状态空间中约束系统的运动方程

EQUATIONS OF MOTION IN STATE SPACE FOR CONSTRAINED MECHANICAL SYSTEMS

引入状态变量表示力学系统的约束方程;建立状态空间中运动约束系统的新型变分原理;导出运动约束系统的带乘子的运动微分方程和广义状态变量运动微分方程;证明状态空间中运动约束系统的运动方程是奇异的;举例说明所得结果的应用.

The constraint equations expressed by state variables were introduced, and new variational principles of kinematic constrained systems in state space were established. The equations of motion with multiplier and in general state variables for kinematic constrained systems were derived. It is shown that the motion equations of constrained systems in state space are singular. An example was given to illustrate the application of the result.