拉格朗日动力学 [力] lagrangian dynamics
- 本文基于拉格朗日动力学方程推导并提出了变运动学模型下动力学模型变换定理。
The kinetic model transformation theorem in the change kinematics model is put forward and deduced based on the Lagranges kinetic equation. - 用平均法对欠驱动机械臂的拉格朗日动力学模型进行了简化,并基于简化后的模型给出了闭环非线性反馈控制律。
The mathematical model was simplified with the method of averaging, and the closed-loop nonlinear feedback control scheme was presented. - 本文的主要工作包括以下几个方面:(1)应用多体系统动力学理论建立了该火箭炮系统的拉格朗日动力学方程,为进一步仿真研究提供了理论基础;
Main research work in this thesis include as follow as: (1) Lagrange equations of the whole multiply rocket launch system are founded using multi-rigid-body dynamic theories.
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