拉格朗日方程的三种推导方法之基于汉密顿原理推导

拉格朗日方程是分析力学中的重要方程，其地位相当于牛顿第二定律之于牛顿力学。

哈密顿原理可数学表述为：
$$\delta {\int }_{t_1}^{t_2}Ldt=0\text{\hspace{1em}(1)}$$
在等时变分情况下，有：
$$\delta \stackrel{\bullet }{q}=\frac{d}{dt}(\delta q)\text{\hspace{1em}(2)}$$
$$\delta {\int }_{t_1}^{t_2}Ldt={\int }_{t_1}^{t_2}(\delta L)dt=0\text{\hspace{1em}(3)}$$
由拉格朗日量定义得，在等时变分情况下有
$$\delta L=\frac{\partial L}{\partial \stackrel{\bullet }{q}}\delta \stackrel{\bullet }{q}+\frac{\partial L}{\partial q}\delta q\text{\hspace{1em}(4)}$$
其中第一项可化为：
$$\frac{\partial L}{\partial \stackrel{\bullet }{q}}\delta \stackrel{\bullet }{q}=\frac{\partial L}{\partial \stackrel{\bullet }{q}}\frac{d}{dt}(\delta q)=\frac{d}{dt}(\frac{\partial L}{\partial \stackrel{\bullet }{q}}\bullet \delta q)-\frac{d}{dt}(\frac{\partial L}{\partial \stackrel{\bullet }{q}})\delta q\text{\hspace{1em}(5)}$$
将(5)代入(4)得：
$$\delta L=\frac{d}{dt}(\frac{\partial L}{\partial \stackrel{\bullet }{q}}\bullet \delta q)-\frac{d}{dt}(\frac{\partial L}{\partial \stackrel{\bullet }{q}})\delta q+\frac{\partial L}{\partial q}\delta q\text{\hspace{1em}(6)}$$
将(6)代入(3)得
$$(\frac{\partial L}{\partial \stackrel{\bullet }{q}}\bullet \delta q)|{}_{t_2}^{t_1}+{\int }_{t_1}^{t_2}(-\frac{d}{dt}(\frac{\partial L}{\partial \stackrel{\bullet }{q}})\delta q+\frac{\partial L}{\partial q}\delta q)dt=0\text{\hspace{1em}(7)}$$
在$t_1,t_2$处$\delta q=0$，所以(7)变为：
$${\int }_{t_1}^{t_2}(\frac{d}{dt}(\frac{\partial L}{\partial \stackrel{\bullet }{q}})\delta q-\frac{\partial L}{\partial q}\delta q)dt=0\text{\hspace{1em}(8)}$$
即
$${\int }_{t_1}^{t_2}[(-\frac{d}{dt}(\frac{\partial L}{\partial \stackrel{\bullet }{q}})+\frac{\partial L}{\partial q})\delta q]dt=0\text{\hspace{1em}(9)}$$
q是独立变量，所以得拉格朗日方程：
$$\frac{d}{dt}\left(\frac{\partial L}{\partial {\dot{q}}_j}\right)-\frac{\partial L}{\partial q_j}=0\text{\hspace{1em}(10)}$$