应用数学和力学2017，Vol.38Issue(6)：696-707,12.DOI:10.21656/1000-0887.370327
基于Udwadia-Kalaba理论的Hamel嵌入法研究
Study on Hamel's Embedding Method via the Udwadia-Kalaba Theory
摘要
Abstract
Hamel embedded the constraint directly into the kinetic energy of unconstrained motion to avoid the use of Lagrange multiplier,which made a simple,straightforward,but incompletely correct method.Hamel stated that this method may lead to wrong results,but did not point out the applicable conditions for its correctness.Based on the Udwadia-Kalaba theory,the necessary and sufficient condition for Hamel's embedding method was found.Besides,examples show that Rosenberg's work on the validity of Hamel's embedding method is insufficient.Hamel's embedding method may be correct under nonholonomic constraint and may be incorrect under holonomic constraint.According to the theoretical and exemplary analysis,the correctness of Hamel's embedding method is not only determined by the constraints,but also determined by the mechanical system model.关键词
Hamel嵌入法/Udwadia-Kalaba理论/完整约束/非完整约束/机械系统模型Key words
Hamel's embedding method/Udwadia-Kalaba theory/holonomic constraint/nonholonomic constraint/mechanical system model分类
数理科学引用本文复制引用
赵韩,赵晓敏,姜建满..基于Udwadia-Kalaba理论的Hamel嵌入法研究[J].应用数学和力学,2017,38(6):696-707,12.基金项目
对外科技合作项目(国际科技项目)(2014DFA80440) （国际科技项目）
