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1.
利用哈密顿系统正则变换和生成函数理论求解线性时变最优控制问题, 构造了新的最优控制律形式并提出了控制增益计算的保结构算法. 利用生成函 数求解最优控制导出的哈密顿系统两端边值问题,并构造线性时变系统的最优控制律,由第 2类生成函数所构造的最优控制律避免了末端时刻出现无穷大反馈增益. 控制系统设计中需 求解生成函数满足的时变矩阵微分方程组. 根据生成函数与哈密顿系统状态转移矩阵之 间的关系,从正则变换的辛矩阵描述出发,导出了求解这组微分方程组的保结构递推算法. 为了保持递推计算中的辛矩阵结构,哈密顿系统状态转移矩阵的计算中利用了Magnus级数.  相似文献   

2.
齐次扩容精细算法   总被引:12,自引:3,他引:9  
钟万勰院士创立的线性定常系统的精细算法HPD具有非常重要的工程实用价值。对于非齐次线性定常系统,钟构造了在一个积分步长内将激励项线性化的处理方法LHPD,Lin^[3]等通过Fourier级数展开和寻找有解析形式的特解的方法,构造了HPD-F算法,这两种算法有一个共同点,即算法的实现需要求解系统矩阵及相关长阵的逆矩阵,数学上,也即隐含要求系统的矩阵及其相关矩阵非奇异,这样,就产生以下两个问题:1.当系统矩阵及其相关矩阵奇异时,如何设计这类动力响应问题的精细格式?2.算法的实现,需要设计高精度的矩阵求逆算法,而矩阵求逆的工作量是奶大的.本文借助齐次扩容技巧,设计了求解非齐次线性定常系统的一类新的精细算法-齐次扩容精细算法HHPD。该算法不涉及矩阵求逆运算,有效地解决 上述两个问题,并且具有设计合理,易于实现等特点,本文最后就几个典型算例,应用齐次扩容精细算法求解,与文献相比,数值结果更为理想。  相似文献   

3.
钟万勰院士于1991年首先提出计算矩阵指数的精细积分方法,其要点是2N类算法和增量存储。精细积分方法可给出矩阵指数在计算机意义上的精确解,为常微分方程的数值计算提供了高精度、高稳定性的算法,现已成功应用于结构动力响应、随机振动、热传导以及最优控制等众多领域。本文首先介绍矩阵指数精细积分方法的提出、基本思想和发展;然后依次介绍在时不变/时变线性微分方程、非线性微分方程以及大规模问题求解中发展起来的各种精细积分方法,分析了其优缺点和适用范围;最后介绍了精细积分方法的基本思想在两点边值问题、椭圆函数和病态代数方程等问题的扩展应用,进一步展示了该思想的特色。  相似文献   

4.
求解二维结构-声耦合问题的一种半数值半解析方法   总被引:3,自引:1,他引:2  
基于传递矩阵法和虚拟源强模拟技术提出了一种求解在谐激励作用下二维结构-声相互作用问题的半数值半解析法.在足够小的积分步长内,文中对任意形状弹性环沿周向曲线坐标的非齐次状态微分方程组,建立了一种齐次扩容方法.对于外声场,采用多圆形虚拟源强配置方案。并在每一条圆形配置曲线上将源强密度函数用Fourier级数展开,同时结合快速Fourier变换法,提出了一种高精度、高效率求解任意形状二维孔穴Helmholtz外问题的快速算法.在耦合方程的求解方面,根据叠加原理,将外激励和虚拟源强的Fourier级数展开项作为广义力分别作用在弹性环上,借助齐次扩容方法和精细积分法求得弹性环的状态向量,再利用流固交接条件和最小二乘法直接建立了耦合系统的求解方程.文中给出了二个典型弹性环在集中谐激励力作用下声辐射算例,计算结果表明该文方法较通常采用的混合FE-BE法更为有效.  相似文献   

5.
基于Duhamel项的精细积分方法,构造了几种求解非线性微分方程的数值算法。首先将非线性微分方程在形式上划分为线性部分和非线性部分,对非线性部分进行多项式近似,利用Duhamel积分矩阵,导出了非线性方程求解的一般格式。然后结合传统的数值积分技术,例如Adams线性多步法等,构造了基于精细积分方法的相应算法。本文算法利用了精细积分方法对线性部分求解高度精确的优点,大大提高了传统算法的数值精度和稳定性,尤其是对于刚性问题。本文构造的算法不需要对线性系统矩阵求逆,可以方便的考察不同的线性系统矩阵对算法性能的影响。数值算例验证了本文算法的有效性,并表明非线性系统的线性化矩阵作为线性部分是比较合理的选择。  相似文献   

6.
时变动力学的Legendre级数解   总被引:4,自引:1,他引:3  
时变动力学问题可归纳为一含时变系数微分方程组。该文用状态空间方程,结合Legendre级数展开及Legendre积分算子矩阵,提出一种分析时变动 系统的方法,给出解的一般表达式,从而为有效解决时变力学问题打下理论基础,有助于时变科学的深入研究。  相似文献   

7.
一类指数矩阵函数及其应用   总被引:3,自引:0,他引:3  
研究了一阶常微分方程组特解的精细积分方法. 针对非齐次项为多项式、指 数函数以及二者的乘积的情况,在Duhamel积分形式特解的基础上,引入了一类指数矩阵函 数. 通过该类函数的线性组合即可表达出非齐次方程的特解. 建立了该类指数矩阵函数的一 种高效递推算法,并在此基础上实现了特解的精细积分. 由于特解的积分过程能充分利用通 解精细积分过程的中间量,因此两个精细积分过程能有机地结合起来,形成了一种高效、统 一的广义精细积分法. 对上述递推算法做了进一步优化,并给出了通用的计算公式. 算例结果证明了该方法的有效性.  相似文献   

8.
一类非线性周期系统响应的精细积分法   总被引:2,自引:0,他引:2  
对于一类非线性周期/变系数微分方程,提出基于精细积分法的数值解法,处理非线性周期/变系数微分方程系统的响应问题,其积分策略是:采用精细积分格式处理常系数部分;采用线性插值格式处理非线性周期/变系数部分,既继承精细积分方程高度准确的特点,又保证足够的精度与较小的计算量。通过数值算例,与以往与用的微分方程直接数值积分法(如预估-校正哈明法)求得的解加以比较表明,对于给定的精度要求,精细积分法更经济有效  相似文献   

9.
提出一种计算周期结构动力响应的高效率算法. 以精细积分方法为基础, 利用周期结构的对称性和动力问题的物理特性, 分析了周期结构对应矩阵指数的特殊结构, 并基于此给出一种计算周期结构对应矩阵指数的高效率方法. 在高效和精确计算周期结构对应矩阵指数的基础上, 得到了周期结构动力响应的高效率和高精度算法. 数值算例表明, 该方法效率高且节省存储要求.  相似文献   

10.
车轨系统随机响应周期性拟稳态分析   总被引:2,自引:1,他引:1  
张有为  项盼  赵岩  林家浩 《力学学报》2012,44(6):1046-1056
提出用于三维车轨耦合系统随机动力响应高效求解的周期性拟稳态分析方法. 车辆采用三维刚体动力学模型,轨道结构利用三维轨道广义单元建模. 假定轨枕间距均匀,则列车在轨道上行驶过程中,车轨耦合系统动力学方程具有典型周期时变特征. 应用虚拟激励方法将轨道随机不平顺转化为虚拟简谐不平顺,在状态空间下运用周期系数微分方程的性质和Schur分解技巧将上述问题的求解转化为周期性拟稳态响应分析,只需通过求解系数矩阵为上三角的线性方程组即可代替以往时变系统虚拟响应求解过程中的逐步积分过程,计算效率获得较大提高. 采用该方法进行了三维车轨耦合系统的随机动力响应分析,并进行了不平顺随机载荷在车体、转向架、轮对和轨道等部件中传递机理分析,获得了一些有价值结论.  相似文献   

11.
提出多自由度周期参激系统稳定性的数值直接法。通过将扰动方程表示成状态方程形式,再根据Flo-quet理论将扰动解表示成指数特征分量与周期分量之积,并将其周期分量与系统周期系数展成Fourier级数,导出一系列代数方程,建立矩阵特征值问题,从而由数值求解特征值可直接确定参激系统的稳定性。该方法可用于一般周期参激阻尼系统,特征值矩阵不含逆子阵。应用于斜拉索在支座周期运动激励下的参激振动不稳定性分析,数值结果表明该方法的有效性。  相似文献   

12.
In this study a new procedure for analysis of nonlinear dynamical systems with periodically varying parameters under critical conditions is presented through an application of the Liapunov-Floquet (L-F) transformation. The L-F transformation is obtained by computing the state transition matrix associated with the linear part of the problem. The elements of the state transition matrix are expressed in terms of Chebyshev polynomials in timet which is suitable for algebraic manipulations. Application of Floquet theory and the eigen-analysis of the state transition matrix at the end of one principal period provides the L-F transformation matrix in terms of the Chebyshev polynomials. Since this is a periodic matrix, the L-F transformation matrix has a Fourier representation. It is well known that such a transformation converts a linear periodic system into a linear time-invariant one. When applied to quasi-linear equations with periodic coefficients, a dynamically similar system is obtained whose linear part is time-invariant and the nonlinear part consists of coefficients which are periodic. Due to this property of the L-F transformation, a periodic orbit in original coordinates will have a fixed point representation in the transformed coordinates. In this study, the bifurcation analysis of the transformed equations, obtained after the application of the L-F transformation, is conducted by employingtime-dependent center manifold reduction andtime-dependent normal form theory. The above procedures are analogous to existing methods that are employed in the study of bifurcations of autonomous systems. For the two physical examples considered, the three generic codimension one bifurcations namely, Hopf, flip and fold bifurcations are analyzed. In the first example, the primary bifurcations of a parametrically excited single degree of freedom pendulum is studied. As a second example, a double inverted pendulum subjected to a periodic loading which undergoes Hopf or flip bifurcation is analyzed. The methodology is semi-analytic in nature and provides quantitative measure of stability when compared to point mappings method. Furthermore, the technique is applicable also to those systems where the periodic term of the linear part does not contain a small parameter which is certainly not the case with perturbation or averaging methods. The conclusions of the study are substantiated by numerical simulations. It is believed that analysis of this nature has been reported for the first time for this class of systems.  相似文献   

13.
This paper puts forward a new method to solve the electromagnetic parabolic equation (EMPE) by taking the vertically-layered inhomogeneous characteristics of the atmospheric refractive index into account. First, the Fourier transform and the convo- lution theorem are employed, and the second-order partial differential equation, i.e., the EMPE, in the height space is transformed into first-order constant coefficient differential equations in the frequency space. Then, by use of the lower triangular characteristics of the coefficient matrix, the numerical solutions are designed. Through constructing ana- lytical solutions to the EMPE, the feasibility of the new method is validated. Finally, the numerical solutions to the new method are compared with those of the commonly used split-step Fourier algorithm.  相似文献   

14.
A nonlinear dynamic system of cylindrical transverse grinding process is studied in this paper. The system consists of a grinding wheel and a workpiece, which are connected to the base by spring-damper elements, interacting with nonlinear normal forces. This two DOF model includes two time delays originated from the regenerative effects of the workpiece and the grinding wheel. Bifurcation points are located using a numerical algorithm by which we can find all the eigenvalues in a given rectangular region on the complex plane for the delayed differential equations. Supercritical bifurcation has been found for some sets of system parameter values. The amplitudes of the limit cycles are predicted using a nonlinear time transformation method, which is similar to the harmonic balance approach in that a periodic solution is approximated by a Fourier series. However, the main difference is that a nonlinear time ? is introduced in the Fourier series rather than the physical time t. The analytical solutions of stable limit cycles up to the third harmonics are compared with numerical simulations for the retarded system. It is shown that the proposed method gives accurate approximate solutions.  相似文献   

15.
IntroductionConsiderthelinearsystemofthemeasurementfeedbackcontrol x=Ax Bw B2 u , ( 1 )y =Cx v ,( 2 )wherexisthen_dimensionalstatevector,yisaq_vectorofmeasurements,uisanm_vectorofcontrolinputs,wandvarel_vector,q_vectorofwhite_noiseprocesswithknownstatisticalprope…  相似文献   

16.
A nonlinear time-varying dynamic model for a multistage planetary gear train, considering time-varying meshing stiffness, nonlinear error excitation, and piece-wise backlash nonlinearities, is formulated. Varying dynamic motions are obtained by solving the dimensionless equations of motion in general coordinates by using the varying-step Gill numerical integration method. The influences of damping coefficient, excitation frequency, and backlash on bifurcation and chaos properties of the system are analyzed through dynamic bifurcation diagram, time history, phase trajectory, Poincaré map, and power spectrum. It shows that the multi-stage planetary gear train system has various inner nonlinear dynamic behaviors because of the coupling of gear backlash and time-varying meshing stiffness. As the damping coefficient increases, the dynamic behavior of the system transits to an increasingly stable periodic motion, which demonstrates that a higher damping coefficient can suppress a nonperiodic motion and thereby improve its dynamic response. The motion state of the system changes into chaos in different ways of period doubling bifurcation, and Hopf bifurcation.  相似文献   

17.
针对圆柱体的三维温度场分析,提出了一种高效的半解析-精细积分法。将温度场展开为环向坐标的Fourier级数,并对径向坐标进行差分离散,从而把三维热传导方程简化为一系列二阶常微分方程;将这些二阶常微分方程转化为哈密顿体系下的一阶状态方程,并利用两点边值问题的精细积分法求解。由于该方法仅对径向坐标进行差分离散,故相对于传统的数值方法离散规模大幅度减少,不仅提高了计算效率、降低了存贮量,而且缓解了代数方程的病态问题。此外,针对Fourier半解析解,根据热平衡原理推导出了两种材料衔接面的半解析差分方程,从而为求解复合材料层合柱问题打下了基础。算例结果表明,即使对于细长比高达400的圆柱杆件,此方法仍然可以给出精度较高的解答。  相似文献   

18.
Optimal control system of state space is a conservative system, whose approximate method should be symplectic conservation. Based on the precise integration method, an algorithm of symplectic conservative perturbation is presented.It gives a uniform way to solve the linear quadratic control (LQ control) problems for linear time-varying systems accurately and efficiently, whose key points are solutions of differential Riccati equation (DRE) with variable coefficients and the state feedback equation.The method is symplectic conservative and has a good numerical stability and high precision. Numerical examples demonstrate the effectiveness of the proposed method.  相似文献   

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