Energy-Saving and Punctuality Combined Velocity Planning for the Autonomous-Rail Rapid Tram with Enhanced Pseudospectral Method

Autonomous-rail rapid transit(ART)is a new medium-capacity rapid transportation system with punctuality,comfort and convenience,but low-cost construction.Combined velocity planning is a critical approach to meet the requirements of energy-saving and punctuality.An ART velocity pre-planning and re-planning strategy based on the combination of punctuality dynamic programming(PDP)and pseudospectral(PS)method is proposed in this paper.Firstly,the longitudinal dynamics model of ART is established by a multi-particle model.Secondly,the PDP algorithm with global optimal characteristics is adopted as the pre-planning strategy.A model for determining the number of collocation points of the real-time PS method is proposed to improve the energy-saving effect while ensuring computation efficiency.Then the enhanced PS method is utilized to design the velocity re-planning strategy.Finally,simulations are conducted in the typical scenario with sloping roads,traffic lights,and intrusion of the pedestrian.The simulation results indicate that the ART with the proposed velocity trajectory optimization strategy can meet the punctuality requirement,and obtain better economy efficiency compared with the punctuality green light optimal speed advisory(PGLOSA).

Modeling seismic wave propagation in heterogeneous medium using overlap domain pseudospectral method

Pseudospectral method is an efficient and high accuracy numerical method for simulating seismic wave propaga- tion in heterogeneous earth medium. Since its derivative operator is global, this method is commonly considered not suitable for parallel computation. In this paper, we introduce the parallel overlap domain decomposition scheme and give a parallel pseudospectral method implemented on distributed memory PC cluster system for modeling seismic wave propagation in heterogeneous medium. In this parallel method, the medium is decomposed into several subdomains and the wave equations are solved in each subdomain simultaneously. The solutions in each subdomain are connected through the transferring at the overlapped region. Using 2D models, we compared the parallel and traditional pseudospectral method, analyzed the accuracy of the parallel method. The results show that the parallel method can efficiently reduce computation time for the same accuracy as the traditional method. This method could be applied to large scale modeling of seismic wave propagation in 3D heterogeneous medium.

Re-entry trajectory optimization using a multiple- interval Radau pseudospectral method

Aiming at increasing the calculation efficiency of the pseudospectral methods, a multiple- interval Radau pseudospectral method （RPM） is presented to generate a reusable launch vehicle （RLV） ＇s optimal re-entry trajectory. After dividing the optimal control problem into many intervals, the state and control variables are approximated using many fixed- and low-degree Lagrange polyno- mials in each interval. Convergence of the numerical discretization is then achieved by increasing the number of intervals. With the application of the proposed method, the normal nonlinear program- ming （NLP） problem transcribed from the optimal control problem can avoid being dense because of the low-degree approximation polynomials in each interval. Thus, the NLP solver can easily compute a solution. Finally, simulation results show that the optimized re-entry trajectories satisfy the path constraints and the boundary constraints successfully. Compared with the single interval RPM, the multiple-interval RPM is significantly faster and has higher calculation efficiency. The results indicate that the multiple-interval RPM can be applied for real-time trajectory generation due to its high effi- ciency and high precision.

Optimal control of attitude for coupled-rigid-body spacecraft via Chebyshev-Gauss pseudospectral method

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.

Pseudospectral method with symplectic algorithm for the solution of time-dependent SchrSdinger equations

A pseudospectral method with symplectic algorithm for the solution of time-dependent Schrodinger equations （TDSE） is introduced. The spatial part of the wavefunction is discretized into sparse grid by pseudospectral method and the time evolution is given in symplectic scheme. This method allows us to obtain a highly accurate and stable solution of TDSE. The effectiveness and efficiency of this method is demonstrated by the high-order harmonic spectra of one-dimensional atom in strong laser field as compared with previously published work. The influence of the additional static electric field is also investigated.

Study of elastic wave propagation in two phase anisotropic media by numerical modeling of pseudospectral method

When there exists anisotropy in underground media elastic parameters of the observed coordinate possibly do not coincide with that of the natural coordinate. According to the theory that the density of potential energy, dissipating energy is independent of the coordinate, the relationship of elastic parameters between two coordinates is derived for two-phase anisotropic media. Then, pseudospectral method to solve wave equations of two-phase anisotropic media is derived. At last, we use this method to simulate wave propagation in two-phase anisotropic media four types of waves are observed in the snapshots, i.e., fast P wave and slow P wave, fast S wave and slow S wave. Shear wave splitting, SV wave cusps and elastic wave reflection and transmission are also observed.

Six-DOF trajectory optimization for reusable launch vehicles via Gauss pseudospectral method

To be close to the practical flight process and increase the precision of optimal trajectory, a six-degree-offreedom（6-DOF） trajectory is optimized for the reusable launch vehicle（RLV） using the Gauss pseudospectral method（GPM）. Different from the traditional trajectory optimization problem which generally considers the RLV as a point mass, the coupling between translational dynamics and rotational dynamics is taken into account. An optimization problem is formulated to minimize a performance index subject to 6-DOF equations of motion, including translational and rotational dynamics. A two-step optimal strategy is then introduced to reduce the large calculations caused by multiple variables and convergence confinement in 6-DOF trajectory optimization. The simulation results demonstrate that the 6-DOF trajectory optimal strategy for RLV is feasible.

The Lanczos-Chebyshev Pseudospectral Method for Solution of Differential Equations

In this paper, we propose to replace the Chebyshev series used in pseudospectral methods with the equivalent Chebyshev economized power series that can be evaluated more rapidly. We keep the rest of the implementation the same as the spectral method so that there is no new mathematical principle involved. We show by numerical examples that the new approach works well and there is indeed no significant loss of solution accuracy. The advantages of using power series also include simplicity in its formulation and implementation such that it could be used for complex systems. We investigate the important issue of collocation point selection. Our numerical results indicate that there is a clear accuracy advantage of using collocation points corresponding to roots of the Chebyshev polynomial.

THE CHEBYSHEV PSEUDOSPECTRAL DOMAIN DECOMPO SITION METHOD FOR SOLVING TWO-DIMENSIONAL ELLIPTIC EQUATION

This paper ix devoted to establishment of the Chebyshev pseudospectral domain de-composition scheme for solving two-dimensional elliptic equation. By the generalized equivalent variatiunal form, we can get the stability and convergence of this new scheme.

A GENERALIZED GAUSS-TYPE QUADRATURE FORMULA AND ITS APPLICATIONS TO PSEUDOSPECTRAL METHOD

A generalized Gauss-type quadrature formula is introduced, which assists in selection of collocation points in pseudospectral method for differential equations with two-point derivative boundary conditions. Some results on the related Jacobi interpolation are established. A pseudospectral scheme is proposed for the Kuramoto-Sivashisky equation. A skew symmetric decomposition is used for dealing with the nonlinear convection term. The stability and convergence of the proposed scheme are proved. The error estimates are obtained. Numerical results show the efficiency of this approach.

CHEBYSHEV PSEUDOSPECTRAL DOMAIN DECOMPOSITION METHOD OF ONE－DIMENSIONAL ELLIPTIC PROBLEMS

This paper is devoted to the Chebyshev pseudospectral domain decomposition method of one-dimensional elliptic problems,it is easily applied to complex geometry.The approximate accuracy can be increased by increasing the order of approximation in fixed number of subdomains,rather than by resorting to a further partitioning.The stability and the convergence of this method are proved.

Modified Laguerre spectral and pseudospectral methods for nonlinear partial differential equations in multiple dimensions

The Laguerre spectral and pseudospectral methods are investigated for multidimensional nonlinear partial differential equations. Some results on the modified Laguerre orthogonal approximation and interpolation are established, which play important roles in the related numerical methods for unbounded domains. As an example, the modified Laguerre spectral and pseudospectral methods are proposed for two-dimensional Logistic equation. The stability and convergence of the suggested schemes are proved. Numerical results demonstrate the high accuracy of these approaches.

ANALYSIS OF CHEBYSHEV PSEUDOSPECTRAL METHOD FOR MULTI-DIMENSIONAL GENERALIZED SRLW EQUATIONS

The Chebyshev pseudospectral approximation of the homogeneous initial boundary value problem for a class of multi-dimensional generalized symmetric regularized long wave (SRLW) equations is considered. The fully discrete Chebyshev pseudospectral scheme is constructed. The convergence of the approximation solution and the optimum error of approximation solution are obtained.

Multi-Domain Decomposition Pseudospectral Method for Nonlinear Fokker-Planck Equations

Results on the composite generalized Laguerre-Legendre interpolation in unbounded domains are established. As an application,a composite Laguerre-Legendre pseudospectral scheme is presented for nonlinear Fokker-Planck equations on the whole line. The convergence and the stability of the proposed scheme are proved. Numerical results show the efficiency of the scheme and conform well to theoretical analysis.

A conservative Fourier pseudospectral algorithm for a coupled nonlinear Schrdinger system

We derive a new method for a coupled nonlinear Schr/Sdinger system by using the square of first-order Fourier spectral differentiation matrix D1 instead of traditional second-order Fourier spectral differentiation matrix D2 to approximate the second derivative. We prove the proposed method preserves the charge and energy conservation laws exactly. In numerical tests, we display the accuracy of numerical solution and the role of the nonlinear coupling parameter in cases of soliton collisions. Numerical experiments also exhibit the excellent performance of the method in preserving the charge and energy conservation laws. These numerical results verify that the proposed method is both a charge-preserving and an energy-preserving algorithm.

Rate of convergence for the Legendre pseudospectral optimal control of feedback linearizable systems

Pseudospectral （PS） computational methods for nonlinear constrained optimal control have been applied to many industrial-strength problems,notably,the recent zero-propellant-maneuvering of the international space station performed by NASA.In this paper,we prove a theorem on the rate of convergence for the optimal cost computed using a Legendre PS method.In addition to the high-order convergence rate,two theorems are proved for the existence and convergence of the approximate solutions.Relative to existing work on PS optimal control as well as some other direct computational methods,the proofs do not use necessary conditions of optimal control.Furthermore,we do not make coercivity type of assumptions.As a result,the theory does not require the local uniqueness of optimal solutions.In addition,a restrictive assumption on the cluster points of discrete solutions made in existing convergence theorems is removed.

A conservative Fourier pseudospectral algorithm for the nonlinear Schrodinger equation

In this paper, we derive a new method for a nonlinear Schrodinger system by using the square of the first-order Fourier spectral differentiation matrix D1 instead of the traditional second-order Fourier spectral differentiation matrix D2 to approximate the second derivative. We prove that the proposed method preserves the charge and energy conservation laws exactly. A deduction argument is used to prove that the numerical solution is second-order convergent to the exact solutions in ｜｜·｜｜2 norm. Some numerical results are reported to illustrate the efficiency of the new scheme in preserving the charge and energy conservation laws.

A NEW PSEUDOSPECTRAL APPROXIMATION FOR THE FOWARD-BACKWARD HEAT EQUATION

In this paper,we propose a new numerical method which is a least squares approximaton based on pseudospectral method for the Forward-Backward heat equation. The existence and uniqueness of the solution of the least squares approximation are proved. Error estimates for this approximation are given,which show that tile order of convergence depends only on the regularity of tile solution and the right hand of the Forward-Backward heat equation.

PSEUDOSPECTRAL ANALYSIS OF THE INTERFACIAL STABILITY OF FREE JETS WITH DIFFERENT VELOCITY PROFILES

A double fluid model for a liquid jet surrounded by a coaxial gas stream was constructed. The interfacial stability of the model was studied by Chebyshev pseudospectral method for different basic velocity profiles. The physical variables were mapped into computational space using a nonlinear coordinates transformation. The general eigenvalues of the dispersion relation obtained are solved by QZ method, and the basic characteristics and their dependence on the flow parameters are analyzed.