一种考虑多约束的分布式多执行器控制指令分配方法

Distributed multi-executer control instruction allocation method considering multiple constraints

Abstract

本发明公开了一种考虑多约束的分布式多执行器控制指令分配方法,该方法可以根据执行器与控制指令的匹配系数进行分配,同时满足各个执行器的控制输出上下限制和其能量约束。本发明为分布式算法,匹配系数、输出增量等计算都不需要中心单元,没有由于中心单元导致系统失效的风险,提高了系统的鲁棒性;输出计算不需要传统伪逆法等的矩阵求逆运算,大大降低了计算复杂度,有其是在执行器个数较大的情况下,优势更为明显;本发明计算所得的输出同时满足执行器输出上下限约束和执行器剩余能量约束;本发明适用于异构执行器之间的控制分配,可适用于同时配置双向执行器和单向执行器的系统,也可以适用于输出上下限等约束不同的执行器。
The invention discloses a distributed multi-executer control instruction allocation method considering multiple constraints. The distributed multi-executer control instruction allocation method can allocate according to matching factors of executers and control instructions, and satisfies upper and lower limits of control output and energy constraints of each executer. The distributed multi-executer control instruction allocation method is a distributed algorithm, requires no central unit in calculation of the matching factors, output increments and the like, has no risk of system failure caused by a central unit, and increases robustness of the system; the output calculation does not need matrix inversion operation of a traditional pseudo-inverse method and the like, the calculation complexity is greatly reduced, and the advantage is more obvious especially under the condition of large number of the executers; the output obtained through calculation satisfies upper and lower output limit constraints as well as residual energy constraints of the executers; and the distributed multi-executer control instruction allocation method is suitable for control allocation among heterogeneous executers, can be applied to a system equipped with a bidirectional executer and a unidirectional executer, and is suitable for executers with different constraints of upper and lower output limits.

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