9

,


,
, ,
,
.

9.1

, ~xi


~

, Fi ,


d2~xi
= F~i .
dt2

(9.1)

.

N , N

.

,

n qi ,

n

.

,


4,

.

N



3N
, 3N

.





273

274

9.

,

,



.

1 : 2.

xy,
9.1().




.

,




9.1(). 1
,

(
),

(.
9.1()).



1 qi -

9.1 : ()


.
()


.

1 2
.




.



1 < , 2 <

().

,
, . ,
,

,



,
Euler - Lagrange.

9.1.

275

qi ,
,

.
,

.

(

9.1()),
Euler - Lagrange
,
n

2n
.




1
(q, q),

.

Euler - Lagrange
2n

dqi
= qi ,
dt
L
dpi
=
.
dt
qi

(9.2)
(9.3)

pi
q, q

L
pi =
.
(9.4)
qi

q q
1,

qi

qi .
,


,
(q, q)
.

(q(0), q(0)).

(9.4)
-
p(0).


t,
,
p(t)
(9.3)

L 
p(t) p(0) + t
,
(9.5)
qi (q(0),q(0))

1
(9.2)
q(t) q(0) + t q(0)

(9.6)

q(t)
p(t),
(9.4), 1
q(t),

.
, 1,

1



.






, 1 (2n + 1)-

(q, q,
t).

.

-.

276

-
;

9.

q(t)

.






.
1
Hamilton

(q, q),



(q, p).

.

,


1
,
q
.

q(q,
p)

p(q, q)


.



p(q, q)



:
L(q, q,
t)
.
(9.7)
pi =
qi

H(q, p, t) q(q,
p)

qi =

H(q, p, t)
.
pi

(9.8)

H(q, p, t)


.




L(q, q,
t)

H(q, p, t), ,


,



.

9.2
Legendre

Legendre;

L(q, q,
t) H(q, p, t),
(9.7) (9.8),
Legendre.




,


Legendre
1.
,
1
f (x).

df
.
(9.9)
p(x) =
dx

Legendre f (x)
p,
g(p),


p(x), x(p)
dg
x(p) =
.
(9.10)
dp

9.2. LEGENDRE

277

9.2 : Legendre.
f (x)
, p(x) = df /dx


, p(x), x(p).

p(x)

1

, x(p).

,

g(p);
,

x(p),

p(x),

.

f (x) = x3 /3,

p(x) p(x) = df /dx = x2 ,

x(p) = p.

dp
d2 f
= 2 6= 0 ,
dx
dx

(9.11)

,
,
x p,

x(p).

Legendre f

p(x),

g(p) = x(p)p f (x(p)) ,

(9.12)
x
p. g(p)

Legendre f (x).

dg
dx(p)
df dx(p)
=
p + x(p)
= x(p) ,
dp
dp
dx dp

(9.13)

p = df/dx.
,



;

9.2.
p(x)

x(p),

. 1

,
;

 9.

278

(x0 xBA)
Z x
Z
E(x0 xBA) =
p(x)dx =
x0

x0

df
dx = f (x) f (x0 ) .
dx

, 1
(p0 pBA)
Z p
Z p
dg
E(p0 pBA) =
x(p)dp =
dp = g(p) g(p0 ) .
p0
p0 dp

(9.14)

(9.15)

E(x0 xBA) + E(p0 pBA) = p x p0 x0 .

(9.16)

f (x) f (x0 ) + g(p) g(p0 ) = p x p0 x0 .

(9.17)

f (x) + g(p) p x ,

(9.18)

C.
,

p(x)
dg(p)
x(p) =
,
dp


g(p)
g(p)
C
,

,

Legendre

f (x)
g(p) = p x(p) f (x(p)) .
(9.19)

9.1. Legendre f (x) = x / > 1

g(p) = p / 1 + 1 = 1.
9.2. , Clairaut y = px g(p)
p = dy/dx g(p)

, x = dg/dp. Clairaut
g(p) = p2 /2.


y = x+
.

; [
:
1
. 1
f (x, ) = 0

f = 0 f / = 0.]

Legendre

Legendre;

g(p)
Legendre f (x),

Legendre g(p);

f (x).
,

f (x)

(9.19)
f (x) = p x g(p) ,
(9.20)

9.2. LEGENDRE

279

x.

p

p(x) x(p) =
dg/dp p.
, 1, p
x
x(p) = dg/dp

d2 g
dx
= 2 6= 0 .
dp
dp

(9.21)

d2 f d2 g
dp dx
=
=1,
2
2
dx dp
dx dp

(9.22)

,
,

Legendre f (x) 11

Legendre g(p).

9.3. 11

f (x) Legendre
g(p), p = df /dx.

, 1. ,
,

1
;

f (x1 , x2 , . . . , xn ) ,
xk
pi =

f
.
xi

1
{xi , i = 1, . . . , k}
pi
Legendre
g(p1 , . . . , pk , xk+1 , . . . , xn )
f 1 {xi , i = 1, . . . , k}.

Legendre

!
k
X
g(p1 , . . . , pk , xk+1 , . . . , xn ) =
pi xi f (x1 , x2 , . . . , xn ) . (9.23)
i=1

g

xi =

g
, i = 1, . . . , k .
pi

(9.24)

 9.

280

(9.23) {xi , i = 1, . . . , k}
p1 , . . . , pk , xk+1 , . . . , xn k

f
pi =
.
xi

k k
(Hessian),
,
2f
1 i, j k ,
xi xj

(9.25)

9.4.
(9.24).

9.3

H



qi ,
qi , ,
,

L(q1 , . . . , qn , q1 , . . . , qn , t) .

pi =

q q
q p

L
,
qi

qi , qi




.



.

Legendre

,
H(q1 , . . . , qn , p1 , . . . , pn , t) ,

qi =

L(q, q,
t)
H(q, p, t)

H
.
pi

,


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

n
X
i=1

pi qi L ,

(9.26)

9.3.

281

qi , , qi , pi , ,
.
, qi (q, p), 1

pi =

L
qi

qi .

,


,

2L
, 1 i, j n ,
qi qj

. ,
1

,



,
(.
8).

N

,




.

1;

9.5.

.

Legendre .

qi =

H
,
pi

i. (9.26) pi , 1

H
qj
L qj
= qi + pj

,
pi
pi qj pi

(9.27)

1
,
.

1.

pj =
L/ qj ,

(9.27)

i
qi =

H
.
pi

, H
Legendre L.

(9.28)

 9.

282

1 q t,

Legendre.

qj
L
L qj
H
= pj

,
qi
qi
qi qj qi

(9.29)

H/qi qj /qi

qi ,

p
q
L/qi

qi .
q
q

, L


q q q,
,
q, p t.




L 
L 
L 
qj 
=
+
.
(9.30)
qi pl ,qk , k6=i
qi ql ,qk , k6=i qj ql ,qk , k6=j qi pl ,qk , k6=i

pj =

L
,
qj



L 
H 
=
.
qi pl ,qk , k6=i
qi ql ,qk , k6=i

(9.31)

H
qj
L qj L
= pj

t
t
qj t
t



H 
L 
=
.
t pl,ql
t ql,ql

(9.32)

(9.33)

,

,



,

. ,
,
, ,

.
,


,

Legendre
.
,
,

H(q, p, t)
L(q, q,
t).

L(q, q,
t)

Legendre
H(q, p, t)
qi
pi ,

qi =

H
.
pi

9.4.

283

L(q1 , . . . , qn , q1 , . . . , qn , t) =

X
i

pi qi H ,

(9.34)

pi q q
pi qi = H/pi . E

L
L/ qi = pi .

9.6.
(9.34)
L/qi = H/qi L/t = H/t
1


.

9.4

Legendre

,
L
,
qi
H
=
.
pi

pi =

(9.35)

qi

(9.36)

,

. (9.35)
, ,

, ,
(9.36)

, ,
,
.

,



Legendre.





.


,


,
Euler - Lagrange
 
L
L
d L

=0,
pi =
.
(9.37)
dt qi
qi
qi

,

Legendre
(. (9.31))



H 
L 
=
,
(9.38)
qi pl ,qk k6=i
qi ql ,qk k6=i

 9.

284

pi =

H
.
qi

(9.39)

2n

(9.36) (9.39)
H
,
pi
H
=
.
qi

qi =
pi

Euler - Lagrange

(9.40)

2


2n-

. 2n

,



, n
Euler - Lagrange,



.


,


Euler - Lagrange


,





Euler - Lagrange.

1
. ,

,

,
,


,

1 1



.
9.7.
Euler Lagrange

. .

9.5


3.4




.
L=

m 2
~ q V (~x)
|~x| + q~x A
2

m q
~
~

E, B,


2

Lagrange 1809




.
Lagrange,
. Cauchy,
,

1831,

.

Hamilton

,
1835.

9.5.

285

~ V .

A

.



,

L
~.
= m~x + q A
(9.41)
p~ =
~x
H

Legendre
H(~x, p~) = p~ ~x L .

~x
p~ ~x .

(9.41)
~
p~ qA
~x =
.
(9.42)
m
,

~
p~ qA
H(~x, p~) = p~
L.
m

(9.42)





V

~2
|~p q A|
H=
+ q + V .
(9.43)
2m

H=

|~p|2
.
2m

V = k|~x|2 /2,

H=

|~p|2 k 2
+ |~x| .
2m 2

H
pi qAi
x i =
=
,
pi
m

H
pi =
xi
q Aj

V
=
(pj qAj ) q

.
m xi
xi xi

286

9.

9.8.




V
m
xi = q(ijk x j Bk + Ei )
.
xi

9.6 1 Poisson
1


:







1 q
p,
1


.



1, 1



.




1
qi ,

pi =

H
=0
qi

1

pi

.


,

,

.


1
F (q, p),
q

p


t,

F/t = 0.


1

(
1)
dF
F
F
F
=
+
qi +
pi
dt
t
qi
pi
F H
F H

=
qi pi
pi qi

Poisson

(9.44)

F/t,
1



,




(9.40)
Poisson3
A, B 1
qi , pi

{A, B} =
3

A B
A B

.
qi pi pi qi

(9.45)

Simon - Denis Poisson [1781 -1840] :

, Laplace
Lagrange,
,
Lagrange
.
1


Poisson
1809 (A, B). 1
{A, B}

Plummer
1960.

9.6. POISSON

287

Poisson, (9.44)

dF
= {F, H} .
dt

(9.46)

, 1

:

1, F (q, p),


,

Poisson



H. , F (q, p)
{F, H} = 0 .
Poisson

,
{H, H} = 0 ,

,

,

,

dH
= {H, H} = 0 .
dt




.

9.9. Poisson 1
:

{A, A} = 0 ,

{A, B} = {B, A} ,
{A, kB} = k{A, B} ,

{A, B + C} = {A, B} + {A, C} .

{A, BC} = B{A, C} + {A, B}C

A, B, C 1 k
.

Poisson
:
{qi , qj } = {pi , pj } = 0 , {qi , pj } = ij .

(9.47)

Poisson
qi pi


1

qi
qi
= ij ,
=0
qj
pj

288

9.

pi
pi
= ij ,
=0.
pj
qj
1 (9.47)
1.


. 1

11

Planck




1.







Poisson. 1

(9.44)
1
F = qi ,

dqi
= {qi , H}
dt
H
=
,
pi

(9.48)

1
F = pi

dpi
= {pi , H}
dt
H
,
=
qi

F (q, p)

(9.49)

,
Poisson


1

.






Poisson.
1
,

,
Poisson,

,

,


1
.
dF
= {F, H} ,
dt

(9.50)

1
F

H.
B1,
1
F (q, p, t)

,


1 1
F
.

1
F :
dF
F
=
+ {F, H} .
dt
t

(9.51)

9.7. H

289

9.7 H

,
Euler - Lagrange,




.

Z t2
S=
L(q, q,
t)dt ,

t1

(qi (t), pi (t))

,
1
qi , pi
,
Z t1
S=
[pi (t) qi H(qi (t), pi (t), t)] dt ,
(9.52)
t0

S=

t1

t0

pi (t) dqi (t)

t1

H(qi(t), pi (t), t) dt .

(9.53)

t0

,




1
qi (t) pi (t),
1


qi (t1 ) qi (t2 ),
pi (t1 ) pi (t2 ).



,

,
,
1. ,
,

,
1
qi ,

1 qi
1 ,

1 1


L
pi =
.
qi


,

,

.
(qi (t), pi (t))
. 1

qi (t, ) = qi (t) + i (t) , pi (t, ) = pi (t) + i (t) ,

i (t), i (t)


1

.

1
1

i (t1 ) = i (t2 ) = 0 i (t1 ) = i (t2 ) = 0.

(qi (t)pi (t))

,

, , 1
S . ,
1

 9.

290

t2


0 =
i qi
t1
Z t2 
=
i qi
t1
Z t2 
=
i qi
Z

t1



Z t2 
H
H
dt +
pi i i
dt
pi
qi
t1


Z t2 
H
H
d(pi i )
dt +
i pi i
dt
pi
dt
qi
t1


Z t2 
H
H
dt
i pi +
dt + [pi i ]tt21 .
pi
q
i
t1

i (t1 ) = i (t2 ) = 0. ,


1

i (t)
i (t),

qi =

H
H
, pi =
.
pi
qi

(9.54)

1 .4

9.8

F (q, p, t), 1
.
,



Z t1
Z t1
dF (q, p, t)
S=
pi (t)dqi (t)
H(qi (t), pi (t), t)
dt (9.55)
dt
t0
t0





(9.52).


,

qi , pi
Qi = Qi (q, p, t) , Pi = Pi (q, p, t) ,


, ,

K
K
Q i =
, Pi =
,
Pi
Qi
4

(9.56)

1
1



. 1

1




,

.
.


:

,

, 1




,

.

9.8.

291

K(Q, P, t).

,

11.



,

Qi = Qi (q, p, t) , Pi = Pi (q, p, t)

dF
pi qi H(qi , pi , t) = Pi Q i K(Qi , Pi , t) +
,
dt

Z t1
Z t1
S1 =
Pi dQi
K(Q, P, t)dt ,
t0

(9.57)

(9.58)

t0

K
K
Q i =
, Pi =
.
Pi
Qi

(9.59)

,
(9.57),


(9.58)

Z t1
Z t1
pi dqi
H(q, p, t)dt .
S2 =
t0

t0

, (Q, P )

(9.59),
(q, p)

qi =

H
H
, pi =
.
pi
qi

(9.60)

(9.57).
H (9.57)
dF = (pi dqi Pi dQi ) + (K H)dt .

(9.61)

,

F1 (q, Q, t),

q, Q
t,
,


F1
F1
F1
dF1 =
dqi +
dQi +
dt ,
(9.62)
qi
Qi
t
(9.62)
(9.61),

dQi , dqi dt,

F1 (q, Q, t)

(q, p) (Q, P )
pi =

F1
F1
, Pi =
.
qi
Qi

(9.63)

 9.

292

1
,

Qi = Qi (q, p, t), Pi = Pi (q, p, t).

(9.61) (9.62),

:
K=H+

F1
.
t

(9.64)

F1 = qi Qi ,

Qi = pi , Pi = qi .



5




.
,






,




(. 9.64),
K = H.

Legendre6
F1 (q, Q, t),
Q (
1
(9.63))
F2 (q, P, t) = Qi (q, P, t)Pi + F1 (q, Q(q, P, t), t)

(9.63)




F2 (q, P, t)
pi =

F2
F2
F2
, Qi =
, K=H+
.
qi
Pi
t

(9.65)

, F2 = qi Pi ,

Qi = qi , Pi = pi .

9.10.
Legendre F1 (q, Q, t)
Q
(9.65).
9.11. Legendre
,

.

:
.
6


Legendre


,
Pi (9.63).

9.9. HAMILTON-JACOBI

293

F3 (p, Q, t) F4 (p, P, t).

F3 (p, Q, t)
qi =

F3
F3
, Pi =
,
pi
Qi

F4 (p, P, t)
qi =

F4
F4
, Qi =
.
pi
Pi

1,2,3 4, .


K=H+

Fi
.
t

9.9 1

Jacobi

.

,




,
. 1 Hamilton Karl Gustav Jacobi [1804-1851]



.



,

H

X K = 0,



1 ,

Q i = 0 , Pi = 0 ,

(9.66)

Qi = i , Pi = i ,

i , i Qi Pi .

K

.
,




F1 (q, Q, t), ,
1

pi =

F1
F1
, Pi =
,
qi
Qi

(9.67)

,
;

294

9.

,
qi = qi (i , i , t) , pi = pi (i , i , t) ,

(9.68)

i i
Qi Pi .
i i

i = qi (t0 ) , i = pi (t0 ) ,
(qi , pi )
(Qi , Pi )






,
F1 (q, Q, t)
, (9.67),
qi (t) , pi (t)
t

t0 Qi , Pi .
,

,
F1 (q, Q, t)












.

,
F1 (q, Q, t);
,



K = 0,

F1 (q, Q, t)
H(q, p, t) +

F1
=0.
t

,
,
pi =

F1
,
qi

F1 (q, Q, t)




F1
F1
+ H qi ,
,t = 0 .
(9.69)
t
qi

Hamilton - Jacobi

Hamilton - Jacobi


,

.
7
Hamilton Jacobi

p2
H=
.
2m

F1 (q, Q, t) =
7

(q Q)2
,
2m(t T )

1


.

9.9. HAMILTON-JACOBI

295

Hamilton Jacobi (9.69)

2
F1
1
F1
+
=0
t
2m
q


.
,

,
F1 ;


,
F1

T Q

t q. ,

;
,

-
S(q1 , q2 , t1 , t2 )


q1 (t1 ) q2 (t2 ).

-
,
Z t2
Z q2
Z t2
S(q1 , q2 , t1 , t2 ) =
(pq H) dt =
pdq
Hdt ,
t1

q1

t1

,


,



,



.

1

-

dS = p2 dq2 p1 dq1 H2 dt2 + H1 dt1 .

p1,2 H1,2

,
,
.

p2 =

S
S
, p1 =
,
q2
q1

(9.70)

S
S
, H1 =
.
t2
t1

(9.71)

H2 =

,
S(q, Q, t, T )

Q
T q

t
Hamilton - Jacobi


S
S
+ H qi ,
,t = 0 ,
(9.72)
t
qi
S(q, Q, t, T )
F1 (q, Q, t)



(q, p) (Q, P )

Q, P
.
1,

S(q, Q, t, T )

Hamilton Jacobi



.
,

, 1

F1

296

9.

(9.69)


1, Hamilton - Jacobi

1
(. 9.12).
,

, Hamilton - Jacobi

,


,



1

1
.

9.12.
1 (9.69)
F1

F1 = E(t T ) + W (q) ,
.
E

9.10.

297

9.10 1

1.

Legendre g(p) f (v) = v 2 /2 +
av. v ,

;

Legendre f (v) = b 1 v 2 |v| 1 b > 0.

;
2. Legendre :

1: p (), V (
), T (), S ().



dU = T dS pdV
U
S V .
,

S V , p = U /V |S . H

H

S p V = H/p|S . H

T = H/S|p . Gibbs
p
T S = G/T |p . G

Helmholtz A
V = G/p|T .

T V p = A/V |T .
A
S = A/T |V .
3.

p2
H(q, p) =
+ p sin q .
2
4.

f (r).
(r,
).



.
5.



f (r).
(r,
, ). pr , p , p .


.


.
6.



1.
7.




H=

|P~ |2 |~p|2
+
+ V (|~x|) ,
2M
2

, M

P~

, p~ ~x

 9.

298

.



.
8.


p
2

= mc 1 (x/c)
2,
x L(x)
x

.




L(x, x)
= mc2

p
1
1 (x/c)
2 m 2 x2 .
2

.


;
()

()




;

r Z /2
2
E (E mc2 ) sin2
4
,
T =
d; p
c m 0
(E + mc2 ) (E mc2 ) sin2

E . 11

-

,




.

9.
m xy.
(x, y)



= x cos t + y sin t ,
= x sin t + y cos t .

x = cos t sin t ,
y = sin t + cos t .
()


(, )
Euler - Lagrange
. ()

H

. ()
,





,


(
)
1
2
; )
E = 2 m(x + y 2);
H;
10.

H,

9.10.

299

t
t2
x(t) = x(0) + {x, H}t=0 + {{x, H}, H}t=0 +
1!
2!
t3
+
{{{x, H}, H}, H}t=0 + . . .
3!
Poisson

t = 0.





,

.
11.

(q Q)2
F1 (q, Q, t) =
.
2t
1

t 0 q Q =
O(t);


.
12.
Hamilton-Jacobi

1 2
L=
q q 2 .
2
R

-
S =
Ldt

Hamilton-Jacobi
.
13. L(x, x,
x, t) ,

.

; (.

)
14.
(8.113), 8,
.

.


.
15.

1
L = q T Aq V (q) ,
2

.
A
B = A1

1
H = pT Bp + V (q) .
2

300

9.

16.


8.2.

(8.12).

1
0 1 0 0
1
2
2

d
p1 = 0 k 0 p1
dt 2 0 0 0 1 2
p2
k2 0 2 0
p2

aeit 2 = g2 + k2 .

.





a
.