Double pendulum solution using GSL

Question

I am learning to use GSL to solve ODE. I wanted to solve double pendulum problem using GSL ODE functions. I decided to use this equations: Double pendulum quations

(source: http://www.physics.usyd.edu.au/~wheat/dpend_html/)

My code:

#include <iostream>
#include <cmath>
#include "gsl/gsl_errno.h"
#include "gsl/gsl_matrix.h"
#include "gsl/gsl_odeiv2.h"
#include "constants.h"

double L1;
double L2;
double M1;
double M2;
double T_START;
double T_END;
double S1_ANGLE;
double S2_ANGLE;
double V1_INIT;
double V2_INIT;

int func(double t, const double y[], double f[], void *params) {

    /*
     * y[0] = theta_2
     * y[1] = omega_1
     * y[2] = theta_1
     * y[3] = omega_2
     */

    f[0] = y[1];
    double del = y[2] - y[1];
    double den1 = (M1 + M2) * L1 - M2 * L1 * cos(del) * cos(del);
    f[1] = (M2 * L1 * y[1] * y[1] * sin(del) * cos(del)
            + M2 * G * sin(y[2]) * cos(del) + M2 * L2 * y[3] * y[3] * sin(del)
            - (M1 + M2) * G * sin(y[0])) / den1;

    f[2] = y[3];
    double den2 = (L2 / L1) * den1;
    f[3] = (-M2 * L2 * y[3] * y[3] * sin(del) * cos(del)
            + (M1 + M2) * G * sin(y[0]) * cos(del)
            - (M1 + M2) * L1 * y[1] * y[1] * sin(del)
            - (M1 + M2) * G * sin(y[2])) / den2;

    return GSL_SUCCESS;
}


int main(int argc, char *argv[]) {

    /*
     * Arguments list:
     * 1 - length of pendulum 1
     * 2 - length of pendulum 2
     * 3 - mass of pendulum 1
     * 4 - mass of pendulum 2
     * 5 - start time (seconds)
     * 6 - end time (seconds)
     * 7 - initial angle of 1 pendulum (degrees)
     * 8 - initial angle od 2 pendulum
     * 9 - initial angular velocity of 1 pendulum (deegres per second)
     * 10 - initial angular velocity of 2 pendulum
     */

    if (argc != 11) {
        printf("Wrong number of arguments... \n");
        exit(1);
    }

    //Attribution of arguments
    L1 = atof(argv[1]);
    L2 = atof(argv[2]);
    M1 = atof(argv[3]);
    M2 = atof(argv[4]);
    T_START = atof(argv[5]);
    T_END = atof(argv[6]);
    S1_ANGLE = atof(argv[7]);
    S2_ANGLE = atof(argv[8]);
    V1_INIT = atof(argv[9]);
    V2_INIT = atof(argv[10]);

    //converting to radians
    S1_ANGLE=S1_ANGLE*PI/180.0;
    S2_ANGLE=S2_ANGLE*PI/180.0;
    V1_INIT=V1_INIT*PI/180.0;
    V2_INIT=V2_INIT*PI/180.0;
    printf("L1:%f\nL2: %f\nM1 :%f\nM2:%f\nT_START:%f\nT_END:%f\nS1_ANGLE: %f \nS2_ANGLE: %f\nV1_INIT: %f \nV2_INIT: %f \n",
    L1,L2,M1,M2,T_START,T_END,S1_ANGLE,S2_ANGLE,V1_INIT,V2_INIT);


    gsl_odeiv2_system sys = {func, NULL, 4, NULL};
    gsl_odeiv2_driver *d =
            gsl_odeiv2_driver_alloc_y_new(&sys, gsl_odeiv2_step_rk4, 1e-6, 1e-6, 0.0);



    double y[4] = {S2_ANGLE,V1_INIT,S1_ANGLE,V2_INIT};
    double t = T_START;
    for (int i = 1; i <= 100; i++) {
        double ti = i * (T_END - T_START) / 100.0;
        int status = gsl_odeiv2_driver_apply(d, &t, ti, y);
        printf("%.5e %.5e %.5e %.5e %.5e \n", t, y[0], y[1],y[2],y[3]);
    }


    return 0;
}

It really does not matter what parameters I input, I always get an error:

gsl: driver.c:354: ERROR: integration limits and/or step direction not consistent Default GSL error handler invoked.

I does not understand what causes my error.

Apart from your compilation problems, your order of the components of `y` is confusing, and your use to build the equations is wrong. Just define local variables `theta1=y[0], omega1=y[1], theta2=y[2], omega2=y[3]` and you will easier avoid errors such as `del=y[2]-y[1]`, where instead you use `del=theta2-theta1`. — Lutz Lehmann, May 04 '15 at 20:17

score 3 · Answer 1 · answered Jun 01 '15 at 20:31

You could also use C++ with odeint library if you are interested. For the double pendulum system. For matrices I use Eigen and for solving ODEs I use odeint , therefore this is the code for your problem.

#include <iostream>
#include <cmath>
#include <Eigen/Dense>
#include <boost/math/constants/constants.hpp>
#include <boost/numeric/odeint.hpp>
#include <iomanip>

using namespace std;
using namespace boost::numeric::odeint;


typedef std::vector< double > state_type;


void equations(const state_type &y, state_type &dy, double x)
{
    const double m1(0.5), m2(0.5),
                 L1(0.1), L2(0.1),
                 g(9.81);

    Eigen::MatrixXd M(2, 2), C(2, 1), B(2,1);

    /*
      Theta 1 =  y[0]
     dTheta 1 =  y[1] = dy[0]
    ddTheta 1 = dy[1]

      Theta 2 =  y[2]
     dTheta 2 =  y[3] = dy[2]
    ddTheta 2 = dy[3]
    */
    double delta(y[0] - y[2]);

    M <<      (m1 + m2)*L1, m2*L2*cos(delta),
          m2*L1*cos(delta),            m2*L2;


    C <<  m2*L1*L2*y[3]*y[3]*sin(delta) + g*(m1 + m2)*sin(y[0]),
         -m2*L1*y[1]*y[1]*sin(delta)    +        m2*g*sin(y[2]);


    //#####################( ODE Equations )################################
    dy[0] = y[1];
    dy[2] = y[3];

    B = M.inverse() * (-C);


    dy[1] = B(0,0);
    dy[3] = B(1,0);

}


int main(int argc, char **argv)
{
    const double dt = 0.01;
    runge_kutta_dopri5 < state_type > stepper;
    double pi = boost::math::constants::pi<double>();

    state_type y(4); 
    // initial values
    y[0] = pi/3.0;  //  Theta 1 
    y[1] = 0.0;     // dTheta 1
    y[2] = pi/4.0; //   Theta 2
    y[3] = 0.0;    //  dTheta 2

    for (double t(0.0); t <= 5; t += dt){

        cout << fixed << setprecision(2);
        std::cout << "t: " << t << "  Theta 1: " << y[0] << "   dTheta 1: " << y[1]
                  << "  Theta 2: " << y[2] << "  dTheta 2: " << y[3] << std::endl;


        stepper.do_step(equations, y, t, dt);
    }

}

The results are

enter image description here

Thank you ! It is very clean and nice solution. – Marcin Majewski Jun 04 '15 at 21:02 — Marcin Majewski, Jun 04 '15 at 21:02

score 1 · Accepted Answer · answered May 04 '15 at 21:58

It really is the order of arguments in y. In the cited source it was in the "natural" order, the reason for your mix is not really clear. Giving names to some sub-expressions, the ODE function might also be written as

int func(double t, const double y[], double f[], void *params) {


    double th1 = y[0], w1 = y[1];
    double th2 = y[2], w2 = y[3];

    f[0] = w1; // dot theta_1 = omega_1
    f[2] = w2; // dot theta_2 = omega_2

    double del = th2 - th1;
    double den = (M1 + M2) - M2 * cos(del) * cos(del);
    double Lwws1 = L1 * (w1*w1) * sin(del);
    double Lwws2 = L2 * (w2*w2) * sin(del);
    double Gs1 = G*sin(th1), Gs2 = G*sin(th2);

    f[1] = (M2 * (Lwws1 + Gs2) * cos(del) + M2 * Lwws2 - (M1 + M2) * Gs1) / (L1*den);

    f[3] = (-M2 * Lwws2 * cos(del) + (M1 + M2) * ( Gs1 * cos(del) - Lwws1 - Gs2) / (L2*den);

    return GSL_SUCCESS;
}

Of course, this assumes that the initial point vector is defined as

    double y[4] = {S1_ANGLE,V1_INIT,S2_ANGLE,V2_INIT};

and that the interpretation of the results corresponds to that.

Thank you, it solved my problem, I got lost in variables and made a mess, no it is working perfectly :) — Marcin Majewski, May 04 '15 at 22:17

Double pendulum solution using GSL

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