能量形式的 Kane 方程

Kane's Equations by Energy Funefion

本文将作用于动力学系统的主动力分成有势力与非有势力，利用广义主动力和广义惯性力的势能和动能的能量函数、以及虚功原理，推导了能量形式的Ｋａｎｅ方程。

The active forces acting on Dynamics system are divided into the Potential and no-potentical forces.It is proved that Kane's equations are presented by energy function,using energy formulation of generelized ative forces and generelized intria forces,and virtual work principle.