经典非完整Appell-Hamel约束的性质

PROPERTIES OF CLASSIC NONHOLONIMIC APPELL-HAMEL CONSTRAINT

研究了非完整约束Appell-Hamel例.证明了经典Appell-Hamel例对于非完整系统的Hamilton作用量是稳定值.研究了该约束对于非完整力学Rosen-Edelstein模型的解,证明了对于三个非完整力学模型Ap-pell-Hamel例具有相同解.利用非完整力学系统可归结为有条件的完整系统的理论,得出了经典Appell-Hamel例具有第二类Lagrange方程的形式.

The Appell-Hamel constraint was studied.We prove that the Appell-Hamel constraint is stationary for Hamilton Action of nonholonomic systems,and has the same solution as the three mechanical models-Chetaev model,Rosen-Edelstein model and Vacco model.Finaly,using the theory that nonholonomic systems can be looked as holonomic systems under some conditions,we prove that the Appell-Hamel constraint has Lagrange equations of the second kind.