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Lecture7 PDF
Lecture7 PDF
Lecture #7
Lagrange's Equations
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 1
16.61 Aerospace Dynamics Spring 2003
Lagranges Equations
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 1
16.61 Aerospace Dynamics Spring 2003
Rotating Launcher
FBD of projectile
mg
x1 x2 t
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 2
16.61 Aerospace Dynamics Spring 2003
Lagrange provides:
Avoiding some constraints
Equations presented in a standard form
Big Picture
Use kinetic and potential energy to solve for the motion
No need to solve for accelerations (KE is a velocity term)
Do need to solve for inertial velocities
Lets start with the answer, and then explain how we get there.
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 3
16.61 Aerospace Dynamics Spring 2003
Lagranges Equation
For conservative systems
d L L
=0
dt qi qi
Results in the differential equations that describe the
equations of motion of the system
Key point:
Newton approach requires that you find accelerations in all
3 directions, equate F=ma, solve for the constraint forces,
and then eliminate these to reduce the problem to
characteristic size
Lagrangian approach enables us to immediately reduce the
problem to this characteristic size we only have to
solve for that many equations in the first place.
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 4
16.61 Aerospace Dynamics Spring 2003
Simple Example
Spring mass system
k
m
Lagrangian L = T V
L = T V = 1 mx 2 1 kx 2
2 2
Lagranges Equation
d L L
=0
dt qi qi
Do the derivatives
L d L L
= mx , =
mx , = kx
qi dt qi qi
Put it all together
d L L
= mx + kx = 0
dt qi qi
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 5
16.61 Aerospace Dynamics Spring 2003
LM RD OP L 0 O L R + RO LM RD OP
rD = M 0 P + M 0 P M 0 P = M ( R + R)P
o
I
M M P M P
MN 0 PQ MN PQ MN 0 PQ MN 0 PQ
o
T = (rD ) (rD ) = c RD + ( R + R) h
m I T m I 2 2 2
M M o
2 2
k 2
V=2 R
2
L = T V =
m D2
2
c
R + 2 ( Ro + R) 2 kR 2 h
d LFG IJ DD
H K
dt RD
= mR
L
= m 2 ( Ro + R) 2 kR
R
DD m 2 ( R + R) + 2 kR = 0
So the equations of motion are: mR o
F I
DD + 2 k 2 R = R 2 which is the same as on (3 - 4).
or R
m H o
K
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 6
16.61 Aerospace Dynamics Spring 2003
Example 1
o Particle in space
n=3
Coordinate sets: x, y, z or r, ,
m=0
DOF = n m = 3
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 7
16.61 Aerospace Dynamics Spring 2003
Example 2
o Conical Pendulum
r=L
Example 3
o Two particles at a fixed distance (dumbbell)
Coordinates:
n=
m=
EOCs =
DOF =
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 8
16.61 Aerospace Dynamics Spring 2003
Generalized Coordinates
No specific set of coordinates is required to analyze the
system.
Number of coordinates depends on the system, and not
the set selected.
Any set of parameters that are used to represent a system
are called generalized coordinates.
Coordinate Transformation
Often find that the best set of generalized coordinates
used to solve a problem may not provide the information
needed for further analysis.
Use a coordinate transformation to convert between sets
of generalized coordinates.
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 9
16.61 Aerospace Dynamics Spring 2003
Let:
qi be a set of generalized coordinates.
xi be a set of Cartesian coordinates relative to an inertial frame
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 10
16.61 Aerospace Dynamics Spring 2003
v x = f1 (u,v) y
y = f2 (u,v)
u x
LM x 1 x1 OP
M
J=M m
q 1 qn
p m
PP
MM xq n x n PP
N 1 qn Q
Example: Cartesian to Polar transformation
x = r sin cos
LM
sin cos r cos cos r sin sin OP
y = r sin sin MM
J = sin sin r cos sin r sin cos
PP
z = r cos
cos N
r sin 0 Q
J = cos r 2 sin cos cos 2 + r 2 sin cos sin 2
+ r sin r sin 2 cos 2 + r sin 2 sin 2
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 11
16.61 Aerospace Dynamics Spring 2003
Constraints
r=L
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 12
16.61 Aerospace Dynamics Spring 2003
a
i =1
ji dqi + a jt dt = 0, j = 1, 2, l m
a ji = ( q1 , q2 , q3 , l qn , t )
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 13
16.61 Aerospace Dynamics Spring 2003
v = x = r
dx rd = 0
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 14
16.61 Aerospace Dynamics Spring 2003
Summary to Date
Generalized Coordinates qi
Term for any coordinate
Acquired skill in applying Lagrange method is choosing
a good set of generalized coordinates.
Coordinate Transform
Mapping between sets of coordinates
Non-zero Jacobian
Massachusetts Institute of Technology How, Deyst 2003 (Based on notes by Blair 2002) 15