THE CONSERVATION LAW OF NONHOLONOMIC SYSTEM OF SECOND-ORDER NON-CHETAVE''''S TYPE IN EVENT SPACE

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THE CONSERVATION LAW OF NONHOLONOMIC SYSTEM OF SECOND-ORDER NON-CHETAVE’S TYPE IN EVENT SPACE

The conservation law of nonholonomic system of second-order non-Chataev’s type in event space is studied. The Jourdain’s principle in event space is presented. The invariant condition of the Jourdain’s principle under infinitesimal transformation is given by introducing Jourdain’s generators in event space. Then the conservation law of the system in event space is obtained under certain conditions. Finally a calculating example is given.     

Finite and impulsive motion of constrained mechanical systems via Jourdain's principle: discrete and hybrid parameter models

The main purpose of this paper is to present a unified analytical dynamics framework for the analysis of finite and impulsive motion of mechanical systems using Jourdain's principle. Emphasis is given to the general case when a mechanical system is described by a hybrid (discrete-distributed) parameter model. A large group of finite and impulsive, generally non-holonomic, constraints are analysed in detail and a so-called extended Appellian classification is presented for these constrained motion problems. The fundamental dynamic equation of constrained systems is developed in terms of velocity variations (Jourdain's principle). Based on this equation and the constraints, the methods of quasivelocities and Lagrangian multipliers are adopted and interpreted for the finite motion of hybrid parameter models of mechanical systems; and the methods of independent quasivelocity variations and Lagrangian multipliers are introduced for the analysis of impulsive motion of such models. To illustrate the proposed material, an example of a one-link flexible arm intercepting and capturing a moving target is considered.     

On Time Reversible Description of the Process of Coagulation and Fragmentation

The process of coagulation is associated with scalar conservation laws, where the adhesion particle dynamics results from shock waves. Conversely, the fragmentation of a massive particle into a number of smaller ones, or into a continuous (dust) distribution, is associated with rarefaction waves. It is generally agreed that a reversible solution of a conservation law can include neither shock waves nor the spontaneous emergence of rarefaction waves. The present paper is an attempt to demonstrate that both coagulation and fragmentation may coexist for a reversible solution, under a natural generalization of the system of conservation law. This is done by introducing an action principle which includes, in addition to the inertial (kinetic energy) term, also an appropriately defined internal energy. The above generalization of the system of conservation law appears as the Euler–Lagrange equations for this action.     

物理变分原理及其在电磁介质中的应用

和数学变分原理的意义不同,物理变分原理是物理界的客观规律,是基本规律.热力学定律是能量守恒定律,指任一自然过程的能量总是守恒的;但同时又是物理变分原理,指从一种状态变化到另一无限接近的状态,在所有可能的稳定过程中,真实过程的能量取极小值,因而又是动量定律.特别是对于存在迁移变分的过程和偏离平衡态不大的不可逆过程,物理变分原理特别有效,可以用来推求连续介质的控制方程,且尚未完全研究透彻.本文对这一原理及其在电磁介质中的某些应用进行了一些研究.     

The derivation of J-integral conservation law from the principle of virtual work

The general form of J-integral conservation law in three di-mensions has been derived from the principle of virtual work.The necessary conditions for J-integral conservation are alsogiven.     

The coupling dynamical modeling theory of flexible multibody system

Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The “coupling matrix library” and Jourdain's variation principle and single direction recursive formulation method are used to establish the general coupling dynamical equations of flexible multibody system. Two typical examples show the coupling effect between coupling displacements and large overall motion on the dynamics of flexible multibody system consisting of beams. The project supported by the National Natural Science Foundation of China (No. 19832040).     

带缩放式腿的四足步行机器人的三足支撑步行的动力学分析

本文讨论带缩放式腿的四足步行机器人的三足支撑步行运动。采用半逆解法预先规定运动学补充条件进行运动学分析,应用达朗伯原理和若丹原理进行动力学分析,并附加优化条件解决“超静定性”困难。所分析的结果用于计算一个具体机器人的动力学问题。     

Dynamics and control of variable geometry truss manipulator

Variable geometry truss manipulator(VGTM) has potential to work in the future space applications, of which a dynamic model is important to dynamic analysis and control of the system. In this paper, an approach is presented to model the dynamic equations of a VGTM by independent variables, which consists of two double-octahedral truss units and a 3-revolute-prismatic-spherical(3-RPS) parallel manipulator. In this approach, the kinematic recursive relations of two adjacent bodies and geometric constrains are used to deduce the kinematic equations of the VGTM, and Jourdain's velocity variation principle is adopted to establish the dynamic equations of the system. The validity of the proposed dynamic model is verified by comparison of numerical simulations with the software ADAMS. Besides, an active controller for trajectory tracking of the system is designed by the computed torque method. The effectiveness of the controller is numerically proved.     

超空泡横截面独立膨胀原理解析及其应用

应用能量守恒定律阐释了空泡横截面独立膨胀原理,推导了空泡横截面面积与水中运动物体的相对速度及空化数之间的关系式,对Logvinovich给出的公式作了进一步的完善和扩充,并在此基础上研究了若干种非定常条件下,圆盘后部有限轴对称超空泡长度和形态的非定常变化过程,通过数值算例说明了方法的可行性。本文结论可为水中超空泡航行体的设计提供理论参考,对相关数值计算有重要理论指导意义。     

On the uniqueness of symmetric algebraic consequences implied by a system of conservation laws consistent with the additional conservation equation

In mathematical physics, one often encounters systems of conservation laws which are consistent with an additional conservation equation. Such systems are of particular interest from the point of view of phenomenological thermodynamics where the additional conservation equation is often interpreted as the entropy law. The systems of conservation laws which imply the additional conservation law are strongly related to symmetric systems. These relations are exploited in thermodynamical theories where the system of field equations consistent with the balance of entropy is often assumed to be symmetric.In this paper we use an invariant definition of symmetric system in order to show that the system of balance laws implies the additional balance law if and only if it implies a symmetric system of a certain kind (see Section 2) and that such a symmetric system is uniquely defined.This property is interesting in the context of a more general question; what conditions for a given system of conservation laws are necessary and/or sufficient to ensure the existence of the additional conservation law.     

考虑铰摩擦的柔性太阳阵展开动力学研究

研究了空间漂浮航天器太阳阵展开与锁定过程的刚柔耦合动力学问题. 基于Jourdain 速度变分原理和单项递推组集方法, 建立了太阳阵展开与锁定过程的刚柔耦合多体系统动力学模型,采用虚功率原理推导了铰摩擦对系统动力学方程的贡献. 在以上动力学模型中引入3-D 鬃毛摩擦模型来研究铰链的摩擦特性对太阳阵展开动力学的影响. 所建动力学模型的正确性通过与商业软件ADAMS 和NASTRAN 的联合仿真对比得到了验证,该模型能够有效地预测太阳阵的展开历程以及航天器姿态的动态行为.      

DEPLOYMENT DYNAMICS OF FLEXIBLE SOLAR ARRAYS CONSIDERING FRICTIONAL JOINT

研究了空间漂浮航天器太阳阵展开与锁定过程的刚柔耦合动力学问题. 基于Jourdain 速度变分原理和单项递推组集方法, 建立了太阳阵展开与锁定过程的刚柔耦合多体系统动力学模型,采用虚功率原理推导了铰摩擦对系统动力学方程的贡献. 在以上动力学模型中引入3-D 鬃毛摩擦模型来研究铰链的摩擦特性对太阳阵展开动力学的影响. 所建动力学模型的正确性通过与商业软件ADAMS 和NASTRAN 的联合仿真对比得到了验证,该模型能够有效地预测太阳阵的展开历程以及航天器姿态的动态行为.     

GENERALIZED NOETHER’S THEOREM OF NONHOLONOMIC NONPOTENTIAL SYSTEM IN NONINERTIAL REFERENCE FRAMES

The new Lagrangian of the relative motion of mechanical system is constructed,thevariational principles of Jourdain’s form of nonlinear nonholonomic nonpotential system innoninertial reference frame are established,the generalized Noether’s theorem of thesystem above is presented and proved,and the conserved quantities of system are studied.     

Gauge principle and variational formulation for flows of an ideal fluid

A gauge principle is applied to mass flows of an ideal compressible fluid subject to Galilei transformation. A free-field Lagrangian defined at the outset is invariant with respeet to global SO(3) gauge transformations as well as Galilei transformations. The action principle leads to the equation of potential flows under constraint of a continuity equation. However, the irrotational flow is not invariant with respect to local SO(3) gauge transformations. According to the gauge principle, a gauge-covariant derivative is defined by introducing a new gauge field. Galilei invariance of the derivative requires the gauge field to coincide with the vorticity, i.e. the curl of the velocity field. A full gauge-covariant variational formulation is proposed on the basis of the Hamilton‘‘s principle and an assoicated Lagrangian. By means of an isentropic material variation taking into account individual particle motion, the Euler‘‘s equation of motion is derived for isentropic flows by using the covariant derivative. Noether‘‘s law associated with global SO(3) gauge invariance leads to the conservation of total angular momentum. In addition, the Lagrangian has a local symmetry of particle permutation which results in local conservation law equivalent to the vorticity equation.     

基于初应力法的作大范围运动柔性梁动力学建模理论研究

研究了初应力法的作大范围运动柔性梁的建模理论.根据连续介质理论,考虑应变-位移中的非线性项,用一致质量有限元法对柔性梁进行离散,基于Jourdain速度变分原理导出定轴转动下大范围运动为自由的柔性梁刚-柔耦合动力学方程.从其刚柔耦合动力学方程出发,考虑在大范围运动已知情况下的结构动力学方程.通过引入准静态概念,把其结构动力学方程转化为准静态方程.对纵向和横向变形节点坐标进行坐标分离,解出与纵向变形相关的准静态方程,得到准静态时的纵向应力表达式,从而获得附加刚度项.并对此非惯性系下作大范围运动柔性梁的结构动力学方程进行数值仿真,对零次近似模型、一次近似模型、初应力法动力学模型的仿真结果进行分析,揭示三种模型的动力学性质的差异.     

A new Lie symmetrical method of finding conserved quantity for Birkhoffian systems

For a Birkhoffian system, a new Lie symmetrical method to find a conserved quantity is given. Based on the invariance of the equations of motion for the system under a general infinitesimal transformation of Lie groups, the Lie symmetrical determining equations are obtained. Then, several important relationships which reveal the interior properties of the Birkhoffian system are given. By using these relationships, a new Lie symmetrical conservation law for the Birkhoffian system is presented. The new conserved quantity is constructed in terms of infinitesimal generators of the Lie symmetry and the system itself without solving the structural equation which may be very difficult to solve. Furthermore, several deductions are given in the special infinitesimal transformations and the results are reduced to a Hamiltonian system. Finally, one example is given to illustrate the method and results of the application.     

柔性机械臂动力学方程单向递推组集方法

本文基于Jourdain变分原理提出一种柔性机械臂动力学方程的单向递推组集方法。用规则标号法描述系统中物体和铰的邻接关系;用铰相对坐标和模态坐标分别描述物体的大位移运动和弹性变形。文末以三连杆机器人操作手为例说明本文建模的过程。     

作大范围运动矩形板的动力学建模理论研究

研究了初应力法的作大范围运动矩形板的建模理论。根据连续介质理论,考虑应变-位移中的非线性项,用一致质量有限元法对柔性板进行离散,基于Jourdain速度变分原理导出定轴转动下大范围运动为自由的柔性板刚-柔耦合动力学方程。从其刚柔耦合动力学方程出发,考虑在大范围运动已知情况下的结构动力学方程。通过引入准静态概念,把其结构动力学方程转化为准静态方程。对纵向和横向变形节点坐标进行坐标分离,解出与纵向变形相关的准静态方程,得到准静态时的纵向应力表达式,从而获得附加刚度项;并对此非惯性系下作大范围运动柔性板的结构动力学方程进行数值仿真,验证了采用初应力法柔性板的动力学建模方法来计算经历大范围运动的不规则柔性板的动力学响应是可行的,体现了初应力法对柔性板建模的优越性。     

THE EXTREMITY LAWS OF HYDRO-THERMODYNAMICS

This paper presents the law of maximum rate of energy dissipa-tion in hydrodynamics and also in general continuum dynamicsas an addition to the classical conservation laws expressed inthe equation of continuity and the equations of motion.Thecorollary of the law is B(?)langer-B(?)ss theorem of minimum reser-ved specific energy in applied hydraulics.The mechanical energy dissipated is transformed into heatreserved in the substance.The rate of energy dissipation ata time at a given temperature gives rise to the increase in en-tropy production.Hence the maximum rate of energy dissipationsuggests itself the idea of reformulation of the second law ofthermodynamics that the rate of entropy production in mech-anical motion is always the maximum possible.The proposed extremity law in continuum dynamics has beenderived from the variational principle and the reformulatedsecond law of thermodynamics analyzed microscopically in thepaper.The two laws together form the extremity laws of hydro-thermodynamics.