Figure 10. Behavior at varied initial conditions of the system (32)
Figure 11. Behavior at varied initial conditions of the system (32)
Figure 12. Behavior at varied values of the parameter of the system (32)
Figure13. Behavior at varied values of the parameter of the system (32)
All graphs confirm that finally stance leg takes stable almost vertical position and swinging leg oscillates with constant amplitude and at stable position with respect to stance leg.
The dynamics of the system (32) corresponds to the motion of the mechanism presented in the Fig. 14.
Figure 14. Motion of the designed controlled pendulum
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