Conformal invariance and Hojman conserved quantities for holonomic systems with quasi-coordinates

We propose a new concept of the conformal invariance and the conserved quantities for holonomic systems with quasi-coordinates. A one-parameter infinitesimal transformation group and its infinitesimal transformation vector of generators for holonomic systems with quasi-coordinates are described in detail. The conformal factor in the determining equations of the Lie symmetry is found. The necessary and sufficient conditions of conformal invariance, which are simultaneously of Lie symmetry, are given. The conformal invariance may lead to corresponding Hojman conserved quantities when the conformal invariance satisfies some conditions. Finally, an illustration example is introduced to demonstrate the application of the result.

THE FUNDAMENTAL EQUATIONS OF DYNAMICS USINGREPRESENTATION OF QUASI-COORDINATES IN THE SPACEOF NON-LINEAR NON-HOLONOMIC CONSTRAINTS

The dot product of the bases vectors on the super-surface of the non-linear nonholonomic constraints with one order, expressed by quasi-coorfinates, and Mishirskiiequalions are regarded as the fundamental equations of dynamics with non-linear andnon-holononlic constraints in one order for the system of the variable mass. From thesethe variant ddferential-equations of dynamics expressed by quasi-coordinates arederived. The fundamental equations of dynamics are compatible with the principle ofJourdain. A case is cited.

Symmetry of Lagrangians of holonomic systems in terms of quasi-coordinates

This paper discusses the symmetry of Lagrangians of holonomic systems in terms of quasi-coordinates. Firstly, the definition and the criterion of the symmetry are given. Secondly, the condition under which there exists a conserved quantity and the form of the conserved quantity are obtained. Finally, an example is shown to illustrate the application of the results.

A New type of conserved quantity deduced from Mei symmetry of nonholonomic systems in terms of quasi-coordinates

This paper studies the new type of conserved quantity which is directly induced by Mei symmetry of nonholonomic systems in terms of quasi-coordinates. A coordination function is introduced, and the conditions for the existence of the new conserved quantities as well as their forms are proposed. Some special cases are given to illustrate the generalized significance of the new type conserved quantity. Finally, an illustrated example is given to show the application of the nonholonomic system＇s results.

Coupling dynamic analysis of spacecraft with multiple cylindrical tanks and flexible appendages

This paper is mainly concerned with the coupling dynamic analysis of a complex spacecraft consisting of one main rigid platform, multiple liquid-filled cylindrical tanks, and a number of flexible appendages. Firstly, the carrier potential function equations of liquid in the tanks are deduced according to the wall boundary conditions. Through employ- ing the Fourier-Bessel series expansion method, the dynamic boundaries conditions on a curved free-surface under a low-gravity environment are transformed to general simple differential equations and the rigid-liquid coupled sloshing dynamic state equations of liquid in tanks are obtained. The state vectors of rigid-liquid coupled equations are composed with the modal coordinates of the relative potential func- tion and the modal coordinates of wave height. Based on the B ernoulli-Euler beam theory and the D＇Alembert＇s prin- ciple, the rigid-flexible coupled dynamic state equations of flexible appendages are directly derived, and the coordi- nate transform matrixes of maneuvering flexible appendages are precisely computed as time-varying. Then, the cou- pling dynamics state equations of the overall system of the spacecraft are modularly built by means of the Lagrange＇s equations in terms of quasi-coordinates. Lastly, the cou-piing dynamic performances of a typical complex spacecraft are studied. The availability and reliability of the presented method are also confirmed.

Optimization method for dynamics of non-holonomic system based on Gauss’ principle

The real-time control of the non-holonomic wheel robot has put forward higher requirements for the accuracy and speed of dynamical simulation,so it is necessary to study the new dynamic modeling and calculation methods adapting to modern information processingtechnology.Different from the traditional method solving differential-algebraic equation,the objective is to establish optimization model and effective calculating scheme for dynamics of non-holonomic system based on basic dynamical principle.The optimization model cannot be obtained directly from the traditional Gauss'principle.By using Gauss'principle of variational form,this paper deduces the minimum principle in the form of generalized coordinates and quasi-coordinates,respectively,thus allowing dynamical problems of non-holonomic systems to be incorporated into the framework of solving constrained or unconstrained optimization problems.Furthermore,we study a numerical calculation scheme that uses an optimization algorithm for the second form of the above optimization models.As an example,the dynamical problem of a differential-driven wheeled mobile-robot system is discussed.The optimization dynamic model of a non-holonomic robot system and the calculation model of the optimization algorithm are established.Comparing theresults of the optimization calculation with the differential-algebraic equations commonly used in dynamical problem for non-holonomic system reveals that the method in this paper is superior in terms of calculation speed and can more effectively handle constraint violations without extra constraint revision needed.