On Form Invariance,Lie Symmetry and Three Kinds of Conserved Quantities of Generalized Lagrange's Equations

In this paper,the form invariance and the Lie symmetry of Lagrange's equations for nonconservativesystem in generalized classical mechanics under the infinitesimal transformations of group are studied,and the Noether'sconserved quantity,the new form conserved quantity,and the Hojman's conserved quantity of system are derived fromthem.Finally,an example is given to illustrate the application of the result.

Numerical Solution of Constrained Mechanical System Motions Equations and Inverse Problems of Dynamics

In this paper the method of design of kinematical and dynamical equations of mechanical systems, applied to numerical ealization, is proposed. The corresponding difference equations, which are obtained, give a guarantee of computations with a given precision. The equations of programmed constraints and those of constraint perturbations are defined. The stability of the programmed manifold for numerical solutions of the kinematical and dynamical equations is obtained by corresponding construction of the constraint perturbation equations. The dynamical equations of system with programmed constraints are set up in the form of Lagrange’s equations in generalized coordinates. Certain inverse problems of rigid body dynamics are examined.

Comparison of Numerical Approximations of One-Dimensional Space Fractional Diffusion Equation Using Different Types of Collocation Points in Spectral Method Based on Lagrange’s Basis Polynomials

Recently many research works have been conducted and published regarding fractional order differential equations. There are several approaches available for numerical approximations of the solution of fractional order diffusion equations. Spectral collocation method based on Lagrange’s basis polynomials to approximate numerical solutions of one-dimensional (1D) space fractional diffusion equations are introduced in this research paper. The proposed form of approximate solution satisfies non-zero Dirichlet’s boundary conditions on both boundaries. Collocation scheme produce a system of first order Ordinary Differential Equations (ODE) from the fractional diffusion equation. We applied this method with four different sets of collocation points to compare their performance.

KANE’S EQUATIONS FOR PERCUSSION MOTION OF VARIABLE MASS NONHOLONOMIC MECHANICAL SYSTEMS

In this paper,the Kane’s equations for the Routh’s form of variable massnonholonomic systems are established.and the Kane’s equations for percussion motionof variable mass holonomic and nonholonomic systems are deduced from them. Secondly,the equivalence to Lagrange’s equations for percussion motion and Kane’sequations is obtained,and the application of the new equation is illustrated by anexample.

Lagrange’s Spectral Collocation Method for Numerical Approximations of Two-Dimensional Space Fractional Diffusion Equation

Due to the ability to model various complex phenomena where classical calculus failed, fractional calculus is getting enormous attention recently. There are several approaches available for numerical approximations of various types of fractional differential equations. For fractional diffusion equations spectral collocation is one of the efficient and most popular ap-proximation techniques. In this research, we introduce spectral collocation method based on Lagrange’s basis polynomials for numerical approximations of two-dimensional (2D) space fractional diffusion equations where spatial fractional derivative is described in Riemann-Liouville sense. We consider four different types of nodes to generate Lagrange’s basis polynomials and as collocation points in the proposed spectral collocation technique. Spectral collocation method converts the diffusion equation into a system of ordinary differential equations (ODE) for time variable and we use 4th order Runge-Kutta method to solve the resulting system of ODE. Two examples are considered to verify the efficiency of different types of nodes in the proposed method. We compare approximated solution with exact solution and find that Lagrange’s spectral collocation method gives very high accuracy approximation. Among the four types of nodes, nodes from Jacobi polynomial give highest accuracy and nodes from Chebyshev polynomials of 1st kind give lowest accuracy in the proposed method.

Higher-order differential variational principle and differential equations of motion for mechanical systems in event space

In this paper we study the higher-order differential variational principle and differential equations of motion for mechanical systems in event space. Based on the higher-order d＇Alembert principle of the system, the higher-order velocity energy and the higher-order acceleration energy of the system in event space are defined, the higher-order d＇Alembert- Lagrange principle of the system in event space is established, and the parametric forms of Euler-Lagrange, Nielsen and Appell for this principle are given. Finally, the higher-order differential equations of motion for holonomic systems in event space are obtained.

Moser扭转定理在Lagrange稳定性中的应用(英文)

本文利用Moser扭转定理证明了一类Duffing方程x’’+g(x)=e(t)的Lagrange稳定性,其中e(t)以1为周期,g:R→R具有下列性质:当x≥do时,g(x)是超线性的;当x≤-do时,g(x)是次线性的,其中do是一正常数.

Lie symmetry and Hojman conserved quantity of a Nielsen equation in a dynamical system of relative motion with Chetaev-type nonholonomic constraint

The Lie symmetry and Hojman conserved quantity of Nielsen equations in a dynamical system of relative motion with nonholonomic constraint of the Chetaev type are studied. The differential equations of motion of the Nielsen equation for the system, the definition and the criterion of Lie symmetry, and the expression of the Hojman conserved quantity deduced directly from the Lie symmetry for the system are obtained. An example is given to illustrate the application of the results.

Equation of Motion of a Mass Point in Gravitational Field and Classical Tests of Gauge Theory of Gravity

A systematic method is developed to studY the classical motion of a mass point in gravitational gauge field. First, by using Mathematica, a spherical symmetric solution of the field equation of gravitational gauge field is obtained, which is just the traditional Schwarzschild solution. Combining the principle of gauge covariance and Newton＇s second law of motion, the equation of motion of a mass point in gravitational field is deduced. Based on the spherical symmetric solution of the field equation and the equation of motion of a mass point in gravitational field, we can discuss classical tests of gauge theory of gravity, including the deflection of light by the sun, the precession of the perihelia of the orbits of the inner planets and the time delay of radar echoes passing the sun. It is found that the theoretical predictions of these classical tests given by gauge theory of gravity are completely the same as those given by general relativity.

基于Lagrange运动方程的悬臂梁的固有频率分析

将悬臂梁的自由振动挠度函数假设为各阶振型函数与关于时间的广义坐标乘积的线性组合,推导得到了系统动能与弯曲变形能的级数形式的表达式。运用Lagrange运动方程得到了悬臂梁的前4阶固有频率方程及其解。并将计算结果与解析解进行了对比,分析了高阶固有频率误差值逐步增加的原因,提出了改进方法。研究表明,只要能够选取合适的振型函数,该方法对于不同边界条件的梁(柱)结构具有广泛的适应性,有着明显的理论意义和工程意义。

非保守系统Lagrange方程的循环积分形式及其应用

给出了非保守系统Ｌａｇｒａｎｇｅ方程的循环积分形式，同时指出其代表了广义冲量定理，并给出了广义冲量的计算方法，从而为Ｌａｇｒａｎｇｅ方程提供了新的应用途径．

一类非对称Duffing方程的Lagrange稳定性

证明了一类Duffing方程x¨+g(x)=e(t)的Lagrange稳定性,其中e(t)以1为周期g:R→R具有下列性质:当x≥d0时,g(x)是次线性的,d0是一正常数;当x≤0时,g(x)是线性的.

MOTION VELOCITY SMOOTH LINK IN HIGH SPEED MACHINING

To deal with over-shooting and gouging in high speed machining, a novel approach for velocity smooth link is proposed. Considering discrete tool path, cubic spline curve fitting is used to find dangerous points, and according to spatial geometric properties of tool path and the kinematics theory, maximum optimal velocities at dangerous points are obtained. Based on method of velocity control characteristics stored in control system, a fast algorithm for velocity smooth link is analyzed and formulated. On-line implementation results show that the proposed approach makes velocity changing more smoothly compared with traditional velocity control methods and improves productivity greatly.

Brownian Motion of Decaying Particles: Transition Probability, Computer Simulation, and First-Passage Times

Recent developments in the measurement of radioactive gases in passive diffusion motivate the analysis of Brownian motion of decaying particles, a subject that has received little previous attention. This paper reports the derivation and solution of equations comparable to the Fokker-Planck and Langevin equations for one-dimensional diffusion and decay of unstable particles. In marked contrast to the case of stable particles, the two equations are not equivalent, but provide different information regarding the same stochastic process. The differences arise because Brownian motion with particle decay is not a continuous process. The discontinuity is readily apparent in the computer-simulated trajectories of the Langevin equation that incorporate both a Wiener process for displacement fluctuations and a Bernoulli process for random decay. This paper also reports the derivation of the mean time of first passage of the decaying particle to absorbing boundaries. Here, too, particle decay can lead to an outcome markedly different from that for stable particles. In particular, the first-passage time of the decaying particle is always finite, whereas the time for a stable particle to reach a single absorbing boundary is theoretically infinite due to the heavy tail of the inverse Gaussian density. The methodology developed in this paper should prove useful in the investigation of radioactive gases, aerosols of radioactive atoms, dust particles to which adhere radioactive ions, as well as diffusing gases and liquids of unstable molecules.

The Vibrational Motion of a Dynamical System Using Homotopy Perturbation Technique

This paper outlines the vibrational motion of a nonlinear system with a spring of linear stiffness. Homotopy perturbation technique (HPT) is used to obtain the asymptotic solution of the governing equation of motion. The numerical solution of this equation is obtained using the fourth order Runge-Kutta method (RKM). The comparison between both solutions reveals high consistency between them which confirms that, the accuracy of the obtained solution using aforementioned perturbation technique. The time history of the attained solution is represented through some plots to reveal the good effect of the different parameters of the considered system on the motion at any instant. The conditions of the stability of the attained solution are presented and discussed.

Bernoulli’s Equation with Acceleration

For steady frictionless flow along a straight line, when a constant acceleration is applied parallel to that line, a term needs to be added to the standard form of Bernoulli’s equation. After so modifying, the equation then predicts that along a streamline, when the speed is high, the pressure is significantly lower than that if there were no acceleration. For example, one might think of a dense fluid falling down through a less dense fluid under gravity. Potential applications to vertical motions of the atmosphere, such as down bursts of cold dry air and warm humid updrafts in the eye of a hurricane, are mentioned.

A New Understanding on the Problem That the Quintic Equation Has No Radical Solutions

It is proved in this paper that Abel’s and Galois’s proofs that the quintic equations have no radical solutions are invalid. Due to Abel’s and Galois’s work about two hundred years ago, it was generally accepted that general quintic equations had no radical solutions. However, Tang Jianer et al. recently prove that there are radical solutions for some quintic equations with special forms. The theories of Abel and Galois cannot explain these results. On the other hand, Gauss et al. proved the fundamental theorem of algebra. The theorem declared that there were n solutions for the n degree equations, including the radical and non-radical solutions. The theories of Abel and Galois contradicted with the fundamental theorem of algebra. Due to the reasons above, the proofs of Abel and Galois should be re-examined and re-evaluated. The author carefully analyzed the Abel’s original paper and found some serious mistakes. In order to prove that the general solution of algebraic equation he proposed was effective for the cubic equation, Abel took the known solutions of cubic equation as a premise to calculate the parameters of his equation. Therefore, Abel’s proof is a logical circular argument and invalid. Besides, Abel confused the variables with the coefficients (constants) of algebraic equations. An expansion with 14 terms was written as 7 terms, 7 terms were missing. We prefer to consider Galois’s theory as a hypothesis rather than a proof. Based on that permutation group S5 had no true normal subgroup, Galois concluded that the quintic equations had no radical solutions, but these two problems had no inevitable logic connection actually. In order to prove the effectiveness of radical extension group of automorphism mapping for the cubic and quartic equations, in the Galois’s theory, some algebraic relations among the roots of equations were used to replace the root itself. This violated the original definition of automorphism mapping group, led to the confusion of concepts and arbitrariness. For the general cubic and quartic algebraic equations, the actual solving processes do not satisfy the tower structure of Galois’s solvable group. The resolvents of cubic and quartic equations are proved to have no symmetries of Galois’s soluble group actually. It is invalid to use the solvable group theory to judge whether the high degree equation has a radical solution. The conclusion of this paper is that there is only the Sn symmetry for the n degree algebraic equations. The symmetry of Galois’s solvable group does not exist. Mathematicians should get rid of the constraints of Abel and Galois’s theories, keep looking for the radical solutions of high degree equations.

A Solution of Kepler’s Equation

The present study deals with a traditional physical problem: the solution of the Kepler’s equation for all conics (ellipse, hyperbola or parabola). Solution of the universal Kepler’s equation in closed form is obtained with the help of the two-dimensional Laplace technique, expressing the universal functions as a function of the universal anomaly and the time. Combining these new expressions of the universal functions and their identities, we establish one biquadratic equation for universal anomaly (χ) for all conics;solving this new equation, we have a new exact solution of the present problem for the universal anomaly as a function of the time. The verifying of the universal Kepler’s equation and the traditional forms of Kepler’s equation from this new solution are discussed. The plots of the elliptic, hyperbolic or parabolic Keplerian orbits are also given, using this new solution.

基于ADAMS的飞机表面清洗臂动力学仿真与分析（英文）

针对五自由度的飞机表面清洗机械臂,利用Lagrange方程建立了清洗臂的动力学模型,采用Solidworks建立了该清洗臂的实体模型,将其导入到动力学分析软件Adams中生成了虚拟样机,并进行了动力学仿真与分析,由此得出各关节转角和关节力矩的关系曲线,确定了关节所需的输入力矩。这为机械臂的控制、关节驱动形式的确定提供了可靠依据。

新型6-(P-2P-S)并联机器人逆动力学仿真分析

针对一种新型6-(P-2P-S)并联机器人,介绍了该并联机器人初始正交位姿部分运动解耦的结构特点,推导出广义速度和系统内各刚体运动速度的运动学传递关系。应用拉格朗日方法分别对运动平台、连杆和驱动杆进行动力学计算,建立了该并联机器人的动力学模型。该并联机器人动力学模型是一个多变量、变参数的非线性系统,完整编写了该动力学模型的仿真程序,进行了逆动力学仿真实例分析,研究了驱动力变化规律,验证了该机构部分运动解耦的结构特点,进而为该并联机器人的控制策略研究提供参考。