Lagrangian theoretical framework of dynamics of nonholonomic systems

By the generalized variational principle of two kinds of variables in general mechanics, 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 Lagrangian classical relationship called the popularized Lagrangian classical relationship was derived. From Vakonomic model, by two Lagrangian classical relationships 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. Supported by the National Natural Science Foundation of China (Grant No. 10272034), the Research Fund for the Doctoral Program of Higher Education of China and the Basic Research Foundation of Harbin Engineering University (Grant No. 20060217020)