16.

61 Aerospace Dynamics Spring 2003

Lecture #10

Friction in Lagrange’s Formulation

Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 1
16.61 Aerospace Dynamics Spring 2003

Generalized Forces Revisited

• Derived Lagrange’s Equation from D’Alembert’s equation:

p p

∑ m ( &&x δ x + &&y δ y
i i i i i (
ziδ zi ) = ∑ Fxi δ xi + Fyi δ yi + Fzi δ zi
+ && )
i =1 i =1

 ∂x  N
• Define virtual displacements δ xi = ∑  i δ q j
 
j =1  ∂q j 

• Substitute in and noting the independence of the δ q j , for each

DOF we get one Lagrange equation:
p
 ∂xi ∂yi ∂zi  p
 ∂xi ∂yi ∂zi 
∑ m x
&&
 i + y
&&i + z
&&i δ qr = ∑  Fxi + Fyi + Fzi δ qr
i =1  ∂qr ∂qr ∂qr  i =1  ∂qr ∂qr ∂qr 

• Applying lots of calculus on LHS and noting independence of

the δ qi , for each DOF we get a Lagrange equation:

d  ∂T  ∂T p
 ∂xi ∂yi ∂zi 

dt  ∂q&r
 − = ∑  xiF + Fyi + Fzi 
 ∂qr i =1  ∂qr ∂qr ∂qr 

• Further, we “moved” the conservative forces (those derivable

from a potential function to the LHS:
d  ∂L  ∂L p
 ∂xi ∂yi ∂zi 

dt  ∂q&r
 − = ∑  xiF + Fyi + Fzi 
 ∂qr i =1  ∂qr ∂qr ∂qr 

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16.61 Aerospace Dynamics Spring 2003

• Define Generalized Force:

 ∂x
p
∂y ∂z 
Qqr = ∑  Fxi i + Fyi i + Fzi i 
i =1  ∂qr ∂qr ∂qr 

• Recall that the RHS was derived from the virtual work:

δW
Qqr =
δ qr
• Note, we can also find the effect of conservative forces using
virtual work techniques as well.
Example
• Mass suspended from linear spring and velocity proportional
damper slides on a plane with friction.

• Find the equation of motion of the mass.

• DOF = 3 – 2 = 1. g
k q(t)
• Constraint equations: y = z = 0.

• Generalized coordinate: q c m
µ
1 θ
• Kinetic Energy: T = mq& 2
2

1
• Potential Energy: V = kq 2 − mgq sin θ
2

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16.61 Aerospace Dynamics Spring 2003

1 1
• Lagrangian: L = T − V = mq& 2 − kq 2 + mgq sin θ
2 2

• Derivatives:
∂L d  ∂L  ∂L
= mq& ,   = mq&&, = − kq + mg sin θ
∂q
& dt  ∂q 
& ∂q

• Lagrange’s Equation:
d  ∂L  ∂L
  − = mq&& + kq − mg sin θ = Qqr
dt  ∂q  ∂q
&

• To handle friction force in the generalized force term, need to

know the normal force Æ Lagrange approach does not
indicate the value of this force.

o Look at the free body diagram. Fs mg

mq&&
o Since body in motion at the time
of the virtual displacement, use Fd
the d’Alembert principle and Ff
include the inertia forces as well N
as the real external forces

o Sum forces perpendicular to the motion: N = mg cosθ

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16.61 Aerospace Dynamics Spring 2003

• Recall δ W = F ⋅ δ s . Two nonconservative components, look

at each component in turn:

o Damper: δ W = −cq&δ q

o Friction Force:
δ W = − sgn(q ) µ N δ q
= − sgn(q ) µ mg cosθδ q
• Total Virtual Work:

δ W = ( −cq& − sgn(q) µ mg cosθ ) δ q

• The generalized force is thus:

δW
Qqr = = ( −cq& − sgn(q ) µ mg cosθ )
δ qr

• And the EOM is:

mq&& + kq − mg sin θ = −cq& − sgn( q ) µ mg cosθ

⇒ mq&& + cq& + kq = mg ( sin θ − sgn(q ) µ cos θ )

Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 5
16.61 Aerospace Dynamics Spring 2003

• Note: Could have found the generalized forces using the

coordinate system mapping:

 p
∂xi ∂yi ∂zi 
Qqr = ∑  Fxi + Fyi + Fzi 
i =1  ∂qr ∂qr ∂qr 

o
o For example, the gravity force:
∂yi
Fyi = − mg , yi = − q sin θ , = − sin θ
∂q
⇒ Qqr = mg sin θ

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16.61 Aerospace Dynamics Spring 2003

Rayleigh's Dissipation Function

• For systems with conservative and non-conservative forces,

we developed the general form of Lagrange's equation

d  ∂L  ∂L
  − = Q N
qr
dt  ∂q&r  ∂qr

with L=T-V and

∂x ∂y ∂z
Q N qr = Fx + Fy + Fz
∂qr ∂qr ∂qr

• For non-conservative forces that are a function of q& , there is

an alternative approach. Consider generalized forces
n
Q N i = − ∑ cij (q, t )q& j
j =1

where the cij are the damping coefficients, which are dissipative
in nature Î result in a loss of energy

• Now define the Rayleigh dissipation function

1 n n
F = ∑∑ cij q&i q& j
2 i =1 j =1

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16.61 Aerospace Dynamics Spring 2003

• Then we can show that

∂F n
= ∑ cqr j q& j = −Q N qr
∂q&r j =1

• So that we can rewrite Lagrange's equations in the slightly

cleaner form

d  ∂L  ∂L ∂F
 − + =0
dt  ∂q&r  ∂qr ∂q&r

• In the example of the block moving on the wedge,

1 2
F = cq&
2
d  ∂L  ∂L ∂F
  − + = mq&& + kq − mg sin θ + cq& = Qq′r
dt  ∂q&  ∂q ∂q&

where Qq′r now only accounts for the friction force.

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