Chaos control in a pendulum system with excitations and phase shift

Melnikov methods are used for suppressing homoclinic and heteroclinic chaos of a pendulum system with a phase shift and excitations. This method is based on the addition of adjustable amplitude and phase-difference of parametric excitation. Theoretically, we give the criteria of suppression of homoclinic and heteroclinic chaos, respectively. Numerical simulations are given to illustrate the effect of the chaos control in this system. Moreover, we calculate the maximum Lyapunov exponents (LEs) in parameter plane, and study how to vary the maximum LE when the parametric frequency varies.     

磁场中轴向运动条形板强非线性超谐共振及混沌运动

针对磁场环境中周期外载作用下轴向运动导电条形板的非线性振动及混沌运动问题进行研究。应用改进多尺度法对横向磁场中条形板的强非线性振动问题进行求解,得到超谐波共振下系统的分岔响应方程。根据奇异性理论对非线性动力学系统的普适开折进行分析,求得含两个开折参数的转迁集及对应区域的拓扑结构分岔图。通过数值算例,分别得到以磁感应强度、轴向拉力、激励力幅值和激励频率为分岔控制参数的分岔图和最大李雅普诺夫指数图,以及反映不同运动行为区域的动力学响应图形,讨论分岔参数对系统呈现的倍周期和混沌运动的影响。结果表明,可通过相应参数的改变实现对系统复杂动力学行为的控制。     

轴向运动正交各向异性板的超谐波共振及稳定性

研究了轴向运动正交各向异性条形薄板在线载荷作用下的超谐波共振问题。通过哈密顿原理导出了几何非线性下正交各向异性条形板的非线性振动方程。运用伽辽金积分法,推得了关于时间变量的量纲归一化非线性振动微分方程组。应用多尺度法求解三阶超谐波共振问题,得到了稳态运动下一阶、二阶、三阶共振形式的共振幅值响应方程。利用Liapunov方法推得不同共振形式稳态解的稳定性判据,并据此分析不同参数对系统稳定性的影响。绘制了振幅特性变化曲线图和与之对应的激发共振多解临界点曲线图,分析系统参数对共振的影响,并预测系统进入非线性共振区域的临界条件。得出激励在特定位置区间时可激发系统的超谐波共振,随着激励幅值的增加,上稳定解支减小,下稳定解支增加,且一阶模态振幅大于二阶、三阶振幅。     

Symmetry-Breaking Homoclinic Bifurcations in Diffusively Coupled Equations

In this study we examine a symmetry-breaking bifurcation of homoclinic orbits in diffusively coupled ordinary differential equations. We prove that asymmetric homoclinic orbits can bifurcate from a symmetric homoclinic orbit when the equilibria to which the latter is homoclinic undergoes a pitchfork bifurcation. A condition which defines the direction of the bifurcation in a parameter space is given. All hypotheses of the main theorem are verified for a diffusively coupled logistic system and the twistedness of the bifurcating homoclinic orbits is computed for a range of coupling strengths.     

Control of the nonlinear oscillator bifurcation under a superharmonic resonance

A weakly nonlinear oscillator is modeled by a differential equation. A superharmonic resonance system can have a saddle-node bifurcation, with a jumping transition from one state to another. To control the jumping phenomena and the unstable region of the nonlinear oscillator, a combination of feedback controllers is designed. Bifurcation control equations are derived by using the method of multiple scales. Furthermore, by performing numerical simulations and by comparing the responses of the uncontrolled system and the controlled system, we clarify that a good controller can be obtained by changing the feedback control gain. Also, it is found that the linear feedback gain can delay the occurrence of saddle-node bifurcations, while the nonlinear feedback gain can eliminate saddle-node bifurcations. Feasible ways of further research of saddle-node bifurcations are provided. Finally, we show that an appropriate nonlinear feedback control gain can suppress the amplitude of the steady-state response.     

Flow control using bifrequency motion

We used a second-order approximation for the periodic lift coefficient of a circular cylinder under monofrequency and bifrequency cross-flow motions. Two lock-in modes exist under monofrequency fundamental (i.e., near the Strouhal number) motion. In the first mode, the work is done by the flow on the cylinder, whereas in the second mode the work is done by the cylinder on the flow. Under monofrequency superharmonic (i.e., near three times the Strouhal number) motion, the work is always done on the flow. We then replaced the monofrequency motions by a bifrequency one, consisting of a fundamental term combined with a small-magnitude superharmonic term. We examined the effect of the magnitude and phase of the superharmonic motion term on the two modes of lock-in which we obtained when only the fundamental motion term is applied, considering two different frequencies that belonged to the two lock-in modes. Under the bifrequency motion, the work can be done on the flow or on the cylinder. This can be controlled using the superharmonic motion term, even when its magnitude is 5% of magnitude of the fundamental motion term. Other flow variables, such as the magnification of the lift, can be remarkably altered through the added superharmonic motion term. The phase of the third superharmonic lift-coefficient component relative to the fundamental one is the most responsive variable to the phase of the superharmonic motion component relative to the fundamental one.     

双稳态电磁式振动能量捕获器超谐波响应研究

超谐波响应是非线性振动系统在较大激励下表现的特性,在某种条件下双稳态振动能量捕获系统的超谐波响应可使系统产生优越的输出功率。本文将质量-非线性弹簧-阻尼系统与双稳态振动能量捕获器相结合,提出了附加非线性振子的双稳态电磁式振动能量捕获器,建立系统的力学模型及控制方程。采用两项式谐波平衡法,获得了双稳态系统在简谐激励下产生大幅运动的基谐波和超谐波响应的解析解,借助数值仿真分析了质量比和调频比对双稳态振动能量捕获器产生大幅运动的影响规律,获得了双稳态系统的结构参数的最佳配置范围,且当外部激励频率处于低频段时,系统发电主要表现为超谐波发电,随着激励频率的增大,振动发电系统主要呈现基谐波发电。上述研究,为双稳态能量捕获装置的理论研究提供了参考。     

Construction of approximate analytical solutions to strongly nonlinear damped oscillators

An analytical approximate method for strongly nonlinear damped oscillators is proposed. By introducing phase and amplitude of oscillation as well as a bookkeeping parameter, we rewrite the governing equation into a partial differential equation with solution being a periodic function of the phase. Based on combination of the Newton’s method with the harmonic balance method, the partial differential equation is transformed into a set of linear ordinary differential equations in terms of harmonic coefficients, which can further be converted into systems of linear algebraic equations by using the bookkeeping parameter expansion. Only a few iterations can provide very accurate approximate analytical solutions even if the nonlinearity and damping are significant. The method can be applied to general oscillators with odd nonlinearities as well as even ones even without linear restoring force. Three examples are presented to illustrate the usefulness and effectiveness of the proposed method.     

A hyperbolic Lindstedt–Poincaré method for homoclinic motion of a kind of strongly nonlinear autonomous oscillators

A hyperbolic Lindstedt-Poincare method is presented to determine the homoclinic solutions of a kind of nonlinear oscillators, in which critical value of the homoclinic bifurcation parameter can be determined. The generalized Lienard oscillator is studied in detail, and the present method＇s predictions are compared with those of Runge-Kutta method to illustrate its accuracy.     

Limit cycles and homoclinic orbits and their bifurcation of Bogdanov-Takens system

A quantitative analysis of limit cycles and homoclinic orbits, and the bifurcation curve for the Bogdanov-Takens system are discussed. The parameter incremental method for approximate analytical-expressions of these problems is given. These analytical-expressions of the limit cycle and homoclinic orbit are shown as the generalized harmonic functions by employing a time transformation. Curves of the parameters and the stability characteristic exponent of the limit cycle versus amplitude are drawn. Some of the limit cycles and homoclinic orbits phase portraits are plotted. The relationship curves of parameters μ and A with amplitude a and the bifurcation diagrams about the parameter are also given. The numerical accuracy of the calculation results is good.     

Bursting-like motion induced by time-varying delay in an internet congestion control model

Time delay is an important parameter in the problem of internet congestion control. According to some researches, time delay is not always constant and can be viewed as a periodic function of time for some cases. In this work, an internet congestion control model is considered to study the time-varying delay induced bursting-like motion, which consists of a rapid oscillation burst and quiescent steady state. Then, for the system with periodic delay of small amplitude and low frequency, the method of multiple scales is employed to obtain the amplitude of the oscillation. Based on the expression of the asymptotic solution, it can be found that the relative length of the steady state increases with amplitude of the variation of time delay and decreases with frequency of the variation of time delay. Finally, an effective method to control the bursting-like motion is proposed by introducing a periodic gain parameter with appropriate amplitude. Theoretical results are in agreement with that from numerical method.     

静载荷对夹层圆板超谐波共振的影响

研究静载荷作用下夹层圆板的超谐波共振问题．基于Hoff型夹层板理论,给出了静载荷作用下夹层圆板的非线性动力学方程．应用Galerkin法推导了静载荷作用下夹层圆板的轴对称非线性振动方程．运用多尺度法分别对系统的三次超谐波问题和二次超谐波问题进行了求解,并依据Lyapunov稳定性理论得到了系统稳态运动的稳定性判据．通过算例,得到了周边简支约束下夹层圆板三次超谐波共振和二次超谐波共振的幅频响应曲线图、振幅-静载荷响应曲线图、振幅-激励力幅值响应曲线图;研究了不同参数对系统振幅的影响规律,并对解的稳定性进行了分析．     

Homoclinic bifurcation and chaos attractor in elastic two-bar truss

In this paper, we present a dynamic bifurcation analysis of the non-linear Duffing's equation on a simple elastic structure. The structure is a two-bar elastic truss with a damper, and possesses geometrical non-linear stiffness. We consider the dynamic instability of its structure based on Duffing's oscillation, which shows bifurcation behavior of the homoclinic orbit. We could numerically forecast the trajectory near the invariant saddle point of homoclinic bifurcation on this model, and we found that it is possible to solve dynamic bifurcation and strange attractors (chaos) on this non-linear structure. On this truss, we could investigate the dynamic stability of the strange attractor using Lyapunov exponents under the frequency and/or the amplitude parameter of periodic load.     

Effect of delay combinations on stability and Hopf bifurcation of an oscillator with acceleration-derivative feedback

This paper presents new observations of delayed AD (acceleration-derivative) controller in active vibration control and in bifurcation control of a Duffing oscillator. Based on the stability analysis of the linear delayed oscillator, it is found that combination of the two delays in acceleration feedback and velocity feedback has a significant influence on the stable region in the parameter plane of the gains. By calculating the real part of the rightmost characteristic roots of the controlled oscillator with fixed delays, it is shown that a delayed acceleration feedback with positive gain can work much better than the corresponding delayed negative acceleration feedback, which is used in classic control theory. For given feedback gains, by calculating the critical delay values, it is shown that a delayed positive acceleration feedback can result in a much larger stable delay interval than the corresponding delayed negative acceleration feedback does. As an application of these results to a delayed Duffing oscillator with acceleration-derivative feedback, a delayed positive acceleration feedback can be well used to postpone the occurrence of Hopf bifurcation in the delayed nonlinear oscillators.     

Forward and backward motion control of a vibro-impact capsule system

A capsule system driven by a harmonic force applied to its inner mass is considered in this study. Four various friction models are employed to describe motion of the capsule in different environments taking into account Coulomb friction, viscous damping, Stribeck effect, pre-sliding, and frictional memory. The non-linear dynamics analysis has been conducted to identify the optimal amplitude and frequency of the applied force in order to achieve the motion in the required direction and to maximize its speed. In addition, a position feedback control method suitable for dealing with chaos control and coexisting attractors is applied for enhancing the desirable forward and backward capsule motion. The evolution of basins of attraction under control gain variation is presented and it is shown that the basin of the desired attractors could be significantly enlarged by slight adjustment of the control gain improving the probability of reaching such an attractor.     

研究了雷诺数Re=200, 1000, 线速度比$\alpha =0.5$,

研究了雷诺数Re=200, 1000, 线速度比$\alpha =0.5$, 2.0, 4.0, 强迫振荡频率$f_{s}=0.1\sim 2.0$情况下的旋转振荡圆柱绕流问题. 通 过基于非结构同位网格有限体积法对Navier-Stokes方程进行数值求解. 对流项、扩 散项和非恒定项的离散格式均具有二阶精度，利用SIMPLE算法处理压力-速度耦合. 计算得到了作用力系数随不同控制参数的变化规律. 通过对升力系数的频谱分析得到 自然脱落频率和强迫振荡频率下的作用力振幅. 通过对不同频率作用力幅值的分析， 得到频率之间的竞争关系，进而定量地给出了不同尾迹涡脱落模式的分区图.     

Global Bifurcation Analysis of a Controlled Underactuated Mechanical System

In this paper, bifurcation theory is employed to classify different dynamical behaviors arising in an underactuated mechanical system subject to bounded controls. The methodology is applied to an inertia wheel pendulum consisting of a simple pendulum with a rotating disk at the end. Restricting the magnitude of the control action places an important obstacle to the design of a continuous controller capable of swinging-up and stabilize the pendulum at the inverted position: the arm only can reach that position by means of oscillations of increasing amplitude. The controller is derived from a simple nonlinear state-feedback law, followed by a saturating device that limits the maximum amplitude of the control action applied to the system. This bound gives birth to a rich dynamical behavior, including pitchfork and Hopf bifurcations of equilibria, saddle-node bifurcations of periodic orbits, homoclinic and heteroclinic bifurcations. The global dynamics is analyzed in terms of certain control gains and a two-parameter bifurcation diagram is derived. It is shown that the dynamics on this bifurcation diagram is organized in a pair of codimension-two rotationally symmetric bifurcation points. Finally, it is found out that when the control gains lie on a certain region in the parameter space simultaneous stabilization of the upright position together with a large basin of attraction is obtained. Simulation results show that almost global stabilization of the system can be achieved.     

Parametric vibration stability and active control of nonlinear beams

The vibration stability and the active control of the parametrically excited nonlinear beam structures are studied by using the piezoelectric material. The velocity feedback control algorithm is used to obtain the active damping. The cubic nonlinear equation of motion with damping is established by employing Hamilton’s principle. The multiple-scale method is used to solve the equation of motion, and the stable region is obtained. The effects of the control gain and the amplitude of the external force on the stable region and the amplitude-frequency curve are analyzed numerically. From the numerical results, it is seen that, with the increase in the feedback control gain, the axial force, to which the structure can be subjected, is increased, and in a certain scope, the structural active damping ratio is also increased. With the increase in the control gain, the response amplitude decreases gradually, but the required control voltage exists a peak value.     

智能结构最佳工作状态的多目标控制模拟

构造了自适应桁架结构的多目标最优控制模型．利用结构中主动杆件的调节作用,综合考虑结构的强度、位移和控制能耗,提出了实现自适应桁架结构处于最佳工作状态的最优控制模型．通过引入权系数的方法,使问题成为一个目标为二次、约束为线性的二次规划问题．利用该模型对智能结构进行控制,可以使结构处于最佳工作状态．用数值方法模拟了模型对结构的控制效果,实例表明方法具有很好的控制能力．     

基于主动控制策略的机翼颤振特性模拟

航空航天飞行器舵翼类结构的气动颤振是一种灾难性的动力学行为.在基于偶极子理论的气动弹性动力学模型中,气动载荷可表达为基于结构动力学响应的一种状态反馈的闭环控制力,控制律取决于翼型的几何参数、材料参数、结构动力学特性以及来流速度等多种条件,通常需通过实际飞行或风洞实验进行辨识与检验.在实验室条件下,以系统动力学响应的模态特征等效为前提,提出了一种基于人工主动控制的方式进行气动载荷下舵翼类结构自激颤振的特征值跟踪策略.建立并讨论了等效系统的非自伴随动力学微分方程及其特征方程的求解过程,并与通用软件的计算结果进行了对比,二者具有较好的一致性.通过优化搜索分别获得了位移和速度的最优反馈点、最优作动点位置及最优反馈增益系数,经对比计算拟合得到风速-位移增益曲线和风速-速度增益曲线,从而实现了由单点反馈、单点作动的集中力的闭环控制等效系统的真实气动力分布控制.仿真算例表明,由此预示的实验过程无需辨识和重构非定常气动力的时域波形,无需其他干预即可实现地面模拟实验,主动控制的效果满足预期,初步实现了自激颤振的特征值跟踪,为进一步推动主动控制模拟实验及颤振参数辨识提供了基础.