非完整系统Chetaev动力学和vakonomic动力学的等价条件

就一般非完整约束系统，从约束方程满足的变分恒等式出发，利用增广位形流形上的向量场定义三类非自由变分，即非完整变分：vakonomic变分、Hlder变分、Suslov变分，并讨论它们之间的关系以及它们成为自由变分的充要条件.利用非完整变分以及相应的积分变分原理建立两类动力学方程：vakonomic方程和Routh方程或Chaplygin方程.通过vakonomic方程分别与Routh方程和Chaplygin方程比较，得到它们具有共同解的两类充分必要条件.这些条件并不是约束的可积性条件. 关键词： 非完整约束 非完整变分 Chetaev条件 vakonomic动力学     

三类非完整变分下的约束运动微分方程

在分析三类不等价的非完整变分,即vakonomic变分、Suslov变分和Hlder变分的基础上,利用Lagrange乘子法和稳定作用量原理,讨论非线性非完整约束系统在这三类变分下的运动微分方程,论证了这三类微分方程等价的条件-作为一般约束系统的特例,得到了仿射非完整约束系统的运动微分方程-最后借助两个实例验证了结论的正确性- 关键词： 非完整约束 Chetaev条件 vakonomic动力学 Lagrange乘子法     

双流体等离子体模型的动力学可容变分

动力学可容变分方法是一种广义哈密顿系统中的李扰动变换方法,能自动保证卡西米尔函数在相应阶数上的守恒性质.通过动力学可容方法得到了双流体在欧拉描述中的一组约束变分,而后利用这组变分对双流体哈密顿量取极值得到了平衡方程.     

完整力学系统相对运动动力学方程的普遍形式

从质点系非惯性系的动力学方程出发,建立力学系统相对运动的高阶微分变分原理,然后引入力学系统的高阶相对速度能量,导出完整力学系统相对运动的各类高阶动力学方程,并给出一例说明本文结果的应用. 关键词： 完整力学系统 相对运动 高阶微分变分原理 高阶动力学方程     

重夸克偶素的高阶变分-积分微扰修正

利用基于积分方程的改进的变分微扰方法(变分-积分微扰法)求解重夸克偶素激发态.设置含有变分参数的母哈密顿量作为零级哈密顿量,选择该母哈密顿系统的精确解作为试探波函数,得到了只有几项的高阶修正波函数和高阶能量修正.该计算结果更接近精确能量值,修正波函数的有界性和收敛性也得到了证明.结果表明,这种方法不仅可提高计算结果的精度,而且可确保微扰级数解的收敛性. 关键词： 重夸克偶素 变分-积分微扰法 高阶能量修正     

用广义变分迭代理论求一类相对转动动力学方程的解

研究了一类具有非线性阻尼力和强迫周期力项的相对转动扰动动力学方程. 首先利用变分原理构造了广义变分迭代, 其次决定方程的初始近似, 最后通过迭代表示式得到了对应方程的任意次近似解. 关键词： 相对转动 动力系统 变分迭代     

超细长弹性杆动力学的Gauss原理

研究基于Gauss 变分的超细长弹性杆动力学建模的分析力学方法.分别在弧坐标和时间的广义加速度空间定义虚位移,给出了非完整约束加在虚位移上的限制方程;建立了弹性杆动力学的Gauss原理,由此导出Kirchhoff方程、Lagrange方程、Nielsen方程以及Appell方程;对于受有非完整约束的弹性杆,导出了带乘子的Lagrange方程;建立了弹性杆截面动力学的Gauss最小拘束原理并说明其物理意义. 关键词： 超细长弹性杆动力学 分析力学 Gauss变分 最小拘束原理     

变质量系统相对论力学速度空间中的变分原理

本文给出变质量系统相对论力学速度空间中的变分原理，由此得到变质量系统相对论力学的Ｌａｇｒａｎｇｅ方程。     

旋转磁流体系统的变分原理及稳定性条件

本文舍去多方近似,从完整的MHD方程出发,对一个具有粘性,可压缩性,及自引力的旋转MHD系统给出变分原理和稳定性条件。     

二阶总广义变分图像放大

为了在图像放大中获得更好的视觉效果,提出了一种基于总广义变分性质的变分放大模型.该模型将原始低分辨图像作为被估计的高分辨放大图像到所在空间的某个子空间的投影,利用二阶总广义变分正则化迭代处理得到被估计放大图像.通过分析新模型的性质,给出了一种有效的原始对偶放大算法.实验结果表明:该方法能去除总变分放大方法产生的图像阶梯块效应,恢复更多的细节边缘及纹理信息,从而重构出高质量的图像;相比于总变分图像放大方法和小波图像放大方法,该方法具有更高的峰值信噪比和更小的均方误差.     

Dynamics of nonholonomic systems from variational principles embedded variation identity

Nondeterminacy of dynamics, i.e., the nonholonomic or the vakonomic, fundamental variational principles, e.g., the Lagrange-d'Alembert or Hamiltonian, and variational operators, etc., of nonholonomic mechanical systems can be attributed to the non-uniqueness of ways how to realize nonholonomic constraints. Making use of a variation identity of nonholonomic constraints embedded into the Hamilton's principle with the method of Lagrange undetermined multipliers, three kinds of dynamics for the nonholonomic systems including the vakonomic and nonholonomic ones and a new one are obtained if the variation is respectively reduced to three conditional variations: vakonomic variation, Hölder's variation and Suslov's variation, defined by the identity. Therefore, different dynamics of nonholonomic systems can be derived from an integral variational principle, utilizing one way of embedding constraints into the principle, with different variations. It is verified that the similar embedding of the identity into the Lagrange-d'Alembert principle gives rise to the nonholonomic dynamics but fails to give the vakonomic one unless the constraints are integrable.     

Lagrangian theoretical framework of dynamics of nonholonomic systems

By the generalized variational principle of two kinds of variables in general mechanics, it was demonstrated that two Lagrangian classical relationships can be applied to both holonomic systems and nonholonomic systems. And the restriction that two Lagrangian classical relationships cannot be applied to nonholonomic systems for a long time was overcome. Then, one important formula of similar Lagrangian classical relationship called the popularized Lagrangian classical relationship was derived. From Vakonomic model, by two Lagrangian classical relationships and the popularized Lagrangian classical relationship, the result is the same with Chetaev's model, and thus Chetaev's model and Vakonomic model were unified. Simultaneously, the Lagrangian theoretical framework of dynamics of nonholonomic system was established. By some representative examples, it was validated that the Lagrangian theoretical framework of dynamics of nonholonomic systems is right.     

A connection theory for a nonlinear differential constrained system

An Ehresmann connection on a constrained state bundle defined by nonlinear differential constraints is constructed for nonlinear nonholonomic systems. A set of differential constraints is integrable if and only if the curvature of the Ehresmann connection vanishes. Based on a geometric interpretation of d－δ commutation relations in constrained dynamics given in this paper, the complete integrability conditions for the differential constraints are proven to be equivalent to the three requirements upon the conditional variation in mechanics: (1) the variations belong to the constrained manifold; (2) the time derivative commutes with variational operator; (3) the variations satisfy the Chetaev's conditions.     

Unconventional Hamilton-type variational principles for analytical mechanics

According to the basic idea of classical yin-yang complementarity and modern dual-complementarity, in a simple and unified new way proposed by Luo, the un-conventional Hamilton-type variational principles of holonomic conservative system in analytical mechanics can be established systematically. This unconventional Hamilton-type variational principle can fully characterize the initial-value problem of analytical mechanics, so that it is an important innovation for the Hamilton-type variational principle. In this paper, an important integral relation is given, which can be considered as the expression of the generalized principle of virtual work for analytical mechanics in mechanics. Based on this relation, it is possible not only to obtain the principle of virtual work of holonomic conservative system in analytical mechanics, but also to derive systematically the complementary functionals for three-field and two-field unconventional variational principles, and the functional for the one-field one by the generalized Legendre transformation given in this paper. Further, with this new approach, the intrinsic relationship among various principles can be explained clearly. Meanwhile, the unconventional Hamilton-type variational principles of nonholonomic conservative system in analytical mechanics can also be established systematically in this paper.     

Hamilton’s principle and the rolling motion of a symmetric ball

In this paper, we show that the trajectories of a dynamical system with nonholonomic constraints can satisfy Hamilton’s principle. As the simplest illustration, we consider the problem of a homogeneous ball rolling without slipping on a plane. However, Hamilton’s principle is formulated either for a reduced system or for a system defined in an extended phase space. It is shown that the dynamics of a nonholonomic homogeneous ball can be embedded in a higher-dimensional Hamiltonian phase flow. We give two examples of such an embedding: embedding in the phase flow of a free system and embedding in the phase flow of the corresponding vakonomic system.     

On the validity of the vakonomic model and the chetaev model for constraint dynamical systems

By analyzing the virtual work of reaction forces, we prove the failure of the vakonomic model in obtaining the correct equations of motion for nonholonomic mechanical systems. Only when the constraint is integrable can the actual equation of motion be obtained. We show that the null virtual work condition of reaction forces is a robust criterion on the validity of various models of analytical mechanics. For an illustration, classical examples are discussed.     

Poincaré-Cartan Integral Variants and Invariants of Nonholonomic Constrained Systems

Usually there does not exist an integral invariant of Poincaré-Cartan's type for a nonholonomic system because a constraint submanifold does not admit symplectic structure in general. An integral variant of Poincaré-Cartan's type, depending on the nonholonomy of the constraints and nonconservative forces acting on the system, is derived from D'Alembert-Lagrange principle. For some nonholonomic constrained mechanical systems, there exists an alternative Lagrangian which determines the symplectic structure of a constraint submanifold. The integral invariants can then be constructed for such systems.