Well posed formulations of holonomic mechanical system dynamics and design sensitivity analysis

Abstract

Manifold theoretic ordinary differential equations of motion for holonomic mechanical systems that depend on problem data, or design variables, are shown to be well posed; i.e., they have a unique solution that depends continuously on problem data. It is proved that these differential equations are equivalent to the d’Alembert variational formulation and the index 3 Lagrange multiplier formulation of differential-algebraic equations of motion, which are also shown to be well posed. These results provide a foundation for dynamic system design sensitivity analysis, which requires differentiability of solutions of the equations of motion with respect to design variables.     

A NEW FLUX-CONSERVING NEWTON SCHEME FOR THE NAVIER-STOKES EQUATIONS

SUMMARY

A new numerical method is developed for the two-dimensional, steady Navier-Stokes equations. Using local polynomial expansions to represent the discrete primitive variables on each cell, we construct a scheme which has the following properties: First, the local discrete primitive variables are functional solutions of both the integral and differential forms of the Navier-Stokes equations. Second, fluxes are balanced across cell interfaces using exact functional expressions (to the order of accuracy of the local expansions). No interpolation, flux models, or flux limiters are required. Third, local and global conservation of mass, momentum, and energy are explicitly provided for. Finally, the discrete primitive variables and their derivatives are treated in a unified and consistent manner. All are treated as unknowns to be solved together for simulating the local and global flux conservation.

A general third-order formulation for the steady, compressible Navier-Stokes equations is presented. As a special case, the formulation is applied to incompressible flow, and a Newton's method scheme is developed for the solution of laminar channel flow. H is shown that, at Reynolds numbers of 100, 1000, and 2000, the developing channel flow boundary layer can be accurately resolved using as few as six to ten cells per channel width.     

The fundamental equations in finite element method of coupled thermo-elastic plane problem

The fundamental equations in finite element method for unsteady temperature field elastic plane problem are derived on the bases of variational principle of coupled thermoelastic problems. In these derivations, elastic plane is divided into three nodes triangular elements, and time interval is divided into linear time elements, in which all the variables, including displacements and temperatures at various nodal points, are varied linearly with time. Two coupled sets of linear algebraic equations of all the unknown displacements and temperatures at every nodal point in every instant (i.e. the terminal values of time elements) are obtained. They are the fundamental equations of the said problem.The total energy in elastic body not only contains the potential energy and heat energy but also contains the kinetic energy, if the rate of change of temperature field with respect to the time in thermoelastic problem is large enough. And the change of displacement is included in the equations of heat conduction. For this reason the variational principle of coupled thermoelastic problems is employed. [1] In this paper, expressions of this principle for plane problems are given. The discretization is carried on then, and Hamilton's action and the potential action of heat flow of elements are derived. Finally they are assembled, so as to get the polar value of the action. And thus the groups of linear algebraic equations in matrix form are obtained.     

耗散系统的虚功变分不等式及其应用

对于保守系统,能量变分原理为推导力学系统控制方程提供了简洁的途径.对于耗散系统,控制方程的建立往往需要引入经验的或理性的假定,增大了建模的难度.针对耗散系统,引入系统局部稳定的概念,并在此基础上,提出一类虚功变分不等式.这一不等式事实上揭示了耗散系统的一类虚功不等原理.该原理的物理含义为:使系统状态稳定的必要条件是,在该状态附近所有可能的虚拟路径上系统释放的势能不大于系统耗散的能量.研究表明:仅需结合虚功不等原理和能量守恒原理,即可导出准静态系统力学状态量的全部控制方程.作为应用,文章重新讨论了塑性力学,结合虚功不等原理与能量守恒原理,导出经典塑性力学的全部控制方程,并证明了经典的最大塑性耗散原理可以作为虚功不等原理的推论导出;同时,以Mohr-Coulomb强度准则为例,讨论了虚功不等原理在强度理论中的应用,说明基于应力的强度准则可以是基于能量的稳定性准则的推论.上述例子说明了虚功不等原理的广泛适用性和在建立耗散系统控制方程中的有效性.     

On the fundamental equations of piezoelasticity of quasicrystal media

The three-dimensional fundamental equations of elasticity of quasicrystals with extension to quasi-static electric effect are expresses in both differential and variational invariant forms for a regular region of quasicrystal material. The principle of conservation of energy is stated for the regular region and the constitutive relations are obtained for the piezoelasticity of material. A theorem is proved for the uniqueness in solutions of the fundamental equations by means of the energy argument. The sufficient boundary and initial conditions are enumerated for the uniqueness. Hamilton’s principle is stated for the regular region and a three-field variational principle is obtained under some constraint conditions. The constraint conditions, which are generally undesirable in computation, are removed by applying an involutory transformation. Then, a unified variational principle is obtained for the regular region, with one or more fixed internal surface of discontinuity. The variational principle operating on all the field variables generates all the fundamental equations of piezoelasticity of quasicrystals under the symmetry conditions of the phonon stress tensor and the initial conditions. The resulting equations, which are expressible in any system of coordinates and may be used through simultaneous approximation upon all the field variables in a direct method of solutions, pave the way to the study of important dislocation, fracture and interface problems of both elasticity and piezoelasticity of quasicrystal materials.     

A model of the steady-state motion of suspensions

The authors examine the steady-state one-dimensional motions of suspensions whose particles have a density equal to that of the corresponding dispersion medium. As a whole, the mechanical behavior of such suspensions is described by equations of motion that coincide in form with the Navier-Stokes equations for a certain incompressible fluid whose viscosity is a known function of the particle concentration in the suspensions. To close these equations, the authors postulate a principle of minimum energy dissipation for steady-state motion, which plays the paxt of an equation of state for the suspension. This new equation permits the determination of the spatial distribution in the concentration of solids. Exact solutions are presented for certain variational problems associated with the Poiseuille flow of a fluid of this kind in circular tubes and Couette flows between concentric cylinders and parallel planes. It is shown that in most cases separation of the suspension takes place.     

Energy Approach to the Formulation of Boundary Problems of Nonlinear Thermomechanics for Elastic Systems

An energy approach is proposed to derive the physical constitutive equations of nonlinear thermomechanics for inertial elastic systems. A potential of local inertial thermodynamic state and a potential of thermoelastic energy dissipation are introduced. The variational formulation of nonlinear boundary problems of thermoelasticity is implemented on the basis of the Hamiltonian energy functional. Sufficient conditions for the convexity of the functional are formulated __________ Translated from Prikladnaya Mekhanika, Vol. 41, No. 9, pp. 52–59, September 2005.     

基于对偶变量变分原理的完整约束系统保辛算法

基于对偶变量变分原理，选择积分区间两端位移为独立变量，构造了求解完整约束哈密顿动力系统的高阶保辛算法。首先，利用拉格朗日多项式对作用量中的位移、动量及拉格朗日乘子进行近似；然后，对作用量中不包含约束的积分项采用Gauss积分近似，对作用量中包含约束的积分项采用Lobatto积分近似，从而得到近似作用量；最后，在此近似作用量的基础上，利用对偶变量变分原理，将求解完整约束哈密顿动力系统问题转化为一组非线性方程组的求解。算法具有保辛性和高阶收敛性，能够在位移的插值点处高精度地满足完整约束。算法的收敛阶数及数值性质通过数值算例验证。     

On the modeling of equilibrium twin interfaces in a single-crystalline magnetic shape memory alloy sample. I: theoretical formulation

In this paper, a variational approach is proposed to study the response of a single-crystalline magnetic shape memory alloy (MSMA) sample subject to external forces and magnetic fields. Especially, some criteria are derived to model the (quasi-static) movements of twin interfaces in the sample. By considering the compatibility condition, twin interfaces between two martensite variants are found to be flat planes with given normal vectors. To adopt the variational method, a total energy functional for the whole magneto-mechanical system is proposed. By calculating the variations of the total energy functional with respect to the independent variables, the equilibrium equations and the evolution laws for the internal variables can be derived. By further considering the variation of the total energy functional with respect to the variant distribution, some criteria for twin interface movements can be derived. The governing system of the current model is then formulated by composing the equilibrium equations, the evolution laws for the internal variables and the twin interface movement criteria. To show the validity of the governing system, some analytical results are constructed under certain simplified conditions, which can be used to simulate the magneto-mechanical response of the MSMA sample.     

Conservation laws of dynamical systems via d'alembert's principle

In this note we study a method for finding the conserved quantities of nonconservative holonomic dynamical systems. In contrast to the classical Noetherian approach, which is based upon the variational principle of Hamilton, the starting point in this note is based on the differential principle of D'Alembert which is equally valid for conservative and nonconservative systems. In the second part of this note, an attempt is made to employ symmetry properties as a vehicle for obtaining approximate solutions of linear and non-linear dynamical systems.     

A model for twinning

The modelling of twins in crystals with strain gradient theories provides interesting problems both in thermodynamics and in the calculus of variations. Here, Dunn and Serrin's thermomechanical theory of interstitial working is used to obtain a variational principle that governs the equilibria of materials with non-convex Helmholtz free energy. In some geometries, this principle reduces to a novel calculus of variations problem; an example is described in which symmetry-related uniform equilibrium states can be connected by nonconstant extremals which realiselocal minima of the free energy. Certain implications of different definitions of local minima are also discussed.     

Method of high-order lagrange multiplier and generalized variational principles of elasticity with more general forms of functionals

It is known[1]that the minimum principles of potential energy andcomplementary energy are the conditional variation principles underrespective conditions of constraints.By means of the method of La-grange multipliers,we are able to reduce the functionals of condi-tional variation principles to new functionals of non-conditionalvariation principles.This method can be described as follows:Mul-tiply undetermined Lagrange multipliers by various constraints,andadd these products to the original functionals.Considering these un-determined Lagrange multipliers and the original variables in thesenew functionals as independent variables of variation,we can see thatthe stationary conditions of these functionals give these undeter-mined Lagrange multipliers in terms of original variables.The sub-stitutions of these results for Lagrange multipliers into the abovefunctionals lead to the functionals of these non-conditional varia-tion principles.However,in certain cases,some of the undetermined Lagrangemultipliers ma     

Semi-inverse method and generalized variational principles with multi-variables in elasticity

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DISSIPATION MECHANICS AND EXACT SOLUTIONS FOR NONLINEAR EQUATIONS OF DISSIPATIVE TYPE—PRINCIPLE AND APPLICATION OF DISSIPATION MECHANICS(Ⅰ)

This work is the continuation and the distillation of the discussion of Refs. [1-4].(A)From complementarity principle we build up dissipation mechanics in this paper.It is a dissipative theory of correspondence with the quantum mechanics.From this theorywe can unitedly handle problems of macroscopic non-equilibrium thermodynamics andviscous hydrodynamics. and handle each dissipative and irreversible problems in quantummechanics.We prove the basic equations of dissipation mechanics to eigenvalues equationsof correspondence with the Schr(?)dinger equation or Dirac equation in this paper.(B)We unitedly merge the basic nonlinear equations of dissipative type, especially theNavier-Stokes equation as a basic equation for macroscopic non-equilibrium ther-modynamics and viscous hydrodynamics into integrability condition of basic equation ofdissipation mechanics. And we can obtain their exact solutions by the inverse scatteringmethod in this paper.     

Analytical solution for the problem of maximum exit velocity under Coulomb friction in gravity flow discharge chutes

In this paper, an analytical solution for the problem of finding profiles of gravity flow discharge chutes required to achieve maximum exit velocity under Coulomb friction is obtained by application of variational calculus. The model of a particle which moves down a rough curve in a uniform gravitational field is used to obtain a solution of the problem for various boundary conditions. The projection sign of the normal reaction force of the rough curve onto the normal to the curve and the restriction requiring that the tangential acceleration be non-negative are introduced as the additional constraints in the form of inequalities. These inequalities are transformed into equalities by introducing new state variables. Although this is fundamentally a constrained variational problem, by further introducing a new functional with an expanded set of unknown functions, it is transformed into an unconstrained problem where broken extremals appear. The obtained equations of the chute profiles contain a certain number of unknown constants which are determined from a corresponding system of nonlinear algebraic equations. The obtained results are compared with the known results from the literature.     

Mechanically-based approach to non-local elasticity: Variational principles

The mechanically-based approach to non-local elastic continuum, will be captured through variational calculus, based on the assumptions that non-adjacent elements of the solid may exchange central body forces, monotonically decreasing with their interdistance, depending on the relative displacement, and on the volume products. Such a mechanical model is investigated introducing primarily the dual state variables by means of the virtual work principle. The constitutive relations between dual variables are introduced defining a proper, convex, potential energy. It is proved that the solution of the elastic problem corresponds to a global minimum of the potential energy functional. Moreover, the Euler–Lagrange equations together with the natural boundary conditions associated to the total potential energy functional are established with variational calculus and they coincide with analogous relations already obtained by means of mechanical considerations. Numerical analysis of a tensile specimen has been introduced to show the capabilities of the proposed approach.     

Note on the critical variational state in elasticity theory

Recently Prof. Chien Wei-zang pointed out that in certain cases, by means of ordinary Lagrange multiplier method, some of undetermined Lagrange multipliers may turn out to be zero during variation. This is a critical state of variation. In this critical state, the corresponding variational constraint can not be eliminated by means of simple Lagrange multiplier method. This is indeed the case when one tries to eliminate the constraint condition of strain-stress relation in variational principle of minimum complementary energy by the method of Lagrange multiplier.By means of Lagrange multiplier method, one can only derive, from minimum complementary energy principle, the Hellinger-Reissner Principle, in which only two type of in-dependent variables, stresses and displacements, exist in the new functional. Hence Prof. Chien introduced the high-order Lagrang multiplier method bu adding the quadratic terms.to original functions. The purpose of this paper is to show that by adding to original functionals one     

On the boundary value problems for a class of ordinary differential equations with turning points

In this paper we study the boundary value problems for a class of ordinary differential equations with turning points by the method of multiple scales. The paradox in [1] and the variational approach in [2] are avoided. The uniformly valid asymptotic approximations of solutions have been constructed. We also study the case which does not exhibit resonance.     

Variational solutions for some steady and non-steady laminar viscous flows with stagnation points

Recently, Lebon and Lambermont proposed a general variational principle for fluid mechanics. In this paper, the criterion is applied to steady and non-steady stagnation flows; the plane and the axisymmetrical cases are considered. By using Glansdorff-Prigogine self consistent method, approximate analytic solutions are derived. It is shown that the steady solution is rather quickly reached. For this latter case, the present solutions are compared with previous ones obtained by direct integration of the Navier-Stokes equations.