Báo cáo

𝜕𝐿
𝑝1 = = 𝑚𝑐 𝜑̇ 𝑙 2 𝑐𝑜𝑠 2 𝜃 + 𝑚𝑐 𝑅̇𝑙𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝜑 − 𝑚𝑐 𝑙 2 𝛾̇ 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝜑
𝜕𝜑̇
𝜕𝐿
𝑝2 = = 𝑚𝑐 𝑅̇𝑙 ̇𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝜑 − 𝑚𝑐 𝑅̇ 𝑙𝜑̇ 𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜑 − 𝑚𝑐 𝑅̇𝑙𝜃̇𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜑 + 𝑚𝑐 𝑙 2 𝛾̇ 𝜃̇𝑐𝑜𝑠𝜑
𝜕𝜑
+ 𝑚𝑐 𝑙 2 𝛾̇ 𝜑̇𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜑 + 𝑚𝑐 𝑙 2 𝛾̇ 2 𝑐𝑜𝑠 2 𝜃𝑠𝑖𝑛𝜑𝑐𝑜𝑠𝜑 − 𝑚𝑐 𝑔𝑙𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜑
+ 𝑚𝑐 𝑅𝑙𝛾̇ 2 𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝜑
𝜕𝐿
𝑞2 = = −𝑚𝑐 𝑙 2 𝜑̇ 2 𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜑 − 𝑚𝑐 𝑅̇𝑙 ̇𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝜑 − 𝑚𝑐 𝑅̇𝑙𝜑̇ 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜑 − 𝑚𝑐 𝑅̇𝑙𝜃̇𝑐𝑜𝑠𝜃𝑠𝜑
𝜕𝜃
+ 𝑚𝑐 𝑙 2 𝛾̇ 2 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃 − 𝑚𝑐 𝑅̇𝑙𝛾̇ 𝑐𝑜𝑠𝜃 − 𝑚𝑐 𝑙 2 𝛾̇ 𝜑̇(𝑐𝑜𝑠 2 𝜃 + 𝑠𝑖𝑛2 𝜃)𝑐𝑜𝑠𝜑
− 𝑚𝑐 𝑙 2 𝛾̇ 2 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃𝑠𝑖𝑛2 𝜑 + 𝑚𝑐 𝑅𝑙 ̇𝛾̇ 𝑐𝑜𝑠𝜃 − 𝑚𝑐 𝑅𝑙 ̇𝛾̇ 𝜃̇ 𝑠𝑖𝑛𝜃 − 𝑚𝑐 𝑔𝑙𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜑
− 𝑚𝑐 𝑅𝑙𝛾̇ 2 𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝜑
𝜕𝐿
𝑞1 = = 𝑚𝑐 𝑙 2 𝜃̇ − 𝑚𝑐 𝑅̇𝑙𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝜑 + 𝑚𝑐 𝑙 2 𝛾̇ 𝑠𝑖𝑛𝜑 + 𝑚𝑐 𝑅𝑙𝛾̇ 𝑐𝑜𝑠𝜃
𝜕𝜃̇
1
𝐿 = 𝑚𝑐 [𝑅̇2 + 𝑙 2̇ + 𝑙 2 𝜃̇ 2 + 𝑅2 𝛾̇ 2 + 𝑙 2 𝜑̇ 2 𝑐𝑜𝑠 2 𝜃 + 2𝑅̇𝑙 ̇𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜑 + 2𝑅̇𝑙𝜑̇ 𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝜑
2
− 2𝑅̇𝑙𝜃̇𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝜑 + 2𝑙 2 𝛾̇ 2 𝑠𝑖𝑛2 𝜃 − 2 𝑅𝑙𝛾̇ 𝑠𝑖𝑛𝜃 + 2𝑙 2 𝛾̇ 𝜃̇𝑠𝑖𝑛𝜑
− 2𝑙 2 𝛾̇ 𝜑̇𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝜑 + 2𝑙 2 𝛾̇ 2 (𝑐𝑜𝑠 2 𝜃𝑠𝑖𝑛2 𝜃) + 2𝑅𝑙 ̇𝛾̇ 𝑠𝑖𝑛𝜃 + 2𝑅𝑙 ̇𝛾̇ 𝜃̇𝑐𝑜𝑠𝜃
1 1
+ 2𝑅𝑙𝛾̇ 2 𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜑] + 𝑚𝑡 [𝑅2 + 𝑅2 𝛾̇ 2 ] + 𝐽0 𝛾̇ 2 + 𝑚𝑐 𝑔𝑙𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝜑
2 2