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Lagrange’s equation for formulating vibration problems

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23 views

Lagrange’s equation for formulating vibration problems

Uploaded by

Srishti Kumari
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lagrange’s equation for formulating vibration

problems
Introduction
Lagrange (1736 – 1813) French Mathematician
Discovered a relationship for formulating the equations of motion in any dynamic system
The relationship involves the energies of the system
With Lagrange’s method, the equation of motion can be derived in terms of generalized co-
ordinates

𝜔 𝑥, 𝑡 = 𝜙 𝑥 𝑞 𝑡
Lagrange’s method is very useful when direct application of Newton’s 2nd law is difficult.
Difference between Lagrange’s and Hamilton’s equation

Hamilton’s equation
𝑡2

න 𝛿 𝑇 − 𝑉 ⅆ𝑡 = 0
𝑡1

T – V = L where L is called Lagrangian

Hamilton’s principle is an integral equation in which total energy is integrated over


an interval of time.

On the other hand, Lagrange’s equations are differential equation in which one
considers the energy of the system instantaneously at a time
Derivation of Lagrange’s equation

Let the generalized co-ordinates and their time derivatives be represented


by
q1,q2,q3,…qn ; 𝑞ሶ 1, 𝑞ሶ 2, … 𝑞ሶ 𝑛
Let kinetic energy of the system be written as
T = T(q1,q2,q3,…qn ; 𝑞ሶ 1, 𝑞ሶ 2, … 𝑞ሶ 𝑛 )
We can write the small variation of kinetic energy as
𝜕𝑇 𝜕𝑇 𝜕𝑇 𝜕𝑇 𝜕𝑇 𝜕𝑇
𝛿𝑇 = ሶ
𝛿 𝑞1ሶ + ሶ 𝛿 𝑞2ሶ +…+ ሶ 𝛿 𝑞𝑛ሶ + 𝛿 q1 + 𝛿q2 +…+ 𝛿qn
𝜕𝑞1 𝜕𝑞2 𝜕𝑞𝑛 𝜕𝑞1 𝜕𝑞2 𝜕𝑞𝑛
In concise form, we can write
𝑛
𝜕𝑇 𝜕𝑇
𝛿𝑇 = ෎ 𝛿 𝑞ሶ 𝑗 + 𝛿𝑞𝑗
𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗
𝑗=1
We already know
𝛿𝑊 = 𝛴𝑄𝑖 𝛿𝑞𝑖

Where, Qi is the forces acting at the generalized coordinated i.


According to Hamilton’s principle
𝑡2
𝑛
𝑡2
𝜕𝑇 𝜕𝑇
න 𝛿 𝑇 + 𝑊 ⅆ𝑡 = ඳ ෎ 𝛿 𝑞ሶ 𝑗 + 𝛿𝑞𝑗 + 𝑄𝑖 𝛿𝑞𝑖 ⅆ𝑡 = 0
𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗
𝑡1
𝑗=1
𝑡1
Consider the integral of first term
ⅆ
𝛿 𝑞ሶ 𝑖 = (𝛿𝑞𝑖)
ⅆ𝑡
𝑡2 𝑛 𝑡2
𝜕𝑇 𝜕𝑇 𝑡2 ⅆ 𝜕𝑇
න෍ 𝛿 𝑞ሶ 𝑗 ⅆ𝑡 = ෍ 𝛿 𝑞1 ቚ − න 𝛿𝑞𝑗 ⅆ𝑡 = 0
𝜕𝑞ሶ 𝑗 𝜕𝑞ሶ 𝑖 𝑡1 ⅆ𝑡 𝜕𝑞ሶ 𝑗
𝑡1 𝑖=1 𝑡1

Now, we can write Hamilton’s equation as

𝑡2 𝑡2 𝑛
ⅆ 𝜕𝑇 𝜕𝑇
න 𝛿 𝑇 + 𝑊 ⅆ𝑡 = න ෍ − + + 𝑄𝑗 𝛿𝑞𝑗 ⅆ𝑡 = 0
ⅆ𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞ሶ 𝑗
𝑡1 𝑡1 𝑗=1
Since q’s are generalized co-ordinates and 𝛿q’s are arbitrary except at t=t1 and t=t2,
at which instants they are set equal to zero.
𝑡2 𝑡2 𝑛
ⅆ 𝜕𝑇 𝜕𝑇
න 𝛿 𝑇 + 𝑊 ⅆ𝑡 = න ෍ − + + 𝑄𝑗 𝛿𝑞𝑗 ⅆ𝑡 = 0
ⅆ𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞ሶ 𝑗
𝑡1 𝑡1 𝑗=1

ⅆ 𝜕𝑇 𝜕𝑇
− + + 𝑄𝑗 = 0
ⅆ𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗

Lagranges, equation is now written as

ⅆ 𝜕𝑇 𝜕𝑇
− = 𝑄𝑗
ⅆ𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗
Now recalling that the generalized force consists of that of conservative and non-
conservative forces

Qj = QAi + QDi + QEi

In which QAi = Applied force; QDi = Damping force;


QEi = internal elastic force (Conservative force)
𝜕𝑉
QEi = − 𝜕𝑞
𝑗

For conservative system, Lagrange’s equation is written as

ⅆ 𝜕𝑇 𝜕𝑇 𝜕𝑉
− + =0
ⅆ𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗 𝜕𝑞𝑗
For non-conservative system, the Lagrange’s equation can be written as

ⅆ 𝜕𝑇 𝜕𝑇 𝜕𝑉
− + = 𝑄𝑛𝑐 𝑗
ⅆ𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗 𝜕𝑞𝑗

For non-conservative system with damping force, we define Rayleigh’s dissipation function
in the form

𝑛 𝑛
1 𝜕𝑅
𝑅 = ෍ ෍ 𝐶𝑟𝑠 𝑞ሶ 𝑟 𝑞ሶ 𝑠 𝑄𝐷𝑖 = −
2 𝜕𝑞ሶ 𝑖
𝑟=1 𝑠=1

Therefore, Lagrange’s equation becomes

ⅆ 𝜕𝑇 𝜕𝑇 𝜕𝑉 𝜕𝑅 ∗ Qj* is non conservative force


− + + = 𝑄𝑗 other than damping
ⅆ𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗 𝜕𝑞𝑗 𝜕𝑞ሶ 𝑖
Example-1. Take an SDF undamped system. Use Lagrange’s
equations to derive the equations of motion
x
1 1 k
𝑇= 𝑚𝑥ሶ 2 𝑉= 𝑘𝑥 2 m
2 2

𝑞1 = 𝑥; 𝑞ሶ 1 = 𝑥;ሶ 𝑄𝑗 = 0
ⅆ 𝜕𝑇 𝜕𝑇 𝜕𝑉
− + =0
ⅆ𝑡 𝜕𝑞ሶ𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖
ⅆ
𝑚𝑥ሶ − 0 + 𝑘𝑥 = 0
ⅆ𝑡

𝑚𝑥ሷ + 𝑘𝑥 = 0
Example-2. Consider forced vibration of SDF damped system.
Use Lagrange’s equations to derive the equations of motion.
k x
𝑞1 = 𝑥; 𝑞ሶ 1 = 𝑥;ሶ 𝑄𝐴𝑖 = 𝐹 𝑡 ; 𝑄𝐷1 = −𝑐 𝑥ሶ
m

ⅆ 𝜕𝑇 𝜕𝑇 𝜕𝑉 c
− + = 𝑄𝑛𝑐 𝑗
ⅆ𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗 𝜕𝑞𝑗

𝑚𝑥ሷ + 𝑘𝑥 = −𝑐𝑥ሶ + 𝐹(𝑡)


Hence, equation of motion is

𝑚𝑥ሷ + 𝑘𝑥 + 𝑐𝑥ሶ = 𝐹(𝑡)


Thank You

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