Module: 15

Lecture: 3
Galerkins Method

For vibration of beam

EI

4w
0
w
dx 4

= mass per unit length

Assume a approximate function

n

w( x) ci fi cos(t )
i 1

w fi cos(t ) ci
i 1

The residue force can be expressed as

4w
Since w is not exact
Res EI 4 w
x
Virtual work for the beam length can be calculated as
d 4w

0 EI dx 4 w w dx 0
L

L
d 4w

EI 4 2 w f i dx ci 0
dx

As many no. of fs we take that many equations we will have

i n equn.

30.6.2014

K ci M ci 0

Page 1

Lagranges Equation

Consider first a conservative system where the sum of the kinetic and potential energies is a
constant. The differential of total energy is then zero.
d (T U ) 0

The kinetic energy T is a function of the generalized coordinates qi and the generalized
velocities qi , whereas the potential energy U is a function of qi only.
T T (q1 , q2 , q3 ...........qN , q1 , q2 , q3 ,........q N )
U U (q1 , q2 ...........qN )
The differential of T is
N

dT
i 1

N
T
T
.dqi . dq
i
qi
i 1 q

..............(2)

To eliminate the second term with dqi , we start with the equation for kinetic energy.

1 N

2 i 1

m
j 1

ij

qi q j

..........(3)

Differentiating this equation with respect to qi , multiplying by qi , and summing over i from 1 to
N, we obtain a result equal to
N

q . dq
i 1

or , 2T

i 1

j 1

q
i 1

30.6.2014

m
qi

ij

qi q j 2T

..................(3)

Page 2

We now form the differential of 2T from the preceding equation by using the product rule
in calculus :
N
T
2 dT d
i 1
qi

q
i d
i 1

qi

dqi ..............(4)

Subtracting Eq. (2) from this equation, the second term with dqi is eliminated. By shifting the

d T
scalar quantify dt , the term d (T ) qi becomes
dqi and the result is
qi
dt qi
N
d T
dT
i
i 1 dt q

T
dqi ..........(5)

qi

From the differential of U is

N

dU
i 1

U
. dqi
qi

Thus for the invariance of the total energy becomes

N
d T
d (T U )
i
i 1 dt q

T U

dqi 0

qi qi

Since the N generalized coordinates are independent of one another, the dqi may assume
arbitrary values. Therefore, the above equation is satisfied only if

d T T U

dt qi qi qi

i 1, 2,.......N

This is Lagranges equation for the case in which all forces have a potential U. They can be
U
somewhat modified by introducing the Lagrangian L= (T-U). Since
0
qi
TheaboveequationcanbewrittenintermsofLas

d L L
0

dt qi qi
30.6.2014

i 1, 2,......N

Page 3