本文關鍵詞：平面閉鏈欠驅動機構中的混沌及控制研究　出處：《西南交通大學》2011年碩士論文　論文類型：學位論文

  更多相關文章： 混沌 Simulink 欠驅動機構 線性負反饋 混沌控制

【摘要】：混沌是指對初始條件非常敏感、在確定性系統(tǒng)中出現(xiàn)的一種貌似無規(guī)則而隨機的現(xiàn)象。近十年來,混沌科學的研究領域涉及到自然科學和社會科學的各個方面,研究工作從對混沌現(xiàn)象的觀察及特例的研究轉向尋找各學科之間混沌行為的相互制約及內(nèi)在聯(lián)系,進而尋求一大類復雜問題普遍遵循的共同規(guī)律和系統(tǒng)方法。正是由于混沌及其控制在工程技術上的重大研究價值和極其誘人的應用前景,混沌及其控制問題已引起了國際上非線性動力系統(tǒng)和工程控制專家的極大關注,成了非線性科學研究的一個熱點。 欠驅動機構是指獨立驅動器數(shù)目少于自由度數(shù)目的機構。在過去的十幾年中,欠驅動機構系統(tǒng)的混沌分析和控制吸引了大量的研究人員。然而,閉鏈欠驅動機構的混沌及其控制方法的研究卻不多見。為此,本文針對平面閉鏈欠驅動機構中的混沌及其控制方法展開研究。 論文的主要研究工作如下： 1、在對混沌的基本理論進行研究的基礎上,探索出了一種在MATLAB環(huán)境下,對混沌動力系統(tǒng)進行分析的技術路線。根據(jù)系統(tǒng)的動力學方程,利用簡單的鼠標操作,就可以建立Simulink環(huán)境下的仿真模型,設置系統(tǒng)仿真參數(shù)后便可進行仿真。根據(jù)仿真結果,可以畫出系統(tǒng)的運動軌跡相圖,同時,也可以利用Fourier變換得到運動的頻譜圖。由運動軌跡相圖和運動頻譜圖便可以判斷系統(tǒng)是否存在混沌現(xiàn)象。這種技術路線為混沌動力系統(tǒng)分析提供了簡單、快捷的分析方法。2、對一種平面閉鏈欠驅動、冗余自由度為1的機構的混沌運動進行了研究。利用Largrange方法建立了機構的動力學模型,并用MATLAB進行數(shù)值仿真,得到了機構的時域波形、功率頻域譜、相軌跡和Poincare映射圖以及Lyapunov指數(shù)。仿真結果表明,該機構在一定條件下會出現(xiàn)混沌運動現(xiàn)象。論文重點分析了不同的輸入轉速對機構混沌運動的影響。研究發(fā)現(xiàn)不同的輸入轉速,機構的動力響應是不一樣的,并且得到了機構混沌運動的分岔轉速。 3、提出了混沌系統(tǒng)的負反饋統(tǒng)一控制參數(shù)方法。在多維動力系統(tǒng)的控制方法中線性負反饋方法是一種比較簡單而且易于實現(xiàn)的方法,但是,控制參數(shù)的選取卻是比較困難的問題。如果將所有的控制參數(shù)設置成相同的值,利用Routh-Hurwitz的穩(wěn)定性判據(jù),便可以直接獲得該參數(shù)所應滿足的條件。利用這樣的思路,可以將一個混沌運動的動力系統(tǒng)控制到一個不動點,也可以將平面閉鏈欠驅動機構的混沌運動控制到周期運動。
[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.

【學位授予單位】：西南交通大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH112

【引證文獻】

相關碩士學位論文 前3條

1 魏巍;安裝在兩自由度平面機械臂上的倒立擺控制及其混沌現(xiàn)象的研究[D];西南交通大學;2012年

2 開航;基于粒子群的欠驅動平面機器人PID控制算法研究[D];天津理工大學;2013年

3 張猛;近似熵在分析欠驅動機構混沌運動中的應用研究[D];西南交通大學;2013年

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本文編號：1364302