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自由下落猫姿态最优控制的混合优化策略

易中贵 戈新生

易中贵, 戈新生. 自由下落猫姿态最优控制的混合优化策略[J]. 力学学报, 2016, 48(6): 1390-1397. doi: 10.6052/0459-1879-16-189
引用本文: 易中贵, 戈新生. 自由下落猫姿态最优控制的混合优化策略[J]. 力学学报, 2016, 48(6): 1390-1397. doi: 10.6052/0459-1879-16-189
Yi Zhonggui, Ge Xinsheng. THE ATTITUDE OPTIMAL CONTROL WITH A HYBRID OPTIMAL STRATEGY FOR A FREE-FALLING CAT[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(6): 1390-1397. doi: 10.6052/0459-1879-16-189
Citation: Yi Zhonggui, Ge Xinsheng. THE ATTITUDE OPTIMAL CONTROL WITH A HYBRID OPTIMAL STRATEGY FOR A FREE-FALLING CAT[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(6): 1390-1397. doi: 10.6052/0459-1879-16-189

自由下落猫姿态最优控制的混合优化策略

doi: 10.6052/0459-1879-16-189
基金项目: 国家自然科学基金资助项目(11472058).
详细信息
    通讯作者:

    戈新生,教授,主要研究方向:多体系统动力学.E-mail:gebim@vip.sina.com.

  • 中图分类号: O316

THE ATTITUDE OPTIMAL CONTROL WITH A HYBRID OPTIMAL STRATEGY FOR A FREE-FALLING CAT

  • 摘要: 研究猫自由下落时的转体运动对探索宇航员在太空失重状态下的空间运动规律具有重要的参考价值.针对猫自由下落时四肢先着地现象的姿态最优控制问题,提出一种由Gauss伪谱法求解可行解与直接打靶法求解最优精确解相结合的混合优化策略.首先,根据猫在自由下落过程中的角动量守恒原理,推导出简化后的两对称刚体系统的非完整姿态运动方程;然后基于Gauss伪谱法将此无漂移系统的姿态非完整运动规划问题离散为非线性规划问题,并在不考虑实际性能指标函数的条件下利用序列二次规划算法求解此非线性规划问题在较少节点时对应的控制变量可行解,再通过三次样条插值获取较多节点时的控制变量值;最后基于直接打靶法将插值得到的控制值作为序列二次规划算法的初始猜测值,从而求解得到最优的控制输入,再代入系统姿态运动方程,通过数值积分得到落体猫的转体姿态运动曲线.通过数值仿真,求解得到的姿态运动曲线是光滑的,能以较高的精度到达预定的目标姿态;最优控制输入也能满足预先设计的零边界控制要求以及最大控制要求;结果表明了此混合优化策略具有较强的鲁棒性和有效性.

     

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出版历程
  • 收稿日期:  2016-07-11
  • 修回日期:  2016-09-22
  • 刊出日期:  2016-11-18

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