Nonlinear Modes of a 2-DOF Inverted Pendulum

2011 ◽  
Author(s):  
Elvidio Gavassoni ◽  
Paulo Batista Gonc¸alves ◽  
Deane M. Roehl
Keyword(s):  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Asymptotic Methods ◽  
Equations Of Motion ◽  
Conservative System ◽  
Nonlinear Modes ◽  
Fitting Procedure ◽  
Analytical Approximations ◽  
Complex Features ◽  
Analytical Expressions

A number of practical structures such as compliant offshore towers can be physically modeled, as a first approximation, as an inverted pendulum. The nonlinear dynamics of such model can present some complex features due to the nonlinear coupling among its degrees-of-freedom. In this paper a model of a spatial inverted pendulum restrained by three inclined extensional springs is adopted. Geometric imperfections are considered, and the solutions for both perfect and imperfect systems are presented herein. Especial attention is given to the determination of the nonlinear vibration modes. Non-similar and similar NNMs are obtained analytically by direct application of asymptotic methods and the results show important NNM features such as instability and multiplicity of modes. Poincare´ maps of the conservative system are used to identify the existence of modes that do not have a linear counterpart. Analytical approximations are derived for these nonlinear modes by the use of a two-dimensional polynomial fitting procedure obtained by the application of the Levenberg-Marquardt method. The points coordinates used in the fitting procedure were obtained through numerical integration of the governing equations of motion. Such analytical expressions can then be used in modal reduction, parametric analysis and in the derivation of important features of the system such as its frequency-amplitude relations and resonance curves.

Energy Pumping in Nonlinear Mechanical Oscillators: Part II—Resonance Capture

2000 ◽  
Vol 68 (1) ◽  
pp. 42-48 ◽  
Author(s):  
A. F. Vakakis ◽  
O. Gendelman
Keyword(s):  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Analytical Techniques ◽  
Resonance Capture ◽  
Damped System ◽  
Energy Pumping ◽  
Analytical Approximations ◽  
Nonlinear Mechanical ◽  
Nonlinear Transient ◽  
Mechanical Oscillators

We study energy pumping in an impulsively excited, two-degrees-of-freedom damped system with essential (nonlinearizable) nonlinearities by means of two analytical techniques. First, we transform the equations of motion using the action-angle variables of the underlying Hamiltonian system and bring them into the form where two-frequency averaging can be applied. We then show that energy pumping is due to resonance capture in the 1:1 resonance manifold of the system, and perform a perturbation analysis in an Oε neighborhood of this manifold in order to study the attracting region responsible for the resonance capture. The second method is based on the assumption of 1:1 internal resonance in the fast dynamics of the system, and utilizes complexification and averaging to develop analytical approximations to the nonlinear transient responses of the system in the energy pumping regime. The results compare favorably to numerical simulations. The practical implications of the energy pumping phenomenon are discussed.

scholarly journals Speed Oscillations of a Vehicle Rolling on a Wavy Road

2021 ◽  
Vol 11 (21) ◽  
pp. 10431
Author(s):  
Walter V. Wedig
Keyword(s):  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Travel Speed ◽  
Differential Algebraic Equations ◽  
Polar Coordinates ◽  
Algebraic Equations ◽  
Traffic Lights ◽  
Analytical Approximations ◽  
Vertical Vibrations ◽  
Nonlinear Equations Of Motion

Every driver knows that his car is slowing down or accelerating when driving up or down, respectively. The same happens on uneven roads with plastic wave deformations, e.g., in front of traffic lights or on nonpaved desert roads. This paper investigates the resulting travel speed oscillations of a quarter car model rolling in contact on a sinusoidal and stochastic road surface. The nonlinear equations of motion of the vehicle road system leads to ill-conditioned differential–algebraic equations. They are solved introducing polar coordinates into the sinusoidal road model. Numerical simulations show the Sommerfeld effect, in which the vehicle becomes stuck before the resonance speed, exhibiting limit cycles of oscillating acceleration and speed, which bifurcate from one-periodic limit cycle to one that is double periodic. Analytical approximations are derived by means of nonlinear Fourier expansions. Extensions to more realistic road models by means of noise perturbation show limit flows as bundles of nonperiodic trajectories with periodic side limits. Vehicles with higher degrees of freedom become stuck before the first speed resonance, as well as in between further resonance speeds with strong vertical vibrations and longitudinal speed oscillations. They need more power supply in order to overcome the resonance peak. For small damping, the speeds after resonance are unstable. They migrate to lower or supercritical speeds of operation. Stability in mean is investigated.

Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review

2007 ◽  
Vol 463 (2084) ◽  
pp. 1955-1982 ◽  
Author(s):  
J.P Meijaard ◽  
Jim M Papadopoulos ◽  
Andy Ruina ◽  
A.L Schwab
Keyword(s):  
Degrees Of Freedom ◽  
Numerical Solutions ◽  
Equations Of Motion ◽  
Point Contact ◽  
Ground Level ◽  
Conservative System ◽  
Rear Wheel ◽  
General Purpose ◽  
Dynamic Programs ◽  
Dynamics Simulations

We present canonical linearized equations of motion for the Whipple bicycle model consisting of four rigid laterally symmetric ideally hinged parts: two wheels, a frame and a front assembly. The wheels are also axisymmetric and make ideal knife-edge rolling point contact with the ground level. The mass distribution and geometry are otherwise arbitrary. This conservative non-holonomic system has a seven-dimensional accessible configuration space and three velocity degrees of freedom parametrized by rates of frame lean, steer angle and rear wheel rotation. We construct the terms in the governing equations methodically for easy implementation. The equations are suitable for e.g. the study of bicycle self-stability. We derived these equations by hand in two ways and also checked them against two nonlinear dynamics simulations. In the century-old literature, several sets of equations fully agree with those here and several do not. Two benchmarks provide test cases for checking alternative formulations of the equations of motion or alternative numerical solutions. Further, the results here can also serve as a check for general purpose dynamic programs. For the benchmark bicycles, we accurately calculate the eigenvalues (the roots of the characteristic equation) and the speeds at which bicycle lean and steer are self-stable, confirming the century-old result that this conservative system can have asymptotic stability.

The motion of a lunar orbiter

1966 ◽  
Vol 25 ◽  
pp. 373
Author(s):  
Y. Kozai
Keyword(s):  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Artificial Satellite ◽  
Equations Of Motion ◽  
Triaxial Ellipsoid ◽  
The Moon ◽  
Secular Motion ◽  
The Earth ◽  
Close Satellite ◽  
The Mean

The motion of an artificial satellite around the Moon is much more complicated than that around the Earth, since the shape of the Moon is a triaxial ellipsoid and the effect of the Earth on the motion is very important even for a very close satellite.The differential equations of motion of the satellite are written in canonical form of three degrees of freedom with time depending Hamiltonian. By eliminating short-periodic terms depending on the mean longitude of the satellite and by assuming that the Earth is moving on the lunar equator, however, the equations are reduced to those of two degrees of freedom with an energy integral.Since the mean motion of the Earth around the Moon is more rapid than the secular motion of the argument of pericentre of the satellite by a factor of one order, the terms depending on the longitude of the Earth can be eliminated, and the degree of freedom is reduced to one.Then the motion can be discussed by drawing equi-energy curves in two-dimensional space. According to these figures satellites with high inclination have large possibilities of falling down to the lunar surface even if the initial eccentricities are very small.The principal properties of the motion are not changed even if plausible values ofJ3andJ4of the Moon are included.This paper has been published in Publ. astr. Soc.Japan15, 301, 1963.

The Influence of Loading Position in A Priori High Stress Detection using Mode Superposition

2020 ◽  
Vol 1 (1) ◽  
pp. 93-102
Author(s):  
Carsten Strzalka ◽  
◽  
Manfred Zehn ◽  
Keyword(s):  
Finite Element ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
A Priori ◽  
High Stress ◽  
Von Mises Stress ◽  
Detailed Knowledge ◽  
Variable Loading ◽  
Numerical Effort ◽  
Von Mises

For the analysis of structural components, the finite element method (FEM) has become the most widely applied tool for numerical stress- and subsequent durability analyses. In industrial application advanced FE-models result in high numbers of degrees of freedom, making dynamic analyses time-consuming and expensive. As detailed finite element models are necessary for accurate stress results, the resulting data and connected numerical effort from dynamic stress analysis can be high. For the reduction of that effort, sophisticated methods have been developed to limit numerical calculations and processing of data to only small fractions of the global model. Therefore, detailed knowledge of the position of a component’s highly stressed areas is of great advantage for any present or subsequent analysis steps. In this paper an efficient method for the a priori detection of highly stressed areas of force-excited components is presented, based on modal stress superposition. As the component’s dynamic response and corresponding stress is always a function of its excitation, special attention is paid to the influence of the loading position. Based on the frequency domain solution of the modally decoupled equations of motion, a coefficient for a priori weighted superposition of modal von Mises stress fields is developed and validated on a simply supported cantilever beam structure with variable loading positions. The proposed approach is then applied to a simplified industrial model of a twist beam rear axle.

A Simple Analytical Tool for Legged Robot Design

2012 ◽  
Author(s):  
Zhuohua Shen ◽  
Justin Seipel
Keyword(s):  
Analytical Solutions ◽  
Inverted Pendulum ◽  
Legged Locomotion ◽  
Robot Design ◽  
Slip Model ◽  
Legged Robot ◽  
Biologically Relevant ◽  
Analytical Approximations ◽  
Energy Conserving ◽  
Spring Loaded Inverted Pendulum

Although legged locomotion is better at tackling complicated terrains compared with wheeled locomotion, legged robots are rare, in part, because of the lack of simple design tools. The dynamics governing legged locomotion are generally nonlinear and hybrid (piecewise-continuous) and so require numerical simulation for analysis and are not easily applied to robot designs. During the past decade, a few approximated analytical solutions of Spring-Loaded Inverted Pendulum (SLIP), a canonical model in legged locomotion, have been developed. However, SLIP is energy conserving and cannot predict the dynamical stability of real-world legged locomotion. To develop new analytical tools for legged robot designs, we first analytically solved SLIP in a new way. Then based on SLIP solution, we developed an analytical solution of a hip-actuated Spring-Loaded Inverted Pendulum (hip-actuated-SLIP) model, which is more biologically relevant and stable than the canonical energy conserving SLIP model. The analytical approximations offered here for SLIP and the hip actuated-SLIP solutions compare well with the numerical simulations of each. The analytical solutions presented here are simpler in form than those resulting from existing analytical approximations. The analytical solutions of SLIP and the hip actuated-SLIP can be used as tools for robot design or for generating biological hypotheses.

Investigation of Train Dynamics in Passing Through Curves Using a Full Model

Joint Rail ◽  
2004 ◽  
Author(s):  
Mohammad Durali ◽  
Mohammad Mehdi Jalili Bahabadi
Keyword(s):  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Full Model ◽  
Bogie Frame ◽  
Nonlinear Characteristics ◽  
Train Derailment ◽  
Train Dynamics

In this article a train model is developed for studying train derailment in passing through bends. The model is three dimensional, nonlinear, and considers 43 degrees of freedom for each wagon. All nonlinear characteristics of suspension elements as well as flexibilities of wagon body and bogie frame, and the effect of coupler forces are included in the model. The equations of motion for the train are solved numerically for different train conditions. A neural network was constructed as an element in solution loop for determination of wheel-rail contact geometry. Derailment factor was calculated for each case. The results are presented and show the major role of coupler forces on possible train derailment.

Vibration analysis of multiple degrees of freedom mechanical system with dry friction

2012 ◽  
Vol 227 (7) ◽  
pp. 1505-1514 ◽  
Author(s):  
SD Yu ◽  
BC Wen
Keyword(s):  
Mechanical System ◽  
Dry Friction ◽  
Degrees Of Freedom ◽  
Simple Procedure ◽  
Mathematical Problem ◽  
Equations Of Motion ◽  
Inequality Constraints ◽  
Integration Scheme ◽  
Time Step ◽  
Multiple Degrees Of Freedom

This article presents a simple procedure for predicting time-domain vibrational behaviors of a multiple degrees of freedom mechanical system with dry friction. The system equations of motion are discretized by means of the implicit Bozzak–Newmark integration scheme. At each time step, the discontinuous frictional force problem involving both the equality and inequality constraints is successfully reduced to a quadratic mathematical problem or the linear complementary problem with the introduction of non-negative and complementary variable pairs (supremum velocities and slack forces). The so-obtained complementary equations in the complementary pairs can be solved efficiently using the Lemke algorithm. Results for several single degree of freedom and multiple degrees of freedom problems with one-dimensional frictional constraints and the classical Coulomb frictional model are obtained using the proposed procedure and compared with those obtained using other approaches. The proposed procedure is found to be accurate, efficient, and robust in solving non-smooth vibration problems of multiple degrees of freedom systems with dry friction. The proposed procedure can also be applied to systems with two-dimensional frictional constraints and more sophisticated frictional models.

A Hybrid Highly Parallelizable Algorithm for the Dynamics of Rigid Body Chain Systems

1999 ◽  
Author(s):  
Shanzhong Duan ◽  
Kurt S. Anderson
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Equations Of Motion ◽  
Constraint Forces ◽  
Dynamics Of Rigid Body ◽  
A Chain ◽  
Explicit Determination ◽  
Order Algorithm

Abstract The paper presents a new hybrid parallelizable low order algorithm for modeling the dynamic behavior of multi-rigid-body chain systems. The method is based on cutting certain system interbody joints so that largely independent multibody subchain systems are formed. These subchains interact with one another through associated unknown constraint forces f¯c at the cut joints. The increased parallelism is obtainable through cutting the joints and the explicit determination of associated constraint loads combined with a sequential O(n) procedure. In other words, sequential O(n) procedures are performed to form and solve equations of motion within subchains and parallel strategies are used to form and solve constraint equations between subchains in parallel. The algorithm can easily accommodate the available number of processors while maintaining high efficiency. An O[(n+m)Np+m(1+γ)Np+mγlog2Np](0<γ<1) performance will be achieved with Np processors for a chain system with n degrees of freedom and m constraints due to cutting of interbody joints.

TSDT theory for free vibration of functionally graded plates with various material properties

2021 ◽  
Vol 8 (4) ◽  
pp. 691-704
Author(s):  
M. Janane Allah ◽  
◽  
Y. Belaasilia ◽  
A. Timesli ◽  
A. El Haouzi ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Volume Fraction ◽  
Equations Of Motion ◽  
Shear Deformation Theory ◽  
Functionally Graded ◽  
Third Order ◽  
Implicit Algorithm ◽  
Proposed Model ◽  
Graded Material ◽  
Composite Modeling

In this work, an implicit algorithm is used for analyzing the free dynamic behavior of Functionally Graded Material (FGM) plates. The Third order Shear Deformation Theory (TSDT) is used to develop the proposed model. In this contribution, the formulation is written without any homogenization technique as the rule of mixture. The Hamilton principle is used to establish the resulting equations of motion. For spatial discretization based on Finite Element Method (FEM), a quadratic element with four and eight nodes is adopted using seven degrees of freedom per node. An implicit algorithm is used for solving the obtained problem. To study the accuracy and the performance of the proposed approach, we present comparisons with literature and laminate composite modeling results for vibration natural frequencies. Otherwise, we examine the influence of the exponent of the volume fraction which reacts the plates "P-FGM" and "S-FGM". In addition, we study the influence of the thickness on "E-FGM" plates.

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