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    Chedjou Rayleid Oscillator

    Uploaded by

    Ybriss Joel Monkam
    article

    Copyright:

    © All Rights Reserved
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    J.C. Chedjou" Inertial Center Tene Ps (ICTP), ‘Strada Costiera 11 34014 Trieste, taly TWTLEN, GE 00 Montan Ce, France and Deparment of Physics, Foul ol Since ‘Univ o cag, PO. Box67, Dsthang, Caneroon al chediuei chedou@antan- nano chesov@monitn- tolerant L. K. Kana Dodo Soho! of Electonics nd ineematon Texoloy, UE Feculy of Since, Universi of scrang, 0. Box 6 Dscharg, Gaveroan |. Moussa Deparment of Physi, Feculy of Since, Univesity of Yaoundé Dynamics of a Quasiperiodically Forced Rayleigh Oscillator This paper studies the dynamics of a self-excited oscillator with two external periodic forces. Both the nonresonant and resonant states of the oscillator are considered. The hysteresis boundaries are derived in terms of the system's parameters. The stability con- ditions of periodic oscillations are derived. Routes to chaos are investigated both from direct numerical simulation and from analog simulation of the model describing the “forced oscillator. One of the most important contributions of this work is to provide a set of reliable analytical expressions (formulas) describing the system's behavior These are of great importance to design engineers. The reliability of the analytical formulas és demonstrated by a very good agreement with the results obtained by both the numeric P.O, Box 12, Yaoundé, Cameroon e-mail; moussaildoko@yahoatr K. Kyamakya Itt gray Univesity of Kageniut Universitas 65, A-9020 Kagenfun, Asta ermal: kyamakya@iys uk acat Keywords: A. Laurent Universi Baise Pasa, Clermont FeandIUT-LEM, GE ‘Nerve stde BRIAND BP 2235, 03100 Montogon, Fence e-mail lavent@moniutuniv-bpcleont ir 1 Introduction In recent years, a twofold interest has attracted theoretical, nu merical, and experimental investigations to understand the behav- ior of nonlinear oscillators. The theoretical (fundamental) investi- gation reveals their rich and complex behavior, and the experimental (self-exeited oscillators) describes the evolution of ‘many biological, chemical, physical, mechanical, and industrial systems [1-3]. Recently, the chaotic behavior of these oscillators is exploited in the field of communication for coding information [4]. The periodically forced Rayleigh equation has been exten- sively studied inthe investigation ofthe response of a selfexcited oscillator when it is driven by a periodic force [2]. tis the first model of irregular oscillations (transient chaos or “ghost solu- tions") of differential equations [5,6]. To the best of our know!- edge, litle has been done in a system consisting of a self-excited Rayleigh oscillator with two extemal periodic forces. The choice "Gomesponding author. Gontioted by the Dynamic Systems, Messurment, an Control Divison of| ASME fr publication nthe Joes DyAanic SYST, MEASUREMENT AND COS ‘ro, Manuncipl recived November 21,2005; inal manuscript reesived November 2, Sons. Asso Etor: Matt Pranchok 600 / Vol. 128, SEPTEMBER 2006 and experimental analyses, [DO: 10.111511.2% oscillatory states, oscillator, chaos, bifurcations, analog sinlation Copyright © 2006 by ASME 2684] hysteresis boundaries, stability criteria, nonlinear of an external force with two periodic components gives the pos: sibility of different types of excitations (sinusoidal, quasiperiodic, time domain amplitude modulated, relaxative, and so on). This paper aims at the following: (a) considers the dynamics of the system; (b) contributes to the general understanding of the behav= jor of the system and points out some of its unknown behavior and (c) experimental investigation of the dynamics of the system. The dynamics of the forced Rayleigh oscillator is described by the following nonlinear differential equation: el -2)e+ oPr= ft) (a) where #) and w are positive parameters, being, respectively, the damping coefficient and the natural angular frequeney. Equation (1a) when f(2)=0 exhibits a sinusoidal behavior for small e; and leads to a relaxation oscillation for large ¢. The latter is suited for the control in systems with input stimulus (that produces a response of fixed amplitude) but adaptable frequency for repetition rate. This is similar to a beating heart when each contraction of the ventricle is stimulated by a nerve impulse gen erated on contraction of the auricle [3]. A self-excited Rayleigh ‘oscillator can also be used in communication in its autonomous mode for small 6), a8 a sinusoidal oscillator amplitude control, the ‘Transactions of the ASME natural frequency © the control parameter. A sinusoidal funetion generator is an important circuit that is used in measure- ‘ments, instrumentation, telecommunications, and electronics, to name a few. In the presence of an external excitation, interesting phenomena (phase locking, collapse of torus, and folded-torus) are observed [6]. In this paper we concentrate on the analysis of Eq, (1a) when Hl) =k; costar 8) +ky cosleogt + 44) ) Reference [7] considers the analytical approach to torus bifur- cations and [8], the analytical and numerical study of the Duffing oscillator subjected to two external periodic forces. ‘The paper is structured as follows. Seetion 2 gives an analytical treatment of Eqs. (1). Approximate solutions of Eqs. (1) in the nonresonant case are obtained with the multiple time-scales method [1]. Considering the resonant case, we analyze the effects of the amplitudes k; and ky and those of the detuning parameter on the oscllator’s behavior. Using the perturbation method [2], the stability conditions of periodic oscillations in a forced Rayleigh oscillaior are derived, Section 3 evaluates the direct numerical integration of Eqs. (1) in both the nonresonant and resonant cases, and the oscillatory states are analyzed. It ends with an analysis on the effects of the amplitude k, and the frequency F, [F) =(2a)-lo)] on the oscillator’s behavior. The degree of chaos is characterized by calculating the largest one-dimensional (1D) nu- ‘merical Lyapunov exponent and determining the bifurcation dia- gram, Seetion 4 investigates using analog simulator, the dynamics of the system deseribed by Eqs. (I). Here we present the electrical circuit of our simulator. The definition of the parameters of Eqs. (1) as functions of the circuit components are presented as well ‘The section ends by comparing the results from our simulator to those of the direct numerical integration of Eqs. (I). Section 5 deals with conclusions and proposals for further work. 2° Analytical Treatment ‘We seek approximate solutions of Eqs. (1) by the well-known multiple time-scales method [1] 241 Nonresonant Case, Here, ; and o are incommensurable. Assuming a small nonlinearity, from the zero-order perturbation theory, we obtain from Eqs. (1) ste) =(24)"]a-(1 cos(wt + 6) Qa) where dy stands for the initial amplitude, « is a small dimension- less parameter, and (2b) Hence, the nature of solutions depends on a ertical relationship between the parameters of Eys. (I). When 7>0, the steady-state motion is a superposition of three terms of the frequencies , «, and @> with amplitudes (37)-""(8)", (@?—w{)-"ky, and (a? ~aA)-lkp, respectively. Since oy and @ are incommensurable, the motion is aperiodic. When 770, the steady-state motion consists of the forced solutions only, Under this condition, the free oscil- lations tend to zero with increasing time, leading to the quenching of self-sustained oscillations ‘The result when 77<0 isnot interesting, since it corresponds to the case when the self-sustained oscillations are quenched and consequently have no effect on the wave generated by the oscil- lator. This justifies the interest devoted to the resonant case as analyzed below. Journal of Dynamic Systems, Measurement, and Control 2.2 Resonant Case and Hysteresis Boundaries. We have analyzed subharmonic and superharmonic resonances and found that only the primary resonance is interesting. We then restrict our analysis 10 the interesting case when «|=0+e0, where e, and ky are assumed small, @) and are incommensurable and ¢=O(). Ics found using the multiple time-scales method that the zero- order perturbation theory Fields the general solution of Eqs. (1) k AT) = Jal exper + ATID ep mont + 2)) ted @) ‘The amplitude a(7,) is the solution of the following differential ‘equations: (4a) (40) where = 07; +0,~B is the rescaled B (T,=61), and 13 Kod (de) Thus, at resonance «@=0+ec, the steady-state motion is de- scribed by Eq. (3) with the amplitudes a(7;) obtained from the following nonlinear algebraic equation: (je (22) (#ei22) 64, 12 eo 36ej0" From Eq, (5), two types of solutions are expected: the frst is within the hysteresis domain and the seeond is out ofthe domain. Thus the general solutions within he hysteresis domain yield (5) y-(aa)h} (6e) and ¢ is an ‘The graphical representation in Fig. 1 summarizes the effects of «ky, and ky on the occurrence of the hysteresis phenomenon. Bach region ¥,, 3}, and Sy has two parts, symmetric with respect to the £y-axis. ok, and kyky planes show various regions (black regions) in which hysteresis phenomena oceur and depend on some relationships between the parameters (in Eqs. (1)) deducible from Fig. I Itis observed that the dimensions of these regions are dependent on values of the model's parameters and are very sen sitive to small changes in k. The white regions denote nonbyster- esis phenomena. It is shown that there exist some eritcal values of 4, (for example, say ka=C$) for which the nonhysteresis regions SEPTEMBER 2006, Vol. 128 / 601 (ZAEDICE.) (2,)//0k- plane ()//k,k-plane Fig. 1 Graphical representation of the hysteresis domains (black regions) and nonhysteresis domains (white regions) In the orks plane (, Xj, and %,) and kik plane (3): Sy (ky =F and f)=(8/9)e, 299); 34: and = (8/9) ey. 272 =D) Yat (hae C5" y= (8/9) Pek Oey A —Betes and 1218/9). Pele 9o%ns (Pel? —302e, =) H BID) Pef4 90? 9 (Pe-3a7e 7}, (Sy: (20,4 2(4/9)e, and I= (lel eo») IBA =[9K Tae, 1°) alternate with hysteresis ones (see 3} inthe direction @). Note that the boundary values a and a are defined as fellows and 0) 1 is found from 2, that the hysteresis phenomenon disappears when k2(8/9)e,V47, At perfect resonance (7=0), the wine dows for the occurrence of the hysteresis phenomenon can be expressed from 35 in terms of ky and k, For 0, it is very difficult to derive analytically (in terms of &2) the hysteresis boundaries, From Eq, (5), we determine the amplitudes a (for varying or, and 2) that assist in verifying the analytical hysteresis boundaries and investigating the effects of 0, &y, and ky on the steady-state motion. Figure 2 shows the frequency-response curves in the ow Plane for some selected values of k when w=1,00000, ¢1 =0.13112, @=2,30000, and k>= 1.00000, Figure 3 shows (in the 4 a plane) the amplitude-response curves for some selected val- ues of @ when «=1,0000, £;=0.0150, 102=2.3000, andy =0.0465. Figure 4 shows (in the k a plane) the amplitude. Fesponse curves for some selected values of and k; when @ =1.000, ¢|=0.015, and w=2.3 From Fig. 2 is observed the hysteresis phenomenon for x, 1015, ,=0.025, and k,=0.030. For k;<0.025, the curves shown in Fig. 2 yield two branches: the first (lower) branch is a Fesonance curve and the second (upper) is a closed curve approxi- mated to an ellipse with center 2;=(0,). Here, 602 / Vol. 128, SEPTEMBER 2006 1.00 obo" oO Fig. 2 Effects of and k, on the resonant frequency— fesponse curves («=1, «4=2.3, ¢,=0.13112, and ky=1). Analyt cal results (solid lines) and numerical results (stars) for ie 0.015; k,=0.025; ky=0.030; and k;=0.050. Stability boundary (squares) and unstable region (shaded). Ob Boa and 81K ] 64°} J Equations (8) show the downward shift of each ellipse’s center with increasing &,. With further increases in k,, the ellipsis expand and open at ky =(8e,/9)\277. Finally, branches intersect at points to give common branches in which the hysteresis phenomenon is still observed. When k= (86/9) zp, the hysteresis phenom- enon disappears and the response curves are single-valued for all 4 = ce 1+ (80) ; : Fig. 3 Effects of k and o on the resonant amplitude— Fesponse curves (w=1, «o9=2.3, e;=0.015, and k;=0.0465): Ana 'ytical results (solid lines) and numerical results (stars) for o- 000; 7=0.002; o=0.003; and «=0.005 Stability boundary (squares) and unstable region (shaded). ‘Transactions of the ASME = te THT °2G pp 00s TOOp) Doo = 0002189636 1 5 -0.002872350 anh Vin na t aah oo OS HOLT BOD ABT Hon, boa =0.003585039 fo = 0.003919000 Fig. 4 Effects of kj, kp and on the resonant amplitude- Fesponse curves (o=1.000, +=0.015, and «_=2.300): Analyti- cal results (solid lines) and numerical results (stars) for 70.0032 (curves ,,C;, and C;), ky=0,0050 (curves CC, and 5), K=0.0085 (curves C,, Cy and C5), and ky=0.0080 (curves Cy, Cy, and C;). Stability boundary (squares) and unstable re- gion (shaded). Figure 3 shows the hysteresis phenomenon for o=0,000, 0,002, and =0.003, considering the effects of k; on the steady state motion, It shows the extreme sensitivity of the steady-state ‘motion to small changes in ¢: Also shown is the decrease with increasing detuning parameter (@) of the width of windows of & for which the hysteresis phenomenon occuts. In addition, the hys- teresis phenomenon disappears when 7% 0.004327 We now analyze the effects of Kp on the steady-state motion when is varied (Fig. 4). Perfect resonance is observed when o ). Here when ky increases, the curves yield two branches. The first branch is above branch a;= 87/30? (see the upper line with squares for o=0), the second is a closed curve that is approxi- mated to an ellipse with center 0, and aig recos} ~ 1+ (9b) From Eqs. (9) the center of each ellipse is shifted upward with increasing k}. The “top points” of the ellipsis are located (in the ky 4 plane) on the ellipse described by Journal of Dynamic Systems, Measurement, and Control 1 (10) {see the lower line with squares for =0). As ky increases further, the ellipsis are subjected to a “compression phenomenon’ and finally reduce to a single-point:025(0,2/3e) when k= (4/9)ey Under this condition, the response-curves are single-valued for all ky (ky #0). We now analyze the effec of ky on the steady-state motion when =0,001391752, 7=0.002189636, =0.002872350, (003585039, and =0.003919000. The curves for o=0 are pairwise conjugates as indicated by the notations (Le. the upper four curves C;, Cz, C3, and C, are, respectively pairwise conju gates with the four lower ones: C}, CC, and CC; is a single Point as mentioned above)). When 7=0.001391752, the curves Cy and C; intersect at P; (0, 1-144) to form a common curve C;”. For «7=0.002189636, there isa shift in Py and also a deformation of the piecewise curve having that point. In addition, the curves Cp and C; intersect at Pa (0, 1.128) to form a common curve C:"- At the value o-=0,002872350, a shift in Py and also a deformation of the piecewise curve having that point is observed, In addition, the curves C; and C3 intersect at Ps (0, 1.108) to form a common curve C; It would be of interest to note that when the parameter « is chosen in the window 0.003103200-< <0.003585039, the single point C; becomes a closed curve (an ellipse). When increases up to the boundary value 0,003585039, the curves Cy and C; intersect at P, (0, 1.067) to form a common curve CY Here, there isa shift in Ps and also a deformation ofthe piecewise ccurve having that point. When o increases (Fig. 4), the hysteresis domain shrinks and finally disappears at =0,003919000 and all the four curves (C;", Cy’, C%", and C;") become resonance curves The results in this section have shown the possibilities of ob: taining one, two, or three real values of the amplitudes a. This has raised the question ofthe stability of these solutions and therefore justifies the interest devoted to Sec. 2.3, 23. Stability of Periodic Oscillations. The stability of peri- odie oscillations is investigated in the «ra, kya, and kza planes. We use first the perturbation method (x—x+8) to obtain the varia- tional form of Eqs. (1). The dissipative coefficient of the varia- tional equation is expressed in terms of the solution x defined in Eq, (3). Letting €=y(#)exp(-u(2)), u(e) and y(1) being real func- tions, itis found that periodic solutions y(t) are obtainable from the following equation: 17s obtained from Eq, (4c). Assuming thatthe characteristic ex- ponent is associated with the first and second unstable regions [2], ‘we can establish the following Hill's equation (considering Eqs (3) and (11): tol oad tnetoar-on) reo (2) In its derivation, terms of e; higher than second order are ignored since our analysis is restricted to the case of small nonlinearity. The quantities 0, 8, 2, e21. and 9 are expressed in terms of the parameters of Eqs. (1), The oscilations are stable if the per- turbation €(@) tends to zero with increasing time, Thus, the quan SEPTEMBER 2006, Vol. 128 / 603 tity & must be positive and greater than the characteristic exponent (assumed positive and calculated by the Whittaker’s method) of the solution of Eq, (12) [2]. Henee, the stability conditions are siven (in terms of the parameters of Eqs. (1)) by the inequalities 30h? -49>0 (13a) 3a) ‘Thus, at resonance (w;=«+e0) relations (13) show that the "unstable portions of the response curves are located in the shadow areas of Figs. 2-4, 3 Numerical Computation The aim of the numerical stady is to verify the analytical results established in Sec. 2, to find the sensitivity and some sets of parameters leading to chaotic behavior and also to define routes to chaos, 3.41 Oscillatory States. We restrict our analysis tothe verif- cation of the analytical results obtained in the resonant case. We use the discret Fourier transform (DFT) to determine ({rom Eqs (1)) numerical values of the amplitudes a in the resonant state and some numerical results are provided (see star lines in Fig 2-4) for the same values of the system parameters in Sec. 2. Figure 2 shows the numerical frequeney-response curves in terms ff the detuning parameter a both for &,=0,015 and f, =0.050. From this figure, there is an agreement between the analytical and rhumerical results, although a divergence is observed for some points, This divergence can be explained by the occurrence of the hharmonie frequency entrainment phenomenon in the quasiperiodi- cally forced Rayleigh oscillator. Figure 3 shows some numerical Points of the amplitude-response curves in terms of &; when 0.003 and =0.008. It clearly shows (in the domain of stable oscillations) a good agreement between the analytical and numer cal results. We found a divergence between the results for both ‘methods in the domain of unstable oscillations when =0.003, In Fig. 4 some numerical points of the amplitude-response curves are shown in terms of kz when ky =0.005 and k}=0.008, Hepe a very good agreement (in the stability regions) between numerical and analytical results and a divergence (in the instability regions) be- tween the two methods, are clearly shown. It should be noted that the rate of divergence decreases with increasing a. Hence, this divergence can also be explained by the occurrence of the har- monic frequency entrainment phenomenon in the forced Rayleigh oscillator. 3.2 Chaotic Behavior. Here, the types of motion are identi- fied using two indicators. The first indicator is the bifurcation diagram, the second being the largest ID numerical Lyapunov ‘exponent denoted by [M20] (ane YealZ)) ow as = and computed from the variational equation obtained by perturb- ing the solution of Eqs, (1) as follows: x—+€. d(t) is the dis- tance between neighboring trajectories. Asymptotically, dt) =e'wm, Thus, if Aga > 0, neighboring trajectories diverge and the state is chaotic. If hax <0, these trajectories converge and the state“is non-chaotic. \yax=0 for the torus states [15]. Setting @ and 45=0, we analyze the effects of the amplitude ky and the frequency F, on the behavior of the Rayleigh oscillator, There- fore, a scanning process is performed to investigate the sensitivity 604 / Vol. 128, SEPTEMBER 2008 1416 a 22° 24 Fig. 5 Bifurcation diagram showing the coordinate x of the attractor in the Poincaré cross section versus k; (w=1.000, kr +=0.000, ;=2.900, and F,=0.040) of the oscillator to tiny changes in ky and F). The investigation is carried out in the following windows: 14

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