平面闭链欠驱动机构中的混沌及控制研究

发布时间：2018-01-01 11:20

本文关键词：平面闭链欠驱动机构中的混沌及控制研究　出处：《西南交通大学》2011年硕士论文　论文类型：学位论文

【摘要】：混沌是指对初始条件非常敏感、在确定性系统中出现的一种貌似无规则而随机的现象。近十年来,混沌科学的研究领域涉及到自然科学和社会科学的各个方面,研究工作从对混沌现象的观察及特例的研究转向寻找各学科之间混沌行为的相互制约及内在联系,进而寻求一大类复杂问题普遍遵循的共同规律和系统方法。正是由于混沌及其控制在工程技术上的重大研究价值和极其诱人的应用前景,混沌及其控制问题已引起了国际上非线性动力系统和工程控制专家的极大关注,成了非线性科学研究的一个热点。欠驱动机构是指独立驱动器数目少于自由度数目的机构。在过去的十几年中,欠驱动机构系统的混沌分析和控制吸引了大量的研究人员。然而,闭链欠驱动机构的混沌及其控制方法的研究却不多见。为此,本文针对平面闭链欠驱动机构中的混沌及其控制方法展开研究。论文的主要研究工作如下： 1、在对混沌的基本理论进行研究的基础上,探索出了一种在MATLAB环境下,对混沌动力系统进行分析的技术路线。根据系统的动力学方程,利用简单的鼠标操作,就可以建立Simulink环境下的仿真模型,设置系统仿真参数后便可进行仿真。根据仿真结果,可以画出系统的运动轨迹相图,同时,也可以利用Fourier变换得到运动的频谱图。由运动轨迹相图和运动频谱图便可以判断系统是否存在混沌现象。这种技术路线为混沌动力系统分析提供了简单、快捷的分析方法。2、对一种平面闭链欠驱动、冗余自由度为1的机构的混沌运动进行了研究。利用Largrange方法建立了机构的动力学模型,并用MATLAB进行数值仿真,得到了机构的时域波形、功率频域谱、相轨迹和Poincare映射图以及Lyapunov指数。仿真结果表明,该机构在一定条件下会出现混沌运动现象。论文重点分析了不同的输入转速对机构混沌运动的影响。研究发现不同的输入转速,机构的动力响应是不一样的,并且得到了机构混沌运动的分岔转速。 3、提出了混沌系统的负反馈统一控制参数方法。在多维动力系统的控制方法中线性负反馈方法是一种比较简单而且易于实现的方法,但是,控制参数的选取却是比较困难的问题。如果将所有的控制参数设置成相同的值,利用Routh-Hurwitz的稳定性判据,便可以直接获得该参数所应满足的条件。利用这样的思路,可以将一个混沌运动的动力系统控制到一个不动点,也可以将平面闭链欠驱动机构的混沌运动控制到周期运动。
[Abstract]:Chaos refers to is very sensitive to the initial conditions, in the uncertain system of a seemingly irregular and random phenomenon. In the past ten years, research field of chaos science involves natural science and social science aspects of the research work from the study of chaotic phenomena and special cases to restrict each other and internal find links between the various disciplines of chaotic behavior, the common law system and methods so as to seek a kind of complex problems follow. It is because of major research value of chaos and its control in engineering technology and an extremely attractive prospect, chaos and its control problem has aroused great concern of the international nonlinear dynamical systems and control engineering experts and become a hot spot in the study of nonlinear science.
Underactuated mechanism refers to the independent drive number less than the number of degrees of freedom. In the past decade, analysis and control of underactuated systems has attracted many researchers. However, the research of chaotic driving mechanism and its control method in closed chain is rare. Therefore, based on the driving mechanism of chaos and the control method under plane closed chain is researched.
The main research work of this paper is as follows:
1, based on the research on the basic theory of chaos, explored in a MATLAB environment, the technical route analysis of chaotic dynamical system. According to the dynamic equations of the system, using a simple mouse operation, we can establish a simulation model in Simulink environment, system simulation parameters can be set simulation is carried out. According to the simulation results, we can draw the trajectory diagram, the system at the same time, also can get the motion spectrum by Fourier transform. The motion trajectory and motion spectrum phase diagram can judge whether or not the system exists chaotic. This technique provides a simple route for the analysis of chaotic dynamical system, analysis method of fast.2. On a plane closed chain underactuated, redundant degree of freedom for 1 chaotic motion mechanism is studied. The dynamics model of mechanism was established by using the Largrange method, and MATLAB number The value of simulation, waveform of the mechanism is obtained, power spectrum, phase trajectory and Poincare maps and Lyapunov index. The simulation results show that the chaotic motion can occur in certain conditions. The paper analyzes the influence of different input speed of the chaotic motion mechanism. The study found that different input speed, mechanism the dynamic response is not the same, and obtained the bifurcation speed of chaotic motion of mechanism.
3, put forward the negative feedback control parameter method unified chaotic system. In the control method of multidimensional dynamic system in linear feedback method is a simple and easy method, but the choice of control parameters is difficult. If all control parameters set to the same value, using the criterion of stability Routh-Hurwitz, can directly obtain the parameters shall meet the conditions. Using this idea, can control a dynamic system of chaotic motion to a fixed point, can also be under control of chaotic motion of planar closed chain drive mechanism to periodic motion.

【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

【引证文献】