Nonlinear Control & Analytical Mechanics: a Computational Approach
Nonlinear Mechanics and Chaos - UMD Physics Chapter … · This is a brief introduction to the...
Transcript of Nonlinear Mechanics and Chaos - UMD Physics Chapter … · This is a brief introduction to the...
This is a brief introduction to the ideas and concepts of nonlinear mechanics, and a discussion of various quantitativemethods for analyzing such problems
We will focus on the driven damped pendulum (DDP)
)cos()sin(2 20
20 t
Driven, Damped Pendulum (DDP)
We expect something interesting to happen as → 1, i.e. the driving force becomes comparable to the weight
Fig12p2 NDSolve''t 2 't 0 ^2 Sint 0 ^2 Cos t, 0 0, '0 0, , t, 0, 6
InterpolatingFunction0., 6.,
NDSolve in Mathematica
PlotEvaluatet . Fig12p2, t, 0, 6, Ticks 1, 2, 3, 4, 5, 6, 0.3, 0.3, PlotRange All,
AxesStyle Thick, PlotStyle Thick, LabelStyle Bold, Medium
)cos()sin(2 20
20 t
Driven, Damped Pendulum (DDP)
5.10
2Period = 2 = 1
0)0()0(
4/0
For all following plots:
Small Oscillations of the Driven, Damped Pendulum
<< 1 will give small oscillations
)cos(2 20
20 t
1 2 3 4 5 6
-0.3
0.3(t)
t
= 0.2
)cos()( tAtAfter the initial transient dies out, the solution looks like
Periodic “attractor”
Linear
Small Oscillations of the Driven, Damped Pendulum
<< 1 will give small oscillations
1) The motion approaches a unique periodic attractorindependent of initial conditions
2) The motion is sinusoidal with the same frequency as the drive
)cos()( tAt
Moderate Oscillations of the Driven, Damped Pendulum
< 1 and the nonlinearity becomes significant…
)cos(612 2
032
0 t
)cos()( tAtThis solution gives from the 3 term: xxx cos33cos
41cos3
Try
Since there is no cos(3t) on the RHS, it must be thatall develop a cos(3t) time dependence. Hence we expect:
,,
)(3cos)cos()( tBtAtAB
We expect to see a third harmonic as the driving force grows
5 6- p
2
p2
1 2 3 4 5 6
-p2
p2
= 0.9(t)
t
(t)
t
cos(t)
-cos(3t)
Moderate Driving: The Nonlinearity Distorts the cos(t)
The third harmonic distorts the simple )cos()( tAtThe motion is periodic, but …
Even Stronger Driving: Complicated Transients – then Periodic!
3 6 9 12 15
2 p
4 p = 1.06(t)
t
After a wild initial transient, the motion becomes periodic
After careful analysis of the long-term motion, it is found to be periodicwith the same period as the driving force
5 10 15 20 25 30-2 p
2 p
4 p
Slightly Stronger Driving: Period Doubling
= 1.073
(t)
t
After a wilder initial transient, the motion becomes periodic, but period 2!
The long-term motion is TWICE the period of the driving force!
22 24 26 28 30-8.5
-8.
A SUB-Harmonic has appeared
Slightly Stronger Driving: Period 3
2 4 6 8 10 12 14
2 p
4 p
(t)
t
= 1.077
Period 3
The period-2 behavior still has a strong period-1 componentIncrease the driving force slightly and we have a very strong period-3 component
Multiple Attractors
For the drive damped pendulum:Different initial conditions result in different long-term behavior (attractors)
2 4 6 8 10 12 14
2 p
4 p
(t)
t
= 1.077
The linear oscillator has a single attractor for a given set of initial conditions
0)0()0(
0)0(,2/)0(
Period 3
Period 2
Period Doubling Cascade
2 4 6 8 10
-2
2
30 32 34 36 38 40-2.5
-2
2 4 6 8 10
-2
2
30 32 34 36 38 40-2.5
-2
2 4 6 8 10
-2
2
30 32 34 36 38 40-2.5
-2
2 4 6 8 10
-2
2
30 32 34 36 38 40-2.5
-2
= 1.06
= 1.078
= 1.081
= 1.0826
0)0(2/)0(
Period 1
Period 2
Period 4
Period 8
Early-time motion
Close-up of steady-statemotion
(t)
t
(t)
t
n period n interval (n+1-n)
1 1 → 2 0.0130
2 2 → 4 0.0028
3 4 → 8 0.0006
4 8 → 16
‘Bifurcation Points’ in the Period Doubling Cascade
Driven Damped Pendulum0)0(
2/)0(
The spacing between consecutive bifurcation points grows smaller at a steady rate:
)(1)( 11 nnnn
= 4.6692016 is called the Feigenbaum number
‘≈’ → ‘=’ as n → ∞
The limiting value as n → ∞ is c = 1.0829. Beyond that is … chaos!
Period Doubling Cascade
Period doubling continues in a sequence of ever-closer values of
Such period-doubling cascades are seen in many nonlinear systemsTheir form is essentially the same in all systems – it is “universal”
5 10 15 20 25 30
-p
p
(t)
t
= 1.105
Chaos!
The pendulum is “trying” to oscillate at the driving frequency, butthe motion remains erratic for all time
Sensitivity of the Motion to Initial Conditions
Start the motion of two identical pendulums with slightly different initial conditionsDoes their motion converge to the same attractor?Does it diverge quickly?
)()()( 12 ttt
)(),( 21 tt Two pendulums are given different initial conditions
Follow their evolution and calculate
trtr eCeCtAt 2121)cos()( For a linear oscillator
Long-termattractor
Transientbehavior
12,1 ir
)cos()( 11 tDet t
The initial conditions affect the transient behavior, the long-term attractor is the same
Hence
Thus the trajectories will converge after the transients die out
Convergence of Trajectories in Linear Motion
)cos()( 11 tDet t
|)cos(|ln)ln(|])(ln[| 11 ttDt
Take the logarithm of |(t)| to magnify small differences.
Plotting log10[|(t)|] vs. t should be a straight line of slope –plus some wiggles from the ln[|cos(1t – 1)|] term
Note that log10[x] = log10[e] ln[x]
2 4 6 8 10
-12
-10
-8
-6
-4
-2
Log10[|(t)|]t
= 0.1(0) = 0.1 Radians
Convergence of Trajectories in Linear Motion
The trajectories converge quickly for the small driving force (~ linear) caseThis shows that the linear oscillator is essentially insensitive to its initial conditions!
5 10 15 20 25 30 35 40
-8
-6
-4
-2
Log10[|(t)|]t
= 1.07(0) = 0.1 Radians
Convergence of Trajectories in Period-2 Motion
The trajectories converge more slowly, but still converge
2 4 6 8 10 12 14 16
-6
-5
-4
-3
-2
-1
1Log10[|(t)|]
t
= 1.105(0) = 0.0001 Radians
Divergence of Trajectories in Chaotic Motion
The trajectories diverge, even when very close initially(16) ~ , so there is essentially complete loss of correlation between the pendulums
If the motion remains bounded, as it doesin this case, then can never exceed 2.Hence this plot will saturate
Extreme Sensitivity to Initial ConditionsPractically impossible to predict the motion
The Lyapunov Exponent
tKet ~)(
= Lyapunov exponent
< 0: periodic motion in the long term
> 0: chaotic motion
0K
Linear NonlinearChaos
Drive period Harmonics,Subharmonics,Period‐doubling
Nonperiodic,Extreme sensitivity
< 0 < 0 > 0
t = 1.13
(0) = 0.001 Radians
What Happens if we Increase the Driving Force Further?Does the chaos become more intense?
5 10 15
2 p
(t)
t
5 10 15 20
-9
-6
-3
Log10[|(t)|]
Period 3 motion re-appears!
With increasing the motion alternates between chaotic and periodic
t
= 1.503(0) = 0.001 Radians
What Happens if we Increase the Driving Force Further?Does the chaos re-appear?
(t) Log10[|(t)|]
Chaotic motion re-appears!
5 10 15 20 25
-20 p
-10 p
t
5 10 15
-4-3-2-1
1
This is a kind of ‘rolling’ chaotic motion
5 10 15 20 25
-20 p
-10 p
= 1.503(t) t
(0) = 0.001 Radians
Divergence of Two Nearby Initial Conditions for Rolling Chaotic Motion
Chaotic motion is always associated with extreme sensitivity to initial conditions
Periodic and chaotic motion occur in narrow intervals of
Period Doubling Cascade
Period doubling continues in a sequence of ever-closer values of
Such period-doubling cascades are seen in many nonlinear systemsTheir form is essentially the same in all systems – it is “universal”
Sub-harmonic frequency spectrumDriven Diode experiment
F0 cos(t)
/2
Period Doubling Cascade
Period doubling continues in a sequence of ever-closer values of
Such period-doubling cascades are seen in many nonlinear systemsTheir form is essentially the same in all systems – it is “universal”
The Brain-behaviour Continuum: The Subtle Transition Between Sanity and InsanityBy Jose Luis. Perez Velazquez
Fig. 12.9, Taylor
A period doubling cascade in convection of mercury in a smallconvection cell. The plots show the temperature at one fixedpoint in the cell as a function of time, for four successively larger temperature gradients as given by the parameter R/Rc
Bifurcation Diagram
Used to visualize the behavior as a function of driving amplitude
1) Choose a value of 2) Solve for (t), and plot a periodic sampling of the function
t0 chosen at a time after the attractor behavior has been achieved3) Move on to the next value of
),...4(),3(),2(),1(),( 00000 ttttt
Fig. 12.171.0663 1.07930)0(
2/)0(
30 32 34 36 38 40-2.5
-2
30 32 34 36 38 40-2.5
-2
30 32 34 36 38 40-2.5
-2
30 32 34 36 38 40-2.5
-2
Period 1
Period 2
Period 4
Period 8
(t)
t
= 1.06
= 1.078
= 1.081
= 1.0826
Construction of the Bifurcation Diagram
Period 6window
5 10 15 20 25
-20 p
-10 p
= 1.503(t) t
(0) = 0.001 Radians
The Rolling Motion Renders the Bifurcation Diagram Useless
As an alternative, plot )(t
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dia
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ra
nge
Mos
tly c
haos
Peri
od-3
Mos
tly c
haos
Peri
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follo
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g bi
furc
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Bifurcation Diagram Over a Broad Range of )(t
Rolling Motion(next slide)
Period-1 Rolling Motion at = 1.4
5 10
-20 p
-10 p 5 10
-20
-10
10
)(t = 1.4
t
t
Even though the pendulum is “rolling”, is periodic)(t
(t)
An Alternative View: State Space Trajectory
)(tPlot vs. with time as a parameter)(t
1 2 3 4 5 6
-p2
p4
-p2 - p
4p4
-4
4
- p4
p4
-4
4
Fig. 12.20, 12.21
(t)
t
= 0.6
)(t
)(t )(t
)(t
First 20 cycles Cycles 5 -20
start
periodicattractor
0)0(
2/)0(
- p4
p4
-4
4
- p4
p4
-4
4
An Alternative View: State Space Trajectory
)(tPlot vs. with time as a parameter)(t
Fig. 12.22
= 0.6
)(t
)(t )(t
)(t
First 20 cycles Cycles 5 -20
start
The state space point moves clockwise on the orbit
)cos()( tAt)sin()( tAt
The periodic attractor:[ , ] is an ellipse)(t )(t
periodicattractor
0)0(
0)0(
State Space Trajectory for Period Doubling Cascade
- p2
p2
-10
10
- p2
p2
-10
10
= 1.078 = 1.081
)(t
)(t
)(t
)(t
Period-2 Period-4Plotting cycles 20 to 60
Fig. 12.23
-1 1
-10
10
State Space Trajectory for Chaos
= 1.105
)(t
)(t
-1 1-10
10
)(t
)(t
Cycles 14 - 21
Cycles 14 - 94
The orbit has not repeated itself…
State Space Trajectory for Chaos
= 1.5 = 0/8
Cycles 10 – 200
Chaotic rolling motionMapped into the interval – < <
This plot is still quite messy. There’s got to be a better way to visualize the motion …
The Poincaré Section
Similar to the bifurcation diagram, look at a sub-set of the data
1) Solve for (t), and construct the state-space orbit2) Plot a periodic sampling of the orbit
with t0 chosen after the attractor behavior has been achieved
,...)2(),2(,)1(),1(,)(),( 000000 tttttt
= 1.5 = 0/8 Samples 10 – 60,000
Enlarged on the next slide
The Poincaré Section is a Fractal
The Poincaré section is a much moreelegant way to represent chaoticmotion
The Superconducting Josephson Junction as a Driven Damped Pendulum
= phase difference of SC wave-function across the junction
111
ie 222
ie
I1 2
(Tunnel barrier)
The JosephsonEquations
Radio Frequency (RF) Superconducting Quantum Interference Devices (SQUIDs)
L LJJ R C
FluxQuantization
in the loop
I(t)
Ic
0 ninducedapplied
THz Emission from the Intrinsic Josephson EffectA classic problem in nonlinear physics
DC voltage on junction createsan oscillating (t), which in turncreates an AC current thatradiates
0 = h/2e = 2.07 x 10-15 Tm2
Best emission is seen when the crystal is partially heated above Tc!
Results are extremely sensitive to details(number of layers, edge properties, typeof material, width of mesa, etc.)
Many competing states do not showemission
Emission enhanced near cavity moderesonances → requires non-uniformcurrent injection, assisted by inhom. heating, -phase kinks, crystal defects
)V(VhefJJ THz/mV 483.02
L. Ozyuzer, et al., Science 318, 1291 (2007)
),(),(
1
1
nnn
nnn
sgsfs
Linear Maps for “Integrable” systems !!
),(),(
1
1
nnn
nnn
sgsfs
Non-Linear Maps for “Chaotic” systems !!
00s
1s
0
1
• The “Chaos” arises due to the shape of the boundaries enclosing the system.
Chaos in Newtonian BilliardsImagine a point-particle trapped in a 2D enclosure and making
elastic collisions with the walls
Describe the successive wall-collisionswith a “mapping function”
Computer animation of extreme sensitivity to initial conditions for the stadium billiard