Section4 Module6 Lagranges Equation

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Dynamic Simulation:
Lagranges Equation

Objective

The objective of this module is to derive Lagranges equation, which
along with constraint equations provide a systematic method for
solving multi-body dynamics problems.

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Calculus of Variations
Problems in dynamics can be formulated in such a way that it is
necessary to find the stationary value of a definite integral.

Lagrange (1736-1813) created the Calculus of Variations as a
method for finding the stationary value of a definite integral. He
was a self taught mathematician who did this when he was
nineteen.

Euler (1707-1783) used a less rigorous but completely
independent method to do the same thing at about the same
time.

They were both trying to solve a problem with constraints in the
field of dynamics.
Section 4 Dynamic Simulation
Module 6 Lagranges Equation
Page 2
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Euler and Lagrange
1707-1783
Leonhard Euler
1736-1813
Joseph-Louis Lagrange
http://en.wikipedia.org/wiki/Leonhard_Euler
http://en.wikipedia.org/wiki/Lagrange
Page 3
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Hamiltons Principle
Hamiltons Principle states that the path followed by a mechanical
system during some time interval is the path that makes the
integral of the difference between the kinetic and the potential
energy stationary.
L=T-V is the Lagrangian of the system.

T and V are respectively the kinetic and potential energy of the
system.

The integral, A, is called the action of the system.
}
=
2
1
t
t
Ldt A
Page 4
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Principle of Least Action

Hamiltons Principle is also called the Principle of Least Action
since the paths taken by components in a mechanical system are
those that make the Action stationary.
}
=
2
1
t
t
Ldt A
Action
Page 5
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Stationary Value of an Integral
The application of Hamiltons Principle requires that
we be able to find the stationary value of a definite
integral.

We will see that finding the stationary value of an
integral requires finding the solution to a differential
equation known as the Lagrange equation.

We will begin our derivation by looking at the
stationary value of a function, and then extend these
concepts to finding the stationary value of an integral.
Page 6
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Stationary Value of a Function
A function is said to have
a stationary value at a
certain point if the rate of
change of the function in
every possible direction
from that point vanishes.

In this example, the
function has a stationary
point at x=x
1
. At this
point, its first derivative is
equal to zero.

x
y
y=f(x)
x
1
y
1
Page 7
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3D Stationary Points
In 3D the rate of change of the function in any direction is
zero at a stationary point. Note that the stationary point is
not necessarily a maximum or a minimum.
Page 8
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Variation of a Function
x
y
y=f(x)
dy
dx
oy
a
b
x x+dx
( ) x g y =
( ) ( ) ( ) x x f x g c| + =
|(x) is an arbitrary
function that satisfies the
boundary conditions at a
and b.

g(x) can be made
infinitely close to f(x) by
making the parameter c
infinitesimally small.
Page 9
Actual
Path
Candidate
Path
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Meaning of oy
The Calculus of Variations
considers a virtual
infinitesimal change of
function y = f(x).

The variation oy refers to
an arbitrary infinitesimal
change of the value of y at
the point x.

The independent variable
x does not participate in
the process of variation.
x
y
y=f(x)
dy
dx
oy
a
b
x x+dx
( ) x g y =
Page 10
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Variation of a Derivative
( )
( ) ( ) ( )
( ) ( )
( )
dx
x d
x
dx
d
x f x g
dx
d
dx
y d
|
c c|
o
= =
=
( ) ( )
( ) ( )
dx
x d
dx
x d
dx
x df
dx
x dg
dx
dy
|
c
c|
o
= =
=
In the calculus of variations, the derivative of the variation and the
variation of the derivative are equal.
Derivative of the Variation Variation of the Derivative
( )
dx
dy
dx
y d
o
o
=
The order of operation
is interchangeable.
Page 11
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Variation of a Definite Integral
( ) ( ) ( )
( ) ( ) ( ) ( )
} }
} } }
= =
=
b
a
b
a
b
a
b
a
b
a
dx x dx x f x g
dx x f dx x g dx x f
c|
o
Variation of an Integral Integral of a Variation
( ) ( ) ( ) ( )
( )
}
} }
=
=
b
a
b
a
b
a
dx x
dx x f x g dx x f
c|
o
( ) ( )dx x f dx x f
b
a
b
a
} }
= o o
In the calculus of variations, the variation of a definite integral is equal
to the integral of the variation.
The order of operation
is interchangeable.
Page 12
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Specific Definite Integral
The specific definite integral that we want to find the stationary
value of is the Action from Hamiltons Principle. It can be
written in functional form as
The actual path that the system will follow will be the one
that makes the definite integral stationary.
( )
}
=
2
1
, ,
t
t
i i
t q q L A

( ) ( ) ( ) ( ) t q V t q T L
i
n
i
i
=
=1

q
i
are the generalized coordinates used to define the position
and orientation of each component in the system.
Page 13
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Euler-Lagrange Equation Derivation
A first order Taylors Series was used in the last step.
( ) ( ) ( )
|
|
.
|
\
|
c
c
+
c
c
= + + =
i
i
i
i
i i i i i i i i
q
L
q
L
t q q L t q q L t q q L | | c | c c| o

, , , , , ,
0
2
1
2
1
2
1
=
|
|
.
|
\
|
c
c
+
c
c
= = =
} } }
dt
q
L
q
L
Ldt Ldt A
t
t
i
i
i
i
t
t
t
t
| | c o o o

The stationary value of an integral is found by setting its

variation equal to zero.
0
2
1
=
|
|
.
|
\
|
c
c
+
c
c
}
dt
q
L
q
L
t
t
i
i
i
i
| |

For an arbitrary value of c,

Page 14
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Integration by Parts
Substitutions
0
2
1
=
|
|
.
|
\
|
c
c
+
c
c
}
dt
q
L
q
L
t
t
i
i
i
i
| |

The second integral is integrated by parts.

dt
q
L
dt
d
q
L
dt
q
L
i
i
t
t
t
t
i
i
i
t
t
i
| | |
|
|
.
|
\
|
c
c
c
c
=
c
c
} }

2
1
2
1
2
1
| is equal to zero at t
1
and t
2
.
0
2
1
=
|
|
.
|
\
|
|
|
.
|
\
|
c
c
c
c
}
dt
q
L
dt
d
q
L
i
t
t
i i
|

Page 15
( )
( )
| =
c
c
=
=
+ =
v
q
L
u
vdu uv d udv
vdu udv uv d
i
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Lagranges equation
The only way that this definite integral
can be zero for arbitrary values of |
i
is for
the partial differential equation in
parentheses to be zero at all values of x in
the interval t
1
to t
2
.
0
2
1
=
|
|
.
|
\
|
|
|
.
|
\
|
c
c
c
c
}
dt
q
L
dt
d
q
L
i
t
t i i
|
0 =
|
|
.
|
\
|
c
c
c
c
i i
q
L
dt
d
q
L
or
0 =
c
c
|
|
.
|
\
|
c
c
i i
q
L
q
L
dt
d

Page 16
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Euler-Lagrange Summary
( )
}
=
2
1
, ,
t
t
i i
t q q L A

( ) ( ) ( ) ( ) t q V t q T L
i
n
i
i
=
=1

0 =
c
c
|
|
.
|
\
|
c
c
i i
q
L
q
L
dt
d
Finding the stationary value of the Action, A, for a mechanical

system involves solving the set of differential equations known as
Lagranges equation.
Solving these equations
Makes this integral stationary
Page 17
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Examples
Although the derivation of Lagranges equation that
provides a solution to Hamiltons Principle of Least Action,
seems abstract, its application is straight forward.

Using Lagranges equation to derive the equations of
motion for a couple of problems that you are familiar with
will help to introduce their application.
Page 18
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Vibrating Spring Mass Example
Governing Equations
Equation of Motion
m
k
y
Page 19
0 =
c
c
|
|
.
|
\
|
c
c
i i
q
L
q
L
dt
d
2
2
2
1
2
1
ky V
y m T
V T L
=
=
=
y is measured from
the static position.
0
2
1
2
1
2 2
= +
=
c
c
=
|
|
.
|
\
|
c
c
=
c
c
=
ky y m
ky
y
L
y m
y
L
dt
d
y m
y
L
ky y m L

Mathematical Operations
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Falling Mass Example
Governing Equations
m
y
g
x
Page 20
Mathematical Operations
0 =
c
c
|
|
.
|
\
|
c
c
i i
q
L
q
L
dt
d
mgy V
y m T
V T L
=
=
=
2
2
1

0
2
1
2
= +
=
c
c
=
|
|
.
|
\
|
c
c
=
c
c
=
mg y m
mg
y
L
y m
y
L
dt
d
y m
y
L
mgy y m L

Equation of Motion
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Module Summary

Lagranges equation has been derived from Hamiltons Principle of
Least Action.

Finding the stationary value of a definite integral requires the solution
of a differential equation.

The differential equation is called Lagranges equation or the Euler-
Lagrange equation or Lagranges equation of motion.

Lagranges equation will be used in the next module (Module 7) to
establish a systematic method for finding the equations that control
the motion of mechanical systems.
Page 21

Section4 Module6 Lagranges Equation

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The stationary value of an integral is found by setting its

For an arbitrary value of c,

The second integral is integrated by parts.

Section 4 Dynamic Simulation

Section 4 Dynamic Simulation

Finding the stationary value of the Action, A, for a mechanical

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