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。
达朗贝尔原理由法国物理学家与数学家让•达朗贝尔发现并以其命名。达朗贝尔原理表明:对于任意物理系统,所有惯性力或施加的外力,经过符合约束条件的虚位移,所作的虚功的总合为零。即:
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(1)
\delta W=\sum\limits_{i}{\left( {{\mathbf{F}}_{i}}+{{\mathbf{I}}_{i}} \right)}\cdot \delta {{\mathbf{r}}_{i}}=0\tag{1}
δW=i∑(Fi+Ii)⋅δri=0(1)
其中
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{{\mathbf{I}}_{i}}
Ii为惯性力,
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{{\mathbf{I}}_{i}}=-{{m}_{i}}{{\mathbf{a}}_{i}}
Ii=−miai。
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{{\mathbf{F}}_{i}}
Fi为粒子所受外力,
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\delta {{\mathbf{r}}_{i}}
δri为符合系统约束的虚位移。
设粒子
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{{P}_{i}}
Pi的位置
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{{\mathbf{r}}_{i}}
ri为广义坐标
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{{q}_{1}},{{q}_{2}},\cdots ,{{q}_{n}}
q1,q2,⋯,qn与时间
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t的函数:
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{{\mathbf{r}}_{i}}={{P}_{i}}\left( {{q}_{1}},{{q}_{2}},\cdots ,{{q}_{n}},t \right)\tag{2}
ri=Pi(q1,q2,⋯,qn,t)(2)
则虚位移可以表示为:
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(3)
\delta {{\mathbf{r}}_{i}}=\sum\limits_{j}{\frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}}\delta {{q}_{j}}\tag{3}
δri=j∑∂qj∂riδqj(3)
粒子的速度
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{{\mathbf{v}}_{i}}={{\mathbf{v}}_{i}}\left( {{q}_{1}},{{q}_{2}},\cdots ,{{q}_{n}},{{{\dot{q}}}_{1}},{{{\dot{q}}}_{2}},\cdots ,{{{\dot{q}}}_{n}},t \right)
vi=vi(q1,q2,⋯,qn,q˙1,q˙2,⋯,q˙n,t) 可表示为:
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(4)
{{\mathbf{v}}_{i}}=\frac{d{{\mathbf{r}}_{i}}}{dt}=\frac{\partial {{\mathbf{r}}_{i}}}{\partial t}+\sum\limits_{j}{\frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}}{{\dot{q}}_{j}}\tag{4}
vi=dtdri=∂t∂ri+j∑∂qj∂riq˙j(4)
取速度对于广义速度的偏微分:
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(5)
\frac{\partial {{\mathbf{v}}_{i}}}{\partial {{{\dot{q}}}_{j}}}=\frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}\tag{5}
∂q˙j∂vi=∂qj∂ri(5)
首先转化方程(1)的加速度项。将方程(3)代入:
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(6)
\sum\limits_{i}{{{m}_{i}}}{{\mathbf{a}}_{i}}\cdot \delta {{\mathbf{r}}_{i}}=\sum\limits_{i,j}{{{m}_{i}}}{{\mathbf{a}}_{i}}\cdot \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}\delta {{q}_{j}}\tag{6}
i∑miai⋅δri=i,j∑miai⋅∂qj∂riδqj(6)
应用乘积法则:
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(7)
\sum\limits_{i,j}{{{m}_{i}}}{{\mathbf{a}}_{i}}\cdot \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}\delta {{q}_{j}}=\sum\limits_{i,j}{\left( \frac{d}{dt}\left( {{m}_{i}}{{\mathbf{v}}_{i}}\cdot \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}} \right)-{{m}_{i}}{{\mathbf{v}}_{i}}\cdot \frac{d}{dt}\left( \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}} \right) \right)}\delta {{q}_{j}}\tag{7}
i,j∑miai⋅∂qj∂riδqj=i,j∑(dtd(mivi⋅∂qj∂ri)−mivi⋅dtd(∂qj∂ri))δqj(7)
注意到
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\frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}
∂qj∂ri 的参数为
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{{q}_{1}},{{q}_{2}},\cdots ,{{q}_{n}},t
q1,q2,⋯,qn,t,而速度
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{{\mathbf{v}}_{i}}
vi 的参数为
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{{q}_{1}},{{q}_{2}},\cdots ,{{q}_{n}},{{\dot{q}}_{1}},{{\dot{q}}_{2}},\cdots ,{{\dot{q}}_{n}},t
q1,q2,⋯,qn,q˙1,q˙2,⋯,q˙n,t ,所以,
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(8)
\frac{d}{dt}\left( \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}} \right)=\left( \frac{\partial }{\partial t}+\sum\limits_{k}{{{{\dot{q}}}_{k}}}\frac{\partial }{\partial {{q}_{k}}} \right)\left( \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}} \right)=\frac{{{\partial }^{2}}{{\mathbf{r}}_{i}}}{\partial {{q}_{j}}\partial t}+\sum\limits_{k}{\frac{{{\partial }^{2}}{{\mathbf{r}}_{i}}}{\partial {{q}_{j}}\partial {{q}_{k}}}}{{\dot{q}}_{k}}\tag{8}
dtd(∂qj∂ri)=(∂t∂+k∑q˙k∂qk∂)(∂qj∂ri)=∂qj∂t∂2ri+k∑∂qj∂qk∂2riq˙k(8)
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(9)
\frac{\partial {{\mathbf{v}}_{i}}}{\partial {{q}_{j}}}=\frac{\partial }{\partial {{q}_{j}}}\left( \frac{\partial {{\mathbf{r}}_{i}}}{\partial t}+\sum\limits_{k}{\frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{k}}}}{{{\dot{q}}}_{k}} \right)=\frac{{{\partial }^{2}}{{\mathbf{r}}_{i}}}{\partial {{q}_{j}}\partial t}+\sum\limits_{k}{\frac{{{\partial }^{2}}{{\mathbf{r}}_{i}}}{\partial {{q}_{j}}\partial {{q}_{k}}}}{{\dot{q}}_{k}}\tag{9}
∂qj∂vi=∂qj∂(∂t∂ri+k∑∂qk∂riq˙k)=∂qj∂t∂2ri+k∑∂qj∂qk∂2riq˙k(9)
因此,以下关系式成立:
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(10)
\frac{d}{dt}\left( \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}} \right)=\frac{\partial {{\mathbf{v}}_{i}}}{\partial {{q}_{j}}}\tag{10}
dtd(∂qj∂ri)=∂qj∂vi(10)
将方程(5)与(10)代入,加速度项成为:
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(11)
\sum\limits_{i,j}{{{m}_{i}}}{{\mathbf{a}}_{i}}\cdot \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}\delta {{q}_{j}}=\sum\limits_{i,j}{\left( \frac{d}{dt}\left( {{m}_{i}}{{\mathbf{v}}_{i}}\cdot \frac{\partial {{\mathbf{v}}_{i}}}{\partial {{{\dot{q}}}_{j}}} \right)-{{m}_{i}}{{\mathbf{v}}_{i}}\cdot \frac{\partial {{\mathbf{v}}_{i}}}{\partial {{q}_{j}}} \right)}\delta {{q}_{j}}\tag{11}
i,j∑miai⋅∂qj∂riδqj=i,j∑(dtd(mivi⋅∂q˙j∂vi)−mivi⋅∂qj∂vi)δqj(11)
代入动能表达式:
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(12)
T=\sum\limits_{i}{\frac{1}{2}}{{m}_{i}}{{\mathbf{v}}_{i}}\cdot {{\mathbf{v}}_{i}}\tag{12}
T=i∑21mivi⋅vi(12)
则加速度项与动能的关系为:
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(13)
\sum\limits_{i,j}{{{m}_{i}}}{{\mathbf{a}}_{i}}\cdot \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}\delta {{q}_{j}}=\sum\limits_{j}{\left( \frac{d}{dt}\left( \frac{\partial T}{\partial {{{\dot{q}}}_{j}}} \right)-\frac{\partial T}{\partial {{q}_{j}}} \right)}\delta {{q}_{j}}\tag{13}
i,j∑miai⋅∂qj∂riδqj=j∑(dtd(∂q˙j∂T)−∂qj∂T)δqj(13)
然后转换方程(1)的外力项代入方程(3)得:
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(14)
\sum\limits_{i}{{{\mathbf{F}}_{i}}}\cdot \delta {{\mathbf{r}}_{i}}=\sum\limits_{i,j}{{{\mathbf{F}}_{i}}}\cdot \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}\delta {{q}_{j}}=\sum\limits_{j}{{{\mathcal{F}}_{j}}}\delta {{q}_{j}}\tag{14}
i∑Fi⋅δri=i,j∑Fi⋅∂qj∂riδqj=j∑Fjδqj(14)
其中
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\mathcal{F}
F是广义力:
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(15)
{{\mathcal{F}}_{j}}=\sum\limits_{i}{{{\mathbf{F}}_{i}}}\cdot \frac{\partial {{\mathbf{r}}_{i}}}{\partial {{q}_{j}}}\tag{15}
Fj=i∑Fi⋅∂qj∂ri(15)
将方程(13)与(14)代入方程(1)可得:
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(16)
\sum\limits_{j}{\left( \frac{d}{dt}\left( \frac{\partial T}{\partial {{{\dot{q}}}_{j}}} \right)-\frac{\partial T}{\partial {{q}_{j}}}-{{\mathcal{F}}_{j}} \right)}\delta {{q}_{j}}=0\tag{16}
j∑(dtd(∂q˙j∂T)−∂qj∂T−Fj)δqj=0(16)
假设所有的广义坐标都相互独立,则所有的广义坐标的虚位移也都相互独立。由于这些虚位移都是任意设定的,只有满足下述方程,才能使方程(16)成立:
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\frac{d}{dt}\left( \frac{\partial T}{\partial {{{\dot{q}}}_{j}}} \right)-\frac{\partial T}{\partial {{q}_{j}}}-{{\mathcal{F}}_{j}}=0\tag{17}
dtd(∂q˙j∂T)−∂qj∂T−Fj=0(17)
这系统的广义力与广义位势
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V之间的关系式为:
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(18)
{{\mathcal{F}}_{j}}=\frac{d}{dt}\left( \frac{\partial V}{\partial {{{\dot{q}}}_{j}}} \right)-\frac{\partial V}{\partial {{q}_{j}}}\tag{18}
Fj=dtd(∂q˙j∂V)−∂qj∂V(18)
代入得:
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(19)
\frac{d}{dt}\left( \frac{\partial (T-V)}{\partial {{{\dot{q}}}_{j}}} \right)-\frac{\partial (T-V)}{\partial {{q}_{j}}}=0\tag{19}
dtd(∂q˙j∂(T−V))−∂qj∂(T−V)=0(19)
定义拉格朗日量
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L
L为动能与势能之差,可得拉格朗日方程:
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(20)
\frac{d}{dt}\left( \frac{\partial L}{\partial {{{\dot{q}}}_{j}}} \right)-\frac{\partial L}{\partial {{q}_{j}}}=0\tag{20}
dtd(∂q˙j∂L)−∂qj∂L=0(20)