基于哈密顿方程的非完整约束控制系统分析及应用

中国机械工程 ›› 2011, Vol. 22 ›› Issue (4): 479-483.

基于哈密顿方程的非完整约束控制系统分析及应用

刘云平1,2

1.南京信息工程大学,南京,210044

2.淮阴工学院数字化制造技术江苏省重点实验室,淮安,223003

出版日期:2011-02-25 发布日期:2011-03-15
基金资助:
国家自然科学基金资助项目(50375071)；淮阴工学院数字化制造技术江苏省重点实验室开放课题资助项目(HGDML0904)
National Natural Science Foundation of China（No. 50375071）

Nonholonomic Constraint Control System Analyses and Applications Based on Hamiltonian

Equations

Liu Yunping1,2

1.Nanjing University of Information Science & Technology,Nanjing,210044

2.Jiangsu Provincial Key Laboratory of Digital Manufacturing Technology,Huaiyin Institute of Technology,Huai'an,Jiangsu,223003

Online:2011-02-25 Published:2011-03-15
Supported by:

National Natural Science Foundation of China（No. 50375071）

摘要/Abstract

摘要：

针对航天器多体系统受非完整约束作用时,其动力学方程是强非线性微分方程组而难以求解析解、系统的稳定性及其控制难以进行分析的问题,提出通过带非完整约束的哈密顿控制系统对航天器多体系统的姿态稳定及控制进行分析的方法。采用该方法可以避免求解非线性方程组的边值问题。建立了一种简洁的航天器多体系统姿态稳定性控制方法,而且该方法使得系统的运动控制更加易于从物理意义上进行解释,即使得系统的稳定控制可以理解为系统和控制器之间的能量平衡。通过算例进行了验证和说明。

关键词:

非完整约束, 哈密顿方程, 多体系统, 姿态控制

Abstract:

For the dynamic differential equations of spacecraft multibody system is strongly nonlinear with nonholonomic constraint, it is difficult to find the analytical solution and analyse its stability and control problem. The two point boundary value problem of nonlinear dynamic differential equations can be avoided by the Hamiltonian control system with nonholonomic constraints application to the analysis of attitude stability.This is a compact method for the attitude control of the spacecraft multibody system. Furthermore, the control action has a clear physical interpretation that the system stability of control can be understood as the energy balance between system and controller. The last is the simulation example. 

Key words: nonholonomic constraint, Hamiltonian equation, multibody system, attitude control

中图分类号:

TP241.3

刘云平.

基于哈密顿方程的非完整约束控制系统分析及应用

[J]. 中国机械工程, 2011, 22(4): 479-483.

LIU Yun-Beng.

Nonholonomic Constraint Control System Analyses and Applications Based on Hamiltonian

Equations

[J]. China Mechanical Engineering, 2011, 22(4): 479-483.

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