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1.
研究了飞行时间不受约束的绳系卫星释放和回收过程的非线性最优控制问题.基于Chebyshev级数展开将高阶系统的状态约束和控制约束拟线性化,使问题转化成典型的线性二次规划问题,通过数值模拟验证了该方法的有效性,获得了绳系卫星轨道和控制力的时间最优历程. 相似文献
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Optimal Control of Deployment of a Tethered Subsatellite 总被引:6,自引:0,他引:6
One of the most important operations during a tethered satellite system mission is the deployment of a subsatellite from a space ship. We restrict tothe simple but practically important case that the system ismoving on a circular orbit around the Earth. The main problem duringdeployment due to gravity gradient is that the two satellites do not move along the straight radial relative equilibrium position which is stable for a tether of constant length. Instead, deploymentleads to an unstable motion with respect to the radial relativeequilibrium configuration. Therefore we introduce an optimal control strategy using theMaximum Principle to achieve a force controlled deployment of the tethered subsatellite from the radial relative equilibrium position close to the space ship to the radial relative equilibrium position far away from the space ship. 相似文献
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Optimal feedback control of the deployment of a tethered subsatellite subject to perturbations 总被引:3,自引:0,他引:3
This paper presents the nonlinear optimal feedback control for the deployment process of a tethered subsatellite model, which
involves not only the usually addressed in-plane motion, but also the out-of-plane motion. The model also takes the uncertainties
in the mass parameter, the perturbations in initial states, and the external disturbance forces into consideration from an
engineering point of view. The proposed controller is on the basis of a shrinking horizon and online grid adaptation scheme.
Even though the proposed feedback law is not analytically explicit, it is easy to determine it by using a rapid recomputation
of the open-loop optimal control, which generates the initial guesses for controls by interpolating the results from the previous
computation. The case studies in the paper well demonstrate the effectiveness, robustness, and dominant real-time merits of
the proposed controller. 相似文献
5.
The control problem of the equilibrium state of prey-predator model has been studied. The equilibrium states of prey-predator model are found. The optimal control law is derived from the conditions that ensure the asymptotic stability of the equilibrium state of this model using the Lyapunov function. The general solution of the equations of the perturbed state as a function of time is obtained. Graphical and numerical simulation studies of the obtained results are presented. 相似文献
6.
An airfoil with a cavity traps a vortex; the lift increases but the vortex shows great receptivity to upstream disturbances.
A simple potential flow model confirms that the vortex stability basin is of a reduced extent. In this paper we present a
control technique stabilizing the vortex position based on a potential flow model. The actuators are sources/sinks at the
wall and the suction/blowing law is obtained by the adjoint optimization method.
This revised version was published online in July 2006 with corrections to the Cover Date. 相似文献
7.
Modelling, Dynamics and Control of Tethered Satellite Systems 总被引:1,自引:0,他引:1
M. Krupa W. Poth M. Schagerl A. Steindl W. Steiner H. Troger G. Wiedermann 《Nonlinear dynamics》2006,43(1-2):73-96
Tethered satellite systems (TSS) pose quite challenging problems concerning their modelling, derivation of the equations of
motion, numerical simulation of their dynamics, deciding on stability of relative equilibria provided the system moves on
a circular orbit around the Earth and the occurrence of chaotic dynamics. Moreover, for the processes of deployment or retrieval
of one satellite from or to another satellite certain control strategies, for example time or energy optimal control, are
necessary. All these problems are considered in this paper. 相似文献
8.
We classify all possible Noether symmetries of the Euler—Lagrange equations for a Hamiltonian system with three degrees of
freedom. We also review the results for the cases of one and two degrees of freedom. 相似文献
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本文主要通过最优控制理论来研究群桩沉击时挤压扩张位移的最优控制方案。在对综合性隔阻系数和安全度的规划后,可以有效地制订最佳的减弱和控制群桩扩张位移对相邻结构的破坏量实施方案,从而提高相邻结构的安全度。从文中工程实例的分析可以明显反映出所提供的最优控制群桩扩张位移方程的实用性、简便性,井具有一定的经济价值。 相似文献
12.
The optimal bounded control of quasi-integrable Hamiltonian systems with wide-band random excitation for minimizing their first-passage failure is investigated. First, a stochastic averaging method for multi-degrees-of-freedom (MDOF) strongly nonlinear quasi-integrable Hamiltonian systems with wide-band stationary random excitations using generalized harmonic functions is proposed. Then, the dynamical programming equations and their associated boundary and final time conditions for the control problems of maximizinig reliability and maximizing mean first-passage time are formulated based on the averaged Itô equations by applying the dynamical programming principle. The optimal control law is derived from the dynamical programming equations and control constraints. The relationship between the dynamical programming equations and the backward Kolmogorov equation for the conditional reliability function and the Pontryagin equation for the conditional mean first-passage time of optimally controlled system is discussed. Finally, the conditional reliability function, the conditional probability density and mean of first-passage time of an optimally controlled system are obtained by solving the backward Kolmogorov equation and Pontryagin equation. The application of the proposed procedure and effectiveness of control strategy are illustrated with an example. 相似文献
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本文对一种国滞非线性基础隔振的主从结构模型用瞬态最优控制法进行振动控制研究。利用四阶Runge-Kutta积分格式统一处理最优控制方程,可直接逐步积分求出系统在瞬态最优控制下的最优控制力与系统响应。分别对主从结构无主动控制及有主动控制时的两种情况(包含或不包含vb反馈)进行计算。结果表明瞬态最优控制可有效地抑制振动。 相似文献
14.
A strategy for designing optimal bounded control to minimize theresponse of quasi non-integrable Hamiltonian systems is proposed basedon the stochastic averaging method for quasi non-integrable Hamiltoniansystems and the stochastic dynamical programming principle. Theequations of motion of a controlled quasi non-integrable Hamiltoniansystem are first reduced to an one-dimensional averaged Itô stochasticdifferential equation for the Hamiltonian by using the stochasticaveraging method for quasi non-integrable Hamiltonian systems. Then, thedynamical programming equation for the control problem of minimizing theresponse of the averaged system is formulated based on the dynamicalprogramming principle. The optimal control law is derived from thedynamical programming equation and control constraints without solvingthe equation. The response of optimally controlled systems is predictedthrough solving the Fokker–Planck–Kolmogrov (FPK) equation associatedwith completely averaged Itô equation. Finally, two examples are workedout in detail to illustrate the application and effectiveness of theproposed control strategy. 相似文献
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柔性作动器具有低刚度、大变形等特征,这一方面使主结构具备了强的环境适应性,另一方面也使主结构易受外界微扰影响,从而降低其操作精度.本文以介电弹性体作动器驱动的单自由度非线性系统为研究对象,通过即时微调电压,抑制系统在平衡位置附近的随机振动.通过随机平均法降低系统维数,将原系统的控制问题转化为关于慢变过程的控制问题;结合随机动态规划原理及控制约束导出最优有界控制策略.该策略具干摩擦形式,具有能量耗散本质,在抑制系统振动的同时提高了系统的稳定性.数值研究表明:最优有界控制策略具有良好的控制效果、控制效率及较高的鲁棒性. 相似文献
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空间机械臂非完整运动规划的最优控制 总被引:13,自引:1,他引:13
讨论空间机械臂系统的运动规划问题,利用系统的非完整特性,将空间机械臂动力学方程转化为非线性控制系统的状态方程,给出一种最优控制的数值自满。通过仿真计算,表明该算法的有效性。 相似文献
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A method for controlling nonlinear dynamics and chaos previouslydeveloped by the authors is applied to the classical Duffing oscillator.The method, which consists in choosing the best shape of externalperiodic excitations permitting to avoid the transverse intersection ofthe stable and unstable manifolds of the hilltop saddle, is firstillustrated and then applied by using the Melnikov method foranalytically detecting homoclinic bifurcations. Attention is focused onoptimal excitations with a finite number of superharmonics, because theyare theoretically performant and easy to reproduce. Extensive numericalinvestigations aimed at confirming the theoretical predictions andchecking the effectiveness of the method are performed. In particular,the elimination of the homoclinic tangency and the regularization offractal basins of attraction are numerically verified. The reduction ofthe erosion of the basins of attraction is also investigated in detail,and the paper ends with a study of the effects of control on delayingcross-well chaotic attractors. 相似文献
18.
Vibration analysis of a non-linear parametrically andself-excited system of two degrees of freedom was carried out. The modelcontains two van der Pol oscillators coupled by a linear spring with a aperiodically changing stiffness of the Mathieu type. By means of amultiple-scales method, the existence and stability of periodicsolutions close to the main parametric resonances have beeninvestigated. Bifurcations of the system and regions of chaoticsolutions have been found. The possibility of the appearance ofhyperchaos has also been discussed and an example of such solution hasbeen shown. 相似文献
19.
A strategy is proposed to solve the fixed final state optimalcontrol problem using the simple cell mapping method. A non-uniform timestep simple cell mapping is developed to create a general database fromwhich solutions of various optimal control problems can be obtained. Atwo-stage backward search algorithm is proposed to eliminate degeneratedpaths often associated with the simple cell mapping. The proposed methodcan accurately delineate the switching curves and eliminate false limitcycles in the solution. The method is applied to two optimal controlproblems with bang-bang control. The well-known minimum time controlproblem of moving a point mass from any initial condition to the originof the phase plane is studied first. This example has exact solutionsavailable which provide a yardstick to examine the accuracy of themethod. The cell size dependence of the solution accuracy is studiednumerically. The second example is a variable stiffness feedback controlproblem with tuning range saturation. The strategy proposed is able toprovide the switching curves in the phase plane. This result has notbeen obtained before. 相似文献
20.
We investigate two different discretization approaches of a model optimal-control problem, chosen to be relevant for control
of instabilities in shear flows. In the first method, a fully discrete approach has been used, together with a finite-element
spatial discretization, to obtain the objective function gradient in terms of a discretely-derived adjoint equation. In the
second method, Chebyshev collocation is used for spatial discretization, and the gradient is approximated by discretizing
the continuously-derived adjoint equation. The discrete approach always results in a faster convergence of the conjugate-gradient
optimization algorithm. Due to the shear in the convective velocity, a low diffusivity in the problem complicates the structure
of the computed optimal control, resulting in particularly noticeable differences in convergence rate between the methods.
When the diffusivity is higher, the control becomes less complicated, and the difference in convergence rate reduces. The
use of approximate gradients results in a higher sensitivity to the degrees of freedom in time. When the system contains a
strong instability, it only takes a few iteration to obtain an effective control for both methods,even if there are differences
in the formal convergence rate. This indicates that it is possible to use the approximative gradients of the objective function
in cases where the control problem mainly consists of controlling strong instabilities.
This revised version was published online in July 2006 with corrections to the Cover Date. 相似文献