The complex dynamics of spinning tops
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The complex dynamics of spinning tops. Physics Colloquium Jacobs University Bremen February 23, 2011. Peter H. Richter University of Bremen. Outline. Rigid bodies: configuration and parameter spaces SO(3) →S 2 , T 3 →T 2 Moments of inertia, center of gravity, Cardan frame SO(3)-Dynamics

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The complex dynamics of spinning tops

The complex dynamics of spinning tops

Physics Colloquium

Jacobs University Bremen

February 23, 2011

Peter H. RichterUniversity of Bremen

Jacobs University Feb. 23, 2011


Outline

Outline

Rigid bodies: configuration and parameter spaces

  • SO(3)→S2, T3→T2

  • Moments of inertia, center of gravity, Cardan frame

    SO(3)-Dynamics

  • Euler-Poisson equations, Casimir and energy constants

  • Relative equilibria (Staude solutions) and their stability (Grammel)

  • Bifurcation diagrams, iso-energy surfaces

  • Integrable cases: Euler, Lagrange, Kovalevskaya

  • Liouville-Arnold foliation, critical tori, action representation

  • General motion: Poincaré section over Poisson-spheres→torus

    T3-Dynamics

  • canonical equations

  • 3D or 5D iso-energy surfaces

  • Integrable cases: symmetric Euler and Lagrange in upright Cardan frame

  • General motion: Poincaré section over Poisson-tori+2cylinder connection

Jacobs University Feb. 23, 2011


Rigid bodies in so 3

planar

linear

linear

planar

planar

linear

Rigid bodies in SO(3)

One point fixed in space, the rest free to move

3 principal axes with respect to fixed pointcenter of gravity anywhere relative to that point

4 essential parameters after scaling of lengths, time, energy:

two moments of inertiaa, b (g = 1- a- b)

two angles s,t for the center of gravity s1, s2, s3

Euler

Lagrange

General

Jacobs University Feb. 23, 2011


Rigid bodies in t 3

Cardan angles (j,q, y)

(j + p, 2p - q, y + p)

Rigid bodies in T3

a little more than 2 SO(3)

→ classical spin?

6 essential parameters after scaling of lengths, time, energy:

Euler: symm up – Integr

two moments of inertiaa, b (g = 1-a-b)

asymm up – Chaos

at least one independent moment of inertia r for the Cardan frame

Lagrange: up – Integr

two angles s,t for the center of gravity

tilted – Chaos

angledbetween the frame‘s axis and the direction of gravity

General: horiz – Interm

horiz – Chaos

Jacobs University Feb. 23, 2011


So 3 dynamics euler poisson equations

coordinates

angular velocity

angularmomentum

Casimir constants

energy constant

SO(3)-Dynamics: Euler-Poisson equations

→ four-dimensional reduced phase space with parameter l

Jacobs University Feb. 23, 2011


Relative equilibria staude solutions

Relative equilibria: Staude solutions

angular velocity vector constant, aligned with gravity

high energy: rotations about principal axes

low energy: rotations with hanging or upright position of center of gravity

intermediate energy: carrousel motion

possible only for certain combinations of (h,l ): bifurcation diagram

Jacobs University Feb. 23, 2011


Typical bifurcation diagram

l

l2

h

h

stability?

Typical bifurcation diagram

A = (1.0,1.5, 2.0) s = (0.8, 0.4, 0.3)

Jacobs University Feb. 23, 2011


Integrable cases

A

Integrable cases

P

Euler: „gravity-free“

E

4 integrals

Lagrange: „heavy“, symmetric

L

3 integrals

Kovalevskaya:

K

3 integrals

Jacobs University Feb. 23, 2011


Euler s case

(h,l)-bifurcation diagram

Poisson sphere potential

Euler‘s case

w-motiondecouples from g-motion

S3

S1xS2

RP3

iso-energy surfaces in reduced phase space: , S3, S1xS2, RP3

foliation by 1D invariant tori

B

Jacobs University Feb. 23, 2011


Lagrange s case

Lagrange‘s case

Poisson sphere potentials

disk: ½ < a < ¾

2S3

cigar:a > 1

S3

¾ < a < 1

S1xS2

B

RP3

RP3

S3

S1xS2

Jacobs University Feb. 23, 2011


Kovalevskaya s case

Kovalevskaya‘s case

Tori in phase space and Poincaré surface of section

Action integral:

B

Jacobs University Feb. 23, 2011


Energy surfaces in action representation

Energy surfaces in action representation

Euler

Lagrange

Kovalevskaya

B

Jacobs University Feb. 23, 2011


Poincar section

Poincaré section

E3h,l

S = 0

P2h,l

U2h,l

V2h,l

R3(w)

S2(g)

Poissonsphere

accessible velocities

Jacobs University Feb. 23, 2011


Topology of surface of section if l z is an integral

Topology of Surface of Section if lz is an integral

SO(3)-Dynamics

  • 1:1 projection to 2 copies of the Poisson sphere which are punctuated at their poles and glued along the polar circles

  • this turns them into a torus (PP torus)

  • at high energies the SoS covers the entire torus

  • at lower energies boundary points on the two copies must be identified

    T3-Dynamics

  • 1:1 projection to 2 copies of the Poisson torus plus two connecting cylinders

  • the Poincaré surface is not a manifold!

  • but it allows for a complete picture at given energy h and angular momentum lz

P

S

Jacobs University Feb. 23, 2011


Examples

Examples

non-integrable

integrable

(a,b,g) = (0.4, 0.4, 0.2) (s1,s2,s3) = (1,0,0)

(a,b,g) = (0.49, 0.27, 0.24) (s1,s2,s3) = (1,0,0)

black: in

dark: out

light: –

black: out

dark: in

light: –

black: in

dark: out

light: –

black: out

dark: in

light: –

In both cases is the surface of section a torus:

part of the PP torus, outermost circles glued together

B

Jacobs University Feb. 23, 2011


Summary

Summary

  • Rigid bodies fixed in one point and subject to external forces need a support, e. g. a Cardan suspension

  • This changes the configuration space from SO(3) to T3, and the parameter set from 4 to 6 dimensional

  • Integrable cases are only a small albeit highly interesting subset

  • Not much is known about non-integrable cases

  • If one degree of freedom is cyclic, complete Poincaré surfaces of section can be identified – always with SO(3), sometimes with T3

  • The general case with 3 non-reducible degrees of freedom is beyond currently available methods of investigation

  • Very little is known about the quantum mechanics of such systems

Jacobs University Feb. 23, 2011


Thanks to

Thanks to

  • Emil Horozov

  • Mikhail Kharlamov

  • Igor Gashenenko

  • Alexey Bolsinov

  • Alexander Veselov

  • Victor Enolskii

  • Nadia Juhnke

  • Andreas Wittek

  • Holger Dullin

  • Sven Schmidt

  • Dennis Lorek

  • Konstantin Finke

  • Nils Keller

  • Andreas Krut

Jacobs University Feb. 23, 2011


Stability analysis variational equations grammel 1920

relative equilibrium:

variation:

variational equations:

Stability analysis: variational equations (Grammel 1920)

J: a 6x6 matrix with rank 4 and characteristic polynomial g0l6 + g1l4 + g2l2

Jacobs University Feb. 23, 2011


Stability analysis eigenvalues

Stability analysis: eigenvalues

2 eigenvalues l = 0

4 eigenvalues obtained fromg0l4 + g1l2 + g2 = 0

The two l2 are either real or complex conjugate.

If the l2 form a complex pair, two l have positive real part → instability

If one l2 is positive, then one of its roots l is positive → instability

Linear stability requires both solutions l2 to be negative: then all l are imaginary

We distinguish singly and doubly unstable branches of the bifurcation diagram depending on whether one or two l2 are non-negative

Jacobs University Feb. 23, 2011


Typical scenario

Typical scenario

  • hanging top starts with two pendulum motions and develops into rotation about axis with highest moment of inertia (yellow)

  • upright top starts with two unstable modes, then develops oscillatory behaviour and finally becomes doubly stable (blue)

  • 2 carrousel motions appear in saddle node bifurcations, each with one stable and one singly unstable branch. The stable branches join with the rotations about axes of largest (red) and smallest (green) moments of inertia. The unstable branches join each other and the unstable Euler rotation

Jacobs University Feb. 23, 2011


Orientation of axes and angular velocities

g3

g1

g2

stable hanging rotation about 1-axis (yellow) connects to upright carrousel motion (red)

unstable carrousel motion about 2-axis (red and green) connects to stable branches

stable upright rotation about 3-axis (blue) connects to hanging carrousel motion (green)

w

Orientation of axes, and angular velocities

Jacobs University Feb. 23, 2011


Same center of gravity but permutation of moments of inertia

Same center of gravity, but permutation of moments of inertia

Jacobs University Feb. 23, 2011


The complex dynamics of spinning tops

M

Jacobs University Feb. 23, 2011


The complex dynamics of spinning tops

Jacobs University Feb. 23, 2011


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