Optimization of oscillation damping modes of spatial double pendulum. I. Formulation of the problem

The paper discusses the issues of optimal damping oscillations a spatial double pendulum, whose joint axes are not collinear to each other. As options for damping, both simply passive associated with influence viscous friction, and combined active considered, influences formed according principle control. analytical solution system motion equations is given cases in framework linear model, it clearly demonstrates motions on natural oscillation modes original conservative model. optimization criteria characterizing efficiency processes movements considered. It noted that order obtain most strongly marked modes, degree stability should be maximized or integral energy-time indicator minimized. In addition, main advantages disadvantages these discussed. This article basis further research, which will presented as separate “Optimization pendulum. II. Solving problem analyzing results”.