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L=T V ,
d L
L
=Q j con j=1,2,3, , n ,
dt q j q j
( )
d T d V T V
+
=Q j
dt q j dt q j q j q j
DATOS:
i 1=
d
( q ) =q1
dt 1
1
1
2 1
2
2
T = L1 q1 + L2 q2 + M q1 q2 + m z
2
2
2
i 2=
d
( q ) =q2
dt 2
ENERGA POTENCIAL
V =mgz
DISIPACIN DE ENERGA
1
1
1
R= r 1 q12 + r 2 q22 + b z 2
2
2
2
FUERZA EXTERNA
F=v q1
LAGRANGEANO:
L=T V
1
1
1
L=( L1 q12 + L2 q22+ M q1 q2+ m z 2)(mgz)
2
2
2
d L L R F
+
=
dt q j q j q j q j
q1 :
d L d
q 2
= ( L q + M q 2 )=L1 q 1 + M q 2 + M
dt q 1 dt 1 1
L
R
F
=0 ;
=r 1 q1 ;
=v
q1
q 1
q1
Resulta:
d L L R F
+
=
dt q 1 q 1 q 1 q1
q 2+ r 1 q 1=v
L1 q 1+ M q 2+ M
L1
d i1
di
dM
+ M 2 +i 2
+r 1 i 1=v ..(1)
dt
dt
dt
q2 :
d L L R F
+
=
dt q 2 q 2 q 2 q2
d L d
q 1
= ( L q + M q 1 )= L2 q 2+ M q 1+ M
dt q 2 dt 2 2
L
R
F
=0 ;
=r 2 q 2 ;
=0
q2
q 2
q2
Resulta:
q 1+ r 2 q 2=0
L2 q 2+ M q 1+ M
L2
d i2
di
dM
+ M 1 +i 1
+r 2 i2=0 . ( 2 )
dt
dt
dt
q3 =z
d L L R F
+
=
dt z z z z
d L d
= ( m z )=m z
dt z dt
L
dM
=q 1 q2
mg
z
dz
R
=b z
z
M =f ( z )
F
=0
z
m z q 1 q 2
Resulta:
Pero
dM
+mg+b z =0
dz
dM dt dM dt 1 dM
=
=
dz dt
dt dz z dt
( )
Por lo tanto:
m z
i 1 i 2 dM
+mg+b z =0
z dt
d2 z
dz i i dt dM
+b 1 2
+mg=0 . ( 3 )
2
dt
dz
dt
dt
( )
Despejando obtenemos:
d i1
di
dM
1
= vM 2 i 2
r 1 i 1
dt
dt
dt
L1
d i 2 1
di
dM
=
M 1 + i1
+r 2 i2
dt
L2
dt
dt
d 2 z i 1 i 2 dM
b dz
=
g
2
m dz
m dt
dt
( )