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Double Pendulum

This document describes the dynamics of a double pendulum system. It derives the Lagrangian and kinetic and potential energies of the system. This allows writing the Euler-Lagrange equations of motion for the two angles of the pendulums. The equations are then converted to a system of four first-order differential equations that can be numerically solved to model the cyclical, nearly cyclical, and chaotic motions the double pendulum can exhibit depending on the system parameters.

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daras2684
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261 views

Double Pendulum

This document describes the dynamics of a double pendulum system. It derives the Lagrangian and kinetic and potential energies of the system. This allows writing the Euler-Lagrange equations of motion for the two angles of the pendulums. The equations are then converted to a system of four first-order differential equations that can be numerically solved to model the cyclical, nearly cyclical, and chaotic motions the double pendulum can exhibit depending on the system parameters.

Uploaded by

daras2684
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Double Pendulum

Josh Altic

May 15, 2008

Josh Altic

Double Pendulum

Position

O 1 L1

x1

x2

x1 = L1 sin(1 ) x2 = L1 sin(1 ) + L2 sin(2 ) y1 = L1 cos(1 ) y2 = L1 cos(1 ) L2 cos(2 )


y2 y1 m1 2 L2 m2

Josh Altic

Double Pendulum

Potential Energy: the sum of the potential energy of each mass

P = m1 gy1 + m2 gy2 P = m1 gL1 cos(1 ) m2 g (L1 cos(1 ) + L2 cos(2 ))

Josh Altic

Double Pendulum

Kinetic Energy in General

We know that K = 1/2mv 2 .

Which brings us to K = 1/2m(x 2 + y 2 ).

Josh Altic

Double Pendulum

Kinetic Energy in the double pendulum system

2 2 2 2 K = 1/2m1 (x 1 +y 1 ) + 1/2m2 (x 2 +y 2 ).

position: x1 = L1 sin(1 ) x2 = L1 sin(1 ) + L2 sin(2 ) y1 = L1 cos(1 ) y2 = L1 cos(1 ) L2 cos(2 )

dierentiating: 1 x 1 = L1 cos(1 ) 1 + L2 cos(2 ) 2 x 2 = L1 cos(1 ) 1 y1 = L1 sin(1 ) 1 + L2 sin(2 ) 2 y 2 = L1 sin(1 )

2 2 2 2 2 2 1 1 2 1 L1 1 L2 cos(1 2 )]. K = 1/2m1 L1 + 1/2m2 [ L1 + L2 + 2

Josh Altic

Double Pendulum

Lagrangian in General

The Lagrangian(L) of a system is dened to be the dierence of the kinetic energy and the potential energy. L = K P. For the Lagrangian of a system this Euler-Lagrange dierential equation must be true: d dt L L =0

Josh Altic

Double Pendulum

the Lagrangian of our double pendulum system

2 2 2 2 2 2 1 1 2 1 L1 2 L2 cos(1 2 )]. L2 + 2 K = 1/2m1 L1 + 1/2m2 [ L1 +

P = (m1 + m2 )gL1 cos(1 ) m2 L2 g cos(2 )

In our case the Lagrangian is


2 2 2 L = 1/2(m1 + m2 )L2 1 1 + 1/2m2 L2 2 + m2 L1 L2 1 2 cos(1 + 2 )+

(m1 + m2 )gL1 cos(1 ) + m2 L2 g cos(2 ).

Josh Altic

Double Pendulum

Partials of the Lagrangian for 1


2 2 2 L = 1/2(m1 + m2 )L2 1 1 + 1/2m2 L2 2 + m2 L1 L2 1 2 cos(1 2 )+

(m1 + m2 )gL1 cos(1 ) + m2 L2 g cos(2 ) Thus: L 1 2 sin(1 2 ) = L1 g (m1 + m2 ) sin(1 ) m2 L1 L2 1 L = (m1 + m2 )L2 1 1 + m2 L1 L2 2 cos(1 2 ) 1 d dt L 1 = (m1 + m2 )L2 1 1 + m2 L1 L2 2 cos(1 2 ) 2 sin(1 2 )( 1 2 ) m2 L1 L2
Josh Altic Double Pendulum

Substituting into the Euler-Lagrange Equation

d dt

L =0

2 (m1 + m2 )L2 1 1 + m2 L1 L2 2 cos(1 2 ) + m2 L1 L2 2 sin(1 2 )+ gL1 (m1 + m2 ) sin(1 ) = 0 Simplifying and Solving for 1: 2 1 = m2 L2 2 cos(1 2 ) m2 L2 2 sin(1 2 ) (m1 + m2 )g sin(1 ) (m1 + m2 )L1

Josh Altic

Double Pendulum

Partials for 2
Once again the Lagrangian of the system is
2 2 2 L = 1/2(m1 + m2 )L2 1 1 + 1/2m2 L2 2 + m2 L1 L2 1 2 cos(1 2 )+

(m1 + m2 )gL1 cos(1 ) + m2 L2 g cos(2 )

L 1 2 sin(1 2 ) L2 m2 g sin(2 ) = m2 L1 L2 2 L = m2 L2 2 2 + m2 L1 L2 1 cos(1 2 ) 2 d dt L 2 = m2 L2 2 2 + m2 L1 L2 1 cos(1 2 ) 1 sin(1 2 )( 1 2 ) m2 L1 L2


Josh Altic Double Pendulum

Substituting into the Euler-Lagrange equation for 2

d dt

L =0

2 2 + L1 1 cos(1 2 ) L1 1 L2 sin(1 2 ) + g sin(2 ) = 0.

2 2 = L1 1 cos(1 2 ) + L1 1 sin(1 2 ) g sin(2 ) . L2

Josh Altic

Double Pendulum

two dependent dierential equations

1 and We now have two equations that both have 2 in them. 2 1 = m2 L2 2 cos(1 2 ) m2 L2 2 sin(1 2 ) (m1 + m2 )g sin(1 ) (m1 + m2 )L1

2 2 = L1 1 cos(1 2 ) + L1 1 sin(1 2 ) g sin(2 ) . L2

Josh Altic

Double Pendulum

creating two second order dierential equations

1 =

2 1 m2 L1 sin(1 2 ) cos(1 2 ) + gm2 sin(2 ) cos(1 2 ) 2 2 m2 L2 sin(1 2 ) (m1 + m2 )g sin(1 )

L1 (m1 + m2 ) m2 L1 cos2 (1 2 )
2 2 m2 L2 sin(1 2 ) cos(1 2 ) + g sin(1 ) cos(1 2 )(m1 + m2 ) 2 1 sin(1 2 )(m1 + m2 ) g sin(2 )(m1 + m2 ) + L1

2 =

L2 (m1 + m2 ) m2 L2 cos2 (1 2 )

Josh Altic

Double Pendulum

converting to a system of rst order dierential equations

1 ,2 and 2 I can construct a If I dene new variables for 1 , system of four rst order dierential equations that I can then solve numerically. This gives me z1 = 1 z2 = 2 1 z3 = 2 . z4 = dierentiating I get 1 z1 = 2 z2 = 1 z3 = z4 = 2.

Josh Altic

Double Pendulum

A system of four rst order dierential equations


1 z1 = 2 z2 =

2 m2 L1 z4 sin(z1 z2 ) cos(z1 z2 ) + gm2 sin(z2 ) cos(z1 z2 )

z3 =

2 m2 L2 z4 sin(z1 z2 ) (m1 + m2 )g sin(z1 ) . L1 (m1 + m2 ) m2 L1 cos2 (z1 z2 )

2 m2 L2 z4 sin(z1 z2 ) cos(z1 z2 ) + g sin(z1 ) cos(z1 z2 )(m1 + m2 )

z4 =

2 +L1 z4 sin(z1 z2 )(m1 + m2 ) g sin(z2 )(m1 + m2 ) . L2 (m1 + m2 ) m2 L2 cos2 (z1 z2 )

Josh Altic

Double Pendulum

example of cyclical behavior of the system


m1 m2

1.5 1 y1 and y2 0.5 0 0.5

1.5

0.5
Josh Altic

0 0.5 x1 and x2
Double Pendulum

1.5

example of cyclical behavior of the system


m1 m2

1.5 1 y1 and y2 0.5 0 0.5 1 1.5 2 2 1 0 x1 and x2 1

Josh Altic

Double Pendulum

example of nearly cyclical behavior of the system


2 1.5 1 y1 and y2 0.5 0 0.5 1 1.5 2 1 0 x1 and x2
Josh Altic

m1 m2

Double Pendulum

example of nearly cyclical behavior of the system


2 1.5 1 y1 and y2 0.5 0 0.5 1 1.5 2 1 0 x1 and x2 1 2 m1 m2

Josh Altic

Double Pendulum

Example of Chaotic behavior of the system


m1 m2

1 0.5 y1 and y2 0 0.5 1 1.5 2 1 0 x1 and x2


Josh Altic Double Pendulum

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