The dynamics of a spherical pendulum with a vibrating suspension

The motion of a spherical pendulum whose point of suspension performs high-frequency vertical harmonic oscillations of small amplitude is investigated. It is shown that two types of motion of the pendulum exist when it performs high-frequency oscillations close to conical motions, for which the pendulum makes a constant angle with the vertical and rotates around it with constant angular velocity. For the motions of the first and second types the centre of gravity of the pendulum is situated below and above the point of suspension, respectively. A bifurcation curve is obtained, which divides the plane of the parameters of the problem into two regions. In one of these only the first type of motion can exist, while in the other, in addition to the first type of motion, there are two motions of the second type. The problem of the stability of these motion of the pendulum, close to conical, is solved. It is shown that the first type of motion is stable, while of the second type of motion, only the motion with the higher position of the centre of gravity is stable.     

Observation and investigation of a non-monotonic period function for an impact oscillator

A mathematical model for a bench-top impact oscillator (a steel pendulum and an aluminum barrier) that incorporates Hertzian contact is analyzed, and predictions derived from our model are compared with experimental data. We report our discovery of a new effect: the existence of a non-monotone period function for the annulus of periodic orbits in the phase plane surrounding the rest point that corresponds to the downward vertical position of the pendulum in the unforced, undamped case. From this non-monotonicity, we predict novel resonance response behavior for the forced, damped oscillator and verify our predictions by experiment.     

A General Theory of Resonance Between Weakly Coupled Oscillatory Systems

Resonant oscillations are investigated between several fullynon-linear oscillatory systems which are subject to a weak coupling.The equations of motion are obtained from a Hamiltonian whichis first expressed in terms of angle action variables, and thenaveraged. It is shown that this results in a reduced set ofequations, the reduction depending on the number of resonancesbetween the various systems. For example a resonance in a systemwith two degrees of freedom results in equations which are mathematicallyequivalent to those for one degree of freedom. The theory isillustrated by application to the forced oscillations of a simplependulum and to the resonant interaction between the two modesof oscillation of a double pendulum.     

非自治二阶Hamilton系统的周期解

本文推广了Willem的一个结果,Willem研究的受迫周期振动要求受迫势能关于空间变量是周期的,而本文只要求受迫势能对时间变量积分后关于空间变量是周期的,该结果包括了单摆的受迫振动.本文将用直接变分最小方法和Rabinowtz的鞍点定理来研究当势函数对时间变量积分后是周期时受迫摆方程的周期解.     

On Stability of the Inverted Pendulum Motion with a Vibrating Suspension Point

Under study is the stability of the inverted pendulum motion whose suspension point vibrates according to a sinusoidal law along a straight line having a small angle with the vertical. Formulating and using the contracting mapping principle and the criterion of asymptotic stability in terms of solvability of a special boundary value problem for the Lyapunov differential equation, we prove that the pendulum performs stable periodic movements under sufficiently small amplitude of oscillations of the suspension point and sufficiently high frequency of oscillations.     

A case of plane rotations of an elastic pendulum

The motion of a point mass, suspended on a spring in a uniform gravity field, is investigated. The spring is assumed to be weightless and to possess linear elasticity. Motion occurs in a specified fixed vertical plane. It is shown that a pendulum motion exists in which the angle, made by the axis of the spring and the vertical, varies uniformly with time. The problem of the orbital stability of this motion is solved.     

Capture into resonance and escape from it in a forced nonlinear pendulum

We study the dynamics of a nonlinear pendulum under a periodic force with small amplitude and slowly decreasing frequency. It is well known that when the frequency of the external force passes through the value of the frequency of the unperturbed pendulum’s oscillations, the pendulum can be captured into resonance. The captured pendulum oscillates in such a way that the resonance is preserved, and the amplitude of the oscillations accordingly grows. We consider this problem in the frames of a standard Hamiltonian approach to resonant phenomena in slow-fast Hamiltonian systems developed earlier, and evaluate the probability of capture into resonance. If the system passes through resonance at small enough initial amplitudes of the pendulum, the capture occurs with necessity (so-called autoresonance). In general, the probability of capture varies between one and zero, depending on the initial amplitude. We demonstrate that a pendulum captured at small values of its amplitude escapes from resonance in the domain of oscillations close to the separatrix of the pendulum, and evaluate the amplitude of the oscillations at the escape.     

Rotating orbits of a parametrically-excited pendulum

The authors consider the dynamics of the harmonically excited parametric pendulum when it exhibits rotational orbits. Assuming no damping and small angle oscillations, this system can be simplified to the Mathieu equation in which stability is important in investigating the rotational behaviour. Analytical and numerical analysis techniques are employed to explore the dynamic responses to different parameters and initial conditions. Particularly, the parameter space, bifurcation diagram, basin of attraction and time history are used to explore the stability of the rotational orbits. A series of resonance tongues are distributed along the non-dimensionalied frequency axis in the parameter space plots. Different kinds of rotations, together with oscillations and chaos, are found to be located in regions within the resonance tongues.     

The non-linear oscillations of a pendulum of variable length on a vibrating base

A generalized scheme for averaging a system with several small independent parameters is described: equations of the first and second approximations are obtained, and an estimate is made of the accuracy of the approximation and the value of the asymptotically long time interval. The problem of the oscillations of a pendulum of variable length on a vibrating base for high vibration frequencies and small amplitudes of harmonic oscillations of the length of the pendulum and its suspension point is considered. Averaged equations of the first and second approximations are obtained, and the bifurcations of the steady motions in the equations of the first approximation, and also in the second approximation for 1:2 resonance, are obtained. One of the possible bifurcations of the phase portrait in the neighbourhood of 1:2 resonance is described based on a numerical investigation. It is shown that a change in the resonance detuning parameter from zero to a value of the first order of infinitesimals in the small parameter leads to stabilization of the upper equilibrium position through a splitting of the separatrices for the resonance case; the splitting of separatrices is accompanied by the occurrence of a stochastic web in the neighbourhood of this equilibrium, its localization, and subsequent contraction to an equilibrium point and the formation of a new oscillation zone.     

基于Labview的一级环形倒立摆逆系统轨迹法自动摆起控制

利用求解非线性方程两点边值问题,得到逆系统参考轨迹;通过设计逆系统前馈控制及LQR反馈控制器,对参考轨迹实时跟踪。基于QNET 2.0旋转倒立摆实验平台,采用Labview编程软件,实现了一级环形倒立摆的自动摆起与稳定的实物控制。实验结果证明控制算法的有效性,可以使一级环形倒立摆在一个摆周期内自动摆起,并保持稳定状态。与能量法自动起摆实验比较,逆系统算法具有较好的快速性和稳定性。     

Dynamics of a rigid body on rockers

We study the dynamics of a rigid body on rockers with a nonspherical contact surface. It is shown that in the case of small oscillations the equations of motion contain strong nonlinearity, which makes it possible to avoid resonance (nonperiodic) oscillations. We study free and forced oscillations under a harmonic force on the plane of whose parameters bifurcation curves are constructed separating the periodic and nonoscillatory processes. Translated fromDinamicheskie Sistemy, No. 13, 1994, pp. 51–55.     

The stability of the equilibrium of a pendulum for vertical oscillations of the point of suspension

The motion of a pendulum, the point of suspension of which is subject to vertical harmonic oscillations of arbitrary frequency and amplitude, is considered. A complete rigorous solution of the non-linear problem of the stability of the relative positions of equilibrium of the pendulum along the vertical is given.     

A qualitative investigation of the oscillations of a pendulum with a periodically varying length and a mathematical model of a swing

The behaviour of the amplitude-frequency characteristics of families of periodic solutions, produced from the equilibrium position of a system, is established by a qualitative investigation of the equation of the oscillations of a pendulum, the length of which is an arbitrary periodic function of time. The non-local conditions for their stability and instability, expressed in terms of the amplitude and frequency of the oscillations, are obtained. The results are used when discussing the parametric and self-excited oscillatory model of a swing. In the parametric model the length of a swing is a specified periodic function of time, and in the self-excited oscillatory model it is a function of the phase coordinates of the system. For an appropriate choice of these functions, both systems have a common periodic solution. It is shown that the parametric model leads to an erroneous conclusion regarding the instability of the periodic mode, which is in fact realized in the oscillations of a swing, whereas the self-excited oscillatory model indicates its stability.     

Frederick Justin Almgren, 1933–1997

Suppose curves are moving by curvature in a plane, but one embeds the plane in R³ and looks at the plane from an angle. Then circles shrinking to a round point would appear to be ellipses shrinking to an “elliptical point,” and the surface energy would appear to be anisotropic as would the mobility. The result of this paper is that if one uses the apparent surface energy and the apparent mobility, then the motion by weighted curvature with mobility in the apparent plane is the same as motion by curvature in the original plane but then viewed from the angle. This result applies not only to the isotropic case but to arbitrary surface energy functions and mobilities in the plane, to surfaces in 3-space, and (in the case that the surface energy function is twice differentiable) to the case of motion viewed through distorted lenses (i.e., diffeomorphisms) as well. This result is to be contrasted with an earlier result [4], which states that for area-preserving affine transformations of the plane where the energy and mobility are not also transformed, motion by curvature to the power 1/3 (rather than 1) is invariant.     

Non-linear oscillations of a Hamiltonian system with two degrees of freedom with 2:1 resonance

The motions of an autonomous Hamiltonian system with two degrees of freedom close to an equilibrium position, stable in the linear approximation, are considered. It is assumed that in this neighbourhood the quadratic part of the Hamiltonian of the system is sign-variable, and the ratio of the frequencies of the linear oscillations are close to or equal to two. It is also assumed that the corresponding resonance terms in the third-degree terms of the Hamiltonian are small. The problem of the existence, bifurcations and orbital stability of the periodic motions of the system near the equilibrium position is solved. Conditionally periodic motions of the system are investigated. An estimate is obtained of the region in which the motions of the system are bounded in the neighbourhood of an unstable equilibrium in the case of exact resonance. The motions of a heavy dynamically symmetrical rigid body with a fixed point in the neighbourhood of its permanent rotations around the vertical for 2:1 resonance are considered as an application.     

A damped bipedal inverted pendulum for human–structure interaction analysis

The bipedal inverted pendulum with damping has been adopted to simulate human–structure interaction recently. However, the lack of analysis and verification has provided motivation for further investigation. Leg damping and energy compensation strategy are required for the bipedal inverted pendulum to regulate gait patterns on vibrating structures. In this paper, the Hunt–Crossley model is adopted to get zeros contact force at touch down, while energy compensation is achieved by adjusting the stiffness and rest length of the legs. The damped bipedal inverted pendulum can achieve stable periodic gait with a lower energy input and flatter attack angle so that more gaits are available, compared to the template, referred to as spring-load inverted pendulum. The measured and simulated vertical ground reaction force-time histories are in good agreement. In addition, the dynamic load factors are also within a reasonable range. Parametric analysis shows that the damped bipedal inverted pendulum can achieve stable gaits of 1.6 to 2.4 Hz with a reasonable first harmonic dynamic load factor, which covers the normal walking step frequency. The proposed model in this paper can be applied to human–structure interaction analysis.     

Weak oscillations of a gas bubble in a spherical volume of compressible liquid

The following spherically symmetric problem is considered: a single gas bubble at the centre of a spherical flask filled with a compressible liquid is oscillating in response to forced radial excitation of the flask walls. In the long-wave approximation at low Mach numbers, one obtains a system of differential-difference equations generalizing the Rayleigh-Lamb-Plesseth equation. This system takes into account the compressibility of the liquid and is suitable for describing both free and forced oscillations of the bubble. It includes an ordinary differential equation analogous to the Herring-Flinn-Gilmore equation describing the evolution of the bubble radius, and a delay equation relating the pressure at the flask walls to the variation of the bubble radius. The solutions of this system of differential-difference equations are analysed in the linear approximation and numerical analysis is used to study various modes of weak but non-linear oscillations of the bubble, for different laws governing the variation of the pressure or velocity of the liquid at the flask wall. These solutions are compared with numerical solutions of the complete system of partial differential equations for the radial motion of the compressible liquid around the bubble.     

Forced oscillations of a non-linear system with a repulsive positional force

Non-linear systems with one degree of freedom, in which the positional force is directed away from the equilibrium position of the system, are considered. The existence of forced periodic oscillations, their Lyapunov stability, and the behaviour of amplitude-frequency characteristics are investigated. It is shown that stable periodic oscillations are possible in the case when the positional force has non-monotonic properties. Forced oscillations of a pendulum with respect to the upper equilibrium position are considered as an example.     

Mass transfer in a pulsating bubble

Mass transfer between a pulsating bubble and a surrounding medium at large and small Peclet numbers is considered. The dependence of the Sherwood number on time is found for an arbitrary periodic law of variation of the bubble radius. The case of sinusoidal oscillations is studied in detail.