非完整系统相对运动动力学方程的Routh降阶法

ROUTH METHOD OF REDUCTION FOR DYNAMICAL EQUATIONS OF THE RELATIVE MOTION OF NONLINEAR NONHOLONOMIC SYSTEMS

本文给出了非线性非完整系统相对运动的Routh方程和方程,得到了具循环积分存在的条件;并利用循环积分将非完整系统相对运动的Routh方程和方程降阶,得到了更广泛一类的广义Routh方程和型广义Routh方程。最后给出一系列推论。

T he Routh equations and the Chaplygin equations for relative motion of nonlinear nonholonomic system are gived, and the cyclic integral and its condition of existence for the system are extended. Using the cyclic integral, the order of the Routh equations and the Chaplygin equations are reduced, and the more generalized Routh equations and the more generalized Routh equations of Chaplygin form are obtained. A seriat of deductions are gived.