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Lagrange’s Equation
Objective
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Section 4 – Dynamic Simulation
Calculus of Variations
Module 6 – Lagrange’s Equation
Page 2
1707-1783 1736-1813
http://en.wikipedia.org/wiki/Leonhard_Euler http://en.wikipedia.org/wiki/Lagrange
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Section 4 – Dynamic Simulation
A Ldt
t1
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Section 4 – Dynamic Simulation
Principle of Least Action Module 6 – Lagrange’s Equation
Page 5
t2
A Ldt Action
t1
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Section 4 – Dynamic Simulation
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Section 4 – Dynamic Simulation
Stationary Value of a Function Module 6 – Lagrange’s Equation
Page 7
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Section 4 – Dynamic Simulation
3D Stationary Points
Module 6 – Lagrange’s Equation
Page 8
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Section 4 – Dynamic Simulation
Variation of a Function
Module 6 – Lagrange’s Equation
Page 9
g x f x x y
(x) is an arbitrary y g x
function that satisfies the
boundary conditions at a dy
Candidate y=f(x)
and b. dy
Path dx
g(x) can be made
infinitely close to f(x) by Actual
making the parameter Path
infinitesimally small.
a x x+dx b x
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Meaning of dy
Section 4 – Dynamic Simulation
Module 6 – Lagrange’s Equation
Page 10
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Section 4 – Dynamic Simulation
d dy d dy dg x df x
g x f x d
dx dx dx dx dx
x
d d x d x d x
dx dx
dx dx
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Section 4 – Dynamic Simulation
b b
d f x dx df x dx The order of operation
is interchangeable.
a a
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Section 4 – Dynamic Simulation
Specific Definite Integral
Module 6 – Lagrange’s Equation
Page 13
A Lqi , qi , t
n
L T qi t V qi t
t1 i 1
The actual path that the system will follow will be the one
that makes the definite integral stationary.
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Section 4 – Dynamic Simulation
Euler-Lagrange Equation Derivation
Module 6 – Lagrange’s Equation
Page 14
dLqi , qi , t L qi i , qi i , t Lqi , qi , t
L
i
L
i
qi qi
L L
t2 t2 t2
L L
t2
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Section 4 – Dynamic Simulation
Euler-Lagrange Equation Derivation
Module 6 – Lagrange’s Equation
Page 15
The second integral is integrated by parts.
L L Integration by Parts
t2
t qi i dt
q i
i
dt
q
i
i dt
u
L
qi
1 t1
t1
t2
L d L
t qi dt qi
i dt 0
1
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Section 4 – Dynamic Simulation
Euler-Lagrange Equation Derivation
Module 6 – Lagrange’s Equation
Page 16
t2
L d L The only way that this definite integral
t qi dt qi
i dt 0
can be zero for arbitrary values of i is for
1 the partial differential equation in
parentheses to be zero at all values of x in
the interval t1 to t2.
L d L
0
qi dt qi
or
d L L Lagrange’s equation
0
dt qi qi
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Section 4 – Dynamic Simulation
Euler-Lagrange Summary
Module 6 – Lagrange’s Equation
Page 17
d L L n
0 L T qi t V qi t
dt qi qi i 1
A Lqi , qi , t
t1
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Section 4 – Dynamic Simulation
Examples Module 6 – Lagrange’s Equation
Page 18
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Section 4 – Dynamic Simulation
Vibrating Spring Mass Example
Module 6 – Lagrange’s Equation
Page 19
Governing Equations
Mathematical Operations
d L L 1 2 1 2
0 L my ky
dt qi qi y 2 2
L
my
y
L T V m
d L
1 2
T my my
2 dt y
1 2 L
V ky k ky
2 y
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Section 4 – Dynamic Simulation
Falling Mass Example Module 6 – Lagrange’s Equation
Page 20
my mg 0
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Section 4 – Dynamic Simulation
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