公开(公告)号：US20250045353A1

公开(公告)日：2025-02-06

申请号：US18630016

申请日：2024-04-09

Applicant: SHANDONG JIAOTONG UNIVERSITY

Inventor： Jiuhong Ruan ,  Yuhong Xing

IPC: G06F17/17

Abstract: Provided is a secant line approximation method for a nonlinear constraint of a redundant drive system, which relates to the technical field of dynamics control allocation of the redundant drive system. The method includes: first obtaining, based on a control input model for a redundant drive system with any pair of nonlinear constraint components, a closed region of the model that is formed by intersecting a rectangle and an ellipse on a geometric plane; and after dividing the closed region into a union set of rectangles and elliptical triangles, approximating the elliptical triangle based on a combination of rectangles and triangles to obtain an approximation result of the closed region, thereby achieving a linear approximation of the pair of nonlinear constraint components.

公开(公告)号：US20240402667A1

公开(公告)日：2024-12-05

申请号：US18640040

申请日：2024-04-19

Applicant: SHANDONG JIAOTONG UNIVERSITY

Inventor： Yuhong Xing ,  Jiuhong Ruan

IPC: G05B19/02

Abstract: 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.