一阶非线性非完整系统的改进的Routh方程

The Improved Routh Equations in One-order Nonlinear Non-holonomic Mechanical System

导出了一阶非线性非完整系统的改进的Ｒｏｕｔｈ方程并举例说明其应用，从而提供了建立非完整系统的运动微分方程的一种新方法。该方程的特点在于其第一组方程中只包含系统的独立的广义动量，而第二组方程中不包含任何广义动量。同时，本文结果也是对黄昭度先生的“改进的Ｒｏｕｔｈ方程”一文中的某些错误的修正。

The improved Routh equations in one-order nonlinear non-ho lonomic mechanical system are derived, which provides a now method of establishing kinetic differential equations of mechanical system. The cha racteristics of the equations are that the first group of them only involve the independent generalized momentums of the system and the second one does not involve any generalized momentums. Meanwhile, the result of the paper is also the correction for the mistakes of the literature (Improved Routh Equations) by Mr Huang Zhaodu.