动力学与控制学报
動力學與控製學報
동역학여공제학보
Journal of Dynamics and Control
2015年
4期
250-255
,共6页
分析力学%状态空间%运动约束%变分原理%运动方程
分析力學%狀態空間%運動約束%變分原理%運動方程
분석역학%상태공간%운동약속%변분원리%운동방정
analytical mechanics%state space%kinematic constraint%variational principle%equations of motion
引入状态变量表示力学系统的约束方程；建立状态空间中运动约束系统的新型变分原理；导出运动约束系统的带乘子的运动微分方程和广义状态变量运动微分方程；证明状态空间中运动约束系统的运动方程是奇异的；举例说明所得结果的应用。
引入狀態變量錶示力學繫統的約束方程；建立狀態空間中運動約束繫統的新型變分原理；導齣運動約束繫統的帶乘子的運動微分方程和廣義狀態變量運動微分方程；證明狀態空間中運動約束繫統的運動方程是奇異的；舉例說明所得結果的應用。
인입상태변량표시역학계통적약속방정；건립상태공간중운동약속계통적신형변분원리；도출운동약속계통적대승자적운동미분방정화엄의상태변량운동미분방정；증명상태공간중운동약속계통적운동방정시기이적；거례설명소득결과적응용。
The constraint equations expressed by state variables were introduced,and new variational principles of kinematic constrained systems in state space were established.The equations of motion with multiplier and in general state variables for kinematic constrained systems were derived.It is shown that the motion equations of constrained systems in state space are singular.An example was given to illustrate the application of the result.
