基于El-Nabulsi模型的一类非完整系统的积分因子与守恒量

利用积分因子方法研究一类非完整系统的守恒量.基于按周期律拓展的分数阶积分的El－Nabulsi模型，给出了一类非完整系统部分正则形式的运动微分方程；定义了该系统的运动微分方程的积分因子；利用积分因子方法构建该系统的守恒量，建立了系统的守恒定理和逆定理，并给出求解积分因子的广义Killing方程.最后举例说明结果的应用.

Integrating factors and conserved quantity of a class of nonholonomic systems based on El-Nabulsi model

The conserved quantity of a class of nonholonomic systems was studied by integrating factor method. Under the El-Nabulsi model that was based on a fractional integral extended by periodic laws， the differential equations of motion with partial canonical form for a class of nonholonomic system was given. The integrating factor for the canonical equation of the system was defined. The conserved quantity of the system was constructed by integrating factor method， the conservation theorem and inverse theorem of the system were established， and the generalized Killing equation of integrating factor was given. Finally， an example was given to illustrate the application of the results.