On the motions of a double pendulum with vibrating suspension point

We consider the motions of a system consisting of two pivotally connected physical pendulums rotating about horizontal axes. We assume that the system suspension point, which coincides with the suspension point of one of the pendulums, performs harmonic vibrations of high frequency and small amplitude along the vertical. We also assume that the system has four relative equilibrium positions in which the suspension points and the pendulum centers of mass lie on one vertical line. We study the stability of these relative equilibria. For arbitrary physical pendulums, we obtain stability conditions in the linear approximation. For a system consisting of two identical rods, we solve the stability problem the in nonlinear setting. For the same system, we study the existence, bifurcations, and stability of high-frequency periodic motions of small amplitude other than the relative equilibria on the vertical line. The studies of dynamic stability augmentation in mechanical systems under the action of high-frequency perturbations was initiated in the paper [1], where it was shown that the unstable inverted equilibrium of a pendulum may become stable if the suspension point vibrates rapidly. This idea was developed in [2–10] and other papers, where several aspects of motion of a mathematical pendulum in the case of rapid small-amplitude vibrations of the suspension point were studied in the linear setting and also (without full mathematical rigor) in the nonlinear setting. The motions of the suspension point along an arbitrary oblique straight line [2, 4, 7, 8], along the vertical [3, 5, 6], along the horizontal [9], and in the case of damping [8] were considered. The monograph [10] deals with the stabilization of a pendulum or a system of pendulums under periodic and conditionally periodic vibrations of the suspension point along the vertical, along an oblique straight line, and along an ellipse. A rigorous nonlinear analysis of the existence and stability of periodic motions of the mathematical pendulum under horizontal and oblique vibrations of the suspension point at arbitrary frequencies and amplitudes can be found in [11, 12]. For the case of vertical vibrations of the suspension point at an arbitrary frequency and amplitude, a rigorous stability analysis of the relative equilibria of the pendulum on the vertical was carried out in [13].     

An extension of the Levi-Weckesser method to the stabilization of the inverted pendulum under gravity

Sufficient conditions are given for the stability of the upper equilibrium of the mathematical pendulum (inverted pendulum) when the suspension point is vibrating vertically with high frequency. The equation of the motion is of the form $$ \ddot{\theta}-\frac{1}{l}\bigl(g+a(t)\bigr) \theta=0, $$ where l,g are constants and a is a periodic step function. M. Levi and W. Weckesser gave a simple geometrical explanation for the stability effect provided that the frequency is so high that the gravity g can be neglected. They also obtained a lower estimate for the stabilizing frequency. This method is improved and extended to the arbitrary inverted pendulum not assuming even symmetricity between the upward and downward phases in the vibration of the suspension point.     

Stability of an equilibrium position of a pendulum with step parameters

A mathematical pendulum affected by parametric disturbance with potential energy being periodic step function is considered. Non-linear equation of the pendulum depends on two parameters characterizing the mean value in time of the parametric disturbance and range of its “ripple”. Values of the parameters can be set arbitrarily. The non-linear problem of stability for two particular solutions of the equation corresponding to a hanging and inverse pendulum is solved.     

On the Chaotic Dynamics of a Spherical Pendulum with a Harmonically Vibrating Suspension

The equations of motion for a lightly damped spherical pendulum are considered. The suspension point is harmonically excited in both vertical and horizontal directions. The equations are approximated in the neighborhood of resonance by including the third order terms in the amplitude. The stability of equilibrium points of the modulation equations in a four-dimensional space is studied. The periodic orbits of the spherical pendulum without base excitations are revisited via the Jacobian elliptic integral to highlight the role played by homoclinic orbits. The homoclinic intersections of the stable and unstable manifolds of the perturbed spherical pendulum are investigated. The physical parameters leading to chaotic solutions in terms of the spherical angles are derived from the vanishing Melnikov–Holmes–Marsden (MHM) integral. The existence of real zeros of the MHM integral implies the possible chaotic motion of the harmonically forced spherical pendulum as a result from the transverse intersection between the stable and unstable manifolds of the weakly disturbed spherical pendulum within the regions of investigated parameters. The chaotic motion of the modulation equations is simulated via the 4th-order Runge–Kutta algorithms for certain cases to verify the analysis.     

Complex Dynamics in Pendulum-Type Equations with Variable Length

We prove the existence of complex dynamics for a generalized pendulum type equation with variable length. The solutions we find switch from an oscillatory behavior around the stable vertical position to a rotational type behavior crossing the unstable position with positive or negative velocity following any prescribed two-sided sequence of symbols. Moreover, to any periodic sequence of symbols corresponds a periodic solution of the equation. The proof is based on a topological approach and the results are robust with respect to small perturbations. In particular a small friction term can be added to the equation.     

Double Hopf Bifurcations and Chaos of a Nonlinear Vibration System

A double pendulum system is studied for analyzing the dynamic behaviour near a critical point characterized by nonsemisimple 1:1 resonance. Based on normal form theory, it is shown that two phase-locked periodic solutions may bifurcate from an initial equilibrium, one of them is unstable and the other may be stable for certain values of parameters. A secondary bifurcation from the stable periodic solution yields a family of quasi-periodic solutions lying on a two-dimensional torus. Further cascading bifurcations from the quasi-periodic motions lead to two chaoses via a period-doubling route. It is shown that all the solutions and chaotic motions are obtained under positive damping.     

Magnetorheological damping and semi-active control of an autoparametric vibration absorber

A numerical study of an application of magnetorheological (MR) damper for semi-active control is presented in this paper. The damper is mounted in the suspension of a Duffing oscillator with an attached pendulum. The MR damper with properties modelled by a hysteretic loop, is applied in order to control of the system response. Two methods for the dynamics control in the closed-loop algorithm based on the amplitude and velocity of the pendulum and the impulse on–off activation of MR damper are proposed. These concepts allow the system maintaining on a desirable attractor or, if necessary, to change a position from one attractor to another. Additionally, the detailed bifurcation analysis of the influence of MR damping on the number of periodic solutions and their stability is shown by continuation method. The influence of MR damping on the chaotic behavior is studied, as well.     

On stability of relative equilibria of a double pendulum with vibrating suspension point

We consider the motions of a double pendulum consisting of two hinged identical rods. The pendulum suspension point is assumed to perform harmonic vibrations of arbitrary frequency and arbitrary amplitude in the vertical direction. We carry out a complete nonlinear analysis of the stability of the four pendulum relative equilibria on the vertical. The problem on the stability of the relative equilibria of the mathematical pendulum in the case where the suspension point performs vertical harmonic vibrations of arbitrary frequency and arbitrary amplitude was considered in a linear setting [1–3] and a nonlinear setting [4, 5]. In the case of small-amplitude rapid vertical vibrations of the suspension point, linear and (mathematically not fully rigorous) nonlinear stability analysis of the relative equilibria was carried out for an ordinary pendulum [6–9] and a double pendulum [10, 11]. In [12], for the same case of rapid vibrations, stability conditions in the linear approximation were obtained for the four relative equilibria of a system consisting of two physical pendulums. In the special case of a system consisting of two identical rods, the problem was solved in the nonlinear setting.     

Inverted pendulum under hysteretic control: stability zones and periodic solutions

In this paper, the mathematical model of the stabilization of the inverted pendulum with vertically oscillating suspension under hysteretic control is constructed. In the frame of the presented model, the stability criteria for the linearized equations of motion are found. We have made the numerical construction of the stability zones in the two-dimensional parameter space. Dependencies between initial conditions and driven parameters that provide periodic oscillations of the pendulum are obtained.     

Manifestation of Secondary Resonances during Pendulum Vibrations of a Tankwith Fluid

International Applied Mechanics - The problem of vibrations of a tank on pendulum suspension with a movable suspension point and partially filled with an ideal incompressible fluid is considered....     

Problem of periodic solutions for neutral functional differential equation

ＩｎｔｒｏｄｕｃｔｉｏｎＬｅｔＣ(ｋ- 1)2π =ｈ(ｔ) ｜ｈ :Ｒ →Ｒｉｓ (ｋ -1 )＿ｔｈｏｒｄｅｒｃｏｎｔｉｎｕｏｕｓｄｉｆｆｅｒｅｎｔｉａｂｌｅａｎｄｈ(ｔ+ 2π) ≡ｈ(ｔ) ,　　Ｃ2π =ｈ(ｔ) ｜ｈ :Ｒ →Ｒｉｓｃｏｎｔｉｎｕｏｕｓａｎｄｈ(ｔ+ 2π) ≡ｈ(ｔ) ,　　‖ｈ(ｔ)‖ =ｓｕｐｔ∈ [0 ,2π] ｜ｈ(ｔ) ｜ ,　　‖ｈ(ｔ)‖Ｐｋ- 1 =ｍａｘ‖ｈ(ｔ)‖ ,‖ｈ′(ｔ)‖ ,… ,‖ｈ(ｋ- 1) (ｔ)‖ ,　　ｘ(ｍ) (ｔ+ ·) (θ) =ｘ(ｍ) (ｔ+θ)　　θ∈Ｒ (ｍ =0 ,1 ,2 ,… ,ｋ-1 ) .Ｃｌｅａｒｌｙ ,ｘ(ｍ) (ｔ + ·) ∈Ｃ2π, …     

Bifurcations in the dynamics of an orthogonal double pendulum

The weakly nonlinear resonant response of an orthogonal double pendulum to planar harmonic motions of the point of suspension is investigated. The two pendulums in the double pendulum are confined to two orthogonal planes. For nearly equal length of the two pendulums, the system exhibits 1:1 internal resonance. The method of averaging is used to derive a set of four first order autonomous differential equations in the amplitude and phase variables. Constant solutions of the amplitude and phase equations are studied as a function of physical parameters of interest using the local bifurcation theory. It is shown that, for excitation restricted in either plane, there may be as many as six pitchfork bifurcation points at which the nonplanar solutions bifurcate from the planar solutions. These nonplanar motions can become unstable by a saddle-node or a Hopf bifurcation, giving rise to a new branch of constant solutions or limit cycle solutions, respectively. The dynamics of the amplitude equations in parameter regions of the Hopf bifurcations is then explored using direct numerical integration. The results indicate a complicated amplitude dynamics including multiple limit cycle solutions, period-doubling route to chaos, and sudden disappearance of chaotic attractors.     

Bifurcation of the solution to the problem of steady traveling waves in a layer of viscous liquid on an inclined plane

Traveling waves in a viscous liquid flowing down an inclined plane can be described at small and moderate Reynolds numbers by an ordinary differential equation in the thickness of the layer [1, 2]. As the Reynolds number tends to zero, this equation goes over into an equation of third order with quadratic nonlinearity [3]. Periodic solutions of this last equation bifurcating from the plane-parallel solution have been investigated by Nepomnyashchii and Tsvelodub [3–6]. In the present paper, a study is made of the bifurcation of periodic solutions from periodic solutions, namely, an investigation is made of the values of the wave number for which a periodic solution is not unique; a bifurcation equation is derived, the number of bifurcating solutions is found, and their behavior near a bifurcation point is considered; and the bifurcating solutions are continued numerically with respect to a parameter (the wave number) from the neighborhoods of the bifurcation points.     

A New Methodology for the Analysis of Periodic Systems

A new numerical-analytical method for the combined global-localanalysis of nonlinear periodic systems referred to as an ExpandedPoint Mapping (EPM) is presented. This methodology combines thecell to cell mapping and point mapping methods toinvestigate the basins of attraction and stability characteristics ofequilibrium points and periodic solutions of nonlinear periodicsystems. The proposed method is applicable to multi-degrees-of-freedomsystems, multi-parameter systems, and allows analytical studies oflocal stability characteristics of steady state solutions. Inaddition, the EPM approach allows the study of stabilitycharacteristics as function of system parameters to obtain analyticalconditions for bifurcation. In the paper, the theoretical basis forthe EPM method is formulated and a procedure for the analysis ofnonlinear dynamical systems is presented. Analysis of a pendulum witha periodically excited support in the plane is used to illustrate themethod. The results demonstrate the efficiency and accuracy of theproposed approach in analyzing nonlinear periodic systems.     

Parametric resonances in a base-excited double pendulum

Two parametrically-induced phenomena are addressed in the context of a double pendulum subject to a vertical base excitation. First, the parametric resonances that cause the stable downward vertical equilibrium to bifurcate into large-amplitude periodic solutions are investigated extensively. Then the stabilization of the unstable upward equilibrium states through the parametric action of the high-frequency base motion is documented in the experiments and in the simulations. It is shown that there is a region in the plane of the excitation frequency and amplitude where all four unstable equilibrium states can be stabilized simultaneously in the double pendulum. The parametric resonances of the two modes of the base-excited double pendulum are studied both theoretically and experimentally. The transition curves (i.e., boundaries of the dynamic instability regions) are constructed asymptotically via the method of multiple scales including higher-order effects. The bifurcations characterizing the transitions from the trivial equilibrium to the periodic solutions are computed by either continuation methods and or by time integration and compared with the theoretical and experimental results.     

Global stabilization of a double inverted pendulum with control at the hinge between the links

We study the plane motion of a double pendulum with fixed suspension point. The pendulum is controlled by a single moment applied to the internal hinge between the links. The moment is assumed to be bounded in absolute value. We construct a feedback control law bringing the pendulum from the position in which both links hang vertically downwards into the unstable upper position in which both links are inverted. The same feedback ensures the asymptotic stability of the pendulum in the upper equilibrium position. Since the pendulum can be brought to the lower equilibrium position from any initial states, it follows that the constructed control law ensures the global stability of the inverted pendulum.     

Identification of Friction Coefficients in the Hinge of a Controlled Physical Pendulum Using the Amplitudes of Steady-State Oscillations

A dynamic model of a controlled physical pendulum is considered. The Pontryagin method of searching for the periodic solutions to near-Hamiltonian systems is used to formulate a programmed law of pendulum oscillations such that the test modes of oscillations become steady and orbitally stable. An approach to identify the friction parameters in the hinge of the pendulum is proposed for the case of the active motor mode. This approach is based on the data available about the integral characteristics of motion. The motion of the system under consideration is numerically simulated.     

Resonant Hopf–Hopf Interactions in Delay Differential Equations

A second-order delay differential equation (DDE) which models certain mechanical and neuromechanical regulatory systems is analyzed. We show that there are points in parameter space for which 1:2 resonant Hopf–Hopf interaction occurs at a steady state of the system. Using a singularity theoretic classification scheme [as presented by LeBlanc (1995) and LeBlanc and Langford (1996)], we then give the bifurcation diagrams for periodic solutions in two cases: variation of the delay and variation of the feedback gain near the resonance point. In both cases, period-doubling bifurcations of periodic solutions occur, and it is argued that two tori can bifurcate from these periodic solutions near the period doubling point. These results are then compared to numerical simulations of the DDE.     

WKB method for analyzing the vibrations of a Meshcherskii pendulum

TheWKB method is used to construct an approximate analytic solution of the equation of small nonstationary vibrations of the Meshcherskii mathematical pendulum. The versions of linear and nonlinear variation in the pendulum mass are considered. Calculations showed that, under certain restrictions on the pendulum parameters, the approximate solutions constructed in elementary functions are a good approximation to the exact results.     

Stability and instability of controlled motions of a two-mass pendulum of variable length

The problem of parametric control of plane motions of a two-mass pendulum (swing) is considered. The swing model is a weightless rod with two lumped masses one of which is fixed on the rod and the other slides along it within bounded limits. The control is the distance from the suspension point to the moving point. The proposed control law of swing excitation and damping consists in continuously varying the pendulumsuspension length depending on the phase state. The stability of various controlled motions, including the motions near the upper and lower equilibria, is studied. The Lyapunov functions that prove the asymptotic stability and instability of the pendulum lower position in the respective cases of the pendulum damping and excitation are constructed for the proposed control law. The influence of the viscous friction forces on the pendulum stable motions and the onset of stagnation regions in the case of its excitation is analyzed. The theoretical results are confirmed by graphical representation of the numerical results.