Applications of Hamiltons Principle and Euler-Lagranges Equations

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

f(t)
us(t)

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

1
2

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

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

(1)

Potential energy of the continuum bar:

Z
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 = 12 M u s (t)2 (t)

(4)

Potential energy of springs:

Vs = 12 K [u s (t) u(L , t)]2

(5)

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

Z

t2
t1

[Ttotal Vbar Vs +Wbar ] dt = 0,

Ttotal = Tbar + Ts (6)

 Variation of the foregoing Hamiltons principle

Z

t2

t1

Z
h

{[(x)u(x,

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

{M u s (t) + K [u s (t) u(L , t)] f (t)} u s (t)

(7)
{[(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 i dt = 0

 The governing equations of motion:

(x)u(x,

t) E A u x x (x, t) = 0

(8)

M u s (t) + K (u s (t) u(L , t)) = f (t)

(9)

The boundary conditions:

u(0, t) = 0

(10)

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

(11)

Example Problem: Application of Hamiltons Principle

y

O
k

a +x

A
a: original spring length
x: extension
C

C
m, L
F

mg

mg

F
X

Step 1 (same as in HW1): Obtain the position vectors.

r A0 = (a + x)i
L
rC 0 = (a + x)i + (cos i + sin j)
2
r B 0 = (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 0 = x i + L( sin i + cos j)

Step 2: Obtain the kinetic energy of the system.

r C 0

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

T = 12 m r C 0 r C 0 + 12 IC 2

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

(14)

(15)

Step 3: Compute the potential energy due to gravity and spring,

and the nonconservative virtual work.
Potential energy due to spring:
spring

F A0

V spring

= k4r A0 = kxi, dr A0 = d xi

Z 0
spring
=
F A0
dr A0 = 12 kx 2
x

(16)

Potential energy due to gravity:

gravit y
FC 0

= mgi,

V gravit y =

drC 0

Z rr e f
Z

rC 0
0

=
x

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

spring

FC 0

drC 0

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:

= F( sin i + cos j), r B 0 = xi + L( sin i + cos j)
Fnoncons
B0

r B 0
Wnoncons = Fnoncons
B0
= 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:
2 2
L
mgL
2
1
1 2

][ 2 kx mgx+
(1cos )]
L = T V = 2 m[x L x sin +
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

q1 = x, q2 =

(21)

we finally obtain
m L 2
m L
sin
cos + kx = mg F sin
m x
2
2
m L 2 m L x
mgL

sin =
sin + F L
3
2
2

(22)