自抗扰控制框架下的摩擦力振动分析

自抗扰控制(active disturbance rejection control, ADRC)是一种具有两自由度控制结构的工程化方法, 由于其能够直观有效地处理多种扰动, 近些年来在许多机电系统上得到了成功应用. 当采用ADRC对带有摩擦力的机电系统进行调节时, 可能会产生极限环振动. 目前, 还没有ADRC框架下摩擦力振动精确分析的相关工作. 因此, 本文采用非线性动力学系统的分析工具对这一问题进行研究. 首先, 考虑两种典型摩擦力模型, 静态切换模型和动态LuGre 模型, 对一类二阶运动系统设计不同阶次的ADRC, 得到控制器的等效形式, 并揭示出与比例积分微分(proportional-integral-derivative, PID)控制之间的联系. 然后, 采用打靶法结合拟弧长延拓方法求解系统中的极限环, 并根据Floquet理论判断极限环的稳定性、可能出现的分岔以及分岔类型. 此外, 通过雅克比矩阵和近似数值方法对系统平衡点集的局部稳定性进行了分析. 最后, 通过数值计算研究了摩擦力模型和参数、ADRC阶次和参数对极限环和平衡点集的影响. 计算结果表明, 决定摩擦力Stribeck效应负斜率的参数$\beta$作用较大. 当$\beta>1$时, 两种摩擦力模型下的闭环系统呈现出相同的特性, 极限环会出现环面折叠分岔(cyclic fold bifurcation, CFB)且平衡点集是局部稳定的. 然而当$\beta<1$时, 两种闭环系统呈现出完全不同的特性. 此外, 不同阶次的ADRC在极限环的存在性和稳定性、平衡点集的稳定性上面的结论是相同的, 而低阶次的ADRC能够更好地解决摩擦力补偿和稳定鲁棒性之间的矛盾问题. 这些结论对实际现象的理解、ADRC阶次的选择以及参数整定提供了一定指导.      

Non-linear control of friction-induced self-excited vibration

The present paper introduces a new method of controlling friction-driven self-excited vibration. The control law is primarily derived using the Lyapunov's second method. A single degree-of-freedom oscillator on a moving belt represents the primary model of the system. The control action is achieved by modulating the normal load at the frictional interface based on the state of the oscillatory system. The basic mechanism of the control action utilises subcritical Hopf bifurcation of the equilibrium followed by cyclic-fold bifurcation (of limit cycle oscillations) to globally stabilise the equilibrium. The basic mechanism is qualitatively independent of the exact model of friction. Different models of friction, like, algebraic model, LuGre model and switch model with time-dependent static friction are considered to substantiate the above claim. An approximate method for estimating the critical value of the control parameter that ensures global stability of the equilibrium is also proposed.     

二阶自治Birkhoff系统的平衡点分岔

研究二阶自治Birkhoff系统的奇点、闭轨和极限环,以及与其相关的稳定性问题。给出奇点判据和闭轨判据。应用这些判据讨论了二阶自治Birkhoff系统的平衡点分岔。     

Stability and Neimark-Sacker bifurcation analysis for a discrete single genetic negative feedback autoregulatory system with delay

In this paper, we deal with a discrete single genetic negative feedback autoregulatory system with delay by using Euler method. Choosing the delay $\tau $ as the bifurcation parameter and analyzing the associated characteristic equation corresponding to the unique positive fixed point, it is found that the stability of the positive equilibrium and Neimark-Sacker bifurcation may occur when $\tau $ crosses some critical values. Then the explicit formula which determines the stability, direction, and other properties of bifurcating periodic solution is derived by using the center manifold theorem and normal form theory. Finally, in order to illustrate our theoretical analysis, numerical simulations are also included in the end.     

Two-parameter bifurcation analysis of limit cycles of a simplified railway wheelset model

The effect of the nonlinear terms on bifurcation behaviors of limit cycles of a simplified railway wheelset model is investigated. At first, the stable equilibrium state loses its stability via a Hopf bifurcation. The bifurcation curve is divided into a supercritical branch and a subcritical one by a generalized Hopf point, which plays a key role in determining the occurrence of flange contact and derailment of high-speed railway vehicles, and the occurrence of this critical situation is an important decision-making criteria for design parameters. Secondly, bifurcations of limit cycles are discussed by comparing the bifurcation behavior of cycles for two different nonlinear parameters. Unlike local Hopf bifurcation analysis based on a single bifurcation parameter in most papers, global bifurcation analysis of limit cycles based on two bifurcation parameters is investigated, simultaneously. It is shown that changing nonlinear parameter terms can affect bifurcation types of cycles and division of parameter domains. In particular, near the branch points of cycles, two symmetrical limit cycles are created by a pitchfork bifurcation and then two symmetrical cycles both undergo a period-doubling bifurcation to form two stable period-two cycles. Around the resonant points, period orbits can make several turns, whose number of turns corresponds to the ratio of resonance. Thirdly, near the Neimark–Sacker bifurcation of cycles, a stable torus is created by a supercritical Neimark–Sacker bifurcation, which shows that the orbit of the model exhibits modulated oscillations with two frequencies near the limit cycle. These results demonstrate that nonlinear parameter terms can produce very complex global bifurcation phenomena and make obvious effects on possible hunting motions even though a simple railway wheelset model is concerned.

     

BIFURCATIONS OF AIRFOIL IN INCOMPRESSIBLE FLOW

Bifurcations of an airfoil with nonlinear pitching stiffness in incompressible flow are investigated. The pitching spring is regarded as a spring with cubic stiffness. The motion equations of the airfoil are written as the four dimensional one order differential equations. Taking air speed and the linear part of pitching stiffness as the parameters, the analytic solutions of the critical boundaries of pitchfork bifurcations and Hopf bifurcations are obtained in 2 dimensional parameter plane. The stabilities of the equilibrium points and the limit cycles in different regions of 2 dimensional parameter plane are analyzed. By means of harmonic balance method, the approximate critical boundaries of 2-multiple semi-stable limit cycle bifurcations are obtained, and the bifurcation points of supercritical or subcritical Hopf bifurcation are found. Some numerical simulation results are given.     

On the effect of nonsmooth Coulomb friction on Hopf bifurcations in a 1-DoF oscillator with self-excitation due to negative damping

This article deals with the question, to what extent damping due to nonsmooth Coulomb friction may affect the stability and bifurcation behavior of vibrational systems with self-excitation due to negative effective damping which??for the smooth case??is related to a Hopf bifurcation of the steady state. Without damping due to Coulomb friction, the stability of the trivial solution is controlled by the effective viscous damping of the system: as the damping becomes negative, the steady state loses stability at a Hopf point. Adding Coulomb friction changes the trivial solution into a set of equilibria, which??for oscillatory systems??is asymptotically stable for all values of effective viscous damping. The Hopf point vanishes and an unstable limit cycle appears which borders the basin of attraction of the equilibrium set. Moreover, the influence of nonlinear damping terms is discussed. The effect of Coulomb frictional damping may be seen as adding an imperfection to the classical smooth Hopf scenario: as the imperfection vanishes, the behavior of the smooth problem is recovered.     

On the effect of non-smooth Coulomb damping on flutter-type self-excitation in a non-gyroscopic circulatory 2-DoF-system

This article deals with self-excited vibrations, attractivity of stationary solutions, and the corresponding bifurcation behavior of two-dimensional differential inclusions of the type $\mathbf{M}\mathbf{q}'' + \mathbf{D}\mathbf{q}' + (\mathbf{K} + \bar{\mu}\mathbf{N})\mathbf{q} \in-\mathbf{R}\operatorname{Sign}(\mathbf{q}')$ . For the smooth case R=0, the equilibrium may become unstable due to non-conservative positional forces stemming from the circulatory matrix N. This type of instability is usually referred to as flutter instability and the loss of stability is related to a Hopf bifurcation of the steady state, which occurs for a critical parameter $\bar{\mu}= \bar{\mu}_{\mathrm{crit}}$ . For R≠0, the steady state is a set of equilibria, which turns out to be attractive for all values of the bifurcation parameter $\bar{\mu}$ . Depending on $\bar{\mu}$ , the basin of attraction of the equilibrium set can be infinite or finite. The transition from an infinite to a finite basin of attraction occurs at the stability threshold $\bar{\mu}_{\mathrm{crit}}$ of the underlying smooth problem. For the finite basin of attraction, its size is proportional to the Coulomb friction and inverse-proportional to $(\bar{\mu}- \bar{\mu}_{\mathrm{crit}})$ . By adding Coulomb damping the notion of steady state stability for the smooth problem is replaced by the question whether the basin of attraction of the steady state is infinite or finite. Simultaneously, the local Hopf-bifurcation is replaced by a global bifurcation. This implies that in the presence of Coulomb damping the occurrence of self-excited vibrations can only be investigated with regard to the perturbation level.     

Local Bifurcation Analysis of a Second Gradient Model for Deformations of a Rectangular Slab

In this paper we carry out a derivation of the equilibrium equations of nonlinear elasticity with an added second-gradient term proportional to a small parameter . These equations are given by a fourth order semilinear system of pdes. We discuss different types of possible boundary conditions for these equations. We then specialize the equations to a rectangular slab and study the linearized problem about a homogenous deformation. We show that these equations admit solutions representable as Fourier series in one of the independent variables. Furthermore, we obtain the characteristic equation for the eigenvalues (possible bifurcation points) for the linear problem and derive asymptotic representations for this equation for small . We used these expressions to show that in the limit as the characteristic equation for converges uniformly (in certain regions of the parameter space) to the corresponding characteristic equation for . When the base material () is that of a Blatz–Ko type, we get conditions for the existence of eigenvalues of the linear problem with and small. Our numerical results in this case indicate that the number of bifurcation points is finite when and that this number monotonically increases as . For the problem with we get conditions for the existence of local branches of non-trivial solutions.      

一类混沌系统中的簇发振荡及其延迟叉形分岔行为

由于多时间尺度问题在实际工程系统中广泛存在,关于其复杂动力学行为及其产生机制的研究已成为当前国内外的热点课题之一.簇发振荡是多时间尺度系统复杂动力学行为的典型代表,而分岔延迟又是簇发振荡中的常见现象.本文为探讨非线性系统中分岔延迟所引发的簇发振荡的分岔机制,在一个三维混沌系统中引入参数激励,当激励频率远小于系统的固有频率时,系统产生了两时间尺度簇发振荡.将整个激励项看做慢变参数,激励系统转化为广义自治系统也即快子系统,分析快子系统平衡点的稳定性以及分岔条件,并运用快慢分析法和转换相图揭示了簇发振荡的动力学机理.文中考察了4组参数条件下系统的动力学行为,研究发现当慢变激励项周期性地通过分岔点时,系统产生了明显的超临界叉形分岔延迟行为,随着参数激励振幅的增大,分岔延迟的时间也逐渐延长,当这种延迟的动态行为终止于不同的参数区域时,导致系统轨线围绕不同稳定吸引子(平衡点,极限环)运动,从而得到了不同的簇发振荡行为.      

Dynamic analysis and control of a new hyperchaotic finance system

In this paper, a new hyperchaotic finance system which is constructed based on a chaotic finance system by adding an additional state variable is presented. The basic dynamical behaviors of this hyperchaotic finance system are investigated, such as the equilibrium, stability, hyperchaotic attractor, Lyapunov exponents, and bifurcation analysis. Furthermore, effective speed feedback controllers and linear feedback controllers are designed for stabilizing hyperchaos to unstable equilibrium points. Numerical simulations are given to illustrate and verify the results.     

Self-excited vibration of the shell-liquid coupled system induced by dry friction

The nonlinear vibration theory and the experimental modal analysis are used in this paper to study the self-excited vibration of the shell-liquid coupled system induced by dry friction. The effect of dry friction stick-slip coefficients and rubbing velocity on self-excited vibration, and the limit cycle and Hopf bifurcation solution of the system are obtained. In particular, it is shown that the phenomenon of 4 point (or 6 point) water droplet spurting of the Chinese cultural relic Dragon Washbasin is the result of the perfect combination of the self-excited vibration induced by dry friction and its special modes, which indicates the significant scientific value of the Chinese cultural relic Dragon Washbasin.     

猎雷声纳基阵姿态稳定系统自适应反步法控制

针对带非线性摩擦力矩和负载扰动的高精度猎雷声纳基阵姿态稳定系统,提出了一种基于神经网络的自适应反步法控制方法。其中神经网络用于估计未知非线性摩擦力矩,进而设计反步法控制器和参数自适应律来对神经网络估计误差和负载扰动进行补偿。最后应用Lyapunov方法证明了所提出的自适应控制器能保证闭环系统的稳定性,并且可以通过选择适当的控制器参数来调整收敛率。仿真结果表明,基于神经网络的自适应反步法控制方法与PID控制相比,系统的动、静态性能指标及鲁棒性得到了全面的改善,与双闭环PID控制相比,跟踪精度提高了3倍多。     

Stability and local bifurcation of parameter-excited vibration of pipes conveying pulsating fluid under thermal loading

The parametric excited vibration of a pipe under thermal loading may occur because the fluid is often transported heatedly. The effects of thermal loading on the pipe stability and local bifurcations have rarely been studied. The stability and the local bifurcations of the lateral parametric resonance of the pipe induced by the pulsating fluid velocity and the thermal loading are studied. A mathematical model for a simply supported pipe is developed according to the Hamilton principle. Two partial differential equations describing the lateral and longitudinal vibration are obtained. The singularity theory is utilized to analyze the stability and the bifurcation of the system solutions. The transition sets and the bifurcation diagrams are obtained both in the unfolding parameter space and the physical parameter space, which can reveal the relationship between the thermal field parameter and the dynamic behaviors of the pipe. The frequency response and the relationship between the critical thermal rate and the pulsating fluid velocity are obtained. The numerical results demonstrate the accuracy of the single-mode expansion of the solution and the stability and local bifurcation analyses. It also confirms the existence of the chaos. The presented work can provide valuable information for the design of the pipeline and the controllers to prevent the structural instability.     

CHAOTIC MOTIONS AND LIMIT CYCLE FLUTTER OF TWO-DIMENSIONAL WING IN SUPERSONIC FLOW

Based on the piston theory of supersonic flow and the energy method, the flutter motion equations of a two-dimensional wing with cubic stiffness in the pitching direction are established. The aeroelastic system contains both structural and aerodynamic nonlinearities. Hopf bifurcation theory is used to analyze the flutter speed of the system. The effects of system parameters on the flutter speed are studied. The 4th order Runge-Kutta method is used to calculate the stable limit cycle responses and chaotic motions of the aeroelastic system. Results show that the number and the stability of equilibrium points of the system vary with the increase of flow speed. Besides the simple limit cycle response of period 1, there are also period-doubling responses and chaotic motions in the flutter system. The route leading to chaos in the aeroelastic model used here is the period-doubling bifurcation. The chaotic motions in the system occur only when the flow speed is higher than the linear divergent speed and the initial condition is very small. Moreover, the flow speed regions in which the system behaves chaos axe very narrow.     

Center manifold and multivariable approximants applied to non-linear stability analysis

This paper presents a research devoted to the study of instability phenomena in non-linear model with a constant brake friction coefficient. This paper outlines the stability analysis and a procedure to reduce and simplify the non-linear system, in order to obtain limit cycle amplitudes. The center manifold approach, the multivariable approximants theory, and the alternate frequency/time domain (AFT) method are applied. Brake vibrations, and more specifically heavy trucks grabbing are concerned. The modelling introduces sprag-slip mechanism based on dynamic coupling due to buttressing. The non-linearity is expressed as a polynomial with quadratic and cubic terms. This model does not require the use of brake negative coefficient, in order to predict the instability phenomena. Finally, the center manifold approach, the multivariable approximants, and the AFT method are used in order to obtain equations for the limit cycle amplitudes. These methods allow the reduction of the number of equations of the original system in order to obtain a simplified system, without loosing the dynamics of the original system, as well as the contributions of non-linear terms. The goal is the validation of this procedure for a complex non-linear model by comparing results obtained by solving the full system and by using these methods. The brake friction coefficient is used as an unfolding parameter of the fundamental Hopf bifurcation point.     

自抗扰控制思想在动力调谐陀螺仪力平衡回路中的应用

提出了动力调谐陀螺力平衡回路的自抗扰控制方法(ADRC)。在计算机仿真的基础上搭建陀螺仪力平衡回路硬件电路，利用转台对动力调谐陀螺施加不同扰动，观察在大角度或大角速率等动态条件下ADRC控制技术对陀螺仪的控制效果。     

Bifurcations and chaotic dynamics in suspended cables under simultaneous parametric and external excitations

The bifurcations and chaotic dynamics of parametrically and externally excited suspended cables are investigated in this paper. The equations of motion governing such systems contain quadratic and cubic nonlinearities, which may result in two-to-one and one-to-one internal resonances. The Galerkin procedure is introduced to simplify the governing equations of motion to ordinary differential equations with two-degree-of-freedom. The case of one-to-one internal resonance between the modes of suspended cables, primary resonant excitation, and principal parametric excitation of suspended cables is considered. Using the method of multiple scales, a parametrically and externally excited system is transformed to the averaged equations. A pseudo arclength scheme is used to trace the branches of the equilibrium solutions and an investigation of the eigenvalues of the Jacobian matrix is used to assess their stability. The equilibrium solutions experience pitchfork, saddle-node, and Hopf bifurcations. A detailed bifurcation analysis of the dynamic (periodic and chaotic) solutions of the averaged equations is presented. Five branches of dynamic solutions are found. Three of these branches that emerge from two Hopf bifurcations and the other two are isolated. The two Hopf bifurcation points, one is supercritical Hopf bifurcation point and another is primary Hopf bifurcation point. The limit cycles undergo symmetry-breaking, cyclic-fold, and period-doubling bifurcations, whereas the chaotic attractors undergo attractor-merging, boundary crises. Simultaneous occurrence of the limit cycle and chaotic attractors, homoclinic orbits, homoclinic explosions and hyperchaos are also observed.     

Nonlinear stability analysis of a disk brake model

It has become commonly accepted by scientists and engineers that brake squeal is generated by friction-induced self-excited vibrations of the brake system. The noise-free configuration of the brake system loses stability through a flutter-type instability and the system starts oscillating in a limit cycle. Usually, the stability analysis of disk brake models, both analytical as well as finite element based, investigates the linearized models, i.e. the eigenvalues of the linearized equations of motion. However, there are experimentally observed effects not covered by these analyses, even though the full nonlinear models include these effects in principle. The present paper describes the nonlinear stability analysis of a realistic disk brake model with 12 degrees of freedom. Using center manifold theory and artificially increasing the degree of degeneracy of the occurring bifurcation, an analytical expression for the turning points in the bifurcation diagram of the subcritical Hopf bifurcations is calculated. The parameter combination corresponding to the turning points is considered as the practical stability boundary of the system. Basic phenomena known from the operating experience of brake systems tending to squeal problems can be explained on the basis of the practical stability boundary.