【摘 要】
：
In nonholonomic Lagrangian or Hamiltonian mechanics, the constraint submanifold of system is not a symplectic manifold, the symplectic form constructed from the
【机 构】
：
CollegeofPhysics,Liaoninguniversity,Shenyang
【出 处】
：
The 4th International Conference on Dynamics, Vibration and
论文部分内容阅读
In nonholonomic Lagrangian or Hamiltonian mechanics, the constraint submanifold of system is not a symplectic manifold, the symplectic form constructed from the Lagrangian or Hamiltonian is no longer preserved as in the unconstrained case.Moreover, in the case of a nonholonomic system with symmetry, the momentum map is not conserved in general, due to the presence of the constraint force.So the geometric numerical integrator for nonholonomic systems is not symplectic-preserving algorithm.Based on Cauchy-Kowalevski theorem of integrability conditions for partial differential equation, we can reduce the equations of motion of nonholonomic systems to a first-order form, which satisfy the conditions of self-adjointness, such as the Helmholtz s conditions.
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