Lecture Slides

Dynamic Simulation:
Lagrangian Multipliers
Objective
 The objective of this module is to introduce Lagrangian multipliers

that are used with Lagrange’s equation to find the equations that
control the motion of mechanical systems having constraints.
 The matrix form of the equations used by computer programs such as

Autodesk Inventor’s Dynamic Simulation are also presented.
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Section 4 – Dynamic Simulation
Basic Problem in Multi-body Dynamics Module 7 – Lagrangian Multipliers

Page 2
In the previous module (Module 6) Lagrange’s Equation

we developed Lagrange’s equation
and showed how it could be used to d  L  L
   0
determine the equations of simple dt  qi  qi
motion systems.
The examples we considered were for systems in which there

were no constraints between the generalized coordinates.
The basic problem of multi-body dynamics is to systematically find

and solve the equations of motion when there are constraints that
bodies in the system must satisfy.
© 2011 Autodesk
Education Community
Non-conservative Forces Module 7 – Lagrangian Multipliers

Page 3
 The derivation of Lagrange’s equation in the previous module (Module

6) considered only processes that store and release potential energy.
 These processes are called conservative because they conserve energy.
 Lagrange’s equation must be modified to accommodate non-
conservative processes that dissipate energy (i.e. friction, damping, and
external forces).
 A non-conservative force or moment acting on generalized coordinate
qi is denoted as Qi.
 The more general form of Lagrange’s equation is
d  L  L
    Qi
dt  qi  qi
© 2011 Autodesk
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Simple Pendulum Module 7 – Lagrangian Multipliers
Page 4
 The pendulum shown in the

Simple
figure will be used as an Pendulum
example throughout this
module.
Y
 The position of the pendulum y x

is known at any instance of Ycg
θ
c.g.
time if the coordinates of the
c.g., Xcg,Ycg, and the angle q
are known.
X
 Xcg,Ycg and q are the Xcg
generalized coordinates.
© 2011 Autodesk
Education Community
Module 7 – Lagrangian Multipliers
Kinetic and Potential Energies
Page 5
The kinetic energy (T) and potential

Y
energy (V) of the pendulum are
y x
1 2 1  2 1
T  Iq  mX cg  mYcg
2
Ycg
θ
2 2 2 c.g.
V  mgYcg
These equations also give the

kinetic and potential energy of the X
unconstrained body flying through Xcg
the air.
Unconstrained
There needs to be a way to include Body
the constraints to differentiate
between the two systems.
© 2011 Autodesk
Education Community
Constraint Equations Module 7 – Lagrangian Multipliers
Page 6
 In addition to satisfying
Lagrange’s equations of motion, Y X1,Y1
the pendulum must satisfy the y x
constraints that the Ycg
θ
displacements at X1 and Y1 are c.g.
zero.
 The constraint equations are X


X cg  sin q  X 1  0 Xcg
2
 The c.g. lies on the y-
Ycg  cos q  Y1  0
2 axis halfway along the
length  .
© 2011 Autodesk
Education Community
Lagrangian Multipliers Module 7 – Lagrangian Multipliers
Page 7
 The kinetic energy is augmented by Y1

adding the constraint equations X1
Y
multiplied by parameters called
Lagrangian Multipliers.
 Note that since the constraint

equations are equal to zero, we have
not changed the magnitude of the θ
kinetic energy. X
1 2 1  2 1  2
T Iq  mX cg  mYcg
 The Lagrangian multipliers are 2 2 2
treated like unknown generalized   
 l1  X cg  sin q  X 1 
coordinates.  2 
  
 l2  Ycg  cos q  y1 
What are the units of l1 and l2?  2 
© 2011 Autodesk
Education Community
Governing Equations
Page 8
 In the following slides, Lagrange’s

equation will be used in a systematic Lagrange’s Equation
manner to determine the equations of
motion for the pendulum. d  L  L
    Qi
 The governing equations that will be
used are shown here. Lagrangian
n
 There are no non-conservative forces
L   Ti  Vi
acting on the system ( Qi  0 ). i 1
1 2 1  2 1  2      
L  Iq  mX cg  mYcg  l1  X cg  sin q  X 1   l2  Ycg  cos q  Y1   mgYcg
2 2 2  2   2 
© 2011 Autodesk
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Equation for 1st Generalized Coordinate Module 7 – Lagrangian Multipliers
Page 9
1 2 1  2 1  2      
2 2 2  2   2 
Lagrange’s Equation Mathematical Steps

d  L  L L
 mX cg
    Qi q1
d  L 
Generalized Coordinates    mXcg
dt  q1 
q1  X cg L
 l1
q1
q2  Ycg
1st Equation
q3  q
q4  l1 mXcg  l1  0
q5  l2
© 2011 Autodesk
Education Community
Equation for 2nd Generalized Coordinate Module 7 – Lagrangian Multipliers
Page 10
1 2 1  2 1  2      
2 2 2  2   2 

d  L  L L
    Qi  mYcg
q 2
d  L 
   mYcg
Generalized Coordinates dt  q 2 
q1  X cg L
 l2  mg
q2
q2  Ycg
2nd Equation
q3  q
q4  l1 mYcg  l2  mg  0
q5  l2
© 2011 Autodesk
Education Community
Equation for 3rd Generalized Coordinate Module 7 – Lagrangian Multipliers

Page 11
1 2 1  2 1  2      
2 2 2  2   2 

d  L  L L
    Iq
 Qi q3
d  L 
   Iq
Generalized Coordinates dt  q3 
q1  X cg L  
 l1 cos q  l2 sin q
q3 2 2
q2  Ycg
3rd Equation
q3  q
 
q4  l1 
Iq  l1 cos q  l2 sin q  0
2 2
q5  l2
© 2011 Autodesk
Education Community
Equation for 4th Generalized Coordinate Module 7 – Lagrangian Multipliers
Page 12
1 2 1  2 1  2      
2 2 2  2   2 

d  L  L L
    Qi 0
dt  qi  qi q 4
d  L 
Generalized Coordinates    0
dt  q 4 
q1  X cg L 
 X cg  sin q  X 1
q2  Ycg q4 2
4th Equation
q3  q

q4  l1 X cg  sin q  X 1  0
2
q5  l2
© 2011 Autodesk
Education Community
Equation for 5th Generalized Coordinate Module 7 – Lagrangian Multipliers

Page 13
1 2 1  2 1  2      
2 2 2  2   2 

d  L  L L
0
    Qi q5
d  L 
   0
Generalized Coordinates dt  q5 
q1  X cg L 
 Ycg  cos q  Y1
q5 2
q2  Ycg
5th Equation
q3  q

q4  l1 Ycg  cos q  Y1  0
2
q5  l2
© 2011 Autodesk
Education Community
Summary of Equations Module 7 – Lagrangian Multipliers
Page 14
 There are five unknown generalized

coordinates including the two
mXcg  l1  0
Lagrangian Multipliers. There are
also five equations. mYcg  l2  mg  0
 Three of the equations are   
Iq  l1 cos q  l2 sin q  0
differential equations. 2 2

 Two of the equations are algebraic X cg  sin q  X 1  0
2
equations.

Ycg  cos q  Y1  0
 Combined, they are a system of 2
differential-algebraic equations
(DAE).
© 2011 Autodesk
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Free Body Diagram Approach Module 7 – Lagrangian Multipliers
Page 15
Summation of Forces in the X-direction
mXcg  l1  0
λ2
Summation of Forces in the Y-direction
mYcg  l2  mg  0 λ1

 mY
Summation of Moments about the c.g. cos q q 2 cg
2
mX cg
  

Iq  l1 cos q  l2 sin q  0 sin q
2 2 2 Iθcg
The application of Lagrange’s mg

equation yields the same
equations obtained by drawing a Free Body Diagram with
free-body diagram. Inertial Forces
© 2011 Autodesk
Education Community
Physical Significance of Lagrangian Multipliers
Page 16
Newton’s 2nd Law in x-direction
mXcg  l1  0
Force required to impose
the constraint that X1 is a
constant.
Lagrangian Multipliers are simply the forces (moments) required to

enforce the constraints. In general, the Lagrangian Multipliers are a
function of time, because the forces (moments) required to enforce
the constraints vary with time (i.e. depend on the position of the
pendulum).
© 2011 Autodesk
Education Community
Matrix Format Module 7 – Lagrangian Multipliers
Page 17
 The computer implementation of Lagrange’s equation is

facilitated by writing the equations in matrix format.
 Separating the Lagrangian into kinetic and potential

energy terms enables Lagrange’s equation to be written as
d  T  T V
    Qi 
dt  qi  qi qi
 In this format, the conservative and non-conservative

forces are lumped together on the right hand side of the
equation.
© 2011 Autodesk
Education Community

Page 18
The kinetic energy augmented with Lagrangian Multipliers can be

written in matrix format as
T  q M q l  q, t 
1 T T
 
2
q Column array containing generalized coordinate

velocities.
Inertia Matrix
q, t  Column array containing the constraint equations m A 0 0 0
(refer to Module 3 in this section).  
mA
M    0 0 0
I cgA 0 
l Column array containing the Lagrangian multipliers. 
0
 0
0
0 0 

M  Matrix containing the mass and mass moments of

inertia associated with each generalized coordinate.
© 2011 Autodesk
Education Community

Page 19
Lagrange’s equation for a mechanical system becomes
  i 
M q l    Q T
 q j 
  i 
  Is the constraint equation Jacobian matrix introduced in Module 4
 q j  in this section.
Q Column array containing both conservative and non-conservative

forces.
© 2011 Autodesk
Education Community

Page 20
 Another equation for acceleration Matrix Form of Equations

was obtained in Module 4 based   i 
M 
on kinematics and the constraint q j   q Q 
     
equations.   i 0  l    
 q j 
 
  i 
 q   
 q j   This equation can be solved
to find the accelerations
and constraint forces at an
 Combining this equation with instant in time.
Lagrange’s equation from the
previous slide yields:  The accelerations must
then be integrated to find
the velocities and positions.
© 2011 Autodesk
Education Community
Solution of Differential-Algebraic Section 4 – Dynamic Simulation
Equations (DAE)
Page 21
 The solution of even the simplest system of DAE requires

computer programs that employ predictor-corrector type
numerical integrators.
 The Adams-Moulton method is an example of the type of

numerical method used.
 Significant research has led to the development of efficient and

robust integrators that are found in commercial computer
programs that generate, assemble, and solve these equations.
 Autodesk Inventor’s Dynamic Simulation environment is an

example of such software.
© 2011 Autodesk
Education Community
Module Summary Module 7 – Lagrangian Multipliers

Page 22
 This module showed how Lagrangian Multipliers are used in

conjunction with Lagrange’s equation to obtain the equations that
control the motion of mechanical systems.
 The method presented provides a systematic method that forms the

basis of mechanical simulation programs such as Autodesk Inventor’s
Dynamic Simulation environment.
 The matrix format of the equations were presented to provide insight

into the computations performed by computer software.
 The Jacobian and constraint kinematics developed in Module 4 of this

section are an important part of the matrix formulation.
© 2011 Autodesk
Education Community

Lecture Slides

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Dynamic Simulation:

 The objective of this module is to introduce Lagrangian multipliers

 The matrix form of the equations used by computer programs such as

Basic Problem in Multi-body Dynamics Module 7 – Lagrangian Multipliers

In the previous module (Module 6) Lagrange’s Equation

The examples we considered were for systems in which there

The basic problem of multi-body dynamics is to systematically find

Non-conservative Forces Module 7 – Lagrangian Multipliers

 The derivation of Lagrange’s equation in the previous module (Module

 The pendulum shown in the

 The position of the pendulum y x

The kinetic energy (T) and potential

These equations also give the

 The constraint equations are X

 The kinetic energy is augmented by Y1

 Note that since the constraint

 In the following slides, Lagrange’s

Lagrange’s Equation Mathematical Steps

Lagrange’s Equation Mathematical Steps

Equation for 3rd Generalized Coordinate Module 7 – Lagrangian Multipliers

Lagrange’s Equation Mathematical Steps

Lagrange’s Equation Mathematical Steps

Equation for 5th Generalized Coordinate Module 7 – Lagrangian Multipliers

Lagrange’s Equation Mathematical Steps

 There are five unknown generalized

The application of Lagrange’s mg

Newton’s 2nd Law in x-direction

Lagrangian Multipliers are simply the forces (moments) required to

 The computer implementation of Lagrange’s equation is

 Separating the Lagrangian into kinetic and potential

 In this format, the conservative and non-conservative

Matrix Format Module 7 – Lagrangian Multipliers

The kinetic energy augmented with Lagrangian Multipliers can be

q Column array containing generalized coordinate

M  Matrix containing the mass and mass moments of

Matrix Format Module 7 – Lagrangian Multipliers

Lagrange’s equation for a mechanical system becomes

Q Column array containing both conservative and non-conservative

Matrix Format Module 7 – Lagrangian Multipliers

 Another equation for acceleration Matrix Form of Equations

 The solution of even the simplest system of DAE requires

 The Adams-Moulton method is an example of the type of

 Significant research has led to the development of efficient and

 Autodesk Inventor’s Dynamic Simulation environment is an

Module Summary Module 7 – Lagrangian Multipliers

 This module showed how Lagrangian Multipliers are used in

 The method presented provides a systematic method that forms the

 The matrix format of the equations were presented to provide insight

 The Jacobian and constraint kinematics developed in Module 4 of this

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