Lagrange Equations

Use kinetic and potential energy to solve for motion!

1
We use Newton's laws to describe the motions of objects. It works
well if the objects are undergoing constant acceleration but they can
become extremely difficult with varying accelerations.
For such problems, we will find it easier to express the solutions with

the concepts of kinetic energy.

2
 Modeling of Dynamic Systems

Modeling of dynamic systems may be done in several ways:

 Use the standard equation of motion (Newton’s Law) for mechanical

systems.

 Use circuits theorems (Ohm’s law and Kirchhoff’s laws: KCL and KVL).

Today’s approach utilizes the notation of energy to model the dynamic

system (Lagrange model).

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 Joseph-Louise Lagrange: 1736-1813.
 Born in Italy and lived in Berlin and Paris.
 Studied to be a lawyer.
 Contemporary of Euler, Bernoulli, D’Alembert, Laplace, and Newton.
 He was interested in math.
 Contribution:
 Calculus of variations.
 Calculus of probabilities.
 Integration of differential equations
 Number theory.
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Equations of Motion: Lagrange Equations
 There are different methods to derive the dynamic equations of a
dynamic system. As final result, all of them provide sets of equivalent
equations, but their mathematical description differs with respect to
their eligibility for computation and their ability to give insights into
the underlying mechanical problem.

 Lagrangian method, depends on energy balances. The resulting

equations can be calculated in closed form and allow an appropriate
system analysis for most system applications.

 Why Lagrange:
 Scalar not vector.
 Eliminate solving for constraint forces (what holds the system together)
 Avoid finding acceleration.
 Uses extensively in robotics and many other fields.
 Newton’s Law is good for simple systems but what about real systems?
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Mathematical Modeling and System Dynamics
Newtonian Mechanics: Translational Motion

 The equations of motion of

mechanical systems can be
found using Newton’s second
law of motion. F is the vector  F  ma
sum of all forces applied to Newton approach requires that we find
the body; a is the vector of
acceleration of the body with accelerations in all three directions,
respect to an inertial equate F  ma, solve for the constraint
reference frame; and m is the forces and then eliminate
mass of the body. these to reduce the problem
 To apply Newton’s law, the to " characteristic size".
free-body diagram (FBD) in
the coordinate system used
should be studied.

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 Force : Fcoulomb

Translational Motion in Electromechanical Systems

 Consideration of friction is essential for understanding the

operation of electromechanical systems.

 Friction is a very complex nonlinear phenomenon and is very

difficult to model friction.

 The classical Coulomb friction is a retarding frictional force (for

translational motion) or torque (for rotational motion) that
changes its sign with the reversal of the direction of motion, and
the amplitude of the frictional force or torque are constant.

 Viscous friction is a retarding force or torque that is a linear

function of linear or angular velocity.

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Newtonian Mechanics: Translational Motion

 For one-dimensional rotational

systems, Newton’s second law
of motion is expressed as the
following equation. M is the
M  j
sum of all moments about the
center of mass of a body (N-
m); J is the moment of
inertial about its center of
mass (kg/m2); and  is the
angular acceleration of the
body (rad/s2).

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 Newton’s Second Law
The movement of a classical material point is described by the second law of

Newton:
d 2 r (t )
m 2
 F (r , t ) (r is a vector indicating a position of the material point in space)
dt
x 
r   y 
z 
Vector F(r, t) represents a force field, which may be calculated by taking
into account interactio ns with other particles, or interactio ns with electromag netic
waves, or gravitational fields.
The second law of Newton is an idealisation, of course, even if one was to neglect
quantum and relativist ic effects. There is no justificat ion why only a second time derivative
of r should appear in that equation. Indeed if energy is dissipated in the systemusually
first time derivatives will appear in the equation too. If a material point loses energy due to EM
radiation, third time derivatives will come up.

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Energy in Mechanical and Electrical Systems
 In the Lagrangian approach, energy is the key issue. Accordingly,
we look at various forms of energy for electrical and mechanical
systems.

 For objects in motion, we have kinetic energy Ke which is always a

scalar quantity and not a vector.

 The potential energy of a mass m at a height h in a gravitational

field with constant g is given in the next table. Only differences in
potential energy are meaningful. For mechanical systems with
springs, compressed a distance x, and a spring constant k, the
potential energy is also given in the next table.

 We also have dissipated energy P in the system. For mechanical

system, energy is usually dissipated in sliding friction. In electrical
systems, energy is dissipated in resistors.
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Electrical and Mechanical Counterparts
“Energy”

Energy Mechanical Electrical

Kinetic Mass / Inertia Inductor

(Active) 0.5 mv2 / 0.5 j2 1 2 1 2
Li  Lq
Ke 2 2
Potential Gravity: mgh Capacitor
V Spring: 0.5 kx2 0.5 Cv2 = q2/2C

Dissipative Damper / Friction Resistor

P 0.5 Bv2 1 2 1 2
Ri  Rq
2 2

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 Lagrangian
The principle of Lagrange’s equation is based on a quantity called
“Lagrangian”. Lagrangian is the difference between the kinetic
energy of a system minus potential energy of the same system.

L  K e  V ( K e is the kinetic energy;V is the potential energy)

1 2
Ke  mv ; V  mgh
2
d  L  L P
Lagrange' s Equation :     Qi
dt  q i  qi q i
P is power function (half rate at which energy is dissipated); Qi are generalize d external inputs
(forces) acting on the systemIf there are three generalize d coordinates, there will be three equations.
Note that the above equation is a second - order differenti al equation

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Generalized Coordinates
 In order to introduce the Lagrange equation, it is important to first
consider the degrees of freedom (DOF = number of coordinates-
number of constraints) of a system. Assume a particle in a space:
number of coordinates = 3 (x, y, z or r, , ); number of
constraints = 0; DOF = 3 - 0 = 3.

 These are the number of independent quantities that must be

specified if the state of the system is to be uniquely defined. These
are generally state variables of the system, but not all of them.

 For mechanical systems: masses or inertias will serve as generalized

coordinates.

 For electrical systems: electrical charges may also serve as

appropriate coordinates.

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Cont..

 Use a coordinate transformation to convert between

sets of generalized coordinates (x = r sin  cos  ; y = r
sin  sin  ; z = r cos  ).
 Let a set of q1, q2,.., qn of independent variables be
identified, from which the position of all elements of
the system can be determined. These variables are
called generalized coordinates, and their time
derivatives are generalized velocities. The system is
said to have n degrees of freedom since it is
characterized by the n generalized coordinates.
 Use the word generalized, frees us from abiding to any
coordinate system so we can chose whatever parameter
that is convenient to describe the dynamics of the
system. 14
For a large class of problems, Lagrange equations can
be written in standard matrix form

 L   L   P 
 q   q   q   f 
 1  1  1   1
d .  .  .  . 
  -      
dt .  .  .  . 
 L   L   P   f n 
     
 q n   q n   q n 
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Example of Linear Spring Mass System and Frictionless
Table: The Steps

k
𝑞=𝑥 m
𝑞=
ሶ 𝑥ሶ

1 2 1 2 x
Lagrangian : L  K e  V  mx  kx
2 2
d  L  L
Lagrang' s Equation :  
 0
dt  qi  qi
L d  L  L
Do the derivatives :  mx;    mx;  kx
q i  
dt  qi  qi
d  L  L
Combine all together :  
  mx  kx  0
dt  q i  qi 16
 Mechanical Example: Mass-Spring Damper
1 2
Ke  mx
2
V  Kx 2  mg h  x 
1
2
L  K e  V  mx 2  Kx 2  mg h  x 
1 1
2 2
1
P  Bx 2
2
We have the generalize d coordinate q  x, and thus with the applied force Q  f , we write
the Lagrange equation :
d  L  L P
f    
dt  x  x x
d  1 1
 ( ( mx 2  Kx 2  mg (h  x)))
dt x 2 2
 1 1  1
 ( mx 2  Kx 2  mg (h  x))  ( Bx 2 )
x 2 2 x 2
d
 (mx 2 )  ( Kx  mg )  ( Bx )
dt
 mx  Kx  mg  Bx 17
 Electrical Example: RLC Circuit
1 2
𝑞(𝑡)
ሶ = 𝑖(𝑡) Ke  Lq
2
1 2
V q
2C
1 2 1 2
L  Ke V  Lq  q
2 2C
1 2
P Rq
2
We have the generalize d coordinate q (charge), and with the applied force Q  u , we have
d  L  L P
u    
dt  q  q q

d  1 2 1 2  1 1 2  1
 ( ( Lq  q ))  ( Lq 2  q )  ( Rq 2 )
dt q 2 2C q 2 2C q 2
d Q Q di
 ( Lq )   Rq  Lq   Rq  L  vc  Ri
dt C C dt
i  q and q  Cvc for a capacitor. This is just KVL equation
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Electromechanical System: Capacitor Microphone
About them see: http://www.soundonsound.com/sos/feb98/articles/capacitor.html

This systemhas two degrees of freedom

(electrica l and mechanical : charge q and
displaceme nt x from equilibriu m)

1 2 1 2 1 2 1 2
Ke 
Lq  mx ; V  q  Kx
2 2 2C 2
A   is the dielectric constant of the air (F/m), 
C  
xo  x  A is the area of the plate, xo - x is the plate separation 

V
1
xo  x  q  Kx ; P  Rq  Bx
2 1 2 1 2 1 2
2 A 2 2 2
1 2 1 2
L  Lq  mx 
 
1
xo  x q  Kx
2 1 2
2 2 2A 2
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L L q2
P
 mx;   Kx;  Bx
x x 2A x
L L xo  x q P
 Lq;  ;  Rq
q q A q
Then we obtain the two Lagrange equations
q2
mx  Bx  Kx   f
2 A
Lq  Rq 
1
 xo  x  q  v
A
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 Robotic Example

 
q    Generalize d coordinates (θ angular position; r radial length; both vary)
r 
 
Q    Applicable forces to each component; is the torque; f is the force
f
J  mr 2 ; K e  J 2  mr 2 ; V  mgr sin  
1 1
2 2
1 1
The power dissipation : P  B1 2  B2 r 2
2 2
L  K e  V  J 2  mr 2  mgr sin  
1 1
2 2
 L   L   P 
L     J  mr 2 L     mgr cos   P     B1 
   ;   ;   
q  L  mr  mr  q  L  mr  2  mg sin( ) q  P   B2 r 
 r   r   r 
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 The Lagrange equation becomes

d  L  L P
Q     
dt  q  q q
mr 2  2mr r  mgr cos    B1 
Q    2  
 mr  mr   mg sin( )  B2 r 
mr 2 0    B1 2mr θ   mgr cos( )  
           
0 m  r   mr θ B 2  r  mg sin( )   f 
M (q)q  V (q, q )  G (q)  Q
M (q) is the inertia matrix; V (q, q ) is the Coriolis/c entripetal vector
G (q) is the gravity vector; Q is the input vector
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 Example: Two Mesh Electric Circuit

R1 L1 L2

C2
Ua(t) q1 L12 q2
C1

R2

Assume q1 and q2 as the independent generalize d coordinates, where q1 is the electric

charge in the first loop and q2 is the electric charge in the second loop.
The generalize d force applied to the systemis denoted as Q1
i1 i2
We should know that : i1  q1 ; i2  q 2 ; q1 ; q2  ; Q1  U a (t ).
s s
The total magnetic energy (kinetic energy) is :
1 1 1
K e  L1q1  L12 (q1  q 2 )  L2 q 22
 2
  2
2 2 2 23
 K e K e
 0;  L1  L12 q1  L12 q 2
q1 q1
K e K e
 0;  L2  L12 q 2  L12 q1
q2 q 2
Use the equation for the total electric energy (potential energy)
1 q12 1 q22 V q V q
V  ;  1 and  2
2 C1 2 C 2 q1 C1 q2 C 2
1 1 P P
The total heat energy dissipated : P  R1q12  R2 q 22 ;  R1q1 and  R2 q 2
2 2 q1 q 2

d K e K e P V d K e K e P V
( )    Q1 ; ( )   0
dt q1
 q1 q1 q1
 dt q2
 q2 q2 q2

q1 q
( L1  L12 )q1  L12 q2  R1q1   U a ; - L12q1  ( L2  L12 )q2  R2 q 2  2  0
C1 C2
1  q1  1  q 
q1     R1q1  L12 q2  U a ; q2   L12 q1  2  R2 q 2 
( L1  L12 )  C1  ( L2  L12 )  24 C2 
Another Example
ia(t) iL(t)
R L

q1 C q2
Ua(t) uc uL
RL

Use q1 and q2 as the independent generalize d coordinates :

ia  q1 ; iL  q 2 ; u a (t )  Q1
1 2 K e K e d  K e 
Ke  Lq 2 ;  0;  0;    0
2 q1 q1 dt  q1 
K e K e d  K e 
 0;  Lq 2 ;
    Lq2
q 2 q 2 dt  q 2  25
 1 q1  q 2 
2
The total potential energy is : V 
2 C
V q1  q 2 V  q1  q 2
 and 
q1 C q 2 C
1 2 1
The total dissipated energy is : P  Rq1  RL q 22
2 2
P P
 Rq1 and  RL q 2
q1 q 2
d  K e  K e P V d  K e  K e P V
      Q1 ;      0
dt  q1  q1 q1 q1
 dt  q 2  q2 q 2 q 2
 
q q  q  q2
Rq1  1 2  u a ; L q2  RL q 2  1 0
C C
1   q  q2  1 q1  q 2 
q1   1  u a ; q 2    RL q 2 
  
R C  L  C 
By using Kirchhoff' s law, we get
duc 1  u c u (t )  di
    i L  a ; L  u c  RL iL 26
1
dt C R R  dt L
Directly-Driven Servo-System

r
Load
TL
ir
r, Te
Rotor Te : electromag netic torque
TL : Load torque
ur
Stator
is i
q1  ; q 2  r ; q3   r ;
s s
Rr Lr q1  is ; q 2  ir ; q3   r ;
Ls
Q1  u s ; Q2  u r ; Q3  TL
us is
Rs 27
The Lagrange equations are expressed in terms of
each independent coordinate

d K e K e P V
( )    Q1
dt q1 q1 q1 q1
d K e K e P V
( )    Q2
dt q 2 q2 q 2 q2
d K e K e P V
( )    Q3
dt q3 q3 q3 q3

28
 The total kinetic energy is the sum of the total electrical (magnetic) and
mechanical (moment of inertia) energies

1 1 1
K ee  Ls q12  Lsr q1q 2  Lr q 22 (Electrica l); K em  Jq 32 (Mechanical)
2 2 2
1 1 1 2
K e  K ee  K em  Ls q1  Lsr q1q 2  Lr q2  Jq 3
 2
   2
2 2 2
Ns Nr Ns Nr
Mutual inductance : Lsr ( r )  ; LM  Lsr max 
 m ( r )  m (90 0 )
Lsr ( r )  LM cos r  LM cos q3 ( LM is magnetizin g reluctance)
1 1 1
Ke  Ls q12  LM q1q 2 cos q3  Lr q 22  Jq 32
2 2 2
K K
The following partial derivatives result : e  0; e  Ls q1  LM q 2 cos q3
q1 q1
K e K e K e K e
 0;  LM q1 cos q3  Lr q2 ;
    LM q1q2 sin q3 ;
   Jq 3
q 2 q 2 q3 q 3
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We have only a mechanical potential energy: Spring with a constant ks
1
The potential energy of the spring with constant k s : V  k s q32
2
V V V
 0;  0;  k s q3
q1 q 2 q3
The total heat energy dissipated is expressed as : P  PE  PM
1 1 1
PE  Rs q12  Rr q 22 ; PM  Bm q 32
2 2 2
1 1 1
P  Rs q12  Rr q 22  Bm q 32
2 2 2
P P P
 Rs q1 ;  Rr q 2 ; and  Bm q 3
q1
 q 2
 q3

Substituting the original values, we have three differenti al equations for servo - system
dis di d
Ls  LM cos r r  LM i r sin  r r  Rs is  u s
dt dt dt
di di d
Lr r  LM cos r s  LM i s sin  r r  Rr ir  u r
dt dt dt
d 2 r d r
J 2
 L i i
M s r sin  r  Bm  k s r  TL 30
dt dt
 dθ r
The last equation should be written in terms of rotor angular velocity (  ω).
dt
Also, using stator current and rotor current, angular velocity, and position as state variables
dis 1  1 2 
   Rs Lr is  LM is r sin 2 r  Rr LM ir cos r  Lr LM  r sin  r  Lr u s  LM cos r u r 
dt Ls Lr  L2M cos 2  r  2 
dir 1  1 1 2 
   R L
s M si  L L i 
s M s r sin  r  R L i
r s r  L i 
M r r sin 2  L M cos  u
r s  L s r
u
dt Ls Lr  L2M cos 2  r  2 2 
d r 1
 ( LM is ir sin  r  Bm r  k s r  TL )
dt J
d r
 r
dt
d 1
Considerin g the third equation : r  ( LM is ir sin  r  Bm r  k s r  TL )
dt J
We can obtain the expression for the electromag netic torque Te developed :
Te   LM is ir sin  r

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More Application
Application of Lagrange equations of motion in the modeling of two-
phase induction motor and generator.

Application of Lagrange equations of motion in the modeling of

permanent-magnet synchronous machines.

Transducers

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