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.
作者
高普云
GAO Puyun(School of Aerospace Science,National University of Defense Technology,Changsha 410073,China)
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
