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Systems With Time-Dependent Coefficients.

MATHIEUS EQUATION

Even when the system is linear, time-dependent coefficients tend to cause great difficulties. The situation considerably better when the terms involving the time-dependent coefficients are relatively small, because this opens the possibility for a perturbation solution. The interest lies in the case in which the support executes harmonic motion of the form:

(1)

We derive the equation of motion by first regarding and u as unknowns and then use eq.1 to eliminate u. Here we consider Lagranges equations:

(2)

where T is the kinetic energy, V is the potential energy and and U are generalized Non-conservative forces.

From figure the kinetic energy and potential energy can be shown to be:

(3) And the virtual work of the non-conservative forces is: (4) In this problem the generalized non-conservative forces are: (5) Then: (6)

Inserting eqs. (5)&(6)in (2): (7) (8) Inserting eq.(1) into (7) , we obtain a nonlinear differential equation with one time-dependent coefficient, which can be solved for (t) , at least in theory. Then, introducing (t) thus obtained and eq.(1) in (8), we obtain the force F necessary for generating the harmonic motion u of the support . If we consider (t) 0 , the above equations reduce to the linearized form: (9) (10) Equation (9) may appear nonlinear due to the product , but it is not, because u is a known quantity. Now inserting eq.(1) in (9) : (11) This equation is known in mathematical physics as Mathieus equation. And then from (10) we obtain the force producing the harmonic motion of the support : (12)

For stability of the system , its convenient to introduce the notation: (13) Moreover , its customary to let form of Mathieus equation: (14) If 1 equation 14 represents a quasi-harmonic system. The stability characteristics of eq.14 can be studied conveniently by means of the parameter plane , . The plane is divided into regions of stability and instability by the so-called boundary curves , or transition curves. These transition curves separating the stability regions from the instability regions, are such that a point belonging to any of these curves is characterized by a periodic solution of equation 14. To this end we assume a solution in the form: , so that eq.(11) reduces to the standard

(15) Moreover , we assume that: (16)

Inserting equations 15, 16 in equation 14 and equating coefficients of like power of we obtain the sets of equations: (17)

one set for every n . These equations must be solved recursively for the various values of n . From the first of these equations the zero-order approximation is given by: (18) Equations 17 yield an infinite number of solution pairs, one pair for every value of n, with the exception of the case for which there is only one solution. Considering first the case n=0 , the second of Eqs. 17 reduces to: (19) For (20) to be periodic, must be equal to zero:

Then the third of Eqs. 17 becomes: (21)

For to be periodic, the constant term on the right side of Eq.21 must be equal to zero, which yields: Hence, corresponding to n=0, there is only one transition curve, namely (22) Which, to a second-order approximation, is a parabola passing through the origin of the parameter plane , . Now we consider the case n=1 (23) Now with the first of these equations(0= cost ), the second of Eqs. 17 becomes: (24)

in which case, there are two zero-order solutions:

To prevent resonance, hence the formation of secular terms we must set 1=-1, from which it follows that the solution of (24)is: (25) Then inserting 0, 1 and 1 into the third of Eqs:17 we obtain: (26)

For 2 to be periodic, the coefficient of

cos(t)

must be zero, which yields

2=-1/8.

Hence, using Eq. (16), the transition curve corresponding to


(27) Corresponding to 0= sint , the second of Eq.17 becomes:

0= cost

is:

(28)
The solution of this equation is periodic provided (29) And then the third of equation 17 becomes: (30) So that, for 2 to be periodic, we must have corresponding to 0= sint is:

1 =1 , and has the form:

2=-1/8 . Hence, the transition curve

(31)

Following the same pattern, it can be shown that the transition curve corresponding to n=2 and 0=cos2t is: (32) And the corresponding to (33) Transition curves for n=3,4,... can be obtained in a similar fashion.

n=2 and 0=sin2t

is:

Strutt Diagram

The region terminating at =1, =0 is known as the principal instability region, and

is appreciably wider than the regions terminating at

=0, =n^2 (n=2,3,) .

We observe from figure that stability is possible also for negative values of , which corresponds to upright equilibrium position, =180 . Although this region is small, for the right choice of parameters, the pendulum can be stabilized in the upright position by moving the support harmonically.

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