Lagranges Equations

Defining work, energy and

virtual displacements and work
we will learn an alternate
method of deriving equations
of motion in terms of

215323: Aircraft Vibration

Lecture for Week14-15

Generalized coordinates
for this problem:

2 not 3!

Generalized Coordinates

Example:
x
y

m1 (x1,y1)

A set of independent coordinates

Constraints: predetermined motion of a body

How many DOF?

What are they?
Are there constraints?
2
2
2
x1 y1 1

Holonomic constraints: if the excess coordinates

can be eliminated through this constraint. In the
previous example the constraints are

(x2 x1)2 (y2 y1)2 22

m2 (x2,y2)

There are only 2 DOF and one choice is:

q1 1 and q2 2
3

x1 1 sin1, x2 1 sin1 2 sin2

y1 1 cos1, y2 1 cos1 2 cos2

Superfluous coordinates=excess coordinates

4

Strain Energy in a Spring

Definitions (from Dynamics)

T

Kinetic Energy:

Strain energy (elastic potential energy)

1
1
mr r mr T r
2
2

for a spring : F kx

r2

V ( x) F ( )d kd

Work Done by a force: W12 F dr

r1

r0 a reference position then the potential energy is

1 2
kx
2

which is the area under the F ( x) vs x curve

rr01

V ( r ) F dr

F(x)

rr1

Example of a bar of cross section

A(x) elongated by force P(x,t)
Slope E
P(x,t)
P(x,t) +Px(x,t) dx

Strain
dx +ux(x,t)dx

The variation of dx, denoted (dx) is given by

(dx)=

1
1
P(x,t) (dx) P(x,t) (x,t)dx
2
2
1
[EA(x) (x,t)] (x,t)dx
2
1
EA(x) 2 (x,t)dx
2
Integrating yields the strain energy for axial tension
in a bar element:
dV

u(x,t)
dx (x,t)dx
x

The axial stress is (x,t)

P(x,t)
E (x,t)
A(x)

Strain energy continued

Strain energy in an elastic material

Stress

1
E A(x) 2 (x,t)dx
2 0

1
u(x,t)
dx
E A(x)
2 0
x
l

so P=EA

Consequence of satisfying the

constraint:

Virtual Reality (? virtual displacement)

r
Variation or
Change in:

Constraint : f (r ) c, a constant

A virtual displacement
Based on variational mathematics

f (r r ) c
Taylor's series expansion :

Small or infinitesimal changes

compatible with constraints

xj c
f (r )

j 1 x j

No time associated with change

f
.r
r

f
.r 0
r

DAlembert Principle

Virtual work

(Dynamic Equilibrium)

Suppose the i th mass is acted on by f i with system in static equilibrium

Wi f i ri 0,
n

F r 0
i

move inertia force to the left side and treat dynamics as statics.
From Newton' s law in terms of change
in momentum :

the principle of virtual work :

i 1

10

F m r F m r 0

which states that if a system is in equilibrium, the

work done by externally applied forces through a

This allows us to use virtual work in dynamics case :

Fi mir.r 0

virtual displacement is zero : V 0

V has an critical value

11

12

Example 7.2.2

Hamiltons Principle

The generalized coordinates :

q1 x and q2
For virtual displace ment x :
l
2

l
2

W [(m1 m2 ) x kx]x (m2 cos )x (m2 2 sin )x F (t )x 0

l
( cos 2 sin ) kx F (t )
2
For virtual displace ment :
(m1 m2 ) x m2

l
l 2
l
l
(m2 g sin ) (m2 x cos ) [ F (t ) cos ]l 0
2
12
2
2
l 2
l
l
m2 m2 x cos m2 g sin F (t )l cos
3
2
2
l
2

W (m2 ) m2

d
(r r )
r r r r
dt
1

r r ( r r )
2
1
d

r r (r r ) ( r r ), multiply by m
2
dt
d
W m (r r ) T
dt
d
T W m (r r )
dt

13

14

Lagranges Equation

Integrate this last expression

t2

t1

Let r r ( q1 , q2 , q3 ...qn , t ), qi called generalized coordinates

t2

d
T W dt m (r r )dt
dt
t1

Let Qi

mr r t 0
t T W dt

t2

t2

The Lagrange formulation, derived from Hamilton's principle

for determining the equations of motion are

path indepence

T W dt 0,
t2

t1

W
a generalized force (or moment)
qi

for conservative forces W V

T V dt 0, Hamilton's principle
t2

d T

dt qi

T V

Qi

q
i
i

t1

15

16

The Lagrangian, L

Lagranges Equation (cont.)

Let L =(T - U), called the Lagrangian

Then the equation becomes:
d L L

Qi , i 1,2,..., n
dt qi qi

Qi represents all the nonconservative forces

Damping can be consider by using Rayleigh dissipation

function:

Wd

1 n n
crs qr q s
2 r 1 s 1

The generalized forces for viscous damping :

Qi

For the (common) case that the potential

energy does not depend on the velocity: U 0

Wd
,
q j

for each j 1,2,..., n

qi

17

18

Example:

Advantages

(also illustrates linear approximation method)

Equations contain only scalar quantities

One equation for each degree of freedom
Independent of the choice of coordinate
system since the energy does not
depend on coordinates
Useful in situations where F = ma is not
obvious

Here G is mass center and e

is the distance to the
elastic axis. Let m denote the
mass of the wing and J the
rotational inertia about G.

k1
G

k2
e

Take the generalized coordinates to be:

x(t)
19

q1 x(t), q2 (t)

Called the pitch and plunge model

20

Potential Energy and the

Lagrangian

Computing the Energies

The Kinetic Energy is

The potential energy is: U 1 k x 2 1 k 2

1
2
2
2
The Lagrangian is:

1
1
T mxG2 J 2
2
2
The relationship between xG and x is
xG (t ) x(t ) e sin (t )

xG (t ) x (t ) e cos (t )

d
x (t ) e cos (t )
dt

L T U

2
1
1
1
1
m x e cos J 2 k1 x 2 k2 2
2
2
2
2

So the kinetic energy is

1
1
T m[ x e cos ]2 J 2
2
2
21

Computing Derivatives for L

22

Next linearize and write in matrix form

L L

m[ x ec os ]
q1 x

Using the small angle approximations:

sin

d L

mx me me sin
dt x
L L

k1 x
q1 x

cos 1

In matrix form this becomes:

Now use the Lagrange equation to get:

mx me cos em 2 sin k1 x 0
Likewise differentiation with respect to q2 = yields:
J me cos
x me 2 cos 2 me 2 2 sin cos k2 0
23

me
x(t ) k1
m
me me 2 J (t ) 0

0 x(t ) 0

k2 (t ) 0

Note that this is a dynamically coupled system

24

Next consider the SDOF Spring-Mass System and

compute the equation of motion using the Largrangian
approach
1 2
mx ,
2

Find the EQM using Newtons 2nd Law and

Lagrange Equation: notice that there is a
moment, M(t) applies on the disk J

1 2
kx
2
1
1
L T U mx 2 kx 2
2
2
L
L
mx ,
kx
x
x
d L L
0 mx kx 0

dt x x

Homework:

k1
c1

(t)

x(t)
k2

m1
c2

J
M(t)
25

Dissimilar devices with the same

frequency (Example 5.1.2 of Inmans):
m=1000 kg
k=400,000 N/m
c=8000 Ns/m

But: response magnitudes different

Magnitude plot will have
the same shape
Time responses will
have the same form for
similar (but scaled)
disturbances

m=1 kg
k=400 N/m
c=8 Ns/m

car

CD drive

BUT WITH DIFFERENT

MAGNITUDES

400,000
20 rad/s
1000
8000

0.2
2(1000)(20)

d 20 1 0.2 2 19.5959 rad/s

d 20 1 0.2 2 19.5959 rad/s

26

400
20 rad/s
1
8

0.2
2(1)(20)

different

27

Xk
1

2
F (1 r ) (2r ) 2
28

Recall: the FBD of SDOF for

base excitation is:

Vibration Isolation
A major job of vibration engineers is to isolate
systems from vibration disturbances or vice
versa.
Uses heavily material from previous classes
(Chapter 3) on support motion

x(t)

m
k

Important class of vibration analysis

Preventing excitations from passing from a vibrating
base through its mount into a structure
Vibration isolation
Shocks on your car
Satellite launch and operation
Disk drives

y(t)

m
c
k ( x y ) c(x y)

base

F k ( x y) c( x y ) mx
mx cx kx cy ky

(1)

29

SDOF Base Excitation assumes the

input motion at the base has the form
y (t ) Y sin(t ) and plug into Equation (1)
mx cx kx cY cos(t ) kY sin(t ) (2)

Particular Solutions (sine input)

With a sine for the forcing function,

n nx&x n2n2xx f 0f0s

xx22
sint t
s sin

x ps As cost Bs sin t Xs sin(t s )

harmonic forcing functions

where

The steady-state solution is just the superposition of

the two individual particular solutions
f0 s
f0c

x 2 n x n2 x 2 n cos(t ) n2Y sin(t ) (3)

x pc ( t )

30

x ps ( t )

31

As

2 n f0s

( n2 2 )2 2 n

( n2 2 ) f0s

Bs 2
2
( n 2 )2 2 n

32

Particular Solutions (cosine input)

Magnitude X/Y

With a cosine for the forcing function,

Magnitude of the full particular solution

nnx&x xxf 0fc0ccos

xx 22
costt
x pc Ac cost Bc sin t Xc cos(t c )
22
nn

X p X pc 2 X ps 2

where
As

( ) f0c
2
n

2 n f0c

=0.01
=0.1
=0.3
=0.7

0
-10

1.5
2
Frequency ratio r

X/Y (dB)

( n2 2 )2 2 n

this becomes

Xp Y

(2 r)2 1

(1 r 2 )2 2 r

2.5

34

Potentially severe amplification at

resonance
Attenuation only for r > sqrt(2)
If r< sqrt(2) transmissibility decreases with
damping ratio
If r>>1 then transmissibility increases with
damping ratio Xp=2Y/r

10

(2 )2 n2

Notes on Displacement
Transmissibility

40

0.5

( n2 2 )2 2 n

nY

33

The magnitude plot of X/Y

-20
0

Bs2 Ac2 Bc2

f0c2 f0s2

if we define r

Bs 2
2
( n 2 )2 2 n

20

2
s

where f0c 2 nY and f0s n2Y

( n2 2 )2 2 n

30

3
35

36

It is also important to look at the

Force Transmissibility:

Plot of Force Transmissibility

40

FT k ( x y ) c( x y ) mx

30

We know that x(t ) X cos(t )

FT m X kr X
2

x(t)

20
F/kY (dB)

so x 2 X cos(t )

=0.01
=0.1
=0.3
=0.7

10
0

FT

-10

c
y(t)

-20

base

0.5

37

Two types: moving base and fixed base

Three magnitude plots to consider
TR= transmissibility ratio

FT
1 (2 r)2
r2
kY
(1 r 2 )2 (2 r)2
FT
1 (2 r)2

F0
(1 r 2 )2 (2 r)2

2.5

3
38

For displacement transmissibility,

isolation occurs as a function of stiffness

Isolation is a SDOF concept;

1 (2 r)2
X

(1 r 2 )2 (2 r)2
Y

1.5
2
Frequency ratio r

Moving base displacement

Moving base force
Fixed base force
39

For stiffness such

that the frequency
ratio is larger than
root 2, isolation
occurs, but
increasing damping
reduces the effect
For less than root 2,
increased damping
reduces the
magnitude.
40

Shock Isolation

Y sin pt

y(t)
0

Plot:

0 t t1
t t1

X
max &
x(t)
x&
(t ) n2n2 X

y&
(t ) &
max &
y(t)
y(t)
y&(t )

versus

(5.8)

Shock Response of the half sine

Shock pulse
Pulse duration

n nt1

Increased isolation with increasing k

41

Shock versus Vibration Isolation

In the SRS plot for = 0.5 requires

42

Example: Design a system that is good

for both shock and vibration isolation.
The design constraints are that we have
the choice of 3 off the shelve isolation
mounts:

m 2
nt1
1.0 k 2

t1

for shock isolation to occur.

5 Hz, 6 Hz and 7 Hz each with 8% damping

The shock input is a 15 g half sine at 40 ms
The vibration source is a sine at 15 Hz
The response should be limited to 15 gs
and 76.2 mm, and 20 dB of vibration
isolation

Thus shock isolation requires a bound on the

stiffness
Also from the SRS, high damping is desirable
for shock attenuation.

43

44

Simulation of the response to the shock

input for all three mounts choices
From these numerical
simulations, only the
7 Hz mount satisfies
all of the shock
isolation goals:

simulated relative displacement: z(t)

Less than 15 gs
Less than 3 inches of
deflections

Now consider the vibration isolation by plotting

shock isolator designs transmissibility:
For the 7 Hz shock
isolator design, the
reduction in
Transmissibility is
only 9.3 dB.
From this plot and
recalling the halfsine SRS, less
damping is required.
However, less damping
is not possible

simulated absolute acceleration : x(t )

45

46

Vibration Absorbers

Absorber concept
F(t) = F0sint

Primary mass (optical table)

Consider a harmonic disturbance to a singledegree-of freedom system

Suppose the disturbance causes large
amplitude vibration of the mass in steady
state
A vibration absorber is a second spring mass
system added to this primary mass,
designed to absorb the input disturbance by
shifting the motion to the new added mass
(called the absorber mass).

m
x
ka

absorber
k /2

47

ma

xa
k/2

Primary system experiences resonance

Add absorber system as indicated
Look at equations of motion (now 2 DOF)
Tuned-mass damper (dont be confused!)
48

The equations of motion become:

k aaxx FF0 0sin
m 00 x&
x& kkkka a k
sint t

0 m x k
kka a xxa a 00
x&
maa &
aa k
aa

The form of the response magnitude suggests a

design condition allowing the motion of the primary
mass to become zero:
1

ka F0
X k ka m 2

X
2
0
k
k

a

a
a
a
pick ma and ka
(ka ma 2 )F0
to make zero
X
(k ka m 2 )(ka ma 2 ) ka2
ka F0
Xa
2
(k ka m )(ka ma 2 ) ka2

To solve assume a harmonic displacement:

x(t) X sin t
assumed solution:

x
(t)

X
sin

t
a
a
k ka m 2
ka X F0

0
2
X
k
k

a
a
a
a

All the system motion goes into the absorber motion

49

Other pitfalls in
absorber design

Choose the absorber mass and stiffness from:

2

ka
ma

xa (t)

This causes the primary mass to be fixed

and the absorber mass to oscillate at:

F0
sin t, a force magnitude of
ka
ka xa ka

50

F0
F0
ka

As in the case of the isolator, static deflection, and force magnitudes

need to be checked in each design.
51

Depends on knowing exactly

Single frequency device
If shifts it could end up exciting a system
natural frequency (resonance)
Damping, which always exists to some
degree, spoils the absorption
lets examine these:
52

Define a dimensionless
amplitude of the primary mass

Avoiding resonance
(design robustness)

ma
m

Mass ratio

k
m

Original natural frequency of primary system before

absorber is attached

ka
ma

Natural frequency of absorber before it is attached

to primary mass

ra

2
k
a a2 2 Stiffness ratio
p
k

a
p

,
a

rp

1 ra2
Xk

F0 1 2 rp2 1 ra2 2

frequency ratio

In this plot : 11 p and 22 a

53

Normalized Magnitude of
the Primary

Robustness to driving frequency

shifts

If hits 1 or 2 resonance occurs

Using |Xk/F0|<1, defines useful operating range of
absorber
In this range some absorption still occurs

Xk

. 1

54

The characteristic equation, in terms of and , is:

n
1 2 (1 )
1
2 4 (1 )2 2 2 (1 ) 1
2

2
2

Xk

0.5

1.5

Absorber
zone

= Frequency dependence on mass and frequency ratio

55

56

Normalized Magnitude of the

primary mass with and without
the absorber

Mass ratio versus

Natural frequencies
Referring to the plot, as
increases, frequencies
split farther apart for fixed

thus if is too small,

system will not tolerate
much fluctuation in driving
frequency indicating a poor
design
Rule of thumb:
0.05< <0.25

0.1 and =0.71

Smaller response of
primary structure is
at absorber natural
frequency
Effective over
limited bandwidth
57

0.1 and =0.71

60
Amplitude |Xk/F|(dB)

Beware of
deflection limits!!

40
20
0
-20
-40

0.5

1
1.5
Frequency ratio (ra)

2
59

No vibration absorber
With vibration absorber

40
20
0
-20
-40
0

0.5

1
Frequency ratio (ra)

1.5

2
58

What happens to the mass of

the vibration absorber?
In the operational
range of the
vibration absorber
the absorber mass
has relatively large
motion

Amplitude |Xk/F|(dB)

Adding absorber
increase the number
of resonances (or
modes) from one to
two.

60