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Lecture #9
Virtual Work
And the
Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 1
16.61 Aerospace Dynamics Spring 2003
xk F5
F3 F6
F4
Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 2
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Note:
• There is no passage of time
• The forces remain constant.
In vector form:
3
δ W = ∑ Fi • δ ri
i =1
Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 3
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R1 R2
eˆr
Constraint forces:
R1 = − R 2 = − R2eˆr
δ W = R1 • δ r1 + R 2 • δ r2
= − R2eˆr • δ r1 + R2eˆr • δ r2
= ( R2 − R2 ) eˆr • δ r1
=0
Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 4
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∑F •δ r = 0
i =1
i i
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Result: µ = 12
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Comments:
Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 8
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Generalized Forces
Since we have defined generalized coordinates, we need
generalized forces to work in the same “space.”
xj
(x3, x4)
l θ
(x1, x2)
xi
Coordinates: x1 , x2 , x3 , x4
( x1 − x3 ) + ( x2 − x4 ) = l 2
2 2
Constraint:
DOF: 4 −1 = 3
( x1 + x3 ) ( x + x4 ) ( x − x2 )
q1 = q2 = 2 q3 = tan −1 4
2 2 ( x3 − x1 )
• Can also write the inverse mapping:
xi = fi ( q1 , q2 , q3 , … qn , t )
Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 9
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3N
Virtual Work: δ W = ∑ F jδ x j
j =1
∂x j
n
δx j = ∑ δqi
i =1 ∂qi
Constraint relations:
∂x j
3N n
δW = ∑∑ F j δqi
Substitution: j =1 i =1 ∂qi
∂x j
3N
n
⇒ δW = ∑ Qi δqi
i =1
• If qi is an angle, Qi is a torque
• If qi is a length, Qi is a force
• If the qi ’s are independent, then for static equilibrium must
have:
Qi = 0, i = 1, 2, … n
Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 10
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• Two approaches
Formulation
Interpretation
Newton’s Laws
Formulation
Interpretation
Energy Expressions
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Our process
1. Start with Newton
2. Apply virtual work
3. Introduce generalized coordinates
4. Eliminate constraints
5. Using definition of derivatives, eliminate explicit use of
acceleration
z
m
r=L
φ F
y
Free body
θ Diagram
x
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1. Newton: F = ma
Fxδ x = mx""δ x
Fyδ y = my""δ y
Fzδ z = mz""δ z
• Add the equations
m ( ""
xδ x + "" zδ z ) = Fxδ x + Fyδ y + Fzδ z
yδ y + ""
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m ( ""
xδ x + "" zδ z ) = Fxδ x + Fyδ y + Fzδ z
yδ y + ""
• Observations:
o Scalar relationship
o LHS ≈ kinetic energy
o RHS ≈ virtual work term
x = f1 ( q1 , q2 ) , y = f 2 ( q1 , q2 ) , z = f 3 ( q1 , q2 )
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∂x ∂x
δx= δ q1 + δ q2
∂q1 ∂q2
∂y ∂y
δy= δ q1 + δ q2
∂q1 ∂q2
∂z ∂z
δz = δ q1 + δ q2
∂q1 ∂q1
m ( ""
xδ x + "" zδ z ) = Fxδ x + Fyδ y + Fzδ z
yδ y + ""
∂x ∂y ∂z ∂x ∂y ∂z
m ""
x + ""
y + ""
z δ
1 q + m ""
x + ""
y + ""
z δ q2
∂q1 ∂q1 ∂q1 ∂q2 ∂q2 ∂q2
∂x ∂y ∂z ∂x ∂y ∂z
= Fx + Fy + Fz δ q +
1 x F + F y + F z δ q2
∂q1 ∂ q1 ∂ q 1 ∂q2 ∂q 2 ∂ q 2
• Facts:
o Virtual displacements δ q1 and δ q2 conform to constraints
o Virtual work δ W is work that conforms to constraints
o δ q1 and δ q2 are independent and can be independently
moved without violating constraints
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• Conclusion:
o Force of the constraint has been eliminated by selecting
generalized coordinates that enforce the constraint
(Reason 2 for Lagrange, pg 24)
o Further, we can split the equation into two equations in two
unknowns due to independence of δ q1 and δ q2 .
∂x ∂y ∂z ∂x ∂y ∂z
m ""
x + ""
y + ""
z =
x F + Fy + Fz
∂q1 ∂q1 ∂q1 ∂q1 ∂q1 ∂q1
∂x ∂y ∂z ∂x ∂y ∂z
m ""
x + ""
y + ""
z =
x F + Fy + Fz
∂q2 ∂q2 ∂q2 ∂q 2 ∂q 2 ∂q2
d ∂x ∂x d ∂x
"
x = ""
x + "
x
dt ∂q1 ∂q1 dt ∂q1
• Rearrange
∂x d ∂x d ∂x
""
x = x" − "
x (1)
∂q1 dt ∂q1 dt ∂q1
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• Recall
d
x = f1 ( q1 , q2 ) ∴ x" = f1 ( q1 , q2 )
dt
∂x ∂x
x" = q"1 + q"2 (2)
∂q1 ∂q2
∂x" ∂x
= (3)
∂q"1 ∂q1
∂x
• Since x = f1 ( q1 , q2 ) , = g1 ( q1 , q2 ) is a ftn of both q1 and q2
∂q1
∂x
the time derivative of gives (chain rule again)
∂q1
d ∂x ∂ ∂x ∂ ∂x
= "
q
1 + q"2 (4)
dt ∂q1 ∂q1 ∂q1 ∂q2 ∂q1
∂x" ∂ ∂x ∂ ∂x
= "
q
1 + q"2 (5)
∂q1 ∂q1 ∂q1 ∂q1 ∂q2
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∂x" d ∂x
! = (6)
∂q1 dt ∂q1
∂x d ∂x d ∂x
""
x = x" − "
x (1)
∂q1 dt ∂q1 dt ∂q1
∂x ∂x" d ∂x ∂x"
= = (3 and 6)
∂q1 ∂q"1 dt ∂q1 ∂q1
• Results in:
∂x d ∂x" ∂x"
""
x = x" − "
x (7)
∂q1 dt ∂q"1 ∂q1
• Note that
x" 2 x" 2
∂ ∂
∂x" 2 ∂x" 2
x" = and x" =
∂q"1 ∂q"1 ∂q1 ∂q1
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• Finally
x" 2 x" 2
∂ ∂
∂x d 2 2
""
x = − (8)
∂q1 dt ∂q"1 ∂q1
∂x ∂y ∂z ∂x ∂y ∂z
m ""
x + ""
y + ""
z =
x F + Fy + Fz
∂q1 ∂q1 ∂q1 ∂q1 ∂q1 ∂q1
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• Observe that:
1 2 1
T = mv = m ( x" 2 + y" 2 + z" 2 )
2 2
• Finally:
d ∂ ∂ ∂x ∂y ∂z
" T − T = Fx + Fy + Fz
dt ∂q1 ∂q1 ∂q1 ∂q1 ∂q1
• Similarly:
d ∂ ∂ ∂x ∂y ∂z
" T − T = Fx + Fy + Fz
dt ∂q2 ∂q2 ∂q2 ∂q2 ∂q2
d ∂ ∂
" T − T = Qqr
dt ∂qr ∂qr
∂x ∂y ∂z
Qqr = Fx + Fy + Fz
∂qr ∂qr ∂qr
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• Some observations:
o One Lagrange equation needed for each DOF
o Easily extendable for a system of particles
o T – Expression of system kinetic energy
o All inertial forces contained in the LHS
o Qq only contains external forces
r
∂x ∂y ∂z
Qqr = Fx + Fy + Fz
∂qr ∂qr ∂qr
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1, 2, 3. DOF = 3, no constraints
1 2 1
4. T= mv = m ( x" 2 + y" 2 + z" 2 )
2 2
∂T ∂T ∂T
5. = mx" , = my" , = mz"
∂x" ∂y" ∂z"
d ∂T d ∂T d ∂T
= ""
mx , = ""
my , = mz""
dt ∂x" dt ∂y" dt ∂z"
∂T ∂T ∂T
= = =0
∂x ∂y ∂z
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6. Generalized forces:
∂x ∂y ∂z
Qqr = Fx + Fy + Fz
∂qr ∂qr ∂qr
F = − mg zˆ
∂z
Qqx = Qq y = 0, Qqz = Fz = −mg
∂z
• Comments:
o Method is overkill for this problem
o Inspection shows agreement with Newton
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Z
θ ρ
φ
X
1 2
• Find T = mv , what is v?
2
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ẑ ρ
Z
ρ z
x̂
z
ŷ
Y
x̂
φ
X
m ∂T
2 2 2 2 2
T = (1 + a + a b z )z" and = m(1 + a 2 + a 2b2 z 2 ) z"
2 ∂z"
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d ∂T 2 2 2 2
z + 2m a 2b2 z z" 2
" = m(1 + a + a b z )""
dt ∂z
( )
∂T
= m(a 2b2 z ) z" 2
∂z
F = −mg zˆ
∂z
Qqx = Qq y = 0, Qqz = Fz = −mg
∂z
• Equation of Motion:
( a 2
+ a 2 2 2
b z + 1) ""
z + a 2 2
b z "
z 2
= −g
• Comments:
o Solution highly nonlinear
o “Trick” was finding inertial velocity
o Still need to use FARM approach
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∑ m ( ""x δ x + ""y δ y
i i i i + "" (
ziδ zi ) = ∑ Fxi δ xi + Fyi δ yi + Fzi δ zi )
i =1 i =1
xi = f i ( q1 , q2 , …, qn , t )
yi = gi ( q1 , q2 , …, qn , t )
zi = hi ( q1 , q2 , …, qn , t )
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• Using the calculus relations (chain rule), one can show that
d ∂ ∂
" T − T = Qqr
dt ∂qr ∂qr
• Once again, one Lagrange equation for each DOF.
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• Potential Energy, V
o Work done by a conservative force in a transfer from a
general configuration A to a reference configuration B is
the potential energy of the system at A with respect to B.
o Note: V is defined as work from the general state to the
reference state.
• Non-conservative forces
o Friction
o Drag of a fluid
o Any force with time or velocity dependence
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(
V = − ∫ ∑ Fxi dxi + Fyi dyi + Fzi dzi )
B i =1
• Note the “–“ sign since the path is from B to A. The sum is
over the P particles in the system.
∂Fx3 ∂ ∂V ∂ 2V
= − =−
∂y4 ∂y4 ∂x3 ∂x3∂y4
∂Fy4 ∂ ∂V ∂ 2V
= − =−
∂x3 ∂x3 ∂y4 ∂x3∂y4
• Thus, in general
∂Fxi ∂Fyr
= (C2)
∂yr ∂xi
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∂xi
p
∂yi ∂zi
Qqr = ∑ Fxi + Fyi + Fzi
i =1 ∂qr ∂qr ∂qr
o Separate forces into conservative and non-conservative
d ∂ ∂
" T − T = Qqr
dt ∂qr ∂qr
• Substitute in generalized force:
d ∂ ∂ ∂V
T − T = − + Q N
qr
dt ∂q"r ∂qr ∂qr
d ∂ ∂
⇒ T − ( T − V ) = Q N
qr
dt ∂q"r ∂qr
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k
r
θ
m
x
• DOF = 3 – 1 = 2
• Constraint equation: z = 0
• Generalized coordinates: r, θ
• Coordinate mapping: x = r cosθ , y = r sin θ
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• Kinetic energy
1 2 1
mv = m ( x" 2 + y" 2 )
T=
2 2
• Derivatives of coordinates:
x" = r" cosθ − rθ" sin θ , y" = r" sin θ + rθ" cosθ
• Substitute into kinetic energy equation
1
T=
2
(
m r" 2 + r 2θ" 2 )
• Potential energy
1
k ( r − ro ) − mgr cosθ
2
V=
2
• Lagrangian
1 1
L = T −V =
2 2
( 2
)
m r" 2 + r 2θ" 2 − k ( r − ro ) + mgr cosθ
• Derivatives of L (note need to do this for each GC)
∂L d ∂L ∂L
= mr", " = mr"", = mrθ" 2 − k ( r − ro ) + mg cosθ
∂r" dt ∂r ∂r
∂L d ∂L ∂L
= mr 2θ", " = mr 2 ""
θ + 2mrr"θ", = −mgr sin θ
∂θ" dt ∂θ ∂θ
Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 33