Lecture Slides

Dynamic Simulation:
Lagrange’s Equation
Objective
 The objective of this module is to derive Lagrange’s equation, which

along with constraint equations provide a systematic method for
solving multi-body dynamics problems.
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Section 4 – Dynamic Simulation
Calculus of Variations
Module 6 – Lagrange’s Equation
Page 2
 Problems in dynamics can be formulated in such a way that it is

necessary to find the stationary value of a definite integral.
 Lagrange (1736-1813) created the Calculus of Variations as a

method for finding the stationary value of a definite integral. He
was a self taught mathematician who did this when he was
nineteen.
 Euler (1707-1783) used a less rigorous but completely

independent method to do the same thing at about the same
time.
 They were both trying to solve a problem with constraints in the

field of dynamics.
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Education Community
Euler and Lagrange Module 6 – Lagrange’s Equation
Page 3
Leonhard Euler Joseph-Louis Lagrange
1707-1783 1736-1813
http://en.wikipedia.org/wiki/Leonhard_Euler http://en.wikipedia.org/wiki/Lagrange
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Hamilton’s Principle Module 6 – Lagrange’s Equation

Page 4
Hamilton’s Principle states that the path followed by a mechanical

system during some time interval is the path that makes the
integral of the difference between the kinetic and the potential
energy stationary.
t2
A   Ldt
t1
L=T-V is the Lagrangian of the system.
T and V are respectively the kinetic and potential energy of the

system.
The integral, A, is called the action of the system.
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Principle of Least Action Module 6 – Lagrange’s Equation
Page 5
Hamilton’s Principle is also called the “Principle of Least Action”

since the paths taken by components in a mechanical system are
those that make the Action stationary.
t2
A   Ldt Action
t1
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Stationary Value of an Integral Module 6 – Lagrange’s Equation

Page 6
 The application of Hamilton’s Principle requires that

we be able to find the stationary value of a definite
integral.
 We will see that finding the stationary value of an

integral requires finding the solution to a differential
equation known as the Lagrange equation.
 We will begin our derivation by looking at the

stationary value of a function, and then extend these
concepts to finding the stationary value of an integral.
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Stationary Value of a Function Module 6 – Lagrange’s Equation
Page 7
 A function is said to have

a “stationary value” at a y
certain point if the rate of
change of the function in
every possible direction
from that point vanishes.
y=f(x)
 In this example, the
function has a stationary y1
point at x=x1. At this
point, its first derivative is
equal to zero.
x1 x
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3D Stationary Points
Page 8
In 3D the rate of change of the function in any direction is

zero at a stationary point. Note that the stationary point is
not necessarily a maximum or a minimum.
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Variation of a Function
Page 9
g  x   f  x     x  y
 (x) is an arbitrary y  g x 
function that satisfies the
boundary conditions at a dy
Candidate y=f(x)
and b. dy
Path dx
 g(x) can be made
infinitely close to f(x) by Actual
making the parameter  Path
infinitesimally small.
a x x+dx b x
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Meaning of dy
Page 10
 The Calculus of Variations y

considers a virtual
infinitesimal change of y  g x 
function y = f(x).
dy
dy y=f(x)
 The variation dy refers to
dx
an arbitrary infinitesimal
change of the value of y at
the point x.
 The independent variable

x does not participate in
a x x+dx b x
the process of variation.
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Variation of a Derivative Module 6 – Lagrange’s Equation

Page 11
In the calculus of variations, the derivative of the variation and the

variation of the derivative are equal.
Derivative of the Variation Variation of the Derivative
d dy  d dy dg  x  df  x 
  g  x   f  x  d  
dx dx dx dx dx
   x   
d d  x  d  x  d  x 
dx dx
 
dx dx
d dy  dy The order of operation

d
dx dx is interchangeable.
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Variation of a Definite Integral Module 6 – Lagrange’s Equation

Page 12
In the calculus of variations, the variation of a definite integral is equal

to the integral of the variation.
Variation of an Integral Integral of a Variation

b b b b b
d  f x dx   g x dx   f x dx  df x dx   g x   f x dx
a a a a a
b b b
   g  x   f  x dx     x dx     x dx
a a a
b b
d  f x dx   df x dx The order of operation
is interchangeable.
a a
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Specific Definite Integral
Page 13
The specific definite integral that we want to find the stationary

value of is the Action from Hamilton’s Principle. It can be
written in functional form as
t2
A   Lqi , qi , t 
n
L   T qi t   V qi t 
t1 i 1
qi are the generalized coordinates used to define the position

and orientation of each component in the system.
The actual path that the system will follow will be the one
that makes the definite integral stationary.
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Euler-Lagrange Equation Derivation
Page 14
The stationary value of an integral is found by setting its

variation equal to zero.
 

dLqi , qi , t   L qi  i , qi  i , t  Lqi , qi , t    
L

i 
 L
i 
 qi qi 
A first order Taylor’s Series was used in the last step.
 L L  
t2 t2 t2
dA  d  Ldt   dLdt     i  i dt  0

t1 t1 t1 
qi qi 
 L L  
t2
For an arbitrary value of , t  qi i  qi i dt  0

1
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Page 15
The second integral is integrated by parts.
 L L   Integration by Parts
t2
t  qi qi dt  0

 i   i
 Substitutions
d uv   udv  vdu

1
t2 udv  d uv   vdu

L   L   d  L 
t2 t2
t qi i dt  
 q i
i 

  dt


 q


i 
i dt
u
L
qi
1 t1
t1
 is equal to zero at t1 and t2. v 
t2
 L d  L  
t  qi dt  qi  
    i dt  0
1  
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Page 16
t2
 L d  L   The only way that this definite integral
t  qi dt  qi  
    i dt  0
can be zero for arbitrary values of i is for
1   the partial differential equation in
parentheses to be zero at all values of x in
the interval t1 to t2.
L d  L 
    0
qi dt  qi 
or
d  L  L Lagrange’s equation
   0
dt  qi  qi
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Euler-Lagrange Summary
Page 17
Finding the stationary value of the Action, A, for a mechanical

system involves solving the set of differential equations known as
Lagrange’s equation.
Solving these equations
d  L  L n
   0 L   T qi t   V qi t 
dt  qi  qi i 1
Makes this integral stationary

t2
A   Lqi , qi , t 
t1
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Examples Module 6 – Lagrange’s Equation
Page 18
 Although the derivation of Lagrange’s equation that

provides a solution to Hamilton’s Principle of Least Action,
seems abstract, its application is straight forward.
 Using Lagrange’s equation to derive the equations of

motion for a couple of problems that you are familiar with
will help to introduce their application.
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Vibrating Spring Mass Example
Page 19
Governing Equations
Mathematical Operations
d  L  L 1 2 1 2
   0 L  my  ky
dt  qi  qi y 2 2
L
 my
y
L  T V m
d  L 
1 2
T  my    my
2 dt  y 
1 2 L
V  ky k  ky
2 y
y is measured from Equation of Motion

the static position.
my  ky  0
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Falling Mass Example Module 6 – Lagrange’s Equation
Page 20
Governing Equations Mathematical Operations

1 2
d  L  L L  my  mgy
   0 m 2
dt  qi  qi L
 my
y
d  L 
L  T V    my
g dt  y 
1 2 y
T  my L
2  mg
y
V  mgy x
Equation of Motion
my  mg  0
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Module Summary Module 6 – Lagrange’s Equation

Page 21
 Lagrange’s equation has been derived from Hamilton’s Principle of

Least Action.
 Finding the stationary value of a definite integral requires the solution

of a differential equation.
 The differential equation is called “Lagrange’s equation” or the “Euler-

Lagrange equation” or “Lagrange’s equation of motion.”
 Lagrange’s equation will be used in the next module (Module 7) to

establish a systematic method for finding the equations that control
the motion of mechanical systems.
© 2011 Autodesk
Education Community

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Dynamic Simulation:

 The objective of this module is to derive Lagrange’s equation, which

 Problems in dynamics can be formulated in such a way that it is

 Lagrange (1736-1813) created the Calculus of Variations as a

 Euler (1707-1783) used a less rigorous but completely

 They were both trying to solve a problem with constraints in the

Leonhard Euler Joseph-Louis Lagrange

Hamilton’s Principle Module 6 – Lagrange’s Equation

Hamilton’s Principle states that the path followed by a mechanical

L=T-V is the Lagrangian of the system.

T and V are respectively the kinetic and potential energy of the

The integral, A, is called the action of the system.

Hamilton’s Principle is also called the “Principle of Least Action”

Stationary Value of an Integral Module 6 – Lagrange’s Equation

 The application of Hamilton’s Principle requires that

 We will see that finding the stationary value of an

 We will begin our derivation by looking at the

 A function is said to have

In 3D the rate of change of the function in any direction is

 The Calculus of Variations y

 The independent variable

Variation of a Derivative Module 6 – Lagrange’s Equation

In the calculus of variations, the derivative of the variation and the

Derivative of the Variation Variation of the Derivative

d dy  dy The order of operation

Variation of a Definite Integral Module 6 – Lagrange’s Equation

In the calculus of variations, the variation of a definite integral is equal

Variation of an Integral Integral of a Variation

The specific definite integral that we want to find the stationary

qi are the generalized coordinates used to define the position

The stationary value of an integral is found by setting its

A first order Taylor’s Series was used in the last step.

dA  d  Ldt   dLdt     i  i dt  0

For an arbitrary value of , t  qi i  qi i dt  0

t  qi qi dt  0

d uv   udv  vdu

t2 udv  d uv   vdu

 is equal to zero at t1 and t2. v 

Finding the stationary value of the Action, A, for a mechanical

Solving these equations

Makes this integral stationary

 Although the derivation of Lagrange’s equation that

 Using Lagrange’s equation to derive the equations of

y is measured from Equation of Motion

Governing Equations Mathematical Operations

Module Summary Module 6 – Lagrange’s Equation

 Lagrange’s equation has been derived from Hamilton’s Principle of

 Finding the stationary value of a definite integral requires the solution

 The differential equation is called “Lagrange’s equation” or the “Euler-

 Lagrange’s equation will be used in the next module (Module 7) to

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