Analyzing Chaotic Phenomenon in Brushless DC Thruster Motor of Deepwater Robot with Lyapunov Exponent

摘要

The surging phenomenon appearing in thruster motor system may affect the stability, reliability and safety running of deepwater robot. This paper seeks to introduce an improved calculation algorithm of largest Lyapunov exponent by use of non-linear chaos theory analysis and study. The Lyapunov exponent of thruster motor system is calculated respectively in different work circumstance, of which the result identifies the chaotic motion appearance in motor system. The chaos existence in thruster motor system is also supported further by digital simulation in corresponding circumstances