摘要
本文得到准坐标下的广义虚位移表达式,由Jourdain原理出发,得到一阶非线性非完整约束系统准坐标下的Appell方程,其结果与由D'Alembet-Lagrange原理、Gauss原理推得的结果完全一致这说明三个原理是等价的.另外,从推导过程和结果来看,由于采用了准坐标(与广义坐标等相比较)使之大为简化,Appell方程的形式也变得更加简单.一阶线性非完整约束系统准坐标下的Appell方程,可以作为上述结果的特殊情况得到.
An expression of generalized virtual displacement on quasi-coordinates is obtained.By the use of Jourdain principle, Appell equation for Ist order non-linear non-holonomic systems on quasi-coordinates is derived.Above mentioned results are consistent with the results derived from D' Alembert-Lagrange principle and Gauss principle.
关键词
非线性
非完整约束
准坐标
non-linear
non-holonomic constraints
quasi-coordinate
Appell equations
