Redundant Drive Control Attainable Set Under Linear Constraints
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Solution Overview
Problem
Existing methods for determining the control attainable set of a redundant drive system with linear constraints are complex and prone to errors, especially when dealing with 3D space and linearly independent control efficiency matrix columns, limiting their application in advanced systems like satellites, aircraft, and robots.
Innovation Solution
A method is proposed to calculate the control attainable set by establishing an expression for each pair of linear constraint control components, classifying boundary surfaces, and determining key boundary surfaces directly, which simplifies the process and improves computational efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing methods are used to determine the control attainable set of a redundant drive system with linear constraints, then the control capability can be evaluated, but the calculation process becomes complex and error-prone
Solution Approach 1:
The patent segments the control attainable set calculation into distinct boundary surface types (planar boundary surfaces and non-planar boundary surfaces). By classifying and processing each type separately with dedicated algorithms, the complex calculation is divided into manageable segments, reducing overall complexity while maintaining accuracy.
Solution Approach 2:
The patent performs preliminary classification of boundary surfaces before calculation. By pre-identifying which boundary surfaces are planar and which are non-planar, the system can apply appropriate calculation methods in advance, avoiding complex real-time decision-making during the calculation process and reducing errors.
2Reliability
If existing methods are used to determine the control attainable set, then control capability can be characterized, but the computational efficiency is reduced
Solution Approach 1:
The patent divides the control attainable set into multiple boundary surface segments (planar and non-planar types). This segmentation allows parallel processing of different surface types and enables the use of optimized algorithms for each segment, significantly improving computational efficiency while maintaining complete and accurate control capability characterization.
Solution Approach 2:
The patent changes the representation parameters of boundary surfaces by distinguishing between planar and non-planar types. This parameter change enables the system to select appropriate mathematical models and calculation strategies for each type, optimizing computational resources and improving overall calculation efficiency.
Data Source
AI summary
Provided is a method for calculating a control attainable set of a redundant drive system under a linear constraint, which relates to the technical field of dynamics control allocation of the redundant drive system. The method first constructs a control attainable set problem for a redundant drive system under each pair of linear constraint control components, and then classifies boundary surfaces corresponding to a control set into three types of rectangular boundary surfaces and one type of triangular boundary surface. By grouping the boundary surfaces, the method determines a key boundary surface for each group to form a boundary surface set. After removing duplicate boundary surfaces from the boundary surface set, the method calculates a boundary surface of a control attainable set, and finally obtains the control attainable set.