运动方程

In this dissertation, two methods were adopted to build dynamics model for vehicle ride comfort analysis: one is eight freedom vehicle ride comfort differential equation model in which lateral movement of driver and vehicle body was considered. Combined with time domain model of random road input, we got the driver and vehicles moving displacement.

本文采用两种方法建立了车辆平顺性分析的动力学模型：8自由度车辆平顺性分析的微分方程模型，考虑了驾驶员和车体的侧倾，结合随机路面激励的时域模型，在B级路面输入条件下，进行了时域仿真求解，得到车辆和驾驶员在汽车坐标系中各个方位上随时间历程的运动位移；利用ADAMS软件建立的福田小卡汽车，共计596个自由度的三维实体整车虚拟汽车模型，全面地考虑了影响平顺性的各种因素，然后通过对路面功率谱的变换生成适合于ADAMS／Tire的路面文件，实现了整车虚拟样机在随机输入激励下，车辆振动模型的时域仿真求解。

In this dissertation, two methods were adopted to build dynamics model for vehicle ride comfort analysis: one is eight freedom vehicle ride comfort differential equation model in which lateral movement of driver and vehicle body was considered. Combined with time domain model of random road input, we got the driver and vehicle's moving displacement. The other method, we built a Forland truck virtual prototyping using ADAMS, it is a 3D machine model, totally with 596 freedom degrees, every factor that influences the vehicle ride comfort was considered, finally complete the time domain simulation on random road input.

本文采用两种方法建立了车辆平顺性分析的动力学模型：8自由度车辆平顺性分析的微分方程模型，考虑了驾驶员和车体的侧倾，结合随机路面激励的时域模型，在B级路面输入条件下，进行了时域仿真求解，得到车辆和驾驶员在汽车坐标系中各个方位上随时间历程的运动位移；利用ADAMS软件建立的福田小卡汽车，共计596个自由度的三维实体整车虚拟汽车模型，全面地考虑了影响平顺性的各种因素，然后通过对路面功率谱的变换生成适合于ADAMS/Tire的路面文件，实现了整车虚拟样机在随机输入激励下，车辆振动模型的时域仿真求解。

In order to make sophisticated cam mechanism into a visualized one and simulate its actual motion state, the equation of curved surface of the contour of globoid indexing cam was established by using spatial gearing principle.

为了将复杂的凸轮机构可视化，实时地模拟其真实的运动状态，利用空间啮合原理，建立弧面分度凸轮的轮廓曲面方程。

Based on the concept of partial acceleration, a general method for obtaining the differential equations governing the motions of a class of nonholonomic systems is presented.

基于偏加速度概念，给出建立一类非完整动力学系统运动微分方程的一般方法。

The gravitational potential constant appears in the differential equations of motion of a particle and should have an effect on physical phenomena.

本文指出，在广义相对论中，与牛顿力学中不同，引力势常数出现在物体的运动微分方程中，对物理现象应该是有影响的。

The coupling effect between elastic deformation and the rigid motion was concerned in the dynamic equations. At the same time, the flexible manipulators were assumed as Euler-Bernoulli beams, the elastic deformation of the manipulator was represented by modality truncation equations, both elastic and gravitational potential energy were considered to calculate the total energy for whole system, therefore the finial dynamic modeling is more accurate and simple than others published.

该方法考虑了柔性机械臂刚体运动和弹性变形之间的耦合影响，并将柔性机械臂假设为一段Euler-Bernoulli梁处理，将弹性变形用截断模态方程表示，同时考虑了弹性势能和重力势能的影响，得到的双连杆柔性机械臂的动力学模型具有模型准确、结构简单等特点。

Another analysis according to state of particle by known, the quality of graviton is similar to the "repudiatron", compared to the currently quality of 9.1*10-28 gram ,the outer shell of hydrogen atom had about 9 hundred million electrons and not one.

一旦解除了引力束缚，任何规模的物质m，都会"形成辐射"，基本粒子由涡旋转变为直线运动，显示出具有mc2的能量，能量方程以及物质含有原子能的物理背景便在这里。

This equation of motion will be very useful in identifying simple harmonic motion and its frequency.

该运动微分方程於识别简谐振动及其频率时非常有用。

Secondly,the condition under which the Noether symmetry is a Lie symmetry is obtained.Finally,a generalization of Hojman theorem is given and two examples are given to illustrate the application of the result. analytical mechanics ; holonomic system ; symmetry ; conserved quantity

新近出现的形式不变性理论也取得进展[6～8]，文献[9]研究了完整力学系统由Lie对称性导致的Hojman守恒量，本文继文献[9]，研究完整力学系统由Noether对称性导致的Hojman守恒量。1 系统的Noether对称性与守恒量完整力学系统的运动微分方程为 Es=Qs (s=1，…，n)(1)其

The more realistic ones often try to mimic the motion of a real water body by solving differential equations, approximating the physical laws of hydrostatics and hydrodynamics, and offering full interactivity between the player and the water.

更逼真的方法通常尝试通过求解微分方程去模拟真实水体的运动，近似流体静力学和流体动力学的物理规律，并且在玩家和水之间提供完全的交互。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐