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].     

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].     

Stability of plane oscillations of a satellite in a circular orbit

We study motions of a rigid body (a satellite) about the center of mass in a central Newtonian gravitational field in a circular orbit. There is a known particular motion of the satellite in which one of its principal central axes of inertia is perpendicular to the orbit plane and the satellite itself exhibits plane pendulum-like oscillations about this axis. Under the assumption that the satellite principal central moments of inertia A, B, and C satisfy the relation B = A + C corresponding to the case of a thin plate, we perform rigorous nonlinear analysis of the orbital stability of this motion.In the plane of the problem parameters, namely, the oscillation amplitude ε and the inertial parameter, there exist countably many domains of orbital stability of the satellite oscillations in the linear approximation. Nonlinear orbital stability analysis was carried out in thirteen of these domains. Isoenergetic reduction of the system of equations of the perturbed motion is performed at the energy level corresponding to the unperturbed periodic motion. Further, using the algorithm developed in [1], we construct the symplectic mapping generated by the equations of the reduced system, normalize it, and analyze the stability. We consider resonance and nonresonance cases. For small values of the oscillation amplitude, we perform analytic investigations; for arbitrary values of ε, numerical analysis is used.Earlier, numerical analysis of stability of plane pendulum-like motions of a satellite in a circular orbit was performed in several special cases in [1–4].     

Stability of wavy conditions in a film flowing down an inclined plane

The nonlinear theory of motion in a film of liquid flowing down an inclined plane predicts the existence of an interval k₀m, inside of which the wave number of periodic wave motion may lie [1]. The condition of the stability of experimentally attained motions imposes a limitation on their wave numbers. In [2] a numerical investigation of the stability of wavy motions was made; in the investigated range of change in the Galileo number and the wave number all the motions were found to be unstable; however, the fastest growing were perturbations imposed on a motion with a determined wave number (“optimal” conditions). In [3] the instability of motions with a wavelength exceeding some limiting value was established in a long-wave approximation. In the present work, within the framework of the two-dimensional problem, an investigation was made of the stability of periodic wavy motions, based on expansion in terms of the small parameter k_m. It is established that, within the interval k₀m, there lies a finite subinterval of wave numbers for which wavy motions are stable. The narrowness of this interval (δk≈0.07 k_m) may be the reason why, in the experiment, with not too great Galileo numbers for fully established periodic wavy motions, no substantial differences in the wave-length are observed [4].     

Stability problem for pendulum-type motions of a rigid body in the Goryachev-Chaplygin case

We consider the motion of a rigid body with a single fixed point in a homogeneous gravity field. The body mass geometry and the initial conditions for its motion correspond to the case of Goryachev—Chaplygin integrability. We study the orbital stability problem for periodic motions corresponding to vibrations and rotations of the rigid body rotating about the equatorial axis of the inertia ellipsoid.In [1], it was proved that these periodic motions are orbitally unstable in the linear approximation. It was also shown that, to solve the stability problem in the nonlinear setting, it does not suffice to analyze terms up to the fourth order in the expansion of the Hamiltonian function in the canonical variables.The present paper shows that in this problem one deals with a special case where standard methods for stability analysis based on the coefficients in the normal form of the Hamiltonian of the perturbed equations of motion do not apply. We use Chetaev’s theorem to prove the orbital instability of these periodic motions in the rigorous nonlinear statement of the problem. The proof uses the additional first integral of the Goryachev—Chaplygin problem in an essential way.     

On the damping of nonlinear vibrations in some second-order dynamical systems

This paper continues the study of damping of nonlinear vibrations in second-order dynamical systems for the case considered in [1]. The estimates obtained for energy scattering are applied to a system of two bodies connected by a weightless elastic cable. The system rotates in a plane, and the viscous friction forces in the cable are taken into account. The external drag forces are neglected. Such a problem arises, for example, if the motion of a system of elastically connected spacecraft far from attracting centers is considered [2, 3].     

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.     

一类刚-梁耦合系统平面稳态运动的稳定性

研究了中心力场中的一类刚-弹耦合系统的平面运动动力学，模型是带有一悬臂 梁的刚体. 综合考虑了系统轨道运动与姿态运动，在Lagrange力学体系下给出了系统的运 动方程，在保守系统和考虑梁的材料黏滞阻尼两种情况下，利用能量-动量方法给出了一类 相对平衡点稳定性的充分条件.     

Vortex perturbations of the nonstationary motion of a liquid with a free boundary

The first studies on the stability of nonstationary motions of a liquid with a free boundary were published relatively recently [1–4]. Investigations were conducted concerning the stability of flow in a spherical cavity [1, 2], a spherical shell [3], a strip, and an annulus of an ideal liquid. In these studies both the fundamental motion and the perturbed motion were assumed to be potential flow. Changing to Lagrangian coordinates considerably simplified the solution of the problem. Ovsyannikov [5], using Lagrangian coordinates, obtained equations for small potential perturbations of an arbitrary potential flow. The resulting equations were used for solving typical examples which showed the degree of difficulty involved in the investigation of the stability of nonstationary motions [5–8]. In all of these studies the stability was characterized by the deviation of the free boundary from its unperturbed state, i.e., by the normal component of the perturbation vector. In the present study we obtain general equations for small perturbations of the nonstationary flow of a liquid with a free boundary in Lagrangian coordinates. We find a simple expression for the normal component of the perturbation vector. In the case of potential mass forces the resulting system reduces to a single equation for some scalar function with an evolutionary condition on the free boundary. We prove an existence and uniqueness theorem for the solution, and, in particular, we answer the question of whether the linear problem concerning small potential perturbations which was formulated in [5] is correct. We investigate two examples for stability: a) the stretching of a strip and b) the compression of a circular cylinder with the condition that the initial perturbation is not of potential type.     

Stability of certain periodic solutions of a forced system with hysteresis

Many physical systems exhibit the phenomenon of non-linear hysteresis when the amplitude of oscillation exceeds some small limit.[l] It has been shown in [2] that under certain conditions there are periodic motions of such a system with small forcing which are near the largest periodic motion of the corresponding unforced system. In this paper, conditions for the stability of these periodic motions are derived.     

Secondary convective motions in a plane vertical layer

Secondary plane-parallel motion in a vertical layer between isothermal planes heated to different temperatures is unstable at low and moderate values of the Prandtl number with respect to monotonically increasing disturbances [1]. The results of numerical experiments carried out by the method of networks [2, 3] indicate that this instability leads to the development of stationary secondary motions; the secondary motions have also been investigated in [4] by averaging the original equations. In the present paper we consider plane and three-dimensional stationary spatially periodic secondary motions near the threshold at which the motions develop. We make use of the methods of branching theory which were used earlier for the investigation of isothermal flows [5–9]. We determine the regions of “soft∝ and “hard∝ instability of the plane-parallel motion and the region of stability of the secondary motions. We give the results obtained by calculation of the basic characteristics of the secondary motions.     

Secondary vibrational convective motions in a flat vertical layer of liquid

Investigations of the stability of steady-state plane-parallel convective motion between vertical planes heated to different temperatures [1–5] have shown that this motion, depending on the value of the Prandtl number P, exhibits instability of two types. With small and moderate Prandtl numbers, the instability is of a hydrodynamic nature. It is brought about by monotonic perturbations which, in the supercritical region, develop into a periodic, with respect to the vertical, system of steady-state vortices at the interface between the opposing convective flows. Articles [6, 7] are devoted to the numerical investigation of nonlinear secondary steady-state flows. If P>11.4, there appears a new mode of instability, i.e., running thermal waves increasing in the flow; with P>12, this mode becomes more dangerous [4]. This instability is connected with the development of vibrational perturbations, and it can be considered that in the supercritical region the perturbations lead to the establishment of steady-state vibrations. Linear theory has made it possible to determine the boundaries of the regions of stability. In the present article a numerical investigation is made of nonlinear supercritical conditions developing as a result of a loss of stability of the steady-state flow with respect to vibrational perturbations.     

Waves and coherent structures in terms of the lamb momentum density

Waves and vortices are the two very broad classes of fluid motions. In the stratified fluid, the wave and the vortex components coexist and generate each other. This strong interaction makes it difficult to define the components of motions separately but one could try to split the motion into components to a maximal extent. The possible way to achieve the aim is to describe the motion in terms of the Lamb momentum density [1], [2], see also [3]. In the present paper the Lamb momentum density for a viscous stratified fluid is defined and is applied to a set of small scale coherent structures in a stratified fluid. The relation of the present approach to the Weber transformation and its application to the inertial range turbulence is considered.     

On the stability of nonlinear vibrations of coupled pendulums

The motion of two identical pendulums connected by a linear elastic spring is studied. The pendulums move in a fixed vertical plane in a homogeneous gravity field. The nonlinear problem of orbital stability of such a periodic motion of the pendulums is considered under the assumption that they vibrate in the same direction with the same amplitude. (This is one of the two possible types of nonlinear normal vibrations.) An analytic investigation is performed in the cases of small vibration amplitude or small rigidity of the spring. In a special case where the spring rigidity and the vibration amplitude are arbitrary, the study is carried out numerically. Arbitrary linear and nonlinear vibrations in the case of small rigidity (the case of sympathetic pendulums) were studied earlier [1, 2].     

Numerical study of convection of a liquid heated from below

The equilibrium of a liquid heated from below is stable only for small values of the vertical temperature gradient. With increase of the temperature gradient a critical equilibrium situation occurs, as a result of which convection develops. If the liquid fills a closed cavity, then there is a discrete sequence of critical temperature gradients (Rayleigh numbers) for which the equilibrium loses stability with respect to small characteristic disturbances. This sequence of critical gradients and motions may be found from the solution of the linear problem of equilibrium stability relative to small disturbances. If the temperature gradient exceeds the lower critical value, then (for steady-state heating conditions) there is established in the liquid a steady convective motion of a definite amplitude which depends on the magnitude of the temperature gradient. Naturally, the amplitude of the steady convective motion cannot be determined from linear stability theory; to find this amplitude we must solve the problem of convection with heating from below in the nonlinear formulation. A nonlinear study of the steady motion of a liquid in a closed cavity with heating from below was made in [1]. In that study it was shown that for Rayleigh numbers R which are less than the lower critical value R_c steady-state motions of the liquid are not possible. With R>R_c a steady convection arises, whose amplitude near the threshold is small and proportional to (R–R_c)^1/2 (the so-called soft instability)-this is in complete agreement with the results of the phenom-enological theory of Landau [2, 3].Primarily, various versions of the method of expansion in powers of the amplitude [4–8] have been used, and, consequently, the results obtained in those studies are valid only for values of R which are close to R_c, i. e., near the convection threshold.It is apparent that the study of developed convective motion far from the threshold can be carried out only numerically, with the use of digital computers. In [9, 10] the numerical methods have been successfully used for the study of developed convection in an infinite plane horizontal liquid layer.The present paper undertakes the numerical study of plane convective motions of a liquid in a closed cavity of square section. The complete nonlinear system of convection equations is solved by the method of finite differences on a digital computer for various values of the Rayleigh number, the maximal value exceeding by a factor of 40 the minimal critical value R_c. The numerical solution permits following the development of the steady motion which arises with R>R_c in the course of increase of the Rayleigh number and permits study of the oscillatory motions which occur at some value of the parameter R. The heat transfer through the cavity is studied. The corresponding linear problem on equilibrium stability is solved approximately by the Galerkin method.     

Bifurcation analysis for a modified Jeffcott rotor with bearing clearances

A HB (Harmonic Balance)/AFT (Alternating Frequency/Time) technique is developed to obtain synchronous and subsynchronous whirling motions of a horizontal Jeffcott rotor with bearing clearances. The method utilizes an explicit Jacobian form for the iterative process which guarantees convergence at all parameter values. The method is shown to constitute a robust and accurate numerical scheme for the analysis of two dimensional nonlinear rotor problems. The stability analysis of the steady-state motions is obtained using perturbed equations about the periodic motions. The Floquet multipliers of the associated Monodromy matrix are determined using a new discrete HB/AFT method. Flip bifurcation boundaries were obtained which facilitated detection of possible rotor chaotic (irregular) motion as parameters of the system are changed. Quasi-periodic motion is also shown to occur as a result of a secondary Hopf bifurcation due to increase of the destabilizing cross-coupling stiffness coefficients in the rotor model.     

Bifurcation of operation modes of small wind power stations and optimization of their characteristics

Wind stations of small power (small WPS) are intended to ensure the operation of a small number of electric devices. Under these conditions, the connection of even a single additional consumer may result in operation disturbances. In [1, 2], a mathematical model of a small WPS operation was proposed, which allowed a qualitative explanation of the energy output hysteresis phenomenon experimentally observed under variation in the external load. In the present paper, on the basis of this model, we study the problems of existence and stability of steady-state modes and describe their attraction domains. We show that there exist different types of bifurcations of these modes, which result, in particular, in the onset of finite-amplitude periodic motions. For the first time, the performance of a power plant is estimated by the maximal consumption power criterion. The results are compared with the results obtained by other criteria.     

Wave motions in viscoelastic tubes. Forced oscillations

A characteristic of small blood and lymphatic vessels is the capacity of the wall to change its rheological properties and lumen by active contraction of the annular muscle cells contained in it [1–3]. A model of flow in the vessels taking this feature into account has been proposed in [4, 5], where a linear stability analysis is also given. A consequence of wall activity is the existence of auto-oscillatory flow conditions [6–8], which have also been discovered in the numerical solutions of the corresponding problems [9, 10]. Up to the present time flows have only been studied under steady conditions at the ends of the vessel and in the environment. The wall of an actual blood vessel is subject to various actions, frequently of a periodic nature: pressure pulsations at entry and rhythmically changing external forces applied from the surrounding tissues. Data exist on the sensitivity of vessels to transient actions [11–13], in particular on the relationship of their hydraulic resistance to frequency and amplitude of the action. There has been frequent discussion of the hypothesis that bv contraction of muscles in its walls or by external compression the vessel can act as a valveless pump [14, 15]. Within the framework of the quasione-dimensional approximation given below [4] the movement of liquid along a viscoelastic tube in the presence of small amplitude periodic external actions has been studied. A general solution of the problem has been constructed and concrete examples are given illustrating the features of forced wave motions in a tube having passive and active properties.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No, 4, pp. 94–99, July–August, 1984.     

Flexural-torsional buckling of misaligned axially moving beams: II. Vibration and stability analysis

This paper addresses the stability and vibration characteristics of three-dimensional steady motions (equilibrium configurations) of translating beams undergoing boundary misalignment. System modeling and equilibrium solutions for bending in two planes, torsion, and extension were presented in Part I of the present work. Stability is determined by linearizing the equations of motion about a steady motion and calculating the eigenvalues using a finite difference discretization. For the case of no misalignment, the calculated eigenvalues are compared to known values. When the beam is misaligned, the system initially enters a planar configuration and the results indicate that the planar equilibria lose stability after the first bifurcation point. Eigenvalue behavior of the planar equilibria after the first bifurcation point is shown to be strongly influenced by translation speed. Eigenvalue behavior about non-planar equilibria and vibration modes about selected equilibria are also presented.