完整约束

对于完整约束系统，建立了转动系统的相对论性Lagrange方程、Nielsen方程、Appel方程和Hamilton正则方程；

For the systems with holonomic constraints , the relativistic Lagrange equation , Nielsen equation , Appell equation and Hamilton canonical equation of the rotational systems are constructed ;

具有完整约束的变质量系统的机械能守恒律

Conservation law of mechanical energy in variable mass systems with holonomic constraints

相空间中单面完整约束系统的Lie对称性研究

Lie Symmetries of Holonomic Systems with Unilateral Constraints in Phase Space

具有单面完整约束的有多余坐标力学系统的Lie对称性与守恒量

Lie Symmetries and Conserved Quantities of Mechanical Systems of Remainder Coordinates with Unilateral Holonomic Constraints

Lagrange系统施加完整约束后的形式不变性

Form Invariance of Lagrange System Forced by Holonomic Constraints

非保守力和非完整约束对Hamilton系统Noether对称性的影响（英文）

Effects of Non-conservative Forces and Nonholonomic Constraints on Noether Symmetries of a Hamilton System ;

高阶非完整约束系统相对于非惯性系的广义Noether定理

Generalized Noether Theorem of High-Order Nonholonomic Constraints Systems in Noninertial Reference Frames

具有单面完整约束的力学系统的Noether理论

Noether 's theory for mechanics systems with unilateral holonomic constrains

多刚体系统嵌入随机线性非完整约束的Kane方程

Kane Equation for Systems of Rigid Bodies with Stochastic , Linear and Nonholonomic Embedded Constraints

相空间中单面非完整约束系统相对运动的Noether理论

Noether 's Theory of Non-holonomic Systems with Unilateral Constraints Relative to Non-inertial Reference Frame

本文针对非完整约束移动机器人纯滚动无滑动这个约束条件，设计了一种在极坐标系下基于Lyapunov函数的全局渐进镇定控制器。

This dissertation aim at the constraint condition that " pure roll without slippage ", designed an asymptotically stabilizing controller based on Lyapunov function under polar coordinates .

在一定条件下经典非完整约束下的Lagrange方程可化为扩展的链式系统。

It is demonstrated that under appropriate assumptions Lagrange 's equations , including classical nonholonomic constraints , can be transformed to the extended chained form system .

带任意阶非完整约束的力学系统的广义能量积分和广义Whittaker方程

Generalized energy integral and generalized Whittaker equations of mechanical systems with nonholonomic constraints of arbitrary order

二阶非完整约束的力学系统在广义坐标下的Mac-Millan型方程

Mac-Millan Equations of Mechanical System with Second Order Non-Holonomic Constraints under Generalized Coordinates

二阶非完整约束系统的Mac-Millan型方程

Oo the Mac-Millan Type Equations of Mechanical Systems With Non-holonomic Constraints of 2nd Order

基于偶图的DM分解的判定算法，可以判定几何约束问题的欠、过、完整约束性，并可以确定欠、过约束发生的位置。

The arithmetic , which based on the DM decomposition of bigraph , could distinguish the problem is under , over or complete constraint and find the position , where under or over constraint happens .

外在完整约束下约束体系的对称性和F-S、F-J量子化

Symmetry and F-S 、 F-J quantization of constrained system including holonomic subsidiary constrains

本文以达朗伯原理、Kane方程的理论为基础，讨论碰撞运动的基本概念并推导运动方程。从方程、方程、方程的理论基础导出某些适用于解具有一阶非完整约束系统碰撞运动的方程。

In this paper , the fundamental concept concerning impulsive motion and the equations for impulsive motion are introduced on the basis of D ' Alembert 's Principle and Kane 's Equations .

本文从Gauss原理出发，经过推导得到二阶非完整约束的力学系统在广义坐标下的Mac-Millan型方程。并且说明了所得方程的正确性。

Based on the Gauss principle , the authors derive Mac-Millan equations for mechanical system with second order non-holonomic constraints under generalized coordinates , and explain the correctness of the equations .

从万有D'Alembert原理出发，得到了任意阶非完整约束系统准速度和准加速度联合表示的Appell方程。

According to D'Alembert 's principle , the paper presents the Appell equations for any order non-holonomic systems , formulated in terms of quasi-velocities and quasi-accelerations .

对于非完整约束系统，建立了转动系统的相对论性Routh方程、Чаплыгин方程、Nielsen方程和Appel方程；

For the systems with nonholonomic constraints , the relativistic Routh equation , Chaplygin equation , Nielsen equation and Appell equation of the rotational systems are constructed ;

用Lagrange方程和理想双面完整约束方程在无限小变换下的形式不变性，得到Lagrange系统在施加完整约束后的形式不变性的定义和判据。

It obtains the definition and the criterion for the form invariance of the system relying on the fact that the form of Lagrange equations and that of constrained equations with ideal bilateral holonomic constraints preserve an invariance under the infinitesimal transformations .

Appell-Hamel约束不是完整约束

The Appell-Hamel Constraint is not Holonomic

以圆盘在粗糙水平面上的滚动为例，将相空间中准坐标下约束力学系统的Noether对称性引入动力学，在非完整约束条件下导出了Noether对称变换的守恒量。

Taking disc rolling on a rough surface as example , Noether symmetries and form invariance of dynamical systems in phase space with quasi-coordinates are studied . The conservation quantity of Noether symmetry varying is given under constrained mechanical system .

求得坐标下的广义虚位移表达式，由万有D'Alembert-lagrange原理出发，得到任意阶非完整约束系统准坐标下的Appell方程，并进行了讨论。

An expression of generalized virtual displacement on quasi-coordinates is obtained . By the use of D'Alembert-Lagrange 's principle , Appell equation for any order non-holonomic systems on quasi-coordinates is derived . More discussions on the equation are given .

研究有约束的受迫运动的控制问题，由这类问题的D′Alembert-Lagrange原理导出有完整约束和非完整约束系统的动力学方程，举例说明新方程的应用。

Problems of control over forced motion with constraints are studies Using the principle of D'Alembert-Lagrange for such problems , new forms of dynamical equations for the problem with holonomic and non-holonomic constraints are deduced . Examples are given illustrating applications of such equations .

给出具有单面约束的变质量力学系统的D′Alembert-Lagrange原理，得到具有单面完整约束的变质量完整系统的运动方程，并举例说明新结果的应用。

The D'Alembert-Lagrange 's principle for variable mass mechanical systems with unilateral constraints is given , the equations of motion for variable mass holonomic systems with unilateral holonomic constraints are obtained , and an example is given to illustrate applications of the above observations .

单面完整约束系统在相空间中的形式不变性

Form invariance of holonomic systems with unilateral constraints in phase space

一类非完整约束动力学系统的人工场导向控制

Steering and control of a nonholonomic dynamic system using artificial fields

受有线性非完整约束的弱变质量系统的小振动

Small vibrations of weakly variable mass systems with linear nonholonomic constraints