| Popis: |
Let the mechanical system, the position of which is determined by the generalized coordinates q1, …,qn, , imposed geometrically servo constraints [1] of the form Ф (t, q1,…,qn)=0, (=1,…,a) (1) It is assumed that among the possible displacements qi , have such defined independent equations: , 1 ,..., 0 1 1 n i n i a i t q q q , (1=1,…,a) (2) at which the reactions of second-class work was carried out [1]. Possible moves, satisfying to condition (2) is called (A) -moves [2]. Bearing in mind the parametrically release of systems from servo constraints [3,4], we introduce additional independent variables p, corresponding to the transformation system with servo constraints (1) to the form Ф*(t, q1,…,qn,1,…,a)=0 , (=1,…,a) (3) where 1,…,a – parameters, characterizing the release of system from servo constraints (1). Zero values of p and their derivatives p corresponds relations (1) and their differentiated forms. For these values can be taken, for example, the left sides of the equations (1), calculated on the actual motion of the system [3]. Denoting Np coercion reactions, related to the parameters p, we assume that the recent forced to change according to the differential equations [4-7] |
