Integrable cases of the problem of the free motion of a gyrostat

The free spatial motion of a gyrostat in the form of a carrier body with a triaxial ellipsoid of inertia and an axisymmetric rotor is considered. The bodies have a common axis of rotation, which coincides with one of the principal axes of inertia of the carrier. In the Andoyer–Deprit variables the equations of motion reduce to a system with one degree of freedom. Stationary solutions of this system are found, and their stability is analysed. Cases in which the longitudinal moment of inertia of the carrier is greater than the largest of the transverse moments of inertia of the system of bodies, is smaller than the smallest or belongs to a range composed of the moments of inertia indicated, are investigated. General analytical solutions that describe the motion on separatrices and in regions corresponding to oscillations and rotation on the phase portrait are obtained for each case. The results can be interpreted as a development of the Euler case of the motion of a rigid body about a fixed point when one degree of freedom, namely, relative rotation of the bodies, is added.     

Evolution of the precessional motion of unbalanced gyrostats of variable structure

The precessional motion of an unbalanced gyrostat of variable structure when acted upon by dissipative and accelerating external and internal moments, which depend on the angular velocities of the bodies (the carrier and the rotor) is considered. A qualitative method of analysing the phase space of non-autonomous dynamical systems is developed, based on the determination of the curvature of the phase trajectory. The motion is analysed and the conditions for obtaining the required modes of nutational-precessional motion of unbalanced gyrostats of variable structure are synthesized using this method. A number of cases of the motion of a gyrostat of variable structure, including free motion, motion when there are constant internal and reactive moments and, also, under the action of the moments of resistance forces, proportional to the angular velocities, is investigated. The possible evolutions in the above-mentioned cases of motion and the causes of these evolutions are determined. The conditions for evolution with a decreasing amplitude of the nutational oscillations are obtained.     

Modeling of chaotic motion of gyrostats in resistant environment on the base of dynamical systems with strange attractors

A chaotic motion of gyrostats in resistant environment is considered with the help of well known dynamical systems with strange attractors: Lorenz, Rössler, Newton–Leipnik and Sprott systems. Links between mathematical models of gyrostats and dynamical systems with strange attractors are established. Power spectrum of fast Fourier transformation, gyrostat longitudinal axis vector hodograph and Lyapunov exponents are find. These numerical techniques show chaotic behavior of motion corresponding to strange attractor in angular velocities phase space. Cases for perturbed gyrostat motion with variable periodical inertia moments and with periodical internal rotor relative angular moment are considered; for some cases Poincaré sections areobtained.     

Dynamics and chaos control of gyrostat satellite

We consider the chaotic motion of the free gyrostat consisting of a platform with a triaxial inertia ellipsoid and a rotor with a small asymmetry with respect to the axis of rotation. Dimensionless equations of motion of the system with perturbations caused by small asymmetries of the rotor are written in Andoyer-Deprit variables. These perturbations lead to separatrix chaos. For gyrostats with different ratios of moments of inertia heteroclinic and homoclinic trajectories are written in closed-form. These trajectories are used for constructing modified Melnikov function, which is used for determine the control that eliminates separatrix chaos. Melnikov function and phase space trajectory are built to show the effectiveness of the control.     

BIFURCATION ANALYSIS AND PHASE PORTRAITS OF AN ASYMMETRIC TRIAXIAL GYROSTAT WITH TWO ROTORS

This paper deals with the bifurcations and phase portraits of an asymmetric triaxial gyrostat with two rotors, which is a 3-dimensional generalized Hamiltonian system with a quadratic Hamiltonian depending on three independent parameters. The number and stability of equilibria are analyzed, and corresponding bifurcation conditions of parameters are obtained. Moreover, by Maple software, all possible phase portraits are plotted out. Except for some planar orbits under particular parametric conditions, genera...     

Attitude dynamics of a spacecraft with variable structure at presence of harmonic perturbations

Attitude dynamics of a spacecraft (SC) with variable structure (inertia–mass parameters variation) is examined. Equations of the motion of the SC are obtained on the base of Hamiltonian formalism in Serret–Andoyer variables. These equations can be used for analysis and synthesis of conditions of the SC attitude motion on active legs of orbital trajectories. Analytical and numerical modeling of the SC motion is realized. Existence of the SC chaotic modes of motion is demonstrated with the help of Melnikov method and Poincaré sections. Also attitude motion of a dual-spin spacecraft (DSSC) is considered at presence of small internal harmonic torque between DSSC coaxial bodies.     

Quaternion solution for the rock’n’roller: Box orbits, loop orbits and recession

We consider two types of trajectories found in a wide range of mechanical systems, viz. box orbits and loop orbits. We elucidate the dynamics of these orbits in the simple context of a perturbed harmonic oscillator in two dimensions. We then examine the small-amplitude motion of a rigid body, the rock’n’roller, a sphere with eccentric distribution of mass. The equations of motion are expressed in quaternionic form and a complete analytical solution is obtained. Both types of orbit, boxes and loops, are found, the particular form depending on the initial conditions. We interpret the motion in terms of epi-elliptic orbits. The phenomenon of recession, or reversal of precession, is associated with box orbits. The small-amplitude solutions for the symmetric case, or Routh sphere, are expressed explicitly in terms of epicycles; there is no recession in this case.     

Poisson variations in the problem of the stability of equilibria in rigid body mechanics

The existence and stability of equilibria in rigid body mechanics is considered. A class of variations is indicated which satisfy the analogue of Poisson's equations, suitable for use when investigating both the sufficient and necessary conditions for the stability of such equilibria and which, in particular, enable the invariance of the equations of motion of the system and their first integrals to be effectively used when the phase variables and parameters of the problem are interchanged. The result is illustrated using the example of the problem of the motion of a gyrostat far from attracting objects.     

The relative equilibria of a tethered gyrostat in a central Newtonian field

The motion of an orbital tether system comprising a massive body and a gyrostat of small mass attached to it by a non-extensible weightless tether is examined. The body performs unperturbed motion in a Kepler orbit. There are several different equilibria of the system relative to a uniformly rotating system of coordinates. These equilibria are interpreted geometrically using Mohr circles. Despite being the simplest example of an orbital tether system with a gyrostat, it exhibits a wealth of dynamic properties. There are also more complex orbital tether systems which contain more than one gyrostat [1].     

The local boundedness of the perturbed motions of an imperfect gyroscope in gimbals with dissipative and accelerating forces

An unbalanced dynamically symmetrical gyroscope in gimbals with constructive imperfections is considered in a central Newtonian field of forces. It is assumed that there is a moment of forces of viscous friction acting on the axis of rotation of one of the rings of the suspension and an accelerating (electromagnetic) moment applied to the axis of rotation of another ring. The equations of motion have a partial solution for which the basic plane of the frame is perpendicular to the direction from the specified fixed point of the frame to the centre of gravitation, the basic plane of the mantle is parallel to this direction and the rotor rotates with an arbitrary constant angular velocity.

The equations of perturbed motions of the reduced system with two degrees of freedom are obtained to within third-order terms at the corresponding position of equilibrium. In the domain of admissible values of the parameters F_o the characteristic equation of the system is considered and its coefficients are written down. A domain in F_o is specified in which complex conjugate pairs of the eigenvalues have small moduli of the real parts but the absolute values of the second- to fourth-order off-resonance mistuning between the imaginary parts are not small. For an imperfect gyroscope in gimbals with dissipative and accelerating forces the sufficient conditions of the local uniform boundedness of motions perturbed with respect to the specified partial solution are obtained in this domain. The conditions found provide the local uniform boundedness of solutions irrespective of the forms of higher than the third order in the equations of perturbed motions. These conditions are obtained in the form of constraints for the coefficients of the normal form and, finally, for the original parameters of the system and the real and imaginary parts of the eigenvalues. To provide a clear interpretation of the results, special cases when all but two parameters are fixed are analysed. The domains of local uniform boundedness are constructed in the two-dimensional domains F_o using a personal computer.     

Separation of Variables in the Kovalevskaya–Goryachev–Chaplygin Gyrostat

We construct separation variables for the Kovalevskaya–Goryachev–Chaplygin gyrostat for arbitrary values of the parameters. We show that different separation variables can be constructed for the same integrable system if different integrals of motion are chosen.     

EXISTENCE AND STABILITY OF PERIODIC ORBITS FOR A PERTURBED FOUR-DIMENSIONAL SYSTEM

The purpose of this paper is to study periodic orbits of a perturbed four- dimensional system.Using bifurcation methods and the integral manifold theory,sufficient conditions for the existence and stability of periodic orbits of the perturbed four-dimensional system are obtained.     

The asymptotic properties of the motions of satellites in a central field due to internal dissipation

A satellite in the form of a system of bodies that does not have the property of a gyrostat in the general case is considered. An algorithm for determining all the equilibrium configurations of the system that correspond to steady motions in a central gravitational field and an algorithm for analysing their stability are given. A method based on Routh's first theorem is used to investigate the asymptotic stability of the steady motions in the unconstrained problem. Three effects caused by internal dissipation are established in a model example: stabilization of the satellites in a neighbourhood of rotations about a normal to the orbital plane, which is codirectional with the axis of the largest moment of inertia, evolution of elliptic orbits into circular orbits, and capture of the satellites in resonant oscillatory modes of motion.     

Multipulse Orbits in the Motion of Flexible Spinning Discs

Summary. The global dynamics of flexible spinning discs are studied. The discs studied are parametrically excited in their spin rate, and have imperfections that cause symmetry-breaking. After determining the equations of motion in a suitable form, the energy-phase method is employed to show the existence of chaotic dynamics by identifying multipulse jumping orbits in the perturbed phase space. We provide restrictions on the damping, forcing, and symmetry-breaking parameters in order for these complicated dynamics to occur. The dissipative version of the energy-phase method predicts a wider range of values for which chaotic dynamics occurs than the traditional Melnikov method. The results are then discussed in terms of the physical motion of the spinning disc system. The multipulse orbits are manifested in the physical system as a shifting between two different nodal configurations of the disc. When the motion is chaotic, an observer will see a random jumping between the two nodal configurations of the disc. Received February 7, 2000; accepted November 18, 2001     

First integrals of the equations of motion of a symmetric gyrostat on a perfectly rough plane

The problem of the motion of a dynamically symmetric gyrostat without slipping on a fixed horizontal plane is investigated. When the surface of the gyrostat and the distribution of the masses in it satisfy a certain condition, supplementing and developing the results obtained by Mushtari [Mushtari KhM. The rolling of a heavy solid of revolution on a fixed horizontal plane. Mat Sbornik 1932; 39(1, 2):105–26], an explicit form of two first integrals of the equations of motion of the gyrostat, in addition to the energy integral, is presented.     

The orbital motion of a tetrahedral gyrostat

The orbital motion of a gyrostat whose mass distribution admits of the symmetry group of a regular tetrahedron is examined. The equations of motion and their first integrals are presented. The order of the equations of motion is reduced using a Routh–Lyapunov approach. The reduced potential and the equations for its critical points are presented. Some solutions of these equations are indicated, and a mechanical interpretation of the steady motions corresponding to them is given. Equations of motion similar to the well known equations of relative motion of a gyrostat in an elliptical orbit in the satellite approximation are derived assuming that the dimensions of the body are small compared with its distance from the attracting centre. A three-dimensional analogue of Beletskii's equation that relies on the use of the true anomaly as the independent variable is presented. Three classes of steady configurations are determined by Routh's method in the case of a circular orbit, and the conditions for their stability are investigated.     

On an integrable case of perturbed keplerian motion

A general solution of a differential vector equation of perturbed Keplerian motion is derived for the case when the position vector and perturbing acceleration vector are collinear. A variable change is employed, in which the new independent variable is expressed in terms of the initial values of the phase variables and time, using the elliptical Jacobi function. The two-point boundary value problem for the initial equation is reduced to the Cauchy problem, A parametric representation is obtained for the regularized trajectory of motion of a material point under the action of a central force.     

On the Stability of a Class of Permanent Rotations of a Heavy Asymmetric Gyrostat

We consider the motion of an asymmetric gyrostat under the attraction of a uniform Newtonian field. It is supposed that the center of mass lies along one of the principal axes of inertia, while a rotor spins around a different axis of inertia. For this problem, we obtain the possible permanent rotations, that is, the equilibria of the system. The Lyapunov stability of these permanent rotations is analyzed by means of the Energy–Casimir method and necessary and sufficient conditions are derived, proving that there exist permanent stable rotations when the gyrostat is oriented in any direction of the space. The geometry of the gyrostat and the value of the gyrostatic momentum are relevant in order to get stable permanent rotations. Moreover, it seems that the necessary conditions are also sufficient, but this fact can only be proved partially.     

Active vibration control of unbalanced flexible rotor–shaft systems parametrically excited due to base motion

Rotor vibrations caused by large time-varying base motion are of considerable importance as there are a good number of rotors, e.g., the ship and aircraft turbine rotors, which are often subject to excitations, as the rotor base, i.e. the vehicle, undergoes large time varying linear and angular displacements as a result of different maneuvers. Due to such motions of the base, the equations of vibratory motion of a flexible rotor–shaft relative to the base (which forms a non-inertial reference frame) contains terms due to Coriolis effect as well as inertial excitations (generally asynchronous to rotor spin) generated by different system parameters. Such equations of motion are linear but time-varying in nature, invoking the possibility of parametric instability under certain frequency–amplitude combinations of the base motion. An investigation of active vibration control of an unbalanced rotor–shaft system on moving bases is attempted in this work with electromagnetic control force provided by an actuator consisting of four electromagnetic exciters, placed on the stator in a suitable plane around the rotor–shaft. The actuator does not levitate the rotor or facilitate any bearing action, which is provided by the conventional suspension system. The equations of motion of the rotor–shaft continuum are first written with respect to the non-inertial reference frame (the moving base in this case) including the effect of rotor internal damping. A conventional model for the electromagnetic exciter is used. Numerical simulations performed on the flexible rotor–shaft modelled using beam finite elements shows that the control action is successful in avoiding the parametric instability, postponing the instability due to internal material damping and reducing the rotor response relative to the rigid base significantly, with sufficiently low demand of control current in comparison with the bias current in the actuator coils.