diff --git a/多体+耦合求解器/25.1.16思路.canvas b/多体+耦合求解器/25.1.16思路.canvas
index b50296b..f18740a 100644
--- a/多体+耦合求解器/25.1.16思路.canvas
+++ b/多体+耦合求解器/25.1.16思路.canvas
@@ -2,10 +2,14 @@
 	"nodes":[
 		{"id":"4b7faf7953451d56","type":"text","text":"1、debug转速","x":-140,"y":-160,"width":264,"height":60},
 		{"id":"24b6d0ae8c62a4eb","type":"text","text":"2、Kane原理理解\n- 模态叠加法理解","x":-140,"y":-20,"width":264,"height":80},
-		{"id":"d0a44ee1cb295fda","type":"text","text":"3、增加自由度，对应的广义主动力、惯性力如何推导","x":-140,"y":120,"width":264,"height":100},
-		{"id":"e52009c9149e427f","type":"text","text":"模块稳定性","x":176,"y":-160,"width":264,"height":60}
+		{"id":"d0a44ee1cb295fda","type":"text","text":"3、增加自由度，对应的广义主动力、惯性力如何推导，暂不开展","x":-140,"y":120,"width":264,"height":100},
+		{"id":"e52009c9149e427f","type":"text","text":"模块稳定性","x":176,"y":-160,"width":264,"height":60},
+		{"id":"ab888fd8e59f32c2","x":500,"y":-160,"width":250,"height":60,"type":"text","text":"pass 可能是数值问题"},
+		{"id":"02de6f1d4784ccb1","x":176,"y":-10,"width":250,"height":60,"type":"text","text":"计算多体动力学书籍学习"}
 	],
 	"edges":[
-		{"id":"2a6d49446576cbc8","fromNode":"4b7faf7953451d56","fromSide":"right","toNode":"e52009c9149e427f","toSide":"left"}
+		{"id":"2a6d49446576cbc8","fromNode":"4b7faf7953451d56","fromSide":"right","toNode":"e52009c9149e427f","toSide":"left"},
+		{"id":"14f7023ae166cf44","fromNode":"e52009c9149e427f","fromSide":"right","toNode":"ab888fd8e59f32c2","toSide":"left"},
+		{"id":"0f1382be58db0012","fromNode":"24b6d0ae8c62a4eb","fromSide":"bottom","toNode":"d0a44ee1cb295fda","toSide":"top"}
 	]
 }
\ No newline at end of file
diff --git a/多体求解器debug/yaw debug.canvas b/多体求解器debug/yaw debug.canvas
new file mode 100644
index 0000000..a6c05a7
--- /dev/null
+++ b/多体求解器debug/yaw debug.canvas	
@@ -0,0 +1,17 @@
+{
+	"nodes":[
+		{"id":"b2445729f47fd29b","x":-184,"y":-240,"width":250,"height":60,"type":"text","text":"qt 等于 上一步qdt"},
+		{"id":"649ad2d1c821713f","x":-201,"y":-140,"width":284,"height":102,"type":"text","text":"xdot[ic [0]].qt = x.qdt  \nxdot[ic [0]].qdt = new value"},
+		{"id":"f7c8d273afc8d8da","x":-184,"y":0,"width":250,"height":60,"type":"text","text":"AB4方法"},
+		{"id":"c9bc3e855ba187e4","x":-326,"y":100,"width":250,"height":60,"type":"text","text":"fortran qt qdt都正常"},
+		{"id":"dcc067eb34c46163","x":-42,"y":100,"width":250,"height":60,"type":"text","text":"rust qt不正常 qdt看起来较正常"},
+		{"id":"4cc6d446195db37a","x":-42,"y":200,"width":250,"height":60,"type":"text","text":"qdt小幅的不正常--qt不正常---qdt不正常？螺旋？"}
+	],
+	"edges":[
+		{"id":"9b52bd3158351910","fromNode":"b2445729f47fd29b","fromSide":"bottom","toNode":"649ad2d1c821713f","toSide":"top"},
+		{"id":"63fe83a102ec9ef1","fromNode":"649ad2d1c821713f","fromSide":"bottom","toNode":"f7c8d273afc8d8da","toSide":"top"},
+		{"id":"41679c23621e1a55","fromNode":"f7c8d273afc8d8da","fromSide":"bottom","toNode":"c9bc3e855ba187e4","toSide":"top"},
+		{"id":"1581476bf50ca04e","fromNode":"f7c8d273afc8d8da","fromSide":"bottom","toNode":"dcc067eb34c46163","toSide":"top"},
+		{"id":"d72603b19c4cfed1","fromNode":"dcc067eb34c46163","fromSide":"bottom","toNode":"4cc6d446195db37a","toSide":"top"}
+	]
+}
\ No newline at end of file