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Consider a vibrating structural system shown in Fig. A-l; the symbolic displacements may be
defined as A/ where z = 1,2, ... m, and m is the possible longitudinal, transverse, and rotational
motion. Let the generalized coordinates be qt, i= 1,2,...,«, as given in Fig. A-2. Thus the position
of a mass k can be defined as
Ak = Ak(qi,q2,...,qm,t) (A-l)
(A-2)
{A}
817
^i-^i (A3)
(A 3)
dqk-dqk '
!r = dq
dqk !r(«i.<)
k "• > (A-4)
Then
3At 82Ai .
(A 6)
"
Comparing Eq. (A-5) with Eq. (A-6) yields
d_ (3Aj\ 9,4,
dt \dqk) 3qk
in which Fk is the one of p forces acting at and along the respective coordinates. The virtual work
can be also expressed in terms of generalized coordinates and generalized forces as
m p
Therefore the generalized forces associated with the generalized coordinates may be written on the
basis of Eqs. (A-8)-(A-10) as
4=1 "**'
If the external forces of the masses Fk are equal to their respective inertial forces
Fk = MkAk (A-12)
then Eq. (A-11) may now be expressed as
(A-l 3)
k=i
then
k k
=V
\M k k 9< k k 9
- » rA A——=}M
V ^ ^A A—- (A-1^
.A 16)
3ft. fcr ?< fcr *
From Eq. (A- 16),
ddT ,(A- ,^
A 17)
Comparing Eq. (A- 17) with Eqs. (A- 13) and (A-15) gives
&>,.'= -^
dqi
(A-21)
and the applied forces, acting along the generalized coordinates, due to change of work W, be
Q»,i = ^ (A-22)
oft-
More details about Lagrange's equation can be found in Chapter 4 of Tuma and Cheng (1983).
Equation (A-21) is derived using the virtual work principle. Since potential energy Kcan be
uniquely defined by the generalized coordinates of the structure,
V=V(qi,q2,qj,---qn,t) (A-24)
u,=q2 smq,
U2=q2 cosq,
(A-25)
Based on the principle of virtual work, this change in strain energy may be expressed in terms
of the virtual work done by the generalized forces acting through these same virtual displacements.
(A-26)
Because the generalized coordinates q\,..., qn are all independent, the corresponding virtual
displacements can be arbitrarily defined. Then the two expressions in Eqs. (A-25) and (A-26) may
be compared term by term, which yields
dV
(A-27)
Eq. (A-27) has a positive sign since the force is considered to be applied to the elastic element as the
spring of the spring-mass system shown in Fig. A-3. When generalized force is applied to the mass,
it has the opposite sign as in Eq. (A-28):
(A-28)
Equation (A-21) can again be derived using the principle of virtual work. Let F/ be the applied
damping forces along virtual displacements 5uj in the u constrained coordinate system. The virtual
work done by these forces in the M-system is
(A-29)
Uj = Uj(qi,q2,---,qn) (A-30)
which is illustrated in the system shown in Fig. A-4. This example shows the transformation from
the constrained coordinates, u, to the generalized coordinates, q. Thus
(A-31)
Consequently
= F j 5 q i (A-33)
S q t F j L (A-34)
Virtual work <5 WD can also be expressed as the sum of the work done by the generalized damping
force Qi along their corresponding virtual displacements 5qt,
(A-35)
/
where D = ^ FtUj.
Equation (A-22) can also be derived using the principle of virtual work. Let Gj be the applied
forces along virtual displacements 5Sj in the S constrained coordinate system. Virtual work
becomes
Sj = SJ(ql,q2,---,qn) (A-39)
Then
" 8S
^
Substituting Eq. (A-40) into Eq. (A-38) yields
Virtual work <5 WH, can also be expressed as the sum of the work done by the generalized
external forces Qw,i along their corresponding virtual displacements bq\
^Q*,ibqi (A-42)
i
where W = Y^ Gj Sj.