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PENDULO DOBLE
Deducir las ecuaciones de movimiento del sistema:
Generalidades:
x 1=l 1 sin 1 y 1=l 1 cos 1
x 1=1 l 1 cos 1 y 1= 1 l 1 sin 1
2
2
2
V 1 =( 1 l 1 cos 1 ) + ( 1 l 1 sin 1 )
V 12=( 1 l 1 )2
x 2=l 1 sin 1+l 2 sin 2 y 2=l 1 cos 1l 2 cos 2
x 2=1 l 1 cos 1+ 2 l 2 cos 2 y 2= 1 l 1 sin 1 + 2 l 2 sin 2
2
Energas:
1
1
T 1 = mV 12 T 2= mV 22 V 1=mg h1 V 2=mg h2
2
2
1
T 1 = m ( 1 l 1 )2
2
1
1
T 2 = m ( 1 l 1 )2 + m ( 2 l 2 )2 +m 1 2 l 1 l2 cos ( 1 2)
2
2
V 1=mgl 1 cos 1
V 2=mgl 1 cos 1mgl 2 cos 2
Lagrangiana:
=T 1 +T 2V 1V 2
1
1
1
= m ( 1 l 1 )2+ m ( 1 l 1 )2 + m ( 2 l 2 )2 +m 1 2 l 1 l2 cos ( 1 2) + 2mg l 1 cos 1 +mgl 2 cos 2
2
2
2
1
=m ( 1 l 1 )2 + m ( 2 l 2 )2 +ml 1 l 2 1 2 cos ( 1 2 )+ 2 mgl 1 cos 1 +mg l 2 cos 2
2
Condicin de Euler Lagrange:
d
=0
i dt i
2
=2m l 1 1 +m l 1 l 2 2 cos ( 12 )
1
d d
d
2
= ( 2 ml 1 1 )+ ( m l 1 l 2 2 cos ( 12 ) )
dt 1 dt
dt
d
2
=2 ml 1 1 +ml 1 l2 ( 2 cos ( 12 ) 2 sin ( 1 2) ( 1 2) )
dt 1
d
=0
1 dt 1
ml 1 l 2 1 2 sin ( 1 2 )2 mgl 1 sin 12 ml 12 1ml 1 l 2 ( 2 cos ( 12 ) 2 sin ( 1 2 ) ( 1 2 ) ) =0
2 mg l 1 sin 1 2m l 12 1 ml 1 l 2 2 cos ( 12 ) ml 1 l2 22 sin ( 12 )=0
Dividiendo la expresin entre ml 1 tenemos:
2
2
=ml 2 2+ ml 1 l 2 1 cos ( 12 )
2
d d
d
2
= ( m l 2 2 ) + ( ml 1 l 2 1 cos ( 12 ) )
dt 2 dt
dt
d
=m l 22 2 +m l 1 l 2 ( 1 cos ( 12 ) 1 sin ( 12 ) ( 1 2 ) )
dt 2
d
=0
2 dt 2
ml 1 l 2 1 2 sin ( 1 2 )2mg l 2 sin 2ml 22 2m l 1 l 2 ( 1 cos ( 12 ) 1 sin ( 12 ) ( 1 2 ) ) =0
2
2
mg l 2 sin 2m l2 2ml 1 l 2 1 cos ( 1 2 ) +m l 1 l 2 1 sin ( 12 ) =0
2 l 1 1=l 2 22 g 1 (3)
l 2 2=l 1 1g 2 (4)
g
( ) (5)
l2 1 2
Sistema Matricial:
)( )
g
g
1
l1
l1
1
=
2
g
g 2
2
2
l2
l2
()
g
g
l1
l1
[ A ]=
g
g
2
2
l2
l2
|(
g
l
g
2
l
g
2
2
l = +2 g 2 g =0
g
l
l
+2
l
+2
2+ 4
) ()
g
g 2
+2
=0
l
l
()
g
=
l
2+ 4 + 2 2=0
=
4 16 2 8 2
=2 2
2
1=( 22 )
g
l
2=( 2+ 2 )
g
l
Coordenadas normales:
( )
1T
=
2T
( 2 2 )
1 T + ( 2 2 )
g
l
g
=0
l 1T
)( )
1T
g 2T
( 2+2 )
l
2 T + ( 2+2 )
g
=0
l 2T
1 = ( 2 2 )
g
l
2 = ( 2+2 )
g
l
(
{
2
2
g
l
g
l
g
l
( ) ()
T 11
0
=
g T 21
0
2
l
g
g
T 11 + T 21=0
l
l
g
g
2 T 11 2 T 21=0
l
l
2
T 11 =1 ; T 21= 2
g
Para 2=( 2+2 ) l
g
l
g
2
l2
g
l1
( )
{
2
( ) ()
T 12
=0
0
g T 22
2
l2
g
g
2 T 12+ T 22=0
l
l
g
g
2 T 12+ 2 T 22=0
l
l
T 12=1 ; T 22= 2
Matriz T:
( 12
T=
1
2
Coordenadas no transformadas:
( t )=
)(
A1 sin ( 1 t + 1 )
1
1
2 2 A2 sin ( 2 t + 2 )
1 ( t ) =A 1 sin ( 1 t + 1 ) + A 2 sin ( 2 t+ 2 )
2 ( t ) = 2 A1 sin ( 1 t+ 1 ) 2 A2 sin ( 2 t+ 2 )
Problema de valor inicial:
g=9,8 m/ s2 l 1=l 2=0,6 m
1 ( 0 )= 2 ( 0 )=0
g
1 = ( 2 2 ) =3.0932 Hz
l
g
2 = ( 2+ 2 ) =7.4676 Hz
l
Parmetros para las condiciones iniciales:
1 ( 0 )= A 1 sin ( 1 ) + A2 sin ( 2) = o
1 ( 0 )= A 1 1 cos ( 1 ) + A 2 2 cos ( 2 ) =0
2 ( 0 )= 2 A 1 sin ( 1 ) 2 A2 sin ( 2 )= i
A1 + A2=o
2 A 1 2 A 2= i
Para 1 ( 0 )=1, 2 ( 0 ) =1