Chaplygin方程的积分因子和守恒定理

Integrating factors and conservation theorem of the Chaplygin's equations

提出了非完整动力学守恒定律构成的一般途径.首先,给出积分因子的定义,详细地研究守恒量存在的必要条件;其次,建立了Chaplygin方程的守恒定理及其逆定理,并举例说明结果的应用.

A general approach to the construction of conservation laws for nonholonomic dynamics is presented.Firstly,the definition of integrating factors is given.Secondly,necessary conditions for the existence of the conserved quantities are studied in detail.Then the conservation theorem and its inverse theorem for the Chaplygin's equations are established.Finally,an example to illustrate the application of the results is given.