基于解除约束原理推导一阶非完整约束系统的Lagrange方程  

Derivation of Lagrange Equations of the First-Order Nonholonomic System Based on the Principle of Removal of Constraint

作　　者：高普云[1] GAO Puyun(School of Aerospace Science,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学空天科学学院,湖南长沙410073

出　　处：《湖南工业大学学报》2017年第5期1-5,共5页Journal of Hunan University of Technology

摘　　要：基于解除约束原理,从达朗贝尔原理出发推导一阶非完整约束系统的运动方程。通过引进新的位移参数解除非完整约束,使非完整约束系统成为无约束系统,进而推导出系统的不带乘子的全新的Lagrange方程。Based on the principle of removal of constraint,a motion equation of the first-order nonholonomic constraint system has been derived from the d'Alambert principle.By introducing new displacement parameters,the first-order nonholonomic constraints are lifted,thus making the nonholonomic system an unconstrained system,with the new Lagrange equations successfully derived without multipliers.

关 键 词：解除约束 非完整约束系统 LAGRANGE方程 位移参数 无约束系统 

分 类 号：O313.3[理学—一般力学与力学基础]