;

 2.4

Euler-Lagrange



53


 

 Euler-Lagrange  !!"#!

$%
T = 21 mv2 = 12 m(x_ 2 + y_ 2 + z_ 2)

 F = (Fx Fy  Fz ) % &'( :
@V  @V
F = (Fx Fy  Fz ) = ;rV = ; @V

@x @y @z

(2:4:1)

(2:4:2)

V )$*+,- Lagrangian %
L = T ; V = 12 m(x_ 2 + y_ 2 + z_2 ) ; V

./0 (action) %
S=

Z t1
t0

Ldt =

Z t1
t0

(2:4:3)

(T ; V )dt

(2:4:4)

d (mx_ ) + @V = 0
dt
@x
d (my_ ) + @V = 0
dt
@y
d (mz_ ) + @V = 0
dt
@z

(2:4:5)

1# Euler-Lagrange %
d
dt
d
dt
d
dt


@L ; @L = 0
@ x_  @x
@L ; @L = 0
@ y_  @y
@L ; @L = 0
@ z_
@z

2+ (x y z) 345678 :

54

2.4 9:<<=>?@A

mx = Fx 

my = Fy 

mz = Fz

2+5678 Hamilton BCDE-FG

HI 2.4.1. ( JK78 ) LJK78MN Euler-Lagrange 

O 2.4.1 9:<<
 P ]: JK78M : QRSTUV*W0XYZ0 ( )\ ) D\] :
F / x =) F = ;kx

k] = MT;2

^_`abcde* k RSfg#0h ( 2i ) jk k] = MT;2 *lm m 

non01p56qr!!78sLtJK78cu%rvwx


1

2
mx + kx = mx + x 2 kx = 0
^yz{!$X)$x| 12 mx_ 2 } 21 kx2 *~L Lagrangian %
L = T ; V = 12 mx_ 2 ; 12 kx2

(2:4:6)

;

Euler-Lagrange



55

s Euler-Lagrange 

 @L
@L
d
mx + kx = dt @ x_ ; @x = 0

X5678 
 P ]:

(1) JK78 (2.4.6) ,cu%

x + !2x = 0

! = mk

(2:4:7)

! % (angular frequency) *L 2 f = 2! %

:
f ] = !] = (k]=m])1=2 = T;1

JK78 (2.4.7)  %
x(t) = c1 cos !t + c2 sin !t

c1 c2 2 R

U%
x_ (t) = ;!c1 sin !t + !c2 cos !t

fg c1 } c2  x(0) } x_ (0) 7
c1 = x(0)

c2 = x_ (0)
!

sL%
x(t) = A cos(!t + )

(2:4:8)

56

2.4 9:<<=>?@A

 2

A = jx(0)j +  x_ (0)
! 
2

x_ (0)
tan = ; !x
(0)

HI 2.4.2. $0'78 ( JK78 )

E = T + V = 12 mv2 + 21 kx2 = 12 mx_ 2 + 21 kx2 = g
 ]: wx

(2:4:9)

dE = m dx d2x + kx dx
dt
dt dt2
dt
2x
dx
d
= dt m dt2 + kx = 0

 P ]:

(1) |*yNwx*wx
^yN* dx
dt *
sL$0'8*x|!$ T X)$ V

dx m d2x + kx = d  1 m dx 2 + 1 kx2 

dt dt2
dt 2 dt
2
d (T + V )
= dt

Q*!$ T U*)$ V 1


2
 1 kx2
m ddtx2 + x
2

= 0

;

Euler-Lagrange



57

p ( $0 ) '8sLtrvwxxv% vw
x ! % dx
dt ? ^_CX
gn*tQ Noether 7CM
(2) 2% Lagrangian L X, t *7C 2.1.6 (Beltrami j" )

1
1
@L
2
2
E = x_ @ x_ ; L = x_ (mx_ ) ; 2 mx_ ; 2 kx = C = g

HI 2.4.3. ( JK78 : ) !!no# Lagrangian

L = ; 12 mxx ; 12 kx2

#!!"
 P ]: t/- Euler-Lagrange %

d2  @L  ; d  @L  + @L = 0
dt2 @ x dt @ x_
@x

wx

@L = ; m x ; kx
@x
2

@L = 0
@ x_

@L = ; m x
@ x
2

~L!!"%
d2  ; m x ; d (0) +  ; m x ; kx = 0
dt2
2
dt
2
mx + kx = 0

(2:4:10)

58

2.4 9:<<=>?@A

HI 2.4.4. !!#ZU% l n0 m *!$X)$%

T = 21 mv2 = 12 m(l _)2 

V = mgl(1 ; cos )

(2:4:11)

# Euler-Lagrange  ( !!" ) 

 P ]: +,- Lagrangian %

O 2.4.2

L = T ; V = 12 m(l _)2 ; mgl(1 ; cos )

2+ Euler-Lagrange %
d  @L  ; @L = d ml2 _ + mgl sin = 0
dt @ _
@ dt

 + gl sin = 0

(2:4:12)

;

Euler-Lagrange



59

 P ]:

(1) U  1 } sin  " (2.4.12) sL"

 + gl = 0

(2:4:13)

~* (2.4.13) XJK78  ddt2 } gl ^y0

h (dimension)   ( "j" )
4  g 4 ) (4t)2  l
(4t)2 l
g
~L0hxwxs\ T X
p
l=g D\]
s
s
T / gl ) T = C gl
(2:4:14)
2

g C * (C. Huygens 1629{1695) q y

p
; C = 2 *~L T = 2 l=g   C = 2  *
 sLlm L=g = 1 *" d2 =dt2 + = 0  cos t } sin t - 
# \
 2 
(2)  (Galileo Galilei 1564{1642) q yC   !! ( Q 1632
 )   \!! (2.4.11)  g (elliptic function) 

HI 2.4.5. $0'78 ( !! )
E = T + V = 12 m(l _)2 + mgl(1 ; cos ) = g

60

2.4 9:<<=>?@A

 ]: N  XJK78 

HI 2.4.6.  !! (double pendulum) - Euler-Lagrange  ( !!

")

O 2.4.3
 P ]:   s#  -f%
x1 = l1 sin 1 
x2 = l1 sin 1 + l2 sin 2 

 !$X)$%

y1 = ;l1 cos 1
y2 = ;l1 cos 1 ; l2 cos 2

T = 12 m1(x_ 21 + y_12 ) + 21 m2(x_ 22 + y_22 )

= 12 (m1 + m2 )l12 _12 + m2l1l2 _1 _2 cos( 1 ; 2 ) + 21 m2l22 _22
V = m1gy1 + m2gy2 = ;(m1 + m2 )gl1 cos 1 ; m2gl2 cos 2

;

Euler-Lagrange



61

2+ Euler-Lagrange %
d  @L  ; @L = 0
dt @ _1 @ 1

d  @L  ; @L = 0
dt @ _2 @ 2

(m1 + m2)l12 1 + m2l1l2( 2 cos

+ _22 sin
) + (m1 + m2)l1 g sin 1 = 0

l1 1 cos
+ l2 2 ; l1 _12 sin
+ g sin 2 = 0

= 1 ; 2

 P ]:

 kU*   % ! y ! Sz{ "# $ QU  *

z{ %* ! S  R % U & , ' yz{   ()  
 y!z{* * u ()  %* +,-. (chaos) 
(2) k!! /0  12 s 3  45 g 6 (Polya) 78;
9: <<=> !!*g ?@ ( AB g~ ) * Vol. 106, p.

(1)

32-43 (2003) 

HI 2.4.7. ( CDEFG : damped harmonic oscillator) !!z{Lagrangian %


m
bt
k
2
2
L(x x_ ) = e m 2 x_ ; 2 x
(2:4:15)
# Euler-Lagrange  ( !!" ) 
 P ]:

d @L  ; @L = 0
dt @ x_
@x

62

2.4 9:<<=>?@A

d (e btm mx_ ) ; e btm (;kx) = e btm mx + b e btm mx_ ; e btm (;kx) = 0
dt
m

C CDEFG 

mx + bx_ + kx = 0

(2:4:16)

O 2.4.4
 P ]:

(1)

CDEFG  (2.4.16) q }r HI % x_  vwx*1#x

2 G (integrating factor) % e btm *~L (2.4.16) sL%
e mbt (mx + bx_ + kx) = 0

2 cu% ( 56qr!!78 )


bt 
bt 
d mxe
m +  k x2 e m = 0
_
dt
x 2

1 J !$X)$%

(2:4:17)

;
T = m2 x_ 2 e btm 

Euler-Lagrange



63

V = k2 x2e btm

~L Lagrangian % (2.4.15) 
(2) 0hx K :
mx  bx_  kx =) b] = m]=t] = MT;1 k] = m]=t]2 = MT;2
 m bt  
 bt 

bt
bt
k
2
2
e m ] = m = 1 =) 2 x_ e m = 2 x e m = ML2T;2

!$X)$ e btm ( 0h0 !) L  #0h ( 2i ) * MNO

CD (damping)  PQ