Multibody system dynamics provides a strong tool for the estimation of dynamic performances and the optimization of multisystem robot design. It can be described with differential algebraic equations(DAEs). In this pa...Multibody system dynamics provides a strong tool for the estimation of dynamic performances and the optimization of multisystem robot design. It can be described with differential algebraic equations(DAEs). In this paper, a particle swarm optimization(PSO) method is introduced to solve and control a symplectic multibody system for the first time. It is first combined with the symplectic method to solve problems in uncontrolled and controlled robotic arm systems. It is shown that the results conserve the energy and keep the constraints of the chaotic motion, which demonstrates the efficiency, accuracy, and time-saving ability of the method. To make the system move along the pre-planned path, which is a functional extremum problem, a double-PSO-based instantaneous optimal control is introduced. Examples are performed to test the effectiveness of the double-PSO-based instantaneous optimal control. The results show that the method has high accuracy, a fast convergence speed, and a wide range of applications.All the above verify the immense potential applications of the PSO method in multibody system dynamics.展开更多
In the previous papers I and II, we have studied the difference discrete variational principle and the Euler?Lagrange cohomology in the framework of multi-parameter differential approach. We have gotten the difference...In the previous papers I and II, we have studied the difference discrete variational principle and the Euler?Lagrange cohomology in the framework of multi-parameter differential approach. We have gotten the difference discrete Euler?Lagrange equations and canonical ones for the difference discrete versions of classical mechanics and field theory as well as the difference discrete versions for the Euler?Lagrange cohomology and applied them to get the necessary and sufficient condition for the symplectic or multisymplectic geometry preserving properties in both the Lagrangian and Hamiltonian formalisms. In this paper, we apply the difference discrete variational principle and Euler?Lagrange cohomological approach directly to the symplectic and multisymplectic algorithms. We will show that either Hamiltonian schemes or Lagrangian ones in both the symplectic and multisymplectic algorithms are variational integrators and their difference discrete symplectic structure-preserving properties can always be established not only in the solution space but also in the function space if and only if the related closed Euler?Lagrange cohomological conditions are satisfied.展开更多
A symplectic algorithm is used to solve optimal control problems. Linear and nonlinear examples aregiven. Numerical analyses show that the symplectic algorithm gives satisfactory performance in that it works inlarge s...A symplectic algorithm is used to solve optimal control problems. Linear and nonlinear examples aregiven. Numerical analyses show that the symplectic algorithm gives satisfactory performance in that it works inlarge step and is of high speed and accuracy. This indicates that the symplectic algorithm is more effective andreasonable in solving optimal control problems.展开更多
A pseudospectral method with symplectic algorithm for the solution of time-dependent Schrodinger equations （TDSE） is introduced. The spatial part of the wavefunction is discretized into sparse grid by pseudospectral...A pseudospectral method with symplectic algorithm for the solution of time-dependent Schrodinger equations （TDSE） is introduced. The spatial part of the wavefunction is discretized into sparse grid by pseudospectral method and the time evolution is given in symplectic scheme. This method allows us to obtain a highly accurate and stable solution of TDSE. The effectiveness and efficiency of this method is demonstrated by the high-order harmonic spectra of one-dimensional atom in strong laser field as compared with previously published work. The influence of the additional static electric field is also investigated.展开更多
The resolution of differential games often concerns the difficult problem of two points border value （TPBV）, then ascribe linear quadratic differential game to Hamilton system. To Hamilton system, the algorithm of s...The resolution of differential games often concerns the difficult problem of two points border value （TPBV）, then ascribe linear quadratic differential game to Hamilton system. To Hamilton system, the algorithm of symplectic geometry has the merits of being able to copy the dynamic structure of Hamilton system and keep the measure of phase plane. From the viewpoint of Hamilton system, the symplectic characters of linear quadratic differential game were probed; as a try, Symplectic-Runge-Kutta algorithm was presented for the resolution of infinite horizon linear quadratic differential game. An example of numerical calculation was given, and the result can illuminate the feasibility of this method. At the same time, it embodies the fine conservation characteristics of symplectic algorithm to system energy.展开更多
In this paper, we focus on the construction of structure preserving algorithms for Birkhoffian systems, based on existing symplectic schemes for the Hamiltonian equations. The key of the method is to seek an invertibl...In this paper, we focus on the construction of structure preserving algorithms for Birkhoffian systems, based on existing symplectic schemes for the Hamiltonian equations. The key of the method is to seek an invertible transformation which drives the Birkhoffian equations reduce to the Hamiltonian equations. When there exists such a transformation, applying the corresponding inverse map to symplectic discretization of the Hamiltonian equations, then resulting difference schemes are verified to be Birkhoftian symplectic for the original Birkhoffian equations. To illustrate the operation process of the method, we construct several desirable algorithms for the linear damped oscillator and the single pendulum with linear dissipation respectively. All of them exhibit excellent numerical behavior, especially in preserving conserved quantities.展开更多
We present the symplectic algorithm in the Lagrangian formalism for the Hamiltonian systems by virtue of the noncommutative differential calculus with respect to the discrete time and the Euler-Lagrange cohomological ...We present the symplectic algorithm in the Lagrangian formalism for the Hamiltonian systems by virtue of the noncommutative differential calculus with respect to the discrete time and the Euler-Lagrange cohomological concepts. We also show that the trapezoidal integrator is symplectic in certain sense.展开更多
Possessing advantages such as high computing efficiency and ease of programming,the Symplectic Euler algorithm can be applied to construct a groundpenetrating radar(GPR)wave propagation numerical model for complex geo...Possessing advantages such as high computing efficiency and ease of programming,the Symplectic Euler algorithm can be applied to construct a groundpenetrating radar(GPR)wave propagation numerical model for complex geoelectric structures.However,the Symplectic Euler algorithm is still a difference algorithm,and for a complicated boundary,ladder grids are needed to perform an approximation process,which results in a certain amount of error.Further,grids that are too dense will seriously decrease computing efficiency.This paper proposes a conformal Symplectic Euler algorithm based on the conformal grid technique,amends the electric/magnetic fieldupdating equations of the Symplectic Euler algorithm by introducing the effective dielectric constant and effective permeability coefficient,and reduces the computing error caused by the ladder approximation of rectangular grids.Moreover,three surface boundary models(the underground circular void model,the undulating stratum model,and actual measurement model)are introduced.By comparing reflection waveforms simulated by the traditional Symplectic Euler algorithm,the conformal Symplectic Euler algorithm and the conformal finite difference time domain(CFDTD),the conformal Symplectic Euler algorithm achieves almost the same level of accuracy as the CFDTD method,but the conformal Symplectic Euler algorithm improves the computational efficiency compared with the CFDTD method dramatically.When the dielectric constants of the two materials vary greatly,the conformal Symplectic Euler algorithm can reduce the pseudo-waves almost by 80% compared with the traditional Symplectic Euler algorithm on average.展开更多
Seismic wavefield modeling is important for improving seismic data processing and interpretation. Calculations of wavefield propagation are sometimes not stable when forward modeling of seismic wave uses large time st...Seismic wavefield modeling is important for improving seismic data processing and interpretation. Calculations of wavefield propagation are sometimes not stable when forward modeling of seismic wave uses large time steps for long times. Based on the Hamiltonian expression of the acoustic wave equation, we propose a structure-preserving method for seismic wavefield modeling by applying the symplectic finite-difference method on time grids and the Fourier finite-difference method on space grids to solve the acoustic wave equation. The proposed method is called the symplectic Fourier finite-difference （symplectic FFD） method, and offers high computational accuracy and improves the computational stability. Using acoustic approximation, we extend the method to anisotropic media. We discuss the calculations in the symplectic FFD method for seismic wavefield modeling of isotropic and anisotropic media, and use the BP salt model and BP TTI model to test the proposed method. The numerical examples suggest that the proposed method can be used in seismic modeling of strongly variable velocities, offering high computational accuracy and low numerical dispersion. The symplectic FFD method overcomes the residual qSV wave of seismic modeling in anisotropic media and maintains the stability of the wavefield propagation for large time steps.展开更多
By converting an optimal control problem for nonlinear systems to a Hamiltonian system,a symplecitc-preserving method is proposed.The state and costate variables are approximated by the Lagrange polynomial.The state v...By converting an optimal control problem for nonlinear systems to a Hamiltonian system,a symplecitc-preserving method is proposed.The state and costate variables are approximated by the Lagrange polynomial.The state variables at two ends of the time interval are taken as independent variables.Based on the dual variable principle,nonlinear optimal control problems are replaced with nonlinear equations.Furthermore,in the implementation of the symplectic algorithm,based on the 2N algorithm,a multilevel method is proposed.When the time grid is refined from low level to high level,the initial state and costate variables of the nonlinear equations can be obtained from the Lagrange interpolation at the low level grid to improve efficiency.Numerical simulations show the precision and the efficiency of the proposed algorithm in this paper.展开更多
Several important properties of a kind of random symplectic matrix used by A. Bunse-Gerstner and V. Mehrmann are studied and the following results are obtained: 1) It can be transformed to Jordan canonical form by ort...Several important properties of a kind of random symplectic matrix used by A. Bunse-Gerstner and V. Mehrmann are studied and the following results are obtained: 1) It can be transformed to Jordan canonical form by orthogonal similar transformation; 2) Its condition number is a constant; 3) The condition number of it is about 2.618.展开更多
Explicit structure-preserving geometric particle-in-cell(PIC)algorithm in curvilinear orthogonal coordinate systems is developed.The work reported represents a further development of the structure-preserving geometric...Explicit structure-preserving geometric particle-in-cell(PIC)algorithm in curvilinear orthogonal coordinate systems is developed.The work reported represents a further development of the structure-preserving geometric PIC algorithm achieving the goal of practical applications in magnetic fusion research.The algorithm is constructed by discretizing the field theory for the system of charged particles and electromagnetic field using Whitney forms,discrete exterior calculus,and explicit non-canonical symplectic integration.In addition to the truncated infinitely dimensional symplectic structure,the algorithm preserves exactly many important physical symmetries and conservation laws,such as local energy conservation,gauge symmetry and the corresponding local charge conservation.As a result,the algorithm possesses the long-term accuracy and fidelity required for first-principles-based simulations of the multiscale tokamak physics.The algorithm has been implemented in the Sym PIC code,which is designed for highefficiency massively-parallel PIC simulations in modern clusters.The code has been applied to carry out whole-device 6 D kinetic simulation studies of tokamak physics.A self-consistent kinetic steady state for fusion plasma in the tokamak geometry is numerically found with a predominately diagonal and anisotropic pressure tensor.The state also admits a steady-state subsonic ion flow in the range of 10 km s-1,agreeing with experimental observations and analytical calculations Kinetic ballooning instability in the self-consistent kinetic steady state is simulated.It is shown that high-n ballooning modes have larger growth rates than low-n global modes,and in the nonlinear phase the modes saturate approximately in 5 ion transit times at the 2%level by the E×B flow generated by the instability.These results are consistent with early and recent electromagnetic gyrokinetic simulations.展开更多
基金Project supported by the National Natural Science Foundation of China(Nos.91648101 and11672233)the Northwestern Polytechnical University(NPU)Foundation for Fundamental Research(No.3102017AX008)the National Training Program of Innovation and Entrepreneurship for Undergraduates(No.S201710699033)
文摘Multibody system dynamics provides a strong tool for the estimation of dynamic performances and the optimization of multisystem robot design. It can be described with differential algebraic equations(DAEs). In this paper, a particle swarm optimization(PSO) method is introduced to solve and control a symplectic multibody system for the first time. It is first combined with the symplectic method to solve problems in uncontrolled and controlled robotic arm systems. It is shown that the results conserve the energy and keep the constraints of the chaotic motion, which demonstrates the efficiency, accuracy, and time-saving ability of the method. To make the system move along the pre-planned path, which is a functional extremum problem, a double-PSO-based instantaneous optimal control is introduced. Examples are performed to test the effectiveness of the double-PSO-based instantaneous optimal control. The results show that the method has high accuracy, a fast convergence speed, and a wide range of applications.All the above verify the immense potential applications of the PSO method in multibody system dynamics.
文摘In the previous papers I and II, we have studied the difference discrete variational principle and the Euler?Lagrange cohomology in the framework of multi-parameter differential approach. We have gotten the difference discrete Euler?Lagrange equations and canonical ones for the difference discrete versions of classical mechanics and field theory as well as the difference discrete versions for the Euler?Lagrange cohomology and applied them to get the necessary and sufficient condition for the symplectic or multisymplectic geometry preserving properties in both the Lagrangian and Hamiltonian formalisms. In this paper, we apply the difference discrete variational principle and Euler?Lagrange cohomological approach directly to the symplectic and multisymplectic algorithms. We will show that either Hamiltonian schemes or Lagrangian ones in both the symplectic and multisymplectic algorithms are variational integrators and their difference discrete symplectic structure-preserving properties can always be established not only in the solution space but also in the function space if and only if the related closed Euler?Lagrange cohomological conditions are satisfied.
文摘A symplectic algorithm is used to solve optimal control problems. Linear and nonlinear examples aregiven. Numerical analyses show that the symplectic algorithm gives satisfactory performance in that it works inlarge step and is of high speed and accuracy. This indicates that the symplectic algorithm is more effective andreasonable in solving optimal control problems.
基金Project supported by the National Natural Science Foundation of China （Grant Nos 10374119 and 10674154）, and The 0ne- Hundred-Talents Project of Chinese Academy of Science.Acknowledgments We gratefully acknowledge Professor Ding P Z and Professor Liu X S for their hospitality and help in symplectic algorithm.
文摘A pseudospectral method with symplectic algorithm for the solution of time-dependent Schrodinger equations （TDSE） is introduced. The spatial part of the wavefunction is discretized into sparse grid by pseudospectral method and the time evolution is given in symplectic scheme. This method allows us to obtain a highly accurate and stable solution of TDSE. The effectiveness and efficiency of this method is demonstrated by the high-order harmonic spectra of one-dimensional atom in strong laser field as compared with previously published work. The influence of the additional static electric field is also investigated.
基金Project supported by the National Aeronautics Base Science Foundation of China (No.2000CB080601)the National Defence Key Pre-research Program of China during the 10th Five-Year Plan Period (No.2002BK080602)
文摘The resolution of differential games often concerns the difficult problem of two points border value （TPBV）, then ascribe linear quadratic differential game to Hamilton system. To Hamilton system, the algorithm of symplectic geometry has the merits of being able to copy the dynamic structure of Hamilton system and keep the measure of phase plane. From the viewpoint of Hamilton system, the symplectic characters of linear quadratic differential game were probed; as a try, Symplectic-Runge-Kutta algorithm was presented for the resolution of infinite horizon linear quadratic differential game. An example of numerical calculation was given, and the result can illuminate the feasibility of this method. At the same time, it embodies the fine conservation characteristics of symplectic algorithm to system energy.
基金supported by the National Natural Science Foundation of China(Grant No.11272050)the Excellent Young Teachers Program of North China University of Technology(Grant No.XN132)the Construction Plan for Innovative Research Team of North China University of Technology(Grant No.XN129)
文摘In this paper, we focus on the construction of structure preserving algorithms for Birkhoffian systems, based on existing symplectic schemes for the Hamiltonian equations. The key of the method is to seek an invertible transformation which drives the Birkhoffian equations reduce to the Hamiltonian equations. When there exists such a transformation, applying the corresponding inverse map to symplectic discretization of the Hamiltonian equations, then resulting difference schemes are verified to be Birkhoftian symplectic for the original Birkhoffian equations. To illustrate the operation process of the method, we construct several desirable algorithms for the linear damped oscillator and the single pendulum with linear dissipation respectively. All of them exhibit excellent numerical behavior, especially in preserving conserved quantities.
文摘We present the symplectic algorithm in the Lagrangian formalism for the Hamiltonian systems by virtue of the noncommutative differential calculus with respect to the discrete time and the Euler-Lagrange cohomological concepts. We also show that the trapezoidal integrator is symplectic in certain sense.
基金funded by the National Key Research and Development Program of China(No.2017YFC1501204)the National Natural Science Foundation of China(Nos.51678536,41404096)+2 种基金the Scientific and Technological Research Program of Henan Province(No.171100310100)Program for Innovative Research Team(in Science and Technology)in University of Henan Province(19HASTIT043)the Outstanding Young Talent Research Fund of Zhengzhou University(1621323001).
文摘Possessing advantages such as high computing efficiency and ease of programming,the Symplectic Euler algorithm can be applied to construct a groundpenetrating radar(GPR)wave propagation numerical model for complex geoelectric structures.However,the Symplectic Euler algorithm is still a difference algorithm,and for a complicated boundary,ladder grids are needed to perform an approximation process,which results in a certain amount of error.Further,grids that are too dense will seriously decrease computing efficiency.This paper proposes a conformal Symplectic Euler algorithm based on the conformal grid technique,amends the electric/magnetic fieldupdating equations of the Symplectic Euler algorithm by introducing the effective dielectric constant and effective permeability coefficient,and reduces the computing error caused by the ladder approximation of rectangular grids.Moreover,three surface boundary models(the underground circular void model,the undulating stratum model,and actual measurement model)are introduced.By comparing reflection waveforms simulated by the traditional Symplectic Euler algorithm,the conformal Symplectic Euler algorithm and the conformal finite difference time domain(CFDTD),the conformal Symplectic Euler algorithm achieves almost the same level of accuracy as the CFDTD method,but the conformal Symplectic Euler algorithm improves the computational efficiency compared with the CFDTD method dramatically.When the dielectric constants of the two materials vary greatly,the conformal Symplectic Euler algorithm can reduce the pseudo-waves almost by 80% compared with the traditional Symplectic Euler algorithm on average.
基金supported by National Natural Science Foundation of China(41504109,41404099)the Natural Science Foundation of Shandong Province(BS2015HZ008)the project of "Distinguished Professor of Jiangsu Province"
文摘Seismic wavefield modeling is important for improving seismic data processing and interpretation. Calculations of wavefield propagation are sometimes not stable when forward modeling of seismic wave uses large time steps for long times. Based on the Hamiltonian expression of the acoustic wave equation, we propose a structure-preserving method for seismic wavefield modeling by applying the symplectic finite-difference method on time grids and the Fourier finite-difference method on space grids to solve the acoustic wave equation. The proposed method is called the symplectic Fourier finite-difference （symplectic FFD） method, and offers high computational accuracy and improves the computational stability. Using acoustic approximation, we extend the method to anisotropic media. We discuss the calculations in the symplectic FFD method for seismic wavefield modeling of isotropic and anisotropic media, and use the BP salt model and BP TTI model to test the proposed method. The numerical examples suggest that the proposed method can be used in seismic modeling of strongly variable velocities, offering high computational accuracy and low numerical dispersion. The symplectic FFD method overcomes the residual qSV wave of seismic modeling in anisotropic media and maintains the stability of the wavefield propagation for large time steps.
基金supported by the National Natural Science Foundation of China(Nos.10632030,10902020,and 10721062)the Research Fund for the Doctoral Program of Higher Education of China(No.20070141067)+2 种基金the Doctoral Fund of Liaoning Province(No.20081091)the Key Laboratory Fund of Liaoning Province of China(No.2009S018)the Young Researcher Funds of Dalian University of Technology(No.SFDUT07002)
文摘By converting an optimal control problem for nonlinear systems to a Hamiltonian system,a symplecitc-preserving method is proposed.The state and costate variables are approximated by the Lagrange polynomial.The state variables at two ends of the time interval are taken as independent variables.Based on the dual variable principle,nonlinear optimal control problems are replaced with nonlinear equations.Furthermore,in the implementation of the symplectic algorithm,based on the 2N algorithm,a multilevel method is proposed.When the time grid is refined from low level to high level,the initial state and costate variables of the nonlinear equations can be obtained from the Lagrange interpolation at the low level grid to improve efficiency.Numerical simulations show the precision and the efficiency of the proposed algorithm in this paper.
文摘Several important properties of a kind of random symplectic matrix used by A. Bunse-Gerstner and V. Mehrmann are studied and the following results are obtained: 1) It can be transformed to Jordan canonical form by orthogonal similar transformation; 2) Its condition number is a constant; 3) The condition number of it is about 2.618.
基金supported by the the National MCF Energy R&D Program(No.2018YFE0304100)National Key Research and Development Program(Nos.2016YFA0400600,2016YFA0400601 and 2016YFA0400602)+1 种基金National Natural Science Foundation of China(Nos.11905220 and 11805273)supported by the U.S.Department of Energy(DE-AC02-09CH11466)。
文摘Explicit structure-preserving geometric particle-in-cell(PIC)algorithm in curvilinear orthogonal coordinate systems is developed.The work reported represents a further development of the structure-preserving geometric PIC algorithm achieving the goal of practical applications in magnetic fusion research.The algorithm is constructed by discretizing the field theory for the system of charged particles and electromagnetic field using Whitney forms,discrete exterior calculus,and explicit non-canonical symplectic integration.In addition to the truncated infinitely dimensional symplectic structure,the algorithm preserves exactly many important physical symmetries and conservation laws,such as local energy conservation,gauge symmetry and the corresponding local charge conservation.As a result,the algorithm possesses the long-term accuracy and fidelity required for first-principles-based simulations of the multiscale tokamak physics.The algorithm has been implemented in the Sym PIC code,which is designed for highefficiency massively-parallel PIC simulations in modern clusters.The code has been applied to carry out whole-device 6 D kinetic simulation studies of tokamak physics.A self-consistent kinetic steady state for fusion plasma in the tokamak geometry is numerically found with a predominately diagonal and anisotropic pressure tensor.The state also admits a steady-state subsonic ion flow in the range of 10 km s-1,agreeing with experimental observations and analytical calculations Kinetic ballooning instability in the self-consistent kinetic steady state is simulated.It is shown that high-n ballooning modes have larger growth rates than low-n global modes,and in the nonlinear phase the modes saturate approximately in 5 ion transit times at the 2%level by the E×B flow generated by the instability.These results are consistent with early and recent electromagnetic gyrokinetic simulations.
