We investigate the dynamics of the 3 DOF model of two self-excited pendula suspended on the oscillating beam. The research is focused on the analysis of possible multistability of the synchronous configurations. The regions of different behaviours (both unique, as well as the co-existing ones) are shown and the influence of the model’s parameters on their occurrence is studied. We exhibit, that the pendula can synchronize in a classical phase-locked way (apart from the in-phase and the anti-phase patterns) and the phase shift between them strictly depends on the angle at which the beam oscillates. The basins of attraction of different solutions are discussed and the conditions leading to the desired states are indicated. The bifurcation analysis of the system shows possible scenarios of transitions between various attractors, which are supported by the energy diagrams determining the energy flows for the dynamical elements. We apply the probability methods to measure the basin stability of possible states and to estimate their occurrence, when the initial conditions are uncertain. Our results have been obtained for both identical, as well as non-identical pendula and we describe the phenomena that can be observed in various models of classical mechanics in general.

我们研究了悬挂在振荡梁上的两个自激摆的 3 DOF 模型的动力学。研究的重点是分析同步配置可能的多重稳定性。显示了不同行为的区域（既有独特的，也有共存的），并研究了模型参数对其发生的影响。我们证明，钟摆可以以经典的锁相方式同步（除了同相和反相模式），它们之间的相移严格取决于光束振荡的角度。讨论了不同溶液的吸引力盆地，并指出了导致所需状态的条件。系统的分岔分析显示了各种吸引子之间可能发生的转变情况，由确定动力元件的能量流的能量图支持。当初始条件不确定时，我们应用概率方法来测量可能状态的盆地稳定性并估计它们的发生。我们已经为相同和不同的钟摆获得了结果，我们描述了可以在各种经典力学模型中观察到的现象。