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A Sist de Control
𝑟𝑚 = 𝑥+𝐿𝑠𝑒𝑛𝜃 𝑖−(𝐿𝑐𝑜𝑠𝜃)𝑗
drm
𝑣𝑚 = = 𝑥 +𝐿𝜃 𝑐𝑜𝑠𝜃 𝑖+ 𝐿𝜃 𝑠𝑒𝑛𝜃 𝑗
dt
𝑇 =𝑇1+𝑇2
1
𝑇1 = m1𝑥̇2
2
1
𝑇2 = m v .v
2 2 m m
1 1 2 2
T = m 1 ẋ 2 + m2 [ ( ẋ + L θ̇ cosθ ) + ( L θ̇ senθ ) ]
2 2
1 1
T = ( m 1+ m 2) ẋ 2 +m 2 L ẋ θ̇ cosθ+ m2 L2 θ2
2 2
𝑉 = 𝑉1 + 𝑉2
𝑉2 = 𝑒𝑛𝑒𝑟𝑔𝑖𝑎 𝑝𝑜𝑡𝑒𝑛𝑐𝑖𝑎𝑙 𝑑𝑒 𝑚2
1
V 1= k x 2
2
V 2=m2 gL ( 1−cos θ )
1
V = k x 2 +m 2 gL ( 1−cos θ )
2
d ∂T ∂T ∂ D ∂V
( ) − + +
dt ∂ q̇ j ∂ q j ∂ q̇ j ∂ q j
=Q j j=1,2 , … , N
Como D =0
d ∂T ∂ T ∂V
( ) − +
dt ∂ q̇ j ∂ q j ∂ q j
=Q j
q1=x
q2=𝜃
Q1=f(t)
Q2=0
d ∂T ∂T ∂ V
( )
dt ∂ ẋ
− +
∂x ∂ x
=f (t )
d ∂T ∂T ∂ V
( )
dt ∂ θ̇
− +
∂θ ∂θ
=0
∂T
=0
∂x
∂V
=kx
∂x
∂T
=( m 1 +m 2 ) ẋ +m2 L θ̇ cosθ
∂ ẋ
d ∂T
( )
dt ∂ ẋ
=( m 1 +m 2 ) ẋ˙ +m 2 L ( θ̇˙ cosθ−θ̇˙ 2 senθ )
Reemplazando
∂T
=−m 2 L ẋ θ̇ senθ
∂θ
∂V
=m2 gLsenθ
∂θ
∂T
=m2 L ẋ θ̇ cosθ + m2 ˙L2 θ
∂ θ̇
d ∂T
( )
dt ∂ θ̇
=m 2 L ( ẋ˙ cosθ−θ̇ ẋ senθ ) + m2 L˙ 2 θ̇ ̇ ̇ ̇
Reemplazando
˙
m 2 L ( ẋ˙ cosθ−θ̇ ẋ senθ ) +m 2 L2 θ̇˙ +m 2 L ẋ θ̇ senθ +m 2 gLsenθ=0
˙ m ˙ gLsenθ=0 ¿
m2 L ẋ θ̇ cosθ + m2 L2 θ̇+¿ 2