关于非完整力学——分析力学札记之二十六

介绍Lindelöf 方程及其影响, 回忆33 年前与法国专家的讨论, 研究非完整力学的理论基础, 介绍我国学者的一些贡献.     

关于经典非完整力学

对一阶非线性非完整系统,本文证明了,d-δ运算是可交换的,并且不必附加条件推导出运动方程,这个运动方程和“Vacco动力学”方程一致。     

关于对动点的动量矩定理------理论力学札记之八

介绍质点系对动点的动量矩定理并讨论它的一些应用.     

关于非完整系统的Lagrange型方程——————分析力学札记之十

 研究五类特殊非完整系统, 它们的运动微分方程有Lagrange形式.     

关于非完整系统的线性积分------分析力学札记之十五

给出求非完整系统线性积分的两种方法, 一种为广义动量积分, 另一种为广义动量组合积分.     

再关于非完整力学——答《争议》

本文进一步讨论了非完整力学的Chetaev模型和Vacco模型,得到了这两模型并不是合理模型的结论,同时对文[9]的争议作了回答。     

非完整动力学逆问题的基本解法

本文绘出非完整动力学逆问题的两种基本提法和解法,包括运动方程的构成以及运动方程的修改     

关于经典非完整力学的一个争议

本文对文献[4]的论断提出不同意见。同时对传统的 Gauss-Appell- 非完整动力学理论和 Vacco 动力学理论的特征给出评价。     

动轴理论及其应用——理论力学札记之十

动轴理论是指用相对动轴系的运动来列写质点或刚体的动力学方程的理论.动轴系可以固连于刚体上,也可以不固连于刚体上.动轴理论给出的方程,有时是方便的.     

关于非完整系统的Paradoxical行为──分析力学札记之二

约束方程的数学表示可以对应约束反力的多种实现,非完整系统动力学允许有多种模型,Chetaev模型不违反牛顿定律．     

On the classic nonholonomic dynamics

For first-order nonlinear nonholonomic systems, the present paper proves that thed-δ operations are commutative and derives the equation of motion without making use of the additional Appell-Chetaev condition. This equation of motion coincides with the equation of “Vacco dynamics”. Project supported by the Science-Technology Foundation for Universities     

Extensions of Appell's and Tzènoff's equations to general nonholonomic systems

In this paper we present a new variational principle, from which Gauss principle can be derived as a corollary. By using the new principle, Appell's and Tzènoff's equations are extended to nonholonomic systems of any order. As an example, a second order nonholonomic system is given to illustrate the application of the equations obtained.     

Forward and inverse dynamics of nonholonomic mechanical systems

This paper deals with the forward and the inverse dynamic problems of mechanical systems subjected to nonholonomic constraints. The intrinsically dual nature of these two problems is identified and utilised to develop a systematic approach to formulate and solve them according to an unified framework. The proposed methodology is based on the fundamental equations of constrained motion which derive from Gauss’s principle of least constraint. The main advantage arising from using the fundamental equations of constrained motion is that they represent an effective method capable to derive the generalised acceleration of a mechanical system, constrained in general by a set of nonholonomic constraints, together with the generalized constraint forces (forward dynamics). When the constraint equations are used to represent the desired behaviour of the mechanical system under study, the generalised constraint forces deriving from the fundamental equations of constrained motion provide the control actions which reproduce the specified motion for the system (inverse dynamics). This approach is systematically extended to underactuated mechanical systems introducing a new method named underactuation equivalence principle. The underactuation equivalence principle is founded on the key idea that the underactuation property of a mechanical system can be mathematically represented using a particular set of nonholonomic constraint equations. Two simple case-studies are reported to exemplify the proposed methodology. In the first case-study the computation of the generalised constraint forces relative to the revolute joint constraints of a physical pendulum is illustrated. In the second case-study the calculation of the control action which solves the swing-up problem for an inverted pendulum is described.     

Formulation and solution for inverse problem of nonholonomic dynamics

This paper presents a formulation and solution for the inverse problem ofnonholonomic dynamics:to find the form of nonholonomic constraints when someintegrals are given and to find the generalized reactive forces of constraint acting onthe system when the expression of the kinetic energy is given.An example is given toillustrate the application of the result.     

ROUTH’S EQUATIONS FOR GENERAL NONHOLONOMIC MECHANICAL SYSTEMS OF VARIABLE MASS

In this paper,Routh’s equations for the mechanical systems of the variable masswith nonlinear nonholonomic constraints of arbitrary orders in a noninertial referencesystem have been deduced not from any variational principles,but from the dynamicalequations of Newtonian mechanics.And then again the other forms of equations fornonholonomic systems of variable mass are obtained from Routh’s equations.     

The integration methods of Vacco dynamics equation of nonlinear nonholonomic system

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Integral theory for the dynamics of nonlinear nonholonomic system in noninertial reference frames

This paper establishes the integral theory for the dynamics of nonlinearnonholonomic system in noninertial reference frame.Firstly,based on the Routhequation of the relative motion of nonlinear nonholonomic system gives the firstintegral of the system.Secondly,by using cyclic integral or energy integral reduces theorder of the equation and obtains generalized Routh equation and Whittaker equationrespectively.Thirdly,derives canonical equation and variation equation and by usingthe first integral constructs integral invariant.And then,establishes the basic integralvariants and the integral invariant of Poincare-Cartan type.Finally,we give a series ofdeductions.