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Variable mass controllable mechanical systems Ценов order equation

Chinese (10), the items are not free to write 璺, 'Tony. \10), (11) into (9) was a [\One GJ (12) Section l3 of Qingdao University, said if the quality and volume constant as the partial derivative of c is obtained by the Secretary stare plug: [dinner room + m m. jade stalk Koichi cm + Die Bolt 1m business] a Qian Q a feast G. (m +1) ΣΣm. Jinchu 1 A Q a G-rll-'J win a stupid one ... m Q a Gn. Yi G | a s ~ ax; t have a feast. Equation (14) is the variable mass controllable mechanical systems with high and there are DA | embert principle of Ho form. 3 variable mass controllable mechanical systems ueuo order equation when the system is not the role of non-full time constraints, d, independent of each other by the (14) have variable mass controllable mechanical systems complete the equations of motion Jiang Dan: 00:1'...,)( 15) and, set the system by a g a m-order nonlinear control parameters include nonholonomic constraints (,, ..., -】 ,,,,,. ... ,';',, t) = 0 (Lu = 1, ..., g) (167 role, the generalized virtual displacements satisfy Σ; efforts a'I) J = 0 (17) by (14), type (18) the use of Lagrange undetermined multiplier method was variable mass controllable mechanical system with a high multiplier in the form of Ileuoa equation once Hakka Ⅲ Ⅱ = where is the general lack of shelf yet sex,[link widoczny dla zalogowanych], and then set ', the eleven former e g a. (port = 1, ...,[link widoczny dla zalogowanych], ?) are independent of each other by the type (16) can be solved I) I + milk + (q_.' \】 .'\..., ... ix) make use of Kt to K in equation (19) Consumers hit '. + from the expression, then the equation (21) can be expressed as 10 (A ... E) (22) Equation (22) is order with variable mass controllable mechanical systems Generalized Coordinates Iion equation. Liyuan Cheng: variable mass controllable mechanical systems uem order equation (16) of the non-holonomic constraints, the introduction of mark .=(,, ..., Tony ' .,, ...,,, f) (a 1, ..., e)] a 。+(,[link widoczny dla zalogowanych],, ... ,',\subject coordinates m said derivative. Independent of each other, taking into account (16), by (23) can be solved '. A c bow. (,, ... ,\, .... c) Ⅱ a. ... \27) is the variable mass controllable mechanical system with high standards Coordinates ue \18), type (22) and (27), these findings have universal significance. It often changes the quality system and quality systems, controllable mechanical systems and non-controllable mechanical systems are applicable. on the quality of the system often,[link widoczny dla zalogowanych], this results controllable mechanical systems for the order I uetm equation for non-controllable mechanical system, the results of this paper [5] I was consistent on the quality of non-controllable mechanical system often, this results with the literature [4] the results are consistent I when m = 2,[link widoczny dla zalogowanych], the results of this paper [6], consistent with a 2} of the m constant mass controllable mechanical systems, results of this paper [3] the same. References H ・ I jade * B'06o, ~ eoAdaop ~ ey provision of ridicule eH, lH deleted tHq. clc. nMex delete delete, ugly AHCCCP, 1g53, 89 (1) Chengding Long, the equation of variable mass nonholonomic system of promotion, Beijing Polytechnic University In 1987. (3) Cheng Dinglong . controllable mechanical systems work eH l knock equation. Beijing Institute of Technology, 1987, (3) Mei Fengxiang. non-mechanical basis of a complete system. Beijing a sampan t Beijing Institute of Technology Press, 1985 Mei Fengxiang. dynamic nonholonomic systems Science. Beijing t Beijing Institute of Technology Press -1987 Liyuan Cheng. metamorphic controllable mechanical system management handsome B equation. Han even Teachers College .1993-13 (2) a 60 63-77--

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