粗糙平面上一个单组件振动驱动系统的动力学分析
关键词 数值计算 振动驱动 求解 优化
毕业设计说明书（毕业论文）外文摘要
Title Dynamical analysis of a single vibration-driven
system on rough plane
Abstract
This paper mainly solves and optimizes single vibration-driven systems by numerical calculation method. Control mode of this paper is bold in innovation, former researchers generally use three-phase control mode, while I put forward the three-phase and two parameters control mode based on it. This control mode simplifies control and calculation, and almost doesn’t change motion state of the system. To solve the motion state, this article firstly calculates steady-state velocity without stick-slip effects by theoretical methods, and the result is compared with several groups of numerical results. We can see obviously that they are in good agreement with each other. Based on this, this paper introduces the mathematical principles of numerical calculation method. Then we use the numerical program to solve and optimize vibration-driven systems. According to the results, we classify vibration-driven systems into several groups by occurrence of stick-slip motion and study them separately. Finally, by running the program many times, we put forward some important conclusions and useful advices, which may provide the base and reference for the future design and optimization of vibration-driven systems.
Keywords: numerical methods vibration-driven
analysis optimization
目 次
1 引言 1
2 力学模型 4
2.1 动力学方程 4
2.2 库伦摩擦阻力 5
3 控制模式 7
3.1 加速度控制模式（三相控制模式） 7
3.2 三相二参数控制模式 10
4 理论稳态速度 13
4.1 求解 13
4.2 验证 16
5 数值法 20
5.1 基本思路 20
5.2 稳态速度和平均速度 21
5.3 粘滑运动和振荡性运动 23
6 速度优化和设计 28
6.1 控制参数 28
6.2 物理参数 30
结 论 35
致 谢 36
参考文献37
1 引言
振动驱动系统是一种新型的运动模型，不同于传统的交通工具模型，最早由Chernousko在2006年提出[1]。
振动驱动系统模型的提出受到许多软体动物运动的启发，比如蛇、蚯蚓、蠕虫等等。经过总结、思考，我认为：它的基本原理是利用系统内部的振动，为系统运动提供能量（动能）；利用阻力，为系统的前进提供直接的动量。系统的阻力可以是摩擦阻力，也可以是线性阻尼力，等等。但是一般而言，无论哪种情况，阻力都是非对称的，这一点可以仿照生物，在运动体结构上有所改进，比如蛇的鳞片。