Admissible Variations/Virtual Displacements

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

Paula Echeverri, Professor Thomas Peacock
4/4/2007

Lecture 14

Lagrangian Dynamics: Virtual Work and

Generalized Forces

Reading: Williams, Chapter 5

L =T V

L
d L

= Qi
dt qi
qi

All qi are scalars.

qi : Generalized Coordinates
L: Lagrangian
Qi : Generalized Forces

Admissible Variations/Virtual Displacements

Virtual Displacement:

Admissible variations: hypothetical (not real) small change from one geometri

cally admissible state to a nearby geometrically admissible state.

Bead on Wire

Figure 1: Bead on a wire. Figure by MIT OCW.

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.
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Admissible Variations/Virtual Displacements

Both x and y are admissible variations. Hypothetical geometric conguration

displacement.

= d
x = dx
dx implies t involved.

y = f (x)
df
dx
dx
df (x)
y =
x
dx
dy =

Generalized Coordinates
Minimal, complete, and independent set of coordinates
s is referred to as complete: capable of describing all geometric congurations
at all times.
s is referred to as independent : If all but one coordinate is xed, there is a
continuous range of values that the free one can take. That corresponds to the
admissible system congurations.

Example: 2-Dimensional Rod

Figure 2: 2D rod with xed translation in x and y but free to rotate about .
Figure by MIT OCW.

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.
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Virtual Work

If we x x and y, we can still rotate in a range with .

# degrees of freedom = # of generalized coordinates: True for 2.003J. True for

Holonomic Systems.

Lagranges equations work for Holonomic systems.

Virtual Work

W =

f i dr i Actual Work

i = forces act at that location

W =

f i r i Virtual Work

f i = f applied
+ f constrained
i
i
Constrained: Friction in roll. Constraint to move on surface. Normal forces.
Tension, rigid body constraints.

w =

f app
r i = 0 at equilibrium
i

No work done because no motion in direction of force. No virtual work.

fi = 0

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.
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Virtual Work

Example: Hanging Rigid Bar

Figure 3: Hanging rigid bar. The bar is xed translationally but is subject to
a force, F . It therefore can displace itself rotationally about its pivot point.
Figure by MIT OCW.
Displacement:
y A = aj
y B = lj
Forces:
F = F j
R = Rj
Two forces applied: i = 2
w = F l Ra = 0
Fl
at equilibrium
R=
a
Could also have taken moments about O.

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.
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Virtual Work

Example: Tethered Cart

Figure 4: Tethered cart. The cart is attached to a tether that is attached to the
wall. Figure by MIT OCW.

w = F yB Rxc = 0

yB = l sin

Using y =

df (x)

dx xc

yB = l cos
xc = 2l sin
(F l cos + 2R sin ) = 0
F l cos + 2R sin = 0 R =

F
at equilibrium
2 tan

Figure 5: Application of Newtons method to solve problem. The indicated

extra forces are needed to solve using Newton. Figure by MIT OCW.

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].

Generalized forces for Holonomic Systems

Generalized forces for Holonomic Systems

In an holonomic system, the number of degrees of freedom equals the number

of generalized coordinates.

w =

f i r i =

Qi qj

i = number of applied forces: 1 to n

j = number of generalized coordinates

r i = ri (q1 , q2 , . . . qj )
ri : Position of point where force is applied

ri =

ri
qj
qj
j

Substitute:
n

fi

m
m
n

ri
r i
qj =
qj
fi
qj
qj
j
j
i

Qj =

fi

ri
Generalized Forces
qj

+ f iCONS.
f i = f NC
i
fiCONS. : Gravity, Spring, and Buoyancy are examples; Potential Function Exists.
f CONS. =

V
r

Example:
Vg = mgz, r = zj
f g = mg z
= mgj
dz j
ficons.

r i
V r
V
=
=
q
r qj
qj

The conservative forces are already accounted for by the potential energy term
in the Lagrangian for Lagranges Equation

Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
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Example: Cart with Pendulum, Springs, and Dashpots

C
QN
=
j

C
fN

r i
qj

d L
L
C

= QN
j
dt qj
qj
Lagranges Equation
C
QN
= nonconservative generalized forces
j
L
qj

contains

V
qj

Example: Cart with Pendulum, Springs, and Dashpots

Figure 6: The system contains a cart that has a spring (k) and a dashpot (c)
attached to it. On the cart is a pendulum that has a torsional spring (kt ) and a
torsional dashpot (ct ). There is a force applied to m that is a function of time
F = F (t) We will model the system as 2 particles in 2 dimensions. Figure by
MIT OCW.

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.
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Example: Cart with Pendulum, Springs, and Dashpots

4 degrees of freedom: 2 constraints. Cart moves in only 1 direction. Rod xes

distance of the 2 particles.
Thus, there are a net 2 degrees of freedom. For 2.003J, all systems are holonomic
(the number of degrees of freedom equals the number of generalized coordinates).

q1 = x
q2 =

Figure 7: Forces felt by cart system. Figure by MIT OCW.

F 1 : Damper and Spring in x direction
(kx + cx )
F 2 : Two torques:
= (kt + ct k
F 3:
F 3 = F0 sin t
rA = x = q1 r 1
rB = r A + rB/A = (x + l sin ) l cos j r 3
r 2 = k (Torque creates angular displacement) = q2 k

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Example: Cart with Pendulum, Springs, and Dashpots

Q1 :
r1
q1

= 1,

r 2
q1

= 0,

r 3
q1

= 1

Q1 = cq1 + F0 sin t
r1
q2

= 0,

r2
q2

= 1k,

r 3
q2

= l cos q2 + l sin q2 j

Q2 = ct q2 + F0 sin t l cos q2
With the generalized forces, we can write the equations of motion.

Kinematics
M:
rM = x
r M = x

rM = x
m:
j
r m = (x + l sin ) l cos
r m = (x + l cos ) + l sin j
x + l(cos ) l(sin )2 ) + (l(sin ) + l(cos )2 )
j
rm = (
Generalized Coordinates: q1 = x and q2 = .

Lagrangian
L =T V
T = TM + Tm
TM =

1
1
M (r M r M ) = M x 2
2
2

1
m(r m r m )
2
1
= m(x 2 + 2lx cos + l2 2 )
2

Tm =

(1)
(2)

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Example: Cart with Pendulum, Springs, and Dashpots

T =

10

1
1
M x 2 + m(x 2 + 2lx cos + l2 2 )
2
2

V = VM,g + MM,k + Vm,g + Vm,kt

1
1
= M g(0) + k(r M r M ) + mg(l cos ) + kt 2
2
2
Symbol
VM,g
VM,k
Vm,g
Vm,kt
V =

(3)
(4)

Potential Energy
Gravity on M
Spring on M
Gravity on m
Torsional Spring on m

1
1 2
kx + (mgl cos ) + kt 2
2
2

Substitute in L = T V

L=

1
1
1
1
M x 2 + m(x 2 + 2lx
cos + l2 2 ) kx2 + mgl cos kt 2
2
2
2
2

Equations of Motion
Use

d
dt

L
qi

L
q
= i to derive the equations of motion. i = Qi .
i

From before, x = F0 sin 0 t cx and = F0 (sin t)l cos ct .

For Generalized Coordinate x
x = 0 and = 0. Units of Force.
L
= kx
x
L
= (M + m)x + ml(cos )
x

d L
= (M + m)
x + ml cos + mL( sin )2
dt x

L
d L
x + ml (cos ) + ml( sin )2 + kx = F0 sin t cx

= (M + m)
dt x
x

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Example: Cart with Pendulum, Springs, and Dashpots

11

For Generalize Coordinate

x = 0 and = 0. Units of Torque.
L
= mlx ( sin ) mgl sin kt

= mlx cos + ml2

d L
= mlx ( sin ) + mlx
cos + ml 2
dt

L
d L

= mlx ( sin )+mlx

cos +ml 2 mlx ( sin )+mgl sin +kt
dt

L
d L

= mlx
cos + ml 2 + mgl sin + kt = F0 (sin t)l cos ct
dt

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].