深海机器人推进电机混沌现象研究

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1、沈阳工业大学博士学位论文深海机器人推进电机混沌现象研究姓名：安跃军申请学位级别：博士专业：电机与电器指导教师：孙昌志;燕奎臣20050215沈阳丁业大学

2、尊士学位论文ChaosPhenomenaResearchofThrusterMotorinDeepwaterRobotAbstractInthisthesis，theoccurrence，predictionandcontrolofchaoticphenomenonforabrushlessthrustermotorindeepwaterrobothavebeenstudied。thronghchaotictheoriessomer

3、esultswithspecialtheorymeaningandpracticalvaluehavebeengot．Theycoverthefollowingsevefalmajorparts：Inthefirstpart,thephasespaceofthereconstitutedbmshlessmotorsystem，theimprovedI,yapurtovexponentsmethodforchaosprediction,theproposedgloballargestLyapunovexponentsmethodandglobalalgorithmwithtrackve

4、ctorshavebeenachievedandappliedinthebmshiessthrustersystemfordiagnosingandpredictingchaos．Andthedisadvantagesofthesinglephase—spacemethod，suchas，theinaccuracy，nointegrityandwrongpredictioninformationhavebeenovercomeusingthegloballargestLyapunovexponentsmethod．，hewholevariationofchaosforthedeepw

5、aterrobotbmshlessthl'nstermotorsysternfromthestmicstatetopseudo—chaostillrealchaoscanbeclearlyandroundlydepictedwithoutmissingtheimportantinformationAndtheconceptofthepseudo—chaosisintroducedtosolvetheincorrectdepictionofthesystemoperatingstate．Inthesecondpart．chaosattractorcharacteristicshaveb

6、eenanalyzedbywaveletanalysis．powerspectraandanalysispoincar6map，nlebasinofamactiondiversitycontainedinsimilardisorderattractorsisshowninthefirsttime；furthermore，theheteroclmicorbitofchaosbasinattractionandheteroclinicorbit’sanchorpointshavealsobeenanalyzedanddepicted．whichsettlesthebasesforchao

7、scontrolling,synchronizationofchaosaswellasanti—controlofchaosfromimaermicrocosmicpointofview．Inthethirdpart．theself-adaptivecontr01methodofchaoticsystemisadoptedtodesignachaosself-adaptivecontroller，whichcaneffectivelyrestrainthechaoticphenomenon，breakawayandeliminatethechaoseventually．Thetech

8、niqueofchaosself-adaptivecontr01possessessomecharacteristics，suchas，thesimpleness，reliability,andconvenientimplementationinsoftwareandhardwareforengineeringapplications．hthefourthpart．thechaosprediction．controlmethodandoptimizatio