Lagrange Equations Example

Example: Falling Stick (Continued)
2.003J/1.053J Dynamics and Control I, Spring 2007
Professor Thomas Peacock
4/11/2007
Lecture 16
Lagrangian Dynamics: Examples

Figure 1: Falling stick. The surface on which the stick rests is frictionless, so
the stick slips. Figure by MIT OCW.
A stick slides with out friction as it falls.
Length: L
Mass: M
C: Center of Mass
Assume uniform mass distribution.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
xc , : Generalized Coordinates
Figure 2: The falling stick is subject to a normal force, N at the point of contact.
Figure by MIT OCW.
Holonomic (constraint forces do no work).
No tangential forces at P.
Normal force is a constraint force.
N does no work.
Kinematics
r c = xc + yc j = xc +
v c = x c +
L
sin j
2
L
cos j
2
Energy
1
1
m|v c |2 + I||2
2
2
1
L2 2
1
2
= m(x c +
cos2 ) + Ic 2
2
4
2
T =
(1)
(2)
(3)
V = mg
L
sin
2
Generalized Forces
xc = 0, = 0. (Professor Sarma uses Q for generalized forces.) Professor
Williams uses .
Forces: Conservative [gravity] + Nonconservative [normal]. The constraint force

(normal force) does no work. As we change xc and , no virtual work (no dis
placement in direction of force).
Lagrangian (L)
T V =L
2
L=
1
L 2
1
L
m(x 2c +
cos2 ) + Ic 2 mg sin
2
4
2
2
Equations of Motion
We can derive 1 equation per generalized coordinate
For xc :
L
d L
= xc
dt x c
xc
L
x c
= mx c ,
L
xc
= 0, xc = 0.
d
c = 0
(mx c ) = mx
c mx
dt
For :
d L
L
=
dt
L
L
m
2
=
cos
+ Ic
2
2
L2
L
L
1
= m 2 cos sin mg
2
2
2
= 0
(4)
(5)
(6)
(7)
Substitute (5), (6), and (7) in (4) to obtain (8):

d
dt

mL2
mL2 2
L
2
cos + Ic +
cos sin + mg cos = 0
4
4
2
(8)
Dierentiating the rst term results in (10). Substituting in (8) and com
bining terms yields the equation of motion for .
d
dt

mL2
d
cos2 + Ic
dt
4
2
mL
mL2
2
=
cos + Ic +
cos sin
4
2
(9)
(10)
mL2
mL2
mgL
mL2
cos2 + Ic
(cos sin ) 2 +
(cos sin ) 2 +
cos = 0
4
2
4
2
(11)
mgL
mL2
mL2
Ic +
cos2
(cos sin ) 2 +
cos = 0
4
4
2
This equation is nonlinear.
Equation of Motion by Momentum Principles

Let us derive the equations of motion using momentum principles as a compar
ison.
Forces
Figure 3: Free body diagram of falling stick. Two forces act on the stick, a
normal force, N and a gravitational force, mg. Figure by MIT OCW.
Apply linear momentum principles:
Here P = mx c + m L2 cos j.
F ext =
d
P
dt
dP
L
L
= mx
c + m( cos 2 sin )
j
dt
2
2
There are no forces in the x-direction, therefore
x
c = 0
In the y-direction:
L
L
N mg = m cos 2 sin
2
2
We need to eliminate N , so use the angular momentum principle.
cext =
d
d
Hc = (Ic )
dt
dt
L
cos = Ic
2
After combining equations (12) and (13) and algebra:
N
(Ic +
(12)
(13)
mL2
L
mL2 2
sin cos + mg cos = 0
cos2 )
4
4
2
Thus, we have derived the same equations of motion. Some comparisons are
given in the Table 1.
Advantages of Lagrange
Disadvantages of Lagrange
Less Algebra
Scalar quantities
No accelerations
No dealing with workless constant forces
No consideration of normal forces

Less feel for the problem
Table 1: Comparison of Newton and Lagrange Methods
Example: Simple Pendulum
Figure 4: Simple pendulum. The length of the pendulum is l. Figure by MIT

OCW.
Kinematics
is the generalized coordinate.
Holonomic system (nomral force at P does not move as changes. Does no
work).
Energy
1
m(l )2
2
V = mgl cos
T =
Lagrangian
L =T V =
1
m(l )2 + mgl cos
2
Generalized Forces
= 0 (No Generalized Forces)
Equations of Motion
= ml2 ,
d L
L
=
dt

d
L
= mgL sin , = 0, dt
= ml2
ml2 + mgL sin = 0
Alternative View
What if we did not realize that gravity is a conservative force?
Figure 5: Moving pendulum. When the pendulum rotates by , the distance

traversed is l. Figure by MIT OCW.
What happens to Lagranges Equations?
Lagrangian
1
m(l )2
2
V =0
1
L = T V = m(l)2
2
No potential forces, because gravity is not conservative for the argument.
T =
Example: Cart with Pendulum and Spring
Virtual Work and Generalized Forces

wN C = mgl sin
= mgl sin
When you displace by the displacement will have a vertical component. It is
in the opposite direction of the force.
Equations of Motion
L
= ml2 ,
= 0, = mgl sin
L
d L
dt
mL2 0 = mgl sin

mL2 + mgl sin = 0
Same equation.
It does not matter if you recognize a force as being conservative, just do not
account for the same force in both V and .

3 degrees of freedom
Figure 6: Cart with pendulum and spring. Figure by MIT OCW.
Kinematics
Three generalized coordinates x, , s
Cart:
xm = x
ym = 0
Pendulum:
xm = x + s sin
x m = x + s sin + s cos
ym = s cos
y m = s cos + s sin
Energy
Kinetic Energy (T):
1
1
M x 2 + [(x + s sin + s cos )2 + (s sin s cos )2 ]
2
2
Potential Energy (V):
2 conservative forces - Spring and Gravity
1
V = mgs cos + k(s l)2
2
Generalized Forces in System

No work from normal forces because cart rolls without slipping.
x = = s = 0
Lagrangian
L = T V =
1
1
1
(M +m)x 2 + m(s 2 +s2 2 +2x(
s sin +s cos ))+mgs cos k(sl)2
2
2
2
10
Equations of Motion
For Generalized Coordinate x
x:
L
d L
= x
dt x
x
L
= (M + m)x + m(s sin + s cos )
x
L
x
= 0, x = 0
d
[(M + m)x + m(s sin + s cos )] = 0
dt
x (t), s(t), s(t), (t) are all functions of time.
(M + m)
x + ms sin + ms(cos ) + ms cos + ms cos ms(sin ) = 0
For Generalized Coordinate
:
d L
L
=
dt
L
= ms2 + mxs
cos
L
= mx s cos mxs
sin mgs sin , = 0
d
[ms2 + mxs
cos ] mx s cos + mxs
sin + mgs sin = 0
dt
2mss+ms2 +m
xs cos +mx s cos mxs
sin mx s cos +mxs
sin +mgs sin = 0
s + 2s
+x
cos + g sin = 0
For Generalized Coordinate s
ms + mx
sin ms2 mg cos + k(s l) = 0

Lagrange Equations Example

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Example: Falling Stick (Continued)

2.003J/1.053J Dynamics and Control I, Spring 2007

Professor Thomas Peacock

Lagrangian Dynamics: Examples

Assume uniform mass distribution.

Example: Falling Stick (Continued)

Figure by MIT OCW.

Holonomic (constraint forces do no work).

Normal force is a constraint force.

Example: Falling Stick (Continued)

Forces: Conservative [gravity] + Nonconservative [normal]. The constraint force

Substitute (5), (6), and (7) in (4) to obtain (8):

Example: Falling Stick (Continued)

This equation is nonlinear.

Equation of Motion by Momentum Principles

Example: Falling Stick (Continued)

No consideration of normal forces

Table 1: Comparison of Newton and Lagrange Methods

Example: Simple Pendulum

Example: Simple Pendulum

Figure 4: Simple pendulum. The length of the pendulum is l. Figure by MIT

Holonomic system (nomral force at P does not move as changes. Does no

Example: Simple Pendulum

ml2 + mgL sin = 0

Figure 5: Moving pendulum. When the pendulum rotates by , the distance

What happens to Lagranges Equations?

Example: Cart with Pendulum and Spring

Virtual Work and Generalized Forces

When you displace by the displacement will have a vertical component. It is

in the opposite direction of the force.

mL2 0 = mgl sin

Example: Cart with Pendulum and Spring

Figure 6: Cart with pendulum and spring. Figure by MIT OCW.

Example: Cart with Pendulum and Spring

Generalized Forces in System

Example: Cart with Pendulum and Spring

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