Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Scribd Logo
Upload

Welcome to Scribd!

  • 187 views

    Applications Hamilton Principle

    Uploaded by

    Geof180
    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.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd

    Applications Hamilton Principle

    Uploaded by

    Geof180
    187 views12 pages
    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.

    Original Title

    Applications.hamilton.principle

    Copyright

    © Attribution Non-Commercial (BY-NC)

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    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.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    187 views12 pages

    Applications Hamilton Principle

    Uploaded by

    Geof180
    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.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    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)

    You might also like