Approximate analytical solutions for oscillatory and rotational motion of a parametric pendulum

In this paper, the authors have studied dynamic responses of a parametric pendulum by means of analytical methods. The fundamental resonance structure was determined by looking at the undamped case. The two typical responses, oscillations and rotations, were investigated by applying perturbation methods. The primary resonance boundaries for oscillations and pure rotations were computed, and the approximate analytical solutions for small oscillations and period-one rotations were obtained. The solution for the rotations has been derived for the first time. Comparisons between the analytical and numerical results show good agreements.     

Approximations for period-1 rotation of vertically and horizontally excited parametric pendulum

Nonlinear Dynamics - We obtain analytical approximations for period-1 rotations of both vertically and horizontally excited pendulum using Galerkin projections with elliptic functions (GP),...     

Periodic, quasiperiodic and chaotic behavior of a driven Froude pendulum

An investigation of the dynamic behavior of a driven Froude pendulum is carried out. Numerical solutions of a highly non-linear Froude pendulum are developed by making use of the piecewise-constant procedure. Periodic, quasiperiodic and chaotic motions of the pendulum are distinguished by making use of the criterion of periodicity ratio and are graphically demonstrated for varying system parameters and different initial conditions. Periodic and quasiperiodic routes to chaos are analyzed on the basis of period–quasiperiodic–chaotic diagrams.     

Chaos in a pendulum with feedback control

We study chaotic dynamics of a pendulum subjected to linear feedback control with periodic desired motions. The pendulum is assumed to be driven by a servo-motor with small inductance, so that the feedback control system reduces to a periodic perturbation of a planar Hamiltonian system. This Hamiltonian system can possess multiple saddle points with non-transverse homoclinic and/or heteroclinic orbits. Using Melnikov's method, we obtain criteria for the existence of chaos in the pendulum motion. The computation of the Melnikov functions is performed by a numerical method. Several numerical examples are given and the theoretical predictions are compared with numerical simulation results for the behavior of invariant manifolds.     

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.     

Marginal stability boundaries for some driven, damped, non-linear oscillators

A procedure is developed for averaging the differential equations for certain non-linear oscillators which are damped and externally driven. The procedure makes possible the obtaining of marginal stability boundaries for bifurcations in parameter space and is useful for systems with unperturbed solutions involving Jacobi elliptic functions. Specific cases of a driven, damped pendulum, an anharmonie oscillator, a Duffing oscillator, and a non-linear Helmholtz oscillator are examined.     

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.     

Non-linear behavior in a discretely forced oscillator

The simulated and experimental responses of a rigid-arm pendulum driven by an external impactor are considered. Here, impact occurs if the trajectory of a rotating impactor intersects that of the pendulum. Using the rotation rate of the impactor as the control parameter, experimental trials have demonstrated much of the dynamic behavior predicted by numerical simulations. The system exhibits chatter (i.e., multiple impacts within a single forcing period), sticking (i.e., contact between the pendulum and the impactor for non-negligible amounts of time), high-order periodicity, and behavior suggestive of chaos. A new convention for classifying periodic motions as well as insights regarding the nature of the coefficient of restitution (COR) in an experimental impacting system are also presented.     

Antiplane strain of a body undergoing large-rotations

Antiplane strain of a cylindrical elastic body undergoing large rotations under surface load in the absence of body loads is studied. The form of the elastic potential corresponding to this strain is found. The stresses, the strains, and the displacement are expressed in terms of pressure and two independent strains and the pressure is expressed in terms of the linear strain invariant. For the strains and displacement, nonlinear boundary-value problems are formulated and their ellipticity conditions are given. The linear problem for the displacement is obtained by transformation of variables. An example of determining the displacement is considered. __________ Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 48, No. 3, pp. 191–198, May–June, 2007.     

An illustration of the equivalence of the loss of ellipticity conditions in spatial and material settings of hyperelasticity

The loss of ellipticity indicated through the rank-one-convexity condition is elaborated for the spatial and material motion problem of continuum mechanics. While the spatial motion problem is characterized through the classical equilibrium equations parametrised in terms of the deformation gradient, the material motion problem is driven by the inverse deformation gradient. As such, it deals with material forces of configurational mechanics that are energetically conjugated to variations of material placements at fixed spatial points. The duality between the two problems is highlighted in terms of balance laws, linearizations including the consistent tangent operators, and the acoustic tensors. Issues of rank-one-convexity are discussed in both settings. In particular, it is demonstrated that if the rank-one-convexity condition is violated, the loss of well-posedness of the governing equations occurs simultaneously in the spatial and in the material motion context. Thus, the material motion problem, i.e. the configurational force balance, does not lead to additional requirements to ensure ellipticity. This duality of the spatial and the material motion approach is illustrated for the hyperelastic case in general and exemplified analytically and numerically for a hyperelastic material of Neo-Hookean type. Special emphasis is dedicated to the geometrical representation of the ellipticity condition in both settings.     

A note on the pure torsion of a circular cylinder for a compressible nonlinearly elastic material with nonconvex strain-energy

The large deformation torsion problem for an elastic circular cylinder subject to prescribed twisting moments at its ends is examined for a particular homogeneous isotropic compressible material, namely the Blatz-Ko material. For this material, the displacement equations of equilibrium in three-dimensional elastostatics can lose ellipticity at sufficiently large deformations. For the torsion problem, it is shown that this occurs when the prescribed torque reaches a critical value. For values of the twisting moment greater than this critical value, there is an axial core of the cylinder on which ellipticity holds, surrounded by an annular region where loss of ellipticity has occurred. The physical implications in terms of localized shear bands are briefly discussed.     

Full- and reduced-order synchronization of a class of time-varying systems containing uncertainties

Investigation on chaos synchronization of autonomous dynamical systems has been largely reported in the literature. However, synchronization of time-varying, or nonautonomous, uncertain dynamical systems has received less attention. The present contribution addresses full- and reduced-order synchronization of a class of nonlinear time-varying chaotic systems containing uncertain parameters. A unified framework is established for both the full-order synchronization between two completely identical time-varying uncertain systems and the reduced-order synchronization between two strictly different time-varying uncertain systems. The synchronization is successfully achieved by adjusting the determined algorithms for the estimates of unknown parameters and the linear feedback gain, which is rigorously proved by means of the Lyapunov stability theorem for nonautonomous differential equations together with Barbalat’s lemma. Moreover, the synchronization result is robust against the disturbance of noise. We illustrate the applicability for full-order synchronization using two identical parametrically driven pendulum oscillators and for reduced-order synchronization using the parametrically driven second-order pendulum oscillator and an additionally driven third-order Rossler oscillator.     

Parametric instability of a vertically driven magnetic pendulum with eddy-current braking by a flat plate

Nonlinear Dynamics - The vertically driven pendulum is one of the classical systems where parametric instability occurs. We study its behavior with an additional electromagnetic interaction caused...     

A simple feedback control system: Bifurcations of periodic orbits and chaos

We consider a pendulum subjected to linear feedback control with periodic desired motions. The pendulum is assumed to be driven by a servo-motor with small time constant, so that the feedback control system can be approximated by a periodically forced oscillator. It was previously shown by Melnikov's method that transverse homoclinic and heteroclinic orbits exist and chaos may occur in certain parameter regions. Here we study local bifurcations of harmonics and subharmonics using the second-order averaging method and Melnikov's method. The Melnikov analysis was performed by numerically computing the Melnikov functions. Numerical simulations and experimental measurements are also given and are compared with the previous and present theoretical predictions. Sustained chaotic motions which result from homoclinic and heteroclinic tangles for not only single but also multiple hyperbolic periodic orbits are observed. Fairly good agreement is found between numerical simulation and experimental results.     

Role of initial conditions in the dynamics of a double pendulum at low energies

We consider the low energy dynamics of the double pendulum. Low energy implies energies close to the critical value required to make the outer pendulum rotate. All the known interesting results for the double pendulum are at high energies, that is, energies higher than that required to make both pendulums rotate. We show that interesting behavior can occur at low energies as well by which we mean energies just sufficient to make the outer pendulum rotate. A harmonic balance and the Lindstedt–Poincare analysis at the low energies establish that at small, but finite amplitude; the two normal modes behave differently. While the frequency of the “in-phase” mode is almost unchanged with increasing amplitude, the frequency of the “out-of-phase” mode drops sharply. Numerical analysis verifies this analytic result and since the perturbation theory indicates a mode softening for the out-of-phase mode at a critical amplitude, we did a careful numerical analysis of the low energy region just above the threshold for onset of rotation for the outlying pendulum. We find chaotic behavior, but the chaos is a strong function of the initial condition.     

On the Eigenvalues of the Fourth-Order Constitutive Tensor and Loss of Strong Ellipticity in Elastoplasticity

The eigenvalues of the fourth-order constitutive tangent modulus and the corresponding acoustic tensors are analyzed. Explicit expressions of the eigenvalues are made for the nonsymmetric tangent modulus tensor, and in the case of the deviatoric associative rule for the symmetric part of the tangent modulus and its acoustic tensor. In this context, a rate independent infinitesimal elastoplastic model is considered. The expressions of the plastic hardening modulus are summarized for the different local stability criteria (loss of second order work positiveness, loss of ellipticity, and loss of strong ellipticity). The critical hardening modulus and orientation are discussed in detail in the case of loss of ellipticity and loss of strong ellipticity. This analysis is based on the geometric method and linear, isotropic elasticity and deviatoric associative flow rule. In particular, the critical orientation for the loss of strong ellipticity and the classical shear band localization are compared.     

Optimal feedback gains of a delayed proportional-derivative (PD) control for balancing an inverted pendulum

In the dynamics analysis and synthesis of a con-trolled system, it is important to know for what feedback gains can the controlled system decay to the demanded steady state as fast as possible. This article presents a sys-tematic method for finding the optimal feedback gains by taking the stability of an inverted pendulum system with a delayed proportional-derivative controller as an example. First, the condition for the existence and uniqueness of the stable region in the gain plane is obtained by using the D-subdivision method and the method of stability switch. Then the same procedure is used repeatedly to shrink the stable region by decreasing the real part of the rightmost charac-teristic root. Finally, the optimal feedback gains within the stable region that minimizes the real part of the rightmost root are expressed by an explicit formula. With the optimal feedback gains, the controlled inverted pendulum decays to its trivial equilibrium at the fastest speed when the initial val-ues around the origin are fixed. The main results are checked by numerical simulation.     

High Frequency Measurements of Viscoelastic Properties of Hydrogels for Vocal Fold Regeneration

This report describes a torsional wave experiment used to measure the viscoelastic properties of vocal fold tissues and soft materials over the range of phonation frequencies. A thin cylindrical sample is mounted between two hexagonal plates. The assembly is enclosed in an environmental chamber to maintain the temperature and relative humidity at in vivo conditions. The bottom plate is subjected to small oscillations by means of a galvanometer driven by a frequency generator that steps through a sequence of frequencies. At each frequency, measured rotations of the top and bottom plates are used to determine the ratio of the amplitudes of the rotations of the two plates. Comparisons of the frequency dependence of this ratio with that predicted for torsional waves in a linear viscoelastic material allows the storage modulus and the loss angle, in shear, to be calculated by a best-fit procedure. Experimental results are presented for hydrogels that are being examined as potential materials for vocal fold regeneration.     

Steady-state responses of a belt-drive dynamical system under dual excitations

The stable steady-state periodic responses of a belt-drive system with a one-way clutch are studied. For the first time, the dynamical system is investigated under dual excitations. The system is simultaneously excited by the firing pulsations of the engine and the harmonic motion of the foundation. Nonlinear discrete–continuous equations are derived for coupling the transverse vibration of the belt spans and the rotations of the driving and driven pulleys and the accessory pulley. The nonlinear dynamics is studied under equal and multiple relations between the frequency of the firing pulsations and the frequency of the foundation motion.Furthermore, translating belt spans are modeled as axially moving strings. A set of nonlinear piecewise ordinary differential equations is achieved by using the Galerkin truncation.Under various relations between the excitation frequencies,the time histories of the dynamical system are numerically simulated based on the time discretization method. Furthermore, the stable steady-state periodic response curves are calculated based on the frequency sweep. Moreover, the convergence of the Galerkin truncation is examined. Numerical results demonstrate that the one-way clutch reduces the resonance amplitude of the rotations of the driven pulley and the accessory pulley. On the other hand, numerical examples prove that the resonance areas of the belt spans are decreased by eliminating the torque-transmitting in the opposite direction. With the increasing amplitude of the foundation excitation, the damping effect of the one-way clutch will be reduced. Furthermore, as the amplitude of the firingpulsations of the engine increases, the jumping phenomena in steady-state response curves of the belt-drive system with or without a one-way clutch both occur.     

On the Global Geometric Structure of the Dynamics of the Elastic Pendulum

We approach the planar elastic pendulum as a singular perturbation of the pendulum to show that its dynamics are governed by global two-dimensional invariant manifolds of motion. One of the manifolds is nonlinear and carries purely slow periodic oscillations. The other one, on the other hand, is linear and carries purely fast radial oscillations. For sufficiently small coupling between the angular and radial degrees of freedom, both manifolds are global and orbitally stable up to energy levels exceeding that of the unstable equilibrium of the system. For fixed value of coupling, the fast invariant manifold bifurcates transversely to create unstable radial oscillations exhibiting energy transfer. Poincaré sections of iso-energetic manifolds reveal that only motions on and near a separatrix emanating from the unstable region of the fast invariant manifold exhibit energy transfer.