Nonlinear dynamics of a real plane and periodically forced triple pendulum is investigated experimentally and numerically. 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. Some novel features of our real system chaotic dynamics have also been reported, and a novel approach of the rolling bearings friction modeling is proposed, among other.

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The experimental and numerical analysis of triple physical pendulum is performed. The experimental setup of the triple pendulum with the first body externally excited by the square function and the widely used LabView measure-programming system, which is designed especially for measure data processing and acquisition, are described. The mathematical model of the system is then introduced. The parameters of the model are estimated by minimization of the sum of squares of deviations between the signal from the simulation and the signal from the experiment. A good agreement between results from experiment and from simulation is shown in few examples, including periodic as well as chaotic solutions.

In this article, a mechanical 1-degree-of-freedom oscillator with harmonic forcing and impacts was analysed both numerically and experimentally. A special attention was paid to the mathematical modelling and realistic numerical simulations of a real system. The developed experimental rig consists of a cart mounted on a guide, connected with springs to the support, and equipped with one-sided stiff limiter of motion. The cart was excited by an unbalanced disc mounted on the shaft of a stepper motor. Modelling was focused on the mathematical description of the impact process, where soft obstacle with Hertzian stiffness was assumed and different forms of non-linear damping were tested, including original modifications of the already used models. Model parameters are identified based on two experimental solutions corresponding to free vibrations – with and without impacts. Then, the model was validated by means of experimental and numerical analysis of bifurcation dynamics of the forced system.