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非完整系统的约束Herglotz方程的梯度化及其解的稳定性

THE GRADIENTIZATION OF CONSTRAINED HERGLOTZ EQUATIONS AND THE STABILITY OF THEIR SOLUTIONS FOR NONHOLONOMIC SYSTEMS

  • 摘要: Herglotz广义变分原理是经典Hamilton原理对非保守系统的一个推广, 通过微分方程定义作用量泛函而建立非保守过程的变分描述. 约束Herglotz方程是由Herglotz原理结合虚位移的Appell-Cheatev条件导出的受非完整约束的一类非保守系统的动力学方程, 为研究非保守问题提供了一个新的视角. 梯度系统是一个微分方程系统, 有许多好的性质, 适合用李雅普诺夫函数来研究. 力学系统若能化为梯度系统, 则可利用后者来研究其动力学行为. 文章提出非完整系统的约束Herglotz方程的梯度化问题, 进而研究其解的稳定性. 首先, 给出非完整系统的约束Herglotz方程并将其表示为逆变代数形式. 其次, 介绍4类基本梯度系统并列出其方程. 第3, 研究约束Herglotz方程的梯度化, 建立了约束Herglotz方程化为4类基本梯度系统的充分条件. 显然, 若条件不满足, 尚不能判定方程不是梯度系统. 第4, 研究约束Herglotz方程的解及其稳定性. 最后, 给出非保守非完整系统的4个算例, 将它们分别化为4类基本梯度系统, 研究其解的稳定性, 算例表明所述方法和结果的有效性. 文章提供了非保守系统受非完整约束时其稳定性判别的一个方法.

     

    Abstract: Herglotz's generalized variational principle is a generalization of Hamilton's principle for nonconservative systems. It establishes variational descriptions of nonconservative processes by defining functional functions of differential equations. Constrained Herglotz equations are a kind of dynamic equations of nonconservative systems with nonholonomic constraints derived from Herglotz principle combined with Appell-Cheatev conditions on virtual displacements, which provides a new perspective for the study of nonconservative problems. Gradient system is a system of differential equations, which has many good properties and is suitable to be studied by Lyapunov function. If a mechanical system can be reduced to a gradient system, the latter can be used to study its dynamic behavior. In this paper, the gradientization of constrained Herglotz equations is proposed, and the stability of their solutions is studied. Firstly, the constrained Herglotz equations for nonholonomic systems are given and expressed in contravariant algebraic form. Secondly, four kinds of basic gradient systems are introduced and their equations are set out. Thirdly, the gradientization of constrained Herglotz equations is studied, and the sufficient conditions to change constrained Herglotz equations into four kinds of basic gradient systems are established. Obviously, if the conditions are not satisfied, it cannot be determined that the equation is not a gradient system. Fourth, the stability of the solutions of constrained Herglotz equation are studied. Finally, four examples of nonconservative nonholonomic systems are given, which are reduced to four types of basic gradient systems, and the stability of their solutions is studied. The examples show the effectiveness of the method and the results. This paper provides a method to determine the stability of a class of nonconservative systems subject to nonholonomic constraints.

     

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