中文摘要：

讨论了由伍德瓦迪亚（Udwadia）和卡拉巴（Kalaba）提出的针对一般非理想系统的动力学方程,并对理想及非理想约束力的表达式进行了修改.修改后的表达式有更清晰的物理意义且显示了同物理定律相适应的理想约束力及非理想约束力之间的耦合效应.例子中分别采用经典的刚体动力学方法、伍德瓦迪亚-卡拉巴方法及修改后的伍德瓦迪亚-卡拉巴方法进行了对比研究,证实了对方程修改的意义.

英文摘要：

The expressions for general non-ideal systems proposed by Udwadia--Kalaba are investigated and revised with regard to the forces of ideal constraints and non-ideal constraints. The new revised expressions have a clearer physical meaning and contain the coupling between the forces of ideal constraints and non-ideal constraints, as is consistent with the original physical law. An example by using three methods validates the results of this paper.