摘要
对于一个物理模型确定的有约束力学系统，解除其实现运动约束的物理条件，代之以相应的约束力或控制力，并以广义力形式的达兰贝尔原理作为理论基础，这样就无须考虑运动约束加在虚位移上的限制条件，而建立起含有广义不完全理想约束力的非嵌入约束型的Ａｐｐｅｌ动力学普适方程，并考虑到运动约束方程，就构成了该约束系统的封闭动力学方程组．
A constrained mechanical system determined by physical models is relieved of physical conditions which implement the constraint of motion, and provided with the corresponding constraint forces instead. Based on D′Alembert′s principle in generalized forces, Appell′s universal equation of dynamics with non embedding constraint containing generalized incomplete ideal constraining force is established, not having to consider the restriction of placing constraints on virtual displacement. Further, in view of the constraint equations of motion, the closed dynamical equations for such constrained system can be established.
出处
《天津城市建设学院学报》
CAS
1998年第4期52-56,共5页
Journal of Tianjin Institute of Urban Construction
关键词
嵌入
虚位移
广义力
力学系统
约束系统
动力学
方程
约束力
限制条件
物理模型
relieving of constraint, generalized incomplete ideal constraining force, non embedding constraint, Gibbs function
