u8f6e\u5e95\u76d8\u7684\u9006\u8fd0\u52a8\u5b66\u6a21\u578b\uff0c\u800c\u6b63\u8fd0\u52a8\u5b66\u6a21\u578b\u53ef\u4ee5\u76f4\u63a5\u6839\u636e\u9006\u8fd0\u52a8\u5b66\u6a21\u578b\u4e2d\u7684\u4e09\u4e2a\u65b9\u7a0b\u89e3\u51fa\u6765\uff0c\u6b64\u5904\u4e0d\u518d\u8d58\u8ff0\u3002<\/p>\n\n\n\n<h2 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