The invention relates to the technical field of
robot motion control and heterogeneous calculation acceleration, in particular to an
optimal control Riccati equation solving method based on TPU heterogeneous parallelism, which is characterized in that heterogeneous division of labor is carried out on a host side and a TPU equipment side, the host side is only responsible for input issuing and result
recovery, and the equipment side is used for managing and controlling an iterative process and operator scheduling by a
coprocessor; the multiple neural
network processing units execute intensive linear algebraic calculation in parallel; designing a
general matrix multiplication parallel acceleration operator and a parallel
Gaussian elimination inversion operator, optimizing a storage
layout of an on-
chip local memory and a working area reuse strategy, completing
Riccati equation solution based on Hamiltonian matrix
sign function iteration, recovering a stable solution matrix and calculating an optimal feedback
gain; for a multi-independent
system scene, a
system dimension parallel or batch rotation strategy is adopted to improve the
batch processing throughput rate. The method solves the problems that in the prior art, intermediate data carrying overhead is large, and parallel support of key links is insufficient.