Distinguishing the transition to chaos in a spherical pendulum

Complex responses are studied for a spherical pendulum whose support is excited with a translational periodic motion. Governing equations are studied analytically to allow prediction of responses under various excitation conditions. Stability for certain cases of damping is predicted by means of existing analysis and compared with experimental data. Numerical time-step integration of the governing equations is developed to predict responses for various types of excitation and damping conditions. Predicted results are compared with corresponding motions measured in an experimental spherical pendulum system. A data acquisition system is included whereby detailed digitized time histories of the pendulum motion can be established and various parameters can be computed to characterize the type of motion present. Two new vector spaces are defined for describing complex responses which occur for certain specified excitation conditions. It is shown in these parameter spaces that the transition from quasiperiodic to chaotic motions can be carefully quantified in systems with very light damping. This discovery provides a convenient means for comparison of complex motions in the numerical and experimental air pendulum systems. The implications of the results are important for dynamic response in various applications, including fluid motions in satellite tanks and other nonlinear time-dependent physical processes which include very light damping. (c) 1995 American Institute of Physics.     

Experimental measurement of chaotic attractors in solid mechanics(a))

In this paper a review is given of experimental techniques in chaotic dynamics of solid mechanical systems based on modern ideas of nonlinear dynamics. These methods include Poincare maps, double Poincare sections, symbol dynamics, and fractal dimension. The physical problems discussed include nonlinear elastic beams, forced motion of a string, flow-induced vibration of a rod, forced motions of a magnetic pendulum, and rigid body dynamics of a magnet and high-temperature superconductor.     

秋千参数自激振动的数学模型与数值模拟

将秋千视为变长度单摆,基于归一化高斯函数构造了摆球相对摆杆的速度表达式.在此基础上建立了秋千的非线性动力学微分方程,并据此数学模型对秋千运动进行了数值模拟,得到了秋千的运动规律和功能转化的机制.     

重力场和正交均匀电磁场中的旋轮线(摆线)

用初等方法证明等时摆的摆锤所描成的曲线和最速降落曲线都是旋轮线 ;证明在正交的均匀电场与均匀磁场中运动的带电粒子的轨迹也是旋轮线 ;讨论了重力场和正交均匀电磁场中质点的运动之间的类比     

Chaotic dynamics of a whirling pendulum

A physical system is considered consisting of a rigid frame which is free to rotate about a vertical axis and to which is attached a planar simple pendulum. This system has “one and a half” degrees of freedom due to the fact that the frame and pendulum may freely rotate about the vertical axis, i.e., conservation of angular momentum holds for the “ideal”, or unperturbed, system. Using a Hamiltonian formulation we reduce the unperturbed equations of motion to a conservative planar system in which the constant angular momentum plays the role of a parameter. This system is shown to possess one or two sets of homoclinic motions depending on the level of the angular momentum. When this system is perturbed by external excitations and dissipative forces these homoclinic motions can break into homoclinic tangles providing the conditions for chaotic motions of the horseshoe type to exist. The criteria for this to occur can be formulated using a variation of Melnikov's method developed for slowly varying oscillators [1, 2]. For the present problem, the angular momentum becomes a slowly varying parameter upon addition of the disturbances. These ideas are used to rigorously prove the existence of chaotic motions for this system and to compute, to first order, global bifurcation parameter conditions. Since two types of homoclinic motions can occur, two different chaotic modes of motion can result and physical interpretations of these motions are given. In addition, a limiting case is considered in which the system becomes a single degree of freedom oscillator with parametric excitation.     

杆摆中的内力、内力矩及其功

讨论了杆摆运动中的切向内力及其力矩、法向内力及其力矩;计算了内力及内力矩所作的功,这对进一步理解“质点”、“刚体”等概念有一定的参考价值．     

Experimental evidence for chaotic behaviour of a parametrically forced pendulum

Experimental evidence is presented for chaotic type nonperiodic motions of a parametrically forced pendulum. A bifurcation diagram is measured directly, showing successive subharmonic bifurcations to ?/4, onset of a periodic motion and the appearance of periodic motions via intermittency. The experimentally determined threshold values of the amplitude of the driving force for the first period doublings and the onset of a periodic motion are found to be in good agreement with the theoretical predictions.     

A pendulum on a rotating and vibrating foundation

The motion of a pendulum is investigated in a uniform gravity field. The foundation of the pendulum is assumed to rotate around the vertical simultaneously accomplishing harmonic vibrations along it with a high frequency and small amplitude. With use of the classical perturbation theory and modern methods of analysis of nonlinear dynamical sets, the problem on the existence and stability of periodic motions of a pendulum with the period equal to that of the vibrations of the foundation is solved.     

Experiments on periodic and chaotic motions of a parametrically forced pendulum

An experimental study of periodic and chaotic type aperiodic motions of a parametrically harmonically excited pendulum is presented. It is shown that a characteristic route to chaos is the period-doubling cascade, which for the parametrically excited pendulum occurs with increasing driving amplitude and decreasing damping force, respectively. The coexistence of different periodic solutions as well as periodic and chaotic solutions is demonstrated and various transitions between them are studied. The pendulum is found to exhibit a transient chaotic behaviour in a wide range of driving force amplitudes. The transition from metastable chaos to sustained chaotic behaviour is investigated.     

复摆运动中的混沌现象及其计算机模拟

从复摆的运动方程入手,利用计算机进行求解,通过选取不同的参数,分析了其运动中的各种典型情况及混沌现象,并用两种方式对其运动进行了图像描绘。     

Temperature-insensitive 2-D tilt sensor by incorporating fiber Bragg gratings with a hybrid pendulum

A novel two-dimensional (2-D) tilt sensor is demonstrated by incorporating only two fiber Bragg gratings (FBGs) with a hybrid pendulum transducer. The pendulum transducer is specially designed with hollow half at the upper side and solid half at the lower side. Two FBGs were attached on the surface separated by one fourth of the circumference of the rod of pendulum and across the interface of its hollow and solid parts. Reflection peaks of FBGs split by the applied tilt angle. 2-D tilt angle can be determined by monitoring the wavelength separations of the split peak in two FBGs, which is inherently insensitive to temperature. In the experiment, a sensitivity of 0.054 nm/° over a wide range of 20º has been achieved, with the accuracy of 0.27°.     

Cosserat弹性杆动力学普遍定理的守恒量问题

根据Cosserat弹性杆的动力学普遍定理,讨论其守恒量问题. 因弹性杆的动力学方程是以截面为对象,并且是以弧坐标和时间为双自变量,其守恒量必定是以积分的形式给出,分别存在关于弧坐标或时间守恒的问题. 根据弹性杆的动量和动量矩方程,导出其动量守恒和动量矩守恒的存在条件及其表达,并讨论了关于沿中心线弧坐标的守恒问题;再分别根据弹性杆关于时间和弧坐标的能量方程导出了各自的关于时间和弧坐标的守恒量存在条件及其表达, 结果包括了弹性杆的机械能守恒以及平衡时的应变能积分;守恒问题给出了例子. 积分形式的守恒量对于弹性杆动力学的理论分析和数值计算都具有实际意义. 关键词： 守恒量 Cosserat弹性杆 动力学普遍定理 双自变量     

Vibrational energy flow models for the Rayleigh–Love and Rayleigh–Bishop rods

Energy Flow Analysis (EFA) has been developed to predict the vibrational energy density of the system structures in the medium-to-high frequency range. The elementary longitudinal wave theory is often used to describe the longitudinal vibration of a slender rod. However, for relatively large diameter rods or high frequency ranges, the elementary longitudinal wave theory is inaccurate because the lateral motions are not taken into account. In this paper, vibrational energy flow models are developed to analyze the longitudinally vibrating Rayleigh–Love rod considering the effect of lateral inertia, and the Rayleigh–Bishop rod considering the effect not only of the lateral inertia but also of the shear stiffness. The derived energy governing equations are second-order differential equations which predict the time and space averaged energy density and active intensity distributions in a rod. To verify the accuracy of the developed energy flow models, various numerical analyses are performed for a rod and coupled rods. Also, the EFA results for the Rayleigh–Love and Rayleigh–Bishop rods are compared with the analytical solutions for these models, the traditional energy flow solutions, and the analytical solutions for the classical rod.     

Instabilities in the main parametric resonance area of a mechanical system with a pendulum

Vibrations of an autoparametric system, composed of a nonlinear mechanical oscillator with an attached damped pendulum, around the principal resonance region, are investigated in this paper. Approximate analytical solutions of the model are determined on the basis of the Harmonic Balance Method (HBM). Correctness of the analytical results is verified by numerical simulations and experimental tests performed on an especially prepared experimental rig. The influence of all essential parameters such as damping, excitation amplitude and frequency, nonlinear stiffness of the spring, on the localisation of the instability region and the system dynamics is presented in the work. Regions of regular system oscillations, chaotic motions, and full rotation of the pendulum are confirmed experimentally.     

转子耦合摆系统的同步行为理论研究

转子耦合摆系统广泛应用于航空动力装置、矿业筛分机械和并联机器人等高速旋转设备.但是对转子耦合摆系统同步行为(稳定相位差值)研究甚少,系统同步行为通常影响系统的工作执行精度.基于这一特殊背景,提出了转子与摆耦合系统的简化物理模型.利用庞加莱法研究转子耦合摆系统的同步问题,进一步揭示了该类系统同步现象的本质机理.首先运用拉格朗日方程建立了转子同向和反向旋转的系统动力方程,随后将系统动力方程转换为无量纲方程.然后利用拉普拉斯法对无量纲方程解耦,计算出了系统各个自由度的近似稳态响应解.继而采用庞加莱法导出了系统实现同步的平衡方程和稳定准则.只有系统的物理参数同时满足系统同步平衡方程和稳定准则时,系统才能实现稳定的同步行为.通过理论研究发现,系统的同步行为主要受弹簧刚度、摆杆安装倾角和转子旋转方向的影响.同时系统同步"临界点"会造成相位差角无解,导致系统动态特性表现为混沌.最后,使用计算机模拟验证了理论计算的正确性,两者的结果相符.     

Generation of elastic stress waves at a T-junction of square rods

Fourier techniques have been used to predict transmitted and reflected waves at a T-joint in rods of square cross-section for an arbitrary longitudinal impulse approaching the joint in the terminating rod. Elementary and Timoshenko beam theory were used for longitudinal and flexural wave motions respectively. Good agreement is obtained between the predicted and experimental results for an input pulse with large wavelengths compared with the lateral dimensions of the rod. The results demonstrate the similarity to transverse impact of an infinite rod and the unidirectional translation of the joint as a valid model.     

简易旋转倒立摆及控制装置的系统设计简

采用ATmega128作为本旋转倒立摆控制装置的主控芯片,通过直流电机对旋转臂进行控制,实现对摆杆的旋转控制。用编码器对摆杆旋转角度进行测量,将旋转位移转换成数字脉冲实现控制。通过对编码器设定零点,运用PID算法实现精确控制摆杆的摆动角度与状态。测试结果表明,该简易旋转倒立摆及控制装置的系统设计方法科学,具有性能稳定、抗干扰能力强、控制精确,可靠性高,节能环保等优点。     

Magnetomechanische Verstärkung und Erzeugung mechanischer Schwingungen

A torsional pendulum with a Nickel-rod as torsional spring element can oscillate in its eigenfrequency when the rod is magnetized in its axial direction by an ac magnetic field. Investigating this effect, which was not understood until now, a mechanism of parametric amplification and generation of mechanical vibrations is derived. It is based on the effect of Joule's magnetostriction and its inverse. The calculations presented enable us to understand the experimental results of the corresponding oscillation measurements.     

Multi-scale continuum mechanics: from global bifurcations to noise induced high-dimensional chaos

Many mechanical systems consist of continuum mechanical structures, having either linear or nonlinear elasticity or geometry, coupled to nonlinear oscillators. In this paper, we consider the class of linear continua coupled to mechanical pendula. In such mechanical systems, there often exist several natural time scales determined by the physics of the problem. Using a time scale splitting, we analyze a prototypical structural-mechanical system consisting of a planar nonlinear pendulum coupled to a flexible rod made of linear viscoelastic material. In this system both low-dimensional and high-dimensional chaos is observed. The low-dimensional chaos appears in the limit of small coupling between the continua and oscillator, where the natural frequency of the primary mode of the rod is much greater than the natural frequency of the pendulum. In this case, the motion resides on a slow manifold. As the coupling is increased, global motion moves off of the slow manifold and high-dimensional chaos is observed. We present a numerical bifurcation analysis of the resulting system illustrating the mechanism for the onset of high-dimensional chaos. Constrained invariant sets are computed to reveal a process from low-dimensional to high-dimensional transitions. Applications will be to both deterministic and stochastic bifurcations. Practical implications of the bifurcation from low-dimensional to high-dimensional chaos for detection of damage as well as global effects of noise will also be discussed.     

Subharmonic and homoclinic bifurcations in a parametrically forced pendulum

Depending on the parameters of a parametrically forced pendulum system the boundaries of subharmonic and homoclinic bifurcations are calculated on the basis of the Melnikov method and of averaging methods. It is shown that, as a parameter is varied, repeated resonances of successively higher periods occur culminating in homoclinic orbits. According to the theorem of Smale homoclinic bifurcation is the source of the unstable chaotic motions observed. For some selected parameter sets the theoretical predictions are tested by numerical calculations. Very good agreement is found between analytical and numerical results.