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.     

Dynamics of body separation—analytical procedure

In this paper, an analytical procedure for the determination of the dynamic parameters of a remainder body after mass separation is developed. The method is based on the general principles of momentum and angular momentum of a body and system of bodies. The kinetic energy of motion of the whole body and also of the separated and remainder body is considered. The derivatives of kinetic energies with respect to the generalized velocity determine the velocity and angular velocity of the remainder body. To confirm the proposed procedure, the results are compared with those obtained using the method of momenta and angular momenta. In the paper, the theorem about increase of kinetic energies of the separated and remainder bodies for perfectly plastic separation is proved. The increase of the kinetic energies correspond to the relative velocities and angular velocities of the separated and remainder bodies. As an example, the mass separation from a pendulum is considered. The kinematic properties of the remainder pendulum are obtained using the analytic procedure. The results are in agreement with those obtained by applying the basic principles of Newton’s mechanics.     

A modified Gaussian moment closure method for nonlinear stochastic differential equations

Parametric excitation of a nonlinear physical pendulum by modulation of its moment of inertia is analyzed in terms of physics as an example of the suggested approach. The modulation is provided by a redistribution of auxiliary masses. The system is investigated both analytically and with the help of computer simulations. The threshold and other characteristics of parametric resonance are found and discussed in detail. The role of nonlinear properties of the physical system in restricting the resonant swinging is emphasized. Phase locking between the drive and oscillations of the pendulum and the phenomenon of parametric autoresonance are investigated. The boundaries of parametric instability are determined as functions of the modulation depth and the quality factor. The feedback providing active optimal control of amplification and attenuation of oscillations is analyzed. An effective method of suppressing undesirable rotary oscillations of suspended constructions is suggested.     

Dynamics of a mass–spring–pendulum system with vastly different frequencies

We investigate the dynamics of a simple pendulum coupled to a horizontal mass?Cspring system. The spring is assumed to have a very large stiffness value such that the natural frequency of the mass?Cspring oscillator, when uncoupled from the pendulum, is an order of magnitude larger than that of the oscillations of the pendulum. The leading order dynamics of the autonomous coupled system is studied using the method of Direct Partition of Motion (DPM), in conjunction with a rescaling of fast time in a manner that is inspired by the WKB method. We particularly study the motions in which the amplitude of the motion of the harmonic oscillator is an order of magnitude smaller than that of the pendulum. In this regime, a pitchfork bifurcation of periodic orbits is found to occur for energy values larger that a critical value. The bifurcation gives rise to nonlocal periodic and quasi-periodic orbits in which the pendulum oscillates about an angle between zero and ??/2 from the down right position. The bifurcating periodic orbits are nonlinear normal modes of the coupled system and correspond to fixed points of a Poincare map. An approximate expression for the value of the new fixed points of the map is obtained. These formal analytic results are confirmed by comparison with numerical integration.     

Exploiting internal resonance for vibration suppression and energy harvesting from structures using an inner mounted oscillator

The flexural vibration of a symmetrically laminated composite cantilever beam carrying a sliding mass under harmonic base excitations is investigated. An internally mounted oscillator constrained to move along the beam is employed in order to fulfill a multi-task that consists of both attenuating the beam vibrations in a resonance status and harvesting this residual energy as a complementary subtask. The set of nonlinear partial differential equations of motion derived by Hamilton’s principle are reduced and semi-analytically solved by the successive application of Galerkin’s and the multiple-scales perturbation methods. It is shown that by properly tuning the natural frequencies of the system, internal resonance condition can be achieved. Stability of fixed points and bifurcation of steady-state solutions are studied for internal and external resonances status. It results that transfer of energy or modal saturation phenomenon occurs between vibrational modes of the beam and the sliding mass motion through fulfilling an internal resonance condition. This study also reveals that absorbers can be successfully implemented inside structures without affecting their functionality and encumbering additional space but can also be designed to convert transverse vibrations into internal longitudinal oscillations exploitable in a straightforward manner to produce electrical energy.     

Dynamic response of tower crane induced by the pendulum motion of the payload

Dynamic response of tower cranes coupled with the pendulum motions of the payload is studied in this paper. A simple perturbation scheme and the assumption of small pendulum angle are applied to simplify the governing equation. The tower crane is modeled by the finite element method, while the pendulum motion is represented as rigid-body kinetics. Integrated governing equations for the coupled dynamics problem are derived based on Lagrange’s equations including the dissipation function. Dynamics of a real luffing crane model with the spherical and planar pendulum motions is analyzed using the proposed formulations and computational method. It is found that the dynamic responses of the tower crane are dominated by both the first few natural frequencies of crane structure and the pendulum motion of the payload. The dynamic amplification factors generally increase with the increase of the initial pendulum angle and the changes are just slightly nonlinear for the planar pendulum motion.     

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.     

Forecasting Hamiltonian dynamics without canonical coordinates

Conventional neural networks are universal function approximators, but they may need impractically many training data to approximate nonlinear dynamics. Recently introduced Hamiltonian neural networks can efficiently learn and forecast dynamical systems that conserve energy, but they require special inputs called canonical coordinates, which may be hard to infer from data. Here, we prepend a conventional neural network to a Hamiltonian neural network and show that the combination accurately forecasts Hamiltonian dynamics from generalised noncanonical coordinates. Examples include a predator–prey competition model where the canonical coordinates are nonlinear functions of the predator and prey populations, an elastic pendulum characterised by nontrivial coupling of radial and angular motion, a double pendulum each of whose canonical momenta are intricate nonlinear combinations of angular positions and velocities, and real-world video of a compound pendulum clock.

     

Pendulum motions of extended lunar space elevator

In the usual everyday life, it is well known that the inverted pendulum is unstable and is ready to fall to “all four sides,” to the left and to the right, forward and backward. The theoretical studies and the lunar experience of moon robots and astronauts also confirms this property. The question arises: Is this property preserved if the pendulum is “very, very long”? It turns out that the answer is negative; namely, if the pendulum length significantly exceeds the Moon radius, then the radial equilibria at which the pendulum is located along the straight line connecting the Earth and Moon centers are Lyapunov stable and the pendulum does not fall in any direction at all. Moreover, if the pendulum goes beyond the collinear libration points, then it can be extended and manufactured from cables. This property was noted by F. A. Tsander and underlies the so-called lunar space elevator (e.g., see [1]). In the plane of the Earth and Moon orbits, there are some other equilibria which turn out to be unstable. The question is, Are there equilibria at which the pendulum is located outside the orbital plane? In this paper, we show that the answer is positive, but such equilibria are unstable in the secular sense. We also study necessary conditions for the stability of lunar pendulum oscillations in the plane of the lunar orbit. It was numerically discovered that stable and unstable equilibria alternate depending on the oscillation amplitude and the angular velocity of rotation. The study of the lunar elevator dynamics originates in [2]. The concept of lunar elevator was developed in detail in [3, 4]. Several classes of equilibria with the finiteness of the Moon size taken into account were studied in [5]. The possibility of location of an orbital station fixed to the Moon surface by a pair of tethers was investigated in [6]. The problem of orientation of the terminal station of the lunar space elevator was studied in [7]. The influence of the tether length variations on the motion of the lunar tether system was considered in [8]. The alternation of stable and unstable flat oscillations is well known in the problem of satellite oscillations in a circular orbit [9, 10].     

On damping properties of a frictionless physical pendulum with a moving mass

The damping effects are generated in a frictionless oscillating physical pendulum by a continuous motion of an auxiliary mass. The main parameters affecting the damping properties of the pendulum-mass system are identified. In particular, the effective damping ratio for a cycle is introduced and derived in a closed form from the energy considerations and then independently from Mathieu's equation. It is shown that a continuous damping can be achieved if the mass motion is synchronized with the pendulum rotation. Otherwise the system becomes prone to ‘beating’ phenomenon. The results presented may be useful for design of active control strategy of autonomous systems with negligible passive damping.     

基于修正型罗德里格斯参数的三维刚体摆姿态控制

3D 刚体摆是研究地球静止轨道航天器的一个力学简化模型, 它绕一个固定、无摩擦的支点旋转, 具有3 个转动自由度. 文章给出基于修正型罗德里格斯(Rodrigues) 参数描述的3D 刚体摆的姿态动力学方程, 针对3D 刚体摆姿态和角速度稳定的非线性控制设计问题, 基于无源性控制理论利用能量法设计了3D 刚体摆的系统控制器, 并证明了系统满足无源性. 构造了系统的李雅普诺夫(Lyapunov) 函数, 利用能量法设计出3D 刚体摆的姿态控制律, 并由拉萨尔(LaSalle) 不变集原理证明了该控制律的渐近稳定性. 仿真实验给出了3D 刚体摆在倒立平衡位置的姿态和角速度的渐近稳定性, 仿真实验结果表明基于能量方法的3D 刚体摆姿态控制是有效的.     

Nonlinear dynamic analysis on rigid-flexible coupling system of an elastic beam

Previous work examined the effect of the attached stiffness matrix terms on stability of an elastic beam undergoing prescribed large overall motion. The aim of the present work is to extend the nonlinear formulations to an elastic beam with free large overall motion. Based on initial stress method, the nonlinear coupling equations of elastic beams are obtained with free large overall motion and the attached stiffness matrix is derived by solving sub-static formulation. The angular velocity and the tip deformation of the elastic pendulum are calculated. The analytical results show that the simulation results of the present model are tabled and coincide with the one-order approximate model. It is shown that the simulation results accord with energy conservation principle.     

Galloping instability and control of a rigid pendulum in a flowing soap film

A pendulum suspended in a fast flowing soap film may show sustained oscillations. The conditions necessary for self-excited motion to occur are outlined: a flow velocity above a threshold value along with geometrical constraints. The role of vortex shedding is discussed, and the observed instability is shown to be well-described by the galloping instability. Experimental results are supported by numerical simulations. Furthermore, we observe that the instability may be suppressed by attaching a long enough filament to the rear of the pendulum.     

Dynamics of the rolling and sliding of an elongated cylinder

A snap of a finger on an elongated cylinder produces on it a surprising fast spinning motion during which its mass center rises with very large oscillations. After that, the mass center goes to a long quasi-stationary oscillations state and eventually goes down very slowly. To explain this behavior we present a theoretical and numerical analysis of the dynamics of a spinning elongated cylinder moving with a single point of contact on a horizontal plane under the action of gravity. The study has been made taking into account the rolling and sliding dissipation as well as the Kutta–Joukowski airflow effect. The results of the simulations are in agreement qualitatively with the observed real motion.     

Open-plus-closed-loop control for chaotic motion of 3D rigid pendulum

An open-plus-closed-loop （OPCL） control problem for the chaotic motion of a 3D rigid pendulum subjected to a constant gravitationM force is studied. The 3D rigid pendulum is assumed to be consist of a rigid body supported by a fixed and frictionless pivot with three rotational degrees. In order to avoid the singular phenomenon of Euler＇s angular velocity equation, the quaternion kinematic equation is used to describe the motion of the 3D rigid pendulum. An OPCL controller for chaotic motion of a 3D rigid pendulum at equilibrium position is designed. This OPCL controller contains two parts： the open-loop part to construct an ideal trajectory and the closed-loop part to stabilize the 3D rigid pendulum. Simulation results show that the controller is effective and efficient.     

A solar system model with dissipation

A problem of motion for an arbitrary number of planets is discussed with consideration of the forces of gravitational interaction according to the law of universal gravitation. The planets are assumed to be homogeneous viscoelastic spheres. In the process of motion, the planets are deformed and the dissipation of energy takes place due to internal viscous forces. On the basis of the motion separation method, an approximate system of equations is obtained to describe the motion of planet centers of mass and the variation of planet angular momenta with respect to the centers of mass. The equations of motion contain small conservative corrections to the law of universal gravitation and small dissipative forces whose influence causes a decrease of the total mechanical energy. The motion under consideration admits the following first integral: the law of angular momentum conservation for the system with respect to the centers of mass. When the system executes the steady motion corresponding to its rotation with a constant angular velocity as a rigid body, the dissipative forces do not perform work, since the deformed planets have no time-dependent deformations.     

Complete integrability of the equations of motion of a spatial pendulum in a medium flow with rotational derivatives of the torque produced by the medium taken into account

We construct a nonlinearmodel of the mediumaction on a rigid body taking into account the dependence of the force arm on the reduced angular velocity of the body. In this case, the moment of the action force itself is also a function of the angle of attack. As experimental data processing for the motion of homogeneous circular cylinders in water has shown, it is necessary to take these facts into account in modeling.Studying the model of interaction between the spatial pendulum and the medium, we found a new case of complete integrability in elementary functions. This allowed us to find several qualitative analogies between the motions of bodies that are free in the resisting environment and the oscillations of bodies partially fixed in the homogeneous flow of incoming medium.     

Stability and Hopf bifurcation in an inverted pendulum with delayed feedback control

In this paper, we investigate the dynamics of the inverted pendulum with delayed feedback control. The existence and stability of multiple equilibria depending on the control strengths are studied. Taking the time delay of the control terms as a parameter, periodic oscillations induced by delay are found. By using the method of multiple scales, the effect of the control gains and the relative mass of the pendulum on the stability and direction of Hopf bifurcations are discussed. Numerical simulations are employed to illustrate the obtained theoretical results.     

Water waves in a suspended container

Analysis and experiments are carried out on a horizontal rectangular wave tank which swings at the lower end of a pendulum. The walls of the tank generate waves which affect the motion of the pendulum. For small displacements of the tank, linearised shallow water equations are used to model the motion, and there exist time-periodic solutions for the system whose periods are governed by a transcendental relation. Numerical and analytic solutions of this relation show that the fundamental period is greater than both the period of the empty tank (moving like a simple pendulum) and the fundamental period of the standing wave which occurs when the tank is removed from its supports and held fixed. For a rectangular tank the theory compares well with some experimental measurements. Qualitative observations are also made of the effect of breaking waves on the tank motion: for a tank which has a mass small compared with its load the energy dissipated by breaking waves can rapidly reduce the amplitude of swing of the tank. Potential flow theory is used with linearised free-surface boundary conditions to find time periodic motions for a tank with a hyperbolic cross section.