Applications of Hamiltons Principle and Euler-Lagranges Equations

A continuum bar with one end xed and the other atttached to spring/mass is shown below.
Fixed support K Continuum bar (EA, L) M

f(t) us(t)

1. Theoretical Basis: Kinetic energy of the contimuun bar: Tbar =

1 2 L 0

m(x) u t (x, t) d x,
2

u(x, t) u t (x, t) = t

(1)

Potential energy of the continuum bar: Vbar =

1 2 L 0

{ E A(x) u x (x, t) } d x,
2

u(x, t) u x (x, t) = x

(2)

External energy due to applied force f(t): Ws = f(t) u s (t) d x (3)

 Kinetic energy of the discrete mass: Ts = 1 M u s (t)2 (t) 2 Potential energy of springs: Vs = 1 K [u s (t) u(L , t)]2 2 (5) (4)

Hamiltons principle for the bar and discrete mass-spring system:

t2 t1

[Ttotal Vbar Vs +Wbar ] dt = 0,

Ttotal = Tbar + Ts (6)

 Variation of the foregoing Hamiltons principle

t2 t1 0 L

{[(x)u(x, t) + E A(x) u x x (x, t)] u(x, t)}d x (7)

{M u s (t) + K [u s (t) u(L , t)] f (t)} u s (t) {[(E A(x) u x (x, t) + K [u(L , t) u s (t)] u(x, t)}x=L {E A(x) u x (x, t)u(x, t)}x=0 dt = 0

 The governing equations of motion: (x)u(x, t) E A u x x (x, t) = 0 M u s (t) + K (u s (t) u(L , t)) = f (t) The boundary conditions: u(0, t) = 0 (10) (8) (9)

E A(x) u x (L , t) + K [u(L , t) u s (t)] = 0

(11)

Example Problem: Application of Hamiltons Principle

O k a y O k a +x A a: original spring length x: extension C L y

C m, L F

mg X

F X

mg

Step 1 (same as in HW1): Obtain the position vectors. r A = (a + x)i L rC = (a + x)i + (cos i + sin j) 2 r B = (a + x)i + L(cos i + sin j) r A = ai L rC = ai + i 2 r B = ai + Li

(12)

The virtual displacement needed for computing the generalized forces: (13) r B = x i + L( sin i + cos j)

Step 2: Obtain the kinetic energy of the system. rC L = xi + ( sin i + cos j) 2 (14)

T = 1 m rC rC + 1 IC 2 2 2

L 2 2 m L2 2 = 1 m[x 2 L x sin + ]+ 1 2 2 12 4

(15)

Step 3: Compute the potential energy due to gravity and spring, and the nonconservative virtual work. Potential energy due to spring: FA
spring

= k r A = kxi,
0 x

dr A = d xi (16)

V spring =

FA

spring

dr A = 1 kx 2 2

Potential energy due to gravity:

gravit y FC

= mgi, rr e f rC
0 x

drC

L = d xi + ( sin i + cos j)d 2 drC

0

V gravit y = =

FC

spring

mgL mgd x 2

mgL (1 cos ) sin d = mgx + 2 (17)

Total potential energy: V =V

spring

+V

gravit y

1 2 2 kx

mgL mgx + (1 cos ) 2

(18)

Nonconservative generalized forces: Fnoncons = F( sin i + cos j), r B = xi + L( sin i + cos j) B Wnoncons = Fnoncons r B B = F sin x + F L = Q x x + Q Q = F L Q x = F sin , (19)

Step 4: Obtain the equations of motion via Hamilton-Euler-Lagranges formalism. The generalized coordinates: (q1 = x, q2 = ). The Lagrangian: L 2 2 mgL 2 1 1 2 sin + ][ 2 kx mgx+ (1cos )] L = T V = 2 m[x L x 3 2 (20) The generalized forces: Q x = F sin , Q = F L .

Substituting the preceding expressions into d L L ( ) = Qk , dt qk qk we nally obtain m L2 m L sin cos + kx = mg F sin mx 2 2 m L 2 m L x mgL sin = sin + F L 3 2 2 q1 = x, q2 = (21)

(22)