title: Optimization of oscillation damping modes of spatial double pendulum. II. Solving the problem and analyzing the results
metadata.name: dc.contributor.author
metadata.value: Smirnov, Aleksey S.
metadata.lang: -
metadata.name: dc.contributor.author
metadata.value: Smolnikov, Boris A.
metadata.lang: -
metadata.name: dc.date.accessioned
metadata.value: 2023-03-14T20:36:26Z
metadata.lang: -
metadata.name: dc.date.available
metadata.value: 2023-03-14T20:36:26Z
metadata.lang: -
metadata.name: dc.date.issued
metadata.value: 2023-03
metadata.lang: -
metadata.name: dc.identifier.citation
metadata.value: Smirnov А. S., Smolnikov B.A. Optimization of oscillation damping modes of spatial double pendulum. II. Solving the problem and analyzing the results. Vestnik of Saint Petersburg University. Mathematics. Mechanics. Astronomy, 2023, vol. 10 (68), issue 1, pp. 121– 138. https://doi.org/10.21638/spbu01.2023.111 (In Russian)
metadata.lang: en_GB
metadata.name: dc.identifier.other
metadata.value: https://doi.org/10.21638/spbu01.2023.111
metadata.lang: -
metadata.name: dc.identifier.uri
metadata.value: http://hdl.handle.net/11701/39331
metadata.lang: -
metadata.name: dc.description.abstract
metadata.value: This paper is a continuation of the article «Optimization of oscillation damping modes of spatial double pendulum. I. Formulation of the problem», in which the problem formulation of the optimal oscillations damping of double pendulum with joint axes not collinear to each other was given. Passive damping (viscous friction) is considered separately, and the possibility of additional accounting of active impacts (collinear control) is also discussed. Two optimization criteria are adopted that characterize the efficiency of the damping processes of system movements: first, the degree of stability is maximized, and then the integral energy-time criterion is minimized. The optimal values of the parameters of the considered damping options are determined according to both criteria in the course of the exact solution of the problem within the framework of a linear model. The obtained results are presented in the form of visual graphic illustrations which allow to establish their main qualitative and quantitative features. The conclusions can be useful in studying the movements of manipulators and various robotic structures.
metadata.lang: en_GB
metadata.name: dc.language.iso
metadata.value: ru
metadata.lang: en_GB
metadata.name: dc.publisher
metadata.value: St Petersburg State University
metadata.lang: en_GB
metadata.name: dc.relation.ispartofseries
metadata.value: Vestnik of St Petersburg University. Mathematics. Mechanics. Astronomy;Volume 10 (68); Issue 1
metadata.lang: -
metadata.name: dc.subject
metadata.value: spatial double pendulum
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: viscous friction
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: collinear control
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: optimization criterion
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: degree of stability
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: energy-time criterion
metadata.lang: en_GB
metadata.name: dc.title
metadata.value: Optimization of oscillation damping modes of spatial double pendulum. II. Solving the problem and analyzing the results
metadata.lang: en_GB
metadata.name: dc.type
metadata.value: Article
metadata.lang: en_GB
resources.filename: 15499-Текст статьи-51850-1-2-20230304.pdf
resources.url: https://dspace.spbu.ru/bitstream/11701/39331/1/15499-%d0%a2%d0%b5%d0%ba%d1%81%d1%82%20%d1%81%d1%82%d0%b0%d1%82%d1%8c%d0%b8-51850-1-2-20230304.pdf
resources.format: Adobe PDF
resources.size: 550,4 kB