This paper presents a field method for integrating the equations of motion of nonholonomic controllable systems. An example is given to illustrate the application of the method.
Time delay is an problem of intemet congestion important parameter in the control. According to some researches, time delay is not always constant and can be viewed as a periodic function of time for some cases. In th...Time delay is an problem of intemet congestion important parameter in the control. According to some researches, time delay is not always constant and can be viewed as a periodic function of time for some cases. In this work, an internet congestion control model is consid- ered to study the time-varying delay induced bursting-like motion, which consists of a rapid oscillation burst and quies- cent steady state. Then, for the system with periodic delay of small amplitude and low frequency, the method of multiple scales is employed to obtain the amplitude of the oscillation. Based on the expression of the asymptotic solution, it can be found that the relative length of the steady state increases with amplitude of the variation of time delay and decreases with frequency of the variation of time delay. Finally, an effective method to control the bursting-like motion is pro- posed by introducing a periodic gain parameter with appropriate amplitude. Theoretical results are in agreement with that from numerical method.展开更多
An improved OPCL method is developed and applied to both small swing and giant rotation synchronization of a two-link mechanism. Transition processes of the two kinds of synchronization are discussed. Comparisons of d...An improved OPCL method is developed and applied to both small swing and giant rotation synchronization of a two-link mechanism. Transition processes of the two kinds of synchronization are discussed. Comparisons of different motion characteristics of the two-link synchronization and the effects of different control parameters on synchronous processes are investigated with numerical simulations.展开更多
The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM...The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM） is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions.The results indicate that the method is effective with good robustness.展开更多
The system of coupling structure with controlling is a kind of dynamic feedback system in which the mechanical load and the actuator/controller interact. The mechanical system and the control system can be considered ...The system of coupling structure with controlling is a kind of dynamic feedback system in which the mechanical load and the actuator/controller interact. The mechanical system and the control system can be considered integrally as a close system, and the driving forces actuating the mechanical load can be taken as inner forces in the coupling structure system with controlling. Therefore, one can use the method for dealing with conservative systems to simplify greatly modeling and analyses. The relative equilibrium state of motion of the flexible beam under the condition of zero gravity is studied by using the energy method, in which the characteristics of structure and controlling are considered synthetically. And further, the stability conditions for the relative equilibrium state of the system have been found. If the stability conditions are used as controlling parameters of motion of the system, the kinetic energy of the flexible beam can be converted advantageously into the electromagnetic energy of the motor and controller as well as the vibration of the flexible structure can be reduced rapidly. The results in the research provide a kind of very simple and effective real-time control method reducing the vibration of the flexible beam. The method has been verified in many kinds of experimental systems of flexible beams.展开更多
We investigate the close-range relative motion and control of a spacecraft approaching a tumbling target. Unlike the traditional rigid-body dynamics with translation and rotation about the center of mass（CM）, the ki...We investigate the close-range relative motion and control of a spacecraft approaching a tumbling target. Unlike the traditional rigid-body dynamics with translation and rotation about the center of mass（CM）, the kinematic coupling between translation and rotation is taken into consideration to directly describe the motion of the spacecraft＇s sensors or devices which are not coincident with the CM. Thus, a kinematically coupled 6 degrees-of-freedom（DOF） relative motion model for the instrument（feature point） is set up. To make the chaser spacecraft＇s feature point track the target＇s, an optimal tracking problem is defined and a control law with a feedback-feedforward structure is designed. With quasi-linearization of the nonlinear dynamical system, the feedforward term is computed from a specified constraint about the dynamical system and the reference model, and the feedback action is derived starting from the state-dependent Ricca equation（SDRE）. The proposed controller is compared with an existing suboptimal tracking controller, and numerical simulations are presented to illustrate the effectiveness and superiority of the proposed method.展开更多
文摘This paper presents a field method for integrating the equations of motion of nonholonomic controllable systems. An example is given to illustrate the application of the method.
基金supported by the National Natural Science Foundation of China(11032009)the Fundamental Research Funds for the Central UniversitiesShanghai Leading Academic Discipline Project(B302)
文摘Time delay is an problem of intemet congestion important parameter in the control. According to some researches, time delay is not always constant and can be viewed as a periodic function of time for some cases. In this work, an internet congestion control model is consid- ered to study the time-varying delay induced bursting-like motion, which consists of a rapid oscillation burst and quies- cent steady state. Then, for the system with periodic delay of small amplitude and low frequency, the method of multiple scales is employed to obtain the amplitude of the oscillation. Based on the expression of the asymptotic solution, it can be found that the relative length of the steady state increases with amplitude of the variation of time delay and decreases with frequency of the variation of time delay. Finally, an effective method to control the bursting-like motion is pro- posed by introducing a periodic gain parameter with appropriate amplitude. Theoretical results are in agreement with that from numerical method.
基金supported by the Key Project of Science and Technology Research of Ministry of Educationof China (No. 108037)the National Natural Science Foundation of China (No. 10402008 and50535010)
文摘An improved OPCL method is developed and applied to both small swing and giant rotation synchronization of a two-link mechanism. Transition processes of the two kinds of synchronization are discussed. Comparisons of different motion characteristics of the two-link synchronization and the effects of different control parameters on synchronous processes are investigated with numerical simulations.
基金supported by the National Natural Science Foundation of China (11472058)
文摘The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM） is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions.The results indicate that the method is effective with good robustness.
基金National Natural Science F oundation of China !( No.5 95 75 0 2 6 )
文摘The system of coupling structure with controlling is a kind of dynamic feedback system in which the mechanical load and the actuator/controller interact. The mechanical system and the control system can be considered integrally as a close system, and the driving forces actuating the mechanical load can be taken as inner forces in the coupling structure system with controlling. Therefore, one can use the method for dealing with conservative systems to simplify greatly modeling and analyses. The relative equilibrium state of motion of the flexible beam under the condition of zero gravity is studied by using the energy method, in which the characteristics of structure and controlling are considered synthetically. And further, the stability conditions for the relative equilibrium state of the system have been found. If the stability conditions are used as controlling parameters of motion of the system, the kinetic energy of the flexible beam can be converted advantageously into the electromagnetic energy of the motor and controller as well as the vibration of the flexible structure can be reduced rapidly. The results in the research provide a kind of very simple and effective real-time control method reducing the vibration of the flexible beam. The method has been verified in many kinds of experimental systems of flexible beams.
基金Project supported by the Major Program of the National Natural Science Foundation of China(Grant Nos.61690210 and 61690213)
文摘We investigate the close-range relative motion and control of a spacecraft approaching a tumbling target. Unlike the traditional rigid-body dynamics with translation and rotation about the center of mass（CM）, the kinematic coupling between translation and rotation is taken into consideration to directly describe the motion of the spacecraft＇s sensors or devices which are not coincident with the CM. Thus, a kinematically coupled 6 degrees-of-freedom（DOF） relative motion model for the instrument（feature point） is set up. To make the chaser spacecraft＇s feature point track the target＇s, an optimal tracking problem is defined and a control law with a feedback-feedforward structure is designed. With quasi-linearization of the nonlinear dynamical system, the feedforward term is computed from a specified constraint about the dynamical system and the reference model, and the feedback action is derived starting from the state-dependent Ricca equation（SDRE）. The proposed controller is compared with an existing suboptimal tracking controller, and numerical simulations are presented to illustrate the effectiveness and superiority of the proposed method.
