On stability of stationary motion of a nonconservative nonholonomic rheonomic system

One considers, in this paper, the motion of a mechanical system in a nonstationary field of potential and positional forces, subject to the action of rheonomic holonomic and nonholonomic linear homogeneous constraints. Assuming that differential equations of motion of the system considered satisfy the conditions for the existence of Painlevé's integral of energy, formulated in [Painlevé, P., 1897. Leçons sur l'intégration des équations de la Mécanique, Paris] and [Appell, P., 1911. Traité de mécanique rationnelle, T. II, Dynamique des systémes – Mécanique analitique, Gauthier-Villars, Paris] and generalized in [Čović, V., Vesković, M., 2004. On stability of motion of a rheonomic system in the field of potential and positional forces, BAMM-1720/2004, No-2233, 93–100] and [Čović, V., Vesković, M., 2005. Hagedorn's theorem in some special cases of rheonomic systems. Mechanics Research Communications 32 (3), 265–280], the original mechanical system is substituted by an equivalent one whose Lagrangian function, nontransformed with respect to nonholonomic constraints, does not depend on time explicitly. Using the properties of the equivalent system, which, in contrast to the original one, moves in a stationary field of potential forces and in a nonstationary field of gyroscopic forces, the definition of cyclic coordinates is generalized, as well as sufficient conditions for the existence of (cyclic) first integrals, corresponding to coordinates mentioned and linear in velocities are established. Further, the conditions for the existence of steady motion of the system considered are found. In the case of existence of such a motion of the system, the Theorem of Routh's type on stability of that motion, based on the minimum of reduced potential for which it is shown that, in contrast to known cases (see, for example, [Gantmacher, F., 1975. Lectures in Analytical Mechanics. Mir Publisher, Moscow; Neimark, J., Fufaev, N., 1972. Dynamics of Nonholonomic Systems. Amer. Math. Soc., Providence, RI; Pars, L., 1962. An Introduction to Calculus of Variations. Heinemann, London; Karapetyan, A., Rumyantsev, V., 1983. Stability of conservative and dissipative systems. In: Itogi Nauki I Tekhniki: Obschaya Mekh., vol. 6, VINITI, Moscow, pp. 3–128 (in Russian)]), it includes the influence of the positional forces field, is formulated. Thus, the Routh's Theorem on stability of steady motion of a conservative mechanical system is extended to the case of a nonconservative system.     

Reibung, Selbsthemmung, Selbsterregung: Überlegungen zum Painlevéschen Paradoxon

Equations of motion of certain rigid body mechanisms which contain Coulomb friction may fail for particular parameter regions, Painlevé's paradoxical results emerge. When small deformations are permitted, a set of singularly perturbed algebro-differential equations governs the motions. The number characteristic for the paradox discriminates between decaying small high-frequency oscillations and oscillations which possibly grow. In order to decide about stability in the second case, it is necessary to smoothen the frictional characteristic and to study the coupled high-frequency oscillations of the complete system. The paper outlines the individual steps of such an investigation for a simple example.     

Random-field model for the elasticity tensor of anisotropic random media

This Note deals with the construction of a non-Gaussian positive definite matrix-valued random field whose mathematical properties allow the fourth-order elasticity tensor of random non homogeneous anisotropic three dimensional elastic media to be modelled. If the usual parametric probabilistic approach was used, then 21 mutually dependent random fields should be modelled and identified by using experimental data. Such an approach would be very difficult because the systems of the marginal probability distributions of these random fields have to be identified due to the fact that, for a boundary value problem, the displacement field of the random medium is a non-linear mapping of the random elasticity tensor. The theory presented in this paper allows such a probabilistic model of the fourth-order elasticity tensor field to be constructed and depends only of four scalar parameters: three spatial correlation lengths and one parameter allowing the level of the random fluctuations to be controlled. To cite this article: C. Soize, C. R. Mecanique 332 (2004).

Résumé

On présente la construction d'un champ aléatoire à valeurs dans les matrices définies positives dont les propriétés mathématiques permettent de modéliser le tenseur d'élasticité du quatrième ordre des mileux élastiques anisotropes tridimensionnels aléatoires. Si l'approche probabiliste paramétrique usuelle était utilisée, alors il serait nécessaire de modéliser et d'identifier à l'aide de données expérimentales 21 champs aléatoires mutuellement dépendants. Une telle approche serait très difficile de part le fait que le système de lois marginales de ces champs aléatoires doit être identifié parce que, pour un problème aux limites, le champ de déplacement est une transformation non linéaire du tenseur d'élasticité. La théorie présentée dans ce papier permet de construire une modélisation probabiliste du champ de tenseur d'élasticité qui ne dépend que de quatre paramètres scalaires : trois échelles de corrélation spatiale et un paramètre permettant de contrôler le niveau des fluctuations aléatoires. Pour citer cet article : C. Soize, C. R. Mecanique 332 (2004).     

Extended Lagrangian formalism and the corresponding energy relations

In this paper an extended Lagrangian formalism for the rheonomic systems with the nonstationary constraints is formulated, with the aim to examine more completely the energy relations for such systems in any generalized coordinates, which in this case always refer to some moving frame of reference. Introducing new quantities, which change according to the law τ_a=φ_a(t), it is demonstrated that these quantities determine the position of this moving reference frame with respect to an immobile one. In the transition to the generalized coordinates qⁱ they are taken as the additional generalized coordinates q^a=τ_a, whose dependence on time is given a priori. In this way the position of the considered mechanical system relative to this immobile frame of reference is determined completely.Based on this and using the corresponding d'Alembert–Lagrange's principle, an extended system of the Lagrangian equations is obtained. It is demonstrated that they give the same equations of motion qⁱ=qⁱ(t) as in the usual Lagrangian formulation, but substantially different energy relations. Namely, in this formulation two different types of the energy change law dE/dt and the corresponding conservation laws are obtained, which are more general than in the usual formulation. So, under certain conditions the energy conservation law has the form E=T+U+P=const, where the last term, so-called rheonomic potential expresses the influence of the nonstationary constraints.Afterwards, a detailed analysis of the obtained results and their connection with the usual formulation of mechanics are given. It is demonstrated that so formulated energy relations are in full accordance with the corresponding ones in the usual vector formulation, when they are expressed in terms of the rheonomic potential. Finally, the obtained results are illustrated by several simple, but characteristic examples.     

GIBBS-APPELL’S EQUATIONS OF VARIABLE MASS NONLINEAR NONHOLONOMIC MECHANICAL SYSTEMS

In this paper,the Gibbs-Appell’s equations of motion are extended to the most generalvariable mass nonholonomic mechanical systems.Then the Gibbs-Appell’s equations ofmotion in terms of generalized coordinates or quasi-coordinates and an integral variationalprinciple of variable mass nonlinear nonholonomic mechanical systems are obtained.Finally,an example is given.     

Augmented perpetual manifolds and perpetual mechanical systems-part II: theorem for dissipative mechanical systems behaving as perpetual machines of third kind

Perpetual points in mathematics defined recently, and their significance in nonlinear dynamics and their application in mechanical systems is currently ongoing research. The perpetual points significance relevant to mechanics so far is that they form the perpetual manifolds of rigid body motions of unforced mechanical systems, which lead to the definition of perpetual mechanical systems. The perpetual mechanical systems admit as perpetual points rigid body motions which are forming the perpetual manifolds. The concept of perpetual manifolds extended to the definition of augmented perpetual manifolds that an externally excited multi-degree of freedom mechanical system is moving as a rigid body, and may exhibit particle-wave motion. This article is complementary to the work done so far applied to natural perpetual dissipative mechanical systems with motion defined by the exact augmented perpetual manifolds, whereas the internal forces, and individual energies are examined, to understand further the mechanics of these systems while their motion is in the exact augmented perpetual manifolds. A theorem is proved stating that under conditions when the motion of a perpetual natural dissipative mechanical system is in the exact augmented perpetual manifolds, all the internal forces are zero, which is rather significant in the mechanics of these systems since the operation on augmented perpetual manifolds leads to zero internal degradation. Moreover, the theorem is stating that the potential energy is constant, and there is no dissipation of energy, therefore the process is internally isentropic, and there is no energy loss within the perpetual mechanical system. Also in this theorem is proved that the external work done is equal to the changes of the kinetic energy, therefore the motion in the exact augmented perpetual manifolds is driven only by the changes of the kinetic energy. This is also a significant outcome to understand the mechanics of perpetual mechanical systems while it is in particle-wave motion which is guided by kinetic energy changes. In the final statement of the theorem is stated and proved that the perpetual dissipative mechanical system can behave as a perpetual machine of third kind which is rather significant in mechanical engineering. Noting that the perpetual mechanical system apart of the augmented perpetual manifolds solutions is having other solutions too, e.g., in higher normal modes and in these solutions the theorem is not valid. The developed theory is applied in the only two possible configurations that a mechanical system can have. The first configuration is a perpetual mechanical system without any connection through structural elements with the environment. In the second configuration, the perpetual mechanical system is a subsystem, connected with structural elements with the environment. In both examples, the motion in the exact augmented perpetual manifolds is examined with the view of mechanics defined by the theorem, resulting in excellent agreement between theory and numerical simulations. The outcome of this article is significant in physics to understand the mechanics of the motion of perpetual mechanical systems in the exact augmented perpetual manifolds, which is described through the kinetic energy changes and this gives further insight into the mechanics of particle-wave motions. Also, in mechanical engineering the outcome of this article is significant, because it is shown that the motion of the perpetual mechanical systems in the exact augmented perpetual manifolds is the ultimate, in the sense that there are no internal forces which lead to degradation of the internal structural elements, and there is no energy loss due to dissipation.

     

Conservation laws in classical mechanics for quasi-coordinates

Noether's theorem and Noether's inverse theorem for mechanical systems with gauge-variant Lagrangians under symmetric infinitesimal transformations and whose motion is described by quasi-coordinates are established. The existence of first integrals depends on the existence of solutions of the system of partial differential equations — the so-called Killing equations. Non-holonomic mechanical systems are analysed separately and their special properties are pointed out. By use of this theory, the transformation which corresponds to Ko Valevskaya first integral in rigid-body dynamics is found. Also, the nature of the energy integral in non-holonomic mechanics is shown and a few new first integrals for non-conservative problems are obtained. Finally, these integrals are used in constructing Lyapunov's function and in the stability analyses of nonautonomous systems. The theory is based on the concept of a mechanical system, but the results obtained can be applied to all problems in mathematical physics admitting a Lagrangian function.     

Nonlinear dynamics of a cable–pulley system using the absolute nodal coordinate formulation

It is reasonable to develop models and to investigate the dynamic behaviour of systems composed of cables since cable vibration can have an important effect on the motion of these mechanical systems. This paper deals with the application of the nonlinear formulation for flexible body dynamics called the absolute nodal coordinate formulation (ANCF). It is used for modelling the systems composed of cables, pulleys, other rigid bodies and a motor with prescribed motion. The ANCF was chosen as a suitable approach, which that can allow to consider a detailed interaction of the cable and the pulley with its nonlinear dynamical behaviour. The ANCF uses absolute positions of nodes (reference vectors) and slopes (reference vector derivations) as a set of nodal coordinates. An in-house modelling tool in the MATLAB system was created based on the proposed modelling methodology and two case studies were performed. A simple system containing a pulley and a cable with two attached bodies was used in order to test the simulation tool based on the proposed modelling methodology with respect to different parameters. A more complex mechanical system composed of a driven weight joined with a motor by a cable led over a pulley was numerically and also experimentally investigated. The comparison of obtained numerical and experimental results shows sufficient agreement and proves that the proposed modelling approach can be used for dynamic analyses of such systems.     

From global dynamical models to the Hénon–Heiles potential

We present a global non-galactic dynamical model reducing to the Hénon–Heiles potential. Expanding the global model in the vicinity of a circular orbit, we find the potential of a two-dimensional perturbed harmonic oscillator which can give the Hénon–Heiles potential for certain values of the parameters of the global model. Our numerical calculations suggest that the properties of motion in the global model are similar of those displayed by the local model for small as well as for large values of energy. Comparison to previous work is also made.     

Impact dynamics of multibody systems with frictional contact using joint coordinates and canonical equations of motion

This paper presents a methodology in computational dynamics for the analysis of mechanical systems that undergo intermittent motion. A canonical form of the equations of motion is derived with a minimal set of coordinates. These equations are used in a procedure for balancing the momenta of the system over the period of impact, calculating the jump in the body momentum, velocity discontinuities and rebounds. The effect of dry friction is discussed and a contact law is proposed. The present formulation is extended to open and closed-loop mechanical systems where the jumps in the constraints' momenta are also solved. The application of this methodology is illustrated with the study of impact of open-loop and closed-loop examples.     

Generalization of a new parametric formulation of mechanics for systems with variable mass

In this paper a new parametric formulation of mechanics, formulated by the author himself and based on the separation of the double role of time (independent variable and a parameter) with the aid of a family of varied paths, is extended to the arbitrary rheonomic systems with variable mass. For such systems d'Alembert–Lagrange's principle, general Hamilton's principle, and the corresponding Hamiltonian formalism are formulated, as well as the energy relations with energy change law. The obtained results are illustrated by a simple, but characteristic example.     

Mechanical Systems with Rapidly Vibrating Constraints

We consider a natural Lagrangian system on which an additional holonomic rheonomic constraint is imposed; the time dependence is included in this constraint by a parameter performing rapid periodic oscillations. Such a constraint is said to be a vibrating constraint. The equations of motion are obtained for a system with a vibrating constraint in the form of Hamilton’s equations. It is shown that the structure of the Hamiltonian of the system has a special form convenient for deriving the averaged equations. Usage of the averaging method allows us to obtain the limit equations of motion of the system as the frequency of vibrations tends to infinity and to prove the uniform convergence of the solutions of Hamilton’s equations to the solutions of the limit equations on a finite time interval. Some examples are discussed.     

Szebehely's problem for nonholonomic systems with a given first integral

I.IntroductionTheinverseproblemofdynamicsisoneoftheimportantsubjectsinmechanics.In1977,Szebehelysetforthaninverseproblemforthedeterminationofthet'orcefunctiontoamaterialpointintheplanefromparametricfamilyoftrajectories,andobtainedalinearfirstorderpartialdifferentialequationfortheforcefunction.Later,Erdil'l,MellsandPirast=l,MellsandBorgherol'l,BoilsandMertnsl4]extendedSzebehely'sproblemtoboththreeandndimensionalholonomicsystem.Recently,theauthorandProfessorMetFengxiangl'1studiedtheSzebehe…     

Impactless biped walking on a slope

Walking without impacts has been considered in dynamics as a motion/force control problem. In order to avoid impacts, an approach for both the specified motion of the biped and its ground reaction forces was presented yielding a combined motion and force control problem. As an application, a walker on a horizontal plane has been considered. In this paper, it is shown how the control of the ground reaction forces and the energy consumption depend on the gradient of a slope. The biped dynamics and the constraints within the biped system and on the ground are discussed. A motion control synthesis is developed using the inverse dynamics principle proven to be most efficient for human walking research, too. The impactless walking with controlled legs is illustrated by a seven-link biped. The “flying” biped has nine degrees of freedom, with six control inputs. During locomotion, the standing leg has three scleronomic constraints, and the trunk has three rheonomic constraints. However, there are three rheonomic constraints for the prescribed leg motion or three scleronomic constraints for reaction forces of the trailing leg, respectively. The nominal control action for impactless walking can be precomputed and stored. The model proposed allows the investigation of several problems: uphill and downhill walking, optimization of step length, stiction of the feet on the slope and many more. All these findings are also of interest in biomechanics.     

Forward and inverse dynamics of nonholonomic mechanical systems

This paper deals with the forward and the inverse dynamic problems of mechanical systems subjected to nonholonomic constraints. The intrinsically dual nature of these two problems is identified and utilised to develop a systematic approach to formulate and solve them according to an unified framework. The proposed methodology is based on the fundamental equations of constrained motion which derive from Gauss’s principle of least constraint. The main advantage arising from using the fundamental equations of constrained motion is that they represent an effective method capable to derive the generalised acceleration of a mechanical system, constrained in general by a set of nonholonomic constraints, together with the generalized constraint forces (forward dynamics). When the constraint equations are used to represent the desired behaviour of the mechanical system under study, the generalised constraint forces deriving from the fundamental equations of constrained motion provide the control actions which reproduce the specified motion for the system (inverse dynamics). This approach is systematically extended to underactuated mechanical systems introducing a new method named underactuation equivalence principle. The underactuation equivalence principle is founded on the key idea that the underactuation property of a mechanical system can be mathematically represented using a particular set of nonholonomic constraint equations. Two simple case-studies are reported to exemplify the proposed methodology. In the first case-study the computation of the generalised constraint forces relative to the revolute joint constraints of a physical pendulum is illustrated. In the second case-study the calculation of the control action which solves the swing-up problem for an inverted pendulum is described.     

Padé approximations for low-frequency motion in a pre-stressed compressible elastic layer

In this paper, we derive an asymptotic approximation of the low-frequency motion in a pre-stressed compressible elastic layer, valid in both long- and short-wave regimes. For this purpose, we shall use Padé approximations. Comparisons with numerical solutions are provided and show good agreement for all wavelength. Results appropriate to the classical linear isotropic case are also briefly provided.     

Chaos synchronization on the N-torus and cryptography

A class of chaotic dynamical systems on the N-dimensional torus is proposed for masking some information in secure communications. The information is then recovered thanks to a chaos synchronization process. To cite this article: L. Rosier et al., C. R. Mecanique 332 (2004).

Résumé

Nous proposons une classe de systèmes chaotiques sur le tore N-dimensionnel pour masquer une information à transmettre dans une communication sécurisée. Cette information est ensuite reconstruite à l'aide d'un mécanisme de synchronisation du chaos. Pour citer cet article : L. Rosier et al., C. R. Mecanique 332 (2004).     

Investigation on chaotic motion in hysteretic non-linear suspension system with multi-frequency excitations

This paper presents the investigation on possible chaotic motion in a vehicle suspension system with hysteretic non-linearity, which is subjected to the multi-frequency excitation from road surface. The Melnikov’s function is used to derive the critical condition for the chaotic motion, and then it is investigated that the effects of parameters in non-linear damping on the chaotic field. The path from quasi-periodic to chaotic motion is found via Poincaré map and Lyapunov exponents.     

Jacobi's multiplier for Poincaré's equations

In this paper we use Poincaré's equations in group variables to describe the motion of a holonomic mechanical system and to determine Jacobi's multiplier for the equations of motion.     

The influence of crack-imbalance orientation and orbital evolution for an extended cracked Jeffcott rotor

Vibration peaks occurring at rational fractions of the fundamental rotating critical speed, here named Local Resonances, facilitate cracked shaft detection during machine shut-down. A modified Jeffcott-rotor on journal bearings accounting for gravity effects and oscillating around nontrivial equilibrium points is employed. Modal parameter selection allows this linear model to represent first mode characteristics of real machines. Orbit evolution and vibration patterns are analyzed, yielding useful results. Crack detection results indicate that, instead of 1x and 2x components, analysis of the remaining local resonances should have priority; this is due to crack-residual imbalance interaction and to 2x multiple induced origins. Therefore, local resonances and orbital evolution around 1/2, 1/3 and 1/4 of the critical speed are emphasized for various crack-imbalance orientations. To cite this article: J. Gómez-Mancilla et al., C. R. Mecanique 332 (2004).

Résumé

Les pics de vibration apparaissant au passage des fractions de la vitesse de critique de rotation des systèmes tournants, appelées résonances locales, facilitent la détection de fissures sur les machines. Dans cette étude, un modèle de rotor Jeffcott modifié avec une fissure tournante, comportant des coussinets et prenant en compte les effets de pesanteur et de balourd est présenté. Le choix modal des paramètres permet de représenter les caractéristiques liées au premier mode des machines tournantes usuelles. Les évolutions des vibrations et des orbites du système comportant une fissure sont analysées et permettent d'obtenir des résultats utiles pour la détection des fissures sur les machines tournantes. Ainsi, ces résultats indiquent que, en plus des composants 1x et 2x, l'analyse des autres résonances locales restantes doivent être regardées avec attention du fait de l'interaction possible entre les différentes orientations de la fissure et du balourd, et des origines multiples pouvant engendrer la présence des résonances 2x. Par conséquent les résonances et l'évolution des orbites obtenus autour de 1/2, 1/3 et 1/4 de la vitesse critique sont étudiées pour différentes variations d'angle entre le balourd et l'orientation de la fissure. Pour citer cet article : J. Gómez-Mancilla et al., C. R. Mecanique 332 (2004).