Narrow Results

Deterministic chaos machine consisting of the plane triple pendulum as well as of driving and measurement subsystems is presented and studied. The pendulum-driving subsystem consists of two engines of slow alternating currents and optoelectronic commutation. In addition, a mathematical model of the experimental rig is derived as a system of three second order strongly nonlinear ODEs. Mathematical modeling includes details, taking into account some characteristic features (for example, real characteristics of joints built by the use of roller bearings) as well as some imperfections (asymmetry of the forcing) of the real system. Parameters of the model are obtained by a combination of the estimation from experimental data and direct measurements of the system's geometric and physical parameters. A few versions of the model of resistance in the joints are tested in the identification process. Good agreement between both numerical simulation results and experimental measurements have been obtained and presented.