Lie Symmetrical Perturbation and Adiabatic Invariants of Generalized Hojman Type for Disturbed Nonholonomic Systems

For a nonholonomic mechanics system with the action of small disturbance, the Lie symmetrical perturbation and adiabatic invariants of generalized Hojman type are studied under general infinitesimal transformations of groups in which the generalized coordinates and time are variable. On the basis of the invariance of disturbed nonholonomic dynamical equations under general infinitesimal transformations, the determining equations, the constrained restriction equations and the additional restriction equations of Lie symmetries of the system are constructed, which only depend on the variables t, qs and q^.s. Based on the definition of higher-order adiabatic invariants of a mechanical system, the perturbation of Lie symmetries for a nonholonomic system with the action of small disturbance is investigated, and the Lie symmetrical adiabatic invariants, the weakly Lie symmetrical adiabatic invariants and the strongly Lie symmetrical adiabatic invariants of generalized Hojman type of disturbed nonholonomic systems are obtained. An example is given to illustrate applications of the results.     

Form invariance and approximate conserved quantity of Appell equations for a weakly nonholonomic system

A weakly nonholonomic system is a nonholonomic system whose constraint equations contain a small parameter. The form invariance and the approximate conserved quantity of the Appell equations for a weakly nonholonomic system are studied. The Appell equations for the weakly nonholonomic system are established, and the definition and the criterion of form invariance of the system are given. The structural equation of form invariance for the weakly nonholonomic system and the approximate conserved quantity deduced from the form invariance of the system are obtained. Finally, an example is given to illustrate the application of the results.     

Potential method of integration for solving the equations of mechanical systems

This paper is intended to apply a potential method of integration to solving the equations of holonomic and nonholonomic systems. For a holonomic system, the differential equations of motion can be written as a system of differential equations of first order and its fundamental partial differential equation is solved by using the potential method of integration. For a nonholonomic system, the equations of the corresponding holonomic system are solved by using the method and then the restriction of the nonholonomic constraints on the initial conditions of motion is added.     

弱非完整系统Mei对称性导致的新型精确和近似守恒量

研究弱非完整系统Lagrange方程的Mei对称性导致的一种结构方程和新型精确以及近似守恒量. 首先建立系统的Lagrange方程. 其次在群的无限小变换下, 给出了弱非完整系统及其一次近似系统Mei对称性的定义和判据, 然后得到了Mei对称性导致的新型结构方程、 新型精确和近似守恒量的表达式. 最后, 举例研究系统的精确新型守恒量和近似新型守恒量问题. 关键词： 弱非完整系统 Mei对称性 新型结构方程 新型守恒量     

奇异变质量单面非完整系统Nielsen方程的Noether-Lie对称性与守恒量

在群的无限小变化下, 研究奇异变质量单面非完整系统Nielsen方程的Noether-Lie对称性. 建立系统运动微分方程的Nielsen形式, 给出系统Nielsen方程的Noether-Lie对称性的定义、判据和命题, 得到系统Nielsen 方程的Noether-Lie对称性所导致的Noether守恒量和广义Hojman守恒量. 最后给出说明性算例说明结果的应用. 关键词： 奇异变质量系统 单面非完整约束 Nielsen方程 Noether-Lie对称性     

Mei Symmetry and Hojman Conserved Quantity of Nonholonomic Controllable Mechanical System

A non-Noether conserved quantity, i.e., Hojman conserved quantity, constructed by using Mei symmetry for the nonholonomic controllable mechanical system, is presented. Under general infinitesimal transformations, the determining equations of the special Mei symmetry, the constrained restriction equations, the additional restriction equations, and the definitions of the weak Mei symmetry and the strong Mei symmetry of the nonholonomic controllable mechanical system are given. The condition under which Mei symmetry is a Lie symmetry is obtained. The form of the Hojman conserved quantity of the corresponding holonomic mechanical system, the weak Hojman conserved quantity and the strong Hojman conserved quantity of the nonholonomic controllable mechanical system are obtained. An example is given to illustrate the application of the results.     

变质量Chetaev型非完整系统Appell方程Mei对称性的共形不变性与守恒量

研究了变质量Chetaev型非完整系统Appell方程Mei对称性的共形不变性和守恒量.在群的无限小变换下,定义了变质量Chetaev型非完整系统Appell方程Mei对称性和共形不变性,给出了该系统Mei对称性的共形不变性确定方程,并推导出系统相应的守恒量表达式.最后,给出了应用算例.     

Mei symmetries and Mei conserved quantities for higher-order nonholonomic constraint systems

This paper presents the Mei symmetries and new types of non-Noether conserved quantities for a higher-order nonholonomic constraint mechanical system.On the basis of the form invariance of differential equations of motion for dynamical functions under general infinitesimal transformation,the determining equations,the constraint restriction equations and the additional restriction equations of Mei symmetries of the system are constructed.The criterions of Mei symmetries,weak Mei symmetries and strong Mei symmetries of the system are given.New types of conserved quantities,i.e.the Mei symmetrical conserved quantities,the weak Mei symmetrical conserved quantities and the strong Mei symmetrical conserved quantities of a higher-order nonholonomic system,are obtained.Then,a deduction of the first-order nonholonomic system is discussed.Finally,two examples are given to illustrate the application of the method and then the results.     

奇异 Chetaev型非完整系统Nielsen方程的Lie-Mei对称性与守恒量

研究奇异Chetaev型非完整系统Nielsen方程的Lie-Mei对称性, 建立系统Nielsen方程的Lie-Mei对称性方程, 给出系统Nielsen方程强Lie-Mei对称性和弱Lie-Mei对称性的定义, 得到对称性导致的Hojman守恒量和Mei守恒量, 最后给出说明性算例. 关键词： 奇异非完整系统 Nielsen方程 Lie-Mei对称性 守恒量     

非完整转动相对论系统的Lindel?f方程

由转动相对论系统的Hamilton原理分别建立在广义坐标和准坐标下的Lindel?f方程及其改进形式,并从改进的Lindel?f方程导出新Chaplygin方程.最后说明由转动系统的相对论分析力学向普通分析力学过渡的方法. 关键词： 非完整约束 转动系统 相对论 Lindel?f方程 Chaplygin方程     

Lie symmetries and conserved quantities of discrete nonholonomic Hamiltonian systems

This paper focuses on studying Lie symmetries and conserved quantities of discrete nonholonomic Hamiltonian systems. Firstly, the discrete generalized Hamiltonian canonical equations and discrete energy equation of nonholonomic Hamiltonian systems are derived from discrete Hamiltonian action. Secondly, the determining equations and structure equation of Lie symmetry of the system are obtained. Thirdly, the Lie theorems and the conservation quantities are given for the discrete nonholonomic Hamiltonian systems. Finally, an example is discussed to illustrate the application of the results.     

EFFECTS OF NONHOLONOMIC CONSTRAINT ON LIE SYMMETRIES AND CONSERVED QUANTITIES OF LAGRANGIAN SYSTEMS

After a Lagrangian system is constrained by nonholonomic constraints, the determining equations, the structure equation and the form of conserved quantities corresponding to the Lie symmetries will change. Some symmetries vanish and under certain conditions some Lie symmetries still remain.     

Generalized Birkhoffian representation of nonholonomic systems and its discrete variational algorithm

By using the discrete variational method, we study the numerical method of the general nonholonomic system in the generalized Birkhoffian framework, and construct a numerical method of generalized Birkhoffian equations called a self-adjoint-preserving algorithm. Numerical results show that it is reasonable to study the nonholonomic system by the structure-preserving algorithm in the generalized Birkhoffian framework.     

Existential theorem of conserved quantities and its inverse for the dynamics of nonholonomic relativistic systems

We present a general approach to the construction of conservation laws for the dynamics of nonholonomic relativistic systems.Firstly,we give the definition of integrating factors for the differential equations of motion of a mechanical system.Next,the necessary conditions for the existemce of the conserved quantities are studied in detail.Then,we establish the existential theorem for the conserved quantities and its inverse for the equations of motion of a nonholonomic relativistic system.Finally,an exampled is given to illustrate the application of the result.     

Generalized Birkhofflan representation of nonholonomic systems and its discrete variational algorithm

By using the discrete variational method,we study the numerical method of the general nonholonomic system in the generalized Birkhoffian framework,and construct a numerical method of generalized Birkhoffian equations called a self-adjoint-preserving algorithm.Numerical results show that it is reasonable to study the nonholonomic system by the structure-preserving algorithm in the generalized Birkhoffian framework.     

变质量非完整系统Tzénoff方程的Lie 对称性与其导出的守恒量

航天器运行系统大都属于变质量力学系统, 变质量力学系统的对称性和守恒量隐含着航天系统更深刻的物理规律. 本文首先导出了变质量非完整力学系统的Tzénoff方程, 然后研究了变质量非完整力学系统Tzénoff方程的Lie对称性及其所导出的守恒量, 给出了这种守恒量的函数表达式和导出这种守恒量的判据方程. 该研究结果对进一步探究变质量系统所遵循的守恒规律具有一定的理论价值.     

变质量非完整系统Tzénoff方程的Lie对称性与其导出的守恒量

航天器运行系统大都属于变质量力学系统,变质量力学系统的对称性和守恒量隐含着航天系统更深刻的物理规律.本文首先导出了变质量非完整力学系统的Tzénoff方程,然后研究了变质量非完整力学系统Tzénoff方程的Lie对称性及其所导出的守恒量,给出了这种守恒量的函数表达式和导出这种守恒量的判据方程.该研究结果对进一步探究变质量系统所遵循的守恒规律具有一定的理论价值.     

Fractional Noether Theorem Based on Extended Exponentially Fractional Integral

Based on the new type of fractional integral definition, namely extended exponentially fractional integral introduced by EI-Nabulsi, we study the fractional Noether symmetries and conserved quantities for both holonomic system and nonholonomic system. First, the fractional variational problem under the sense of extended exponentially fractional integral is established, the fractional d’Alembert-Lagrange principle is deduced, then the fractional Euler-Lagrange equations of holonomic system and the fractional Routh equations of nonholonomic system are given; secondly, the invariance of fractional Hamilton action under infinitesimal transformations of group is also discussed, the corresponding definitions and criteria of fractional Noether symmetric transformations and quasi-symmetric transformations are established; finally, the fractional Noether theorems for both holonomic system and nonholonomic system are explored. What’s more, the relationship between the fractional Noether symmetry and conserved quantity are revealed.     

Stability analysis of a simple rheonomic nonholonomic constrained system

It is a difficult problem to study the stability of the rheonomic and nonholonomic mechanical systems. Especially it is difficult to construct the Lyapunov function directly from the differential equation. But the gradient system is exactly suitable to study the stability of a dynamical system with the aid of the Lyapunov function. The stability of the solution for a simple rheonomic nonholonomic constrained system is studied in this paper. Firstly, the differential equations of motion of the system are established. Secondly, a problem in which the generalized forces are exerted on the system such that the solution is stable is proposed. Finally, the stable solutions of the rheonomic nonholonomic system can be constructed by using the gradient systems.     

Structure equation and Mei conserved quantity for Mei symmetry of Appell equation

This paper investigates structure equation and Mei conserved quantity of Mei symmetry of Appell equations for non-Chetaev nonholonomic systems. Appell equations and differential equations of motion for non-Chetaev nonholonomic mechanical systems are established. A new expression of the total derivative of the function with respect to time $t$ along the trajectory of a curve of the system is obtained, the definition and the criterion of Mei symmetry of Appell equations under the infinitesimal transformations of groups are also given. The expressions of the structure equation and the Mei conserved quantity of Mei symmetry in the Appell function are obtained. An example is given to illustrate the application of the results.