关于非完整系统分析动力学的一个问题

第1部分，从Hamiltion原理出发，在泛函全量式中引入Lagrange乘子，将约束条件纳入泛函中，Lagrange乘子作为独立变量参加变分，进而将泛函的约束条件转化为泛函的自然条件，第2部分，在泛函的全量式引入Lagrange乘子，Lagrange乘子不参加变分，进而推导出非完整系统测地轨道方程，第3部分，在泛函的变发式中引入Lagrange乘子，进而推导出非完整力学的真实轨道方程，然后给出一个典型实例，验证了本文的理论和方法的正确性。

Analytical Dynamics of Non-Holonomic System

By following the Hamilton principle and introducing Lagrange multipliers into finite quantity expression of functional ,constraint conditions are inserted into functional and Lagrange multipliers are considered as independent variables that take part in variational operation,and as a result,the constraint conditions are changed into natural conditions of the functional.By introducing Lagrange multipilers into finite quantity expression of functional but keeping these Lagrange multipliers away from variational operation,geodesic trajectories of non_holonomic system is derived.By introducing Lagrange multipliers into variational expression of functional,actual trajectories of non_holonomic systems are derived.A typical example is given to show the correctness of the theory.