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     

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     

一类非线性非完整系统的Routh方程：从Chetaev条件到Euler条件

对于一类其非线性约束方程可展开为关于广义速度的MacLaurin级数的非完整系统,可以在 完全理想的情况下用Lagrange未定乘数法和d'Alembert原理建立其Routh方程.由此可以得到 结论：Chetaev条件只有在线性非完整系统中才成立并且等价于Vacco条件.引入“Euler条件 ”,可以统一Chetaev条件和Vacco条件,统一d'Alembert原理和Hamilton原理,并解决所有 现存于非线性非完整系统中的问题. 关键词： 非线性非完整系统 Routh方程 Chetaev条件 Vacco条件 Euler条件     

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     

Onthe Rosen-Edelstein model andthe theoretical foundation of nonholonomicmechanics

A new model in nonholonomic mechanics,the Rosen--Edelstein model, has been studied. We prove that the new model is a Lagrange problem in which the action integral $\int^{t_{1}}_{t_{0}}L\dd t$ can be made stationary.The theoretical basis of nonholonomic mechanics is investigated and discussed. Finally, we give the range of practical applications of theRosen--Edelstein model.     

一阶非完整约束的理想约束力

通过一阶非完整约束对系统运动限制条件的分析,在C^q空间中给出一阶非完整理想约束力的表示形式．在速度空间中阐明一阶非完整约束力的几何意义．最后证明Appell-Четаев条件是实现一阶非线性非完整理想约束的充分必要条件．     

单面Chetaev型非完整系统的共形不变性、Noether对称性和Lie对称性

研究单面Chetaev型非完整系统在无限小变换下的共形不变性及其与Noether对称性和Lie对称性的关系. 首先,给出了单面Chetaev型非完整系统的共形不变性的定义; 其次,研究了系统的共形不变性与Noether对称性之间的关系;最后, 研究了系统的共形不变性与Lie对称性之间的关系,得到了共形不变性同时是Lie 对称性导致的Hojman守恒量.最后分别举例说明了结果的应用.     

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.     

On model dynamical systems in statistical mechanics

Some dynamical models generalizing those of the BCS type are investigated. A complete proof is presented that the well-known approximation procedure leads to an asymptotically exact expression for the free energy, when the usual limiting process of statistical mechanics is performed. Some special examples are considered.     

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.     

Construction of exact invariants of time-dependent linear nonholonomic dynamical systems

In this work, we build exact dynamical invariants for time-dependent, linear, nonholonomic Hamiltonian systems in two dimensions. Our aim is to obtain an additional insight into the theoretical understanding of generalized Hamilton canonical equations. In particular, we investigate systems represented by a quadratic Hamiltonian subject to linear nonholonomic constraints. We use a Lie algebraic method on the systems to build the invariants. The role and scope of these invariants is pointed out.     

Non-Noether symmetrical conserved quantity for nonholonomic Vacco dynamical systems with variable mass

Using a form invariance under special infinitesimal transformations in which time is not variable, the non-Noether conserved quantity of the nonholonomic Vacco dynamical system with variable mass is studied. The differential equations of motion of the systems are established. The definition and criterion of the form invariance of the system under special infinitesimal transformations are studied. The necessary and sufficient condition under which the form invariance is a Lie symmetry is given. The Hojman theorem is established. Finally an example is given to illustrate the application of the result.     

事件空间中非Chetaev型非完整约束系统的Hojman守恒量

研究了事件空间中非Chetaev型非完整约束系统由特殊的Lie对称性、Noether对称性和Mei对称性导致的Hojman守恒量.建立了系统的运动微分方程.给出了Lie对称性、Noether对称性和Mei对称性的判据,研究了三种对称性间的关系.将Hojman定理推广并应用于事件空间中的非Chetaev型非完整约束系统,得到Hojman守恒量.并举出一例说明结论的应用. 关键词： 事件空间 非Chetaev型非完整约束系统 对称性 Hojman守恒量     

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.     

Lie symmetry and its generation of conserved quantity of Appell equation in a dynamical system of the relative motion with Chetaev-type nonholonomic constraints

Lie symmetry and conserved quantity deduced from Lie symmetry of Appell equations in a dynamical system of relative motion with Chetaev-type nonholonomic constraints are studied.The differential equations of motion of the Appell equation for the system,the definition and criterion of Lie symmetry,the condition and the expression of generalized Hojman conserved quantity deduced from Lie symmetry for the system are obtained.The condition and the expression of Hojman conserved quantity deduced from special Lie symmetry for the system under invariable time are further obtained.An example is given to illustrate the application of the results.     

Unified symmetry of mechano-electrical systems with nonholonomic constraints

The unified symmetry of mechano-electrical systems with nonholonomic constraints are studied in this paper, the definition and the criterion of unified symmetry of mechano-electrical systems with nonholonomic constraints are derived from the Lagrange-Maxwell equations. The Noether conserved quantity, Hojman conserved quantity and Mei conserved quantity are then deduced from the unified symmetry. An example is given to illustrate the application of the results.     

Weakly Noether Symmetry for Nonholonomic Systems of Chetaev＇s Type

In the paper [J. of Beijing Institute of Technology 26 （2006） 285] the authors provided the definition of weakly Noether symmetry. We now discuss the weakly Noether symmetry for non-holonomic system of Chetaev＇s type, and present expressions of three kinds of conserved quantities by weakly Noether symmetry. Finally, the application of this new result is shown by a practical example.