Resonance and Bifurcation of Fractional Nonlinear Systems with Power Damping Term for Robot Grinding

Abstract

A fractional nonlinear system with power damping term is introduced to study the forced vibration system in order to solve the resonance and bifurcation problems between grinding wheel and steel bar during robot grinding. The robot, grinding wheel and steel bar are reduced to a spring-damping second-order system model. The implicit function equations of vibration amplitude of the dynamic system with coulomb friction damping, linear damping, square damping and cubic damping are obtained by average method. The stability of the system is analyzed and explained, and the stability condition of the system is proposed. Then, the amplitude-frequency characteristic curves of the system under different fractional differential orders, nonlinear stiffness parameters, fractional differential term coefficients and external excitation amplitude are analyzed. It is shown that the fractional differential term in the dynamic system is the damping characteristic. Then the influence of four kinds of damping on the vibration amplitude of the system under the same parameter is investigated and it is proved that the cubic damping suppresses the vibration of the system to the maximum extent. Finally, based on the idea that the equilibrium point of the system is the constant part of the Fourier series expansion term, the bifurcation behavior caused by the change of damping parameters in linear damping, square damping and cubic damping systems with different values of fractional differential order is investigated.

Keywords

robot grinding / fractional system / average method / power damping / resonance and bifurcation