流体动力学Chaubergin雪橇
The Hydrodynamic Chaplygin Sleigh
摘要：
我们考虑了刚体在势流中受某些非完整约束的运动，并证明了它是由欧拉-庞加莱-苏斯洛夫方程描述的。在2维的情况下，当约束是由一个叶片连接到身体，该系统提供了一个流体动力学概括的Chaubrigin雪橇，其动力学进行了详细研究。即，运动方程的积分显式和系统的渐近行为的确定。它示出了如何流体的存在带来了新的功能，这样的行为。
英文摘要：
We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler--Poincaré--Suslov equations. In the 2-dimensional case, when the constraint is realized by a blade attached to the body, the system provides a hydrodynamic generalization of the Chaplygin sleigh, whose dynamics are studied in detail. Namely, the equations of motion are integrated explicitly and the asymptotic behavior of the system is determined. It is shown how the presence of the fluid brings new features to such a behavior.
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