摘要
本文采用亏数为2的分段三次样条函数描述最优控制函数,使塔式起重机定位这个奇异最优控制问题转化为多变量参数极小问题。文中讨论了控制约束的加入,使用了直接搜索算法。给出了使用共轭梯度直接最优控制解法与本文方法的结果比较,表明本文方法是解决该类问题的一种直观有效的途径。本文叙述的方法容易被面向实际的工程应用人员所接受。
In this paper, by applying piecewise cubic splines of deficient number 2 to describe the control function, the singular optimal control problem of tower crane positioning is converted to multivariable parametric minimization problem. Control constraints are discussed and the direct search algorithm is employed. Compared with direct conjugate gradient optimal control solution method, the method of this paper is a direct and effective way to solve the problem. The method and software suggested in this paper are easily accepted by practice-oriented engineers.
出处
《系统工程与电子技术》
EI
CSCD
1992年第7期68-72,55,共6页
Systems Engineering and Electronics
关键词
最佳控制
参数
最优化
样条函数
Optimal positioning, Parametric optimization, Sub-optimal method.
