EFFECT OF HARMONIC EXCITATION ON THE STABILITY OF

DOUBLE PENDULUM

Munther Diyab MOHD

Department Of Architecture
Eastern Mediterranean University, TRNC.
e-mail: munther.mohd@emu.edu.tr

1
 ABSTRACT and Huseyin 1988). various compound excitation is also
(Langford 1979) has critical points including present, the resulting
In this paper, the applied the Lyapunov- a double zero, triple non-autonomous system
dynamic behaviour of a Schmidt procedure and a zero, a double zero and a is expected to exhibit
double pendulum system generalisation of the pair of pure imaginary even more complexity.
in the vicinity of a method of averaging eigenvalues. However The main focus of this
compound critical point
is explored through
(Langford and Iooss only static bifurcation paper is to study the
analytical approach. 1980) to analyse this were studied. Later effect of harmonic
Stability, instability, and problem. (Spring 1983) (Scheidl, Troger, and excitation on such a
bifurcation behaviour of repeated the analysis of Zamer 1984) used the compound critical point.
the equilibrium position the same problem by averaging method to Analytical approach is
of a double pendulum using the invariant obtain the general employed to consider
with a follower force manifold theory and formula for both static the double pendulum
loading and elastic end averaging method. and dynamic bifurcation system for both
supports is studied.
(Holmes 1981; in the vicinity of a autonomous as well as
Attention is focused on
effect of harmonic Guckenheimer and compound critical point non-autonomous
excitation on the Holmes 1983) studied characterized by a systems. The static and
behaviour of the system this phenomena by using simple zero and a pair of dynamic bifurcations as
in the vicinity of a the method of scaling to pure imaginary well as the quasi-
compound critical point reveal periodic and eigenvalues. However, periodic motion
characterized by a homoclinic orbits possible secondary resulting from the
simple zero and a pair of inembro from the bifurcations and interaction of the
pure imaginary coincident critical state, sequence of bifurcations bifurcation modes in the
eigenvalues of the
Jacobian. Intrinsic
but also pointed that the leading to quasi periodic vicinity of certain
Multiple Time-Scale computations are motions were not compound critical point
Harmonic Balancing analytically intractable. discussed. Later (Yu and characterized by simple
(IMSHB) technique is (Yu and Huseyin 1988) Qi, 1998) studied the zero and a pair of pure
used for the analysis. used the IHB technique double pendulum imaginary eigenvalues
with a unification problem considering are analyzed using
Keywords: non-linear procedure to analyze the three types of compound (IMSHB) technique.
dynamic, Stability, same problem critical points; in their Divergence boundary,
Bifurcation, critical point,
analytically. Divergence
harmonic excitation,
IMSHB technique. boundary, dynamic P 1 P 2
P 1

bifurcation boundary, a 3, b 3, c 3
m
1. secondary bifurcations,
INTRODUCTION and invariant tori are L P 2

A non-linear determined in explicit 2

autonomous system may terms. 2m

P 2

a 2 ,b 2 ,c D
exhibit complex
2

dynamic behaviour in Many Engineering 1

the vicinity of a systems are able to L

compound critical point. exhibit complex

Interactions of static and behaviour in the vicinity a 1 ,b 1 ,c 1
D
dynamic bifurcation may of such a critical point
arise in the vicinity of a (simple zero and pure paper they used normal dynamic bifurcation
compound critical point imaginary eigenvalues). form theory, bifurcations boundary, secondary
characterized by a A double pendulum and stability theory to bifurcations, and
simple zero and a pair of system can be analyze the problem in invariant tori are
pure imaginary considered as one of hand. (MOHD, 2000) determined.
eigenvalues of the such systems. Many used Intrinsic Multiple
Jacobian of a non-linear studies have been Time-Scale Harmonic 2. FORMULATION
autonomous system at a carried out in recent Balancing (IMSHB)
certain critical years dealing with technique to study the 2.1 Autonomous System
combination of the bifurcations and stability stability, instability, and
parameters. These properties of a double bifurcation behaviour of Consider the double
interactions may lead to pendulum system in the the equilibrium position pendulum system shown
secondary bifurcations vicinity of a critical of a double pendulum. in figure 1.
and bifurcations into tori point. (Mandadi and All of this work concern
associated with quasi- Huseyin 1980) studied with autonomous Figure 1. A double
periodic motions (Yu the double pendulum for system. If the harmonic pendulum
system(autonomous The kinetic energy T of z 1  z 2 It can be demonstrated
system) the system is given by that at the critical point
 1 1  1   1
z 2    A1  A2  1 c,  2defined
 z1   by K 1  K 2  z 2   A2  1 
It consist of two rigid  2 2   2 35  35  2
weightless link of equal T 
ml 2
3
 2  2  cos      2
1 1 2 1 2
1 2  1 1 
A1  A2 
 12 1
, A3 
1 6 1 1
2 2  K 2 z 4   A2  1   2  z13    A2  A3  1   2
length L which carry two
concentrated masses 2m (3) 4 12 6K 1  1, K2 41, K 3  2 0, K 4120 3
and m, respectively as where  is an arbitrary 1  1  and the  3parameter 1values 1 1 
shown in figure 1. The value rendering the time  K 3  K 4  z 23   K 2  z12 z 2    A2  A3  1   2  z12 z
variable non- 2  4   4 2
37
4 4 
91
strain energy for the
three linear springs, a1, dimensional ( t    ), 1 1 1 2  1 2  123 ,  
1 2 112  2
 K 2 z1 z 4  z 1 z 2  z 2 z 3  3K 4 z 4 z 2   A2  1   2  z 3
2 2
a2, a3 is given by and the dot denotes 4 2 2 The Jacobian has  4 one 4 2 
(Mandadi and Huseyin differentiation with simple zero, a pair of
1980), respect to the non- 1  1 1 1 
  K 2  z 2 z 32  z1 z 42  3pure z 42  z 3 zand
K 4 z 2imaginary, 4  oneK 2  z1 z 2 z 3
2

dimensional time 4  2 negative 2 2

real 

     
variable. The damping in
1 1
 K 2 z1 z 3 z 4  K 4 z 43  Kuse
3 eigenvalues,
2
2 z 3 z 4 the
in order to

U  a1  a2  a3l 2 12  2 a3l 2  a2 1 2  a2  a3l 2  22

the damper D can be formulas
2 4
expressed by obtained in chapter five,
(7)
2 z 3  z4 it is required to
1  2
   1    

 
2 4 transform system (7) to a

     
4
D  d11  d 2 1   2   d 31  d 4 1  2 
4  A  2 A  A       z   K  2 K  z    2 A
 1 1   1
1 2 z  new system such that its

 b1  b2  b3l 3 13  3 b3l 3  b2 12 2  3 b3l 3  b2 1 22  b2  b3l 2  23 2Jacobian will be  2in the
4 1 2 3 1 2 1 1 2 2
(4) 2  
canonical form. With the
 1 1 1 1 2  1 2
6 where d1,d2 represents  2 K 2 z 4    A1  A2 aid  ofAthe 3 
transformation
1   2  z13   A2  A

     
the linear parts and d3, d4  4 4 of the 3 variables 3 3  4 3

1  c1  c2  c3l  4a3l 1  4 c3l  c2  a3 l 1  2  6 c3l  c2 1  2 

describe the nonlinear
4 2 4 4
parts respectively. With2 3 1 4 2 2  1 1 
 K 3  2 K 4  z 23   K1  K 2  z12 z 2   A1  A2  1   2
1 3
2  4 4  2 4
    1 0 1

   
the aid of Lagrangian
equations, and, choosing 3 3 2 1 3 1 1  2
 z 1 z 2  z 2 z 3  6 K 4 z 4 z 2 1 A 01  A02  A3  61  0 2  z 3
24 4 c l 4  c  a l 2   3  c l 4  c  4a l 2  4  z
2 2
the state variables 2 2  0   4 4 2 
 3 2 3 12 3 2 3 21 1 
z    12   5 5
3

z1   1 , z 2   1 , z 3   2z1 ,z 4 z4 6K4 z2 2 z 4  z 3 z 4   K 2  z1z 2 z 3   K62 z1 z 3z 41 2
2  2 2
K
(1) 2 2  z 3   20  2
(5)
It is easily seen from (7)      2 2
where  1 and  2 are and rescaling the that zi  0 satisfies the  z 4  0   0 1
6  2
1
generalized coordinates coefficients to be
 6
equilibrium equations
which specify the dimensionless defining the initial (9)
configuration of the coefficients as equilibrium path. The and the parameters
system, and ( Jacobian matrix of
a i , bi , c i , i  1..3 ) system (7) evaluated on
1  2  37  12 0  1 
, are certain constants. A  2 a1  2 a3 equilibrium
 2 a 2 the Initial  2 b1  b  bl
follower force P1 and a A1  , A2  3 
, Asurface is in,the 
B1 form 123   3
, B 2    2 , B   
2
ml 2
ml m 2
ml  ml 95
2  m   
constant directional
 2   2  0 2 1   2 
force (vertical) P2 are 2
 c1 2
 c2 c3l 2
0d  2 2
d 212  1 d 3  0
applied to this system as C1  , C2  , K1  1 , K 2 
, C3  , K3 
ml 2 ml 2  m ml 2 (10) ml 2 ml 2
shown in the figure. The 
components of the d 2  2 P1  2 P A  2 A2  1 The
2 2equations2ofK 2the K1 2 A2  1
generalized forces K 4  4 , 1  ,  2   2 1 
ml 2 ml  ml 2 structural system (7)2 2
corresponding to the
generalized coordinates (6) J  take the form
 dwi
 1 and  2 may be one can express the
 0  Wi  w1 , 0w2 , w3 , w4 ; 1 ,  2  0
equations of motion up dt
to the third order terms

written as  (11) whose Jacobian
as follows: A  4 A  2 A    2 2 evaluated
2 K 2 atKthe  4 A2  2 A3 
Q1  P1 l sin  1   2   2 P2 l sin  1   1 2 3 1matrix 1
 2 critical point c is
2 in the
2
Q2  P2 l sin  2  canonical form
(8)
(2)
 0 0 0 0 E S.: cycles emerges from the fundamental equilibrium
0 y 0
 fundamental surface, surface y 0
0 c 0 (15)
J   which are described by along the critical line L1 .
0   c 0 0  (17 ) It is noted that If we keep changing the
  Hopf bifurcation is
0 0 0    S B. : stable, and the frequency
parameters such that this
144 stable post critical
(12) y2   491  23 2 of, the periodic
  0 solution solution may lose its
where 4445 (17) is given by stability upon crossing
(16)
1 7 the critical line L31, at
c  6 and   
3 2 H. B. : 1  29477943which a1658340 family of limit 
 c1  6 1   1  emerges which
cycles 2
. 704 3  35723935 7144787 
y nd 0 , nd  2 
2 H B 2 S. B. 86529

(22) 211  5 2  can be described by
(18). The second rout
(17) can be described as
The secondary Hopf
2.1.1 Bifurcations and follows: the fundamental
bifurcations may occur
Stability Analysis equilibrium surface
from the statics solution y    0 may loose
(16) along the critical
Following the Intrinsic 404289648 335693328 its stability along the
y2   1 line 2
multiple-scale harmonic 2672561489 2672561489 critical line L2 and
balancing (IMSHB) 1480461696 741402752
(1)
bifurcates to a solution
which was introduced in 2  1  L3 : 11566107  2 1  5792209
described 2  by 0 ,(17), then
2672561489 2672561489
(Huseyin and Lin 1991),
(18)
 491  23 2  0 if the parameters still
one can find the rate varies, such that the
(23) critical line L32 is
equation to this
structural model and which is the symmetric crossed, this solution
case considered in ( Yu and the solutions can be looses its stability and
obtain the corresponding
and Huseyin 1988). described as (18 ) The bifurcates into solution
differential equations as
Thus applying the frequency of this (18). Next if the
formulas obtained, one periodic solution is parameters continue to
can easily obtain the given by vary such that the
dy  7 23  635
stability 9301 2 for
3 conditions
  1  2 y  y  y critical line
dt  8 56  1152 the initial5376 equilibrium 1  98798121 94213173 
 c1  6 1  1  2 
d  693 33 surface
 (15)
259587 as 164347 7139930644000
101999092L4  2459059350  1  12997731
  1   2   3  y2 3 
dt  2480 496  158720 39680 (24)) a1b1  a 2 b2  0
(13) 49  1  23 2  0, and - 21Hopf  1  5 2  0bifurcation (26)
(19) solution (17) may lose
and may be intersected,
its stability and
1  99 111 which 163731
in turn 711633
results
2 in 2 solution (18) loses it’s
 6 1  2  y   
bifurcates to solution
3  1240 148 two critical
19840 lines, one238080
of  stability and bifurcates
(18), with frequency
these is given by into a two-dimensional
(14) (24), upon crossing a
torus. However it is
critical line defined by
The steady state 
L1 : 49  1  23 2  0, - 21 1  5  2  0 observed that because
this critical line is
solutions and their (20) L(32)  84227011  6993611  2  0below
located the
stability conditions can
be found from equation along which the static
  211  52  0 critical lines L 31, L32, so it
is not possible to have
(13), while equation (14) bifurcations from the (25) bifurcation from the
determines the fundamental equilibrium secondary Hopf
frequency pf possible surface occur, and the if solution (17) is stable. bifurcation, leading to
periodic solutions. postcritical surfaced is It can be shown, that the two-dimensional tori.
Letting expressed by (16 ) On bifurcating solutions The critical bifurcation
dy d the other hand, the (17),(18) is stable, which
 0,  0 in
dt dt critical line implies that two possible  2

equation (13) leads to sequences (routs) of

the following steady L2 : - 21 1  5  2  0, bifurcation 
49  1  23leading
 2  0into
a two-dimensional torus
 L 32
y0
 0

state solutions: L4 Secondary

(21) are as follows:first, a Hopf Bifurcation

non-trivial solution (16)

defines the points at bifurcates from the Secondary

which a family of limit y 0
C Hopf Bifurcation 1

 0
y0
 0
Hopf Stable y  0  0
Bifurcation region L 31
y0
 0

L2 L1
Static
Bifurcation
lines are illustrated in third order terms as system evaluated at the

 4 4
figure 2. follows: critical point is in the

1 195552 f4  452268 f2  1
canonical form (12).
z 1  z 2

1   f2
Figure 2. Bifurcation Using the transformation
 1 1  (9),
1 and (10),   1 1 
Critical Lines for the z 2    A1  A2  1  matrices 2  z 1   K 1  K 2  z 2   A2   1   2  z 3

65281 60102992 f2  5722752 62 f4

autonomous Double  2 2 and 2
the 
scaling  2 2 
Pendulum System  1 1 1 1  3 f . 1 1 1 1 
Associated with the  K 2 z 4   A2   1  2 C 2  z 1    A2  A3 
The  1   2  z 33 
Critical point ( one zero 4 12 6 
equations
 4of 2
the
12 3 
one pair). 1  3  1  structural
2  3 1 1 1  2
 K 3  K 4  z 2   K 2  z 1 z 2    system A2  A(27) 3  1   2  z 1 z 3
2.2 Non-Autonomous 2   4  take the form 4 2 4 4 
1 1 1  3 1 1 
 K 2 z 12 z 4  z 1 z 22  z 22dw z 3 i 3 K 4 z 4 z 22   A2   1   2  z 32 z 1
  8030436124 f4  24068
System
4 2 2  Wi  w1 , w24, w3 , w44 ;  1 ,2 2 ,  t
The non-autonomous
model is produced on
1  2 1 2 dt 1  1 
K 4 z 2 z 42  z 3 z 42   K 2  z 1 z 2 z 3
  K 2  z 2 z 3  z 1 z 4  3(28) 
the basis of the  4  2 2 2  1 
autonomous system (7) 1 3
 K 2 z 1 z 3 z 4  K 4 z 43  K2.2.1 2 1
 C cos(and
2 z 3 z 4Bifurcations t ).   f 867492864f 2  301921341
2023680  1 
by adding a small
harmonic force
2 4 2 22
Stability 2
C cos t (27)
to the Analysis
model as shown in
  1301979392 6 f 4

figure 3 Following the Intrinsic
multiple-scale harmonic
P 1
balancing (IMSHB)
P
P 1 2
which was introduced in

 2697690244 f 4  26383320
a 3 , b 3 ,c
(Huseyin and Lin
3


1991), one can find the
L P 2 rate equation to this

1  247851653f 2  302962882
2
structural model and
P 2
a 2 ,b 2 ,c 2

C cos  t 
obtain the corresponding
C cos  t  D differential equations as
  9301
2m

L
1

 33635
f2
337280 15376  79681056
dy  7 23
      y  y  y
6 f 4  53737663
3 2
1 2 11
a 1 ,b 1 ,c dt  8 56  1152

1
D
d  693 33  259587 164347
           3
y  2

Figure 3 A double
dt  2480 496
1

2
158720
  55283256 6  f
22
396804
pendulum system (non-
autonomous)
z 3  z 4
1
(29)
1 and  1    1 3 4
z 4   A1  2 A2  A3   1   2  z 1   K 1  2 K 2  z 2    2 A2  A3 2  1 2  22  z 3
2 2 1   99
2 111  1   3 2 2 711633
  163731 24  49
Following the same
 1 1 
1  1
6 2  1  3  12   332  1 y 21  3  2 
procedure leads to (7),  2 K z    A  A  A 3  1240
1   2  z 1   A2Itis observed  that
A319840 1  the 2  z 3 
148 238080 
2 4 1 2 3
noting that the  4 4 3
(30) 3 3   4 fundamental
3 3 steady 4 
components of the  1  3 1 1  2 1 3 state  z 2 z surface
1 ( 2
generalized forces  K 3  2 K 4  z 2   K 1  K 2  z 1 zwhere 2   A1  A2   1 2y  10 3  K 2 z 1 z 4
corresponding to the  2  4 4  2 4  ) 4
2 1 1  2 if 1
generalized coordinates 3 2 3 2 3 is stable

 1 and  2 can be 2 1 2 2 2 3 z z  z z  6 K z z
4 4 2   A1  A 2  A3   1   2  z 3 z 1   K 1  K 2  z 2 z 32
4 4 72  23 4 693
written as 1 2 2 1 2 1  5  1   2 3  11  0, and 
 1
 z 1 z 4  6 K 4 z 2 z 4  z 3 z 4   K 2  z 1 z 2 z 3  K 2 z 18z 3 z 4 56 2K 4 z 4 2480
Q1  P1 l sin 1 21 2   2 P2 l 1sin 1  2 C cos( t2)  2 (31)

Q2  P2 l sin 2  K 2 z 32 z 4  C cos(t ). which in turn results in

4 2 two critical lines, which
Thus, with the aid of
It is noted that the defines the stability
Lagrangian, the
Jacobian of the boundary of the
equations of motion can
associated autonomous fundamental steady state
be expressed up to the
solution (   y  0 ), to a solution which can emerge has been shifted point will be shifted
the first critical line can be described by from the critical point c compared with the
be defined as
y 2  
 404289648
1 

by  1 , 2 .
335693328
2 
697769856 
corresponding 147625472
11  system, and  22 
autonomous

 2661658835 2661658835
Where 2661658835 532331767
the bifurcations will 
 693 33 5  7130  21 2170 
L1 : 49  1  23 2  56 211  1478598912
0,    1  741846276  2   22  0 1767058944  22occur 145101824
from an existing
   2480 1  496 1   13   
2 11
3003
, 112  
 13
periodic 1596995301
 11 
 22
solution 429
 22 

2661658835 2661658835 2661658835
(32) (38) as shown in figure 5 involving the external
along which the steady 2 frequency. It is noted  2  2

state solution ( solution (38) may looses that the periodic solution
  y  0 ) looses its
y 0 y 0
L 32
is in the vicinity of the
L 32  0  0

its stability along the L4 Secondary L4

stability and bifurcate to critical line

Hopf Bifurcation
equilibrium path for the 2-D Tori
(2)

a postcritical surface  73253119 related 48501033 autonomous Secondary

468971591 5221303217
2    22 
1
1 
C Hopf Bifurcation O 1  1
described as L4 : y 0 11 
system. y 0 2-D Tori
75576115 1587098419  0
 3839754 6298009   0 (2)

144   y0 y 0

 491  23(39) 2   11  ,
 0  0
2
y   0
Hopf y  0  0 2-D Tori y  0  0
Stable Steady
Bifurcation
4.
region L 31 L 31
y 0 State y0

4445  0  0

REFERENCES
(33) L2 L1 L2 L1

and bifurcate into a 3- Guckenheimer, J., and

Static Steady State

while the second critical Bifurcation (2)

dimensional tori. Figure5.Bifurcation Holmes, P., 1983.

line is defined by
However it is observed Critical Lines for both Nonlinear
that because this critical Autonomous and Non- Oscillations,
2480
L2 : - 211  5 2  line 22  0,  49 1  23 2autonomous
is located below the  56 11  0  Double Dynamical systems
33critical lines L31, and L32, Pendulum System and bifurcations of
(34) it is not possible to have Associated with the vector fields,
bifurcation leading to Critical point ( one zero Springer-Verlag.
defines the points at Three-dimensional tori. one pair). Holmes, P. J.,
which the steady state The critical bifurcation 1981.Center
solution looses its lines are illustrated in 3. manifolds, normal
stability and bifurcate to figure 4 CONCLUSION forms and
another solution bifurcations of
 
involving two 2 2
vector fields with
frequencies ( ,  c ), y0
applications to
L 32
which can be defined as
 0
coupling between
L4
2-D Tori
periodic and steady
y 0 (2) motions, Physica
704 2D. pp. 449-481.
2   21 1  5 2   22  y  0 O 2-DTori   Huseyin, K., and Lin, R.,
1 1
86529  0 (2) 1991. An intrinsic
y0
(35)  0 multiple-scale
2-D Tori
Steady
State
y  0  0
y0
L 31 harmonic balance
Solution (33), and (35)  0
method for non-
may loose their stability linear, vibration
L2 L1
along the critical lines Steady State
and bifurcation
(2) problems., Int., J.
275037 2897837 164347 653 Non-Linear Mech.
L31 : 1   2  4. Bifurcation  11   22  0
79360 1666560Figure 39680 1152 In this paper the effect 26, .727-740.
, Critical Lines for the of harmonic excitation Langford, W.F., 1979.
Non-autonomous on a double pendulum Periodic and
49  1  23  2  56  11  0
Double Pendulum has been studied. steady-state mode
(36) System Associated with Attention was focused interactions lead to
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1269760 8888320 zero one pair).
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2480 Comparing the above point characterized by a Iooss, G., 1980.
- 21 1  5  2   22 results
0 to those simple zero and a pair of Interactions of
33 corresponding to the purely eigenvalues of Hopf and pitchfork
(37) autonomous system , it the Jacobian . It has been bifurcations, in
is noted that the critical shown that if the system bifurcation
respectively, and lead to point from where the has identical zero second problems and their
bifurcation (secondary) critical lines appear to order terms, the critical numerical
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