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Chapter 2 Review Dynamics

The document discusses Lagrange's method for deriving the dynamic equations of motion for mechanical systems. It provides examples of applying Lagrange's method to simple systems like a mass-spring system and simple pendulum. It also shows examples of more complex multi-degree of freedom systems like a double pendulum and 2-link planar arm. The method involves calculating the kinetic and potential energies of the system and deriving the Lagrange equations from the Lagrangian, which is defined as the difference between kinetic and potential energies.

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Tam Pham
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51 views19 pages

Chapter 2 Review Dynamics

The document discusses Lagrange's method for deriving the dynamic equations of motion for mechanical systems. It provides examples of applying Lagrange's method to simple systems like a mass-spring system and simple pendulum. It also shows examples of more complex multi-degree of freedom systems like a double pendulum and 2-link planar arm. The method involves calculating the kinetic and potential energies of the system and deriving the Lagrange equations from the Lagrangian, which is defined as the difference between kinetic and potential energies.

Uploaded by

Tam Pham
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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SYSTEM DYNAMICS & CONTROL

CHAPTER 2
REVIEW DYNAMICS
LAGRANGE’S METHOD

Assoc. Prof. Dr Vo Tuong Quan

HCMUT - 2017
Lagrange’s Method
Lagrange’s method:
1. Calculate the kinetic energy of system (K or T)
1 2
K  mv
2
2. Calculate the rotation kinetic energy of system (K or T)
1 2
K Rot  I
2
3. Calculate the potential energy of the system (P or V or U)
P  mgh
 Lagrange equation: L = K – P d  L  L
Then: Calculate the equation    0
(Called Lagrange’s Equation) dt  q  q 2
 2011 – Vo Tuong Quan
Lagrange’s Method
Mass Spring system

1 2
K  mx 2
d x
2  m 2  kx  0
1 2 dt
P  kx
2
1 2 1 2
 L  K  P  mx  kx
2 2 3
 2011 – Vo Tuong Quan
Lagrange’s Method
Multi degree of freedom system

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 2011 – Vo Tuong Quan
Lagrange’s Method
Simple pendulum

 We need to transform the coordinate

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 2011 – Vo Tuong Quan
Lagrange’s Method
Simple pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Double pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Double pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Double pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Double pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Using Lagrange’s method to calculate the dynamic
equations of two-link elbow planar arm

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 2011 – Vo Tuong Quan
Lagrange’s Method

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 2011 – Vo Tuong Quan
Lagrange’s Method

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 2011 – Vo Tuong Quan
Lagrange’s Method

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 2011 – Vo Tuong Quan
Lagrange’s Method

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 2011 – Vo Tuong Quan
Lagrange’s Method

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 2011 – Vo Tuong Quan
Lagrange’s Method
Modeling and designing a PID controller for an Inverted
pendulum (M) mass of the cart
(m) mass of the pendulum
(b) coefficient of friction for cart
(l) length to pendulum center of mass
(I) mass moment of inertia of the
pendulum
(F) force applied to the cart
(x) cart position coordinate
() pendulum angle from vertical (down)

Source: http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SystemModeling
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 2011 – Vo Tuong Quan
Lagrange’s Method

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 2011 – Vo Tuong Quan
Lagrange’s Method

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 2011 – Vo Tuong Quan

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