2.

5 Advantages of a Variational Principle Formulation

An important advantage of Hamilton Principle is that it can

extend Lagrangian formulism to systems outside of classical dynamics: Elastic continuum field theory Electromagnetic field theory QM theory of elementary particles Circuit theory

RL circuit Battery of voltage V, in series with inductor L and resistor R (which dissipates electric power). Resistor R: dissipates energy at a rate of P = RI2. The voltage across a resistor is RI. Inductor L: produces an emf with the magnitude of LdI/dt. The energy stored in an inductor = LI2/2 Dynamical variable = charge q. Electric current is defined as I ! dq/dt = q PE: V = qV KE: T =L q 2/2 Lagrangian: L = T V = !L q 2 -qV ! Dissipation Function: ! = !R q 2 = !RI2=!P

In this section, Lagrangian formulism is applied to analyze several common electric circuits. The following is a brief summary of Lagrangian formulism for systems containing dissipation force (see detail in Section 1.5). * Friction (dissipation) forces can be modeled as: Ffx = -kxvx * Rayleighs Dissipation Function ! is defined as 2 2 2 F"1 + k y viy + k z viz ) # (k x vix 2 * The components of the frictional force are calculated by: #F Ff xi = " # or Ff = "# v F v * Physical interpretation of !: the power dissipation due to ! friction: dWf /dt = Pf = -2! #F Qj = " * Generalized force ! ! #q j d # "L & "L "F ) =) * Lagrangian Equation (j = 1,2,3, ..n) % ( % ( dt $ "q j ' "q j "q j !
By Prof. Juyang Huang, Texas Tech University. All rights reserved.

xi

! Apply Lagranges Equation (with dissipation) to RL circuit: ! d # "L & "L ! "F =) " V = " Rq yield Lq % () dt % j ( "q j $ "q ' "q j
or V = LdI/dt + RI (a familiar form in Phys II!) !
By Prof. Juyang Huang, Texas Tech University. All rights reserved.

Assume the switch is closed at t = 0, the solution is: I(t) = (V/R)[1 - e(-Rt/L)] = I0[1 - e(-Rt/L)] Where I0 = (V/R) = I(t=") = stable current. L/R ! # is also called the time constant.

Mechanical Analogue to RL circuit A sphere, radius a, (effective) mass m, falling in a constant density viscous fluid, viscosity " under gravity. Effective mass m ! m - mf , m ! actual mass, mf ! mass of displaced fluid (buoyant force acting upward: Archimedes principle). PE: V = mgy, KE: T = (!)mv2, and L = T - V Dissipation Function: ! = 3#"av2 Comes from Stokes Law of frictional drag force: Ff = 6#"av and (see Ch. 1 for detail) Ff = - $v! Lagranges Equation (with dissipation): d # "L & "L "F ) =) " mg = m y + 6#"a y % ( % ( dt $ "q j ' "q j "q j For a sphere starting from rest at t = 0: ! v = v0 [1 - e(-t/$)].

The above problems demonstrate that by using simple concepts such as energy (!LI2), potential (qV) and dissipation function (2! =RI2), Lagrange formulism works beautifully for RL circuits.

$ ! m (6#"a)-1 ! Time it takes sphere to reach e-1 of its terminal speed v0. Terminal speed v(t =") = v0 = mg(6#"a)-1 = g$

By Prof. Juyang Huang, Texas Tech University. All rights reserved.

By Prof. Juyang Huang, Texas Tech University. All rights reserved.

Assume q = q0 at t = 0,

q = q0 cos(%0t)

where !0 ! 1/ LC ! natural/resonance frequency of circuit Mechanical Analogue to LC Circuit ! Simple harmonic oscillator (no damping) of mass m, spring constant k. PE: V = kx2/2 2 KE: T = mx /2 2/2 - kx2/2 Lagrangian: L = T - V = m x
! Lagranges Equation: # & d "L "L ) = 0! % ( % ( dt $ "q j ' "q j

LC Circuit Inductor L and capacitor C in series. Capacitor C: a charge storage device with energy = q2/(2C). The voltage across a capacitor is qC. Dynamical variable = charge q. Capacitor acts a PE source: PE: V = q2/(2C), KE: T = L q 2/2 (=LI2/2) Lagrangian: L = T V (no resistor " no dissipation) Lagranges Equation: ! d # "L & "L =0 % () dt % j ( $ "q ' "q j

" mx + kx = 0 x = x0 cos(%0t)

Assume x = x0 at t = 0! ,

!0 !

k / m ! natural/resonant frequency of circuit

Circuit mechanics analogies Electric Circuit Mechanical system mass m viscosity " spring constant k

"

Lq + q/C = 0

Inertial term Drag term Spring term

inductance L resistance R 1/capacitance 1/C

By Prof. Juyang Huang, Texas Tech University. All rights reserved.

By Prof. Juyang Huang, Texas Tech University. All rights reserved.

A Coupled Electrical Circuit: Three RLC series circuits coupled by mutual inductances Mjk. Ej(t) are external emfs. Using the above idea of analogue, the Lagrangian can be written as:

Describe two different physical systems by Lagrangians of the

same mathematical form (circuits and harmonic oscillators): " ALL results and techniques devised for studying and solving one system can be taken over directly and used to study and solve the other. " Sophisticated studies of electrical circuits and techniques for solving them have been very well developed. All such techniques can be taken over directly and used to study analogous mechanical (oscillator) systems. These have wide applicability to acoustical systems. Also true in reverse.

L=1 L q 2 + 1 M q q $ 1 q2 / C j +" E j (t )q j 2 " j j 2 " jk j k 2 " j

j j ,k j #k j j

Hamilton Principle and resulting Lagrange formalism can be

generalized to apply to many subfields of physics outside mechanics.

and a dissipation function: ! = 1 R q 2 2" j j

!
The Lagranges functions are

Similar variational principles exist in other subfields: Yielding

Maxwells Equation (E&M) Schrdinger Eqation Quantum Electrodynamics Quantum Chromodynamics, ..etc.

Lj

d 2q j dt 2

+ # M jk
k j "k

! dq j q j d 2 qk + L + = E j (t ) j dt C j dt 2

(This equation can be checked quickly using the Kirchhoffs Loop Rule).

By Prof. Juyang Huang, Texas Tech University. All rights reserved.

By Prof. Juyang Huang, Texas Tech University. All rights reserved.