非保守力和非完整约束对Hamilton系统Lie对称性的影响

研究非保守力和非完整约束对Hamilton系统的Lie对称性和守恒量的影响.分别研究了Hamilt on系统受到非保守力和非完整约束作用时，系统的Lie对称性保持不变的条件，同时给出了 系统的结构方程和守恒量保持不变的条件.以著名的Emden方程和Appell-Hamel模型为例进行 了分析讨论. 关键词： 分析力学 Hamilton系统 非保守力 非完整约束 对称性 守恒量     

Mei symmetries and Mei conserved quantities for higher-order nonholonomic constraint systems

This paper presents the Mei symmetries and new types of non-Noether conserved quantities for a higher-order nonholonomic constraint mechanical system.On the basis of the form invariance of differential equations of motion for dynamical functions under general infinitesimal transformation,the determining equations,the constraint restriction equations and the additional restriction equations of Mei symmetries of the system are constructed.The criterions of Mei symmetries,weak Mei symmetries and strong Mei symmetries of the system are given.New types of conserved quantities,i.e.the Mei symmetrical conserved quantities,the weak Mei symmetrical conserved quantities and the strong Mei symmetrical conserved quantities of a higher-order nonholonomic system,are obtained.Then,a deduction of the first-order nonholonomic system is discussed.Finally,two examples are given to illustrate the application of the method and then the results.     

Non-Noether symmetries and Lutzky conservative quantities of nonholonomic nonconservative dynamical systems

Non-Noether symmetries and conservative quantities of nonholonomic nonconservative dynamical systems are investigated in this paper. Based on the relationships among motion, nonconservative forces, nonholonomic constrained forces and Lagrangian, non-Noether symmetries and Lutzky conservative quantities are presented for nonholonomic nonconservative dynamical systems. The relation between non-Noether symmetry and Noether symmetry is discussed and it is further shown that non-Noether conservative quantities can be obtained by a complete set of Noether invariants. Finally,an example is given to illustrate these results.     

SYMMETRIES OF MECHANICAL SYSTEMS WITH NONLINEAR NONHOLONOMIC CONSTRAINTS

The dynamical symmetries and adjoint symmetries of nonlinear nonholonomic constrained mechanical systems are analysed in two kinds of geometrical frameworks whose evolution equations are Routh's equations and generalized Chaplygin's equations, respectively. The Lagrangian inverse problem and the interrelation between Noether's symmetries and dynamical symmetries are briefly concerned with. Finally an illustrative example is analysed.     

Lie Symmetrical Perturbation and Adiabatic Invariants of Generalized Hojman Type for Disturbed Nonholonomic Systems

For a nonholonomic mechanics system with the action of small disturbance, the Lie symmetrical perturbation and adiabatic invariants of generalized Hojman type are studied under general infinitesimal transformations of groups in which the generalized coordinates and time are variable. On the basis of the invariance of disturbed nonholonomic dynamical equations under general infinitesimal transformations, the determining equations, the constrained restriction equations and the additional restriction equations of Lie symmetries of the system are constructed, which only depend on the variables t, qs and q^.s. Based on the definition of higher-order adiabatic invariants of a mechanical system, the perturbation of Lie symmetries for a nonholonomic system with the action of small disturbance is investigated, and the Lie symmetrical adiabatic invariants, the weakly Lie symmetrical adiabatic invariants and the strongly Lie symmetrical adiabatic invariants of generalized Hojman type of disturbed nonholonomic systems are obtained. An example is given to illustrate applications of the results.     

Lie symmetries and conserved quantities of controllable nonholonomic dynamical systems

This paper concentrates on studying the Lie symmetries and conserved quantities of controllable nonholonomicdynamicM systems. Based on the infinitesimal transformation, we establish the Lie symmetric determining equationsand restrictive equations and give three definitions of Lie symmetries before the structure equations and conservedquantities of tile Lie symmetries are obtained. Then we make a study of the inverse problems. Finally, an example ispresented for illustrating the results.     

EFFECTS OF NONHOLONOMIC CONSTRAINT ON LIE SYMMETRIES AND CONSERVED QUANTITIES OF LAGRANGIAN SYSTEMS

After a Lagrangian system is constrained by nonholonomic constraints, the determining equations, the structure equation and the form of conserved quantities corresponding to the Lie symmetries will change. Some symmetries vanish and under certain conditions some Lie symmetries still remain.     

Lie symmetries and conserved quantities of discrete nonholonomic Hamiltonian systems

This paper focuses on studying Lie symmetries and conserved quantities of discrete nonholonomic Hamiltonian systems. Firstly, the discrete generalized Hamiltonian canonical equations and discrete energy equation of nonholonomic Hamiltonian systems are derived from discrete Hamiltonian action. Secondly, the determining equations and structure equation of Lie symmetry of the system are obtained. Thirdly, the Lie theorems and the conservation quantities are given for the discrete nonholonomic Hamiltonian systems. Finally, an example is discussed to illustrate the application of the results.     

广义非完整力学系统的Lie对称性与Noether守恒量

研究广义非完整力学系统的Lie对称性与Noether守恒量,建立Lie对称性的确定方程、限制方程和附加限制方程,给出结构方程和Noether守恒量的形式,研究Lie对称性的逆问题,并举算例说明结果的应用.     

Nonholonomic Hamilton–Jacobi theory via Chaplygin Hamiltonization

We develop Hamilton–Jacobi theory for Chaplygin systems, a certain class of nonholonomic mechanical systems with symmetries, using a technique called Hamiltonization, which transforms nonholonomic systems into Hamiltonian systems. We give a geometric account of the Hamiltonization, identify necessary and sufficient conditions for Hamiltonization, and apply the conventional Hamilton–Jacobi theory to the Hamiltonized systems. We show, under a certain sufficient condition for Hamiltonization, that the solutions to the Hamilton–Jacobi equation associated with the Hamiltonized system also solve the nonholonomic Hamilton–Jacobi equation associated with the original Chaplygin system. The results are illustrated through several examples.     

场方法的改进及其在积分Riemann-Cartan空间运动方程中的应用

和Hamilton-Jacobi方法类似,Vujanovi?场方法把求解常微分方程组特解的问题转化为寻找一个一阶拟线性偏微分方程(基本偏微分方程)完全解的问题,但Vujanovi?场方法依赖于求出基本偏微分方程的完全解,而这通常是困难的,这就极大地限制了场方法的应用.本文将求解常微分方程组特解的Vujanovi?场方法改进为寻找动力学系统运动方程第一积分的场方法,并将这种方法应用于一阶线性非完整约束系统Riemann-Cartan位形空间运动方程的积分问题中.改进后的场方法指出,只要找到基本偏微分方程的包含m(m≤ n,n为基本偏微分方程中自变量的数目)个任意常数的解,就可以由此找到系统m个第一积分.特殊情况下,如果能够求出基本偏微分方程的完全解(完全解是m=n时的特例),那么就可以由此找到≤系统全部第一积分,从而完全确定系统的运动.Vujanovi?场方法等价于这种特殊情况.     

Perturbation to symmetries and Hojman adiabatic invariant for nonholonomic controllable mechanical systems with non-Chetaev type constraints

This paper studies the perturbation to symmetries and adiabatic invariant for nonholonomic controllable mechanical systems with non-Chetaev type constraints. It gives the exact invariants introduced by the Lie symmetries of the nonholonomic controllable mechanical system with non-Chetaev type constraints without perturbation. Based on the definition of high-order adiabatic invariants of mechanical system, the perturbation of Lie symmetries for nonholonomic controllable mechanical system with non-Chetaev type constraints with the action of small disturbances is investigated, and a new type of adiabatic invariant of system are obtained. In the end of this paper, an example is given to illustrate the application of the results.     

非保守力与非完整约束对Lagrange系统Noether对称性的影响

研究非保守力和非完整约束对Lagrange系统的Noether对称性的影响. Lagrange系统受到非保守力或非完整约束作用时，系统的Noether对称性和守恒量都会发生变化. 原有的一些Noether对称性消失了，一些新的Noether对称性产生了，在一定条件下，一些Noether对称性仍保持不变. 分别给出系统的Noether对称性以及守恒量保持不变的条件，并举例说明结果的应用. 关键词： Lagrange系统 非保守力 非完整约束 Noether对称性     

相空间中非完整可控力学系统的对称性摄动与绝热不变量

研究相空间中非完整可控力学系统的对称性摄动与绝热不变量. 列出相空间中未受扰非完整可控力学系统的形式不变性导致的Noether守恒量. 基于力学系统高阶绝热不变量的定义，研究小扰动作用下相空间中非完整可控力学系统的形式不变性摄动与绝热不变量，给出了精确不变量与绝热不变量存在的条件与形式，并举例说明结果的应用.     

Perturbation to symmetries and adiabatic invariants of a type of nonholonomic singular system

Based on the theory of symmetries and conserved quantities, the perturbation to the symmetries and adiabatic invariants of a type of nonholonomic singular system are discussed. Firstly, the concept of higher order adiabatic invariants of the system is proposed. Secondly, the conditions for existence of the exact invariants and adiabatic invariants are proved, and their forms are given. Thirdly, we study the inverse problems of the perturbation to symmetries of the system. An example is presented to illustrate these results.     

包含伺服约束的非完整系统的Lie对称性与守恒量

利用代数方程和微分方程在无限小变换下的不变性,研究带有伺服约束的非完整系统的Lie 对称性.给出Lie对称性的确定方程、限制方程、结构方程,并给出守恒量的形式. 关键词： 非完整系统 伺服约束 Lie对称性 守恒量     

Momentum-dependent symmetries and non-Noether conserved quantities for nonholonomic nonconservative Hamilton canonical systems

This paper investigates the momentum-dependent symmetries for nonholonomic nonconservative Hamilton canonical systems. The definition and determining equations of the momentum-dependent symmetries are presented, based on the invariance of differential equations under infinitesimal transformations with respect to the generalized coordinates and generalized momentums. The structure equation and the non-Noether conserved quantities of the systems are obtained. The inverse issues associated with the momentum-dependent symmetries are discussed. Finally, an example is discussed to further illustrate the applications.     

Perturbation to Symmetries and Adiabatic Invariants of Nonholonomic System in Terms of Quasi-coordinates

Based on the theory of Lie symmetries and conserved quantities, the exact invariants and adiabatic invariants of nonholonomic system in terms of quasi-coordinates are studied. The perturbation to symmetries for the nonholonomic system in terms of quasi-coordinates under small excitation is discussed. The concept of high-order adiabatic invariant is presented, and the forms of exact invariants and adiabatic invariants as well as the conditions for their existence are given. Then the corresponding inverse problem is studied.     

Perturbation to Symmetries and Adiabatic Invariants of Nonholonomic System in Terms of Quasi-coordinates

Based on the theory of Lie symmetries and conserved quantities, the exact invariants and adiabatic invariants of nonholonomic system in terms of quasi-coordinates are studied. The perturbation to symmetries for the nonholonomic system in terms of quasi-coordinates under small excitation is discussed. The concept of high-order adiabatic invariant is presented, and the forms of exact invariants and adiabatic invariants as well as the conditions for their existence are given. Then the corresponding inverse problem is studied.     

Stability analysis of a simple rheonomic nonholonomic constrained system

It is a difficult problem to study the stability of the rheonomic and nonholonomic mechanical systems. Especially it is difficult to construct the Lyapunov function directly from the differential equation. But the gradient system is exactly suitable to study the stability of a dynamical system with the aid of the Lyapunov function. The stability of the solution for a simple rheonomic nonholonomic constrained system is studied in this paper. Firstly, the differential equations of motion of the system are established. Secondly, a problem in which the generalized forces are exerted on the system such that the solution is stable is proposed. Finally, the stable solutions of the rheonomic nonholonomic system can be constructed by using the gradient systems.