【作者】 安跃军；

【导师】 孙昌志；

【作者基本信息】 沈阳工业大学 ， 电机与电器， 2005， 博士

【摘要】 本文针对深海机器人推进电机系统混沌运行现象的发生、发现、预测、抑制和利用,从非线性混沌角度探讨其内在的原因和运动规律,取得了一些具有独特理论意义和有实用价值的研究成果。内容包括以下几个部分: 第一部分改进最大李雅普诺夫指数法,提出一种新的基于全局变量的混沌预测方法,定义追踪矢量来构造全局算法,用于深海机器人推进电机系统混沌的诊断与预报。全局法克服了单一相空间方法预报不准确、不完整、不全面甚至误预报的弊端,能刻画出推进电机系统经过伪混沌到最终进入真正混沌的全貌,避免遗漏重要信息。引入伪混沌概念,拟解决以往对系统混沌运行状态描述不够准确的问题。 第二部分提供了混沌吸引子精细化观察、分析和应用的新工具。应用小波分析方法、庞加莱映射和功率谱分析技术,分析研究推进电机系统的混沌吸引子特征;揭示了在貌似混乱的吸引子流图内部蕴藏着形态各异的混沌吸引盆,剖析、搜寻和描绘了混沌吸引盆的异宿轨迹;异宿轨迹的预测定位为实现从内部和微观角度进行混沌控制、混沌反控制和混沌同步控制奠定了基础。 第三部分研究了深海机器人推进电机混沌控制技术,采用混沌系统自适应控制方法设计和构造了混沌控制器,使推进电机系统迅速摆脱混沌状态并彻底消除混沌现象,抑制效果显著。混沌自适应控制,具有方法简单、可靠和软硬件实现容易等特点,便于工程应用。 第四部分将混沌预报、混沌控制方法和混沌优化用于工程实际,提出推进电机系统设计的新思路,实现在避免和抑制混沌现象的条件下全局优化的目的。设计和研制了深海机器人推进电机,样机实验表明,完全满足技术要求,避免不稳定振荡和混沌运行现象。 第五部分从多相推进电机系统的动力学模型出发建立状态方程,采用数字仿真方法分析运行特性,其结果得到实验验证。对深海机器人推进电机系统的混沌运行规律进行数字仿真分析,观察到发生混沌运动时吸引子呈现典型的“蝴蝶效应”。 第六部分对磁场波形和转矩脉振进行计算和测试,探讨深海机器人推进电机振荡及不稳定运行的成因,指出进一步从混沌角度研究其性能规律的必要性。更多还原

【Abstract】 In this thesis, the occurrence, prediction and control of chaotic phenomenon for a brushless thrustermotor in deepwater robot have been studied, through chaotic theories some results with special theory meaning and practical value have been got. They cover the following several major parts:In the first part, the phase space of the reconstituted brushless motor system, the improved Lyapunov exponents method for chaos prediction, the proposed global largest Lyapunov exponents method and global algorithm with track vectors have been achieved and applied in the brushless thruster system for diagnosing and predicting chaos. And the disadvantages of the single phase-space method, such as, the inaccuracy, no integrity and wrong prediction information have been overcome using the global largest Lyapunov exponents method. The whole variation of chaos for the deepwater robot brushless thruster motor system from the static state to pseudo-chaos till real chaos can be clearly and roundly depicted without missing the important information. And the concept of the pseudo-chaos is introduced to solve the incorrect depiction of the system operating state.In the second part, chaos attractor characteristics have been analyzed by wavelet analysis, power spectra and analysis poincare map. The basin of attraction diversity contained in similar disorder attractors is shown in the first time; furthermore, the heteroclinic orbit of chaos basin attraction and heteroclinic orbit’s anchor points have also been analyzed and depicted, which settles the bases for chaos controlling, synchronization of chaos as well as anti-control of chaos from inner microcosmic point of view.In the third part, the self-adaptive control method of chaotic system is adopted to design a chaos self-adaptive controller, which can effectively restrain the chaotic phenomenon, break away and eliminate the chaos eventually. The technique of chaos self-adaptive control possesses some characteristics, such as, the simpleness, reliability, and convenient implementation in software and hardware for engineering applications.In the fourth part, the chaos prediction, control method and optimization have been employed in the practical cases, and a novel concept for brushless thruster motor in deepwater robot based on the chaos theory to avoid and retrain chaos generation has been presented. Moreover, the proposed motor is designed and shown that no instability and chaotic actions occur under meeting the technical requirements.In the fifth part, state equation from the dynamics model of the multi-phase brushless thruster system has been established and the dynamic characteristics has been analyzed by the numerical simulation method Moreover, results have been verified by the experiments. Furthermore, the "butterfly effect" of chaos attraction gene during the chaos motion has been clearly presented in this thesis.In the sixth part, from theory and experiment test, the torque surge as well as the chaos phenomenon generation reasons in deepwater robot thruster are discussed.更多还原