Invariant tori, action-angle variables, and phase space structure of the Rajeev-Ranken model

We study the classical Rajeev-Ranken model, a Hamiltonian system with three degrees of freedom describing nonlinear continuous waves in a 1 + 1-dimensional nilpotent scalar field theory pseudodual to the SU(2) principal chiral model. While it loosely resembles the Neumann and Kirchhoff models, its equations may be viewed as the Euler equations for a centrally extended Euclidean algebra. The model has a Lax pair and r-matrix leading to four generically independent conserved quantities in involution, two of which are Casimirs. Their level sets define four-dimensional symplectic leaves on which the system is Liouville integrable. On each of these leaves, the common level sets of the remaining conserved quantities are shown, in general, to be 2-tori. The nongeneric level sets can only be horn tori, circles, and points. They correspond to measure zero subsets where the conserved quantities develop relations and solutions degenerate from elliptic to hyperbolic, circular, or constant functions. A geometric construction allows us to realize each common level set as a bundle with base determined by the roots of a cubic polynomial. A dynamics is defined on the union of each type of level set, with the corresponding phase manifolds expressed as bundles over spaces of conserved quantities. Interestingly, topological transitions in energy hypersurfaces are found to occur at energies corresponding to horn tori, which support purely homoclinic orbits. The dynamics on each horn torus is non-Hamiltonian, but expressed as a gradient flow. Finally, we discover a family of action-angle variables for the system that apply away from horn tori.