At its foundations, the universe seems to be

Hamiltonian. The fundamental laws of classical

mechanics, gravity, electromagnetism, and even
quantum mechanics in a sense, are Hamiltonian.
Why this is so is a mystery to me.
R. S. MacKay [32]

. 1687, Isaac Newton (16421727) Philosophiae Naturalis Principia Mathematica, 1788 Joseph Louis Lagrange (17361813) Mecanique Analytique. ,
, ,
1834 William Rowan Hamilton (18051865),
1835 On
the application to dynamics of a general mathematical method previously applied to optics. , Jakob Jacobi (18041851)

. 19 Simon Poisson (17811840),
Joseph Liouville (18091882) Gaston Darboux (18421917),
Marius Sophus Lie (1842-1899)
,
.
Hamilton
19 ,
1

Henri Poincare (18541912) Sur le probl`eme des trois corps et les

equations de la dynamique (1890)
Les Methodes Nouvelles de la Mecanique Celeste (18921899).

,
. Poincare
(1903, Science and Method),
.
20 .
, George
David Birkho (18841944) 192030,
Aleksandr Mikhailovich Liapunov (18571918)
Emily Noether (18821935)
. 20 Stephen Smale,
J
urgen Moser, Vladimir Arnold, Nikolai Nekhoroshev ,
.
, , ,
.

,
. Hamilton
, ,
. ,
, .
. .

. . .
6.10

5 6.

, ,
.
Prof. Michel Vallieres, Drexel
University Dr. Leon Poon, University of Maryland
6.326.33 6.356.37 .

2004

1 Hamilton
1.1 Hamilton . . . . . . . . .
1.2 Hamilton . . . . . .
1.3 . . . . . . . . .
1.4 Poisson . . . . . . . . . . . . .
1.5
Hamilton . . . . . . . . . . . . . . . . . .
1.5.1 . . . . . . . . .
1.5.2 Hamilton
. . . . . . . . . . . . . .
1.5.3 Jacobi . .
1.6 Poisson . . . . . . . . . . . .
1.7
. . . . . . .
2
5

9
.
.
.
.

.
.
.
.

.
.
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.

.
.
.
.

.
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.

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.

9
12
15
27

. . . . . . .
. . . . . . .

. . . . . . .
. . . . . . .
. . . . . . .

.
.

30
30

.
.
.

33
34
36

. . . . . . . .

39
45

2.1
. . . . . . . . . . . . . . . . . . . . . . .

45

2.2 .
. . . . . . . . . . . . . . . . . . . . .

48

2.3 . . . . . . . . . . . .

56

2.4 . . . . . . . . . . . . . . . . . . . .

59

2.4.1

. . . . . . . . . . . . . . .

59

2.4.2

. . . . . . . . . . . . . . . .

60

2.4.3

. . . . . . . . . .

61

2.5
. . . . . . . . . . . . . . . . . . . . . . .

64

71

3.1
. . . . . . . . . . . . . . . . .

71

3.2
. . . . . . . . . . . . . . . . . . . . . .

74

3.3 . . . . . . . . . . .

77

3.4 Hamilton

. . . . . . . . . . .

81

3.5
. . . . . . . . . . . . . . . . . . . . . . . . . . . .

85

3.6
. . . . . . . . . . . . .

88

3.7

. . . . . . . . . . . . . . . . . . .

95

3.8 Poincare . . . . . . .

99

Liouville

4 Hamilton

107

4.1 HamiltonJacobi . . . . . . . . . . . . . . . . 107

4.2 HamiltonJacobi
. . . . . . . . . . . . . . . . .
4.3 . . . . . . . . . .
4.4 . . . . . . . . .
4.5 Lax . . . . . . .

.
.
.
.

.
.
.
.

5
5.1
. . . . . . . . . . . . . . . . . . .
5.2
. . . . . . . . . . . .
5.3 n
. . . . . . . . . . . . . . .
5.4 . . . . .

.
.
.
.

.
.
.
.

.
.
.
.

.
.
.
.

.
.
.
.

.
.
.
.

.
.
.
.

110
116
120
128
135

. . . . . . . 135
. . . . . . . 139
. . . . . . . 150
. . . . . . . 155

6
6.1
. . . . . . . . . . . . . .
6.2 .
. . . . . . . . . . . . . . . . . . . . . . .
6.3 . . . . . . . . . . . . . . . . . .
6.4 .
Poincare . . . . . . . . . . . . . . .
6.5
Poincare
. . . . . . . . . . . . . . . . . .
6.6 Poincare
. . . . . . . . .
6.7 . . . . . . . .

167
. . . . 167
. . . . 169
. . . . 174
. . . . 177

. . . . 183
. . . . 190
. . . . 194

6.8 .
PoincareBirkho . . . . . .
6.9
. . . . . . . . . . . . . . . . . . . .
6.10 :
. . . . . . . . . . . . . . . . . .
6.11 .
6.12
. . . . . . . . . . . . . . . . . .

. . . . . . . . 199
. . . . . . . . 204
. . . . . . . . 213
. . . . . . . . 221
. . . . . . . . 229

237

243

247

250


Lagrange. , , ,
.
.
P m,
M 2 R3

f (x, y, z) = 0 ,
(0.1)
F.
, M 2 P
R, M 2 .
(0.1)
, R .
P Newton
mr = F + R .

(0.2)

dr , M 2 ,

(mr F) dr = 0 .

(0.3)

(0.3) Newton (0.2)

.
dr P ( 0.1).
N Pi
m(i) , ri R3 i Fi
Pi .
1

R
F

M2

dr

0.1: M 2 dr.

R3N . k

fj (ri ) = 0,

(j = 1, k;

i = 1, N ) ,

(0.4)

M n R3N , n,
n = 3N k,
. n
,
,
vi = r i .
(0.3),
M n
N

i1

(m(i)ri Fi ) dri = 0 ,

(0.5)

(dr1 dr2 . . . drN ) R3N ,

, .
(0.5) d Alambert, Newton,
,
,
N

Ri dri = 0 ,
i=1

Ri i .
q1 , q2 , . . . , qn n
M n . qi
.



qi = qi (t),
(i = 1, n) .
(0.6)
(0.6) , t,
,

.

, N
rj = rj (q1 , q2 , . . . , qn , t),
(j = 1, N ) ,
(0.7)
N
R3 , .

Qi =

j=1

Fj

rj
,
qi

(i = 1, n)

(0.8)

. dri
n

rj
drj =
dqk ,
(j = 1, N ) ,
(0.9)
qk
k=1

dr = (dr1 dr2 . . . drN )

.
vj j , (0.7),
vj =

rj
k=1

qk

qk +

rj
,
t

(j = 1, N ) .

(0.10)

qk = dqk /dt .
(0.10)
vj
rj
=
,
qk
qk

d
dt

rj
qk

k = 1, n) .

(0.11)

2 rj
2 rj
=
qm +
=
q
q
q
t
k
m
k
m=1
}
{ n
rj

rj
=
qm +
,
qk m=1 qm
t

, (0.10),
)
(
d rj
vj
=
,
dt qk
qk

(j = 1, N ;

(j = 1, N ;

k = 1, n) .

(0.12)

d Alambert, (0.9), n
N {

k=1 j=1

rj
rj
m(j)rj
Fj
qk
qk

}
dqk = 0 .

, (0.11) (0.12),
{ (
)
}
N
N

vj
vj
d
rj
=
m(j) vj
m(j) vj
m(j)rj
qk
qk
qk
j=1 dt
j=1
)
(
T
d T

,
=
dt qk
qk

(0.13)

1
T =
m(j) vj2
2 j=1
N

(0.14)

. ,
(0.10),
, .
(0.7) , T
.
(0.8), (0.13)
(
)
}
n {

d T
T

Qk dqk = 0
dt qk
qk
k=1

dqk ,
)
(
d T
T

= Qk ,
(k = 1, n) .
(0.15)
dt qk
qk
(0.15) Lagrange.
2

qk = qk (qi0 , qi0 , t0 , t),

(i, k = 1, n)

.
, ,
(0.15) ,

qk = qk (qi0 , qi0 , t t0 ),

(i, k = 1, n) ,

,
, t0 = 0.
(0.15) (2n + 1)
(qi , qi , t), , ,
Lagrange 2n (qi , qi )
.

,
Fi , V (ri ),
V
(0.16)
,
(i = 1, N ) .
ri
V .
(0.7) V
. (0.8)
Fi =

Qi =

V
j=1

rj

rj
V
=
,
qi
qi

(i = 1, n)

V / qi = 0, Lagrange

(
)
d L
L

= 0,
(k = 1, n) ,
(0.17)
dt qk
qk

L = L(qj , qj , t) = T V
(0.18)
Lagrange . L
,
.
Fi
vi = r i , ri .
,
. V = V (rj , vj ) , j

(
)
V
d V
Fj =
+
,
(j = 1, N ) .
(0.19)
rj dt vj
(0.8)
(
)
}
N {

V rj
rj
d V
Qi =

r
q
dt
v
qi
j
i
j
j=1

(
)
(
)}
N {

V rj
d V rj
V d rj

.
Qi =

r
q
dt
v
q
v
dt
q
j
i
j
i
j
i
j=1
(0.11) (0.12) rj / qi = 0,

{
N

V rj
V vj
Qi =

+
rj qi vj qi
j=1
(
)}
d V rj
V vj
+

,
dt rj qi vj qi

(
)
d V
V
Qi =
+
,
(0.20)
qi dt qi
Lagrange (0.17).
V vi
, Fi , (0.19),
. (0.10), V
,

V = (qi ) +

Aj (qi ) qj .

(0.21)

j=1

, Aj
. (0.20)
)
n (
Ai Aj
+

qj .
Qi =
qi j=1 qj
qi
, Lagrange,

Ai Ai +

g
,
qi

g = g(qk ) .
Lagrange
dAlambert, Newton
.
Lagrange
, Hamilton,
:
n
,
,
Lagrange
L = L(qi , qi , t)
(i = 1, n) .
[t1 , t2 ]

Q1 (t1 ) Q2 (t2 ),
t2
L(qi , qi , t)dt
(0.22)
t1

. EulerLagrange ( ),

Lagrange (0.17). Lagrange
Hamilton , Lagrange ,
(.. [18], . 548). ,
,
(.. [30], . 6), Lagrange
(0.18).

 1

Hamilton
1.1

Hamilton

n ,
Lagrange
L = L(qi , qi , t),

(i = 1, n)

pi
L
pi =
.
(1.1)
qi
(1.1)
, ,
pi = pi (qj , qj , t) .
(1.2)



 2 

 pi 

 = det  L 
det 
(1.3)
 qi qj 
qj 
, (1.2) n

qi = qi (qj , pj , t) .
(1.4)
9

10

Hamilton

H = H(qj , pj , t) = pi qi L(qj , qj , t) .
(1.5)
(1.5)
i.
, . H (1.5),
(1.4),
,
. ,
qi , pi i .
(1.5)
dH =

H
H
H
dpi +
dqi +
dt
pi
qi
t

(1.6)

dH = qi dpi + pi dqi

L
L
L
dqi
dqi
dt ,
qi
qi
t

L
dt ,
(1.7)
t
(1.1) Lagrange (0.17)

L
pi =
.
(1.8)
qi
(1.6) (1.7),
Lagrange 2n

H
qi =
,
pi
(1.9)
H
,
pi =
qi
dH = qi dpi pi dqi

11

Hamilton.
L
H
=
.
(1.10)
t
t
H ,
.
2n (qi , pi ), ,
, .
,
H
= 0 ,
t
(2n + 1)
(qi , pi , t).
Hamilton,
qi = qi0 , pi = pi0 , t = t0
(1.11)

qi = qi (qj0 , pj0 , t0 , t),
pi = pi (qj0 , pj0 , t0 , t)

(1.12)

, ,

(1.11). (1.12) (2n+1)
,
.
, (1.9)
dt, t0 .
, ,
t0 = 0 (1.12)
qi = qi (qj0 , pj0 , t),
pi = pi (qj0 , pj0 , t) .

(1.13)

12

(1.13) 2n .
Cauchy
(.. [9], . 191),

. ( ) ,
(1.9) .
H ,
(1.9).
Lagrange Hamilton

2L
qi qj
.

. ,
L ,
.
, . Lagrange
(nonstandard). (.. [48],
. 78) , k < n, n k ,
j (qi , qi , t) = 0,

(j = 1, k; i = 1, n)

.
,
.

1.2

Hamilton

Hamilton
Lagrange,
, Hamilton.

13

2n qi , pi
t, Hamilton
H = H(qi , pi , t).

(1.14)

P1 P2 C
. C,
P1 t1 P2
t2 . Hamilton
:
n ,
[t1 , t2 ] C,

t2
(qi pi H) dt

(1.15)

t1

. , (1.15)
( )
t2
(qi pi H) dt = 0.

(1.16)

t1

(qi pi H) F
qj , pj qj , pj , (1.16)
t2
F dt = 0,

t1

F (qj , pj , qj , pj , t) = qi pi H(qj , pj , t).

(1.17)

14

F pj .
EulerLagrange, 2n
(
)
d F
F

= 0,
dt qi
qi
(1.18)
(
)
d F
F

= 0.
dt pi
pi
(1.17) F ,
F
H
=
,
qi
qi

F
H
= qi
,
pi
pi

F
= pi ,
qi

F
=0
pi

(1.18) Hamilton (1.9).

: (1.16),
P1 , P2 C ,
qi (t1 ) = qi (t2 ) = 0,
pi (t1 ) = pi (t2 ) = 0.

(1.19)

, Lagrange
Hamilton, EulerLagrange
,
(1.19). , (1.19)
Hamilton
(1.16), F pi (.. [48], .
1920).
Hamilton Hamilton . Hamilton, Q1 , Q2 ,
t1 t2
, 2n ,

15

Lagrange,
,
(0.22) .
, Hamilton,
P1 ,
t1 ,
qi (t1 ), pi (t1 ),
. P2 t2 , P2 , t2 ,
C , (1.15) . P2
t2 ,
,
P1 , t1 .

1.3

A = A(qi , pi , t)

(1.20)

.
(1.20), , .
Hamilton
. A
, , (1.12).

,
A
dA A A
=
+
qi +
pi .
dt
t
qi
pi

(1.21)

16

qi , pi
Hamilton
H
qi =
,
pi
(1.22)
H
pi =
,
qi
(1.21)
dA A A H A H
=
+

.
dt
t
qi pi pi qi

(1.23)

M 2n 2n n
I = I(qi , pi , t)

(1.24)

, U M 2n t R.
U
dI
= 0,
(1.25)
dt
I
. Cauchy

U n , ,
2n ( 2n
, ).
I
, t R, (global)
,
. , ,
.
,
,

17

.
(.. [13]).
, t

I(qi , pi ) = I(qi0 , pi0 ) = c = .

(1.26)

, (1.26), c
.
(1.26) (2n 1)
.
.
(level set) I

.
(1.26) c,
.
, , ,
I(q, p) = c

, , ,
.

: N I = c,
U , N U = ,
, N U , V U ,
N V ,
N ( 1.1).

H
=0
t
, (1.23) Hamilton H,

18

N
V
U
1.1: N I.

dH
= 0.
dt
Hamilton Jacobi
Lagrange.

V
,
.
, Euler
2T =

T
L
qk =
qk = pk qk .
qk
qk

Hamilton (1.5),
H = pk qk L = 2T L,

H = T + V.
, .
Hamilton

19

qk ,
H
= 0,
qk
qk ( ) . Hamilton (1.9) i = k
pk = 0.
, ,
.
2n, 2n1.
, ,
2n 2.
qn
n . ,
, pn = c Hamilton

H = H(qj , pj , c),
(j = 1, n 1).
Hamilton ,
qj =
pj

H
,
pj

H
=
qj

(1.27)

j = 1, n 1, n
pn = c
H
qn =
= f (qj , pj , c).
(1.28)
c
(1.27) 2n 2,
(1.28), ,
(1.27) , qj , pj
, qn
(1.28) .

20

:
) : m = 1
q V = 12 2 q 2 . Lagrange, q,
)
1( 2
L=
q 2 q 2 ,
2
p = L/ q = q.

Hamilton (1.5),
)
1( 2
H=
p + 2q2 ,
2
Hamilton
q = p ,
p = 2 q.
,
)
1( 2
H=
p + 2 q 2 = h,
(1.29)
2

(1.29),

2h/ 2h
( 1.2).
q = p = 0.
) : m = 1
q F = kq, k > 0,
V = 12 kq 2 . Hamilton

)
1( 2
H=
p kq 2 ,
2
Hamilton
q = p ,
p = kq.

21





1.2: .

,
)
1( 2
(1.30)
p kq 2 = h
2

. , h,

,

p = kq h = 0 ( 1.3).
h, (1.30)

p = q = kq,
H=

+ p, q, .

kt

q = q0 e

S 1.3 t q = p = 0,

22

2
S





1.3: (1.30).

U t
.
,
.
,
Hamilton , . ,

,
(1.30) S U
. , ,
, .
) : m
,
. ,
( 1.4).

23

O


m
z

1.4: .

. Lagrange
1
m2 2 + mg cos .
2
p (1.1),
L=

p = m2

(1.31)

Hamilton
p2
H=
mg cos .
2m2

p
=
,
m2
p = mg sin .

(1.32)

,
H(, p ) = h.

(1.33)

(, p )
(1.33). p ,

{
}1/2
p = 2m2 (h + mg cos )
.
(1.34)

24

h < mg,

(1.35)

h + mg cos 0

h
.
mg
, h (1.35),
0 ,
(
)
h
0 = arccos
< ,
mg
cos

L 1.5, = p = 0.
h > mg, .

, R 1.5.
h = mg S.
(separatrix).
,
.
= , p = 0. , 2,
,
.
: (1.34), h = mg,
{
}1/2
p = 2m2 g3 (1 + cos )
,
(1.36)
+ p > 0, p < 0.
(1.31),
]1/2
[
2g
(1 + cos )
=

25

1.5: .

cos .

2
:

(
)
(
)

+
0 +
g
d(/2)

t=
= ln tan
ln tan
,

4
4
0 cos(/2)
= 2

= ,

[
(
)]
0 +
g t
= 4 arctan e
tan
.
4

, p (0) > 0, t
A t
B, , p (0) < 0, t B
t A. ,
S . (p > 0),

26

(, ) BA,
(p < 0),
AB
A B. , ,
2, ,
= 1.5.
) : Lagrange
)
1 ( 2
2
2
2
2 2
L = m r + r + r sin V (r).
2

L
= r ,
r
L
= mr2 ,
p =

L
= mr2 sin2 ,

p =

pr =

Hamilton
(
)
2
2
p
1
p

H=
p2r + 2 + 2 2
+ V (r).
2m
r
r sin
H ,

H = h = .
,

p = .
z.
(.. [20], , . 90),

= mr v,

27

, , .
) : Lagrange Hamilton
,
,
. Hamilton
H=

)
1 ( bt 2
e p + ebt 2 q 2 ,
2

b, ,
q = ebt p ,
p = ebt 2 q.
t
, q
q + bq + 2 q = 0,

.

1.4

Poisson

Poisson A B

A B A B
[A, B] =

.
(1.37)
qi pi pi qi
Poisson .
:
1. :

[A, B] = [B, A]

2. : ,

28

[A + B, C] = [A, C] + [B, C] ,
[A, B + C] = [A, B] + [A, C] .
3. Jacobi:
[A, [B, C]] + [B, [C, A]] + [C, [A, B]] 0.

(1.38)

,
(1.37). Jacobi
.
Poisson Leibnitz,
[A, BC] = B[A, C] + C[A, B],
[AB, C] = A[B, C] + B[A, C],
, ,

[, A] 0.

Poisson t, qi , pi
Leibnitz,
[
] [
]

A
B
[A, B] =
, B + A,
,
t
t
t
[
] [
]
A
B

[A, B] =
, B + A,
,
(1.39)
qi
qi
qi
[
] [
]

A
B
[A, B] =
, B + A,
.
pi
pi
pi

[qi , A] =

A
,
pi

[pi , A] =

A
.
qi

, (1.37)
[qi , A] =

qi A
qi A

.
qj pj pj qj

(1.40)

29

qi /qj = ij , ij Kronecker, qi /pj = 0,

A
A
[qi , A] = ij
=
.
pj
pi
,
[qi , qj ] = 0,
[qi , pj ] = ij ,
(1.41)
[pi , qj ] = ij ,
[pi , pj ] = 0,
Poisson.
A = A(qi , pi , t)
, (1.23),
dA A
=
+ [A, H]
dt
t

(1.42)

, A ,
dA
= [A, H].
dt

(1.43)

I = I(qi , pi , t)
Hamilton H, (1.42)
I
+ [I, H] = 0,
t

(1.44)

, I = I(qi , pi ) ,
[I, H] = 0.

(1.45)

Poisson A A :
A = [ , A] =

A
A

.
pi qi qi pi

(1.46)

,
3.

30

A B (involution)
Poisson ,
[A, B] 0,
(1.45)
. k A1 , . . . , Ak

[Ai , Aj ] 0 i, j
Ai .
.
, X1 , X2 , . . . , Xk
A B ,
Xi ,
( 1.4)
[A, B] =

1.5

A B
[Xr , Xs ],
Xr Xs

(r, s = 1, k).

(1.47)

Hamilton

1.5.1
Hamilton n

qi = ij

H
,
pj

pi = ij

H
,
qj

31

qi

pi

qj
ij

H
0
pj

0
ij

(1.48)

= q ,
= pn ,

n,
n < 2n,

(1.48)
=

H
,

, = 1, 2n 2n 2n
(
)
0 I
=
,
I 0

(1.49)

(1.50)

0 I n n ,
0ij = 0,

Iij = ij ,

(i, j = 1, n)

. , , , , , . . .
1 2n, i, j, k, l, . . . 1 n.


1. T =

2. 1 =
3. 1 = T

().

()

32

( 1.7),
det || = 1.
, Poisson A B
[A, B] =

A B
.

(1.51)

[ , A] =

A
A
=

A
(1.52)
.

(1.52) (1.40),
Poisson
[ , A] =

[ , ] =

= ,

[ , ] = .

(1.53)

, A
A =

A
.

(1.54)

A A/ .
: M 2n ,
Hamilton n , ,

33

Lagrange. qi , pi
H : M 2n R Legendre, (1.1) (1.5).
2 M 2n , ,
, , qi , pi M 2n
Hamilton. , ,
.
Hamilton [1], [4], [52] [57].
1.5.2 Hamilton

Hamilton, Hamilton, qi
pi , F
(1.17) qi , pi .
,
Hamilton (1.49) , Hamilton, .
F (1.17)
F = pi qi H =

1
1
(pi qi qi pi ) + (pi qi + qi pi ) H,
2
2

d
F =G+
dt

G=

)
1
p i qi ,
2

1
(pi qi qi pi ) H.
2

(1.55)

34

, G

G=

1
H( , t),
2

(1.56)

1 = T = .

= =

= ,

= .

(1.57)

G,
(1.56),
. F G, (1.55),

pi , qi , Hamilton
( )
t2

Gdt = 0,
(1.58)
t1

pi , qi .
1.5.3 Jacobi
Jacobi
[A, [B, C]] + [B, [C, A]] + [C, [A, B]] 0

(1.59)

. (1.59)
:
1. A, B
C.

35

2.
.
,
, .. C,
, ,
A B , ,
.
C ,
[A, [B, C ]] + [B, [C, A ]] =
A
B
[B,
C
]
+

[ C, A ] =


{[
] [
]}
A
B
C
=
, C + B,
+

{[
] [
]}
C
B
A
+
, A + C,
=

=
+

A 2 B C
2C
A
B

B 2 C A
2A
B
C

C
,

2C
A B 2 C
B A
+
.

, , , , , , ,

A B 2 C
2C
A B
+
= 0,

36

= . (1.59)
C , ,
Jacobi .

1.6

Poisson

, Poisson
.
Poisson ,
,
]
[
] [
d
dA
dB
[ A, B ] =
, B + A,
.
(1.60)
dt
dt
dt
(1.60) , (1.42),
d

[ A, B ] =
[ A, B ] + [ [ A, B ], H ]
dt
t
, (1.39) ,
[
] [
]
d
A
B
[ A, B ] =
, B + A,
[ H, [ A, B ] ] .
dt
t
t
Jacobi,
[
] [
]
d
A
B
[ A, B ] =
, B + A,
+ [ A, [ B, H ] ] + [ B, [ H, A ] ] =
dt
t
t
[
] [
]
A
B
=
, B + A,
+ [ A, [ B, H ] ] + [ [ A, H ], B ] .
t
t
,
[
] [
]
A
B
d
[ A, B ] =
+ [ A, H ], B + A,
+ [ B, H ]
dt
t
t

37

, (1.42), (1.60)
[
] [
]
d
dA
dB
[ A, B ] =
, B + A,
.
dt
dt
dt
Poisson : Poisson .
(1.60).
I1 , I2 ,
dI1
dI2
=
=0
dt
dt
(1.60)

d
[ I1 , I2 ] = 0.
dt
Poisson
. I1 , I2
. ,

[ I1 , I2 ] = 0,
I1 , I2 .
:
) Poisson
: I
,
I
.
(1.44)
I
= [ H, I ].
t
, Hamilton
, , Poisson,

38

I ,
Poisson . k I , (1.44)
[
]
k+1 I
kI
= H, k ,
tk+1
t
(k+1) I Poisson
.
) m
V (r) = k/r. Hamilton
(
)
2
1
p
k
H=
p2r + 2 .
2m
r
r
H p ,
.
(
)
p
A1 = p pr sin + cos k cos
r
, . Poisson
(
)
A1
p
A2 = [ A1 , p ] =
= p pr cos sin + k sin

r
, Poisson,
. , [ A2 , H ] = 0,

(
)
(H, p , A1 , A2 )
rank
= 3,
(r, , pr , p )
A2 H, p , A1 .
A1 , A2
LaplaceRungeLenz, , , mke, e
( .. [18], . 102).

39

1.7

n .
, , t ,
.
Hamilton
H = H(q1 , . . . , qn , p1 , . . . , pn , t )

(1.61)

n .
Hamilton
H
H
,
pi =
.
(i = 1, n)
qi =
(1.62)
pi
qi
(1.62)

H
t = 1,
H =
(1.63)
t
: (n + 1) t
(n + 1) Hamilton ,
qn+1 = t,

pn+1 = H

(1.64)

Hamilton
H = H(q1 , . . . , qn , qn+1 , p1 , . . . , pn ) + pn+1 .

(1.65)

Hamilton
qj =

H
,
pj

pj =

H
,
qj

( j = 1, n + 1)

(1.66)

j n (1.62), j = n + 1
qn+1
pn+1

=t=
= 1,
pn+1

H
H

= H =
=
,
qn+1
t

40

(1.63). n Hamilton (1.61) n + 1 .

A = A(qi , pi , t)
, .
(1.64), A
A = A(q1 , . . . , qn , qn+1 , p1 , . . . , pn ).
{ , } Poisson n + 1
. {A, H }
A . ,
)
n+1 (

A H A H

=
{A, H } =
q
p
p
q
j
j
j
j
j=1
)
n (

A H
A H
A H

+
=
q
p
p
q
q
p
j
j
j
j
n+1
n+1
j=1
= [ A, H ] +

A dA
=
.
t
dt

,
n + 1 ,
, t qi . H
Hamilton ,
H
= 0,
qn+1
qn+1 pn+1
, H, .
H , H ,
, .
, (1.65),
(1.62) (1.66)
H = 0.

41

1.1
t t + , .
t t0
t t0 .
1.2 H = H(qi , pi )
H = F (H), F ,
,
.
1.3 (1.41) Poisson.
1.4 (1.47) Poisson
.
1.5
A=

pq
Ht
2

Hamilton
p2
1
H=
2.
2
2q
1.6 A B ,
A B B A
.
1.7
.
1.8 (1.58)
EulerLagrange Hamilton (1.49).

42

1.9

1 = x2 p3 x3 p2 ,
2 = x3 p1 x1 p3 ,
3 = x1 p2 x2 p1 .
xi .
Poisson .
1.10 Hamilton
H = q1 p1 q2 p2 aq12 + bq22 ,
a b .
F1 = (p2 bq2 )/q1 ,
F2 = q1 q2 ,
F3 = q1 et
Poisson [ Fi , Fj ]
.
1.11 () , 2n
= f ( , t),
f / = 0 .
()

[ , f ] = [ , f ].
1.12 A B ,
[ eA , eB ] = eA+B [ A, B ].
1.13
,

43

.

V (x, y, x,
y)
= (x, y) + A1 (x, y)x + A2 (x, y)y.

() Hamilton .
()
E=

1 2
(x + y 2 ) + (x, y)
2

.
() Lagrange

A1 A1 +

f
,
x

A 2 A2 +

f
,
y

f = f (x, y) .
() Hamilton;
1.14 I ,
[
] [
]
I
H
,H =
,I ,


H Hamilton.
1.15 ,

, Lagrange
1 dxi dxj
,
L = gij
2
ds ds

(i, j = 1, 4),

gij (xk ) .
Hamilton.

44

1.16 2(n + 1) , (1.66).

1.17 Lagrange L,
 2 
 L 
 0.
det 
qi qj 

.
1.18 m = 1 x

1
1
V (x) = x3 x2 ,
3
2
.
, x > 0,
x = 0
x(t) =
2 cosh

3
[

].
(t t0 )

1.19 m = 1 x

1
1
V (x) = x4 x2 .
4
2
,
. > 0 x(t)
.

 2

2.1

n
Lagrange : n
qi Lagrange

L = T V = L (qi , qi , t),
(2.1)
n 2 , Lagrange,
( )
d L
L

= 0,
(2.2)
dt qi
qi
( Hamilton)
t2

L dt = 0.
(2.3)
t1

Qi , (..
, )
qi Qi n
Qi = Qi (qj , t).
45

(2.4)

46

(2.4) ,



 Qi 
 = 0,
det 
qj 
,
(2.4) n
qi = qi (Qj , t).

(2.5)

(2.5),
qi =

qi
qi
Qj +
.
Qj
t

(2.6)

, qi , qi (2.5)
(2.6) Lagrange (2.1),
Qi , Q i L Qi , Q i t,
L = L(qi , qi , t) = L (Qi , Q i , t).

(2.7)

Hamilton L
, (2.3)

t2

L (Qi , Q i , t) dt = 0

(2.8)

t1

(2.2),
(
)
d L
L

= 0.
dt Q i
Qi

, (2.4) , Lagrange,
(2.4).
Hamilton,
,

47

, 2n
Qi = Qi (qj , pj , t),
Pi = Pi (qj , pj , t).

(2.9)

(2.9) ,
(2.4) . (2.9), Qi qi , pi . Hamilton, (1.16) (1.58),
pi qi
12 . ,
(2.9) ,
() (1.9) (1.49).
,

.
, ,
(2.9),
. , (2.9),
H = H ( Qi , Pi , t),
(1.9)
H
Q i =
,
Pi
H

,
Pi =
Qi

(2.10)

. H ,
Hamilton
, H,
Qi , Pi .

,

48

Hamilton H. (2.9)
Hamilton, , .

2.2

, (2.9) Hamilton H ,
Hamilton (2.10), ,
,
t2
(qi pi H) dt = 0

(2.11)

(Q i Pi H ) dt = 0.

(2.12)

t1

t2

t1

,
,
,
G
,
dG
(qi pi H) = Q i Pi H +
.
dt

(2.13)

. . 2.5 = 1 ,
, = 1.

49

(2.13), = 1,
dG
.
(2.14)
dt
dt,
G
qi pi H = Q i Pi H +

dG = pi dqi Pi dQi + (H H) dt.

(2.15)

G
, ,
2n 4n qi , pi , Qi , Pi .
G, F ,
G ,
.
,
.
2n qi , Qi ,
, F1 . F1
F1 = F1 (qi , Qi , t).

(2.16)

(2.16),
F1
F1
F1
dqi +
dQi +
dt.
(2.17)
qi
Qi
t
qi , Qi , dqi , dQi
. G = F1 , ,
(2.17) (2.15),
dF1 =

pi =

F1
,
qi

Pi =

F1
,
Qi

H = H +

F1
.
t

(2.18)

50

(2.18) , 4n
qi , pi , Qi , Pi H, H
(2.11) (2.12).
: (2.18,)
pi = pi ( qj , Qj , t),
Pi = Pi ( qj , Qj , t).

(2.19)

n (2.19) Qi
(2.19), (2.9),

Qi = Qi (qj , pj , t),
(2.20)
Pi = Pi (qj , pj , t).
(2.18) Hamilton H ,
, (2.20),
Qi , Pi t,
H = H ( Qi , Pi , t).
, (2.19)
Qi , ,

 2

 F1 
 = 0.
det 
(2.21)
qi Qj 
F1 , (2.16),
,
(2.19), (2.21).
qi , Pi ,
, 2n . F2 ,
F2 = F2 (qi , Pi , t).

(2.22)

(2.22)
dF2 =

F2
F2
F2
dqi +
dPi +
dt.
qi
Pi
t

(2.23)

51

(2.23) dQi , dPi .

Pi dQi = d( Pi Qi ) Qi dPi
(2.24)
, (2.24), (2.15)
d (G + Pi Qi ) = pi dqi + Qi dPi + (H H) dt.

(2.25)

(2.25) (2.23) ,
F2 = G + Pi Qi ,

pi =

F2
,
qi

Qi =

F2
,
Pi

H = H +

F2
,
t

 2
 F2
det 
qi Pj



 = 0,


(2.26)

(2.27)

, ,
F2 .
( 2.1)
(2.18) (2.26),
, Qi , pi Pi , pi
.
2.1.
, Hamilton

Fk
,
(k = 1, 4).
H = H +
t
,

.

52

F1 = F1 ( qi , Qi , t)

F1
F1
pi =
, Pi =
qi
Qi

 2
 F1
det 
qi Qj



 = 0


F2 = F2 ( qi , Pi , t)

F2
F2
pi =
, Qi =
qi
Pi

 2
 F2
det 
qi Pj



 = 0


F3 = F3 ( pi , Qi , t)

F3
F3
qi =
, Pi =
pi
Qi

 2
 F3
det 
pi Qj



 = 0


F4 = F4 ( pi , Pi , t)

F4
F4
qi =
, Qi =
pi
Pi

 2
 F4
det 
pi Pj



 = 0


2.1: .

.
. 2n 4n
qi , pi , Qi , Pi
, n n , .

2n
.
.
:
)
S = qk P k ,

(2.28)

53

(2.26),
pi =

S
= ik Pk = Pi ,
qi

Qi =

S
= ik qk = qi ,
Pi

Qi = qi ,
Pi = pi ,

(2.29)

.
T = pi Qi .
)
W = qi Qi

Qi = pi ,
Pi = qi ,

(2.30)

(qi , pi )
/2.

,
,
.
U = pi Pi .
)
Q1 = p1 ,
P1 = q1 ,

Q2 = q2 ,
P 2 = p2

(2.31)

54

Hamilton ,
. ,
2.1.
(2.30)

M = q1 Q1 + q2 P2 .
)
Lagrange

.

Qi = gi (qj , t),
gi


 gi 
 = 0.
det 
qj 

(2.32)

(2.33)

(2.32) ,
:
L = L(qi , qi , t) Lagrange, ,
L Q k
L
pi =
=
,
qi
Q k qi

(2.34)

L Lagrange, Qi
Q i . (2.32) ,
gk
gk
qj +
,
Q k =
qj
t

gk
gk
Q k
=
ji =
qi
qj
qi

(2.35)

55

, (2.34),
pi = Pk

gk
,
qi

(2.36)

Pk , Qk ,
L
Pk =
.
Q k
Hamilton
H = Pk Q k L .
H , (2.35) (2.7),
H = Pk

gk
gk
qj + Pk
L,
qj
t

, (2.36),
H = pj qj + Pk

gk
L,
t

gk
.
(2.37)
t
(2.32), (2.36) (2.37)
(2.32).

H = H + Pk

F = gk (qj , t)Pk

(2.38)

Qi =

F
= gk (qj , t)ik = gi (qj , t),
Pi

pi =

F
gk
= Pk
,
qi
qi

H = H +

gk
F
= H + Pk
.
t
t

(2.39)

56

(2.39) (2.32), (2.36) (2.37),

Lagrange ,
, (2.38).

2.3

(2.9),
.
(2.9)
= ( , t),

(2.40)

. ,
= ( ).

(2.41)

(2.41) ,

=
.

(2.42)

Hamilton
(1.49), (2.42)

= H .

(2.43)

Hamilton H ,
(2.41), ,
e , t) = H(
e ( ), t),
H( , t) = H( (
), t) = H(

e
H
H
=
.

(2.44)

57

(2.44) (2.43),

e
= H ,

, (1.51),

e
= [ , ] H ,
(2.45)

Poisson .
(2.41) ,
e
Hamilton, Hamilton H,
,
e
H

= .

(2.46)

, (2.45) (2.46) e
Hamilton H.
e
, H/
(2.45) (2.46) ,
[ , ] = .

(2.47)

(2.47)
(2.41) .

, (2.40).
.
A B
= ( , t)

(2.48)

. (2.48), A, B , ,
e , t),
A = A( , t) = A(
e , t).
B = B( , t) = B(

58

Poisson A, B
e e
A B
e
e
[ A, B ] =
,

(2.49)

A B
.

(2.50)

[ A, B ] =

e
A
A
=
,

e
B
B
=

(2.50)
[ A, B ] =

e B
e
A
=

= [ , ]

e B
e
A

, ,
(2.47)
[ A, B ] =

e B
e
A
eB
e ] .
= [ A,

Poisson ,
, Poisson
. ,
Poisson.
, ,
Poisson .
, ,
(2.40)
Poisson ,
( 2.2).

59

2.4

2.4.1
,

= ( , t),

(2.51)

(2.51)
[ , ] = .

(2.52)

(2.53)

(2.51).
(2.52)
M =

M M = ,

(2.54)

, ,

MMT = .
(2.55)
(2.55), (2.47),

.
(2.47),

.
(2.55) 1,
M1 ,

= (
, t).
(2.55) M1 , 2 = I,
MT = M1 .

(2.56)

60

(2.56) M

MT M = ,
(2.57)
, .
, (2.56)
M1 = MT T .

(2.58)

, .
2.4.2
1. I ,

.
2. M . (2.55) M1 (M1 )T ,

M1 (M1 )T = ,
, .

.
3. M1 , M2 M = M1 M2
.
MMT = M1 M2 MT2 MT1 = M1 MT1 = ,
. , ,
.

61

, Sp(2n).
A

1
1 2
1
Ak ,
exp A = I + A + A + =
1!
2!
k!
k=0

1. (exp A)1 = exp(A),
2. exp(BAB1 ) = B(exp A)B1 ,
3. (exp A)T = exp(AT ),
4. exp A exp B = exp(A + B) AB = BA.
S, S = ST , . M = exp(S) ,

MT M = exp(ST T ) exp(S) =
= exp(ST T ) exp(S) 1 = exp(S) exp(S) = ,
S .
sp(2n)
.
2.4.3
, M ,
det |M| = 1.

(2.59)

, (2.55)
1.
.

62

(polar factorization, .. [26], . 188), M

M = PU,
P , U . M , P, U
. , (2.55),
,
M = MT T ,

MT = (M1 )T = (MT )1 = PT UT ,
M = PT UT T = (PT T )(UT T ).

(2.60)

PT T ,
, UT T .
M ,
P = PT T ,
U = UT T .
,
, P, U .
P , ,
U
. 2n 2n U n n ,
(
)
A B
U=
.
C D
U
UT =

A C
BT DT

)
.

63

(2.58) U,
(
)
T
T
D
B
U1 =
CT AT
U , UT = U1 ,
(
)
A B
U=
.
B A

1
T=
2

1
T1 =
2

TUT1 =

I iI
I iI

I I
iI iI

,
)

A iB
0
0
A + iB

)
.

det |U| = det |TUT1 | = det |A iB| det |A + iB| > 0,

,
det |M| = 1 .
(2.58)

M1 = MT T ,

, ,
. MT

64

M,
M
.
{1 , 2 , . . . , 2n }
M,
M1
{
}
1 1
1
, ,...,
.
1 2
2n
, ,
M
{
}
1
1
1
1 , 2 , . . . , n , n+1 =
, n+2 =
, . . . , 2n =
,
1
2
n
.

2.5

2.2,
(2.13),
dG
(qi pi H) = Q i Pi H +
,
dt

(2.61)

.
= 1, 2.1 .
= 1.
, G ,

65

(2.18) = 1
1 G
pi =
,
qi
Pi =

G
,
Qi

(2.62)

G
,
t
(2.47)
( .. [28], . 5355)
H = H +

[ , ] = .
(2.63)
, = 1,
1/,
1
1
Pi = Pi , Qi = Qi , H = H ,

(2.61)
dG
qi pi H = Q i Pi H +
,
dt

1
G = G

qi , pi Qi , Pi 1. , ,
= 1 = 1.

(2.47),
1. ,

.
Qi = aqi , Pi = bpi , a, b . (2.63)

= ab, Hamilton H = abH.

66

2.1
, 2.1.
2.2 , (2.40) Poisson ,
.
2.3

Q = ln(1 + q cos p),

P = 2(1 +

q cos p) q sin p

F = (eQ 1)2 tan p

.
2.4 Hamilton
1 2
(p + q 2 ),
2
q p = q.


H=

1 2
q cot Q
2
.
;
F =

2.5 a b,

( )
a 2
1
q
2
Q = (p + q ), P = arctan
2
b
p
;
2.6
( )
aq
Q = arctan
(p2 + q 2 ),
p
a , .

aq 2
P =
2

p2
1+ 2 2
aq

)
,

67

2.7
Q1 = q1 , P1 = p1 2p2 ,
Q2 = p2 , P2 = 2q1 q2
.
2.8
Q = q cos s + p sin s,
P = q sin s + p cos s
s
.
2.9
ap
Q=
, P = b q2
q
; .
2.10 f (q),
Q = f (q) cos p ,

P = f (q) sin p

.

1
U = Q2 tan p + ap,
2
a .
2.11

q = 2Q sin P,

p = 2Q cos P

H=

1 2
(p + q 2 ).
2

68

2.12 nn

(
)
A B
M=
,
C D
:
() ABT CDT
() ADT BCT = I.
2.13 2 2
.
2.14
P () =

2n

Ck k ,

(C2n = 1),

k=0

,
Ck = C2nk .
2.15 1 1,
.
2.16
p
Q=
,
cos q

cos2 q
P = sin q +
.
p2

.
2.17 F1 , F2 ,
F1 + F2 .
2.18 F1
, F1 .

69

2.19 1 2 A,
1 + 2 =
0 x1 , x2 ,

xT1 x2 = 0.
2.20 ,

F (q, P ) = q 2 eP .
2.21 , , 1,
.

70

3.1

. 2n

= ( ),
(3.1)

.
( )

( .. [28], . 192).
d
= ( ),
(3.2)
ds
s
. ( ) , (3.2)
= ( , s),
71

(3.3)

72

.

3.1: .

2n
. (3.3),

, , s = 0. ,

,
, , .

. ,
(3.4)

= ( , t),

2n + 1 M 2n R, ( , t), t = .
,
(2n + 1)
2n + 1
d
= ( , t),
dt

t = 1.

(3.5)

73









3.2: (3.7).

(3.1)
, ,
d = ds ,

(3.6)

,
( 3.1).
(3.3)
,
(3.2).
(3.3) .
:
)
1 = 2,

2 = 1 .

(3.7)

74

d 1
= 2,
ds

d 2
= 1 ,
ds

1 = 1 cos s + 2 sin s,
2 = 1 sin s + 2 cos s.

(3.8)
(3.9)

s,
(
1 )2 + (
2 )2 = ( 1 )2 + ( 2 )2 = .

(3.10)

3.2.
1 = 2 = 0 .
)
1 = 1,

2 = 2 ,

(3.11)

d 2
= 2 ,
ds

(3.12)

d 1
= 1,
ds

1 = 1 es ,
2 = 2 es .
(3.13)
1 2 = 1 2 = .

(3.13)
(3.14)

3.3.
1 = 2 = 0.

3.2

75









3.3: (3.11).

(1.50) .
= ( )
(3.15)

,
,
= ( , t)

(3.16)

, , , .
.
, (3.15) P
, , , , Pe,
,
( 3.4). ,

76

3.4: .

P ( ) Pe(
, t),
t.

= ( , s),

(3.17)

s , (3.17) s, , ,
s = 0 ,
( , 0) = .
(3.17) ,
P ( ) Pe(
, s), c, s
( 3.5). (3.17)
.
(3.17) (3.3),

.
.

77

c
c

~
P

~
P

3.5: (3.17).

3.3

,
, .
,
(3.3),
= ( , s).

(3.18)

(3.18) s,
(2.47)
[ , ] =

(3.19)

s. = ( , 0) ,
(3.19) s = 0, ,
s,
d
[ , ] = 0.
(3.20)
ds
s
(3.20) ,
[
] [
]

, + ,
=0
ds
ds

78

, (3.2), Poisson,
s = 0,
[ , ] = [ , ].
(3.21)
(3.21) ,
,
. (3.21),
(1.52),

=
.

(3.22)

(3.22) ,

=
,

= ,

= .

, 1
,

=
,
(3.23)

= .
(3.23)
, (3.23)
, ,
G,
= =

G
.

(3.24)

79

(3.24)
=

G
,

, ,
=

G
.

(3.25)

, ,
,
G (3.25).
G
, G .
G ,

. , (1.52), (3.25)

= [ , G ].

(3.26)

d
G
= .
ds

(3.27)

(3.27)
s.
.
G , (1.54),
G = [ , G] =

G
,

, (3.25),
G =

(3.28)

80

(3.28) G

G, .
,
F ,
G F = 0 .

G
= G G = [ G, G ] = 0,

.
F ,
,
=

F
.

(3.29)

Poisson F G
[ F, G ] =

F G
F
G
=

F G , [ F, G ] = 0,

F
= 0,

G
= 0.

(3.30)

,

,
.

81

:
) (3.7),
1 = 2,

2 = 1

(3.21), . G
(3.24),
G
= 2 = 1 ,
1

G
= 1 = 2,
2

]
1[ 1 2
( ) + ( 2 )2 .
2

(3.9), G
,
G=

( 1 )2 + ( 2 )2 = .
3.2.
) (3.11) (3.21),

G = 1 2 .

3.4

Hamilton

, , ,
, (3.25).
,
Hamilton H,
.

82

H ,
Hamilton H, Hamilton

H
H = .
(3.31)

H

H
d
= ,
dt

(3.32)

t. (3.32) Hamilton

= ( , t),
(3.33)
,
H . ,
H , Hamilton , .

H ,
. F ,

F
H = H F = [ F, H ]

F , F/t
( .. [22], . 5152).
F , Hamilton
.
,
3.1 H
(3.5).

83









3.6: .

:
) m = 1
Hamilton
H=

1 2
p + ax,
2 x

a . 1 = x 2 = px , H
H=

1 2 2
( ) + a 1 .
2

Hamilton
H 1 = 2,

H 2 = a

d 2
d 1
= 2,
= a,
dt
dt

84









3.7: .

a
1 = t2 + 2 t + 1 ,
2 = at + 2 .
2
t ,

1 +

1 2 2
(
) = d = .,
2a

1
d = 1 + 2a
( 2 )2 .
3.6. , a = 0, .

) Hamilton
H=

1 2 1 2 2
p = ( )
2
2

.
Hamilton
H 1 = 2,

H 2 = 0.

85

d 1
d 2
2
= ,
= 0,
dt
dt

1 = 2 t + 1 ,
2 = 2 .
3.7 2 =
. 2 = 0 H , .
( .. [22], . 92).

3.5

Hamilton H, H
,

H
= 0.
(3.34)

I( ) ,

I
= .
(3.35)

(3.34) (3.35)
[ H, I ] = 0,

(3.36)

, I
dI
= 0,
dt
I .

86

.
:
) Jacobi. Hamilton H ,
H.
H ,
H/t = 0, ,
H

H
= [H, H ] = 0.

H .
) .
qk (k n)
Hamilton H.
= + ds ,

{
=

0 = k,
1, = k.

(3.37)

(3.21),
. S,
=

S
= [ , S ].

(3.38)

87

(q, p), (3.38)

i = [ qi , S ] =
i+n

S
,
pi

S
= [ pi , S ] =
.
qi

(3.39)

, (3.37), (3.39)
S
= ik ,
pi
S
= 0,
qi
S = pk .


.
, (3.36)
[H, pk ] = 0,

(3.40)

pk . (3.40),
(1.40),
H
= 0,
qk


.
.
) Hamilton
m
(
)
2
1
p
H=
p2r + 2 + V (r).
2m
r

88

1 = r, 2 = , 3 = pr , 4 = p ,

{
0 = 2,
=
1, = 2
,

H
H
2 H
=

=
= 0.

2

S = 4 = p .

3.6

Hamilton
=

(3.41)

n
= 0 = .

(3.42)

(3.42)
Hamilton,
)
(
H

= 0,
= 0 = H (0 ) =
(3.43)
0
0
0 . (3.43) ,
,
)
(
H
= 0,
(3.44)
0

89

2n
(3.44).
,
(t) = 0 + (t),
(3.45)
,
. (3.45) (3.41). (3.45) (3.41)
, ,
( 2
)

H
=
.
(3.46)

0
(3.46)
(3.42),
= A.

(3.47)

A = S,
(3.48)
S

( 2
)
H
S =
.
(3.49)
0
2.4.2, A
. ,
( 2 H/ )0 (3.42), S, A, .
,
(3.46) .
Z(t) = exp(At),

(3.50)

(3.46),
Z(0) = I

(3.51)

90

(
3.9)
(t) = Z(t)(0).
(3.52)
(3.42)
A
. , Hamilton
H ( ) =

1
S ,
2

(3.53)

(3.52)
t. A , Z(t) = exp(St),
2.4.2, .

A. A
det |A I| = 0

(3.54)

(3.48)
det |A I| = det |S I| = det |(S I)T | =
= det |ST T I| = det | S I| =
= (1)2n det |S + I| = det |(S + I)1 | =
= det |S + I| = det |A + I| .
A, (3.54),

det |A + I| = 0,
A, ,
.
, ,
, ( ) .
(3.42) A

91

. . A ,
A
1 = + i
,
2 = 1 = i,
3 = 1 = i,
4 = 1 = + i.
.
, A
, . , ,

1 = i

2 = 1 = 1 = i

1 = 1 =

2 = 1 = 2 =

.
,
.
:
m = 1
V (x). Hamilton
H=

1 2
1
p + V (x) = ( 2 )2 + V ( 1 )
2
2

1 = x, 2 = p.
Hamilton
H1 =

H
= 2 = p,
2

92

H
dV
dV
=

,
1
d 1
dx
(x0 , p0 )
( )
dV
p0 = 0,
(3.55)
= 0.
dx 0
H2 =

(3.53)
H ( 1 , 2 ) =

1
1
S = [( 2 )2 + k( 1 )2 ],
2
2

k = (d2 V /dx2 )0 . S
(
)
k 0
S=
0 1

(3.56)

(3.47)
= A,

0 1
k 0

A = S =
A

1 = k,

)
.

2 = k,

k = 2 > 0,
1 = i,

2 = i

1 2
sin t,
0
2 = 01 sin t + 02 cos t.
1 = 01 cos t +

(3.57)

93





3.8: .

k = 2 < 0, A
1 = ,

2 = ,

1 2
sinh t,
0
2 = 01 sinh t + 02 cosh t.
1 = 01 cosh t +

(3.58)

, 1 , 2 ,
.
t (3.57) (3.58) ,

2 ( 1 )2 + ( 2 )2 = .
k > 0,
(3.59)

2 ( 1 )2 ( 2 )2 = .

k < 0,

(3.60)

94

2






3.9: .

(3.59) 3.8 (3.60)

1 = 2 3.9.
k = (d2 V /dx2 )0 > 0,
,

,
k = (d2 V /dx2 )0 < 0,
x = x0 ,
.

k = (d2 V /dx2 )0 = 0


.

95

3.7

Liouville

,

Hamilton H ,
.
Hamilton ,
Hamilton
,
, H = 0, . ,
(2n+1)
M 2n R, .

.
A , t0 , (ensemble) .

Hamilton,
.

,
, ,

. ,

,
, 2n ,
.
.

. ,
t0
, ,
,

96

t1

~
A
t0

A
3.10: A .

, ,
. , ,
.
A [t0 , t1 ]
3.10.

Hamilton ,
= ( , t0 , t).

(3.61)

Hamilton H
, (3.61)
.
A
t0 ,

d 1 d 2 . . . d 2n .

=
A

e A,
e

t1 ,

e=

d
1 d
2 . . . d
2n ,
(3.62)
e
A

(3.61) t = t1 . (3.62)

97

e=

det |M| d 1 d 2 . . . d 2n ,

(3.63)

det |M| (3.61)

t = t1 . (3.61)
t, M , (2.59),
. , (3.63)
e = ,

.
Liouville
. Liouville
. , ,
,
.
= ( a , t) > 0,

d
1 d
2 . . . d
2n = 1,
M 2n

d
1 d
2 . . . d
2n
A

A
. F ( ) ,

1 d
2 . . . d
2n
F ( ) d
A
F A =
1 d
2 . . . d
2n
A d
F A.
A(t) (3.61), t

98

,
d
dt

d
1 d
2 . . . d
2n = 0,
A(t)

( ..
[22], . 114)
d
H
+
(3.64)
= 0.
dt

H
2
H
H
=
0,

2
H
,
,

d
= 0.
dt

(3.65)

(3.65)
Liouville .
(3.65)

+ [ , H ] = 0,
t

i

= L,
t

(3.66)

L = i [ , H ] = iH
Liouville
.

99

3.11: G.

3.8

Poincar
e

, , ,
.. H, D . ,
Liouville,
. ,
,

. ,
.

2n
M
Hamilton H .

:
, G,
0, , 2 . . . , k, . . .
P0 , P1 , P2 , . . . , Pk , . . .

( 3.11).
Pk
0,
P1 = GP

100

U2

U1

U0
Us

3.12: Uk .

1 = G2 P0 ,
P2 = GP

k1 = = Gk P0 ,
Pk = GP

, U0
Gk k G.
D
0,
U1 = GU
1 = G2 U0 ,
U2 = GU

k1 = = Gk U0 ,
Uk = GU

Uk D,
, Liouville, .
Poincare :
D

101

U0 D D. ,
P0 U0 , ,
, T = s s P0 ,
Ps , U0 ,
Ps = Gs P0 U0 .
, Uk D
. Uk
, D .
k (k < ) U0
k ,
U Uk = G U0 Gk U0 = .

(3.67)

k Uk U0 , k
U Uk = Gk U0 . k
(3.67) U0 Uk .
s = k, ( 3.12)
Us U0 = Gs U0 U0 = .
Ps
P0 U0 Gs ,
Ps = Gs P0

P0 U0 ,

Ps U0 .

, U0 , ,
T = s ,
.
, Q0 U0
U0 . ,
V0 U0 ,
. ,
,

102

t=0

0<t<T

t=T

3.13: Zermelo.

G , V0 V0 , U0 ,
U0 . , G
, ,
D. D
, Q0 ,
U0
, .
Zermelo
. ..
, ,
T ,
( 3.13). T , , 1 cm, ,
10 exp(1014 ) sec. ,
105 cm, 1011 sec.

103

3.1 , F G
,
= [ F, G ].
3.2 ,
F G .
[ F, G ] = ,
= .
3.3 I1 , I2

(1)
, (2)
. = (I1 , I2 )
, I1 , I2 ,

(1)
, (2)
I1 = ., I2 = .
3.4 , F G ,

.
3.5 ,
F G , .
3.6 I( ) = . .
.
3.7 , / .
3.8
1 = 2 = 2(p1 + p2 ),
3 = 4 = 3(q1 + q2 )2

104

H=

) 3
1 ( 2
1
p1 + p22 + q12 q2 + q23
2
2
2

.
3.9 ,

Z(t) = exp(At)

= A,

Z = AZ,

(t) = Z(t) (0).
3.10

() V (x) = x3 32 x2 ,
() V (x, y) = 12 x2 + 4y 2 + 21 x2 y,
() V (x, y) = xy x3 ,
() V (x, y) = x3 + y 3 + xy,
() V (x, y) = x3 y 3 + xy.
3.11 Hamilton (3.53) (3.46).
3.12 ,
F G .
=

, = {, }.

105

[F, G ]

{, {, }} + {, {, }} + {, {, }} 0,
, , . , ,
,
.
3.13 A
A = AT ,
.
,
.
3.14 ,
.
3.15 0

= A,
A = S .
= ( ).

= M, M
,

.
= A
A
e ,
e = S
e S
e .

S;
3.16 Hill
Hamilton
1
1
1
H = (p2 + p2 ) + (p p ) + ( 2 2 2 ),
2

2
, =
( 2 + 2 )1/2 = 0. .

106

3.17 A = S
det |S + | = 0.

 4

Hamilton
4.1

HamiltonJacobi

HamiltonJacobi
, Hamilton
.
, Hamilton
.
n
Hamilton H

S = S( qi , Pi , t ).

(4.1)

S
Qi = Qi ( qj , pj , t ),
Pi = Pi ( qj , pj , t ),
107

(4.2)

108

S
= pi ( qj , Pj , t ),
qi

pi =

S
Qi =
= Qi ( qj , Pj , t ),
Pi

(4.3)

Hamilton
H = H +

S
.
t

(4.4)

S, H c,
Hamilton
Q i = 0 ,

Pi = 0

,
Qi = i , Pi = i ,
(4.5)
i , i 2n
.
c,
Hamilton H , , , . S1
H = c, S2 = S1 ct,
(4.4), H = 0.
(4.1), (4.5),
S = S( qi , i , t ),

(4.6)

(4.3)
pi =

S
= pi ( qj , j , t ),
qi

S
i =
= i ( qj , j , t ).
i

(4.7)

109

(4.7)
(4.4) H = 0,
S
(
)
S
S
H qi ,
(4.8)
,t +
= 0.
qi
t
(4.8) HamiltonJacobi.
, n + 1 , qi t. n + 1
, ,
, S (4.8).
n i ,

S = S( qi , i , t ).

(4.9)

HamiltonJacobi, (4.9),
(4.6). (4.8) ,
(4.5),
.
HamiltonJacobi Hamilton.
(4.7).


 2
 S 
 = 0,
det 
(4.10)
qi j 
n (4.7) qi

qi = qi (j , j , t ),
(4.11)
(4.7),
pi = pi (j , j , t ).

(4.12)

(4.11) (4.12) qi , pi
2n i , i ,

110

Hamilton .
Hamilton
, ,
.

4.2

HamiltonJacobi

,
HamiltonJacobi, S.
,
H(qi , pi ) = h = .

(4.13)

Hamilton
,
S = S(qi , i , t) = 1 t + W (qi , i ),
(4.14)
i n , 1
h (4.13),
1 = h,
HamiltonJacobi
(
)
W
H qi ,
= h.
qi

(4.15)

(4.16)

(4.16) n , , (4.16)
W .
W n 1 ,
2 , . . . , n , 1 = h.
W = W (qi , i )
Hamilton.

111

,
Hamilton
W , i ,
pi =

W
= pi ( qj , j ),
qi

(4.17)

W
= Qi ( qj , j ).
Qi =
i

Hamilton (4.17),
(
)
W
= h = 1 ,
H = H(qi , pi ) = H qi ,
(4.18)
qi
Hamilton
H

Qi =
,
i

H
Pi =
.
Qi

(4.19)

H = 1 , (4.19)
H

Qj =
= 0,
j

= 1,
Q1 =
1

(j = 2, n),
(4.20)

H
P i =
= 0,
Qi

(i = 1, n),

(4.20)
Q1 = t 1 = t t0 , Qj = j = .,
Pi = i = .,

(j = 2, n),
(i = 1, n).

(4.21)

1 = t0 .
(4.21) 1 = h
H, Q1 . .

112

(4.17)
t t0 =

W
= f1 ( qj , j ),
1

W
k =
= fk ( qj , j ),
k
,

 2
 W
det 
qi j

(4.22)
(k = 2, n).



 = 0,


(4.22) qi n
qi = qi (j , j , t )

(4.23)

, qi (4.17),

pi = pi (j , j , t ).
(4.24)
(4.23) (4.24) qi , pi
2n , Hamilton. , (4.22),
(t t0 ),
, .
: HamiltonJacobi, (4.8) (4.16),
, ,
, ,
S W qi , .

. ,
Pi ,
Qi
.

113

:
) : Hamilton
H=

)
1 ( 2
p + q2 .
2

H ,
HamiltonJacobi
[(
]
)2
1
dW
+ q 2 = h = 1 ,
(4.25)
2
dq
h .
(4.25)

W =
2h q 2 dq
(4.26)

p=

W
= 2h q 2 ,
qi

(
)
W
q
t t0 =
= arcsin
.
h
2h

(4.27)

(4.27) q,

q = 2h sin(t t0 ),
.
p q
(4.27)

p = 2h cos(t t0 ).
t0 .

114

) : Hamilton
(
)
2
1
p
H=
(4.28)
p2r + 2 + V (r).
2m
r
, ,
Hamilton W , ,

W = W1 (r, 1 , 2 ) + 2 ,
1 = h 2 ,
HamiltonJacobi,
[(
]
)2
2
1
dW1 (r)

+ 22 + V (r) = 1 ,
(4.29)
2m
dr
r

{
}1/2
dW1
22
= 2m [1 V (r)] 2
dr
r
Hamilton
}1/2
{
22
W =
2m [1 V (r)] 2
dr + 2 .
r

(4.30)

W , (4.21)
}1/2
{
W
22
t t0 =
dr,
= m
2m [1 V (r)] 2
1
r
(4.31)
{
}

2 1/2
W
2

=
2 =
2m [1 V (r)] 22
dr + .
2
2
r
r
(4.31)
r = r(t), (4.31) r = r().

115

) : Hamilton
,
H=

)
1 ( 2
px + p2z + gz.
2

H x, Hamilton
W = 2 x + (z, 1 , 2 ),
1 = h . HamiltonJacobi

[
( )2 ]
d
1
22 +
+ gz = a1 .
2
dz
,

[
]1/2
=
(21 22 ) 2gz
dz.
W

W
dz
t t0 =
=
,
1
(21 22 ) 2gz

W
dz
= x 2
,
2 =
2
(21 22 ) 2gz

x = 2 + 2 (t t0 ),
1
g
(21 22 ) (t t0 )2 .
z=
2g
2
2 , 2 t = t0
1 = h ,
2 = x(t0 ),

2 = x(t
0 ).

116

4.3

HamiltonJacobi, ,
.
,
, , ,
V ( q1 , q2 , . . . , qn ) = V1 (q1 ) + V2 (q2 ) + . . . + Vn (qn ).
Hamilton
[

] [
]
[
]
1 2
1 2
1 2
H=
p + V1 (q1 ) +
p + V2 (q2 ) + . . . +
p + Vn (qn )
2 1
2 2
2 n
HamiltonJacobi,
W (qi , i ) = W1 (q1 , i ) + W2 (q2 , i ) + + Wn (qn , i ),

[ (
] [ (
]
)2
)2
1 dW1
1 dW2
+ V1 (q1 ) +
+ V2 (q2 ) +
2 dq1
2 dq2
]
[ (
)2
1 dWn
+ Vn (qn ) = 1 .
+ +
2 dqn

(4.32)

(4.32)

117

, ,
[ (
]
)2
n

1 dW1
+ V1 (q1 ) = 1
j ,
2 dq1
j=2
[ (
]
)2
1 dW2
+ V2 (q2 ) = 2 ,
(4.33)
2 dq2
[
]
(
)2
1 dWn
+ Vn (qn ) = n .
2 dqn
,
, W .
,
Hamilton, HamiltonJacobi . , Hamilton (4.28),
,
HamiltonJacobi
[(
)2
(
)2 ]
1
W (r, , i )
1 W (r, , i )
+ 2
+ V (r) = 1 ,
2m
r
r

[
(
(
)2
)2 ]
W
W
= r2 2m [a1 V (r)]
,

r
,
W (r, , i ) = W1 (r, i ) + W2 (, i ),

dW2
= 2 ,
d
)2
(
2
dW1
= 2m [a1 V (r)] 22 ,
dr
r

118

.
HamiltonJacobi
,
. , , , ,
. ,
.. ,
HamiltonJacobi .
:
) m = 1 ,
V (x, y) = k 2 xy, k .
Hamilton
1
H = (p2x + p2y ) + k 2 xy,
2
px = x,
py = y.

1
1
v = (x y), u = (x + y),
(4.34)
2
2
/4,
Hamilton
1
1
H = (p2u + k 2 u2 ) + (p2v k 2 v 2 ),
(4.35)
2
2
pv = v,
pu = u.
Hamilton
, Hamilton
W ,
W = W1 ( u, 1 , 2 ) + W2 ( v, 1 , 2 )
HamiltonJacobi
(
)2
dW1
+ k 2 u2 = 2(1 2 ),
du
)2
(
dW2
k 2 v 2 = 22 ,
dv

119

1 = h .
,
Hamilton

[
]
1/2
du + (22 + k 2 v 2 )1/2 dv.
W =
2(1 2 ) k 2 u2
(4.22),

[
]1/2
W
t t0 =
=
2(1 2 ) k 2 u2
du,
1

W
2 =
= (t t0 ) + (22 + k 2 v 2 )1/2 dv.
2
, u, v,

2(1 2 )
u=
sin k(t t0 ),
k

22
v=
sinh k(t t0 + 2 ).
k
x, y, , ,
1
x = (u + v),
2

1
y = (u v).
2

(4.36)

) m = 1 ,
( 4.6)
V (r, ) = f (r) +

1
g(),
r2

f g . Hamilton

[
]
[
]
1 2
1 1 2
p + f (r) + 2
p + g() .
H=
2 r
r 2

120

Hamilton
W (r, , i ) = W1 (r, i ) + W2 (, i ),
HamiltonJacobi
(
)2
1 dW2
+ g() = 22 ,
2
d
(
)2
1 dW1
22
+ f (r) + 2 = 1 ,
2
dr
r
.

4.4

n ,
Hamilton
H = H( qi , pi ),
(4.37)
n , ,

Ii = Ii ( qj , pj ) = .
(i = 1, n),
(4.38)
,
[ Ii , I j ] = 0

i, j.

(4.39)

Ii
(
)
Ii
rank
(4.40)
= n,
( qj , pj )
, ,
, ,
n Ii
.
(4.40) n 2n
n n .

121

,


 Ii 
 = 0.
det 
(4.41)
pj 
, , .
(4.38) , n

pi = fi ( qj , Ij ).
(4.42)

,
S = S( qj , Ij ),
. S
, (4.42),
pi =

S
= fi ( qj , Ij ).
qj

(4.43)

, S
fi
fj
=
,
(4.44)
qj
qi
(4.43) ,
, , fi
qi S,
.
Ii ( qj , pj ), (4.38),
pj fj (4.42),

Ii ( qj , fj ( qk , Ik )) Ii = 0.

(4.45)

(4.41) qi
Ii 2n ,
,




 (qi , Ii ) 
 Ii 
 = det 
 = 0.
det 


(qj , pj )
pj 

122

(4.45) 2n
. qj ,
Ii
Ii fs
+
= 0.
qj ps qj

(4.46)

(4.46) Ik /pj ,
Ik Ii Ik Ii fs
+
=0
pj qj pj ps qj

(4.47)

(4.47), i k k
i,
Ii Ik fs
Ii Ik
+
= 0.
(4.48)
pj qj pj ps qj
(4.48) (4.47), ,
,
Ik Ii fs Ii Ik fs

= 0.
pj ps qj pj ps qj

(4.49)

j s s j
(4.49)
(
)
Ii Ik fs fj

= 0.
(4.50)
ps pj qj
qs
(4.50), ,
JJT = 0,

(4.51)

J (4.38), 0

fi fj

.
ij =
qj
qi
, (4.41), J , (4.51)
= 0, (4.44) .

dS = fi ( qj , Ij ) dqi

123

, , S

S = fi ( qj , Ij ) dqi .
(4.52)

(4.43)
Qi =

S
= Qi ( qj , Ij ).
Ii

(4.53)

H Hamilton (4.37), , Hamilton

H

Qi =
,
Ii
H
.
Ii =
Qi

(4.54)

Ii , (4.54)
H
= 0,
Qi
.
Hamilton H Ij ,

H = H (Ij ),
(4.54),
i =

H
= i (Ij )
Ii

,
. , (4.54)
Qi = i (Ij ) t + i ,

(4.55)

124

i n .
qi , pi ,
(4.53) qi ,
 2 


 pi 
 S 
 = det 
 = 0.
det 


Ij qi
Ij 
,


 pi 


 = det J1  = 0
det 
Ij 
(4.41). (4.53)
qi = qi (Ij , j , t)

(4.56)

, (4.42),
pi = pi (Ij , j , t).

(4.57)

(4.56) (4.57) qi , pi
2n Ii , i ,
.
(4.41) Ii
pj , (4.40), (4.38)
n qj , pj . ,
n
S, , ,
. ,
.
n
, , Hamilton . Liouville .
( .. [39], . 516-520).
. ,

125

, . ,
, .
( .. [19]),
Hamilton.

.
,
2n 2n1 ,
. , n , n . .

V = k/r, ,
, 3 5 ( , ,
LaplaceRungeLenz).
, n
, n .
n ,
n Ii , =
(qi , pi ) ,
Ii ,
[ , Ii ] = 0

i = 1, n.

(4.58)

, , Qi , Ii , , = (Qi , Ii ). Poisson
, (4.58)

=0
Qi

i = 1, n.

Qi ,

126

= (Ii )
Ii .
:
) : ,
Hamilton, ,
.
) : Hamilton,
xi ,
H=

1
(p21 + p22 + p23 ) + V (x21 + x22 + x23 ),
2m

pi = mx i . H,

1 = x2 p3 x3 p2 ,
2 = x3 p1 x1 p3 ,
3 = x1 p2 x2 p1 ,
( 1.9).
, i ,
, .. 2 = 21 + 22 + 23 1 , ,
H, ,
.
) : P
m = 1 , (1, 0, 0) Ox1 x2 x3 (
4.1). Hamilton
H=

1 2
a1 a2
(p1 + p22 + p23 )
,
2
r1 r2

127

x2

a1

a2

x1

x3
4.1: .

a1 , a2

r1 = (x1 + 1)2 + x22 + x23 ,

r2 = (x1 1)2 + x22 + x23

P .
, ,

x1 = cosh cos ,
x2 = sinh sin cos ,
x3 = sinh sin sin .

p = (cosh2 cos2 ),
p = (cosh2 cos2 ),
p = sinh2 sin2 ,

[
)
]
(
1
1
1
p2 + p2 +
p2 cosh cos ,
H=
2 +
2
g(, )
sinh sin

128

g(, ) = cosh2 cos2 ,

= 2(a1 + a2 ) = 2(a2 a1 ).
,
p .

p2
2
2
I = p +
2 cos + 2H cos
sin
, p ,
. H, p , I
, .

4.5

Lax

, , .
L A,

L = AL LA.

(4.59)

L A Lax.
L t + t,

L(t + t) = L(t) + L(t)t

+ O(t2 ) =
= L(t) + (AL LA)t + O(t2 ),

L(t + t) = (I + tA)L(t)(I tA) + O(t2 ).

B = I + tA,

B1 = I tA + O(t2 )

(4.60)

129

(4.60)
L(t + t) = BL(t)B1 + O(t2 )

lim

t0

}
1 {
L(t + t) BL(t)B1 = 0.
t

(4.61)

L(t) BL(t)B1 , . (t)

L(t), (4.61)
d
(t + t) (t)
= lim
= 0,
t0
dt
t
L
(4.59).
:
Toda :

( 4.2). Hamilton
H=

1 2
(p1 + p22 + p23 ) + exp(1 2 ) + exp(2 3 ) + exp(3 1 ).
2

b1 a1 a3

L = a1 b2 a2
a3 a2 b3

(4.59)

0 a1 a3

A = a1
0 a2 ,
a3 a2
0

130

p1
31

32
p2
33

p3
4.2: Toda.

bi = pi /2

(
)
1
1 2
a1 = exp
,
2
2
(
)
1
2 3
a2 = exp
,
2
2
(
)
3 1
1
a3 = exp
,
2
2

L .
L
3 L1 2 + L2 L3 = 0,

L1 = trace L = L11 + L22 + L33 = 1 + 2 + 3 ,


 
L L  L L
 11 12   22 23
L2 = 1 2 + 2 3 + 3 1 = 
+
 L21 L22   L32 L33

L3 = 1 2 3 = det | L|

 
 L L
  11 13
+
  L31 L33

131

L, ,
L, .
L1 , L2 , L3 .
1
L1 = b1 + b2 + b3 = (p1 + p2 + p3 ),
2
P = p1 + p2 + p3 ,
L2 = b1 b2 + b2 b3 + b3 b1 (a21 + a22 + a23 ) =
= 14 [p1 p2 + p2 p3 + p3 p1
exp(1 2 ) exp(2 3 ) exp(3 1 )] =
= 18 (P 2 2H),
L2 H P .
, I
I = p1 p2 p3 + p1 exp(2 3 ) + p2 exp(3 1 ) + p3 exp(1 2 ),
L3
L3 = b1 b2 b3 b1 a22 b2 a23 b3 a21 + 2a1 a2 a3 =
= 18 (I + 2),
I .
P, H, I ,
.

, .
, .
, ,
, .

132

4.1 Hamilton S
Lagrange L

S = Ldt + .
4.2 ,

V (x, y) = x(x + 1) + y(y 1) + 2xy.
4.3 A, B ,
[ A, B ] = 0. A, B ,
F = F (A, B) G = G(A, B), [ F, G ] = 0.
4.4
Hamilton I .
4.5 V (x, y)
, ,
= A(x, y)px + B(x, y)py
A, B.
4.6 m = 1 ,

1
V (r, ) = f (r) + 2 g(),
r
f g .
() ,
(), = p2 + ()

() H ,
.

133

()
r = .
() f (r) = k/r g() = d cos ,
, ,
h = H
c = .
4.7 A
[ [ A, H ], H ] = kH,
k ,
1
I = [ A, H ]2 kAH
2
H.
4.8

1
V (r) = kr2 ,
2
k , .
4.9 1 , 2 , 3
, Poisson
[ i , j ] = ij (k )
k , i = j.
,

[ k , i ] = 0 i,
k
i I1 (i ), I2 (i ) .
4.10 Hamilton
1 2
1
(px + p2y ) + (x4 + y 4 ) + x2 y 2
2
4
= 0, 1/2 3/2.
H=

134

5.1

n
Hamilton
H = H( qi , pi ) = H( ),
(5.1)
, , n , Ii
,
[ Ii , Ij ] = 0
i, j.
(5.2)
, .
,
,
,
,
,
.
Ii Hamilton (5.1),
135

136

n
Ii = Ii ( ) = ci ,

(5.3)

ci n ,
. n (5.3) ,
ci , n
M n 2n ,
,
, (5.3)
< t < ,
M n . (5.3) n
n
, ci .
Ii
,
Ii

= ,
(i)
(5.4)

, Ii ,
(5.2)
[ Ii , Ij ] =

Ii Ij
= 0,

Ii
=0
i, j .
(5.5)

Ii ,

2n, , , n Ii / .
, , (5.4)
. Ii M n (5.3). ,

(5.5) n (j)
n
M . , (

(j)

137

5.1: T 2 1 , 2 .

). ,
n , n , , n .
M n , ,
n T n (
.. [6], . 102; [4], . 271).
T 2 = S 1 S 1
,
. T 2
1 2 , , ,
, ,

( 5.1).
n T n
T n = |S 1 S 1 {z
. . . S}1
n
n , T n , n
i .
n ,
ci ,
.
,

138

5.2: I = c.

. ,
, I1 = H I2 = I
. ,
,

H = h, h.
,
I = c = ., ,
c, 5.2
P ,
2n Ii , Qi
4.4. n Ii ,
P . ,
Qi . n i = i (Ij )
Ii n
, i
, Ii ,
. i ,
, 4.4,
Qi . i , Qi
T n . , ,

139

,
, , Qi ,
Qi0 ,
modulo . .. modulo 2. :
,
,

; .
(5.3)
, ,
,
Rk T nk , k .
, m > n ,
s = 2n m < n, ,
, n ,
n .

5.2

Hamilton
H = H(q, p) = h,
(5.6)
h D D R
H. (5.6)
. h
( ), . , H ,
(5.6)

140





T




5.3: () () .

. .
, Hamilton
H,
.
,
q.
, T , q p ,
q (t + T ) = q (t),

p (t + T ) = p (t).

,
(q, p) ( 5.3)
(libration). , , ,
, (5.6)
( 1.2).
Hamilton q q0 ,
H(q + q0 , p) = H(q, p).
q , q0 2.
q (q + q0 , p)
(q, p). , T ,
p ,

141

q
5.4: .

q q0 ,
q (t + T ) = q (t) + q0 ,

p (t + T ) = p (t).

(q, p) q , q0 ( 5.3),
, 5.4.
(rotation).
, .. , L
1.5 , R .
S, .
,
Hamilton.
h
( ),
(5.6) ,
p = p (q, h).

I
1
p (q, h) dq,
J=
2

(5.7)
(5.8)

142

, .
(5.8) J
h,
J = J(h),
(5.9)
, .
(5.9),
h = h(J),

(5.10)

(5.7),
p = p (q, J).

W = W (q, J) =

(5.11)

p (q, J) dq,

(5.12)

, J .
J

p (q, J) dq
w=
=
(5.13)
J
J
,

W
p=
= p (q, J),
(5.14)
q
(5.11).
Hamilton, , (5.10), ,
H = H(J),

H
= 0,
J =
w
H
= (J).
w =
J

(5.15)

(5.16)

143

J = .
,
, ,
w = (J) t + ,

(5.17)

w(0). (5.17),
, (4.55).
, w .
w w
,
I
w
w =
dq,
q
, (5.13),

2W
w =
dq.
(5.18)
Jq
J , (5.18)

W
w =
dq
J
q
, (5.14) (5.8),
I

w =
p (q, h) dq = 2.
(5.19)
J
,
, w 2,
.
T , w
(5.17),
w = w(t + T ) w(t) = T.

(5.20)

(5.19) (5.20),
,

144

5.5: () () .

2
.
T

,
.
,
, .
,
I
p (q, h) dq
(5.8),
,
2J.

2J ( 5.5).

X = 2J sin w,
Y = 2J cos w.
X, Y ,
[X, Y ] = 1. , J, w

J = . ( 5.5).

145

, , = (J),
. H
J , , ,
J .
d/dJ = 0 .

, ,
h .
, .
,
.

, ,
. ,

, , ( 1.5).
:
) : Hamilton ,
(
)
1 p2
2
H=
+ kq = h.
2 m

(5.21)

,
[
]1/2
p = m (2h kq 2 )

I
1
J=
p dq.
2

(5.22)

(5.21) 2hm 2h/k.

(5.22) ,

146

J =h

m
,
k

k
.
m
H J.

dH
k
=
=
,
dJ
m
,
.
W

[
]1/2
2
W = p dq =
dq
2 kmJ kmq
h = H(J) = J

(5.13)
[
]
(km)1/4 q

w = arcsin
.
2J
q, p J, w

2J
q=
sin w,
(km)1/4

p = (km)1/4 2J cos w.

w = t + , .
) : Hamilton
p2
= h,
H=
2I

147

5.6: .

I .
,

p = 2hI

1
J =
2

2hI d = 2hI.

J p .
, h,
h = H(J) =

J2
,
2I

H J,
J
dH
= =
(J) =
dJ
I

2h
.
I

w
. J = .

148



S



















5.7: Morse.

( 5.6).
J = 0
.
) Morse : m = 1

V (x) = (ex 1)2 .
x
. Hamilton

1
H = p2 + (ex 1)2 = h,
2
p = x.
,
h, 5.7. h = 0
O, 0 < h < 1
O.

149

h = 1 S,
x , , h > 1,
.
0 < h < 1.
(5.8),

J = 2 2(1 h).

1
h = H(J) = 2 J J 2 ,
2

dH
(J) =
= 2 J = 2(1 h).
dJ
,
( ).

1
w = arccos [1 (1 h) ex ] .
h
) : , (5.8)
.
Hamilton
H=

1 2
p 2 cos = h.
2

(1.32) m2 = 1 = g/.
, 2 < h < 2 ,

8
[E(k) (1 k)K(k)] ,
J=

(
)
1
h
k(h) =
1+ 2
2

150

K(k), E(k)
( ), w
[
(
)]

2K(k)
k sn
= 2 arcsin
w, k ,

sn(u, k) Jacobi.
.
,
, [16], . 129211.

5.3

5.1,
n n
n ,
n
,
Ii = Ii (qk , pk ) = ci = .

(5.23)

(5.23) ,
pj = pj (Ik , qk ).

(5.24)

T n n
i . n
I
1
Ji =
pj (Ik , qk ) dqj ,
(5.25)
2 i
j. . (5.25)
Ji = Ji (Ik ),

(5.26)

151

n
Ii , .
(5.26), Ii
,
Ii = Ii (Jk ).
(5.27)
(5.27) (5.24),

W = W (qk , Jk ) = pj (Jk , qk ) dqj ,

(5.28)
j.
Ji , 4.4
, , W .

wi =

W
= wi (Jk , qk ).
Ji

(5.29)

Hamilton, ,
,
H = H(Jk ),

H
Ji =
= 0,
wi
w i =

H
= i (Jk ),
Ji

H
Ji
,
i =

J i = bi ,
wi = i t + i ,

(5.30)

(5.31)

152

bi , i . i .
,

. , i (Jk )
, ,
Jk .




 2
 i 
 H 
 = det 

det 
(5.32)
 Ji Jk  = 0.
Jk 
(5.32)
H
.
wk
i
n
bi . (5.29), wi qk
Jk . ,

I
wk
i wk =
dqj ,
i qj
j. (5.29),

I
I
W

Ji
i wk =
dqj =
pj dqj = 2
,
Jk i qj
Jk i
Jk

i wk = 2ik .

(5.33)

,
i , wi
2, ,
wi . ,
n = 2, 5.8.

153

5.8: w1 , w2 T 2 .

, n bi , .
i = wi (0) T n .
. , 4.3, Hamilton ,
,
W (qi , i ) = W1 (q1 , i ) + W2 (q2 , i ) + + Wn (qn , i ),

(5.34)

i . W ,
pi =

W
Wi
=
= pi (qi ; 1 , . . . , n ).
qi
qi

(5.35)

, ,
. (5.35)
pi
qi n j .

154

, j . (5.35)
(qi , pi ).
i . ( qi , (qi , pi ),
.)

I
1
Ji =
pi (qi ; 1 , . . . , n ) dqi ,
(5.36)
2 i
i. (5.36) n
j ,
Ji = Ji (j ).
(5.37)
(5.37), j
,
j = j (Jk ),
(5.38)
Hamilton
,
1 = H = H(Jk ).
j (5.38)
(5.34),
W = W (qk , Jk ) =

Wi (qi , Jk ).

i=1

wi =

W
,
Ji

. , Ji , wi
(5.31), i (Jk )
(5.30).

155

qm ,

j ,
pm = pm (j ),
(qm , pm )
, qm . .
qm 2, (5.36)
I

1
pm 2
Jm =
pm (1 , . . . , n ) dqm =
dqm = pm ,
2 m
2 0
pm .

5.4

n
, ,
,
Ji = b i ,
wi = i (Jk ) t + i ,

(5.39)

bi , i . n bi
.
, , wi (0) = i .
,
i = i (bk ).
Ti wi
, (5.39), 2.

wi (t + Ti ) wi (t) = 2,

2
Ti =
.
(5.40)
i

156

, T ,
T Ti ,
T = k1 T1 = k2 T2 = = kn Tn ,

(5.41)

ki , ,
2
. (5.41) ,
T ,
, wi ki .
(5.40) (5.41),
i
2
n
1
=
= =
= ,
(5.42)
k1
k2
kn

2
=
T
.
,
i ,
,
ki
i
= .
(5.43)
j
kj
, i
,

. , bi ,
(5.42),
, T = 2/.
(5.42)
.

, ki ,
(5.43), , , , (5.39),
,

157

5.9: .

.
B A A, B , A. ,

.
(quasiperiodic). 5.9, n = 2,
, ,
. ,
, .
, n = 2,
Poincare.

, (5.42) ,
(5.43). ,
n .
,
n
n , ,

158

, .
,
, (5.42)
,
. ,
,
, ,
,
. ,
1 , 2 R.
,
1
Q,
2
Q ,
R \ Q .
, .
R2 (w1 , w2 ) 2.
,
w1 + 2 w1 ,

w2 + 2 w2 ,

R2 ( 5.10).
w1 = 1 t + 1 ,

w2 = 2 t + 2 ,

,
,
2
w1 + c,
w2 =
(5.44)
1
c = (1 2 2 1 )/1
.
, 2 /1 .
, (5.44)
k2
w2 =
w1 + c,
k1

159

w2
2

w1

5.10: .

w1 , ,
2k1 , w2 2k2 .
,
, , t , .
5.10 ,
(0, 0). 5.11
2 /1 = 2/1 ,
1 = 0, 2 = 0
1 = 0, 2 = .
, ,
:
, ,
w1 , w2 = 2k,
.
, Poincare.
w1 (0), w1 ,
, T
|w1 (T ) w1 (0)| < , w1 (T )

160

Z




 Z


5.11: 2/1.

modulo 2. ,
, , w1 (T ) = w1 (0).

|w1 ((k + 1)T ) w1 (kT )|
1 T k.
modulo,
|w1 ((k + 1)T ) w1 (kT )| < mod 2
k 0,
w1 (0), w1 (T ), . . . , w1 (kT ), . . .
, w1
. ,
w1
.

161

:
) : ,
V (r) = k/r.
, m = 1 k = 1, Hamilton

(
)
p2
1
1
2
pr + 2 = h.
H=
2
r
r
H p
, h < 0,
( .. [18], .
472):
J1 = (2h)1/2 p ,
J2 = p .
Hamilton, ,
H=

1
2(J1 + J2 )2

,
1 = 2 = = (J1 + J2 )3 .

,
T =

2
= 2(J1 + J2 )3 = 2(2h)3/2 .

h
a , h = 1/2a ( ..
[20], , . 106), Kepler,
T 2 = 2a3 .

162

) Morse :
)
1 ( 2
H=
px + p2y + (ex + 1)2 + (ey + 1)2 .
2

,
Ex = 12 p2x + (ex + 1)2 ,
Ey = 12 p2y + (ey + 1)2 .
H = Ex + Ey . () 5.1,

0 < Ex < 1,

0 < Ey < 1

J1 = 2 2(1 Ex ),

J2 = 2 2(1 Ey ).
, ,

1
H(J1 , J2 ) = 2 (J1 + J2 ) (J22 + J22 )
2

dH
= 2 J1 ,
1 =
dJ1
dH
2 =
= 2 J2 .
dJ2
.
,
,

k1
1
2 J1
= ,
=
2
k2
2 J2
k1 , k2 , .

163

5.1 ,
= 1 w2 2 w1
. ,
1 , 2 ,
.
;
5.2 P P
n , wi wi .
wi wi i = 1, n.
5.3
m = 1,

1
V = (Ax2 + By 2 + Cz 2 ),
2
A, B, C , . ;
5.4 Ii n
(i)
,

(i)
(j) = 0.
= (Ii ) , Ii ,

()

(i)

.
5.5 n n 1

(k)

(k)

p1 1 + p2 2 + + p(k)
n n = 0,

(k = 1, n 1),

164

(k)

pi . (k)
pi .
5.6 wi , Ji , (i = 1, n) ,

w i = (Jk ), Ji = 0

i
k
=
.
Jk
Ji
5.7 m R
,
.
k.
I = mR2 /2.
() ,
.
() .
() .
5.8 m ,
0
.
k .
() Hamilton.
() , ,
k > m02 . k < m02 ;
() ,
.
5.9 W (q, h) Hamilton
,
w=

W
,
h

165

w . , HamiltonJacobi,
(5.17) w.
5.10 ,


S = w1 P1 + (w1 w2 )P2 ,
w1 , w2 P1 , P2
.
Qi , Pi .
5.10 ,
,
1/1, 3/2 2/3.

166

6.1

, n
, n ,
, Liouville
,
(quadratures), . n
,
, . ,
n
, ,
, .
, .
,
n . , n ,
167

168

,
.
n,
,
H, 2n 1. ,
Poincare, Hamilton
, H, .
.
Hamilton . ,

(
). .
, , . Hamilton ,
,
,
0.001. Hamilton

H( qi , pi ; ) = H0 ( qi , pi ) + H1 ( qi , pi ) + O(2 ),

(6.1)

H0 .

. , H0
H1 (
) .
.

. ,

169

, , .
, ,
,
() . , ,
,

() .
.


, .
(6.1) ,
,
.
, .

6.2

n , H0 = H0 (qi , pi ), ,
Hamilton
H( qi , pi ; ) = H0 ( qi , pi ) + H1 ( qi , pi ) + O(2 ).

(6.2)

Ji , wi
H0 . H0 , ,
Ji ,
H0 = H0 (Ji )

170

Ji = 0,
H0
w i =
= i (Jk ).
Ji

(6.3)

n H0
, , ,
n .
Ji , wi ,

. , = 0, (6.3)
.
Hamilton (6.2), ,
H = H0 (Ji ) + H1 (Ji , wi ) + O(2 ).

(6.4)

,
, n
, .
,
, :

W = W (Ji , wi )
Ji , wi
Ji , wi ,

H = H0 (Ji ) + 2 H2 (Ji , wi ) + O(3 ),

(6.5)
H
2 . W = W (Ji , wi ),
Ji , wi Ji , wi
(6.5)
H = H0 (Ji ) + 3 H3 (Ji , wi ) + O(4 ),

171

,
, Hamilton
()

()

H = H0 (Ji

).
()

()

, H wi , Ji

n
, .
W = W (Ji , wi )
.

, W
W =

Jk wk + S(Jk , wk ),

(6.6)

k=1

(6.6)
.
Ji =
wi

W
S
= Ji +
,
wi
wi

W
S
=
=
w
+

.
i
Ji
Ji

(6.7)

, S
2, Fourier,

)
( n

S(Jk , wk ) =
Sm (Jk ) exp i
m w ,
(6.8)
m

=1

n mj , i =

1. , Jk ,
n mj ,

m = (m1 , m2 , . . . , mn )T .

172

Fourier H1 ,
( n
)

H1 (Jk , wk ) = h0 (Jk ) +
hm (Jk ) exp i
m w ,
m=0

(6.9)

=1

h0 (Jk ) . H
( n
)

H = H0 (Jk ) + h0 (Jk ) +
hm exp i
m w + O(2 ). (6.10)
m=0

=1

(6.7) H0 (Jk ) h0 (Jk ) Taylor Jk = Jk ,

j + O(2 ),
H0 (Jk ) = H0 (Jk ) +
wj
j=1
h0 (Jk ) = h0 (Jk ) + O(2 ),
j .
Hamilton (6.10)

H = H0 (Jk ) + h0 (Jk )+

( n
)
n

S
m w
+
j +
hm (Jk ) exp i
+ O(2 ).

w
j
j=1
m=0

=1

(6.8) wj ,
( n
)

S
=i
mj Sm (Jk ) exp i
m w ,
wj
m=0

=1

H0 (Jk ) = H0 (Jk ) + h0 (Jk ).

173

H
H = H0 (Jk ) +

Fm (Jk ) exp i

)
m w

(6.11)

=1

m=0

Fm (Jk )

+ O(2 ),

hm (Jk )

iSm (Jk )

mj j .

j=1

(6.5),
S , (6.11) ,
Fm = 0,
Sm (Jk )

ihm (Jk )
=
,
mj j

(6.12)

n mi , ,
. Sm
(6.12), S Fourier (6.8). ,
(6.12)
n

mj j .

(6.13)

j=1

mj

H0 , (5.43). ,
, H0 ,
, .
= 0,
(6.13)
. (6.8)
, ,
, j .

174

, j , (6.13)
, mj ,
, ,
.. .
(6.8) , ,
.
, , .
, ,
. mj ,
Fourier
hm (6.12),
.

6.3

, ,
,

, .
196263,
(KolmogorovArnoldMoser).
, Hamilton H0 , ,
, H0 ,

175



n




mj j  M ()mn+ ,




(6.14)

j=1

mj , m = max mj , 0 < < 1

M () ,
, . , .
, k
k
k 2 . (6.14)
, ,
.
,
j (6.14)
mj ,
.
, ,
1 < 2 m1 = r, m2 = p,
(6.14)
2

mj j = r1 p2

j=1

1
p
= < 1.
2
r
H0 , (6.14) = 1/2. r2 ,



 1 p 
  K()r5/2 ,
(6.15)
 2 r 

176

p/r < 1, K() .

(6.15) [0, 1) R, ,
0 = 2K()r5/2 .
,
1 /2 ,
. r, p
[0, 1) 0, 1, . . . , r 1
, r,
r = r0 = 2K()r3/2 .
r,

=
r = 5.224K().
r=1

,
r ,
1 /2 (6.15)
< 5.224K() = O().

(6.16)

, (6.16)
(6.15)
1 O(), , , , ,
.
, ,
.
, , (6.14) .
, ,
,
(6.14).
,
, . ,

177

(6.14) = 0
,
.
, [2], [35], [36].

6.4

.
Poincar
e

,

H(x, y, px , py ) = h = .

(6.17)

,
, H,
. ,
Hamilton,
,

.

, , . ,
, h,

(6.17).
, ,
.
Poincare
, .

178

x

P0

P1
P2
px

6.1: .

h
H ,
, .. y = 0.
(6.17), y = 0,

. ,
,
,
. ,

. x, px . y
, py (6.17).
, , ,
,

, .. py > 0 ( P0 , P1 , P2 , . . . 6.1).

179


P0

6.2: P0 G.

P0 (t0 ) ,
,
. P1 (t1 ) ,
t1
, Hamilton, t1 t0 = t1 .
, Pk Pk+1

k ),
Pk+1 = G(P

(6.18)

Poincare. ,
h H,


P0 , P1 , . . . , Pk , . . .

(6.18).
,
P0 G.
Poincare, tk
, y
.

180

P0

P1

6.3: G.

6.2 ( py > 0)
P0 . , (6.18)
0 ),
P0 = G(P


P0 , G.
,
(xed point) G.

k P0 , P1 , . . . , Pk1 , Pk = P0 . k
k Poincare. Gk

k G,
P0 = Pk = Gk (P0 ),
P0 , ,
Gk .

k G.
k = 2 6.3.
, Poincare, ,

181

. , ,

(k)
x(k+1) = f (x(k) , px ),
(6.19)
(k+1)
(k)
px
= g(x(k) , px ),
(6.19)

f f
x p
x

M=
g g
x px

. , det |M| = 1,
G ,
(area preserving).
Poincare n , [21]:


H(q1 , q2 , . . . , qn , p1 , p2 , . . . , pn ) = h = .

(6.20)

, 2n1,
. , .. qn , modulo 2,
qn = 2k, k.
Poincare
(2n 2) qn = 2k.
,
.
qn
qn = 0 pn > 0, ,
n ,

qn = 2pn sin qn ,
pn = 2pn cos qn ,

182

qn . qn = 0, pn > 0
qn = 2k.
qn ,
qn = (6.20) ,
pn = K(q1 , q2 , . . . , qn1 , , p1 , p2 , . . . , pn1 , h).
(6.21)
Hamilton ,
H
H
qi =
,
pi =
,
(6.22)
pi
qi
t.
Hamilton
H(qj , , pj , K(qj , , pj , h)) = h,
(j = 1, n 1)
(6.23)

d
H
H
qn =
=
=
.
dt
pn
K

dqj d
dqj H
=
,
qj =
(6.24)
d dt
d K

dpj H
pj =
(6.25)
.
d K
(6.23),
H H K
+
= 0,
qj K qj
(6.26)
H H K
+
= 0.
pj K pj
(6.24)(6.26) Hamilton (6.22)
j = 1, n 1
dqj H
H K

=
,
d K
K pj

H K
dpj H
=
,
d K
K qj

183

dqj
K
=
,
d
pj

dpj
K
=
.
d
qj

(6.27)

, pn
(6.20)
qn , n
,
Hamilton K, .
(6.27),
qj = qj (qj0 , pj0 , ),

pj = pj (qj0 , pj0 , ),

(6.28)

,
= qn = 2k. (6.28)
Poincare, .

6.5

Poincar
e
.

x , px
P Poincare . P
(6.19)
G,
x = f (x , px ),
px = g(x , px ).

(6.29)

x(0) = x + 1 ,
(0)
(0)
px = px + 2
(0)

P0 P .
1 , 2

184

(k+1) = M(k) ,

(
(k) =

f
x

M=
g
x

(k)
1
(k)
2

(6.30)

f
px

,
g
px P

P . (k)
k , .
, M , , 1 .
1, .
, ( ) ,
M , ,
(6.30)
(k)

(k1)

(0)

1 = 1
= k 1 ,
(k)
(k1)
(0)
2 = 1 2
= k 2 .

(6.31)

(6.31)
P ,
|| = 1,

(6.32)

|| . , || > 1,
(k)
(k)
1 k , || < 1, 2
. P
,
.

185









6.4: P .

,
1, .
, .
= rei , = 1 , r = 1,
.
:
) 1 :
= ei ,

1 = ei

M
)
(
cos

sin

.
M =
(6.33)
sin
cos

. , P ( 6.4). P .

186

.
, .
(6.33),
, (.. 1 , 2 ).
) : , , 1 M ,
|| > 1. M, () u, s,
(
)

0
M =
(6.34)
0 1

u(k) = u(k1) = k u(0) ,
s(k) = 1 s(k1) = k s(0) .

(6.35)

us = .
u, s .
(6.35), u, k
, k P , s P
k k . u, s
P .
.
M , u(k) , s(k)

.
, ,
(6.35),
, P , .
P .
6.5 ,
M,
P .

187





6.5: P .

) 1 : ,
1 , 2 , M
Jordan
(
)
1
1
M =
.
(6.36)
0 1
= 1,
(k)

(k1)

(k1)

1 = 1
+ 2
(k)
(k1)
2 = 2
,

(6.37)

2 = 0
, P ,
( 6.6). P .
= 1 .
(k)

(k1)

(k1)

1 = 1
+ 2
(k)
(k1)
2 = 2

188



P*

6.6: P .

, ,
(k+1)

(k1)

(k1)

1
= 1
22
(k+1)
(k1)
2
= 2
,

P .
, Poincare, (6.30) (6.29)
P .
, Hartman-Grobman
( .. [24], . 114, 146)
:
) U ,
P , , , , V

189

u
u
Wloc

P*
U

s
Wloc

6.7: U
P .

,
Poincare
U P .
s
) U Wloc
u
Wloc
, P
,
s, u P .

s
Wloc
(P ) = {P U | Gk (P ) P k
Gk (P ) U k 0},

Wloc (P ) = {P U | Gk (P ) P k
Gk (P ) U k 0},
u

(6.38)

P , k k ( 6.7).

190

,
,
Poincare P .
,
, Poincare .

( ),
G Gr , r ,
.

6.6

Poincar
e
.

I = I(x, y, px , py ) = c
(6.39)
, Hamilton,
(6.40)

H = H(x, y, px , py ) = h.
Poincare
I = I(x, 0, px , py (x, px , h)) = I(x, px ),

(6.41)

y = 0 (6.39) py
(6.40). (6.41)

G,
I(x(k+1) , p(k+1)
) = I(x(k) , p(k)
x
x )

G(I)
= I.

(6.42)

c I ,

,
I(x, px ) = c.

(6.43)

191

6.8: .

, c, I .
P0
G,
,
P0 G .
,

(
)T
I I
I =
= 0,
x px
,
G.
,
(6.40)
h, , ,
,
c . ,
( ),

192

S[

6.9: Poincare .

( 6.8). 1 /2
, ,
k
,
G,
,
, , ,
.
6.9
Poincare . ,
, G (.. ),

(.. ).
Poincare
.
,

193

,
,
. H = h
y = 0 Poincare,
, G

J2 = c = . w2 = 2k,

(k = 0, 1, 2, . . .),

(6.44)

J1 , w1
,

X = 2J1 sin w1 , Y = 2J1 cos w1 .

w1 = 1 t + 1 ,
w2 = 2 t + 2 .

(6.45)

tk tk+1
Pk Pk+1 Poincare.
, w2 , (6.44), 2k
2(k + 1) , (6.45)
2k = 2 tk + 2 ,
2(k + 1) = 2 tk+1 + 2 .
tk , tk+1 ,
tk = (2k 2 )/2 ,
tk+1 = [2(k + 1) 2 ]/2 = tk + 2/2 .
(k)

(k+1)

(6.46)

w1 , w1
w1 . (6.45) (6.46),
(k+1)

w1

= 1 tk+1 + 1 = 2

1
1
(k)
+ (1 tk + 1 ) = 2 + w1 .
2
2

194

J1 , Poincare

J (k+1) = J (k) = .
(6.47)
w(k+1) = w(k) + 2(J (k) ),

1
(6.48)
2
, , , 1
J1 , w1 . (6.47) (twist
map). J , (6.47). J (6.47)
Pk ,
J, 2(J). (J)
(rotation number) ,
J, .

(J) =

d
(6.49)
0,
dJ
.
(6.49) (twist condition).
, w modulo 2
(6.47) 2, modulo 1.
.

6.7

{
J (k+1) = J (k) ,

G0 :
w(k+1) = w(k) + 2(J (k) ),

(6.50)

0 < J < J J,
w modulo 2.

195

3
3

3 3

.

-



3

3

3

3
3

6.10: = 3/8 .

(6.49). , (6.50)
J =. , ,
(J).
:
) : P0 = (J (0) , w(0) )
. (6.50),
, w(0) ,
w(k) = w(0) + 2k.

(6.51)

,
J (0) , ,
p
(J (0) ) = ,
(6.52)
r
p, r , r , (6.51),

w(r) = w(0) + 2p ,
(6.53)

196

6.11: G0r
= p/r.

Pr = P0 , .
p/r , r,
P r ,
G0r (P ) = P . , ,
p, r, (6.53),
= p/r.
.
6.10
= 3/8.
P0 2 = 3/4
P0 , P1 , . . . , P7 ,
P8 = P0 . , J
.
= p/r,
G0r ,
{
G0r :

wr = w0 + 2r,
Jr = J0 .

197

d
1 2r dJ
M=

0
1
.
,
G0r . 6.11, = p/r . ,
p/r G0r , ,
,
p/r .
) :
,
,

G0m (P0 ),

mZ

. ,
G0k (P0 ) = G0m (P0 ),

k = m.

( ) ,
, BolzanoWeierstrass,
G0m (P0 ) . k > m > 0, ,
w(k) (P0 ) k P0
G0 ,


 (k)

(m)
(6.54)
w (P0 ) w (P0 ) < ,
P0 .
G0 ( )

198

, , P, Q ,
w(0) (P ) w(0) (Q),

 

 (k)
  (0)

(k)
(0)
w (P ) w (Q) = w (P ) w (Q) k.
, m (6.54)



 (s)

(0)
(6.55)
w (P0 ) w (P0 ) < ,
s = k m. G0s

P0 , G0s (P0 ), G02s (P0 ), . . . , G0ks (P0 ), . . .
P0 ,
, . ,
,
P0 .
Poincare
,
, .
,
J
G0 .
, 1 /2 , J
. . (6.49),
,
, G0

. ,
, ,

199

. ,
,
, .
Poincare
(..
x px ), ,

( ),
.
.

6.8

.
Poincar
eBirkho

, Poincare
,
,
G0 . H0 Hamilton

H = H0 + H1 + O(2 ),
. Poincare G
, ,
{
J (k+1) = J (k) + f (J (k) , w(k) ) + O(2 ),

G :
(6.56)
w(k+1) = w(k) + 2(J (k) ) + g(J (k) , w(k) ) + O(2 ),
f g , ,
w 2 (6.56)

200

6.12: G0r C 0 .

. (6.56)
0 < J < J J.

G0 , (6.15),

p 

(6.57)
  K()r5/2
r
p/r . C 0 G0 ,
= p/r. C 0
G0r .
C 0 ,
. C +
C G0 , C 0 ,
> p/r < p/r , C 0 ,
(6.57). ,
G0r , C 0 ,
, , C + C 6.12.
, C + C G0
= 0, Gr ,
,
. C 0

201

Gr , , Poincare

C + C
, P Q C + C
.
, C + C

C 0 , ,
P Q. , , R, ,
Gr ,
.
R Gr R R R ,
6.13. Poincare ,
R R ,
R R.

,
. Gr P Q (
R), ,
Gr . C 0 ,
G0r ,
Gr , .
r r , m
r,
m = 2kr.

(6.58)

k 1 ,
, 2 2.

202

6.13: R R .

6.13
Gr , ,, .
r = 2 k = 1 ( 2), r = 1
k = 2 ( 1).
,
6.13, Gr
,
, .
6.14
Poincare . (6.57)
= 0 ,
C 0 , (6.57) , ,

, .

203

6.14: .

r Poincare, ,
.
,
,
. ,

,
p r . ,
, ,
.
( ) .
PoincareBirkho, [8],
. 165.

204

6.9

,

r Poincare,
r ( )
. . G r
Poincare,
G = Gr .
6.5,
r, HartmanGrobman
,

G,
s
u
, Wloc
Wloc
,
Gk P , k
k . W s (P )
W u (P ) P

s
s
W (P ) =
Gk (Wloc
),
k0
u

W (P ) =

u
Gk (Wloc
)

(6.59)

k0

.

P
k . ,

P
k .

, G.

205

6.15:
.

P .
, P , , Q,
, 6.15,
.
,
,
. ,
,
,
,
, .

, C + C 6.14 ,
, ,
.
C C + ,
C + C ,
.

206

W (P)
X1
P

W s(Q)
Y
Y1

6.16: .

, , H = . ,
, .

( = 0 ),
, , , ,
,
. , ,
,
.
,
,
.
P Q , 6.16, : X, Y
Z. X1 = Gm (X), Y1 = Gm (Y )
Z1 = Gm (Z) Poincare.
ZX, ZY , Z1 X1 , Z1 Y1 , m, .
, X
P , Y Q.
P, Q,

207

. , Q
P ,
6.17 , , .
X, P Q
, ,
P Q , . X G
. X
W s (P ),
lim Gm (X) = P,
m

, X W u (Q),
lim Gm (X) = Q.

P Q ,
X t
. P Q ,
X t P ,
t Q.
W s (P ) W u (Q) , X
, .
. Poincare (+1),
W s (P ) W u (Q), X
X, X , X , . . . 6.17,
.
, X
,
, Y 6.17.
Poincare , Gm (X), Gm (Y ) X
Y . m

208

6.17: .

P , m. ,
, ,
P , m.
, ,
W s (P ),
W u (P ) , ,
(, )
(, ) . ,
,

P , 6.18,
(homoclinic tangle).
6.19 (0, 0), . ,

209

W u(P)

P
W s(P)

6.18: .

, ,
,
.


.
Smale Moser ( .. [37], [54]),
M , , GT M
Poincare, GT

, :
) GT
, .
) GT ,

210

6.19: .

.
) GT
.
,
,
[17].
.
. GT
,
P , P
P P
,
. ,
Poincare ,

211

, ,
,
.
, ,
,
.
,
.


Liapunov,
1
d(t)
ln
,
t t
d(0)

= lim

(6.60)

d
. ()
,
.

d(t) et d(0).
, , d(0)
, ,
, , ,
.
,
, ,
, .

.
6.20
[5]. , ,
PoincareBirkho. ,

212

6.20: = 0 .

, ,
...

,
6.20.
, ,
,
,
. ,
.
,

213

, .
.

6.10

Hamilton
1 2
1
(px + p2y ) + (x4 + y 4 ) + x2 y 2 .
(6.61)
2
4
= 0
x y . = 1/2
, , ,
= 3/2, /4.
[56],
,
.
(6.61),
, Poincare.
,

.

H = H0 + H1 =

H0 =

1 2
1
(px + p2y ) + (x4 + y 4 ).
2
4

(6.62)

Hamilton
1
1
Hq = p2 + q 4 .
2
4
Hq > 0 , q = 0
.

214

px

x
6.21: = 0.

( ). Hamilton,
,
Hq = bJ 4/3 ,

b = (3 2/8K)4/3 K = K(1/ 2) = 1.8541

. ,
Hq ,
, J > 0.
(6.62)

4/3

H0 = b (J1

4/3

+ J2 ),

(6.63)

215

p
x

x
6.22: = 0.02.

J1 , J2 ,
[ 1 ( 2 1 4 )]3/4
,
2b px + 2 x
[ (
)]3/4
J2 = 2b1 p2y + 12 y 4
.
J1 =

(6.64)

1/3

H0
4bJ1
1 =
=
J1
3

1/3

H0
4bJ2
2 =
=
J2
3

1
=
2

J1
J2

)1/3
.

(6.65)

216

px

x
6.23: 1/1 = 0.02.

H0 = h > 0,
Poincare, J2 J1
(6.63),
4/3

J2

4/3

= h/b J1

> 0,

1/3

J1
1
=
(J1 ) =
.
4/3 1/4
2
(h/b J1 )

(6.66)

d/dJ1 > 0,
.
J1 = 0,
, J2 0.
y x ,
h.

217

Poincare H = h = 1,
y = 0, py

(
)
1
py = 2 p2x + x4 .
2
Poincare

1 4
x = 2.
(6.67)
2
(6.66), (6.64),
,
.
6.21

(0, 0),
y.
6.22 = 0.02.
. Hamilton H
x x px px ,
x px .

,
k (6.58) 2.
x 1.19 px = 0,
(6.66), = 1/1,
1/2 1/3. ,
, ,
1/1, 6.23.
. ,
p2x +

218

px

6.24: = 0.2.

1, .
, , ,
,
H.
= 0.2 6.24.
1/1, 3/4 1/3. 1/1
,
.
6.25.
= 0.5,
. , = 0.4 6.26

219

px

x
6.25: 1/1 = 0.2.

1/1 ,
.

6.27.
6.28 = 0.5. ,

1/1.
, 6.29 = 2,
.
,
(0, 0).
,

220

px

x
6.26: = 0.4.

.

( ) , , , ,
Poincare
.
,
, ,

, .

221

6.27: = 0.4.

,

.

6.11

6.9
,
.

222

px

x
6.28: = 0.5.

, .

, , .
,

, .
, ,
,
. ,
,

223

px

x
6.29: = 2.

.
,
,
b,
.

.

,
k
,
r
k . ,
O ( 6.30)
V (r) =

224

-E
E
2

6.30: .

(.. [20],
, . 116)
(
)
k
(b) = 2 arctan
,
(6.68)
mb02
m 0 .
b ,
k/m02 = 1, 6.31.

, [15]
V (x, y) = y 2 exp((x2 + y 2 ))

, x ,
r < 2,
, .
x. 6.32
.

225



-E













6.31:
.

,
,
.

6.33. ,
,
b, b
. ,
.
b .
, ,
[43]:
R. L > 2R,

226

6.32: .

6.34.
, ,
, ,
. , ,
. x0 6.34 .
b,


.
.
,
, ,

. (b, )
, ,

227

6.33:
.

, .
,
.

,
(b, ). ,
, ,
.
(b, ) ,
. Wada,
.
,
(b, ),
,
,
.

228

 / "


 / "

x0

 / "+

6.34: .

6.35,
(b, )
. ,
,
.
6.35, 6.36.

6.37. , ,
.
, .
[43] (b, )
Wada , ,
(fractal).
. , .. [40].

229

6.35: .

.
,
,

,
.

6.12

.
. Poincare

230

6.36: 6.35.

, , ,
, ..
6.10. , n 3
, n = 3
,
.
, ..
Liapunov.
,
,
6.9.

( ),
, , .

231

6.37: 6.36.

,
. , ,
.
:
.
,
6.9, , .

,
, , ,
, . ,

232

, .
,

,
, .
, ,
. ,
,
, , .

,
,
. , ,
.

, :
,
.
, [51]
.
Arnold [3],

.
. ,
. Arnold

. ,
, , Arnold.

233

,
, , , , ,
.
. ,
.
Nekhoroshev [38]
, ,
.
Hamilton
H = H0 (Ji ) + H1 (Ji , wi ),
H0
,
a > 1 b > 1, H0 ,

|Ji (t) Ji (0)| < b

tT =

1
exp(a ).

a = O(1/n), n
.
,
, ,
.
, Nekhoroshev
,
.
T .

234

6.1 S, n wi 2, Fourier,
(6.8).
6.2
S(w, J ) = wJ + A(J )
(6.47)
A .
6.3 f g,
(6.56)
.
6.4
S(w, J ) = wJ + A(J ) + W (w, J ) + O(2 )
(6.56).
W f g.
6.5 ,
.
6.6

.
6.7 (6.61) = 3/2.
6.8 (6.66)
d
> 0.
dJ1
6.9 6.10
J1 = 0 J2 = 0
y x , h.

235

6.10 (standard map)

Jk+1 = Jk + sin wk ,
wk+1 = wk + 2Jk + 2 sin wk ,

mod 1,
mod 2

(6.56). , = 0,
. ,
, Poincare
Birkho
.
, 1;

236


EulerLagrange

c RN ,
c : { xi = xi (t),

i = 1, N } ,

xi RN t R ,
A1 , A2 , ( .1)
xi (t1 ) = A1 ,

xi (t2 ) = A2 .

(.1)

f = f (xi (t), x i (t), t)

t2

I(c) =

f (xi (t), x i (t), t) dt,

(.2)

t1

c
. (functional)
.
(.2) c,
xi = xi (t),
R, .
c c,
c : { xi = xi (t) + hi (t),
237

i = 1, N } ,

238

xj
A2
c

c'

A1
xi
.1: c RN .

A1 , A2 ,
c = c + h.
hi (t) (variations) xi (t),
xi , h c c.
c A1 , A2 ,
hi (t1 ) = 0,

hi (t2 ) = 0.

(.3)

I(c + h) I(c) I, c, c . I ,

I(c + h) I(c) = F (h) + O(h2 ),

(.4)
F ,
h,
F (h1 + h2 ) = F (h1 ) + F (h2 ),

F (h) = F (h).

F I,
F = I.

239

I c,
I = F (h)|c = 0 h.

(.5)

c, : h c, hi ,
c = c + h,
xi (t) = xi (t) + hi (t),

(.6)

. c = 0.
I,

dI 
I =
(.7)
d 
=0

h. (.7),
]
t2
t2 [
d
f dxi
f dx i
f (xi (t), x i (t), t) dt =
I =
+
dt, (.8)
d t1
xi d
x i d
t1
. c, , (.7), (.8)
= 0. (.6)
dxi
dx i
= hi ,
= h i
d
d
, ,
t2
t2
f dx i
f
dt =
hi dt =

i
i
t1
t1
t2 t2
(
)
(
)
t2
f
f
f 
d
d
hi
hi dt =
hi dt,
=
x i t1
x i
x i
t1 dt
t1 dt
(.3). (.8) I c
(
)]
t2 [
f
f
d

hi dt = 0
I =
(.9)
xi dt x i
t1

240

KW





W G






W G



.2: h(t).

hi .
, f (t)
t2
f (t)h(t) dt = 0
(.10)
t1

h(t) h(t1 ) = h(t2 ) = 0,

f 0. f (t ) > 0 t1 < t < t2
( ,
f (t ) < 0). f ,
t , 2d,
t d < t < t + d,
f (t) > > 0 .
h ( .2), h = 0 t t d t t + d,
h > 0 t d < t < t + d h(t) = 1
d
d
d
t t t + .
2
2
,
t2
f (t)h(t) dt > d > 0,
t1

241

(.10)
h(t).
[t1 , t2 ] f ( )
, f 0.
, hi (t), (.9) c

(
)
d
f
f

=0
(i = 1, N ).
(.11)
dt x i
xi
(.11) EulerLagrange N
xi . xi (t)
2N (.1) c,
I .

242

(2.55)
,
= ( , t)

(.1)

. (.1),
M =

= M ( , t),

(.2)

, (.1) ,
= (
, t).
(.3)
(.3),

=
+
t

(.4)

e
H
H
= ,

(.5)

e , t) = H( , t)
H(
Hamilton .
243

244

Hamilton,

H
= 0.
(.6)

(.6), (.4) (.5),

e
H

+ = 0.
t

(.7)

(.7) /
e

H


+
= 0,
t

e
H

=
.

t

e
= M M H M ,

, ,
eH
e M ,
= MMT

(.8)

(

) ( ).
R (
, t),

e
M
(.9)
= R
t
(.9)
e = 1 M ,
R
t

(.10)

245

, ,
R (.10)
,

2
2
=

t
t

, ,
[
]
1
1 T
M
M
MT T
1
1
M
= M
M .
=
t
t
t

(.11)

MM1 = MT MT = I
T
M1
M 1
MT T
T M
M
=
M ,
M = M
t
t
t
t
(.11)
T
M 1
T M

M = M
.
t
t

MT
M
M
MT
MT
=
M,
t
t

]
[ T
M M = 0.
(.12)
t
(.12) M T M
,
R.

, (.8) Hamilton,
(.1) .
() : ,
MT M = ,

246

(.12) (.8)
e ,
= H

(.13)

e + R,
H = H
.

() : (.1)
t, (.8) Hamilton. ,
e , t),
Hamilton H( , t) = H(
H ,
e .
eH
e M = H
MMT
(.14)
t
e (.14)
R = H H,
(
)
eH
e M = R.
e
(.15)
MMT
t
e H = H,
e = 0, (.15)
H
e
1 M
= R,
t
, , M (.12),
MT M .
(.1) t = 0,
= ( , 0),

(.16)

M0 . (.12)

MT M = MT0 M0 .
(.17)
, (.16)
, M0 . ,
(.17),
MT M = ,
M .




,
Jacobi.


d

, k2 < 1
F (, k) =
0
1 k 2 sin2
K(k) = F (/2, k) .


E(, k) =
1 k 2 sin2 d
0

E(k) = E(/2, k) .
Jacobi
.


d

u=
.
2
2
0
1 k sin
:
sn(u, k) = sin ,
cn(u, k) = cos ,

dn(u, k) = 1 k 2 sin2 ,
247

248

u k modulus . modulus, , . snu cnu

.

:
cn2 u + sn2 u = 1,
dn2 u k 2 cn2 u = 1 k 2 ,
dn2 u + k 2 sn2 u = 1.
snu , cnu, dnu
u. u, 4K(k).
:
d snu
= cnu dnu,
du
d cnu
= snu dnu,
du
d dnu
= k 2 snu cnu.
du
.
z = Bz 3

z = Ccn(t , k)

, , k = 1/ 2 C 2 = 2 /B,

z = a2 sin z

h=

1 2
z a2 cos z
2

249

, a2 < h < a2 ,
z = 2 arcsin [k sn(at , k)] ,

(
)
1
h
k =
1+ 2 .
2
a
,
.. [16].
2

250


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. ..., .

#!02!

*Poisson 27, 32, 40, 58

 11#202. 19, 155
2 !.2)$ " 169, 210
#1/.022&1" 232
. &2030. 17
. &2.* 186, 190
. &2 "* " 191
. &2 "2)! " 137
2/!.1/01 * 1
0)1Poincar 177-194
0! 121#02!. 85, 136
0! 12 .  02/  77-81
)0!0" 22-26, 141, 145, 149
!)"0!12! 3" 194
! )"2..2&2" 20, 113, 133, 145
! )"2..2&2"02! 27
!$dAlambert 3
!$Hamilton 8
12."/ /0*#1 186
$12." .)22. 204
#2)  1*12. 5, 11, 110
. 00#0!." 2
.&2)/#.) 7
+020!.1#!21 49
+00#/*. 3
+00# ! 9
+00#1#202. 3
+00#2.$*22. 4
+&.1#$)22. 143, 152

#1.Laplace-Runge-Lenz 38
.#1.2)0/ 71-73
.#1.2)0/ Hamilton 81-82
.2!2 .0)1 181
.22!  85, 148, 187, 197
$#1Arnold 232
.$&!1 1*12. 116-118, 153
.$&!12.* 24, 145, 149
/02.  13, 238
#.0!0. 6
#.) 6
#.202.2)1 1
* 022!. 126-128
2"Liapunov 258
3#1 1*12. 145, 152, 161
02)10 1 !! ."
02)12.0!)10 285
 30, 80, 120, 125
1+10"Hamilton 11
1+10"Lagrange 5, 6
1+10"02. + 89, 105
1&1Hamilton-Jacobi 107-112
30.2 " 178
20! )10 207
#.120!21 210, 225
#120. 88-91, 183-190
#12." / /0*#1 186
(#12." .)22. 204
0* "Lax 128

257

258

259