····−−−−−12543XHPDCBARY0··θ⎭⎬⎫θ×+=θ×+=1Y1Y31X1X3SIN1RPPCOS1RPPθφ+α−θφ−αφ⎟⎟⎠⎞⎜⎜⎝⎛−−=φX1X2Y1Y2PPPParctgα⎟⎟⎠⎞⎜⎜⎝⎛αα−=α1COS1COS1arctg12()()2Y1Y22X1X22222PPPPSS1R22RS1R1COS−+−=××−+=α()2R1R+2R1R−α⎭⎬⎫α×+=α×+=SINLABAYBYCOSLABAXBXθ⎭⎬⎫θ×+=θ×+=SINLBCBYCYCOSLBCBXCXθφα−θφ−αφ⎟⎠⎞⎜⎝⎛−−=φBXDXBYDYarctgα⎟⎟⎠⎞⎜⎜⎝⎛αα−=α1COS1COS1arctg12PCXAYD0BN1R1N3N2R2θXYN3S··()()222222BYDYBXDXSSLBC2LCDSLBC1COS−+−=××−+=α()()⎭⎬⎫β+θ×+=β+θ×+=SINLCPBYPYCOSLCPBXPXβ∆RPYPXG22−+=∆∆∆ααRPYPXG22−+=∆[=⎭⎬⎫⎩⎨⎧Xrα]T⎪⎪⎪⎪⎪⎭⎪⎪⎪⎪⎪⎬⎫≤≤≤≤≤≤≤≤≥≤∆≤∆≤∆MAXMINMAXMINMAXMINMAXMINMAXLDALDALDALCDLCDLCDLBCLBCLBCLABLABLABSS02.03G02.02G02.01G∆∆∆nEX)X(fmin∈0)X(Gi≤…0)X(Hj=()()()()[]2P1JJM1IIXHR1XG1RXFR,XP∑∑==++=··→∞→()()0XG1RLIMM1IIKK=⎭⎬⎫⎩⎨⎧∑=∞→()[]0)X(HR1LIM2P1JJKK=⎪⎭⎪⎬⎫⎪⎩⎪⎨⎧∑=∞→()()()XFR,XPLIMKK=∞→8SMAX=⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯7SMAX=αS=0ABCDHSMAXS=0ABX=BCPPS=+0.1SSMAXYN······α°