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    MIT2 003SCF11 Rec8notes1

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    harshit49
    The document summarizes the derivation of the equations of motion for a cart and pendulum system using Lagrange's equations. It considers two cases: 1) A cart attached to a spring moving on a surface with a pendulum attached, and 2) Adding a damper between the cart and surface and an external force applied to the cart. For the first case, it identifies the generalized coordinates, finds the expressions for kinetic and potential energy, writes the Lagrangian, and uses Lagrange's equations to derive the two equations of motion. For the second case, it shows that the damper and external force enter the formulation as generalized forces, modifies one of the equations of motion, and lists the final two equations of motion for

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    MIT2 003SCF11 Rec8notes1

    Uploaded by

    harshit49
    81 views4 pages
    The document summarizes the derivation of the equations of motion for a cart and pendulum system using Lagrange's equations. It considers two cases: 1) A cart attached to a spring moving on a surface with a pendulum attached, and 2) Adding a damper between the cart and surface and an external force applied to the cart. For the first case, it identifies the generalized coordinates, finds the expressions for kinetic and potential energy, writes the Lagrangian, and uses Lagrange's equations to derive the two equations of motion. For the second case, it shows that the damper and external force enter the formulation as generalized forces, modifies one of the equations of motion, and lists the final two equations of motion for

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    The document summarizes the derivation of the equations of motion for a cart and pendulum system using Lagrange's equations. It considers two cases: 1) A cart attached to a spring moving on a surface with a pendulum attached, and 2) Adding a damper between the cart and surface and an external force applied to the cart. For the first case, it identifies the generalized coordinates, finds the expressions for kinetic and potential energy, writes the Lagrangian, and uses Lagrange's equations to derive the two equations of motion. For the second case, it shows that the damper and external force enter the formulation as generalized forces, modifies one of the equations of motion, and lists the final two equations of motion for

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    81 views4 pages

    MIT2 003SCF11 Rec8notes1

    Uploaded by

    harshit49
    The document summarizes the derivation of the equations of motion for a cart and pendulum system using Lagrange's equations. It considers two cases: 1) A cart attached to a spring moving on a surface with a pendulum attached, and 2) Adding a damper between the cart and surface and an external force applied to the cart. For the first case, it identifies the generalized coordinates, finds the expressions for kinetic and potential energy, writes the Lagrangian, and uses Lagrange's equations to derive the two equations of motion. For the second case, it shows that the damper and external force enter the formulation as generalized forces, modifies one of the equations of motion, and lists the final two equations of motion for

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    2.

    003SC
    Recitation 8 Notes: Cart and Pendulum (Lagrange)

    Cart and Pendulum - Problem Statement


    A cart and pendulum, shown below, consists of a cart of mass, m1 , moving on a horizontal surface, acted
    upon by a spring with spring constant k. From the cart is suspended a pendulum consisting of a uniform
    rod of length, l , and mass, m2 , pivoting about point A .

    Derive the equations of motion for this system by Lagrange. Specically,


    Find T , the systems kinetic energy
    Find V , the systems potential energy
    Find vG 2 , the square of the magnitude of the pendulums center of gravity

    Cart and Pendulum - Solution


    Generalized Coordinates

    q1 = x,

    q2 =

    Kinematics
    The linear velocity of the pendulums center of mass, vG , is given by
    l
    l
    l
    vG = x I + j = (x + cos)I + ( sin)J
    2
    2
    2
    The square of its magnitude is given by

    2
    vG
    = (x +

    l
    l
    cos)2 + ( sin)2
    2
    2

    Expanding and simplifying,

    2
    vG
    = x 2 + 2

    l
    l
    lx
    cos + ( )2 cos2 + ( )2 sin2
    2
    2
    2

    l2 2
    2
    = x 2 + xlcos

    +
    vG
    4
    Kinetic Energy

    1
    1
    1
    T = m1 x 2 + m2 vG 2 + IG 2
    2
    2
    2

    1 ml2
    2
    1
    1
    l2 2
    2
    2

    T = m1 x + m2 (x + x lcos +
    )+ (
    )
    2
    2
    4
    2 12
    Potential Energy
    1
    l
    V = kx2 + m2 g (1 cos)
    2
    2
    Lagrangian
    L=T V
    l
    1
    1
    l2 2
    1 ml2 2 1 2
    L = m1 x 2 + m2 (x 2 + xlcos

    +
    )+ (
    ) kx m2 g (1 cos)
    2
    2
    4
    2 12
    2
    2

    Lagranges equation for the rst generalized coordinate,


    d L
    L
    ( )
    = Qx
    dt x
    x
    yields the rst equation of motion.
    x+
    (m1 + m2 )

    m2 l
    m2 l 2
    cos
    sin + kx = 0
    2
    2

    (1)

    Lagranges equation for the second generalized coordinate,


    d L
    L
    ( )
    = Q
    dt

    yields the second equation of motion.


    (

    m2 l2 m2 l2 m2 l
    l
    +
    ) +
    xcos

    + m2 g sin = 0
    4
    12
    2
    2

    (2)
    2

    Cart and Pendulum - Problem Statement


    Assume that the cart and pendulum system now contain a damper/dashpot of constant b between the cart
    and ground, as well as an external force, F (t) , applied to the cart.

    Derive the equations of motion for this system by Lagrange. Specically, show the generalized forces.

    Cart and Pendulum - Solution


    Both the damper and the external force are non-conservative (forces). Consequently, they enter the
    Lagrange formulation as generalized forces.
    Generalized Forces

    nc

    N
    N

    finc

    Ri =

    n
    N

    Qj j

    j=1

    W nc = [bx + F (t)]x + [0]

    Qx = bx + F (t)

    Q = 0

    which changes the rst equation to become,


    x+
    (m1 + m2 )

    m2 l
    m2 l 2
    cos
    sin + kx = bx + F (t)
    2
    2

    So our equations of motion become


    x+
    (m1 + m2 )

    m2 l
    m2 l 2
    cos
    sin + bx + kx = F (t)
    2
    2

    (3)

    and

    m2 l2 m2 l2 m2 l
    l
    (
    +
    ) +
    xcos

    + m2 g sin = 0
    4
    12
    2
    2

    (4)
    3

    MIT OpenCourseWare
    http://ocw.mit.edu

    2.003SC / 1.053J Engineering Dynamics


    Fall 2011

    For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.

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