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    Double Pendulum

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    Razvan Pricop
    A double pendulum consists of two pendulums attached end to end. It exhibits rich dynamic behavior and chaos due to strong sensitivity to initial conditions. The motion is governed by coupled differential equations that cannot be solved analytically. For certain energies, its motion is chaotic as seen in graphs of flipping time vs initial conditions.

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    © All Rights Reserved
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    Double Pendulum

    Uploaded by

    Razvan Pricop
    247 views5 pages
    A double pendulum consists of two pendulums attached end to end. It exhibits rich dynamic behavior and chaos due to strong sensitivity to initial conditions. The motion is governed by coupled differential equations that cannot be solved analytically. For certain energies, its motion is chaotic as seen in graphs of flipping time vs initial conditions.

    Original Description:

    Calculation of formulas for double pendulum

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    A double pendulum consists of two pendulums attached end to end. It exhibits rich dynamic behavior and chaos due to strong sensitivity to initial conditions. The motion is governed by coupled differential equations that cannot be solved analytically. For certain energies, its motion is chaotic as seen in graphs of flipping time vs initial conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    247 views5 pages

    Double Pendulum

    Uploaded by

    Razvan Pricop
    A double pendulum consists of two pendulums attached end to end. It exhibits rich dynamic behavior and chaos due to strong sensitivity to initial conditions. The motion is governed by coupled differential equations that cannot be solved analytically. For certain energies, its motion is chaotic as seen in graphs of flipping time vs initial conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 5

    Double pendulum 1

    Double pendulum
    In mathematics, in the area of dynamical systems, a double pendulum
    is a pendulum with another pendulum attached to its end, and is a
    simple physical system that exhibits rich dynamic behavior with a
    strong sensitivity to initial conditions. The motion of a double
    pendulum is governed by a set of coupled ordinary differential
    equations. For certain energies its motion is chaotic.

    Analysis
    Several variants of the double pendulum may be considered; the two
    limbs may be of equal or unequal lengths and masses, they may be
    simple pendulums or compound pendulums (also called complex
    pendulums) and the motion may be in three dimensions or restricted to
    the vertical plane. In the following analysis, the limbs are taken to be
    identical compound pendulums of length and mass , and the
    motion is restricted to two dimensions. A double pendulum consists of two pendulums
    attached end to end.

    Double compound pendulum.

    In a compound pendulum, the mass is distributed along its length. If the mass is evenly distributed, then the centre of
    mass of each limb is at its midpoint, and the limb has a moment of inertia of about that point.
    It is convenient to use the angle between each limb and the vertical as the generalized coordinates defining the
    configuration of the system. These angles are denoted θ1 and θ2. The position of the centre of mass of each rod may
    be written in terms of these two coordinates. If the origin of the Cartesian coordinate system is taken to be at the
    point of suspension of the first pendulum, then the centre of mass of this pendulum is at:

    and the centre of mass of the second pendulum is at


    Double pendulum 2

    This is enough information to write out the Lagrangian.

    Lagrangian
    The Lagrangian is

    The first term is the linear kinetic energy of the center of mass of the bodies and the second term is the rotational
    kinetic energy around the center of mass of each rod. The last term is the potential energy of the bodies in a uniform
    gravitational field. The dot-notation indicates the time derivative of the variable in question.
    Substituting the coordinates above and rearranging the equation gives

    There is only one conserved quantity (the energy), and no


    conserved momenta. The two momenta may be written as

    Motion of the double compound pendulum


    (from numerical integration of the equations of
    motion)

    Long exposure of double pendulum exhibiting chaotic


    motion (tracked with an LED)
    Double pendulum 3

    and

    These expressions may be inverted to get

    and

    The remaining equations of motion are written as

    and

    These last four equations are explicit formulae for the time evolution of the system given its current state. It is not
    possible to go further and integrate these equations analytically, to get formulae for θ1 and θ2 as functions of time. It
    is however possible to perform this integration numerically using the Runge Kutta method or similar techniques.

    Chaotic motion

    Graph of the time for the pendulum to flip over as


    a function of initial conditions

    The double pendulum undergoes chaotic motion, and shows a sensitive dependence on initial conditions. The image
    to the right shows the amount of elapsed time before the pendulum "flips over," as a function of initial conditions.
    Here, the initial value of θ1 ranges along the x-direction, from −3 to 3. The initial value θ2 ranges along the
    y-direction, from −3 to 3. The colour of each pixel indicates whether either pendulum flips within (green),

    within (red), (purple) or (blue). Initial conditions that don't lead to a flip

    within are plotted white.

    The boundary of the central white region is defined in part by energy conservation with the following curve:

    Within the region defined by this curve, that is if


    Double pendulum 4

    then it is energetically impossible for either pendulum to flip. Outside this region, the pendulum can flip, but it is a
    complex question to determine when it will flip.
    The lack of a natural excitation frequency has led to the use of double pendulum systems in seismic resistance
    designs in buildings, where the building itself is the primary inverted pendulum, and a secondary mass is connected
    to complete the double pendulum.

    References
    • Meirovitch, Leonard (1986). Elements of Vibration Analysis (2nd edition ed.). McGraw-Hill
    Science/Engineering/Math. ISBN 0-07-041342-8.
    • Eric W. Weisstein, Double pendulum [1] (2005), ScienceWorld (contains details of the complicated equations
    involved) and "Double Pendulum [2]" by Rob Morris, Wolfram Demonstrations Project, 2007 (animations of those
    equations).
    • Peter Lynch, Double Pendulum [3], (2001). (Java applet simulation.)
    • Northwestern University, Double Pendulum [4], (Java applet simulation.)
    • Theoretical High-Energy Astrophysics Group at UBC, Double pendulum [5], (2005).

    External links
    • Animations and explanations of a double pendulum [6] and a physical double pendulum (two square plates) [7] by
    Mike Wheatland (Univ. Sydney)
    • Video [8] of a double square pendulum with three (almost) identical starting conditions.
    • Double pendulum physics simulation from www.myphysicslab.com [9]
    • Simulation, equations and explanation of Rott's pendulum [10]
    • Comparison videos of a double pendulum with the same initial starting conditions on YouTube [11]
    • Double Pendulum Simulator [12] - An open source simulator written in C++ using the Qt tookit.
    • Online Java simulator [13] of the Imaginary exhbibition.

    References
    [1] http:/ / scienceworld. wolfram. com/ physics/ DoublePendulum. html
    [2] http:/ / demonstrations. wolfram. com/ DoublePendulum/
    [3] http:/ / www. maths. tcd. ie/ ~plynch/ SwingingSpring/ doublependulum. html
    [4] http:/ / www. physics. northwestern. edu/ vpl/ mechanics/ pendulum. html
    [5] http:/ / tabitha. phas. ubc. ca/ wiki/ index. php/ Double_pendulum
    [6] http:/ / www. physics. usyd. edu. au/ ~wheat/ dpend_html/
    [7] http:/ / www. physics. usyd. edu. au/ ~wheat/ sdpend/
    [8] http:/ / www. youtube. com/ watch?v=Uzlccwt5SKc& NR=1
    [9] http:/ / www. myphysicslab. com/ dbl_pendulum. html
    [10] http:/ / www. chris-j. co. uk/ rott. php
    [11] http:/ / www. youtube. com/ watch?v=O2ySvbL3-yA
    [12] http:/ / freddie. witherden. org/ tools/ doublependulum/
    [13] http:/ / www. imaginary2008. de/ cinderella/ english/ G2. html
    Article Sources and Contributors 5

    Article Sources and Contributors


    Double pendulum  Source: http://en.wikipedia.org/w/index.php?oldid=432217825  Contributors: 19.7, Acdx, Alias Flood, Andres, ArnoldReinhold, Berland, Brad, Brian0918, Bvanderveen,
    CALR, Caltas, Catslash, Cburnett, Cdfurman, Chetvorno, Chopchopwhitey, Cimon Avaro, CommonsDelinker, Conscious, Doradus, Grendelkhan, Hughhunt, Iridescent, JabberWok, Jag123,
    Jim.belk, Jimp, Jonnymbarnes, Jsheyl, K-UNIT, Kate, KlappCK, Linas, LittleDan, LokiClock, MSGJ, Mcl-liam, Michael Hardy, MrOllie, Nburoojy, Nillerdk, Ninly, Oleg Alexandrov, Peter R
    Hastings, Phatmonkey, Physicistjedi, Pleasantville, Pt, Quadell, Rbeas, Rememberway, RogueNinja, Samersharife, Sangwinc, Scot.parker, Scottiebumich, SpectrumAnalyser, Sputnik1882,
    Sverdrup, The Thing That Should Not Be, Themfromspace, Thurth, Timb66, Tom harrison, Ummit, Why My Fleece?, Wolfkeeper, XaosBits, Xenvir, Zakholdsworth, 77 anonymous edits

    Image Sources, Licenses and Contributors


    Image:Double-Pendulum.svg  Source: http://en.wikipedia.org/w/index.php?title=File:Double-Pendulum.svg  License: GNU Free Documentation License  Contributors: User JabberWok on
    en.wikipedia
    Image:Double-compound-pendulum-dimensioned.svg  Source: http://en.wikipedia.org/w/index.php?title=File:Double-compound-pendulum-dimensioned.svg  License: Public Domain
     Contributors: Catslash
    Image:double-compound-pendulum.gif  Source: http://en.wikipedia.org/w/index.php?title=File:Double-compound-pendulum.gif  License: Public Domain  Contributors: Catslash
    Image:DPLE.jpg  Source: http://en.wikipedia.org/w/index.php?title=File:DPLE.jpg  License: Creative Commons Attribution 3.0  Contributors: George Ioannidis
    Image:Double_pendulum_flips_graph.png  Source: http://en.wikipedia.org/w/index.php?title=File:Double_pendulum_flips_graph.png  License: GNU Free Documentation License
     Contributors: Catslash, Darapti, Derlay, Incnis Mrsi, Maksim, Manishearth, Patrick, Petrb, 2 anonymous edits

    License
    Creative Commons Attribution-Share Alike 3.0 Unported
    http:/ / creativecommons. org/ licenses/ by-sa/ 3. 0/

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