Marine reconnaissance robot propulsion system of anti-control chaos

　　Title: Marine reconnaissance robot propulsion system of anti-control chaos
　　Author: Meng Zhaojun
　　Degree-granting units: Shenyang University
　　Keywords: chaotic anti-control;; nonlinear control;; marine reconnaissance robots;; anti-detection capabilities;; propulsion systems;; differential geometry theory
　　Abstract:
　　The research of marine propulsion systems Chaotic reconnaissance anti-robot control problems, improved anti-chaos control method, and the Neodymium Magnets application of the propulsion system presents a pre-research program.
　　Marine reconnaissance robot propulsion system is a typical multi-variable nonlinear time-varying systems, nonlinear systems dynamics in this in-depth study of chaos is bound to involve research. Motor system at home and abroad in the chaos of the research in the early stages of exploration, reconnaissance robot for underwater propulsion system chaotic motion studies is facing enormous difficulties. How to chaos science applied to the robot propulsion system which, when it comes to harmful chaos control, chaos and beneficial anti-controlled two issues. Anti-control propulsion system, that of chaos, is a challenging and interdisciplinary nature of the new issues, the study has important theoretical and practical value. This reconnaissance robot for marine propulsion system produces a unique sound pattern to reduce the hidden problem, the application of its anti-control chaos active in the anti-detection research, the main contents are summarized as follows:
　　First, the use of wavelet phase space reconstruction of chaotic attractors determine whether the system is chaotic, which is chaotic anti-control study of the most important issue. Marine reconnaissance robot propulsion system when running in deep-sea noise and chaotic signals generated by essentially different. To solve the existing time series phase space reconstruction methods reconstruct information redundancy, the paper will be introduced to the wavelet transform into the phase space reconstruction. Confirmed that the wavelet phase space reconstruction method can not only accurately reconstruct the chaotic characteristics of the original system, the system can reconstruct the original period features, double period features and characteristics of the proposed cycle is an effective way to determine the chaos.
　　Second, the differential geometry theory is introduced to the permanent magnet propulsion motor system, the control object is difficult to solve nonlinear control problems. The subject of the use of state coordinate transformation and state feedback transformation, completed the permanent magnet propulsion motor of the non-interactive multi-input multi-output control design. On this basis, adaptive feedback linearization theory will be applied to permanent magnet propulsion motor system parameter uncertainty in the study. The results showed that: the theory of differential geometry can be permanent magnet propulsion motor nonlinear systems without any loss of useful information into a linear system under the conditions, based on differential geometry theory of nonlinear control techniques used in its rich field of motor control research tools.
　　Third, the system controller for brushless motor of serious non-linear, and reconnaissance robot propulsion system on the stability of the overall impact on the system, including permanent magnet brushless motor, propeller, three parts of a complete underwater robotic reconnaissance mathematical model of the robot system equivalent transformation, the application of the theory of differential geometry can be accurately analyzed the conditions for linearization. According to the study pointed out the underwater reconnaissance robot translation between the equation and the propulsion system does not directly relevant, and accordingly Conclusion precise time delay state feedback linearization technique proposed an underwater surveillance robot propulsion of Chaos anti-control method. Simulation shows that: to ensure the normal operation of the basic premise of the robot, propulsion Lee chaotic attractor shape chaos chaotic state by adjusting the parameters to change the anti-controller.
　　Fourth, the time delay state feedback exact linearization chaotic anti-control method, based on reconnaissance robot to solve the underwater propulsion motor of the low-pass filter characteristics, presents a propulsion motor for the time delay state feedback control of chaotic pulse anti-control method. By changing the anti-chaos parameter controller and rectifier method and then change the input signal is proposed to change the propeller noise, a unique line spectrum characteristic of technical solutions to the unique characteristics of the noise from the chaotic state into a moment of change, so as to achieve The purpose of confusing the enemy. Anti-control of chaos in the application of marine reconnaissance robots do try.
　　Finally, the proposed control strategy to do the simulation and experimental platform developed in the group and carried out experiments on the prototype, computer simulation and experimental results are basically consistent with theoretical expectations.
　　Degree Year: 2009