基于形态改变的多体空间系统动力学建模、运动规划与最优控制

项目名称： 基于形态改变的多体空间系统动力学建模、运动规划与最优控制

项目编号： No.11472058

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 数理科学和化学

项目作者： 戈新生

作者单位： 北京信息科技大学

项目金额： 75万元

中文摘要： 研究一类基于形态改变的多体空间系统动力学建模、运动规划与最优控制问题。该类系统通过附件体相对于基体的运动操控多体系统运动，附件体的相对运动（或形态动力学）与基体运动是强耦合的，并能导致有趣而复杂的动力学现象。本项目应用高斯最小拘束原理建立该类多体系统动力学模型；利用微分几何理论研究系统的可控性；将伪谱法和近似动态规划方法推广和应用到该类多体空间系统的姿态运动规划和最优控制中，设计系统姿态机动和跟踪控制的最优算法；基于能量方法和智能控制理论研究并提出多体系统姿态稳定性控制策略。探索带有形态改变的多体空间系统动态特性和控制系统特征，深化对基于形态改变的多体空间系统动力学行为和控制特性的认识。本项目研究成果将丰富和扩展多体系统动力学与控制理论，为复杂多体空间系统设计和控制提供理论基础和技术储备。

中文关键词： 多体空间系统；姿态动力学；最优控制；伪谱法；近似动态规划

英文摘要： This research investigates the formulation and motion planning and the optimal control problem of multibody space systems which are controlled via shape change. This kind of system controls the motions of multibody systems via the relative motions of auxiliary bodies with respect to the base body, which are strongly coupled with the motion of the base body and can lead to interesting and complicated dyamic phenomena. In this project, the model of multibody systems is formulated based on Guass's principle of least constraint. Besides, the system controlability is investigated by using differential geometry methodes. In addition, we also promote and apply the pseudospectral method and approximate dynamic programming into the attitude motion planning and control of this kind of multibody space system, so as to design the optimal algorithm for system attitude maneuvers and tracking control. Moerover, we study and propose the strategy for the attitude stability control of multibody systems based on the energy method and the intelligent control theory. Furthermore, we will explore the dynamic characteristic and the control system feature of multibody space systems controlled via shape change, thus intensifing the recognization of the dynamics maneuver and the control characteristic of these systems. The results of this research will enrich and expand the dynamics and control multibody system and control theory, and thereby provide the theoretical basis and technical reserves for the design and control of complex multibody space system.

英文关键词： multibody space systems;attitude dynamics;optimal control;pseudospectral method;approximate dynamic programming