【摘要】 采用带有一阶非线性非完整约束方程的扩张性的拉氏函数，建立起了拉格朗日方程的新公式。它提供了一种完整约束系统和非完整约束系统两者统一的变分方法。经一典型简例的验证是正确的。并指出了一个“漂亮”的扩张性拉氏函数的拉格朗日方程的错误。更多还原

【Abstract】 Presents a new formulation of Lagrange’s equations by using an augmented Lagrangian function with the first order non linear nonholonomic constraint equations, and offers a unified variational approach to both holonomic and nonholonomic constraints. By using a simple example with nonholonomic constraints it is proved that the new formulation is correct and the “beautiful” equations are not.更多还原