By the generalized variational principle of two kinds of variables in general me-chanics,it was demonstrated that two Lagrangian classical relationships can be applied to both holonomic systems and nonholonomic system...By the generalized variational principle of two kinds of variables in general me-chanics,it was demonstrated that two Lagrangian classical relationships can be applied to both holonomic systems and nonholonomic systems. And the restriction that two Lagrangian classical relationships cannot be applied to nonholonomic systems for a long time was overcome. Then,one important formula of similar La-grangian classical relationship called the popularized Lagrangian classical rela-tionship was derived. From Vakonomic model,by two Lagrangian classical rela-tionships and the popularized Lagrangian classical relationship,the result is the same with Chetaev's model,and thus Chetaev's model and Vakonomic model were unified. Simultaneously,the Lagrangian theoretical framework of dynamics of nonholonomic system was established. By some representative examples,it was validated that the Lagrangian theoretical framework of dynamics of nonholonomic systems is right.展开更多
基金Supported by the National Natural Science Foundation of China (Grant No. 10272034)the Research Fund for the Doctoral Program of Higher Education of Chinathe Basic Research Foundation of Harbin Engineering University (Grant No. 20060217020)
文摘By the generalized variational principle of two kinds of variables in general me-chanics,it was demonstrated that two Lagrangian classical relationships can be applied to both holonomic systems and nonholonomic systems. And the restriction that two Lagrangian classical relationships cannot be applied to nonholonomic systems for a long time was overcome. Then,one important formula of similar La-grangian classical relationship called the popularized Lagrangian classical rela-tionship was derived. From Vakonomic model,by two Lagrangian classical rela-tionships and the popularized Lagrangian classical relationship,the result is the same with Chetaev's model,and thus Chetaev's model and Vakonomic model were unified. Simultaneously,the Lagrangian theoretical framework of dynamics of nonholonomic system was established. By some representative examples,it was validated that the Lagrangian theoretical framework of dynamics of nonholonomic systems is right.
