具有非线性非完整约束的流变系统：Voronec方程
Rheonomic systems with nonlinear nonholonomic constraints: the Voronec equations
摘要：
非完整系统动力学最早的公式之一可以追溯到1895年，这是由于Caubergin，他在假设一定数量的广义坐标既不出现在运动约束中也不出现在拉格朗日函数中的情况下发展了他的分析。几年后，沃罗涅茨推导出运动方程的非完整系统消除限制所需的Caubergin系统。虽然在接下来的几年中遇到的方法有利于使用的准坐标，我们将追求的Voronec方法直接处理广义坐标。其目的是建立一个程序扩展的非线性非完整系统的运动方程，即使在流变的情况下。
英文摘要：
One of the earliest formulations of dynamics of nonholonomic systems traces back to 1895 and it is due to Caplygin, who developed his analysis under the assumption that a certain number of the generalized coordinates do not occur neither in the kinematic constraints nor in the Lagrange function. A few years later Voronec derived the equations of motion for nonholonomic systems removing the restrictions demanded by the Caplygin systems. Although the methods encountered in the following years favour the use of the quasi-coordinates, we will pursue the Voronec method which deals with the generalized coordinates directly. The aim is to establish a procedure for extending the equations of motion to nonlinear nonholonomic systems, even in the rheonomic case.
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