Some nonlinear problems in servomechanisms

Summary A mathematical model for a hydraulic servomechanism is constructed. It is shown that the model, in general, reduces to a nonlinear third-order equation of the formxx+(₁+xx+–₂ x=p(t). Under certain conditions imposed on the constants involved, it is proved that above equation possesses a periodic solution.     

Shakedown of an Elastic-Plastic Arch Under Moving Load

Abstract

The problem considered consists in calculating the maximum value of a shakedown load which moves slowly across an arch according to a prescribed loading program. Sandwich cross section of the arch and elastic-plastic material with linear strain-hardening and ideal Bauschinger effect are assumed. Both current residual stress distribution and yield limits are evaluated for selected cross sections and for every load crossing.

In most cases the first crossing is decisive, and shakedown loads can be computed on the basis of the results of the first and second crossing     

Steady-state,self-oscillating and chaotic behavior of a PID controlled nonlinear servomechanism by using Bogdanov–Takens and Andronov–Poincaré–Hopf bifurcations

This paper analyzes a controlled servomechanism with feedback and a cubic nonlinearity by means of the Bogdanov–Takens and Andronov–Poincaré–Hopf bifurcations, from which steady-state, self-oscillating and chaotic behaviors will be investigated using the center manifold theorem. The system controller is formed by a Proportional plus Integral plus Derivative action (PID) that allows to stabilize and drive to a prescribed set point a body connected to the shaft of a DC motor. The Bogdanov–Takens bifurcation is analyzed through the second Lyapunov stability method and the harmonic-balance method, whereas the first Lyapunov value is used for the Andronov–Poincaré–Hopf bifurcation. On the basis of the results deduced from the bifurcation analysis, we show a procedure to select the parameters of the PID controller so that an arbitrary steady-state position of the servomechanism can be reached even in presence of noise. We also show how chaotic behavior can be obtained by applying a harmonical external torque to the device in self-oscillating regime. The advantage of achieving chaotic behavior is that it can be used so that the system reaches a set point inside a strange attractor with a small control effort. The analytical calculations have been verified through detailed numerical simulations.