【摘要】：最優(yōu)控制作為現(xiàn)代控制理論的重要組成部分,在各工程領域中都得到了極大的應用和發(fā)展,然而隨著系統(tǒng)復雜程度的提高以及由各種限制條件的約束,單純用解析的方法已經(jīng)很難求解此類控制問題。本文針對約束非線性系統(tǒng)最優(yōu)控制問題,研究了一種數(shù)值算法,內容分成兩個部分:第一部分是在哈密頓理論框架下考慮約束非線性系統(tǒng)最優(yōu)控制的數(shù)值算法構造問題;第二部分是針對非線性約束的系統(tǒng)模型,應用本文提出的算法進行最優(yōu)控制律設計。論文首先在分析了非線性最優(yōu)控制問題的發(fā)展歷程和國內外研究現(xiàn)狀,然后介紹了將最優(yōu)控制問題轉化為兩點邊值問題的方法,并以此為基礎,對含有狀態(tài)或控制量約束的最優(yōu)控制問題展開研究。解決這類含約束問題的難點在于它們在時間區(qū)間上分別包含了狀態(tài)參數(shù)和控制參數(shù)的連續(xù)不等式約束,針對這類問題,本文運用內點懲罰函數(shù)思想將其轉化為無約束的最優(yōu)控制問題。最后,在母函數(shù)算法思想的基礎上,采用雙重母函數(shù)來實現(xiàn)兩點邊值問題的最優(yōu)解逼近,并且實現(xiàn)程序仿真�；谒玫降暮s束非線性系統(tǒng)最優(yōu)控制問題的數(shù)值算法,本文將其應用于門式吊裝系統(tǒng)控制以及近地圓軌道航天器模塊分離問題當中。兩者均為六階系統(tǒng)的約束最優(yōu)控制問題,在分別對兩者模型中非線性參數(shù)近似處理后進行仿真分析,仿真結果顯示控制律能夠滿足吊運過程中的小幅擺角限制以及航天器的小推力約束條件。
[Abstract]:As an important part of modern control theory, optimal control has been greatly applied and developed in various engineering fields. However, with the increase of the complexity of the system and the constraints of various constraints, It is difficult to solve this kind of control problem simply by analytic method. In this paper, a numerical algorithm for optimal control of constrained nonlinear systems is studied. The content is divided into two parts: the first part is the construction of numerical algorithms for optimal control of constrained nonlinear systems under the framework of Hamiltonian theory; In the second part, the optimal control law is designed by applying the proposed algorithm to the nonlinear constrained system model. Firstly, the paper analyzes the development of nonlinear optimal control problem and the current research situation at home and abroad, then introduces the method of transforming the optimal control problem into a two-point boundary value problem. The optimal control problem with state or control constraints is studied. The difficulty of solving this kind of constrained problems is that they contain continuous inequality constraints of state parameters and control parameters in the time interval respectively. In this paper, the idea of interior point penalty function is used to transform it into an unconstrained optimal control problem. Finally, on the basis of the idea of generating function algorithm, the double generating function is used to achieve the optimal solution approximation of the two-point boundary value problem, and the program simulation is realized. Based on the numerical algorithm of the optimal control problem for nonlinear systems with constraints, this paper applies it to the control of portal hoisting systems and to the separation of spacecraft modules in low Earth orbit. Both of them are constrained optimal control problems for sixth order systems. After approximate treatment of nonlinear parameters in the two models, simulation analysis is carried out. The simulation results show that the control law can satisfy the small swing angle limit and the small thrust constraint condition of spacecraft during hoisting.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V448.2;O232
，

本文編號：2333615