Lagrange equations of nonholonomic systems with fractional derivatives

This paper obtains Lagrange equations of nonholonomic systems with fractional derivatives. First, the exchanging relationships between the isochronous variation and the fractional derivatives are derived. Secondly, based on these exchanging relationships, the Hamilton＇s principle is presented for non-conservative systems with fractional derivatives. Thirdly, Lagrange equations of the systems are obtained. Furthermore, the d＇Alembert-Lagrange principle with fractional derivatives is presented, and the Lagrange equations of nonholonomic systems with fractional derivatives are studied. An example is designed to illustrate these results.

Conformal invariance and conserved quantity of third-order Lagrange equations for non-conserved mechanical systems

This paper studies conformal invariance and conserved quantity of third-order Lagrange equations for non- conserved mechanical systems. Third-order Lagrange equations, the definition and a determining equation of conformal invariance of the system are presented. The conformal factor expression is deduced from conformal invariance and Lie symmetry. The necessary and sufficient condition that conformal invaxiance of the system would have Lie symmetry under single-parameter infinitesimal transformations is obtained. The corresponding conserved quantity of conformal invariance is derived with the aid of a structure equation. Lastly, an example is given to illustrate the application of the results.

LAGRANGE EQUATION OF ANOTHER CLASS OF NONHOLONOMIC SYSTEMS

Using the method of [1], the present paper derives the Lagrange equation without multipliers for another class of first-order nonholonomic dynamical systems by means of variational principle. This kind of equations is also new.

Lagrange-Noether method for solving second-order differential equations

The purpose of this paper is to provide a new method called the Lagrange-Noether method for solving second-order differential equations. The method is, firstly, to write the second-order differential equations completely or partially in the form of Lagrange equations, and secondly, to obtain the integrals of the equations by using the Noether theory of the Lagrange system. An example is given to illustrate the application of the result.

Noether conserved quantities and Lie point symmetries of difference Lagrange-Maxwell equations and lattices

This paper presents a method to find Noether-type conserved quantities and Lie point symmetries for discrete mechanico-electrical dynamical systems,which leave invuriant the set of solutions of the corresponding difference scheme. This approach makes it possible to devise techniques for solving the Lagrange Maxwell equations in differences which correspond to mechanico-electrical systems,by adapting existing differential equations.In particular,it obtains a new systematic method to determine both the one-parameter Lie groups and the discrete Noether conserved quantities of Lie point symmetries for mechanico-electrical systems.As an application,it obtains the Lie point symmetries and the conserved quantities for the difference equation of a model that represents a capacitor microphone.

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.

Fractional differential equations of motion in terms of combined Riemann-Liouville derivatives

In this paper, we focus on studying the fractional variational principle and the differential equations of motion for a fractional mechanical system. A combined Riemann-Liouville fractional derivative operator is defined, and a fractional Hamilton principle under this definition is established. The fractional Lagrange equations and the fractional Hamilton canonical equations are derived from the fractional Hamilton principle. A number of special cases are given, showing the universality of our conclusions. At the end of the paper, an example is given to illustrate the application of the results.

On Quasi-Einstein Field Equation

In this paper some properties of a symmetric tensor field T（X,Y） = g（A（X）, Y） on a Riemannian manifold （M, g） without boundary which satisfies the S quasi-Einstein equation Rij-S/2gij=Tij＋bξiξj are given. The necessary and sufficient conditions for this tensor to satisfy the quasi-Einstein equation are also obtained.

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.

A field method for integrating the equations of motion of mechanico-electrical coupling dynamical systems

A field method for integrating the equations of motion for mechanico-electrical coupling dynamical systems is studied. Two examples in mechanico-electrical engineering are given to illustrate this method.

Dynamic Modeling of a Roller Chain Drive System Considering the Flexibility of Input Shaft

Roller chain drives are widely used in various high-speed, high-load and power transmission applications, but their complex dynamic behavior is not well researched. Most studies were only focused on the analysis of the vibration of chain tight span, and in these models, many factors are neglected. In this paper, a mathematical model is developed to calculate the dynamic response of a roller chain drive working at constant or variable speed condition. In the model, the complete chain transmission with two sprockets and the necessary tight and slack spans is used. The effect of the flexibility of input shaft on dynamic response of the chain system is taken into account, as well as the elastic deformation in the chain, the inertial forces, the gravity and the torque on driven shaft. The nonlinear equations of movement are derived from using Lagrange equations and solved numerically. Given the center distance and the two initial position angles of teeth on driving and driven sprockets corresponding to the first seating roller on each side of the tight span, dynamics of any roller chain drive with two sprockets and two spans can be analyzed by the procedure. Finally, a numerical example is given and the validity of the procedure developed is demonstrated by analyzing the dynamic behavior of a typical roller chain drive. The model can well simulate the transverse and longitudinal vibration of the chain spans and the torsional vibration of the sprockets. This study can provide an effective method for the analysis of the dynamic characteristics of all the chain drive systems.

Discovering exact,gauge-invariant,local energy–momentum conservation laws for the electromagnetic gyrokinetic system by high-order field theory on heterogeneous manifolds

Gyrokinetic theory is arguably the most important tool for numerical studies of transport physics in magnetized plasmas.However,exact local energy–momentum conservation laws for the electromagnetic gyrokinetic system have not been found despite continuous effort.Without such local conservation laws,energy and momentum can be instantaneously transported across spacetime,which is unphysical and casts doubt on the validity of numerical simulations based on the gyrokinetic theory.The standard Noether procedure for deriving conservation laws from corresponding symmetries does not apply to gyrokinetic systems because the gyrocenters and electromagnetic field reside on different manifolds.To overcome this difficulty,we develop a high-order field theory on heterogeneous manifolds for classical particle-field systems and apply it to derive exact,local conservation laws,in particular the energy–momentum conservation laws,for the electromagnetic gyrokinetic system.A weak Euler–Lagrange(EL)equation is established to replace the standard EL equation for the particles.It is discovered that an induced weak EL current enters the local conservation laws,and it is the new physics captured by the high-order field theory on heterogeneous manifolds.A recently developed gauge-symmetrization method for high-order electromagnetic field theories using the electromagnetic displacement-potential tensor is applied to render the derived energy–momentum conservation laws electromagnetic gauge-invariant.

Kinematic and Dynamic Characteristics Analysis of Bennett's Linkage

Bennett's linkage is a spatial fourlink linkage,and has an extensive application prospect in the deployable linkages.Its kinematic and dynamic characteristics analysis has a great significance in its synthesis and application. According to the geometrical conditions of Bennett 's linkage,the motion equations are established,and the expressions of angular displacement,angular velocity and angular acceleration of the followers and the displacement,velocity and acceleration of mass center of link are shown. Based on Lagrange's equation,the multi-rigid-body dynamic model of Bennett's linkage is established. In order to solve the reaction forces and moments of joint,screw theory and reciprocal screw method are combined to establish the computing method.The number of equations and unknown reaction forces and moments of joint are equal through adding link deformation equations. The influence of the included angle of adjacent axes on Bennett 's linkage 's kinematic characteristics,the dynamic characteristics and the reaction forces and moments of joint are analyzed.Results show that the included angle of adjacent axes has a great effect on velocity,acceleration,the reaction forces and moments of Bennett's linkage. The change of reaction forces and moments of joint are apparent near the singularity configuration.

Approximate analytical solutions and experimental analysis for transient response of constrained damping cantilever beam

Vibration mode of the constrained damping cantilever is built up according to the mode superposition of the elastic cantilever beam. The control equation of the constrained damping cantilever beam is then derived using Lagrange＇s equation. Dynamic response of the constrained damping cantilever beam is obtained according to the principle of virtual work, when the concentrated force is suddenly unloaded. Frequencies and transient response of a series of constrained damping cantilever beams are calculated and tested. Influence of parameters of the damping layer on the response time is analyzed. Analyitcal and experimental approaches are used for verification. The results show that the method is reliable.

Dynamics of vehicles with high gravity centre

The vehicles with high gravity centre are more prone to roll over. The paper deals with a method of dynamics analysis of fire engines which is an example of these types of vehicle. Algorithms for generating the equations of motion have been formulated by homogenous transformations and Lagrange＇s equation. The model presented in this article consists of a system of rigid bodies connected one with another forming an open kinematic chain. Road maneuvers such as a lane change and negotiating a circular track have been presented as the main simulations when a car loses its stability. The method has been verified by comparing numerical results with results obtained by experimental measurements performed during road tests.

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.

Two Bioinspired Mobile Manipulators with Rolling Locomotion

This paper deals with two novel structures for mobile robots. The original inspiration of the robots comes from a sala- mander and a specific kind of spiders. Our robots have some especial moving capabilities causing to increase the robot ma- neuverability. Indeed, the capability of rolling motion is added to ordinary quadruped robots. This capability causes increment in maneuvering of the robots. Manipulators can be embedded into the robots to add the ability of transferring materials into the shell and conducting some tasks such as repairing. In this paper, after analysis of motion principles of the rolling robots, their dynanlic equations are derived. Different simulations of two bioinspired mobile robots are presented in order to scrutinize various capabilities of the proposed designs. Walking capabilities of the robots and their advantages are discussed in detail. The comprehensive simulation results of the robots in various motion modes are presented. Finally the first prototype is introduced to verify the motion mechanisms.

The fractional features of a harmonic oscillator with position-dependent mass

In this study,a harmonic oscillator with position-dependent mass is investigated.Firstly,as an introduction,we give a full description of the system by constructing its classical Lagrangian;thereupon,we derive the related classical equations of motion such as the classical Euler–Lagrange equations.Secondly,we fractionalize the classical Lagrangian of the system,and then we obtain the corresponding fractional Euler–Lagrange equations(FELEs).As a final step,we give the numerical simulations corresponding to the FELEs within different fractional operators.Numerical results based on the Caputo and the Atangana-Baleanu-Caputo(ABC)fractional derivatives are given to verify the theoretical analysis.

Modeling and analysis of landing collision dynamics for a shipborne helicopter

A Lagrange dynamic model is established based on small-angle approximation to improve the simulation model for shipborne helicopter landing collision.To describe fuselage motion effectively,the proposed model considers ship motion,the interaction of the tires with the deck,and tire slippage.A mechanism of sliding motion is built,and a real-time reliability analysis of the algorithm is implemented to validate the proposed model.Numerical simulations are also conducted under different operation conditions.Results show that the proposed dynamic model can simulate the collision motion of helicopter landing in real time.Several suggestions for helicopter pilot landing are likewise provided.

Global modeling and simulation of vehicle to analyze the inertial parameters effects

This paper mainly studies the comparison of the global vehicle models and the effects of the inertial parameters due to the center of gravity(CG)positions when we consider that the vehicle has only one CG.This paper proposes a new nonlinear model vehicle model which considers both unsprung mass and sprung mass CG.The CG positions and inertial parameters effects are analyzed in terms of the published vehicle dynamics models.To this end,two 14 degree-of-freedom(DOF)vehicle models are developed and compared to investigate the vehicle dynamics responses due to the different CG height and inertial parameters concepts.The proposed models describe simultaneously the vehicle motion in longitudinal,lateral and vertical directions as well as roll,pitch and yaw of the vehicle about corresponding axis.The passive and active moments and the forces acting on the vehicle are also described and they are considered as a direct consequence of acceleration,braking and steering maneuvers.The proposed model M1 takes both the CG of sprung mass,unsprung mass and total vehicle mass into account.The second model M2 assumes that the vehicle is one solid body which has a single CG as reported in majority of literature.The two vehicle models are compared and analyzed to evaluate vehicle ride and handling dynamic responses under braking/acceleration and cornering maneuvers.Simulation results show that the proposed model M1 could offer analytically some abilities and driving performances,as well as improved roll and pitch in a very flexible manner compared to the second model M2.