1

Lagrange Equations
Use kinetic and potential energy to solve for motion!
References
http://widget.ecn.purdue.edu/~me563/Lectures/EOMs/Lagrange/In_Focus/page.html
System Modeling: The Lagrange Equations (Robert A. Paz: Klipsch School of Electrical and
Computer Engineering)
Electromechanical Systems, Electric Machines, and Applied Mechatronics by Sergy E. Lyshevski,
CRC, 1999.
Lagranges Equations, Massachusetts Institute of Technology @How, Deyst 2003 (Based on
notes by Blair 2002)
2
We use Newton's laws to describe the motions of objects. It works well
if the objects are undergoing constant acceleration but they can
become extremely difficult with varying accelerations.
For such problems, we will find it easier to express the solutions with
the concepts of kinetic energy.
3
Modeling of Dynamic Systems
Modeling of dynamic systems may be done in several
ways:
Use the standard equation of motion (Newtons Law)
for mechanical systems.
Use circuits theorems (Ohms law and Kirchhoffs laws:
KCL and KVL).
Todays approach utilizes the notation of energy to
model the dynamic system (Lagrange model).
4
Joseph-Louise Lagrange: 1736-1813.
Born in Italy and lived in Berlin and Paris.
Studied to be a lawyer.
Contemporary of Euler, Bernoulli, DAlembert, Laplace, and Newton.
He was interested in math.
Contribution:
Calculus of variations.
Calculus of probabilities.
Integration of differential equations
Number theory.
5
Equations of Motion: Lagrange Equations
There are different methods to derive the dynamic equations of a
dynamic system. As final result, all of them provide sets of equivalent
equations, but their mathematical description differs with respect to
their eligibility for computation and their ability to give insights into the
underlying mechanical problem.
Lagrangian method, depends on energy balances. The resulting
equations can be calculated in closed form and allow an appropriate
system analysis for most system applications.
Why Lagrange:
Scalar not vector.
Eliminate solving for constraint forces (what holds the system together)
Avoid finding acceleration.
Uses extensively in robotics and many other fields.
Newtons Law is good for simple systems but what about real systems?
6
Mathematical Modeling and System Dynamics
Newtonian Mechanics: Translational Motion
The equations of motion of
mechanical systems can be
found using Newtons second
law of motion. F is the vector
sum of all forces applied to the
body; a is the vector of
acceleration of the body with
respect to an inertial reference
frame; and m is the mass of
the body.
To apply Newtons law, the
free-body diagram (FBD) in the
coordinate system used should
be studied.

= a F m
size". stic characteri " to
problem the reduce to these
eliminate then and forces
constraint for the solve ma, F equate
, directions three all in ons accelerati
find that we requires approach Newton
=
7
Translational Motion in Electromechanical Systems
Consideration of friction is essential for understanding the operation
of electromechanical systems.
Friction is a very complex nonlinear phenomenon and is very difficult
to model friction.
The classical Coulomb friction is a retarding frictional force (for
translational motion) or torque (for rotational motion) that changes its
sign with the reversal of the direction of motion, and the amplitude of
the frictional force or torque are constant.
Viscous friction is a retarding force or torque that is a linear function
of linear or angular velocity.
Fcoulomb : Force
8
Newtonian Mechanics: Translational Motion
For one-dimensional rotational
systems, Newtons second law
of motion is expressed as the
following equation. M is the
sum of all moments about the
center of mass of a body (N-
m); J is the moment of inertial
about its center of mass
(kg/m
2
); and is the angular
acceleration of the body
(rad/s
2
).
j M =
9
Newtons Second Law
The movement of a classical material point is described by the second law of Newton:
up. come will s derivative time third radiation,
EM to due energy loses point material a If oo. equation t in the appear will s derivative first time
usually system in the dissipated is energy if Indeed equation. in that appear should r of
derivative time second a only ion why justificat no is There effects. ic relativist and quantum
neglect to was one if even course, of on, idealisati an is Newton of law second The
fields. nal gravitatio or waves,
netic electromag with ns interactio or particles, other with ns interactio account into
by taking calculated be may which field, force a represents t) F(r, Vector
z
y
x
r
space) in point material the of position a indicating vector a is (r ) , (
) (
2
2
(
(
(

=
= t r F
dt
t r d
m
10
Energy in Mechanical and Electrical Systems
In the Lagrangian approach, energy is the key issue. Accordingly,
we look at various forms of energy for electrical and mechanical
systems.
For objects in motion, we have kinetic energy K
e
which is always a
scalar quantity and not a vector.
The potential energy of a mass m at a height h in a gravitational
field with constant g is given in the next table. Only differences in
potential energy are meaningful. For mechanical systems with
springs, compressed a distance x, and a spring constant k, the
potential energy is also given in the next table.
We also have dissipated energy P in the system. For mechanical
system, energy is usually dissipated in sliding friction. In electrical
systems, energy is dissipated in resistors.
11
Electrical and Mechanical Counterparts
Energy
Resistor Damper / Friction
0.5 Bv
2
Dissipative
P
Capacitor
0.5 Cv
2
= q
2
/2C
Gravity: mgh
Spring: 0.5 kx
2
Potential
V
Inductor Mass / Inertia
0.5 mv
2
/ 0.5 j
2
Kinetic
(Active)
K
e
Electrical Mechanical Energy
2 2
2
1
2
1
q R Ri
&
=
2 2
2
1
2
1
q L Li
&
=
12
Lagrangian
The principle of Lagranges equation is based on a quantity called
Lagrangian which states the following: For a dynamic system in which
a work of all forces is accounted for in the Lagrangian, an admissible
motion between specific configurations of the system at time t1 and t2
in a natural motion if , and only if, the energy of the system remains
constant.
The Lagrangian is a quantity that describes the balance between no
dissipative energies.
equation al differenti order - second a is equation above that the Note
equations. three be will there s, coordinate d generalize three are there If system on the acting (forces)
inputs external d generalize are ); dissipated is energy at which rate (half function power is
: Equation s Lagrange'
;
2
1
energy) potential the is energy; kinetic the is (
2
i
i
i i i
e
e e
Q P
Q
q
P
q
L
q
L
dt
d
mgh V mv K
V K V K L
=

|
|
.
|

\
|

= =
=
& &
13
Generalized Coordinates
In order to introduce the Lagrange equation, it is important to first
consider the degrees of freedom (DOF = number of coordinates-
number of constraints) of a system. Assume a particle in a space:
number of coordinates = 3 (x, y, z or r, , ); number of constrants
= 0; DOF = 3 - 0 = 3.
These are the number of independent quantities that must be
specified if the state of the system is to be uniquely defined. These
are generally state variables of the system, but not all of them.
For mechanical systems: masses or inertias will serve as generalized
coordinates.
For electrical systems: electrical charges may also serve as
appropriate coordinates.
14
Cont..
Use a coordinate transformation to convert between sets
of generalized coordinates (x = r sin cos ; y = r sin
sin ; z = r cos ).
Let a set of q
1
, q
2
,.., q
n
of independent variables be
identified, from which the position of all elements of the
system can be determined. These variables are called
generalized coordinates, and their time derivatives are
generalized velocities. The system is said to have n
degrees of freedom since it is characterized by the n
generalized coordinates.
Use the word generalized, frees us from abiding to any
coordinate system so we can chose whatever parameter
that is convenient to describe the dynamics of the
system.
15
For a large class of problems, Lagrange equations can be written in
standard matrix form
(
(
(
(

=
(
(
(
(
(
(
(

+
(
(
(
(
(
(
(

(
(
(
(
(
(
(

n
n n n
f
f
q
P
q
P
q
L
q
L
q
L
q
L
dt
d
.
.

.
.

.
.
-
.
.
1 1 1 1
&
&
&
&
16
Example of Linear Spring Mass System and Frictionless
Table: The Steps
m
x
0 : together all Combine
; ; : s derivative the Do
0 : Equation s Lagrang'
2
1
2
1
: Lagrangian
2 2
= + =

|
|
.
|

\
|

=
|
|
.
|

\
|

|
|
.
|

\
|

= =
kx x m
q
L
q
L
dt
d
kx
q
L
x m
q
L
dt
d
x m
q
L
q
L
q
L
dt
d
kx x m V K L
i i
i i i
i i
e
& &
&
& &
&
&
&
&
&
k
17
Mechanical Example: Mass-Spring Damper
( )
( )
2
2 2
2
2
2
1
2
1
2
1
2
1
2
1
x B P
x h mg Kx x m V K L
x h mg Kx V
x m Ke
e
&
&
&
=
+ = =
+ + =
=
x B mg Kx x m
x B mg Kx x m
dt
d
x B
x
x h mg Kx x m
x
x h mg Kx x m
x dt
d
x
P
x
L
x
L
dt
d
f
f Q x q
& & &
& &
&
&
&
&
&
& &
+ + + =
+ =

+ +

|
.
|

\
|

=
= =
) ( ) ( ) (
)
2
1
( )) (
2
1
2
1
(
))) (
2
1
2
1
( (
: equation Lagrange the
write we , force applied with the thus and , coordinate d generalize the have We
2
2 2 2
2 2
18
Electrical Example: RLC Circuit
2
2 2
2
2
2
1
2
1
2
1
2
1
2
1
q R P
q
C
q L V K L
q
C
V
q L K
e
e
&
&
&
=
= =
=
=
equation KVL just is This capacitor. a for and
) (
)
2
1
( )
2
1
2
1
( ))
2
1
2
1
( (
have we , force applied with the and (charge), coordinate d generalize the have We
2 2 2 2 2
c
c
Cv q q i
Ri v
dt
di
L q R
C
Q
q L q R
C
Q
q L
dt
d
q R
q
q
C
q L
q
q
C
q L
q dt
d
q
P
q
L
q
L
dt
d
u
u Q q
= =
+ + = + + = + + =

|
|
.
|

\
|

=
=
&
& & & & &
&
&
& &
&
& &
19
Electromechanical System: Capacitor Microphone
About them see: http://www.soundonsound.com/sos/feb98/articles/capacitor.html
( )
( )
2 2 2 2
2 2 2 2
o
2 2 2 2
2
1
2
1
2
1
2
1
2
1
2
1
;
2
1

2
1
separation plate the is - plate, the of area the is
(F/m), air the of constant dielectric the is
2
1
2
1
;
2
1
2
1
Kx q x x
A
x m q L L
x B q R P Kx q x x
A
V
x x A x x
A
C
Kx q
C
V x m q L K
o
o
o
e
+ =
+ = + =
|
|
.
|

\
|

=
+ = + =

& &
& &
& &
m) equilibriu from nt displaceme
and charge : mechanical and l (electrica
freedom of degrees two has system This
x
q
20
( )
( ) v q x x
A
q R q L
f
A
q
Kx x B x m
q R
q
P
A
q x x
q
L
q L
q
L
x B
x
Kx
A
q
x
L
x m
x
L
o
o
= + +
= + +
=

1
2
2
equations Lagrange two obtain the Then we
; ;
P
;
2
;
2

& & &

& & &
&
&
&
&
&
&
&
&
21
Robotic Example
( )
( )
( )
(
(

=
(
(
(
(

(
(

=
(
(
(
(

(
(

=
(

=
(
(
(
(

+ = =
+ =
= + = =
(

=
(

=
r B
B
r
P
P
q
P
mg mr
mgr
r
L
L
q
L
r m
mr
r m
J
r
L
L
q
L
mgr r m J V K L
r B B P
mgr V r m J K mr J
f
f
Q
r
r
q
e
e
&
&
&
&
&
&
&
&
&
&
&
&
&
&
&
&
&
&
2
1
2
2
2 2
2
2
2
1
2 2 2
;
) sin(
cos
;
sin
2
1
2
1
2
1
2
1
: n dissipatio power The
sin ;
2
1
2
1
;
force the is torque; the is component; each to forces Applicable
both vary) length; radial position; angular ( s coordinate d Generalize

22
The Lagrange equation becomes
( )
or input vect the is ctor; gravity ve the is ) (
vector entripetal Coriolis/c the is ) , ( matrix; inertia the is ) (
) ( ) , ( ) (
) sin(
) cos( 2
0
0
) sin(
cos

2
2
1
2
2
1
2
2
Q q G
q q V q M
Q q G q q V q q M
f mg
mgr
r
B mr
mr B
r m
mr
r B
B
mg mr
mgr
r m
r mr mr
Q
q
P
q
L
q
L
dt
d
Q
&
& & &
&
&
&
&
& &
& &
&
&
&
& &
&
&
& &
& &
= + +
(

=
(

+
(

(
(

+
(

(
(

(
(

+
(
(

(
(

+
=

|
|
.
|

\
|

23
Example: Two Mesh Electric Circuit
U
a
(t)
R
1
L
1
L
2
L
12
R
2
C
1
C
2
q
1
q
2
2
2 2
2
2 1 12
2
1 1
1
2
2
1
1 2 2 1 1
1
2
1 2 1
2
1
) (
2
1
2
1
: is energy) (kinetic energy magnetic total The
). ( ; ; ; ; : that know should We
as denoted is system the to applied force d generalize The
loop. second in the charge electric the is and loop first in the charge
electric the is where s, coordinate d generalize t independen the as and Assume
q L q q L q L K
t U Q
s
i
q
s
i
q q i q i
Q
q
q q q
e
a
& & & &
& &
+ + =
= = = = =
24
( )
( )
2 2
2
1 1
1
2
2 2
2
1 1
2
2
2 1
1
1 2
2
2
1
2
1
1 12 2 12 2
2 2
2 12 1 12 1
1 1
and ;
2
1
2
1
: dissipated energy heat total The
and ;
2
1
2
1
energy) (potential energy electric total for the equation the Use
; 0
; 0
q R
q
P
q R
q
P
q R q R P
C
q
q
V
C
q
q
V
C
q
C
q
V
q L q L L
q
K
q
K
q L q L L
q
K
q
K
e e
e e
&
&
&
&
& &
& &
&
& &
&
=

+ =
=

+ =
+ =

+ =

|
|
.
|

\
|

+
=
|
|
.
|

\
|
+ +
+
=
= + + + + = + + +
=

2 2
2
2
1 12
12 2
2 2 12 1 1
1
1
12 1
1
2
2
2 2 2 12 2 1 12
1
1
1 1 2 12 1 12 1
2 2 2 2
1
1 1 1 1
) (
1
;
) (
1
0 ) ( - ; ) (
0 ) ( ; ) (
q R
C
q
q L
L L
q U q L q R
C
q
L L
q
C
q
q R q L L q L U
C
q
q R q L q L L
q
V
q
P
q
K
q
K
dt
d
Q
q
V
q
P
q
K
q
K
dt
d
a
a
e e e e
& & & & & & & & & &
& & & & & & & & & &
& & & &
25
Another Example
U
a
(t)
R L
R
L
C
q
1
q
2
i
a
(t) i
L
(t)
u
c
u
L
2
2
2
2
2
1 1 1
2
2
1 2 1
2 1
; ; 0
0 ; 0 ; 0 ;
2
1
) ( ; ;
: s coordinate d generalize t independen the as and Use
q L
q
K
dt
d
q L
q
K
q
K
q
K
dt
d
q
K
q
K
q L K
Q t u q i q i
q q
e e e
e e e
e
a L a
& &
&
&
&
& &
&
& &
=
|
|
.
|

\
|

=
|
|
.
|

\
|

=
= = =
26
( )
( )
L L c
L a
L
c c
L a
L a
e e e e
L
L
i R u
L dt
di
R
t u
i
R
u
C dt
du
C
q q
q R
L
q u
C
q q
R
q
C
q q
q R q L u
C
q q
q R
q
V
q
P
q
K
q
K
dt
d
Q
q
V
q
P
q
K
q
K
dt
d
q R
q
P
q R
q
P
q R q R P
C
q q
q
V
C
q q
q
V
C
q q
V
= |
.
|

\
|
+ =
|
.
|

\
|

+ =
|
.
|

\
|
+
+
=
=
+
+ + =

+
=

|
|
.
|

\
|

|
|
.
|

\
|

+ =
+
=

=
1
;
) ( 1
get we law, s Kirchhoff' using By
1
;
1
0 ;
0 ;
and
2
1
2
1
: is energy dissipated total The
and
2
1
: is energy potential total The
2 1
2 2
2 1
1
2 1
2 2
2 1
1
2 2 2 2
1
1 1 1 1
2
2
1
1
2
2
2
1
2 1
2
2 1
1
2
2 1
& & & &
& & & &
& & & &
&
&
&
&
& &
27
Directly-Driven Servo-System
L r s
r r s
r
r s
T Q u Q u Q
q i q i q
q
s
i
q
s
i
q
= = =
= = =
= = =
3 2 1
3 2 1
3 2 1
; ;
; ; ;
; ; ;

& & &

Rotor
Stator
Load
L
s
R
s
L
r
R
r
u
r
u
s
i
r
i
s
T
L

r
, T
e

r
torque Load :
torque netic electromag :
L
e
T
T
28
The Lagrange equations are expressed in terms of each independent
coordinate
3
3 3 3 3
2
2 2 2 2
1
1 1 1 1
) (
) (
) (
Q
q
V
q
P
q
K
q
K
dt
d
Q
q
V
q
P
q
K
q
K
dt
d
Q
q
V
q
P
q
K
q
K
dt
d
e e
e e
e e
=

& &
& &
& &
29
The total kinetic energy is the sum of the total electrical (magnetic) and
mechanical (moment of inertia) energies
3
3
3 2 1
3
2 3 1
2 2
3 2 1
1 1
2
3
2
2 3 2 1
2
1
3
0
max
2
3
2
2 2 1
2
1
2
3
2
2 2 1
2
1
; sin ; cos ; 0
cos ; 0 : result s derivative partial following The
2
1
2
1
cos
2
1
) reluctance g magnetizin is ( cos cos ) (
) 90 (
;
) (
) ( : inductance Mutual
2
1
2
1
2
1
l) (Mechanica
2
1
l); (Electrica
2
1
2
1
q J
q
K
q q q L
q
K
q L q q L
q
K
q
K
q q L q L
q
K
q
K
q J q L q q q L q L K
L q L L L
N N
L L
N N
L
q J q L q q L q L K K K
q J K q L q q L q L K
e
M
e
r M
e e
M s
e e
r M s e
M M r M r sr
m
r s
sr M
r m
r s
r sr
r sr s em ee e
em r sr s ee
&
&
& & & &
&
& &
&
& & & & &
& & & & &
& & & & &
=

+ =

+ =

+ + + =
= =

= =

=
+ + + = + =
= + + =

30
We have only a mechanical potential energy: Spring with a constant k
s
L r s
r
m r r s M
r
r r r
r
r s M
s
r M
r
r
s s s
r
r r M
r
r M
s
s
m r s
m r s
m M r s E
M E
s
s s
T k
dt
d
B i i L
dt
d
J
u i R
dt
d
i L
dt
di
L
dt
di
L
u i R
dt
d
i L
dt
di
L
dt
di
L
q B
q
P
q R
q
P
q R
q
P
q B q R q R P
q B P q R q R P
P P P
q k
q
V
q
V
q
V
q k V k
= + + +
= + +
= + +
=

+ + =
= + =
+ =
=

sin
sin cos
sin cos
system - servo for equations al differenti three have we values, original the ng Substituti
and ; ;
2
1
2
1
2
1
2
1
;
2
1
2
1
: as expressed is dissipated energy heat total The
; 0 ; 0
2
1
: constant with spring the of energy potential The
2
2
3
3
2
2
1
1
2
3
2
2
2
1
2
3
2
2
2
1
3
3 2 1
2
3
&
&
&
&
&
&
& & &
& & &
31
r r s M e
e
L r s r m r r s M
r
r
r
L r s r m r r s M
r
r s s r M r r M r s r r r s M s s M s
r M r s
r
r r M s r r r M r r r M r r r s M s r s
r M r s
s
r
i i L T
T
T k B i i L
J dt
d
dt
d
T k B i i L
J dt
d
u L u L i L i L R i L L i L R
L L L
dt
di
u L u L L L i L R i L i L R
L L L
dt
di

dt
d

sin
: developed torque netic electromag for the expression obtain the can We
) sin (
1
: equation third the g Considerin
) sin (
1
cos 2 sin
2
1
sin
2
1
cos
1
cos sin cos 2 sin
2
1
cos
1
variables state as position and locity, angular ve current, rotor and current stator using Also,
). ( locity angular ve rotor of in terms written be should equation last The
2
2 2
2
2 2
=
=
=
=
|
.
|

\
|
+

=
|
.
|

\
|
+ + +

=
=
32
More Application
Application of Lagrange equations of motion in the modeling of two-
phase induction motor and generator.
Application of Lagrange equations of motion in the modeling of
permanent-magnet synchronous machines.
Transducers