On Optimum Propulsion by Means of Small Periodic Motions of a Rigid Profile. I. Properties of Optimum Motions

The problem of optimum thrust generation by means of a rigid profile performing small arbitrarily periodic motions in an inviscid incompressible fluid is studied. The motions considered have to generate a prescribed mean value of thrust and must be such that the contribution to this mean thrust by the suction at the leading edge does not exceed a certain given value. Furthermore, the motions are in general subjected to a maximum type constraint on their amplitude. For this infinite dimensional, nonconvex and nonsmooth optimization problem, a generalized Lagrange multiplier rule is derived. In case the constraint on the amplitude is omitted, the optimum motions are calculated analytically; for the general case a number of properties of the solutions are derived from the Lagrange multiplier rule.     

A Problem Connected with the Oblique Incidence of Surface Waves on an Immersed Cylinder

If we wish to calculate the forces due to surface waves impingingon an obstacle held immersed in the fluid, the Haskind relationsshow that these forces can be expressed in terms of potentialswhich represent forced motions of the obstacle in initiallycalm water. We consider in this paper one such potential forwaves obliquely incident on an infinitely long circular cylinder,this potential being a generalization of the heaving potentialfor the circular cylinder considered by Ursell. We considerthe high frequency case when the angle of incidence is not smalland obtain an integral equation for the velocity potential onthe cylinder. An approximate solution of the integral equationis obtained and this is used to obtain asymptotic approximationsto the wave amplitude at infinity and the virtual mass coefficient.     

On the existence of small-amplitude optimum hydrofoil propulsion

The trust production by means of a periodic heaving motion of a rigid profile is discussed. It is proved by using Bauer's maximum principle, that when a constraint is put on the magnitude of the amplitude, optimum motions do exist.     

流体流动中波状游动平板最优运动的数值方法

提出了一种求解波状游动平板最优运动方式的优化方法．最优化问题表述为固定推力的条件下,使得输入功率最小．由于存在不可见模态,使得该问题具有奇性,用通常的Lagrange乘子法计算得到的可能不是最优解,而是一个鞍点值．为了消除这一奇性,增加了一个关于幅值的不等式约束,并利用逐步二次规划的优化方法求解该问题．将该方法运用到二维和三维的波动板的几个例子上,获得了最优解．     

Resonant periodic motions of Hamiltonian systems with one degree of freedom when the Hamiltonian is degenerate

The motions of a non-autonomous Hamiltonian system with one degree of freedom which is periodic in time and where the Hamiltonian contains a small parameter is considered. The origin of coordinates of the phase space is the equilibrium position of the unperturbed or complete system, which is stable in the linear approximation. It is assumed that there is degeneracy in the unperturbed Hamiltonian when account is taken of terms no higher than the fourth degree (the frequency of the small linear oscillations depends on the amplitude) and, in this case, one of the resonances of up to the fourth order inclusive is realized in the system. Model Hamiltonians are constructed for each case of resonance and a qualitative investigation of the motions of the model system is carried out. Using Poincaré's theory of periodic motions and KAM-theory, a rigorous solution is given of the problem of the existence, bifurcations and stability of the periodic motions of the initial system, which are analytic with respect to fractional powers of the small parameter. The resonant periodic motions (in the case of the degeneracy being considered) of a spherical pendulum with an oscillating suspension point are investigated as an application.     

信天翁近海面飞行时的气动力研究

针对信天翁近海面的飞行条件,研究信天翁能在大风浪中高效飞行的力学机理．将信天翁简化为二维机翼,采用势流理论的面元方法,重点研究了波浪的有益干扰．给出了信天翁在匀速固定高度飞行和自由飞行两种状态下的波浪扰动力．计算结果表明:信天翁的飞行效率不仅取决于飞行的高度和速度,而且取决于浪高和波长;在大风浪下信天翁可以从波浪有益干扰中获得推力来抵消部分飞行阻力,提高飞行效能．     

Existence and Multiple Solutions of the Minimum-Fuel Orbit Transfer Problem

In this paper, the well-known problem of piloting a rocket with a low thrust propulsion system in an inverse square law field (say from Earth orbit to Mars orbit or from Earth orbit to Mars) is considered. By direct methods, it is shown that the existence of a fuel-optimal solution of this problem can be guaranteed, if one restricts the admissible transfer times by an arbitrarily prescribed upper bound. Numerical solutions of the problem with different numbers of thrust subarcs are presented which are obtained by multiple shooting techniques. Further, a general principle for the construction of such solutions with increasing numbers of thrust subarcs is given. The numerical results indicate that there might not exist an overall optimal solution of the Earth-orbit problem with unbounded free transfer time.     

The orbital stability of periodic motions of a Hamiltonian system with two degrees of freedom in the case of 3:1 resonance

The problem of the orbital stability of periodic motions, produced from an equilibrium position of an autonomous Hamiltonian system with two degrees of freedom is considered. The Hamiltonian function is assumed to be analytic and alternating in a certain neighbourhood of the equilibrium position, the eigenvalues of the matrix of the linearized system are pure imaginary, and the frequencies of the linear oscillations satisfy a 3:1 ratio. The problem of the orbital stability of periodic motions is solved in a rigorous non-linear formulation. It is shown that short-period motions are orbitally stable with the sole exception of the case corresponding to bifurcation of short-period and long-period motions. In this particular case there is an unstable short-period orbit. It is established that, if the equilibrium position is stable, then, depending on the values of the system parameters, there is only one family of orbitally stable long-period motions, or two families of orbitally stable and one family of unstable long-period motions. If the equilibrium position is unstable, there is only one family of unstable long-period motions or one family of orbitally stable and two families of unstable long-period motions. Special cases, corresponding to bifurcation of long-period motions or degeneration in the problem of stability, when an additional analysis is necessary, may be exceptions. The problem of the orbital stability of the periodic motions of a dynamically symmetrical satellite close to its steady rotation is considered as an application.     

Logarithmic matrix norms in motion stability problems

The problem of the stability of the motions of mechanical systems, described by non-linear non-autonomous systems of ordinary differential equations, is considered. Using the logarithmic matrix norm method, and constructing a reference system, the sufficient conditions for the asymptotic and exponential stability of unperturbed motion and for the stabilization of progammed motions of such systems are obtained. The problem of the asymptotic stability of a non-conservative system with two degrees of freedom is solved, taking for parametric disturbances into account. Examples of the solution of the problem of stabilizing programmed motions – for an inverted double pendulum and for a two-link manipulator on a stationary base – are considered.     

Stabilization of the motions of non-autonomous mechanical systems

The problem of stabilizing the motions of mechanical systems that can be described by non-autonomous systems of ordinary differential equations is considered. The sufficient conditions for stabilizing of the motions of mechanical systems with assigned forces due to forces of another structure are obtained by constructing a vector Lyapunov function and a reference system. Examples of the solution of the problems of stabilizing the rotational motion of an axisymmetric satellite in an elliptic orbit, a non-tumbling gyro horizon, etc. are considered ©2009     

A numerical methods for 2-D flow of flapping airfoil

To study the physics of the flow of flapping flight, a numerical model for the two-dimensional flow around an airfoil undergoing prescribed oscillatory motions in a viscous flow is described. The model is used to examine the flow characteristics and power coefficients of a symmetric airfoil heaving sinusoidally over a range of frequencies and amplitudes. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Problem of small and normal oscillations of a rotating elastic body filled with an ideal barotropic liquid

An evolutionary problem of small motions of an ideal barotropic liquid filling a rotating isotropic elastic body is studied in the paper. Moreover, the corresponding spectral problem arising in the study of normal motions of the mentioned system is considered. First, we state the evolutionary problem, then we pass to a second-ordered differential equation in some Hilbert space. Based on this equation, we prove the uniqueness theorem for the strong solvability of the corresponding mixed problem. The spectral problem is studied in the second part of the paper. A quadratic spectral sheaf corresponding to the spectral problem was derived and studied. Problems of localization, discreteness, and asymptotic form of the spectrum are considered for this sheaf. The statement of double completeness with a defect for a system of eigenelements and adjoint elements and the statement of essential spectrum of the problem are proved.     

The critical case of a pair of zero roots in a two-degree-of-freedom hamiltonian system

The problem of the motion of an autonomous two-degree-of-freedom Hamiltonian system in the neighbourhood of its equilibrium position is considered. It is assumed that the characteristic equation of the linearized system has a pair of pure imaginary roots. The roots of the other pair are assumed to be close to or equal to zero, and in the latter case non-simple elementary dividers correspond to these roots. The problem of the existence, bifurcations and orbital stability of families of periodic motions, generated from the equilibrium position, is solved. Conditionally periodic motions are analysed. The problem of the boundedness of the trajectories of the system in the neighbourhood of the equilibrium position in the case when it is Lyapunov unstable, is considered. Non-linear oscillations of an artificial satellite in the region of its steady rotation around the normal to the orbit plane are investigated as an application.     

Forced oscillations with a sliding regime range of a two-mass system interacting with a fixed stop : PMM vol. 37, n6, 1973, pp. 999–1006

We investigate, by the method developed in [1]. the forced oscillations with a sliding regime range of a two-mass system with elastic connection between the elements, impacting a fixed stop. The system being considered is a dynamic model for a number of vibrational mechanisms. Forced oscillations with a sliding regime range of a system with shock interactions are periodic motions accompanied by a period of an infinite succession of instantaneous collisions of two fixed elements of the model [2]. Within the framework of conditions of roughness of the parameter space [3], in this paper we study by the method of [1] periodic motions with a sliding regime range of a two-mass system with a stop. This problem was posed because in real systems the velocity recovery factor R changes from shock to shock, mainly taking small values (0, 0.2). At the same time, the regions of realizability of one-impact oscillations, in practice the most essential ones among motions with a finite number of interactions over a period, narrow down sharply as R decreases and becomes very small even for R < 0.6 [4]. Thus, the stability of the given operation can be ensured by a law of motion which is independent or weakly dependent on R (^*) (see footnote on the next page). By virtue of what has been said above, finite-impact periodic modes are little suitable for this purpose. Regions, delineated in the parameter space of the model being considered, of existence of stable periodic motions with a sliding regime range have proved to be sufficiently broad. By virtue of the adopted approximation of the sliding regime, the dynamic characteristics of these motions do not depend upon R. The circumstances mentioned confirm the practical value of motions with a sliding regime range in dynamic systems with impact interactions.     

On conditions of existence of permanent rotations of connected rigid bodies system about vertical vector

In contrast to the classical problem of motion of a heavy rigid body about a fixed point where the permanent rotations are well known and completely investigated [7, 3] as the most simple and good visually demonstrated type of motions, in multibody mechanics under an increasing of quantity of the system bodies, mechanical parameters and the order of differential motion equations the study of such motions is more complicated problem. The problem on permanent rotations of two connected rigid bodies under influence of gravity force was investigated in [2, 4]. In this paper a system consisting of arbitrary constant quantity, n, of heavy rigid bodies which are sequentially jointed in a chain is considered. The conditions of existence of motions when each body permanently rotates about the vertical vector are determined. These conditions are analyzed in a general case when the bodies angular velocities are different.     

The energy-optimal motion of a vibration-driven robot in a resistive medium

The rectilinear motion of a two-mass system in a resistive medium is considered. The motion of the system as a whole occurs by longitudinal periodic motion of one body (the internal mass) relative to the other body (the shell). The problem consists of finding the periodic law of motion of the internal mass that ensures velocity-periodic motion of the shell at a specified average velocity and minimum energy consumption. The initial problem reduces to a variational problem with isoperimetric conditions in which the required function is the velocity of the shell. It is established that, with optimal motion, the shell velocity is a piecewise-constant time function taking two values (a positive value and a negative value). The magnitudes of these velocities and the overall size of the intervals in which they are taken are uniquely defined, while the optimal motion itself is non-uniquely defined. The simplest optimal motion, for which the period is divided into two sections – one with a positive velocity and the other with a negative velocity of motion of the shell – is investigated in detail. It is shown that, among all the optimal motions, this simplest motion is characterized by the maximum amplitude of oscillations of the internal mass relative to the shell. © Elsevier Ltd. All rights reserved.     

On the stability of the steady-state motions of systems with quasicyclic coordinates

The stability of the steady-state motions of a system with quasicyclic coordinates under the action of potential and dissipative forces and also forces which depend on the quasicyclic velocities is investigated. The results are applied to the problem of the stability of the steadystate plane-parallel motions of a rotor on a shaft which is set up in elasticated bearings with a non-linear reaction /1/.

The stability of the stationary motions and relative equilibria of systems with a single cyclic (quasicyclic) coordinate has previously been investigated /2/ from a common point of view. The question of the stability of the stationary motions of systems with quasicyclic coordinates under the action of constant and dissipative forces has been considered in /3/. The results obtained in /2/ have been generalized /4/ to systems with several cyclic (quasicyclic) coordinates and, additionally, a third regime of uniform motions, which includes the regime considered in /3/, has also been investigated.     

Non-linear oscillations of a Hamiltonian system with 2:1 resonance

Non-linear oscillations of an autonomous Hamiltonian system with two degrees of freedom in the neighbourhood of a stable equilibrium are considered. It is assumed that the frequency ratio of the linear oscillations is close to or equal to two, and that the Hamiltonian is sign-definite in the neighbourhood of the equilibrium. A solution is presented to the problem of the orbital stability of periodic motions emanating from the equilibrium position. Conditionally periodic motions of an approximate system are analysed taking into account terms of order up to and including three in the normalized Hamiltonian. The KAM theory is used to consider the problem of maintaining these motions taking into account fourth- and higher-order terms in the series expansion of the Hamiltonian in a sufficiently small neighbourhood of the equilibrium. The results are used to investigate non-linear oscillations of an elastic pendulum.     

Stabilization of the motions of mechanical systems with variable masses

A holonomic mechanical system with variable masses and cyclic coordinates is considered. Such a system can have generalized steady motions in which the positional coordinates are constant and the cyclic velocities under the action of reactive forces vary according to a given law. Sufficient Routh-Rumyantsev-type conditions for the stability of such motions are determined. The problem of stabilizing a given translational-rotational motion of a symmetric satellite in which its centre of mass moves in a circular orbit and the satellite executes rotational motion about its axis of symmetry is solved.