欠驱动平面五杆机构混沌运动的控制与反控制

对于欠驱动连杆机构,混沌的控制和反控制研究是避免或利用其混沌运动的关键问题。在欠驱动平面五杆机构中加装一个线性弹簧,改变了机构的受力状况,从而实现了对机构混沌运动的控制与反控制。以弹簧安装位置为参数的分叉图显示,不同的弹簧安装位置可以使机构呈现出混沌运动、周期运动等多种运动形式,弹簧的安装位置可以通过螺旋机构进行调节,这样就形成了一种简单、有效的机构混沌运动控制和反控制的方法。机构运动的相图和最大Lyapunov指数验证了方法的有效性。

Control and Anti-control of Chaotic Motion for a Under-actuated Planar Five-bar Mechanism

For the under-actuated linkage mechanism,techniques to control and anti-control chaos are the crucial problem for the prevention or utilization of chaos.In this paper,by adding a linear spring to an under-actuated planar five-bar mechanism,the force applied to the mechanism was changed,therefore,the control and anti-control of chaotic motion of the mechanism was implemented.In the bifurcation diagram with the location of spring as the parameter,it is indicated that the different locations of the spring lead to different motions of the mechanism,such as chaotic and periodic motions.A helical pair was used to adjust the location of the spring.In this way,a simple but efficient technique to control and anti-control chaos was created,which was proved by the phase diagram and the largest Lyapunov exponent.