带多个弹道路径点约束的扩展MPSP制导方法

针对弹道导弹临近空间低弹道突防问题,对仅仅满足末端输出量约束的模型预测静态规划(MPSP)制导方法进行扩展,提出了带弹道路径点约束的扩展MPSP制导方法。通过在临近空间中段飞行弹道上设置一系列弹道路径点约束,依靠这种策略调节中段飞行弹道的形状,提高弹道导弹的机动突防能力。通过仿真对扩展MPSP制导方法的有效性进行验证,仿真结果表明扩展MPSP制导方法能很好地满足临近空间中段低弹道飞行弹道路径点约束,弹道路径点处的角度偏差可控制在0.1°范围内,位移偏差可控制在1.0 m范围内。     

一种带有末端弹体姿态角约束的非线性制导律

针对带有末端多约束的三维非线性制导问题,设计了一种通用模型预测静态规划制导算法。该制导算法通过向后迭代求解权矩阵微分方程对控制量进行更新,将动态优化问题转化为静态优化问题,计算效率得以提高。阐述了通用模型预测静态规划制导算法的基本原理,详细给出了基于通用模型预测静态规划算法的制导律设计过程。所设计的制导律满足末端法向加速度约束,因此,间接满足末端弹体姿态角约束。仿真时考虑目标的机动方式和落角约束,仿真结果表明,末端位移偏差小于0.5 m,末端落角可控制在0.01°范围内,末端法向加速度小于0.01 m/s2,该制导律能够很好地满足末端位移、落角和法向加速度约束。     

基于动压约束的高超声速飞行器机动突防制导策略

针对高超声速飞行器临近空间机动突防问题,提出一种基于最低动压约束的高超声速飞行器临近空间大空域机动策略。对基于模型预测静态规划(MPSP)制导方法进行改进,末端时刻输出量考虑末端时刻时间偏差影响,性能指标函数考虑控制量输入约束影响,推导得到带多个航路点约束的扩展MPSP制导方法。根据战场态势对航路点处的动压进行约束,调节飞行轨迹的形状,实现临近空间大空域机动突防。通过仿真对所提出的制导方法有效性进行了验证,结果表明该制导方法能够很好地满足航路点处约束条件,各航路点处动压偏差在1.0 N/m~2范围内,航迹倾角偏差在0.1°范围内,高度偏差在1.0 m范围内,实现了高超声速飞行器临近空间自主机动突防。     

基于PSO-HJ算法的多无人机协同航迹规划方法

针对多无人机协同航迹求解计算量大、难以收敛等问题,提出了一种基于粒子群优化和Hook-Jeeves (PSO-HJ)搜索算法相融合的多无人机时间协同三维航迹规划方法。首先,建立了单无人机航迹规划求解模型。然后,通过对适应度评价函数值低的粒子引入Hooke-Jeeves搜索算法,提高了粒子多样性,改善了航迹规划算法收敛性;对不满足约束的粒子引入约束违反度函数,基于比较准则提出了一种新的粒子评价机制,促进粒子搜索位于约束边界的最优解,加快了航迹规划算法的计算效率。最后,设计了一种多无人机时间协同航迹规划求解算法,利用PSO-HJ算法先分别求解单无人机航迹信息,通过多无人机集中航迹规划层协调到达时间实现协同航迹规划。仿真结果表明,PSO-HJ算法的精度比量子粒子群(QPSO)算法精度提高了20.85%,比PSO算法精度提高了58.14%,更适用解决实际复杂的多机协同规划问题。     

解Drucker-Prager塑性问题的二阶锥互补法

基于经典弹塑性理论中多数屈服准则具有凸锥数学结构的事实,将在大规模计算中更具潜力的锥规划法引入弹塑性分析。考虑到弹塑性流动理论有关联与非关联之分,本文提出利用锥型互补法求解弹塑性问题。具体以Drucker-Prager弹塑性模型为例,首先利用最大塑性功耗散原理和圆锥对偶理论等工具,建立了弹塑性本构方程的等价二阶锥互补模型;然后,基于参变量变分原理和有限元技术,建立了弹塑性增量分析的二阶锥线性互补模型;最后,利用一类半光滑Newton算法求解。数值算例表明了本文方法的有效性。     

带有末端角度和轨迹路径点约束的MPSC制导律设计

针对多约束制导问题,给出了一种同时满足末端角度约束和飞行轨迹路径点约束的模型预测扩展控制制导方法,该制导方法通过满足飞行轨迹路径点约束实现灵活调节飞行轨迹,可以大大缩短目标防御反应时间。模型预测扩展控制制导方法是基于非线性最优控制理论,给出了控制量表达式以二次形式近似时制导律的设计过程。模型预测扩展控制制导方法只能对末端时刻输出量进行约束,通过对该制导方法进行扩展,使其还可以满足飞行轨迹路径点约束。仿真结果表明,考虑飞行轨迹路径点约束时,导弹经过设定的路径点并以给定的弹道倾角命中目标。     

解三维摩擦接触问题的一个二阶锥线性互补法

针对三维摩擦接触问题的求解,给出了一种基于参变量变分原理的二阶锥线性互补法. 首先,基于三维Coulomb摩擦锥在数学表述上属于二阶锥的事实,利用二阶锥规划对偶理论,建立了三维Coulomb摩擦接触条件的参变量二阶锥线性互补模型,它是二维Coulomb摩擦接触条件参变量线性互补模型在三维情形下的自然推广;随后,利用参变量变分原理与有限元方法,建立了求解三维摩擦接触问题的二阶锥线性互补法. 较之于将三维Coulomb摩擦锥进行显式线性化的线性互补法,该方法无需对三维Coulomb摩擦锥进行线性化,因而在保证精度的前提下所解问题的规模要小很多. 最后通过算例展示了该方法的特点.      

面向应力约束的独立连续映射方法

大多数已有的拓扑优化研究为系统刚度最大化设计,尤其以体积比约束下的静态柔顺度最小化问题为典型.从工程角度出发,结构强度设计至关重要.以往的应力研究表明,应力约束拓扑优化存在着奇异性、约束数目庞大、高度非线性特性等诸多数值困难.为了实现应力约束下的拓扑优化设计,采用归一化p范数应力指标以减少单元应力约束数目.遵循独立连续映射建模方式,引入密度变量的倒变量函数作为设计变量.推导了应力约束函数和体积目标函数对设计变量的敏度,并基于一阶和二阶泰勒近似得到各自的显式表达式.通过构造的系列二次规划子问题,原拓扑优化问题采用序列二次规划算法高效求解.二维数值算例考察了结构刚度和强度设计结果的异同,以及不同应力约束上限值对应力约束拓扑优化结果的影响.通过提出方法与传统变密度法结果的比较,说明提出的独立连续映射方法在应力约束下具有可行性和有效性.优化结果也表明了考虑应力约束的连续体拓扑优化具有必要性.      

带有攻击角约束的多导弹协同制导律

针对带有攻击角约束的多导弹同时攻击机动目标问题,提出了一种带有攻击角约束的协同制导律。首先基于平面内的导弹-目标相对运动方程,建立了带有攻击角约束的协同制导模型;其次,把协同制导律的设计过程分离为两个部分:一是基于图论的有关内容,运用有限时间一致性理论设计沿着视线方向上的加速度指令来保证所有导弹与目标的相对距离在有限时间内到达一致,进而保证所有的导弹同时击中机动目标;二是利用非齐次干扰观测器对机动目标的加速度进行估计,并运用滑模控制设计视线法向上的加速度指令来保证每枚导弹与目标间的视线角速率收敛到零和视线角收敛到期望的终端视线角,即每枚导弹以期望的终端视线角成功击中目标;最后,对三枚导弹同时打击同一机动目标的情况进行仿真,仿真结果表明本文设计的带有攻击角约束的协同制导律的有效性和正确性。     

基于混合优化的运载器大气层内闭环制导方法

针对运载器大气层内最优闭环制导问题,研究了一种将求解最优控制问题的间接法与直接法相结合求解最优上升轨迹的轨迹在线规划与闭环制导方法。该方法采用高斯伪谱法求解基于间接法推导的最优上升轨迹两点边值问题,能以较少的离散节点获得较高的求解精度,并具有较高的求解效率。为了进一步保证制导的实时性与飞行安全要求,提出了轨迹在线规划与闭环制导策略。最优上升轨迹求解结果表明,在同等的求解精度条件下,混合优化算法的离散节点个数仅为间接法的25%~40%,计算效率提高了50倍左右。建立导航模型进行闭环制导蒙特卡洛打靶仿真,制导算法满足实时性与过程约束要求,关机点高度、速度、弹道倾角及轨道倾角的最大偏差分别为-8.93 m、-3.35 m/s、0.015°、0.0018°,算法具有较高的制导精度。     

Solution to geometric programming problems by transformation to convex programming problems

Structural optimization problems which can be transformed to geometric programming problems can be easily solved by a further simple transformation to convex programming problems. Non-zero degree of difficulty geometric programming problems can be solved as easily as those with zero degree of difficulty.     

面向对象的有限元程序设计

本文按照面向对象的程序设计方法,遵循有限元分析的本质,采用Ｃ＋＋语言,建立了有关描述有限元模型的类,给出了类的描述和它的实现方法。相关的类和方法包括处理矩阵的类、节点类、单元类、材料类、形函数类等。据此编制了有限元分析的数值计算程序,并给出了一个实例。     

Controlling robot manipulators by dynamic programming

A certain number of considerations should be taken into account in the dynamic control of robot manipulators as highly complex non-linear systems. In this article, we provide a detailed presentation of the mechanical and electrical implications of robots equipped with DC motor actuators. This model takes into account all non-linear aspects of the system. Then, we develop computational algorithms for optimal control based on dynamic programming. The robot's trajectory must be predefined, but performance criteria and constraints applying to the system are not limited and we may adapt them freely to the robot and the task being studied. As an example, a manipulator arm with 3 degress of freedom is analyzed.     

Parametric quadratic programming method for viscoplasticity

Perzyna model in viscoplasticity has been studied by the parametric variationalprinciple,which could be transformed into solving the parametric quadratic programmingproblem.The FEM form of this problem and its implementation have also been discussed inthe paper.     

面向对象的钢筋混凝土有限元非线性分析程序设计

采用面向对象的程序设计方法，结合钢筋混凝土有限元非线性分析模型，利用MFC(Microsoft Foundation Class Library)建立了有关描述钢筋混凝土有限元非线性分析的类，包括混凝土单元类、钢筋单元类、粘结单元类、非线性计算类，并给出了这些类的描述和它的实现方法，并为钢筋混凝土有限元非线性分析程序采用更合理的面向对象的方法提供了思路。     

A mathematical programming algorithm for limit analysis

This paper deals with the limit analyses of perfect rigid-plastic continua. Based on the kinematic theorem of the limit analysis theory, a mathematical programming finite element formula for determining the upper bound load multiplier has been established, and an iteration algorithm proposed accordingly. In this algorithm the plastic and rigid zones are distinguished for every iteration step, and the goal function is modified gradually. The difficulties caused by the nonsmoothness of the goal function are overcome. Some examples solved by this algorithm are presented. The project supported by National Natural Science Foundation of China.     

Quadratic programming and theory of elastic-perfectly plastic structures

Summary For elastic perfectly plastic discretized structures acted upon by given loads and dislocations, it is shown, under holonomic constitutive laws or no local unloading hypothesis, that the formulation of the analysis problem in terms of finite (not incremental) stresses, is amenable to the Kuhn-Tucker conditions of a quadratic program. Then it is readily derived a generalized form of the principle of Haar and Kármán, together with an extremum theorem for displacements and plastic strains, which is the dual of the preceding one. As special cases of this theorems known variational principles follow, which thus turn out to be related in pairs by the duality notion as understood in programming theory. Also the statical and kinematical theorems of limit analysis are proved by means of the unitary conceptual framework supplied by quadratic programming.

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Sommario Con riferimento a strutture discretizzate idealmente elastoplastiche, soggette a dati carichi e distorsioni, si mostra che nell'ipotesi di olonomia dei legami costitutivi o di assenza di ritorni elastici, la formulazione del problema strutturale negli sforzi finiti (non incrementali) è riducibile alle condizioni di Kuhn e Tucker di un programma quadratico. Se ne deducono direttamente una forma generalizzata del principio di Haar e Kármán ed un teorema di estremo negli spostamenti e nelle deformazioni plastiche, duale al precedente. Dai due teoremi discendono come casi speciali noti principi variazionali, che cosi risultano collegati in coppie dalla nozione di dualitá propria della teoria delle ottimizzazioni.Si mostra come anche i teoremi statico e cinematico del calcolo a rottura trovano una nuova dimostrazione nell'inquadramento teorico unitario fondato sulla programmazione quadratica.

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The results presented here form part of a series of studies supported by the C.N.R. (National Research Council).     

Mathematical programming analysis of bilinear rheological lubrication mechanics

Bilinear rheological lubrication mechanics provides an important basis for the designs of recently developed electrorheological (ER) “smart”journal bearings and those lubricated by mixed fluid-solid lubricants. But there is not yet a reliable and efficient numerical method for such a problem of non-Newtonian fluid mechanics. In the present paper, a finite element method (FEM) together with mat hematical programming solution is successfully used to solve such a problem. A reliable and generalized numerical method for the designs of electrorheological “smart” journal bearings and the bearings lubricated by mixed fluid-solid lubricant is presented.     

Generalized limit analysis in poroplasticity by mathematical programming

Classical limit analysis of structures by the statical approach computationally means maximization of a load multiplier under equilibrium and yield condition constraints, namely convex mathematical programming. In elastoplasticity, generalizations of limit analysis had been proposed in order to achieve, still by load factor constrained optimization, the safety factor with respect to plastic collapse. This paper presents similar generalization in two-phase poroelastoplasticity. A method is here developed (and validated by numerical application to a masonry dam) apt to assess the safety factor of a structure interpretable as a poroplastic system, with respect to both plastic collapse and critical thresholds on deformations, by solving a nonconvex nonsmooth constrained optimization problem usually referred to in the literature as “mathematical program under equilibrium constraints”. Piece-wise linearization of yield surfaces and reduction of yield planes by a “sifting” procedure are adopted to reduce computing efforts.     

正项几何规划的－维探索法

本文对正项几何规划的多困难度情况提供一个有效的方法，即将困难度为Ｄ的几何规划首先化为Ｄ维线性规划，然后再化为一维搜索问题。结果表明，该法十分有效。