ADAMS采用拉格朗日动力学方程，辅以刚性积分算法以及稀疏矩阵技术来求解模型。
ADAMS solves the model by adopting Lagrange dynamics equation and complementing with rigidity integral algorithm and sparse matrix technology.
根据拉格朗日动力学方程及克雷洛夫-勃拉哥维辛斯的理论，首次建立了“船舶-减摇鳍-被动式减摇水舱”综合减摇系统的数学模型。
According to Lagrange dynamical equation and Kriloff theory, the mathematical model of integrated anti-roll system "ship -fin stabilizer-passive anti-roll tank" is built up.
运用拉格朗日动力学方程对简化的机器人模型分别在单、双脚支撑期进行了动力学建模，得到了一个便于控制的动力学模型。
By Lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double - foot support, and this model is easy to control.
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