Bound Motion of Bodies and Paticles in the Rotating Systems

The Lagrange theory of particle motion in the noninertial systems is applied to the Foucault pendulum, isosceles triangle pendulum and the general triangle pendulum swinging on the rotating Earth. As an analogue, planet orbiting in the rotating galaxy is considered as the giant galactic gyroscope. The Lorentz equation and the Bargmann-Michel-Telegdi equations are generalized for the rotation system. The knowledge of these equations is inevitable for the construction of LHC where each orbital proton “feels” the Coriolis force caused by the rotation of the Earth.     

Stabilization of linear undamped systems via position and delayed position feedbacks

This paper presents a systematic approach to stabilizing a kind of linear undamped systems of multiple degrees of freedom by using both position and delayed position feedbacks, namely, PDP feedbacks for short. For the fully actuated system, the approach enables one to complete the design of controller directly through the use of modal decoupling and a stability chart. For the under-actuated system, the approach includes two steps. The first step is to move all the eigenvalues of the system on the imaginary axis of the complex plane by using a position feedback, and the second step is to drag all the eigenvalues of the system to the left half open complex plane through the use of a delayed position feedback, which can be determined on the basis of sensitivity analysis of eigenvalues. Two examples, i.e., a fully actuated robotic manipulator and an under-actuated double inverted pendulum, are discussed in the paper to demonstrate the design of controllers for the two different types of systems and to support the efficacy of the proposed approach.     

Tolerance of start-up control of rotation in parametric pendulum by delayed feedback

In this Letter, we propose a control method for establishing periodic rotation inherent in parametric pendulum based on a delayed feedback control. The experiments elucidate the existing range of periodic rotation in the domain of delay. The range of existence possibly represents the tolerance of proposed control with mistuned delay. It is confirmed that forced synchronization governs the existence and the width. The result assures that the frequency synchronization characteristics overcome the mistuned difference of delay in the control through entrainment.     

Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method.     

半导体激光器混沌法拉第效应控制方法

提出了外腔延时反馈半导体激光器法拉第效应控制下的新激光系统, 构造出两种类型结构光路, 建立了法拉第效应控制下的延时负反馈、延时正反馈激光动力学物理模型, 研究了激光混沌控制与反控制等. 利用法拉第效应原理及磁致旋光性和系统特点, 调节控制光路中的光旋转角度和光延时间可实现双参数控制激光器, 控制激光到双周期、三周期及多周期, 使激光产生拍动等现象, 反控制激光周期到混沌等. 发现了以磁致旋光角分布的激光混沌控制与反控制区域. 并研究了激光混沌控制与周期控制的动态情况, 演示讨论了激光态的转化演变过程等.     

An autoparametric energy harvester

This paper presents a numerical study of an autoparametric system composed of two elements: a pendulum and an excited nonlinear oscillator. Owing to an inertial coupling between the two elements, different types of motion are possible, from periodic to chaotic. This study examines a linear induction of an energy harvester depending on the pendulum motion. The harvester consists of a cylindrical permanent magnet mounted on a rotor and of four windings fixed to the housing as a stator. When the pendulum is rotating or swinging, the converter is generating energy due to magnetic induction. In this paper, a method utilizing parametrical resonance for harvesting energy from low frequency vibrations is studied. The authors compare energy induced by different types of pendulum motion: swinging, rotation and chaotic dynamics. Additionally, voltage values for different parameters of excitation are estimated.     

基础水平运动的弹簧摆的周期解与稳定性

针对基础水平运动的弹簧摆的非线性动力学响应进行研究,利用拉格朗日方程建立了系统的动力学方程.将离散傅里叶变换、谐波平衡法以及同伦延拓方法相结合,对系统的周期响应进行求解,避免了传统方法计算中使用泰勒展开引起的小振幅的限制,与数值计算结果的对比表明该求解方法具有较高的精确度.利用Floquet理论分析了周期响应的稳定性,给出了基础运动振幅和频率对系统周期响应的影响.研究发现:对应某些基础频率和振幅,系统的周期响应可能发生Hopf分岔;利用数值计算研究了Hopf分岔后系统响应随基础频率和振幅的变化,发现系统出现了倍周期运动、拟周期运动和混沌等复杂的动力学行为.研究表明系统进入混沌的主要路径是拟周期环面破裂和阵发性.     

弯曲振动引致的过渡态的混沌

从单摆运动的特征出发 ,指出分子的过渡态 (包括解离时的态 ) ,如分子内弯曲振动引致结构变化的过渡态 ,必然伴随着混沌现象 ,而且和Chirikov的多重共振会导致混沌的观点有关 .并以从HCN、HNC和其非局域态的高激发振动态的能级拟合得到的弯曲模式的性质说明这个观点 .最后 ,提出一个处理弯曲振动引致的过渡态的混沌的物理模型 .     

激光单摆演示仪的研制与应用

设计的激光单摆演示仪是利用霍尔传感器测量摆球的摆动周期,通过演示仪底盘上的小型激光器可观测摆动面的偏转,将计时、计数、测角等功能合为一体,有效摆动时间内能够分辨出地球的自转现象.     

DETERMINATION OF THE PERIOD OF A TORSION PENDULUM BY THE FITTING METHOD IN REAL TIME

A phenomenological study on the fitting method in real time has been done, and the method was applied to process and analyze the extensive data of a long period torsion pendulum used to determine Newtonian gravitational constant G. The result shows that the fitting method in real time is effective to determine the period of a torsion pendulum with a relative precision of 10^-5 orders.     

傅科摆模拟演示装置的研制

介绍一种傅科摆模拟演示装置．该装置具有体积小、操作方便、演示效果显著、演示时间短、摆振动平面的偏转周期可人为控制以及对摆锤的运动轨迹可作永久记录等优点．     

Melnikov's method applied to the double pendulum

Melnikov's method is applied to the planar double pendulum proving it to be a chaotic system. The parameter space of the double pendulum is discussed, and the integrable cases are identified. In the neighborhood of the integrable case of two uncoupled pendulums Melnikov's integral is evaluated using residue calculus. In the two limiting cases of one pendulum becoming a rotator or an oscillator, the parameter dependence of chaos, i.e. the width of the separatrix layer is analytically discussed. The results are compared with numerically computed Poincaré surfaces of section, and good agreement is found.     

一种非线性动力学系统混沌现象的深入研究

本文在实验教学中引入一种非线性混沌摆系统,通过调节混沌摆的驱动力周期演示了该非线性动力学系统出现混沌现象的过程,从而让学生了解混沌现象的参数敏感性、相图特点、频谱特性等基本特性.为了进一步了解该混沌摆的特性,本文建立了该非线性摆系统的简化动力学方程,在数值上对其进行了研究.基于动力学方程的数值模拟,克服了实验上相关参数定量改变困难、摆动稳定性不易控制、实验时间周期长等问题.在数值模拟中,通过改变不同参数得到了相图、频谱图以及分岔图,比较深入详细地对这种混沌摆的相关特性进行了描述,也有利于学生加深对混沌摆的理解.     

复摆的振动分析

研究复摆的非线性振动，从能量和摆角两个方面来分析它们对复摆运动的影响，用第一类完全椭圆积分求出了复摆振动的解和周期，对非线性特征进行了分析。     

扭摆法验证平行轴定理实验的改进

转动惯量是物体定轴转动中的重要物理量,物体的转动惯量测量的常用方法有三线摆法与扭摆法。扭摆法通常测量物体通过质心转轴的转动惯量,所以用扭摆法验证平行轴定理一直不怎么直观,本文就是在已有的基础上进行一些改进,已达到更好、更直观验证平行轴定理。     

间歇反馈法实现单模Lorenz-Haken激光系统的周期镇定与同步

针对单模Lorenz-Haken激光系统中存在的混沌现象, 提出一种单变量间歇反馈控制方案. 数值结果表明, 通过选择不同的控制强度, 可将Lorenz-Haken激光混沌系统镇定到1周期态、2周期态、4周期态、6周期态、8周期态等. 同时, 利用该控制方案, 实现了Lorenz-Haken激光混沌系统的同步.     

单频外激励弹簧摆的鞍结分岔控制

对弹簧摆的振动幅值控制进行研究,设计了反馈控制器,对弱非线性系统用近似解析方法求出了控制系统的幅值控制方程,得到了控制参数与幅值的函数关系,使多自由度非线性系统的鞍结分岔得到控制.这项工作可以推广到其他多自由度非线性系统的分岔控制. 关键词： 外激励弹簧摆 鞍结分岔 振动幅值 反馈控制     

精密扭摆研究

本研究旨在提高扭摆精度。扭摆采用大理石——这取自地球的天然材料作摆盘;通过试验,挑选了Q值高、内耗小、剪切模量温度系数接近于零的恒弹性合金丝作为吊丝。特别是,我们把Saxl类型的每周期吸合一次的间断振荡摆回复到小阻尼情况下的自由振荡摆,减少对摆振动的人为干预;增加真空条件,以减少周围环境干扰,延长了阻尼时间;同时在摆盘中央安放多面反射镜环,增加测量点,变一周期仅测一次时间为同一周期测四次以上。这就提供了用计算机求阻尼振荡方程θi=Ae^-t_i/τsin(ωt_i+φ)数值解的条件,不但可直接测得周期T的变化,而且可望计算得振幅A、阻尼时间τ、初相角φ的变化。另外,在光电接收方面也作了一些改进。通过这些措施,我室的精密扭摆对周期的探测精度已比美国Saxl 1964年发表第一篇文章时的扭摆精度提高100倍;比其运转17年,经一再改进的扭摆精度提高10倍。测量有效数字6位至7位,周期相对误差一般达2×10^-6,最佳状况可达8×10^-7,基本达到预期设计要求,为将来探测引力异常,“区分长期间与短期间内频率起伏”提供了可能性。 关键词：     

利用机械能守恒求解非惯性系单摆的振动周期

由于不同的非惯性系具有不同的加速度,导致单摆在不同的非惯性系中具有不同的振动周期,所以有必要掌握非惯性系下单摆振动周期的计算.基本的计算方法是利用非惯性系动力学方程,结合受力分析求解,但这种方法既要考虑惯性力,又需要进行力的分解,比较麻烦.本文通过引入惯性力势能,给出非惯性系机械能守恒定律,并利用机械能守恒定律对处于特定非惯性系中的单摆周期进行分析计算,得出非惯性系中单摆的振动周期不仅与单摆自身属性有关,而且与非惯性系的运动加速度或角速度有关的结论.     

不确定混沌系统的径向基函数神经网络反馈补偿控制

对不确定混沌系统控制问题, 研究了一种基于径向基函数神经网络(radial basis function neural network, RBFNN)的反馈补偿控制方法. 该方法首先用RBFNN对混沌系统的动力学特性进行学习, 然后用训练好的RBFNN模型对混沌系统进行反馈补偿控制. 该方法的特点是不需要被控混沌系统的数学模型,可以快速跟踪任意给定的参考信号. 数值仿真试验表明了该控制方法不仅具有响应速度快、控制精度高, 而且具有较强的抑制混沌系统参数摄动能力和抗干扰能力.