1. The document describes Hamilton's principle and Euler-Lagrange equations for analyzing continuous structures and discrete mass-spring systems.
2. It provides the theoretical basis for deriving governing equations of motion for a continuum bar attached to a spring/mass system using Hamilton's principle.
3. An example problem is presented to demonstrate applying Hamilton's principle to obtain equations of motion for a mass sliding on an inclined plane attached to a spring.
1. The document describes Hamilton's principle and Euler-Lagrange equations for analyzing continuous structures and discrete mass-spring systems.
2. It provides the theoretical basis for deriving governing equations of motion for a continuum bar attached to a spring/mass system using Hamilton's principle.
3. An example problem is presented to demonstrate applying Hamilton's principle to obtain equations of motion for a mass sliding on an inclined plane attached to a spring.
1. The document describes Hamilton's principle and Euler-Lagrange equations for analyzing continuous structures and discrete mass-spring systems.
2. It provides the theoretical basis for deriving governing equations of motion for a continuum bar attached to a spring/mass system using Hamilton's principle.
3. An example problem is presented to demonstrate applying Hamilton's principle to obtain equations of motion for a mass sliding on an inclined plane attached to a spring.
1. The document describes Hamilton's principle and Euler-Lagrange equations for analyzing continuous structures and discrete mass-spring systems.
2. It provides the theoretical basis for deriving governing equations of motion for a continuum bar attached to a spring/mass system using Hamilton's principle.
3. An example problem is presented to demonstrate applying Hamilton's principle to obtain equations of motion for a mass sliding on an inclined plane attached to a spring.
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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)
