Synchronization of the self-excited pendula suspended on the vertically displacing beam

We consider the synchronization of a number of self-excited identical pendula hanging on the same beam which can move vertically. We identify different synchronous configurations and investigate their stability. An approximate analytical analysis of the energy balance allows to derive the synchronization conditions, phase difference between pendula and explains the observed types of synchronizations.

► Synchronization of self-exited oscillating pendula.
► Approximate analytical condition for synchronization.
► New types of synchronization.