STABILITY OF VIBRO-IMPACT DRIVEN LOCOMOTION SYSTEM WITH RANDOM INITIAL CONDITIONS

Abstract

This paper presents a study to evaluate the stability of the self-moving device under different initial conditions by different analytical techniques. Using the mathematical model describing the motion of masses developed from previous studies, analysis techniques include time history, Poincaré section, Fast Fourier Transform analysis, phase diagram combined with Poincaré map and the basin of attraction technique were applied. The results show that the first four techniques are only suitable to investigate the stability of the mechanical system for each initial value. When the initial state values ​​change randomly in a wide range, the application of the basin of attraction allows a quick and unambiguous assessment of the stability of the system. Two main states of the mechanical system have been formed corresponding to different initial value domains of the initial conditions. The research results can be applied to analyze the dynamic behavior of other mechanical systems when the initial conditions change randomly.