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      • Dept. of Electrical and Electronics Engineering - Master's degree
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      •   BUIR Home
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      • Bilkent Theses
      • Theses - Department of Electrical and Electronics Engineering
      • Dept. of Electrical and Electronics Engineering - Master's degree
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      Synchronization of pendulum like systems

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      Author
      Kerimoğlu, Deniz
      Advisor
      Morgül, Ömer
      Date
      2011
      Publisher
      Bilkent University
      Language
      English
      Type
      Thesis
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      Abstract
      Synchronization is a phenomenon that is widely encountered in nature, life sciences and engineering. There exist various synchronization definitions in various research fields. The general definition for synchronization is the adjustment of rhythms of oscillating systems due to their weak interaction. Synchronization problem depends on the type of applications that require suitable properties and comparison functions. Different applications require different properties and comparison functions. Throughout our study, we choose the comparison function to be the difference of the states variables of the systems in hand. In this thesis, we will present types and methods of synchronization which has practical applications, i.e. mechanical systems. Then, we will investigate the passive controlled in-phase synchronization of spring-damper coupled single and double pendulum systems by using various stability analysis for both the system in hand and its appropriately defined error dynamics. We mostly achieved in-phase synchronization in these coupled pendulum systems with a few exceptions which are based on several conditions. Finally, we will explain the masterslave synchronization of two ball hoppers using two different gait controllers, namely, fully-actuated and under-actuated controllers. By using fully-actuated controller for the slave hopper, we achieved apex state synchronization and by using under-actuated controller for the slave hopper, we achieved apex position synchronization between these two hoppers in master slave configuration.
      Keywords
      In-phase Synchronization
      Master Slave Synchronization
      Coupled Pendulum System
      Ball hopper
      Gait Controller
      Permalink
      http://hdl.handle.net/11693/15277
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      • Dept. of Electrical and Electronics Engineering - Master's degree 594
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