非完整系统的最速降线运动方程

Equations of brachistochronic motion of a nonholonomic dynamic systems

应用变分原理分别建立准坐标和广义坐标下非完整系统的最速降线运动方程 ,并给出求无功控制力 (控制变量 )的方法 .

The quations of brachistochronic motion of nonholonomic dynamic systems in terms of quasi coordinates and generalized coordinates are respectively established by using variational principle,then the method of finding the workless control forces(control variables)is given.