W.R.

Hamilton,1805-1865
1

variational method, variational culculus

 q 1

t = t1 , t2
q = q1 , q2

q 1 P1 , P2

2 t1

t2

q P1 , P2

P1 , P2 PS
1 i P2 i = 1, 2,3,L

criterion

t2 q ( t )

t1

t1

t2 0

( W
t2

t1

+ WI ) dt

U
t2
d T T

=
+ Qnc q
q dt

t1
&

dt
q
q

t2
T

T
T
= ( U + Qnc q ) +
q& + q dt q
t1
q
q&
q&

t2
t1

{ (T U ) + Q
t2

nc

t1

q} dt = 0

L T U

nci

xi = Qnc q Wnc (1)

( L + W ) dt = 0
t2

t1

nc

12Hamiltons principle

2 t1 ,t2

t = t1

t2

admissible motion

natural motion

1
Q
1

U
d T T
+ Qnc
Q

q
dt q& q

(3)

Q = 0,

(4)

Q q = 0,

(5)

( Q q ) dt = 0.
t2

(6)

t1

12

Qnc q Wnc 1
2

(T U ) dt
t2

t2

t1

t1

t2

Ldt = Ldt

(7)

t1

t2

t1

Ldt A

(8)

action integral
action

A=0

(9)

principle of stationary action

A 2 t1 , t2 q1 , q2 q ( t ) 1
PS
1 i P2

A A q ( t )

(10)

A q ( t )
A A = 0

A stationary point

(9)

U = 0 A = 0 U = 0

t1

t2 A

principle of least action

(3)

A = 0

0 T , U ,

L T U q q
0
t = t1

t2

0 A =

( L + W ) dt
t2

t1

nc

A = 0