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yv - yertical displacement of the turret mass centre Sv,
(fv - angle of rotation of the turret about the Svxv axis, dv - angle of rotation of the turret about the Svzv axis,
£pv ~ straightline displacement of the missile mass centre Sp along the Sv^pv axis.
Fig. 2. (a) Side view of the turret-and-missile model; (b) top view of the turret-and-missile model
2. Model of motion of the launcher on a moveable base
The mathematical model of the system was developed basing on the physical model. Six independent generalized coordinates were selected to determine the kinetic and potential energy of the model and the distribution of generalized forces basing on the considerations for the physical model. By using the second order Lagrange eąuations, it was possible to derive eąuations of motion of the analysed system. The system was reduced to a structural discrete model, which reąuired applying differential eąuations with ordinary derivatives.
Six independent coordinates were used to determine motion of the launcher-missile system model:
• turret vibrations: yv, $v, ipv,
• basie motion of the turret and the guide raił ippy and t9pv, respectiyely,
• missile motion with respect to the guide raił £pv.
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