International Applied Mechanics, Vol. 43, No.

3, 2007

EVOLUTION OF THE EQUILIBRIUM STATES OF AN INVERTED PENDULUM

L. G. Lobas, V. V. Kovalchuk, and O. V. Bambura

UDC 531.53:517.938

The influence of the pendulum parameters and the follower force on the evolution of equilibrium states is analyzed using a generalized mathematical model of inverted pendulum. Equilibrium curves are plotted using the parameter continuation method. It is shown that the pendulum with certain values of the angular eccentricity has one or three nonvertical equilibrium positions Keywords: mathematical pendulum, asymmetric follower force, equilibrium positions, angular and linear eccentricities Introduction. Pendulums (single- and multilink) have been studied for several centuries now. In the days of Galileo and Huygens, pendulums were regarded as mechanical systems of practical use (pendulum clock). Modern science is interested in pendulum systems because they can model more complicated objects, including continuum systems [1, 5]. Mathematical models of pendulums with an arbitrary number of links (n-link pendulums) were developed in [2, 10]. The current state of the art in the development of pendulum dynamics is analyzed in detail in [9]. The effect of follower forces on the behavior of pendulums was examined in [2]. Recently, many studies have been focused on the effect of the orientation of follower forces (symmetric and asymmetric) [2, 3] and the linear and nonlinear characteristics of springs [7, 8] on the dynamic behavior of pendulums. The bifurcations of the equilibrium states and limit cycles of a double pendulum were analyzed in [4, 6]. Just a few publications are concerned with the influence of the linear and angular eccentricities, which make the follower forces asymmetric, on the equilibrium states of a pendulum. This paper examines the dependence of the equilibrium states of an inverted simple pendulum on the linear and angular eccentricities. Since one of the equilibrium states is obvious (it is the vertical position), the other equilibrium states can be obtained using the parameter continuation method (in Shinoharas modification [12]). By varying the pendulum parameters, we can analyze their influence on the number and stability type of the singular points of the differential equation of disturbed motion. 1. Inverted Single Pendulum. Mathematical Model. The mechanical system shown in Fig. 1a consists of a material point A1 of mass m1 and an imponderable rod OA1 of length l1. The rod can deviate through an angle j1 from the vertical. The upper end of the pendulum is attached to a horizontal linear or nonlinear spring of stiffness c. We assume that the spring is & relaxed when the pendulum is in equilibrium (j1 = 0, j1 = 0). The lower end O is attached to a viscoelastic hinge whose elasticity is provided by a spiral spring and viscosity by a hydraulic damper. As the rod deviates from the vertical, the upper spring r r r generates a restoring force QC and the viscoelastic hinge O a stabilizing moment M 1 . The gravity P1 generates an overturning moment about the point O. This mechanical system is called an inverted simple pendulum. It moves in the plane xy under the action of a follower r force P that forms an angle a with the vertical and is generally asymmetric about the rod OA1 . The dynamic behavior of such a pendulum displays several features. The follower force will be symmetric in the specific case of a = j1 . In the general case, we set

Kyiv University of Economics and Transport Technology, Kyiv, Ukraine. Translated from Prikladnaya Mekhanika, Vol. 43, No. 3, pp. 122131, March 2007. Original article submitted September 26, 2005. 344 1063-7095/07/4303-0344 2007 Springer Science+Business Media, Inc.

a kj1 d P B j1 P 1 l1 j1 e A1 Qc

j1

0.2 M1 0.4 k=5 0.1 O 4 2 0 2 1 d

a Fig. 1

a = d + kj1 ,

(1.1)

i.e., this angle has two components: static d and dynamic kj1 . The coefficient k is the orientation parameter of the follower force. In the general case, relation (1.1) can be implemented in two ways: one rotation through the angle d and the other through the angle kj1 or in the reverse sequence. This follows from the commutativity of rotations: if A g is the matrix of rotation through an angle g, then A a = A d A kj 1 = A kj 1 A d . For definiteness, we choose the sequence specified in (1.1); i.e., the first rotation is through the angle d. 2. Equation of Disturbed Motion. In setting up the differential equation of motion, we consider that the configuration of the pendulum is completely determined by the angle j1 . Let it be a generalized coordinate. No constraints are imposed on the variation dj1 . Thus, the pendulum has one degree of freedom. The Cartesian coordinates x1 and y1 of the point 1 are expressed in terms of the independent coordinate j1 as x1 = l1 cos j1 , y1 = l1 sin j1 . r r The restoring force of the upper horizontal spring and the viscoelastic moment of the hinge O are given by QC = - jQC r r and M 1 = -kM 1 , respectively. To obtain a generalized model of an inverted single pendulum that would describe both linear and nonlinear (hard and soft) springs, we set Q C = q1QC + q 2 QC + q 3 QC , where QC = in the case of hard springs, QC = cy1 1+ c2
2 y1 b2

M 1 = q11 M 1 + q12 M 1 + q13 M 1 ,

(2.1)

py 2ac tan 1 , p 2a

M1 =

2a1 c1 pj & tan 1 + m 1 j1 p 2a1

M1 =

c1 j1 1+
2 2 c1 j1 2 b1

& + m 1 j1

in the case of soft springs, and

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 QC = cy1 ,

& M 1 = 1 j1 + m 1 j1

in the case of linear springs. The parameter m1 is the coefficient of viscosity that account for external friction. Using the differential Lagrange equation of the second kind, we obtain the equation of motion j m1 l1 && 1 = Q1g + Q1P + Q1c - M 1 , r r is the component of the generalized force due to the gravity P1 , Q1P is the component due to the follower force P, and

where Q1g

Q1c is the component due to the stiffness of the upper spring. & In view of (2.1), the equation of disturbed motion of the pendulum near the equilibrium state j1 = 0, j1 = 0 becomes
2j m1 l1 && 1 = m1 gl1 sin j1 + P{l1 sin [(1- k )j1 - d] + e cos [(1- k )j1 - d] }

- ( q1QC + q 2 QC + q 3 QC ) l1 cos j1 - ( q11 M 1 + q12 M 1 + q13 M 1 ).

(2.2)

This mathematical model is generalized because (2.2) accounts for angular (d) and linear (e) eccentricities. Moreover, by varying the influence coefficients q i and q ij (i, j = 1, 2), we can analyze all possible types of springs: both hard (q1 = q11 = 1 and q 2 = q12 = q 3 = q13 = 0), both soft (q 2 = q12 = 1 and q1 = q11 = q 3 = q13 = 0), both linear (q 3 = q13 = 1 and q1 = q11 = q 2 = q12 = 0), and six other possible combinations. To reduce the number of parameters in Eq. (2.2), we will pass to dimensionless quantities using the formulas from [2] and the mass m1 of the material point 1, the length l1 of the rod 1, and the stiffness 1 of the spring at the point O. Adhering to the same notation (overbar for dimensionless quantities and prime for differentiation with respect to dimensionless time), we obtain the dimensionless equation of motion j + ( q11 + q12 + q13 )m 1 j = f1 ( j1 , d, e ), 1 1 where f1 ( j1 , d, e ) = g sin j1 + P{sin[(1- k )j1 - d]+ e cos [(1- k )j1 - d] } 2a py - c q1 tan 1 + q 2 p 2a 2a pj + q 3 y1 cos j1 - q11 1 tan 1 - q12 p 2a1 y1 = sin j1 . We introduce state variables x1 = j1 and x 2 = j to reduce Eq. (2.3) to Cauchys normal form: 1 x1 = x 2 , x = -( q11 + q12 + q13 )m 1 x 2 + f1 ( x1 , d, e ). 2 (2.5) (2.3)

y1 1+
2 c 2 y1

j1 1+
2 j1

- q13 j1 ,

b2

b12 (2.4)

The point (0, 0) for this system is necessarily an equilibrium state at d = 0 and e = 0, which corresponds to the vertical position of the pendulum. 3. Equilibrium States of a Single Pendulum. Let us now establish the number and stability type of stationary states of a single pendulum in plane-parallel motion. Note that in the equilibrium state
* j1 = j1 ,

j = 0 1

* j1 is generally a function of all pendulum parameters (m1, l1, c1, m1, c, e, d, k, and P). It is impossible to find exact values of this

function in analytic, graphic, or tabular form. To implement the approximate method outlined below, we will keep all the r parameters constant, except for the static component d of the angle of the follower force P and the linear eccentricity e. In this * case, j1 is a root of the equation 346

* f ( j1 , d, e ) = 0,

(3.1)

* * where d and e are parameters. It follows from the form of the function f ( j1 , d, e ) that Eq. (3.1) has the solution j1 = 0 (which

corresponds to the vertical position of the pendulum) when d = 0 and e = 0. If d 0 or e 0 (asymmetric follower force), the vertical equilibrium position is impossible. Since when d = 0 and e = 0, there are certain values of the pendulums parameters that provide its equilibrium, we may assume that there exists a nonvertical equilibrium position for the same parameter values and d 0, e 0 due to the continuous dependence of the solution of the differential equation (2.3) on the parameters d and e. It can be found through the direct integration of the differential equation of motion and solution of the corresponding Cauchy problem for specific values of the * parameters. To plot the continuous dependence of j1 on e or d, we will use the method proposed by Shinohara [12]. 4. Parameter Continuation Method. In the space of the variables j1 , d, and e, the set of solutions of Eq. (3.1) forms a curve (L)a manifold of stationary states. In the general case, this manifold may consist of several branches. When d = 0 and * e = 0, one point of the curve (L) is known: j1 = 0. To determine the other points, we will use the parameter continuation method. According to this method, the solution of the finite equation (3.1) with an unknown domain of variation in the parameters d and e is reduced to a Cauchy problem. Let e = 0 and d be the parameter of the method. The curve (L) is described by the following parametric equations:
* * j1 = j1 ( s ),

d = d( s ),

(4.1)

where s is the arc coordinate for the curve (L). In view of (4.1), Eq. (3.1) becomes
* f1 ( j1 ( s ), d( s )) = 0,

(4.2)

whence
* f1 dj1 f1 dd = 0. + * d ds j1 ds

(4.3)

* The functions j1 ( s ) and d( s ) in (4.2) are unknown. Relation (4.3) can be considered as an equation for the derivatives of

these functions. Since this equation has two unknowns, the number of its solutions is infinite. With a known constraint, one of the * f dj1 dd dd unknowns and can be expressed in terms of the other. Assuming, for example, that = m 1 in (4.3), we find * ds ds ds j1
* f dj1 = -m 1 . d ds The coefficient m is determined from the geometrical condition * dj1 ds

dd 2 + = 1. ds

(4.4)

Denoting D =

f1
* j1

and D1 =

f1 , we get d m = 1 D2
2 + D1

where the upper and lowers signs indicate movement along the curve (L) in opposite directions. Of these we select a direction such that

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* dj1 D1 =, 2 ds D 2 + D1

dd D . = 2 ds D 2 + D1

(4.5)

To integrate system (4.5), according to Sec. 3, we will use the initial conditions
* j1 s= 0

= 0,

d s= 0 = 0.

(4.6)

Thus, we have reduced the solution of Eq. (3.1) for e = 0 to the Cauchy problem (4.5), (4.6). Setting d = 0, we can find an equilibrium curve by the parameter continuation method with e as the parameter. Following f a similar line of reasoning and denoting D2 = 1 , we obtain the system of differential equations e
* dj1 D2 , =2 + D2 ds D 2

de D = 2 + D2 ds D 2 with the initial conditions

* j1 s= 0

(4.7)

= 0,

e s= 0 = 0.

(4.8)

Conditions (4.6) and (4.8) specify a starting point to traverse the curve (L) in the chosen direction. When d 0 and e 0, the starting point should be determined through the direct integration of Eq. (2.3) with a sufficiently high accuracy (1010). After that, the parameter (e or d) continuation method can be applied. 5. Influence of the Pendulum Parameters on the Evolution of Equilibrium States. For the computational purposes, we use the following parameter values: m1 =10 kg, l1 =0.5 m, c1 =400 Nm, m 1 =10 Nmsec, c =100 N/m, P =200 N. Figure 1b shows equilibrium curves for a pendulum with hard springs obtained by the parameter continuation method for d as the r parameter and for different values of the orientation parameter k of the follower force P. Note that the functions j1 = j1 ( d ) are 2p-periodic for all values of k. Their principal values may be those for d [ -p, p]. If the follower force is symmetric (k = 1), the dependence j1 = j1 ( d ) in Fig. 1b is one-to-one (sinusoidal type). The variation of the orientation parameter shows that the relationship j1 = j1 ( d ) is also one-to-one for small values of d; i.e., when the angular eccentricity is small, the pendulum has only one nonvertical equilibrium state close to vertical. The effect of the orientation parameter is noticeable for values of d close to p. Decreasing k does not affect the behavior of the equilibrium curve. For example, if k = 0.1, the curve j1 = j1 ( d )just slightly deviates from the curve for k = 1 (Fig. 1b). As the orientation parameter increases, the behavior of j1 = j1 ( d )changes. Figure 1b demonstrates that the equilibrium curve deflects significantly when k = 5. The computations have been performed for a =2.0001 and a1 = 2.0001, where a is the dimensionless maximum possible travel of the horizontal cylindrical spring and a1 is the maximum possible travel of the spiral spring of the hinge O. A computational analysis shows that the parameter a does not affects the behavior of the curve j1 = j1 ( d )and that the amplitude of this curve increases with the parameter a1 . This can be seen in Fig. 2a plotted for k = 1.3, a = 2.0001, a1 = 2.0001 (curve 1), and a1 = 0.5 (curve 2). For a pendulum with soft springs, the effect of the orientation parameter on the equilibrium curve is similar. The variation of the parameters b and b1 , which are the limiting values of the elastic force at the point 1 and the stabilizing moment at the hinge O, respectively, shows that only b1 affects the curve j1 = j1 ( d ): its amplitude decreases as b1 increases. This can be seen in Fig. 2b plotted for k = 0.5, b = 0.5, b1 = 0.5 (curve 1), and b1 = 2 (curve 2). Figure 3a compares the effects of different types of springs on the equilibrium curve for k = 1.3 (both springs are of the same type). Curve 2 represents soft springs for which b = b1 = 0.5 and curve 1 represents hard springs for which a = 2.0001 and a1 = 0.5. Change of the type of springs does not affect the overall behavior of the curve j1 = j1 ( d ), only its amplitude. The

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j1 0.3 0.1 0.1 0.3 0.5 8 j1 0.3 0.1 0.1 0.3 0.5 8 4 0 4 d 1 4 0 4 d 1 2

j1 0.3 0.1 0.1 0.3 0.5 8 j1 0.3 0.1 0.1 0.3 0.5 5 4 3 2 1 d k=1 4 0 4 d 3 2 1

j1 0.05 0 0.05 0.10 0.15 0.4 0.2 j1 0.1 0 0.1 0.2 0 0.2 j1

a
2

0.3

0.2

0.1

0.1

j1

b Fig. 2

b Fig. 3

b Fig. 4

pendulum with soft springs has a nonvertical equilibrium position with maximum possible deviation from the vertical. The angle j1 for the pendulum with hard springs is smaller than that for the pendulum with linear springs (curve 3). The parameter k has a significant effect on the equilibrium states of the pendulum. With large values of k, the relationship j1 = j1 ( d )ceases to be one-to-one for certain values of the angular eccentricity d. Figure 3b shows fragments of this dependence for k = 1, k = 5, and k = 7. In the last case, there may be one, three, and again one equilibrium state, depending on the angular eccentricity d. These results are confirmed by the phase portraits of the dynamic system (2.5) in Fig. 4. Figure 4a represents a pendulum with hard springs with a = a1 = 2.0001 and k = 7, d = 3, and e = 0. In this case, there are one unstable singular point (saddle j1 0.06) and two stable foci (j1 0.26) representing nonvertical equilibrium positions. Figure 4b shows the phase curves of system (2.5) for a = a1 = 2.0001 and k = 7, d = 1, and e = 0, which corresponds to the one-to-one relationship j1 = j1 ( d ) in Fig. 3b. Conclusions. Prospects for Further Research. The variation of the angular eccentricity of the follower force at zero linear eccentricity reveals one or three nonvertical equilibrium positions of the inverted pendulum. The type of springs influences the maximum possible angle of nonvertical equilibrium position. An analysis of computed results shows that the orientation parameter of the follower force has a significant effect on the behavior of the equilibrium curve when all the other parameters of the pendulum are kept constant. Of practical interest are the bifurcations and catastrophes of the equilibrium states of an inverted single pendulum under the action of an asymmetric follower force, its asymmetry caused by both angular and linear eccentricities. It would also be expedient to examine in detail the influence of the linear eccentricity of the follower force on the number and stability type of the equilibrium states of a pendulum with springs of different types.

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