论文标题
具有非线性非体力学约束的慢性系统：伏诺克方程
Rheonomic systems with nonlinear nonholonomic constraints: the Voronec equations
论文作者
论文摘要
非体力学系统动力学的最早表述之一可以追溯到1895年，这是由于Caplygin所致，因为Caplygin在假设一定数量的一定数量的广义坐标既不出现在运动学约束中，也没有在Lagrange函数中进行分析。几年后，沃罗尼克（Voronec）得出了非独立系统的运动方程，从而消除了Caplygin系统所需的限制。尽管在接下来的几年中遇到的方法有利于使用准坐标，但我们将采用直接处理广义坐标的Voronec方法。目的是建立一种将运动方程扩展到非线性非独立系统的程序，即使在慢性情况下也是如此。
One of the earliest formulations of dynamics of nonholonomic systems traces back to 1895 and it is due to Caplygin, who developed his analysis under the assumption that a certain number of the generalized coordinates do not occur neither in the kinematic constraints nor in the Lagrange function. A few years later Voronec derived the equations of motion for nonholonomic systems removing the restrictions demanded by the Caplygin systems. Although the methods encountered in the following years favour the use of the quasi-coordinates, we will pursue the Voronec method which deals with the generalized coordinates directly. The aim is to establish a procedure for extending the equations of motion to nonlinear nonholonomic systems, even in the rheonomic case.
