非线性非完整系统Vacco动力学方程的积分方法*

本文给出积分非线性非完整系统Vacco动力学方程的积分方法.首先,将Vacco动力学方程表示为正则形式和场方程形式;然后,分别用梯度法,单分量法和场方法积分相应完整系统的动力学方程,并加上非完整约束对初条件的限制而得到非线性非完整系统Vacco动力学方程的解.     

变质量非线性非完整系统的Gibbs-Appell方程

本文首先将Gibbs-Appell方程推广到最一般的变质量非完整系统.得到变质量非线性非完整系统在广义坐标、准坐标下的Gibbs-Appell方程和积分变分原理,最后给出一个例子.     

变质量非线性非完整系统相对运动动力学方程的积分方法

本文给出积分变质量非线性非完整系统相对于非惯性系动力学方程的梯度法,单分量法和场方法。首先,将这类问题的动力学方程表示为正则形式和场方程形式;然后,分别用梯度法,单分量法和场方法积分相应常质量完整系统相对于惯性系的动力学方程,并加上非完整约束对初始条件的限制而得到变质量非线性非完整系统相对于非惯性系动力学方程的解。     

变质量高阶非ЧeTaeB型非完整约束系统动力学

本文给出了高了阶非ЧｅＴａｅＢ约束加在广义虚位移上的限制条件，建立了变质量高阶非ЧｅＴａｅＢ型非线性非完整系统的Ｒｏｕｔｈ方程，ЧａПЛЫГИН方程、Ｎｉｅｌｓｅｎ方程，给出了高阶非ЧｅＴａｅＢ型约束系统“ｄ”与“δ”之间的产换关系，建立了其积分变分原理，并得到了变质量高阶非ЧｅＴａｅＢ型约束系统的广义Ｎｏｅｔｈｅｒ守恒律。     

导出非线性非完整系统Mac－Millan方程的一种途径

只要由Ｊｏｕｒｄａｉｎ微分变分原理就能导出一阶非线性非完整系统的Ｍａｃ－Ｍｉｌｌａｎ方程，无需引入虚位移的牛青萍定义．后一定义只是本方法的自然推论．     

非线性约束下非完整系统的平衡稳定性

Kozlov将Liapunov第一方法推广到非线性力学系统,用来解决保守和耗散力场中,运动力学系统平衡位置的不稳定性.文中讨论的系统运动限于理想的非线性非完整约束.将势能和约束函数展开为Maclaurin级数,对其第一非平凡多项式的阶,确定了相互间关系的5种情况,并对生成的非线性非完整约束方程进行了分析.将3种线性齐次约束下的非完整系统平衡位置的不稳定定理(Kozlov,1986),推广到非线性非完整约束.另外两种情况下的新定理,也是将Kozlov(1994)的结果,拓展到非线性约束下的非完整系统.     

Четаев型非完整力学系统的微分几何原理

本文应用现代微分几何的方法研究Четаев型非完整力学系统.通过恰当地定义Четаев型约束Pfaff系统,给出了非完整力学系统的微分几何结构,从而将带有非完整约束的Lagrange方程表达为一种与坐标无关的不变形式,并且采用这个新观点讨论了约束的嵌入和非完整力学系统的守恒定律等问题,得到了约束子流形上的Noether型定理.     

变质量高阶非Четаев型非完整约束系统动力学

本文给出了高阶非型约束加在广义虚位移上的限制条件，建立了变质量高阶非型非线性非完整系统的Ｒｏｕｔｈ方程、方程、Ｎｉｅｌｓｅｎ方程和Ａｐｐｅｌｌ方程；给出了高阶非型约束系统“ｄ”与“δ”之间的交换关系，建立了其积分变分原理；并得到了变质量高阶非型约束系统的广义Ｎｏｅｔｈｅｒ守恒律．     

基于带约束的隐表示非线性形状配准

主要通过对形状进行带约束的隐表示来研究非线性形状配准. 首先, 采用隐函数的零水平集来表示形状, 并结合从整体到局部的策略,对形状配准问题进行了建模. 其次, 为提高模型精度, 对全局尺度形变和局部非线性形变引入了尺度约束和带状约束. 进一步, 给出了一阶变分, 并应用负梯度流进行数值求解. 最后,多个数据集上与现有经典算法的对比实验表明, 给出的算法具有更优的精度.     

准坐标下非完整力学系统的Lie对称性和守恒量

研究准坐标下非完整系统的Ｌｉｅ对称性,首先,对准坐标下非完整力学系统定义无限小变换生成元,由微分方程在无限小变换下的不变性,建立Ｌｉｅ对称性的确定方程,得到结构方程并求出守恒量;其次,研究上述问题的逆问题;根据已知积分求相应的Ｌｉｅ对称性,举例说明结果的应用。     

A general method for writing the dynamical equations of nonholonomic systems with ideal constraints

The basic notions of the dynamics of nonholonomic systems are revisited in order to give a general and simple method for writing the dynamical equations for linear as well as non-linear kinematical constraints. The method is based on the representation of the constraints by parametric equations, which are interpreted as dynamical equations, and leads to first-order differential equations in normal form, involving the Lagrangian coordinates and auxiliary variables (the use of Lagrangian multipliers is avoided). Various examples are illustrated.      

Relationship between the Udwadia–Kalaba equations and the generalized Lagrange and Maggi equations

In their paper “A New Perspective on Constrained Motion,” F. E. Udwadia and R. E. Kalaba propose a new form of matrix equations of motion for nonholonomic systems subject to linear nonholonomic second-order constraints. These equations contain all of the generalized coordinates of the mechanical system in question and, at the same time, they do not involve the forces of constraint. The equations under study have been shown to follow naturally from the generalized Lagrange and Maggi equations; they can be also obtained using the contravariant form of the motion equations of a mechanical system subjected to nonholonomic linear constraints of second order. It has been noted that a similar method of eliminating the forces of constraint from differential equations is usually useful for practical purposes in the study of motion of mechanical systems subjected to holonomic or classical nonholonomic constraints of first order. As a result, one obtains motion equations that involve only generalized coordinates of a mechanical system, which corresponds to the equations in the Udwadia–Kalaba form.     

Modelling and simulation of a sphere rolling on the inside of a rough vertical cylinder

A classical problem of nonholonomic system dynamics—the motion of a sphere on the inside of a rough vertical cylinder—is extended to rolling friction. The case study is modelled in independent coordinates. Due to the nonholonomic constraints imposed on the sphere, the governing equations arise as a set of differential-algebraic equations. The results of numerical simulations show the transition of the sphere from a sinusoid path on the vertical cylinder surface to a fall with slip. The physics of the ‘paradoxical’ motion is explained in detail.     

Nonholonomic Mechanical Systems and Kaluza–Klein Theory

In the first part of the paper we present a new point of view on the geometry of nonholonomic mechanical systems with linear and affine constraints. The main geometric object of the paper is the nonholonomic connection on the distribution of constraints. By using this connection and adapted frame fields, we obtain the Newton forms of Lagrange–d’Alembert equations for nonholonomic mechanical systems with linear and affine constraints. In the second part of the paper, we show that the Kaluza–Klein theory is best presented and explained by using the framework of nonholonomic mechanical systems. We show that the geodesics of the Kaluza–Klein space, which are tangent to the electromagnetic distribution, coincide with the solutions of Lagrange–d’Alembert equations for a nonholonomic mechanical system with linear constraints, and their projections on the spacetime are the geodesics from general relativity. Any other geodesic of the Kaluza–Klein space that is not tangent to the electromagnetic distribution is also a solution of Lagrange–d’Alembert equations, but for affine constraints. In particular, some of these geodesics project exactly on the solutions of the Lorentz force equations of the spacetime.     

带一类第一积分的非完整系统的Szebehely问题

研究非完整系统动力学的一类逆问题·给出非完整系统的运动方程及其显式，考虑一类仅受齐次非完整约束的力学系统的Ｓｚｅｂｅｈｅｌｙ问题，研究已知一类第一积分的一般非完整系统的情形·最后举例说明其应用·     

Isomorphism and Hamilton representation of some nonholonomic systems

We consider some questions connected with the Hamiltonian form of the two problems of nonholonomic mechanics: the Chaplygin ball problem and the Veselova problem. For these problems we find representations in the form of the generalized Chaplygin systems that can be integrated by the reducing multiplier method. We give a concrete algebraic form of the Poisson brackets which, together with an appropriate change of time, enable us to write down the equations of motion of the problems under study. Some generalization of these problems are considered and new ways of implementation of nonholonomic constraints are proposed. We list a series of nonholonomic systems possessing an invariant measure and sufficiently many first integrals for which the question about the Hamiltonian form remains open even after change of time. We prove a theorem on isomorphism of the dynamics of the Chaplygin ball and the motion of a body in a fluid in the Clebsch case.