The unqualitative and nonlinear problems of virtual displacement in nonholonomic system are studied. The concepts of intrinsical linear nonholonomic constraint and intrinsical nonlinear nonholonomic constraint are put forward. The spectrums in applying all kinds of the virtualdisplacement concepts and the commutativity operations were testified and given. The study shows that,in intrinsical linear nonholonomic system, all kinds of the virtualdisplacement concepts and the commutativity operations are rational; But in intrinsical nonlinear nonholonomic system, they are not rational. So the physical realization of intrinsical nonlinear nonholonomic constraint must be studied.
赵跃宇,金波,许文喜.关于非完整系统虚位移的不确定性问题与非线性问题[J].动力学与控制学报,2003,1(1):20~24; Zhao Yueye, Jin Bo, Xu Wenxi. On the unqualitative and nonlinear problems of virtual displacement in nonholonomic system[J]. Journal of Dynamics and Control,2003,1(1):20-24.
