Rotating a pendulum with an electromechanical excitation

The objective of this paper is showing investigation of pendulum rotations via vertical, non-linear electromechanical excitation generated using a RLC-circuit-powered solenoid, which is originally built for an electro-vibro-impact mechanism. Various non-linear phenomena of pendulum dynamics, namely period-1 rotation, period-1 oscillation and period-2 oscillation, have been observed experimentally from the proposed apparatus. A mathematical model has been developed for the experimental rig and the system parameters have also been identified for the mathematical model. Finally, numerical results have been generated using the developed mathematical model and identified parameters, and their correlations with experimental observations have been discussed.     

Symmetry breaking bifurcations of a parametrically excited pendulum

This paper examines the bifurcation behavior of a planar pendulum subjected to high-frequency parametric excitation along a tilted angle. Parametric nonlinear identification is performed on the experimental system via an optimization approach that utilizes a developed approximate analytical solution. Experimental and theoretical efforts then consider the influence of a subtle tilt angle in the applied parametric excitation by contrasting the predicted and observed mean angle bifurcations with the bifurcations due to excitation applied in either the vertical or horizontal direction. Results show that small deviations from either a perfectly vertical or horizontal excitation will result in symmetry breaking bifurcations as opposed to pitchfork bifurcations.     

Rotary motion of the parametric and planar pendulum under stochastic wave excitation

In this paper a rotary motion of a pendulum subjected to a parametric and planar excitation of its pivot mimicking random nature of sea waves has been studied. The vertical motion of the sea surface has been modelled and simulated as a stochastic process, based on the Shinozuka approach and using the spectral representation of the sea state proposed by Pierson–Moskowitz model. It has been investigated how the number of wave frequency components used in the simulation can be reduced without the loss of accuracy and how the model relates to the real data. The generated stochastic wave has been used as an excitation to the pendulum system in numerical and experimental studies. For the first time, the rotary response of a pendulum under stochastic wave excitation has been studied. The rotational number has been used for statistical analysis of the results in the numerical and experimental studies. It has been demonstrated how the forcing arrangement affects the probability of rotation of the parametric pendulum.     

两自由度参数激励摆旋转运动分析和实验

研究具有支撑参数激励摆系统的支撑结构振动对摆旋转的影响,其中支撑结构是受到扭簧约束的刚性悬臂梁,参数激励摆与刚性悬臂梁的悬臂段铰接．首先,通过拉格朗日方程建立了系统两自由度的动力学方程．其次,利用多尺度法对建立的模型进行理论分析,得到悬臂梁的振动与上摆不同运动形式的关系,从而得到上摆不同运动形式下的参数平面分类和悬臂梁在上摆转动时的振动频响．最后,通过建立实验装置,观察理论预测,实验结果验证了理论分析的正确性．实验与理论对照得到,当参数激励频率接近悬臂梁的一阶固有频率时,悬臂梁的振幅变大,会破坏摆的转动稳定性．     

Frictional Phenomena in Dynamical Systemwith Two-Frequency Excitation

The paper deals with investigation of a self-excited vibrating system with dry friction. The system is composed of a mass connected by viscoelastic element with the referring frame and interacting with a moving belt by means of dry friction. An experimentally identified, multi-parametric dry friction model for the pair composed of soft and hard elements like steel–polyester pair, describing both the case of stick-slip and quasi-harmonic vibration, has been applied. Additionally, the system is influenced by external, two-frequency kinematic excitation. The results of computer simulation for different excitation conditions are submitted in the present paper.     

An automated high-pressure,high-temperature,low-frequency viscometer

A computerized apparatus for the measurement of low shear rate viscosity on polymer solutions at elevated pressure and temperature is described. The pressure is variable from 1 bar to 400 bar with an accuracy of ±5 bar. The temperature is variable from 0° to 100°C with an accuracy of ±0.3 K. The instrument is operated in a free-relaxation mode in which the decay of oscillation of the torsion pendulum after an initial displacement is recorded and used to compute the viscosity of the sample. The measurements are performed according to the contents of a user-specified control file, and the oscillation data are stored digitally and later analyzed for parameter estimation. The instrument operates in the very-low frequency range (0.03 to 0.25 Hz) and the accuracy of the measured viscosity is ±0.03 x 10^–3 Ns/m2.     

Non-trivial effects of high-frequency excitation for strongly damped mechanical systems

Some non-trivial effects are investigated, which can occur if strongly damped mechanical systems are subjected to strong high-frequency (HF) excitation. The main result is a theoretical prediction, supported by numerical simulation, that for such systems the (quasi-) equilibrium states can change substantially with the level of damping. For example, a strongly damped pendulum, with a hinge vibrated at high frequency along an elliptical path with horizontal or vertical axis, will line up along a line offset from the vertical; the offset vanishes for very light or very strong damping, attaining a maximum that can be substantial (depending on the strength of the HF excitation) for finite values of the damping. The analysis is focused on the differences between the classic results for weakly damped systems, and new effects for which the strong damping terms are responsible. The analysis is based on a slightly modified averaging technique, and includes an elementary example of an elliptically excited pendulum for illustration, alongside with a generalization to a broader class of strongly damped dynamical systems with HF excitation. As an application example, the non-trivial behavior of a classical optimally controlled non-linear system is investigated, illustrating how HF excitation may cause the controller to leave the system in an unexpected equilibrium state, quite different from the setpoint. The effects can be interesting for specialists in control of mechanical systems and structures. However the obtained results are more general. Similar effects could be expected first of all for microsystems where damping forces are typically dominating over inertia forces.     

反馈控制感应同步器双相激磁电源研究

本文对转台测角系统感应同步器双相激磁电源进行分析，用反馈方式抑制漂移误差，提高测角系统的精度和稳定性。经实验验证，这个方案是成功的。     

Dynamics of a Two-Pendulum Model with Impact Interaction and an Elastic Support

This paper examines the dynamic behavior of a double pendulummodel with impact interaction. One of the masses of the two pendulumsmay experience impacts against absolutely rigid container wallssupported by an elastic system forming an inverted pendulum restrainedby a torsional elastic spring. The system equations of motion arewritten in terms of a non-smooth set of coordinates proposed originallyby Zhuravlev. The advantage of non-smooth coordinates is that theyeliminate impact constraints. In terms of the new coordinates, thepotential energy field takes a cell-wise non-local structure, and theimpact events are treated geometrically as a crossing of boundariesbetween the cells. Based on a geometrical treatment of the problem,essential physical system parameters are established. It is found thatunder resonance parametric conditions of the linear normal modes thesystem's response can be either bounded or unbounded, depending on thesystem's parameters. The ability of the system to absorb energy from anexternal source essentially depends on the modal inclination angle,which is related to the principal coordinates.     

参数激励下非线性受控系统的动力学和稳定性

研究两自由度参数激励系统的非线性动力学与控制问题．利用Lagrange方程建立含反馈控制的参激捅及其驱动机构组成的系统动力学方程，以多尺度方法获得一阶近似控制方程．然后，对系统受一阶摸态参激主共振与一、二阶模态间3：1内共振联合作用下的幅额响应及其稳定性，以及反馈参数对系统稳态行为的影响作了详细分析．结果表明，响应的稳定域位置和大小取决于位移反馈，位移立方反馈改变了系统的非线性程度，速度反馈类似于阻尼，可使系统呈现自激振动特性．     

Asymptotic response of a two DOF elastoplastic system under harmonic excitation. Internal resonance case

The study of a two DOF elastoplastic system is formulated in a suitable phase space, velocity and force, in which an originally multi-valued restoring force is represented by a proper function. The asymptotic response can thus be studied using the Poincaré map concept and avoiding approximate analytical techniques. On account of the peculiarity of this hysteretic system, which has a well-defined yielding point, its dynamics is studied in a reduced dimension phase space using an efficient numerical algorithm. It is shown that the asymptotic response is always periodic with the period of the driven frequency and is always stable. Thus the response of the oscillator is described by its frequency response curves at various intensities of the excitation. The results presented refer to a system with two linear frequencies in a ratio of 1 : 3. The response is highly complex with numerous peaks corresponding to higher harmonics. The effect of coupling in conditions of internal resonance is a strong modification of the frequency response curves and of the oscillation shape of the structure.     

Bifurcations in the Mean Angle of a Horizontally Shaken Pendulum: Analysis and Experiment

A pendulum excited by high-frequency horizontal displacement of its pivot point will vibrate with small amplitude about a mean position. The mean value is zero for small excitation amplitudes, but if the excitation is large enough the mean angle can take on non-zero values. This behavior is analyzed using the method of multiple time scales. The change in the mean angle is shown to be the result of a pitchfork bifurcation, or a saddle-node bifurcation if the system is imperfect. Analytical predictions of the mean angle as a function of frequency and amplitude are confirmed by physical experiment and numerical simulation.     

The dynamics of an omnidirectional pendulum harvester

The pendulum applied to the field of mechanical energy harvesting has been studied extensively in the past. However, systems examined to date have largely comprised simple pendulums limited to planar motion and to correspondingly limited degrees of excitational freedom. In order to remove these limitations and thus cover a broader range of use, this paper examines the dynamics of a spherical pendulum with translational support excitation in three directions that operate under generic forcing conditions. This system can be modelled by two generalised coordinates. The main aim of this work is to propose an optimisation procedure to select the ideal parameters of the pendulum for an experimental programme intended to lead to an optimised pre-prototype. In addition, an investigation of the power take-off and its effect on the dynamics of the pendulum is presented with the help of Bifurcation diagrams and Poincaré sections.

     

Vibrational dynamics of a light body in a liquid-filled rotating cylinder

The behavior of a light free cylindrical body in a rapidly rotating horizontal cylinder containing a liquid under vibrational action (the vibration direction is perpendicular to the rotation axis) is investigated. An intense rotation of the body relative to the cavity is detected. Depending on the vibration frequency, the body rotation velocity in the laboratory reference system may be higher or lower than the cavity rotation velocity and in the resonance region they may differ by several times. The mechanism of motion generation is theoretically described. It is shown that the motion is related with the excitation of inertial oscillations of the body: the cause of the motion is an average vibrational force generated due to nonlinear effects in the Stokes boundary layer near the oscillating body. The formation of large-scale axisymmetric vortex structures periodic along the rotation axis, which appear under conditions of inertial oscillation of the body during its motion, both leading and lagging, is detected.     

Experimental Investigation of Dynamics and Bifurcations of an Impacting Spherical Pendulum

Since Newton first considered the motion of a spherical pendulum over 200 years ago, many researchers have studied its dynamic response under a variety of conditions. The characteristic of the problem that has invited so much investigation was that a spherical pendulum paradigms much more complex phenomena. Understanding the response of a paradigm gives an almost multiplicative effect in the understanding of other phenomena that can be modeled as a variant of the paradigm. The spherical pendulum has been used to damp irregular motion in helicopters and on space stations as well as for many other applications. In this study an inverted impacting spherical pendulum with large deflection was investigated. The model was designed to approximate an ideal pendulum, with the pendulum bob contributing the vast majority of the mass moment of inertia of the system. Two types of bearing mechanisms and tracking devices were designed for the system, one of which had low damping coefficient and the other with a relatively high damping coefficient. An experimental investigation was performed to determine the dynamics of an inverted, impacting spherical pendulum with large deflection and vertical parametric forcing. The pendulum system was studied with nine different bobs and two different base configurations. During the experiments, the frequency of the excitation remained between 24.6 and 24.9 Hz. It was found that sustained conical motions did not naturally occur. The spherical pendulum system was analyzed to determine under what conditions the onset of Type I response (a repetitive motion in which the pendulum bob does not traverse through the apex. The bob strikes the same general area of the restraint without striking the opposite side of the restraint.), sustainable Type II response (this is the repetitive motion in which the pendulum bob traverses through the apex. The bob strikes opposite sides of the restraint.), and mixed mode response (motion in which the pendulum bob randomly strikes either the same area of the restrain or the opposite side of the restraint) occurred.     

Dynamic response of the spherical pendulum subjected to horizontal Lissajous excitation

Nonlinear Dynamics - This paper examines the oscillations of a spherical pendulum with horizontal Lissajous excitation. The pendulum has two degrees of freedom: a rotational angle defined in the...     

参数激励与强迫激励联合作用下非线性振动系统的分叉

本文利用多尺度法研究了参数激励与强迫激励联合作用下非线性振动系统的分叉问题,给出了分叉集和八种分叉响应曲线。     

Dynamics of the nearly parametric pendulum

Dynamically stable periodic rotations of a driven pendulum provide a unique mechanism for generating a uniform rotation from bounded excitations. This paper studies the effects of a small ellipticity of the driving, perturbing the classical parametric pendulum. The first finding is that the region in the parameter plane of amplitude and frequency of excitation where rotations are possible increases with the ellipticity. Second, the resonance tongues, which are the most characteristic feature of the classical bifurcation scenario of a parametrically driven pendulum, merge into a single region of instability.     

Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle

From the viewpoints of environmental protection, support for the aged and ensuring the right to mobility, there is a need to develop a new type of mobility vehicle that provides more effective transportation. The authors propose an inverted pendulum vehicle with pedals as one of the forms of personal mobility vehicles (PMVs). In this paper, the steering performance of the inverted pendulum vehicle with pedals is discussed based on experiments on a prototype. From the experimental results, it was confirmed that the errors from the five subjects for the target trajectory and the five-grade evaluation of the maneuverability were similar. Finally, we created an inverted pendulum vehicle with pedals to which was added a reaction actuator for the steering system. From the experimental results, it was found that setting appropriate feedback gains for the handle steering angle and its rate of rotation, which control the right and left wheel driving torques, resulted in greatly improved maneuverability.     

Optimum energy extraction from rotational motion in a parametrically excited pendulum

A pendulum rotating under vertical base excitation is considered from the viewpoint of energy extraction. Since the uncontrolled system can exhibit complex dynamics, we consider an added control torque and seek the optimal period-1 rotational motion for maximum energy extraction. We find, and confirm through complementary methods, that the limiting optimal motion for harmonic base excitation is piecewise-constant: there are extended dwells at the top and bottom positions with rapid transitions in between. The limiting optimal solution gives about a quarter more energy extraction than uniform rotation, in the limit of no damping. Approximating motions with finite-speed transitions can be almost as good. Base excitations other than pure sinusoids are also considered and the corresponding optima determined.