Abstract
In this paper, we investigate the joint viscous friction effects on the motions of a two-bar linkage under controlling of OPCL. The dynamical model of the two-bar linkage with an OPCL controller is firstly set up with considering the two joints' viscous frictions. Thereafter, the motion bifurcations of the two-bar linkage along the values of joint viscous frictions are obtained using shooting method. Then, single-periodic, multiple-periodic, quasi-periodic and chaotic motions of link rotating angles are simulated with given different viscous friction values, and they are illustrated in time domain waveforms, phase space portraits, amplitude spectra and Poincare mapping graphs, respectively. Additionally, for the chaotic case, Lyapunov exponents and hypothesis possibilities of the two joint motions are also estimated.
Highlights
The unavoidable frictions existing in rotational joints will greatly affect the movements, dynamical characteristics and control efforts of many mechanical systems
Chaotic motions of a two-link mechanism can be obtained via PD feedback control and model feedback control [6,7]
The transferring process of a two-link mechanism from period-doubling bifurcation to chaotic motions was addressed based on changing control variables in [9]
Summary
The unavoidable frictions existing in rotational joints will greatly affect the movements, dynamical characteristics and control efforts of many mechanical systems. In order to improve the practical dynamical properties of the controlled mechanical system, the study of effects of the existing joint frictions of the controlled structure is impending. The open-plus-close-loop (OPCL) control strategy, which was recently developed for the complex dynamic systems [10,11,12], was used to achieve the controlled synchronization for both the small swing and giant rotating motions of a two-bar linkage by authors [13]. Q.K. Han et al / Bifurcations of a controlled two-bar linkage motion with considering viscous frictions. The dynamical model of the two-bar linkage with OPCL controller is established involving the joint viscous friction.
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