iii: hybrid systems and the grazing bifurcation chris budd
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III: Hybrid systems and the grazing bifurcation Chris Budd
.0)()(
,0)()(
xHifxRx
xHifxFdt
dx
Hybrid system
Impact or control systems
Impact oscillator: a canonical hybrid system
.,
,),cos(
uuru
utuuu
obstacle
1
)cos()(, vut
v
xF
t
v
u
x
t
rv
u
xRuxH )(,)(
Periodic dynamics Chaotic dynamics
Experimental
Analytic
v
‘Standard’ dynamics
v
u
u
Grazing occurs when periodic orbits intersect the obstacle tanjentially
This is highly destabilising
x x
Observe grazing bifurcations identical to the dynamics of the two-dimensional square-root map
01.0
2
x
Period-adding
Transition to a periodic orbit
Non-impacting
periodic orbit
v
v
u
u
u
Chattering occurs when an infinite number of impacts occur in a finite time
Now give an explanation for this observed behaviour.
To do this we need to construct a Poincare map related to the flow
S S
Small perturbations of a non-impacting orbit
x
y
xAy
v
u
Small perturbations of an orbit with a high velocity impact
y
x
)(xR
),( v
xASAy 21
21, AA
S
100
0
00
rv
arar
S 0v
Small perturbations of a non-impacting orbit
Flow matrices
Saltation matrix to allow for the impact
v
Small perturbations of a grazing orbit (v = 0)
u-sigma
S breaks down!
G: Initial data leading to a graze … v = 0
Large perturbation
G+
G
G-
GxbxAxAy
GxxAy
xxxGx gg
,
,
,
1
A1
A2
Local analysis of a Poincare map associated with a grazing periodic orbit shows that this map has a locally square-root form, hence the observed period-adding and similar behaviour
Poincare map associated with a grazing periodic orbit of a piecewise-smooth flow typically is smoother (eg. Locally order 3/2 or higher) giving more regular behaviour
If A has complex eigenvalues we see discontinuous transitions between periodic orbits similar to the piecewise-linear case.
If A has real eigenvalues we see similar behaviour to the 1D map
G
Complex domains of attraction of the periodic orbits
dx/dt
x
008.06.2 r
Systems of impacting oscillators can have even more exotic behaviour which arises when there are multiple collisions. This can be described by looking at the behaviour of discontinuous maps
.,,0
,,,0
)sin()(
222
2
212
2
zudt
dzvu
dt
ud
wzdt
dzyz
dt
zd
ttw
m
M
Newton’s cradle
v
y
u
z
rr
rr
v
y
u
z
1
1
1
)1(00
1
1
100
0010
0001
w z u
Mass ratio
The square rotating cam
Bifurcation diagram