The attitude optimal control problem （OCP） of a two-rigid-body space- craft with two rigid bodies coupled by a ball-in-socket joint is considered. Based on conservation of angular momentum of the system without the ...The attitude optimal control problem （OCP） of a two-rigid-body space- craft with two rigid bodies coupled by a ball-in-socket joint is considered. Based on conservation of angular momentum of the system without the external torque, a dynamic equation of three-dimensional attitude motion of the system is formulated. The attitude motion planning problem of the coupled-rigid-body spacecraft can be converted to a dis- crete nonlinear programming （NLP） problem using the Chebyshev-Gauss pseudospectral method （CGPM）. Solutions of the NLP problem can be obtained using the sequential quadratic programming （SQP） algorithm. Since the collocation points of the CGPM are Chebyshev-Gauss （CG） points, the integration of cost function can be approximated by the Clenshaw-Curtis quadrature, and the corresponding quadrature weights can be calculated efficiently using the fast Fourier transform （FFT）. To improve computational efficiency and numerical stability, the barycentric Lagrange interpolation is presented to substitute for the classic Lagrange interpolation in the approximation of state and con- trol variables. Furthermore, numerical float errors of the state differential matrix and barycentric weights can be alleviated using trigonometric identity especially when the number of CG points is large. A simple yet efficient method is used to avoid sensitivity to the initial values for the SQP algorithm using a layered optimization strategy from a feasible solution to an optimal solution. Effectiveness of the proposed algorithm is perfect for attitude motion planning of a two-rigid-body spacecraft coupled by a ball-in-socket joint through numerical simulation.展开更多
In this paper, Aitken’s extrapolation normally applied to convergent fixed point iteration is extended to extrapolate the solution of a divergent iteration. In addition, higher order Aitken extrapolation is introduce...In this paper, Aitken’s extrapolation normally applied to convergent fixed point iteration is extended to extrapolate the solution of a divergent iteration. In addition, higher order Aitken extrapolation is introduced that enables successive decomposition of high Eigen values of the iteration matrix to enable convergence. While extrapolation of a convergent fixed point iteration using a geometric series sum is a known form of Aitken acceleration, it is shown that in this paper, the same formula can be used to estimate the solution of sets of linear equations from diverging Gauss-Seidel iterations. In both convergent and divergent iterations, the ratios of differences among the consecutive values of iteration eventually form a convergent (divergent) series with a factor equal to the largest Eigen value of the iteration matrix. Higher order Aitken extrapolation is shown to eliminate the influence of dominant Eigen values of the iteration matrix in successive order until the iteration is determined by the lowest possible Eigen values. For the convergent part of the Gauss-Seidel iteration, further acceleration is made possible by coupling of the extrapolation technique with the successive over relaxation (SOR) method. Application examples from both convergent and divergent iterations have been provided. Coupling of the extrapolation with the SOR technique is also illustrated for a steady state two dimensional heat flow problem which was solved using MATLAB programming.展开更多
The aim of this paper is to give an appropriate numerical method to solve Allen-Cahn equation, with Dirichlet or Neumann boundary condition. The time discretization involves an explicit scheme for the nonlinear part o...The aim of this paper is to give an appropriate numerical method to solve Allen-Cahn equation, with Dirichlet or Neumann boundary condition. The time discretization involves an explicit scheme for the nonlinear part of the operator and an implicit Euler discretization of the linear part. Finite difference schemes are used for the spatial part. This finally leads to the numerical solution of a sparse linear system that can be solved efficiently.展开更多
基金Supported by Natural Science Basic Research Plan in Shaanxi Province of China(2014JQ8366)Fundamental Research Foundation of Northwestern Polytechnical University(JC20120210,JC20110238)Aeronautical Science Foundation of China(20120853007)
基金supported by the National Natural Science Foundation of China(No.11472058)
文摘The attitude optimal control problem （OCP） of a two-rigid-body space- craft with two rigid bodies coupled by a ball-in-socket joint is considered. Based on conservation of angular momentum of the system without the external torque, a dynamic equation of three-dimensional attitude motion of the system is formulated. The attitude motion planning problem of the coupled-rigid-body spacecraft can be converted to a dis- crete nonlinear programming （NLP） problem using the Chebyshev-Gauss pseudospectral method （CGPM）. Solutions of the NLP problem can be obtained using the sequential quadratic programming （SQP） algorithm. Since the collocation points of the CGPM are Chebyshev-Gauss （CG） points, the integration of cost function can be approximated by the Clenshaw-Curtis quadrature, and the corresponding quadrature weights can be calculated efficiently using the fast Fourier transform （FFT）. To improve computational efficiency and numerical stability, the barycentric Lagrange interpolation is presented to substitute for the classic Lagrange interpolation in the approximation of state and con- trol variables. Furthermore, numerical float errors of the state differential matrix and barycentric weights can be alleviated using trigonometric identity especially when the number of CG points is large. A simple yet efficient method is used to avoid sensitivity to the initial values for the SQP algorithm using a layered optimization strategy from a feasible solution to an optimal solution. Effectiveness of the proposed algorithm is perfect for attitude motion planning of a two-rigid-body spacecraft coupled by a ball-in-socket joint through numerical simulation.
文摘In this paper, Aitken’s extrapolation normally applied to convergent fixed point iteration is extended to extrapolate the solution of a divergent iteration. In addition, higher order Aitken extrapolation is introduced that enables successive decomposition of high Eigen values of the iteration matrix to enable convergence. While extrapolation of a convergent fixed point iteration using a geometric series sum is a known form of Aitken acceleration, it is shown that in this paper, the same formula can be used to estimate the solution of sets of linear equations from diverging Gauss-Seidel iterations. In both convergent and divergent iterations, the ratios of differences among the consecutive values of iteration eventually form a convergent (divergent) series with a factor equal to the largest Eigen value of the iteration matrix. Higher order Aitken extrapolation is shown to eliminate the influence of dominant Eigen values of the iteration matrix in successive order until the iteration is determined by the lowest possible Eigen values. For the convergent part of the Gauss-Seidel iteration, further acceleration is made possible by coupling of the extrapolation technique with the successive over relaxation (SOR) method. Application examples from both convergent and divergent iterations have been provided. Coupling of the extrapolation with the SOR technique is also illustrated for a steady state two dimensional heat flow problem which was solved using MATLAB programming.
文摘The aim of this paper is to give an appropriate numerical method to solve Allen-Cahn equation, with Dirichlet or Neumann boundary condition. The time discretization involves an explicit scheme for the nonlinear part of the operator and an implicit Euler discretization of the linear part. Finite difference schemes are used for the spatial part. This finally leads to the numerical solution of a sparse linear system that can be solved efficiently.
