高阶非完整约束系统嵌入变分恒等式的积分变分原理

本文从高阶非完整系统嵌入变分恒等式的积分变分原理出发, 根据三种不等价条件变分的选取, 得到了高阶非完整系统的三类不等价动力学模型, 即高阶非完整约束系统的vakonomic方程、Lagrange-d'Alembert 方程和一种新的动力学方程. 当高阶非完整约束方程退化为一阶非完整约束时, 利用此理论可以得到一般非完整系统的vakonomic模型、Chetaev模型和一种新的动力学模型. 最后借助于应用实例验证了结论的正确性. 关键词： 高阶非完整约束 变分恒等式 条件变分 vakonomic动力学     

Construction of the solution of variational equations for constrained Birkhoffian systems

In this paper we present the variational equations of constrained Birkhoffian systems and study their solution.It is proven that,under some conditions,a particular solution of variational equations can be obtained by using a first integral.At the end of the paper,an example is given to illustrate the application of the results.     

三类非完整变分下的约束运动微分方程

在分析三类不等价的非完整变分,即vakonomic变分、Suslov变分和Hlder变分的基础上,利用Lagrange乘子法和稳定作用量原理,讨论非线性非完整约束系统在这三类变分下的运动微分方程,论证了这三类微分方程等价的条件-作为一般约束系统的特例,得到了仿射非完整约束系统的运动微分方程-最后借助两个实例验证了结论的正确性- 关键词： 非完整约束 Chetaev条件 vakonomic动力学 Lagrange乘子法     

非完整系统Chetaev动力学和vakonomic动力学的等价条件

就一般非完整约束系统，从约束方程满足的变分恒等式出发，利用增广位形流形上的向量场定义三类非自由变分，即非完整变分：vakonomic变分、Hlder变分、Suslov变分，并讨论它们之间的关系以及它们成为自由变分的充要条件.利用非完整变分以及相应的积分变分原理建立两类动力学方程：vakonomic方程和Routh方程或Chaplygin方程.通过vakonomic方程分别与Routh方程和Chaplygin方程比较，得到它们具有共同解的两类充分必要条件.这些条件并不是约束的可积性条件. 关键词： 非完整约束 非完整变分 Chetaev条件 vakonomic动力学     

On the validity of the vakonomic model and the chetaev model for constraint dynamical systems

By analyzing the virtual work of reaction forces, we prove the failure of the vakonomic model in obtaining the correct equations of motion for nonholonomic mechanical systems. Only when the constraint is integrable can the actual equation of motion be obtained. We show that the null virtual work condition of reaction forces is a robust criterion on the validity of various models of analytical mechanics. For an illustration, classical examples are discussed.     

Conservation laws of nonconservative nonholonomic system based on Herglotz variational problem

The generalized variational principle of Herglotz type provides a variational method for describing nonconservative or dissipative processes. The purpose of this letter is to extend this variational principle to a first order linear nonholonomic system and study the conservation laws of the nonconservative nonholonomic system based on Herglotz variational problem. A new differential variational principle of the nonconservative nonholonomic system is proposed, which is based on Herglotz variational problem. And the differential equations of motion of the system are also obtained. Then, according to the condition for the invariance of the differential variational principle, the conservation theorem based on Herglotz variational problem for the nonconservative nonholonomic system are obtained. The theorem contains the conservation theorem of the nonconservative holonomic system as its special case, which can be reduced to the first Noether's theorem based on Herglotz variational problem under proper conditions. The inverse theorem of the conservation theorem is also provided and proved. An example is given to illustrate the application at the end of this letter.     

事件空间中力学系统的微分变分原理

研究事件空间中力学系统的微分变分原理.基于D'Alembert原理，建立了事件空间中力学系统的D'Alembert-Lagrange原理、Jourdain原理、Gauss原理和万有D'Alembert原理，给出了这些原理的Euler-Lagrange参数形式、Nielsen参数形式和Appell参数形式，并导出了万有D'Alembert原理的Mangeron-Deleanu参数形式. 关键词： 分析力学 事件空间 微分变分原理     

Unconventional Hamilton-type variational principles for analytical mechanics

According to the basic idea of classical yin-yang complementarity and modern dual-complementarity, in a simple and unified new way proposed by Luo, the un-conventional Hamilton-type variational principles of holonomic conservative system in analytical mechanics can be established systematically. This unconventional Hamilton-type variational principle can fully characterize the initial-value problem of analytical mechanics, so that it is an important innovation for the Hamilton-type variational principle. In this paper, an important integral relation is given, which can be considered as the expression of the generalized principle of virtual work for analytical mechanics in mechanics. Based on this relation, it is possible not only to obtain the principle of virtual work of holonomic conservative system in analytical mechanics, but also to derive systematically the complementary functionals for three-field and two-field unconventional variational principles, and the functional for the one-field one by the generalized Legendre transformation given in this paper. Further, with this new approach, the intrinsic relationship among various principles can be explained clearly. Meanwhile, the unconventional Hamilton-type variational principles of nonholonomic conservative system in analytical mechanics can also be established systematically in this paper.     

非完整系统Boltzmann-Hamel方程的Birkhoff化及其广义辛算法

针对非完整系统的Boltzmann-Hamel方程,当其满足一定条件时,可以进行广义Birkhoff化.构造生成函数,利用当前比较优越的非自治Birkhoff广义辛算法对其进行数值仿真.仿真结果和传统的Runge-Kutta算法结果相比较,非自治Birkhoff广义辛算法在长期跟踪后更加准确.     

Some geometric aspects of maps

In this talk we introduce a Weierstrass-like system of equations corresponding to CP N -1 fields in two dimensions. Then using this representation we introduce a vector in R N 2-1 and treating this vector as the radius vector of a surface immersed in R N 2-1 we discuss to what extent the associated metric describes the geometry of the CP N -1 maps. We show that for the holomorphic maps - the correspondence is exact; while for the more general fields we have to go beyond the Weierstrass system and add extra terms. Received 1st August 2001 / Received in final form 18 October 2001 Published online 2 October 2002 RID="a" ID="a"Work done in collaboration with M. Grundland e-mail: w.j.zakrzewski@durham.ac.uk     

Geometric formulations and variational integrators of discrete autonomous Birkhoff systems

The variational integrators of autonomous Birkhoff systems are obtained by the discrete variational principle. The geometric structure of the discrete autonomous Birkhoff system is formulated. The discretization of mathematical pendulum shows that the discrete variational method is as effective as symplectic scheme for the autonomous Birkhoff systems.     

单面非Chetaev型非完整约束系统的非Noether守恒量

研究单面非Chetaev型非完整约束力学系统的对称性与非Noether守恒量.建立了系统的运动微分方程；给出了系统的Lie对称性和Mei对称性的定义和判据；对于单面非Chetaev型非完整系统，证明了在一定条件下，由系统的Lie对称性可直接导致一类新守恒量——Hojman守恒量，由系统的Mei对称性可直接导致一类新守恒量——Mei守恒量；研究了对称性和新守恒量之间的相互关系.文末，举例说明结果的应用. 关键词： 分析力学 单面约束 非完整系统 对称性 Hojman守恒量 Mei守恒量     

New aspects of irregular constrained systems

The irregular constrained systems are investigated within Hamilton-Jacobi formalism. For this type of systems the equivalence of Hamilton-Jacobi formalism and Lagrangian formulation is presented and one example is analyzed in details. Presented at the International Colloquium “Integrable Systems and Quantum Symmetries”, Prague, 16–18 June 2005.     

广义Chaplygin系统的约化

将广义Chaplygin系统写成含Lagrange函数的形式，它在一定条件下可约化为一个无约束系统.给出这些条件并举例说明结果的应用. 关键词： 分析力学 约化 非完整系统 广义Chaplygin系统     

Symmetries and variational calculation of discrete Hamiltonian systems

We present a numerical simulation method of Noether and Lie symmetries for discrete Hamiltonian systems. The Noether and Lie symmetries for the systems are proposed by investigating the invariance properties of discrete Lagrangian in phase space. The numerical calculations of a two-degree-of-freedom nonlinear harmonic oscillator show that the difference discrete variational method preserves the exactness and the invariant quantity.     

Generalized Birkhoffian representation of nonholonomic systems and its discrete variational algorithm

By using the discrete variational method, we study the numerical method of the general nonholonomic system in the generalized Birkhoffian framework, and construct a numerical method of generalized Birkhoffian equations called a self-adjoint-preserving algorithm. Numerical results show that it is reasonable to study the nonholonomic system by the structure-preserving algorithm in the generalized Birkhoffian framework.