勒让德伪谱法求解三维刚体摆姿态运动最优控制问题

研究伪谱法求解三维刚体摆姿态运动最优控制问题. 针对三维刚体摆这类含有约束的力学模型,提出了基于勒让德伪谱法的三维刚体摆姿态最优控制方法. 利用插值逼近设计了三维刚体摆姿态运动最优控制算法,得到了三维刚体摆的姿态最优控制轨迹,并结合松弛参数来控制插值点的取值,寻找满足的可行解. 仿真结果表明,基于勒让德伪谱法的最优控制算法使得三维刚体摆能以较小的误差运动到期望的末端姿态,且计算速度快,能够获得精度较高的控制输入量.     

Control strategy of optimal deployment for spacecraft solar array system with initial state uncertainty

A control strategy combining feedforward control and feedback control is presented for the optimal deployment of a spacecraft solar array system with the initial state uncertainty. A dynamic equation of the spacecraft solar array system is established under the assumption that the initial linear momentum and angular momentum of the system are zero. In the design of feedforward control, the dissipation energy of each revolute joint is selected as the performance index of the system. A Legendre pseudospectral method (LPM) is used to transform the optimal control problem into a nonlinear programming problem. Then, a sequential quadratic programming algorithm is used to solve the nonlinear programming problem and offline generate the optimal reference trajectory of the system. In the design of feedback control, the dynamic equation is linearized along the reference trajectory in the presence of initial state errors. A trajectory tracking problem is converted to a two-point boundary value problem based on Pontryagin’s minimum principle. The LPM is used to discretize the two-point boundary value problem and transform it into a set of linear algebraic equations which can be easily calculated. Then, the closed-loop state feedback control law is designed based on the resulting optimal feedback control and achieves good performance in real time. Numerical simulations demonstrate the feasibility and effectiveness of the proposed control strategy.     

多体系统轨迹跟踪的瞬时最优控制保辛方法

随着近年来机器人在各行业领域的广泛应用,对机器人的动力学与控制性能不断提出新的要求,特别是对设计越来越复杂、操作越来越灵巧的智能机器人,要求其能够对目标轨迹实现高精度跟踪以满足实际工作需求. 因此,针对机器人多体系统对目标轨迹跟踪的任务需求,基于微分代数方程提出瞬时最优控制保辛方法. 首先,采用多体动力学绝对坐标建模方法建立机器人系统的普适动力学方程,即微分代数方程;然后,采用保辛方法将连续时间域内的微分代数方程进行离散化,进而得到以当前位置、速度和拉式乘子为未知量的非线性代数方程组;其次,通过引入对目标轨迹跟踪以及对控制加权的瞬时最优性能指标,根据瞬时最优控制理论获得当前最优控制输入;最后,通过离散时间步的更新完成对目标轨迹的跟踪任务. 为了验证本文方法的有效性,以双摆轨迹跟踪控制为例进行了数值仿真,结果表明:针对机器人轨迹跟踪任务所提出的瞬时最优控制保辛方法能够实现对目标轨迹的高精度跟踪,且瞬时最优控制由受控微分代数方程推导获得,更具一般性,能够适应其他复杂多体系统的轨迹跟踪控制问题.      

Role of initial conditions in the dynamics of a double pendulum at low energies

We consider the low energy dynamics of the double pendulum. Low energy implies energies close to the critical value required to make the outer pendulum rotate. All the known interesting results for the double pendulum are at high energies, that is, energies higher than that required to make both pendulums rotate. We show that interesting behavior can occur at low energies as well by which we mean energies just sufficient to make the outer pendulum rotate. A harmonic balance and the Lindstedt–Poincare analysis at the low energies establish that at small, but finite amplitude; the two normal modes behave differently. While the frequency of the “in-phase” mode is almost unchanged with increasing amplitude, the frequency of the “out-of-phase” mode drops sharply. Numerical analysis verifies this analytic result and since the perturbation theory indicates a mode softening for the out-of-phase mode at a critical amplitude, we did a careful numerical analysis of the low energy region just above the threshold for onset of rotation for the outlying pendulum. We find chaotic behavior, but the chaos is a strong function of the initial condition.     

Analytical solution of basic equations set of atmospheric motion

On condition that the basic equations set of atmospheric motion possesses the best stability in the smooth function classes, the structure of solution space for local analytical solution is discussed, by which the third-class initial value problem with typicality and application is analyzed. The calculational method and concrete expressions of analytical solution about the well-posed initial value problem of the third kind are given in the analytic function classes. Near an appointed point, the relevant theoretical and computational problems about analytical solution of initial value problem are solved completely in the meaning of local solution. Moreover, for other type of problems for determining solution, the computational method and process of their stable analytical solution can be obtained in a similar way given in this paper.     

Adjoint optimization of natural convection problems: differentially heated cavity

Optimization of natural convection-driven flows may provide significant improvements to the performance of cooling devices, but a theoretical investigation of such flows has been rarely done. The present paper illustrates an efficient gradient-based optimization method for analyzing such systems. We consider numerically the natural convection-driven flow in a differentially heated cavity with three Prandtl numbers (\(Pr=0.15{-}7\)) at super-critical conditions. All results and implementations were done with the spectral element code Nek5000. The flow is analyzed using linear direct and adjoint computations about a nonlinear base flow, extracting in particular optimal initial conditions using power iteration and the solution of the full adjoint direct eigenproblem. The cost function for both temperature and velocity is based on the kinetic energy and the concept of entransy, which yields a quadratic functional. Results are presented as a function of Prandtl number, time horizons and weights between kinetic energy and entransy. In particular, it is shown that the maximum transient growth is achieved at time horizons on the order of 5 time units for all cases, whereas for larger time horizons the adjoint mode is recovered as optimal initial condition. For smaller time horizons, the influence of the weights leads either to a concentric temperature distribution or to an initial condition pattern that opposes the mean shear and grows according to the Orr mechanism. For specific cases, it could also been shown that the computation of optimal initial conditions leads to a degenerate problem, with a potential loss of symmetry. In these situations, it turns out that any initial condition lying in a specific span of the eigenfunctions will yield exactly the same transient amplification. As a consequence, the power iteration converges very slowly and fails to extract all possible optimal initial conditions. According to the authors’ knowledge, this behavior is illustrated here for the first time.     

Free vibration of a class of Hill's equation having a small parameter

In this paper, we consider the initial value problem of a class of Hill’s equation having a small parameter. Using the solvable condition of boundary value problem and the stretched parameter method in the perturbation techniques, we present the method which can be applied to obtain asymptotic periodic solution of the initial value problem. As an example, we consider Mathieu equation and present its computational result.     

Kinematic problem of optimal nonlinear stabilization of angular motion of a rigid body

The problem of optimal transfer of a rigid body to a prescribed trajectory of preset angular motion is considered in the nonlinear statement. (The control is the vector of absolute angular velocity of the rigid body.) The functional to be minimized is a mixed integral quadratic performance criterion characterizing the general energy expenditure on the control and deviations in the state coordinates.Pontryagin’s maximum principle is used to construct the general analytic solution of the problem in question which satisfies the necessary optimality condition and ensures the asymptotically stable transfer of the rigid body to any chosen trajectory of preset angular motion. It is shown that the obtained solution also satisfies Krasovskii’s optimal stabilization theorem.     

Optimal solution error quantification in variational data assimilation involving imperfect models

The problem of variational data assimilation for a nonlinear evolution model is formulated as an optimal control problem to find the initial condition. If the model is ‘perfect,’ the optimal solution (analysis) error rises because of the presence of the input data errors (background and observation errors). Then, this error is quantified by the covariance matrix, which can be approximated by the inverse Hessian of an auxiliary control problem. If the model is not perfect, the optimal solution error includes an additional component because of the presence of the model error. In this paper, we study the influence of the model error on the optimal solution error covariance, considering strong and weak constraint data assimilation approaches. For the latter, an additional equation describing the model error dynamics is involved. Numerical experiments for the 1D Burgers equation illustrate the presented theory. Copyright © 2016 John Wiley & Sons, Ltd.     

A Grobman–Hartman Theorem for Control Systems

We consider the problem of locally linearizing a control system via topological transformations. According to [2,3], there is no naive generalization of the classical Grobman–Hartman theorem for ODEs to control systems: a generic control system, when viewed as a set of under-determined differential equations parametrized by the control, cannot be linearized using pointwise transformations on the state and the control values. However, if we allow the transformations to depend on the control at a functional level (open loop transformations), we are able to prove a version of the Grobman–Hartman theorem for control systems.     

Construction of optimal laws of variation of the angular momentum vector of a rigid body

We consider the problem of constructing optimal preset laws of variation of the angular momentum vector of a rigid body taking the body from an arbitrary initial angular position to the required terminal angular position in a given time. We minimize an integral quadratic performance functional whose integrand is a weighted sum of squared projections of the angular momentum vector of the rigid body. We use the Pontryagin maximum principle to derive necessary optimality conditions. In the case of a spherically symmetric rigid body, the problem has a well-known analytic solution. In the case where the body has a dynamic symmetry axis, the obtained boundary value optimization problem is reduced to a system of two nonlinear algebraic equations. For a rigid body with an arbitrarymass distribution, optimal control laws are obtained in the form of elliptic functions. We discuss the laws of controlled motion and applications of the constructed preset laws in systems of attitude control by external control torques or rotating flywheels.     

Optimal spacecraft terminal attitude control synthesis by the quaternion method

We consider an optimal control problem of spacecraft retargeting from an arbitrary initial position to a given terminal angular position. The objective is to minimize a path functional. Using the quaternion method, we obtain an analytic solution of this problem and present formalized equations and computational expressions for synthesizing an optimal manoeuvre program. We also present an example and the results of mathematical simulation of the spacecraft motion dynamics under an optimal control, which demonstrate the practical implementability of the control method developed in the present paper.     

An inverse problem formulation of the immersed-boundary method

We formulate the immersed-boundary method (IBM) as an inverse problem. A control variable is introduced on the boundary of a larger domain that encompasses the target domain. The optimal control is the one that minimizes the mismatch between the state and the desired boundary value along the immersed target-domain boundary. We begin by investigating a naïve problem formulation that we show is ill-posed: in the case of the Laplace equation, we prove that the solution is unique, but it fails to depend continuously on the data; for the linear advection equation, even solution uniqueness fails to hold. These issues are addressed by two complimentary strategies. The first strategy is to ensure that the enclosing domain tends to the true domain, as the mesh is refined. The second strategy is to include a specialized parameter-free regularization that is based on penalizing the difference between the control and the state on the boundary. The proposed inverse IBM is applied to the diffusion, advection, and advection-diffusion equations using a high-order discontinuous Galerkin discretization. The numerical experiments demonstrate that the regularized scheme achieves optimal rates of convergence and that the reduced Hessian of the optimization problem has a bounded condition number, as the mesh is refined.     

Broadwell Model and Conservative Supersonic Boundary

In this paper, we consider an initial-boundary value problem for the Broadwell model with a supersonic physical boundary. Here, we pose a conservative boundary condition which preserves the total number of particles. We show that the solution converges pointwise to a boundary layer exponentially, when the perturbations of the initial data to the equilibrium state are sufficiently small, by using Green’s function as established in Lan et al. (Netw Heterog Media 1:167–183, 2006), weighted energy estimates and by constructing a pair of anti-derivatives to convert the conservative boundary condition into a dissipative boundary condition with conservation laws together with an a priori chosen boundary layer.     

Critical oscillations of mass–spring systems due to nonsmooth friction

Critical values of the parameters governing the dynamics of simple systems appear when Coulomb friction is not regularized. We explore such systems using a method based on the fact that under constant or analytical data the trajectory exists, is unique and is also sufficiently regular. In fact these properties justify elementary analytical computations on successive time intervals where the condition used to connect the solution from one interval to the other is due to the regularity. Although the systems are simple the dynamics turn out to be quite complex and thus furnish an interesting benchmark for contact dynamics numerical codes. Among other possible applications we choose to present here how to use a mass–spring chain with Coulomb friction to slow down in a progressive and regular manner an oncoming mass with a given initial velocity.     

Solution and asymptotic analysis of a boundary value problem in the spring–mass model of running

We consider the classic spring–mass model of running which is built upon an inverted elastic pendulum. In a natural way, there arises an interesting boundary value problem for the governing system of two nonlinear ordinary differential equations. It requires us to choose the stiffness to ascertain that after a complete step, the spring returns to its equilibrium position. Motivated by numerical calculations and real data, we conduct a rigorous asymptotic analysis in terms of the Poicaré–Lindstedt series. The perturbation expansion is furnished by an interplay of two time scales what has an significant impact on the order of convergence. Further, we use these asymptotic estimates to prove that there exists a unique solution to the aforementioned boundary value problem and provide an approximation to the sought stiffness. Our results rigorously explain several observations made by other researchers concerning the dependence of stiffness on the initial angle of the stride and its velocity. The theory is illustrated with a number of numerical calculations.

     

CHARACTERISTICS OF AZIMUTHAL-RADIAL PENDULUM MOTION BASED ON ANALYTICAL MECHANICS1)

方位径向摆的研究对机械工程领域有非常重要的用途,基于此,本文采用分析力学的方法对影响方位径向摆运行轨迹的因素进行了理论和实验研究。理论上通过建立拉格朗日函数,得到此系统的运动微分方程并对方程进行数值求解,实验上通过Tracker 软件追踪得到方位径向摆的实际运动轨迹,最终发现理论分析得到的杆长、绳长及其初始位置等参数对方位径向摆运行轨迹的影响与实验结果吻合较好。     

Optimal disturbances above and upstream of a flat plate with an elliptic-type leading edge

Adjoint-based iterative methods are employed to compute linear optimal disturbances in a spatially growing boundary layer around an elliptic leading edge. The Lagrangian approach is used where an objective function is chosen and constraints are assigned. The optimisation problem is solved using power iterations combined with a matrix-free formulation, where the state is marched forward in time with a standard direct numerical simulation solver and backward with the adjoint solver until a chosen convergence criterion is fulfilled. We consider the global and, more relevant to receptivity studies, the upstream localised optimal initial condition leading to the largest possible energy amplification at time T. We find that the two-dimensional initial condition with the largest potential for growth is a Tollmien–Schlichting-like wave packet that includes the Orr mechanism and is located inside the boundary layer downstream of the leading edge. Three-dimensional optimal disturbances induce streaks by the lift-up mechanism. Requiring the optimal initial condition to be localised upstream of the plate enables us to better study the effects of the leading edge on the boundary layer receptivity mechanisms. Two-dimensional upstream disturbances are inefficient at triggering unstable eigenmodes, whereas three-dimensional disturbances induce streamwise streaks with significant growth.     

自由漂浮空间机器人路径优化的Legendre伪谱法

基于Legendre 伪谱法研究自由漂浮空间机器人非完整路径规划的最优控制问题. 自由漂浮是空间机器人执行任务常用的工作模式,其路径优化是空间机器人完成复杂空间任务的基础. 由于空间机器人不具有固定基座,机械臂和载体之间存在非完整约束,使得自由漂浮空间机器人路径规划完全不同于地面机器人而变得具有挑战性. 本文提出自由漂浮空间机器人路径规划的最优控制伪谱方法. 首先,利用多体动力学理论建立自由漂浮空间机器人动力学模型,给定系统的初始和目标位形,选取机械臂关节耗散能最小为性能指标,并考虑实际控制输入受限,建立其路径规划的Bolza 问题. 然后,应用Legendre 伪谱法,将状态和控制变量在Legendre-Gauss-Lobatto (LGL) 点上离散,并构造Lagrange 插值多项式逼近系统状态和控制变量,将连续路径优化问题离散化为非线性规划问题求解. 最后通过数值仿真表明,应用Legendre 伪谱法求解自由漂浮空间机器人非完整路径规划问题,得到的机械臂和载体最优运动轨迹,较好地满足各种约束条件,且计算精度高、速度快,并具有良好的实时性.