A linear complementarity model for multibody systems with frictional unilateral and bilateral constraints

The Lagrange-I equations and measure differential equations for multibody systems with unilateral and bilateral constraints are constructed.For bilateral constraints,frictional forces and their impulses contain the products of the filled-in relay function induced by Coulomb friction and the absolute values of normal constraint reactions.With the time-stepping impulse-velocity scheme,the measure differential equations are discretized.The equations of horizontal linear complementarity problems(HLCPs),which are used to compute the impulses,are constructed by decomposing the absolute function and the filled-in relay function.These HLCP equations degenerate into equations of LCPs for frictional unilateral constraints,or HLCPs for frictional bilateral constraints.Finally,a numerical simulation for multibody systems with both unilateral and bilateral constraints is presented.     

Feedback minimization of first-passage failure of quasi integrable Hamiltonian systems

A nonlinear stochastic optimal control strategy for minimizing the first-passage failure of quasi integrable Hamiltonian systems (multi-degree-of-freedom integrable Hamiltonian systems subject to light dampings and weakly random excitations) is proposed. The equations of motion for a controlled quasi integrable Hamiltonian system are reduced to a set of averaged Itô stochastic differential equations by using the stochastic averaging method. Then, the dynamical programming equations and their associated boundary and final time conditions for the control problems of maximization of reliability and mean first-passage time are formulated. The optimal control law is derived from the dynamical programming equations and the control constraints. The final dynamical programming equations for these control problems are determined and their relationships to the backward Kolmogorov equation governing the conditional reliability function and the Pontryagin equation governing the mean first-passage time are separately established. The conditional reliability function and the mean first-passage time of the controlled system are obtained by solving the final dynamical programming equations or their equivalent Kolmogorov and Pontryagin equations. An example is presented to illustrate the application and effectiveness of the proposed control strategy.     

How to build master equations for complex systems

Typical complex systems, e. g., complex chemical reactions, reaction-diffusion systems, and turbulent fluids are described on a macroscopic level, that is, neglecting fluctuations, with the help of deterministic equations for corresponding variables. In this article it is shown on a phenomenological level, that these systems can be described in terms of integer- or real-valued Markov processes as well, which are governed by master equations. The latter are constructed such that the macroscopic law and the fluctuations around it are reproduced correctly. Stochastic processes defined through master equations can easily be simulated. The efficiency, the stability and the parallelization of the algorithms for stochastic simulations are discussed for some examples. In the last part of the paper it is shown that the same phenomenological approach can be successfully applied to open quantum systems. The wave function is assumed to be a complex valued stochastic process in Hilbert space and the quantum master equation for the statistical operator is regarded as the equation of motion for the two-point correlation function.     

Transient response analysis of one-dimensional distributed parameter systems

A semi-analytic method is presented for the analysis of transient response of one-dimensional distributed parameter systems. Replacing time differentials by finite difference, the governing partial differential equations are reduced to difference–differential equations. The solutions of derived ordinary differential equations are given in exact and closed form by distributed transfer function method. Complex systems that contain many one-dimensional sub-systems are also studied. Numerical results show that the efficiency and accuracy of the method are excellent.     

Optimal Bounded Control of First-Passage Failure of Quasi-Integrable Hamiltonian Systems with Wide-Band Random Excitation

The optimal bounded control of quasi-integrable Hamiltonian systems with wide-band random excitation for minimizing their first-passage failure is investigated. First, a stochastic averaging method for multi-degrees-of-freedom (MDOF) strongly nonlinear quasi-integrable Hamiltonian systems with wide-band stationary random excitations using generalized harmonic functions is proposed. Then, the dynamical programming equations and their associated boundary and final time conditions for the control problems of maximizinig reliability and maximizing mean first-passage time are formulated based on the averaged Itô equations by applying the dynamical programming principle. The optimal control law is derived from the dynamical programming equations and control constraints. The relationship between the dynamical programming equations and the backward Kolmogorov equation for the conditional reliability function and the Pontryagin equation for the conditional mean first-passage time of optimally controlled system is discussed. Finally, the conditional reliability function, the conditional probability density and mean of first-passage time of an optimally controlled system are obtained by solving the backward Kolmogorov equation and Pontryagin equation. The application of the proposed procedure and effectiveness of control strategy are illustrated with an example.     

Analysis of the Applicability of Macroscopic Models of the Shock Wave Structure in a Binary Mixture of Inert Gases

The results of calculating the shock wave structure in Ne–Ar, He–Ar, He–Ne, and He–Xe mixtures by means of the relaxation method on the basis of the system of Navier-Stokes equations and complete and modified systems of Burnett equations are compared with the results of direct statistical simulation (Monte-Carlo method). The domain of applicability of these systems of equations for calculating gas dynamic variable profiles is analyzed as a function of both the molecular mass ratio and the initialconcentrations.     

Reduced equilibrium equations for perfectly elastic materials

Sufficient conditions are given on the coordinate systems which enable reduced equilibrium equations to be derived for perfectly elastic materials involving deformations which depend in an essential way only on two of the three coordinates. Reduced equilibrium equations given previously for plane and axially symmetric deformations are special cases of the equations given here. These equations considerably reduce the calculations involved in investigating possible solutions of finite elasticity, either exact semi-inverse solutions or approximate perturbation solutions. Moreover a formula for the pressure function appearing in the reduced equilibrium equations is given which relates to the corresponding pressure function associated with the inverse deformation. This formula is similar to one given previously for fully three dimensional deformations.     

First passage failure of quasi non-integrable generalized Hamiltonian systems

The first passage failure of quasi non-integrable generalized Hamiltonian systems is studied. First, the generalized Hamiltonian systems are reviewed briefly. Then, the stochastic averaging method for quasi non-integrable generalized Hamiltonian systems is applied to obtain averaged Itô stochastic differential equations, from which the backward Kolmogorov equation governing the conditional reliability function and the Pontryagin equation governing the conditional mean of the first passage time are established. The conditional reliability function and the conditional mean of first passage time are obtained by solving these equations together with suitable initial condition and boundary conditions. Finally, an example of power system under Gaussian white noise excitation is worked out in detail and the analytical results are confirmed by using Monte Carlo simulation of original system.     

Sufficient Stability Conditions for Polynomial Systems

International Applied Mechanics - For polynomial systems of perturbed equations of motion, a new estimate of the Lyapunov function along the solutions of the system equations is proposed. Based on...     

On a stationarity principle for discrete non-linear dissipative dynamic systems

A new function depending upon the Lagrangian, and upon the Rayleigh dissipation function is introduced. It is shown that for a certain class of discrete systems the requirement of stationarity of the new function with respect to generalized velocities is tantamount to the setting up of differential equations of motion for the system.     

Setting up Lyapunov functions for the class of systems with quasiperiodic coefficients

The paper proposes a method to set up a matrix-valued Lyapunov function for a system of differential equations with quasiperiodic coefficients. This function is used to establish asymptotic stability conditions for a class of linear systems Translated from Prikladnaya Mekhanika, Vol. 44, No. 12, pp. 121–130, December 2008.     

Relationship between invariant sets of systems of differential equations and the corresponding difference equations

We study the relationship between invariant sets of systems of differential equations and the corresponding difference equations in terms of sign-constant Lyapunov functions. For systems of differential equations, we obtain a converse result concerning the existence of a positive-definite Lyapunov function whose zeros coincide with a given invariant manifold. __________ Translated from Neliniini Kolyvannya, Vol. 9, No. 2, pp. 280–285, April–June, 2006.     

A method of stability analysis of nonlinear large-scale systems

Results of stability analysis of some classes of perturbed equations of motion are presented. Sufficient conditions for the asymptotic stability in the large and instability of the equilibrium state of large-scale systems are established using a quadratic Lyapunov function. Some results are illustrated by examples of fourth-order systems     

First passage failure of quasi-partial integrable generalized Hamiltonian systems

The first passage failure of quasi-partial integrable generalized Hamiltonian systems is studied by using the stochastic averaging method. First, the stochastic averaging method for quasi-partial integrable generalized Hamiltonian systems is introduced briefly. Then, the backward Kolmogorov equation governing the conditional reliability function and the Pontryagin equation governing the conditional mean of first passage time are derived from the averaged Itô equations. The conditional reliability function, the conditional probability density and mean of the first passage time are obtained from solving these equations together with suitable initial condition and boundary conditions, respectively. Finally, one example is given to illustrate the proposed procedure in detail and the solutions are confirmed by using the results from Monte Carlo simulation of the original system.     

Another form of equations of motion for constrained multibody systems

This paper presents a new and simplified set of explicit equations of motion for constrained mechanical systems. The equations are applicable with both holonomic and nonholonomic systems and the constraints may, or may not, be ideal. It is shown that this set of equations is equivalent to governing equations developed earlier by others. The connection of these equations with Kane's equations is discussed. It is shown that the developed equations are directly applicable with controlled systems where the controlling forces and moments may be subject to constraints. Finally, a procedure is presented for determining which control force systems are equivalent. Examples are presented to demonstrate the advantages, features, and range of application of the equations.     

Feedback minimization of first-passage failure of quasi non-integrable Hamiltonian systems

The non-linear stochastic optimal control of quasi non-integrable Hamiltonian systems for minimizing their first-passage failure is investigated. A controlled quasi non-integrable Hamiltonian system is reduced to an one-dimensional controlled diffusion process of averaged Hamiltonian by using the stochastic averaging method for quasi non-integrable Hamiltonian systems. The dynamical programming equations and their associated boundary and final time conditions for the problems of maximization of reliability and of maximization of mean first-passage time are formulated. The optimal control law is derived from the dynamical programming equations and the control constraints. The dynamical programming equations for maximum reliability problem and for maximum mean first-passage time problem are finalized and their relationships to the backward Kolmogorov equation for the reliability function and the Pontryagin equation for mean first-passage time, respectively, are pointed out. The boundary condition at zero Hamiltonian is discussed. Two examples are worked out to illustrate the application and effectiveness of the proposed procedure.     

基于广义预测控制的结构半主动控制研究

相对于主动控制和被动控制来讲,半主动控制具有一些更好的特色,对结构控制的应用有着较强的吸引力。本文以可调液柱阻尼器(TLCD)作为作动器来实现结构半主动控制,考虑到TLCD具有非线性阻尼特性,为了使结构控制能够顺利实现,本文采用了阶跃控制函数。为了使TLCD能够应用于实际结构,本文研究了基于离散状态方程的广义预测控制方法,并提出了单向控制策略。本文最后给出了计算实例。算例表明这一方法是有效的。     

Technical Stability of Nonstationary Automatic-Control Systems with Variable Structure

Sufficient conditions of technical stability in measure are established for nonstationary automatic-control systems with variable structure and logic control laws dependent on the mismatch error and its derivatives of finite order for all admissible initial perturbations from a predefined measurable set of initial perturbations. The associated systems of differential equations contain time-dependent coefficients. The logic control laws are described by a variable jump control function of the mismatch coordinate and its derivatives of finite order that is no higher than that of the initial system of equations. Using a signal and its derivatives for control increases the quality of discontinuous control. The relationship between the eigenvalues of the quadratic forms of the corresponding Liapunov functions and the criteria of technical stability is revealed. The general results are applied to a variable-structure system of the third order     

Optimal bounded control for maximizing reliability of Duhem hysteretic systems

The optimal bounded control of stochastic-excited systems with Duhem hysteretic components for maximizing system reliability is investigated. The Duhem hysteretic force is transformed to energy-depending damping and stiffness by the energy dissipation balance technique. The controlled system is transformed to the equivalent nonhysteretic system. Stochastic averaging is then implemented to obtain the Itô stochastic equation associated with the total energy of the vibrating system, appropriate for evaluating system responses. Dynamical programming equations for maximizing system reliability are formulated by the dynamical programming principle. The optimal bounded control is derived from the maximization condition in the dynamical programming equation. Finally, the conditional reliability function and mean time of first-passage failure of the optimal Duhem systems are numerically solved from the Kolmogorov equations. The proposed procedure is illustrated with a representative example.     

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.