Backlash, Bifurcation, and Buckling, and the ...dsbaero/tutorials/HystTalkJan022008V... ·...
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Backlash, Bifurcation, and Buckling, and the
Mysterious Origin of Hysteresis
Dennis S. BernsteinDepartment of Aerospace Engineering,
University of Michigan, Ann Arbor, MI, USA
Research byJinHyoung Oh, Ashwani
Padthe,
Bojana
Drincic
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1
Hysteresis Is Everywhere!
Hysteresis loops shown in the dynamic stall on NACA0012 airfoil
(image from Carr, et. al, 1977)
Hysteresis loops shown in the motor/linkage experiment
•
Structural Mechanics•
Ferromagnetics•
Smart Materials – PZTs, SMAs, electro- (or magneto-) rheological fluid
•
Aerodynamics – dynamic stall•
Mechanics – backlash, friction•
Biological system•
Nonlinear systems with a continuumof semistable equilibria
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Nickel titanium stress/strain (courtesy John Shaw)
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2
What causesthis butterfly hysteresis??
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3
Positive and Negative Aspects
•
Positive Effects–
Used as controller element
for relay systems (logic hysteresis)
–
Can model input frequency-independent energy dissipation of structural damping
–
Gives analysis tool for biosystems
(cell signaling)
•
Negative effects–
Degrades precision motion control–
May drive system to limit-cycle instability
Logic hysteresis in thermostat(image from von Altrock, 1996)
Cell signaling model and hysteresis analysis map(image from Angeli, et. al, 2004)
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4
Some Basic Questions
•
What is “hysteresis”?–
Textbooks: “a system with memory”
(vague)–
“Peculiar property”
(not helpful)
•
What causes hysteresis?–
Some hints in the literature (such as bifurcation)
•
We need some examples…
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5
-
A loop
appears in the I/O map-
The loop is indicative of dynamics—a Lissajous
figure
-
But the loop
vanishes
at low frequency
Example 1: Linear System
Input-output maps w/
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6
Example 2: Time Delay
•
Hysteresis ( ): “lag in arrival”•
Consider static delay
•
The loop vanishes atlow frequency
Input-output maps with
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7
-
A loop
appears in the I/O map at all frequencies-
Nonvanishing
I/O loop at low frequency
-
The I/O loop depends on
the input frequency-
Limiting loop is classical backlash
Example 3: Mechanical Freeplay
Input-output maps w/
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8
-
A loop
appears in the I/O map
-
The I/O loop does NOT
depend on
input frequency
-
Nonvanishing
I/O loop at low frequency ⇒ Hysteretic
Example 4: Ferromagnetic Model
where : magnetic flux: magnetic field
Input-output maps w/
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So, What Might Hysteresis Be?•
In all linear dynamical systems:–
Dynamics cause input-output loop when input frequency is nonzero
–
But I/O loop vanishes
as
•
In some nonlinear systems:–
I/O loop
persists as ⇒ quasi-DC I/O loop
•
Hysteresis: Nonvanishing
input-output loop
at asymptotically low frequency⇒ Inherently nonlinear effect!
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Intuitively:
•
Hysteresis is NOT dynamics
•
Hysteresis is NOT statics
•
Hysteresis is the ghostly image of the input-output map as the frequency of excitation goes to zero–
The nontrivial “static limit”
of the dynamic I/O map–
Under periodic motion, which is assumed to exist
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Why the Confusion?
•
If the input-output map is the same loop at every frequency, then the static limit is indistinguishable from the dynamics–
The system has “rate-independent hysteresis”–
Another misnomer
•
Suppose the input-output map is different at every frequency and the static limit has a loop–
The system has “rate-dependent hysteresis”–
Another misnomer
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Rate Dependence/Independence
Input-output maps of ferromagnetic material
Input-output maps of mechanical freeplay
Rate-Dependent Hysteresis Rate-Independent Hysteresis
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–
: continuous, periodic with period –
: periodic with period , : output with –
as , : periodic I/O map–
as , : limiting periodic I/O map
If has such that , then is a HYSTERETIC MAP, and the model is HYSTERETIC
Precise Definition of Hysteresis
Time Convergence to Quasi-DC Behavioru u
yy
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OK, What Causes Hysteresis?
•
We will figure this out from some examples•
What kinds of models exhibit hysteresis?
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15
Which Models Are Hysteretic ?
• No linear model is hysteretic
• Three specific nonlinear models1. Nonlinear feedback models
•
Freeplay/backlash2. Duhem
models
•
Friction3. Preisach
models
•
Smart materials
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•
where is memoryless
nonlinearity•
The model is an LFT
b/w MIMO system and
Nonlinear Feedback Models
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17
•
A linear system with a memoryless
nonlinearity in
the feedback loop
•
Freeplay becomes a deadzone in feedback
Block diagram of freeplay
model
Nonlinear Feedback Freeplay
Model
Deadzone
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•
Based on input direction-dependent switching dynamical system where g(0) = 0
•
The output changes its character when
the input changes its direction
•
Nonlinear ODE model
⇒ Finite-Dimensional•
Can model rate-independent and
rate-dependent
hysteresis•
Special cases: Ferromagnetic model, Bouc-Wen
model, Madelung
model, Dahl friction model
Vector field analysis of the Duhem model of ferromagnetic material
Generalized Duhem
Model
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19
Duhem-Based Friction Models
•
Philip R. Dahl worked with The Aerospace Corp.•
LuGre
= Lund and Grenoble
•
Based on the slip model proposed by Maxwell for no-slip boundary conditions in fluid mechanics
•
Non-Lipschitzian
property is necessary for finite-time convergence (Sanjay Bhat’s
research)
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20
Superposition Models (Preisach
Model)
•
Based on rate-independent hysteretic kernels–
Preisach model: logic hysteresis
–
Kransnosel’skii-Pokorovskii
model:
linear stop operator (LSO)
•
Uses hysterons•
Can capture complicated reversal behaviors•
Usually rate-independent•
Usually infinite dimensional•
Models piezo
materials
Preisach Model and its weighting function(image from Gorbet, 1997)
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Reversal Behavior
“major”
loop “minor”
loop
Nonlinear Feedback model
Duhem
model:
Local memory
Preisach
model:
Nonlocal memory
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22
Response to Superimposed Dither•
Nonlinear feedback model: averaged to memoryless
nonlinearity
by *large* amplitude dither
–
Deadzone
requires large-amplitude dither
•
Duhem
model: averaged to LTI system
by high frequency
dither–
Dither amplitude can be infinitesimal
•
Preisach model: does not
respond to dither of any amplitude
-1 -0.5 0 0.5 1-0.5
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Duhem ModelNonlinear Feedback Preisach Model
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23
Analysis of Hysteresis
Nonlinear Feedback
Generalized Duhem
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Nonlinear Feedback Model
•
Special Cases
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25
Equilibria
Map•
The equilibria
map
is the set of points
where is an equilibrium
of the NF model with constant
•
Let be given in controllable canonical form
•
Then is given by
or
⇒ depends only by
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Deadzone
Equilibria
Map
•
Mechanical Freeplay
Model
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27
Is Hysteresis Map Contained in ?
•
Hysteresis map is the static limit of the input- output maps
•
Suggests that every point in is an equilibrium and thus in
Equilibria
map and hysteretic map for a mechanical
backlash model
Not always!
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28
No Hysteresis Example•
Hysteresis requires two distinct equilibria
•
⇒ should be
multi-valued map
•
But not every
multi-valued generates hysteresis
•
Ingredients of hysteresis–
Step convergence–
Multi-valued
limiting equilibria
map–
Bifurcation (vertical segments)
or a continuum of equilibria
of Non-hysteretic I/O map
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Cubic Equilibria
Map Example
•
Cubic Hysteresis Model
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and •
Generally !!
•
Cubic hysteresis –
a bifurcation occurs
•
Except for
the limiting vertical transition trajectories,
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31
•
A linear system with a memoryless
nonlinearity in
the feedback loop
•
Nonlinearity introduces input- dependent multiple equilibria
•
Input change causes bifurcation ⇒ I/O trajectory “chases" the stable moving equilibria
Block diagram of freeplay
model
Bifurcation Video
Deadzone
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Principle of Multistability
•
The presence of hysteresis requires the existence of multiple, attracting equilibria–
Finite set of attracting equilibria
OR–
Continuum of attracting equilibria–
Existence of multiple equilibria
is not sufficient
•
The input-dependent structure of this set as well as the dynamics of the system determine the presence and properties of the hysteresis
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33
Deadzone-Based Freeplay
Hysteresis
•
Let be given by
the controllable canon. form
⇒ limiting equilibria
map is given by
⇒ depends only on , where and are constant terms in numerator and
denominator of , respectively.
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Set of Deadzone-Based Freeplay
Hysteresis
•
Can determine from and
single valued
map ⇒ No Hysteresis
Multi-valued map⇒ Hysteresis
does not existfor all ⇒ No Hysteresis
• Case 1 • Case 2 • Case 3 • Case 4
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35
of DZ-Based Freeplay
Hysteresis
•
Suppose DZ-BH is step convergent•
Limiting periodic I/O map is given by
⇒ No Hysteresis ⇒ Backlash-type hysteresis
• Case 2 • Case 3 • Case 4
⇒ Bifurcation-type hysteresis
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36
What Other Nonlinearities Can Cause Hysteresis?
•
Arctangent model
•
Saturation model
Saturation can cause hysteresis !
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37
Generalized Duhem
Model
•
Nonlinear feedback models are rate dependent•
Generalized Duhem
models can rate dependent
or rate Independent–
Rate and shape dependent
•
Dither properties•
Friction modeling
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•
GDM:
where and
•
Every constant u gives equilibria•
Rate dependent:
Hysteresis map depends on
the rate
of the input•
Shape dependent:
Hysteresis map depends on
the shape
of the input
Generalized Duhem
Model (GDM)
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39
•
FACT: GDM is rate independent if is
positively
homogeneous, that is,
•
FACT: if exists for rate-independent GDM, for all
⇒ Rate-Independent Hysteresis
When Is GDM Rate-Independent?
positively homogeneous not positively homogeneous
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-parameterized Model•
Fact: pos. homogeneous ⇒
•
Hence the RI GDM can be written as
• -parameterized model
•
Time-varying dynamical system
with NON- MONOTONIC “time”
!
(1)
(2)
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41
Rate-Independent Semilinear Duhem
Model
where
• -parameterized
•
“ramp+step”
response for “time”
u
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•
Let be periodic•
If
then converges to
= Drazin
generalized inverse
When Does I/O Map Converge?
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43
Convergence of Rate-Independent SDM
with
Converges Does not converge
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44
Rate-Dependent Semilinear Duhem
Model
•
whereand is NON-positively homogeneous and
•
FACT: If then rate-dependent SDM I/O map converges to a
closed curve as⇒ Consequence of rate-independent SDM
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45
Friction
•
How to model it?–
Duhem
models
•
Why is it hysteretic??–
Mathematically–
Physically
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46
Dahl Friction Model
•
Nonlinear Model
•
Rewrite as
⇒
Rate-Independent
Generalized Duhem
model
Hysteresis loop between Friction force and relative
displacement
F = Friction force
u = relative displacement
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47
DC Motor Experimental Setup
•
5 Outputs –
2 Load cells–
Tachometer built in–
Encoder for angular deflection–
Current supplied to the motor
•
1 Input : Current supplied through a Quanser
current amplifier
•
Connected to a digital computer through a dSpace
system
EncoderLoad cellsMotor
Spring
Cables
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Dynamics of the DC motor Setup
•
Dynamics of the setup given by
•
The spring forces
•
Motor torque proportional to current ⇒
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Similarity to a Mass-Spring System
•
The dynamics of the experiment are same as that of the mass-spring system shown below
•
Simulate the dynamics using different friction models for and compare with the experimental results
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50
Experimental Results
•
Sinusoidal current fed to the motor
Angular deflection θAngular velocity
Load-cell readings
Input current
Hysteresis map from motor torque to angular deflection θ
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Simulation with the Dahl Model
•
Low frequency sinusoidal input current
Hysteresis map from motor torque to angular deflection θ
Angular deflection θ Angular velocity
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52
Simulation with the LuGre
Model
•
Low frequency sinusoidal input current
Angular deflection θ Angular velocity
Hyteresis
map from motor torque to angular deflection θ
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53
Simulation with Maxwell-slip Model
•
Low frequency sinusoidal input current
Angular deflection θ Angular velocity
Hyteresis
map from motor torque to angular deflection θ
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Compare Simulation with Experimental Results
•
Hysteresis loop from Motor Torque to Angular Deflection
Aside from the transients and the input current bias,
LuGre
modelMatches the best
Dahl model LuGre
model Maxwell-slip model
Experimental
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Compare Simulation with Experimental Results
•
Comparing the Angular velocity
LuGre
modelMatches the best
Dahl model LuGre
model Maxwell-slip model
Experimental
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Identification of the Gearbox Friction
•
LuGre
friction parameters that model the gearbox friction were identified
The experimental and simulated (using the identified
LuGre
friction model) hysteresis maps
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Friction
•
Hysteretic friction can perhaps be explained by sudden release
•
Sudden release converts linear bristle damping into hysteretic friction
Mass
Captured bristles
Undisturbedbristles bristles
Released
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Friction
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Damping
•
How to model it?
•
Why is it hysteretic?
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Hysteretic Energy Dissipation•
Hysteresis sometimes corresponds to
energy loss
•
Energy loss in static limit = area
enclosed by force-to- position
hysteresis loop
–
Line integral around loop–
Area measured in Joules
•
Dissipation need NOT
be hysteretic–
Viscous damping is not hysteretic
•
Hysteresis need NOT
be dissipative –
Position to position hysteresis is usually not dissipative
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Structural/Material Damping
•
Conventional viscous damping predicts energy dissipation in 1 cycle as
⇒ rate-dependent•
Experiments shows the energy
dissipation is
rate independent•
Conventional model: frequency-domain structural damping model
•
Has complex, unstable time-domain solutions--noncausal•
Energy dissipated per cycle depends only on the signal amplitudes but not on the frequency
•
Constant energy dissipation as ⇒ Hysteretic damping–
Energy dissipation “at” DC!•
Real damping has more complex frequency dependence
viscous
experimental
Persists at DC
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Hysteresis in a Two-bar Linkage•
Two-bar linkage has 2 stable equilibria
for constant
–
Note linear/viscous damping
•
Exhibits snap-through buckling•
Multiple equilibria
Two stable equilibria
of the linkage for a constant
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Snap-Through Buckling
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Hysteresis in a Two-bar Linkage
•
Simulations show hysteresis between the vertical force and the vertical displacement
Area of each loop is the energy dissipated by the linear damper during one cycle of operation
Two-bar linkage showing and
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Damping
•
Multistability
plus viscous damping causes hysteretic damping
•
Hysteretic damping can possibly be explained by microbuckling
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Butterfly Hysteresis in the Linkage Mechanism
•
−1 −0.5 0 0.5 10.5
1
1.5
2
2.5
Force [N]
q [m
]F = −sin(0.5t)
−1 −0.5 0 0.5 11
1.5
2
2.5
Force [N]
q [m
]
F = −sin(0.1t)
−1 −0.5 0 0.5 11
1.5
2
2.5
Force [N]
q [m
]
F = −sin(0.05t)
−1 −0.5 0 0.5 11
1.5
2
2.5
Force [N]
q [m
]
F = −sin(0.01t)
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Conclusions
•
Hysteresis is the static limit of the periodic dynamic response
•
Hysteresis arises from the principle of multistability
•
The principle of multistability
suggests mechanisms that can explain hysteretic phenomena–
Friction------sudden release of viscously damped bristles–
Damping-----snap-through buckling