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Fig. 1 Airfoil Model Mounted in Bending and Torsional Springs

This document presents the derivation of Lagrange's equations of motion for a system with two degrees of freedom, x(t) and θ(t), representing the displacement and rotation of an airfoil. The kinetic and potential energies of the system are defined. Lagrange's equations are applied to obtain two second-order differential equations governing the motion of x(t) and θ(t). The equations are coupled, showing the interaction between the displacement and rotational motion of the airfoil.

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Pradip Gupta
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76 views

Fig. 1 Airfoil Model Mounted in Bending and Torsional Springs

This document presents the derivation of Lagrange's equations of motion for a system with two degrees of freedom, x(t) and θ(t), representing the displacement and rotation of an airfoil. The kinetic and potential energies of the system are defined. Lagrange's equations are applied to obtain two second-order differential equations governing the motion of x(t) and θ(t). The equations are coupled, showing the interaction between the displacement and rotational motion of the airfoil.

Uploaded by

Pradip Gupta
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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Module: 15

Lecture: 4
Ex:
G Centre of mass
Jc = rotational inertia about C

Fig. 1 Airfoil Model mounted in bending and torsional springs


Kinetic Energy, T

1
1
mG xG2 J C 2
2
2

From above diagram we can write

xG (t ) x(t ) e sin (t )
xG t x t e sin where t
x (t ) x (t ) e(t ) cos (t )
G

1
1
m ( x e cos ) 2 J C 2
2
2
1
1
U Kx 2 K t 2
2
2
1
1
1
1
L T U m ( x e cos ) 2 J C 2 Kx 2 K t 2
2
2
2
2
T

Now q1 x(t ) and q2 (t )

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we take for i=1 first

L L

m x e Cos
qi x
d L

2
mx me Cos me Sin
dt x
L L

Kx
d L L
0
q1 x

dt x x
mx me Cos me 2 Sin Kx 0
mx me Kx 0
For

i 2 q2 (t )

L L
m x e Cos e Cos J c

q2
me Cos x me2 Cos 2 J
c

L d L

t q2 dt
x me x me2 Cos 2 2 me 2 2 sin cos J c
me Cos
L L

m x e Cos e Sin K t
q2

So we have me x Sin me 2 2 Sin Cos K t 0


J c me Cos
x me 2 Cos 2 . me 2 2 Sin Cos K t 0

to be small ----> J c me 2 me x K t 0
We can write in matrix form
me
x(t ) K
m
me J me 2 (t ) 0

c

0
0
x(t ) (t )

Kt
0

Non-Conservative Systems
When the system is also subjected to given forces that do not have a potential. We have
instead of
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d (T U ) Wnp d (T U ) dWnp

Where dWnp istheworkofthenonpotentialforceswhenthesystemissubjectedtoanarbitrary


infinitesimaldisplacement.Expressing dWnp intermsofthegeneralizedcoordinates qi ,wehave
n

i 1

i 1

Wnp Qi qi d Wnp Qi qi

The quantity Qi isknownasthegeneralizedforcesassociatedwiththegeneralizedcoordinate qi ,


Lagrangesequationincludingnonconservativeforcesthenbecomes

d T T U

Qi

dt qi qi qi

i 1, 2,..........N

d (T U ) 0, T T (q1 , q2 .......qn , q1 , q 2 ,.........q N )


N

T
i 1

U U (q1 , q2 .......qn )

N
T
T
qi
qi
qi
i 1 qi

1 N

2 i 1

j 1

mij qi q j

N
N
T
T
mij q j qi 2T 2dT d
dq
qi
i i
i 1
i 1
j 1
i 1
i 1 q
i
qi
N
N
d T T
U
dT
dqi
dqi dU

i qi
i 1 dt q
i 1 qi
N

qi

N
d T T U
d (T U )

dq 0

i qi qi i
i 1 dt q
d T T U

0 L (T U ) L T U

dt qi qi qi

T L U

U
d L L U

qi
dt qi qi qi
d L L
0

dt qi qi

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1 2 1 2
1
1
mxG J c
U kx 2 kt 2
2
2
2
2
xG x(t ) e Sin x(t ) e (t )
xG (t ) x (t ) e(t )

1
1
m( x (t ) e(t )) 2 J c 2
2
2
1
1
1
1
L T U m( x e) J c 2 kx 2 kt 2
2
2
2
2
q1 x(t ) q2 (t )
T

L L

m( x e).1
qi x
d L

mx me
dt qi
L L

kx
q1 x
mx me kx 0..........(1)

i 2, q2 (t )

L L

m( x e)(e) J c

q2
d L
2

mex me J c
dt
L
kt

mex (me2 J c ) kt 0

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