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