DYNAMICS OF A NONLINEAR ELECTRICAL OSCILLATOR DESCRIBED BY DUFFINGS EQUATION

Ioannis M. Kyprianidis
Physics Department, Aristotle University of Thessaloniki Thessaloniki, Greece kyprianidis@physics.auth.gr

Abstract: We study the dynamics of a nonlinear electrical oscillator described by Duffings equation. Forward and reverse period-doubling sequences are observed following the Feigenbaums scenario. The electrical oscillator under consideration is a nonlinear electric circuit driven by a sinusoidal voltage source (Fig.1). The nonlinear element is a nonlinear inductor. The nonlinear inductor is an inductor with a ferromagnetic core, which can be modeled, if an abstraction of the hysteresis phenomenon is made, by an i nonlinear characteristic. i is the current and the magnetic flux through the inductor. This characteristic is approximated by a constitutive relation of the form

i = a1 + a 3 3
where a1and a3 are constants peculiar to the inductor [1].

(1)

Fig.1. The electrical nonlinear oscillator. The nonlinear differential equation, which describes the circuit is

a a d 2 1 d E + + 1 + 3 3 = o cost 2 dt RC dt C C R
If we define Duffing equation =

(2)

a E 1 a , a = 1 , b = 3 and B = O , we take the following RC C C RC

dx d2 x + ax + bx 3 = Bcost 2 + dt dt
The state equation of the circuit is 1

(3)

dx =y dt dy = y ax bx 3 + Bcosz dt dz = dt

(4)

where x = , y = L and z = t. Y. Ueda studied chaotic dynamics for the case a = 0, b=1 and = 1 [2], while Parlitz & Lauterborn [3,4] studied the nonlinear resonances of Eq.(3) for the parameter values a = 1, b = 1 and = 0.2.

1. The Dynamics of the System

1a. Bifurcation Diagrams and Poincar maps. Depending on the values of the parameters, this nonlinear circuit periodic or nonperiodic behavior. The later is characterized by extreme sensitivity to initial conditions, so it is a chaotic behavior. Chaotic behavior has been verified by the calculation of Lyapunov exponents [5].

Fig. 2a. Bifurcation diagram for = 0.20, a = 1.0, b = 1.0, = 0.75, in the range 40.0 B 100.0. The bifurcation diagrams shown in Figs.2-4 is a verification of the rich nonlinear dynamics of the system.

Fig. 2b. Bifurcation diagram for = 0.20, a = 1.0, b = 1.0, = 0.75, in the range 94.0 B 124.0.

Fig. 3. Bifurcation diagram for = 0.20, a = 1.0, b = 1.0, = 1.0. The transition from periodic to chaotic behavior proceeds the period-doubling route (Feigenbaums scenario [6]). In the bifurcation diagram of Fig.4, a reverse period-doubling sequence is observed, for B 29.0. This phenomenon is known as antimonotonicity [7]. In the bifurcation diagram of Fig.4, we can observe three chaotic regions. The Poincar maps for each chaotic region are shown in the following figures 5-7.

Fig. 4. Bifurcation diagram for = 0.180, a = 1.0, b = 1.0, and = 0.8.

Fig. 5. Poincar map for = 0.180, a = 1.0, b = 1.0, = 0.8, and B = 23.5.

Fig. 6. Poincar map for = 0.180, a = 1.0, b = 1.0, = 0.8, and B = 26.7.

Fig. 7. Poincar map for = 0.180, a = 1.0, b = 1.0, = 0.8, and B = 28.5. 1b. Phase Portraits for = 0.180, a = 1.0, b = 1.0, = 0.8. The phase portraits for = 0.180, a = 1.0, b = 1.0, and = 0.8 are shown in the following figures 8-16 covering the range of the bifurcation diagram of Fig.4.

Fig. 8. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 19.0 (period1).

Fig. 9. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 21.2 (period2).

Fig. 10. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 22.0 (period-4).

Fig. 11. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 22.5 (chaos).

Fig. 11. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 23.5 (chaos).

Fig. 12. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 26.7 (chaos).

Fig. 13. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 28.5 (chaos). 7

Fig. 14. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 28.9 (chaos).

Fig. 15. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 29.3 (period-2).

Fig. 16. Phase portrait for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 30.0 (period-1).

1c. Waveforms for = 0.180, a = 1.0, b = 1.0, = 0.8. The phase portraits for B = 19.0 and B = 30.0 althougth they correspond to a period-1 steady state, they are not the familiar to us limit cycles. This happens, because their corresponding waveforms are not sinusoidal-like, as we can see in Figs.17 and 18.

Fig. 17. Waveform for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 19.0

Fig. 18. Waveform for = 0.180, a = 1.0, b = 1.0, = 0.8, and = 30.0 The period-1 steady state of Duffing electrical oscillator is present in a wide range of values of the amplitude of the driving voltage signal for = 0.80 and = 0.18, as we can see in the bifurcation diagram of Fig.19.

Fig. 19. Bifurcation diagram for = 0.180, a = 1.0, b = 1.0, and = 0.8. In the following figures we can see the change of the form of the period-1 phase portraits, as B is increased from 0.5. For low values of B, the phase portraits have the well-known shape of the limit cycle, and the waveforms are almost sinusoidal (Fig.20). For higher values of B, the shape of the period-1 phase portraits is changed, becoming more complex (Figs.22 and 23).

Fig. 20. Phase portrait and waveform for = 0.180, a = 1.0, b = 1.0, = 0.8 and B = 0.5. The waveform is almost sinusoidal (T = /2 is the period of the voltage source signal).

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Fig. 21. Phase portrait and waveform for = 0.180, a = 1.0, b = 1.0, = 0.8 and B = 1.0.

(a)

(b)

Fig. 22. Phase portraits for = 0.180, a = 1.0, b = 1.0, = 0.8. (a) B = 2.5 and (b) B = 5.0.

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(a)

(b)

Fig. 23. Phase portraits for = 0.180, a = 1.0, b = 1.0, = 0.8. (a) B = 7.5 and (b) B = 12.5.

2. Antimonotonicity
For a =1.0, b=1.0 and w=0.8 antimonotonicity is observed as the parameter takes values in the range 0.130 < <0.250. In Fig. 25, we can observe the primary bubble, i.e. the sequence p-1 p-2 p1. The evolution of the primary bubble is shown in Figs.26-28, before it becomes chaotic (Fig.29). The study of forward and reverse period doubling sequences proves that the convergence rate of onset of complex behavior tends to the universal number of Feigenbaum F = 4.6692016, for both sequences. For = 0.150, antimonotonicity has been destroyed (Fig.36), since a boundary crisis occurs at B = 30.0, leading the system from a chaotic to a period-1 steady state.

Fig. 24. Bifurcation diagram for = 0.250. The system remains in a period-1 mode.

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Fig. 25. Bifurcation diagram for = 0.245. We can observe the primary bubble, which follows the sequence p-1 p-2 p-1.

Fig. 26. Bifurcation diagram for = 0.230. The primary bubble is present, but the region of the p-2 mode has been increased.

Fig. 27. Bifurcation diagram for = 0.225. We can observe the sequence p-1 p-2 p-4 p-2 p-1 . 13

Fig. 28. Bifurcation diagram for = 0.220. We can observe the sequence p-1 p-2 p-4 p-8 p-16 p-8 p-4 p-2 p-1 .

Fig. 29. Bifurcation diagram for = 0.219. We can observe the chaotic bubble.

Fig. 30. Bifurcation diagram for = 0.218. We can observe the evolution of the chaotic bubble. 14

Fig. 31. Bifurcation diagram for = 0.215.

Fig. 32. Bifurcation diagram for = 0.210.

Fig. 33. Bifurcation diagram for = 0.200. The central chaotic region has been broken. 15

Fig. 34. Bifurcation diagram for = 0.190. The evolution of the central chaotic region. A period-3 window has been formed.

Fig. 35. Bifurcation diagram for = 0.160. Antimonotonicity is still present.

Fig. 36. Bifurcation diagram for = 0.150. Antimonotonicity has been destroyed.

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3. Coexisting Attractors
There is a case in nonlinear systems, when the same system can be oscillated in different steady states, when the initial state of the system is changed. This is the case of coexisting attractors. For = 0.8 , = 0.20 and B = 25.0, the circuit can be appeared in two different dynamic states depending on the initial conditions. For initial conditions x0 = 2.0 and y0 = 1.0, the circuit is in a chaotic state, while for initial conditions x0 = 1.0 and y0 = 2.0, the circuit is in a period-3 state (Fig.37).

(a)

(b)

Fig. 37. Phase portraits for = 0.8 , = 0.20 and B = 25.0. (a) For initial conditions x0 = 2.0 and y0 = 1.0, the circuit is in a chaotic state. (b) For initial conditions x0 = 1.0 and y0 = 2.0, the circuit is in a period-3 state.

References [1] M. Hasler and J. Neirynck, "Nonlinear Circuits", Artech House, 1986 [2] Y. Ueda, "Random Phenomena Resulting from Nonlinearity in the System Described by Duffings Equation", Int. J. Non-Linear Mechanics, vol. 20, pp. 481491, 1985. [3] U. Parlitz and W. Lauterborn, "Superstructure in the Bifurcation Set of the ! x Duffing Equation !! + dx + x + x3 = f cos( t ) ", Phys. Lett., vol. 107A, pp. 351355, 1985. [4] U. Parlitz, "Common Dynamical Features of Periodically Driven Strictly Dissipative Oscillators", in Complexity and Chaos, Eds. N. B. Abraham, A. M. Albano, A. Passamante, P. E. Rapp and R. Gilmore (World Scientific, 1993), pp. 219-231. [5] A. Wolf, J. B. Swift, H. L. Swinney, and J. A. Vastano, "Determining Lyapunov Exponentsfrom a Time Series", Physica D, vol. 16, pp. 285-317, 1985. 17

[6] M. J. Feigenbaum, "Universal Behavior in Nonlinear Systems", Los Alamos Science, vol. 1, pp. 4-27, 1980. (Also in the volume of collected papers, Universality of Chaos, Ed. P. Cvitanovic, Adam Hilger, 1984) [7] [7] I. . yprianidis, "The Phenomenon of Antimonotonicity", in Order and Chaos in Nonlinear Dynamical Systems, vol.7 ,Eds. . Bountis, D. Hellinas and . Gryspolakis, pp.. 135-147, G. A. Pnevmatikos editions, Athens 2002, (in Greek).

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