m?=?1200;
m1?=?50;
m2?=?50;
m3?=?50;
m4?=?50;
jx?=?500;
jy?=?2000;
k1?=?20000;
k2?=?20000;
k3?=?25000;
k4?=?25000;
c1?=?1000;
c2?=?1000;
c3?=?2000;
c4?=?2000;
a?=?1.2;
b?=?1.5;
s?=?0.7;
l?=?1.4;
kt1?=?200000;
kt2?=?200000;
kt3?=?200000;
kt4?=?200000;

A?=?[0?0?0?0?0?0?0?1?0?0?0?0?0?0;
?????0?0?0?0?0?0?0?0?1?0?0?0?0?0;
?????0?0?0?0?0?0?0?0?0?1?0?0?0?0;
?????0?0?0?0?0?0?0?0?0?0?1?0?0?0;
?????0?0?0?0?0?0?0?0?0?0?0?1?0?0;
?????0?0?0?0?0?0?0?0?0?0?0?0?1?0;
?????0?0?0?0?0?0?0?0?0?0?0?0?0?1;
?????-[k1+k2+k3+k4?（k1-k2+k3-k4）*s?-（k1+k2）*a+（k3+k4）*b?-k1?-k2?-k3?-k4?c1+c2+c3+c4?（c1-c2+c3-c4）*s?-（c1+c2）*a+（c3+c4）*b?-c1?-c2?-c3?-c4]/m;
?????-[（k1-k2+k3-k4）*s?（k1+k2+k3+k4）*s*s?（-k1*a+k2*a+k3*b-k4*b）*s?-k1*s?k2*s?-k3*s?k4*s?（c1-c2+c3-c4）*s?（c1+c2+c3+c4）*s*s?（-c1*a+c2*a+c3*b-c4*b）*s?-c1*s?c2*s?-c3*s?c4*s]/jx;
?????-[-（k1+k2）*a+（k3+k4）*b?（-k1*a+k2*a+k3*b-k4*b）*l?（k1+k2）*a*a+（k3+k4）*b*b?k1*a?k2*a?-k3*b?-k4*b?-（c1+c2）*a+（c3+c4）*b?（-c1*a+c2*a+c3*b-c4*b）*l?（c1+c2）*a*a+（c3+c4）*b*b?c1*a?c2*a?-c3*b?-c4*b]/jy;
?????-[-k1?-k1*s?k1*a?k1+kt1?0?0?0?-c1?-c1*s?c1*a?c1?0?0?0]/m1;
?????-[-k2?k2*s?k2*a?0?k2+kt2?0?0?-c2?c2*s?c2*a?0?c2?0?0]/m2;
?????-[-k3?-k3*s?-k3*b?0?0?k3+kt3?0?-c3?-c3*s?-c3*b?0?0?c3?0]/m3;
?????-[-k4?k4*s?-k4*b?0?0?0?k4+kt4?-c4?c4*s?-c4*b?0?0?0?c4]/m4
????];
B?=?[0?0?0?0;
?????0?0?0?0;
?????0?0?0?0;
?????0?0?0?0;
?????0?0?0?0;
?????0?0?0?0;
?????0?0?0?0;
?????[1?1?1?1]/m;
?????[s?-s?s?-s]/jx;
?????[-a?-a?b?b]/jy;
?????[-1?0?0?0]/m1;
?????[0?-1?0?0]/m2;
?????[0?0?-1?0]/m3;
?????[0?0?0?-1]/m4
????];