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KR-20260064677-A - Computing Control Integrated Operation Apparatus and Method for Forming an Action Space and Generating Control Applicable Continuous Values through Spatial Vector State Convergence

KR20260064677AKR 20260064677 AKR20260064677 AKR 20260064677AKR-20260064677-A

Abstract

The present invention relates to a computing operation structure used for the control of a mechanical system, and more specifically, to a computing control integrated operation device and method that forms boundary conditions of an action space where control command output is permitted using design specifications of the machine and state information obtained during operation, and continuously performs space-vector-based state operations within the formed action space to calculate a continuous control value that can be provided to a control system from a stably converged vector state . According to the present invention, the specification-based control limit redefinition unit functions as a prerequisite element for forming boundary conditions of a behavior space in which spatial-vector operations for generating control commands can be performed without changing the internal structure of the control algorithm. The spatial-vector based operation unit performs state operations via the same operation path within the behavior space formed by the boundary conditions without discrete value comparison or conditional branching, and the operation result generation unit calculates a continuous control value usable as a control input from the converged vector state when the spatial-vector state has stably converged, and provides it to an existing control system. Accordingly, the present invention provides a deterministic control instruction operation structure that can be implemented in the form of a single operation core on an FPGA, SoC, or ASIC by utilizing the stable convergence result of a space-vector state operation as an operation result for producing a control instruction without performing a control decision in a separate logic decision step.

Inventors

  • 안지호

Assignees

  • 안지호

Dates

Publication Date
20260507
Application Date
20260420
Priority Date
20260331

Claims (12)

  1. A computing control integrated operation unit for performing control of a machine system, comprising: a specification-based control limit redefinition unit that forms boundary conditions of an action space in which control command output is allowed based on the design specifications of the machine; a space-vector-based operation unit that converts input data into a vector state within the action space formed by the boundary conditions and performs a space-vector-based state convergence operation; A computing control integrated computation device comprising a computation result generation unit that calculates a continuous control value that can be provided to a control system from the converged vector state when the vector state formed by the above space-vector-based computation reaches a stable convergence state, wherein the continuous control value is provided as the result of the space-vector state convergence computation rather than as the result of the judgment of a control algorithm.
  2. An apparatus according to claim 1, characterized in that the specification-based control limit redefinition unit is configured to exclude in advance a state that is physically impossible to execute or exceeds the design limit based on the design specifications, thereby providing only linearized input data capable of performing operations to the space-vector-based operation unit.
  3. An apparatus according to claim 1, wherein the space-vector based operation unit always performs space-vector based operations after input data is mapped to the action space, and does not withhold the generation of the operation result or perform a transition to another operation path.
  4. An apparatus according to claim 1, wherein the space-vector-based operation unit encodes input data into a multidimensional vector having a plurality of different semantic axes and forms a temporal evolution of a vector state by performing attenuation, translation, rotation, or combination operations on each axis.
  5. An apparatus according to claim 1, wherein the operation result generating unit calculates at least one of a specific dimension component of a converged vector state, the magnitude, direction, distance between vectors, or a projection value derived therefrom as a continuous control value .
  6. An apparatus according to claim 1, wherein the space-vector based operation unit determines whether the vector state converges based on the temporal accumulation of the vector state change amount or the stable region dwell time, rather than a comparison judgment at a single point in time.
  7. The device according to claim 1, wherein the computing_control integrated arithmetic unit is implemented as a hardware arithmetic block independent of a central processing unit (CPU), an arithmetic logic unit (ALU), a digital signal processor (DSP), or a matrix-based arithmetic unit, and is characterized by deriving the operation result by a spatial/vector state convergence operation rather than by numerical comparison or conditional branching.
  8. The device according to claim 7, wherein the hardware computation block is implemented as a single computation core on an FPGA, SoC FPGA, ASIC, or equivalent semiconductor device, and the computation path to the calculation of a control value does not include a software-based auxiliary processing or bypass processing path.
  9. An apparatus according to claim 1, characterized in that the continuous control value calculated by the operation result generating unit is directly used for motor drive control, actuator control, setting of control target value, or control mode transition.
  10. A machine control system characterized by including a computing_control integrated computation device according to claim 1, and a control system that receives a control value provided from the computation device as input and generates a control signal according to an existing control algorithm.
  11. A system according to claim 10, wherein the machine control system is applied to any one of an autonomous vehicle, a mobile robot, an industrial robot, semiconductor manufacturing equipment, an energy facility, or a petrochemical plant.
  12. A control method for performing control of a machine system, characterized by comprising the steps of: mapping input data into a computationally feasible behavior space based on the design specifications of the machine and dynamically redefining said behavior space; continuously performing space-vector-based state operations on the input data mapped to said behavior space; and calculating a valid continuous control value within said behavior space from the convergence of the state operation results and directly providing said control value to a control system.

Description

Computing Control Integrated Operation Apparatus and Method for Forming an Action Space and Generating Control Applicable Continuous Values through Spatial Vector State Convergence Computing Control Integrated Operation Apparatus and Method for Forming an Action Space and Generating Control Applicable Continuous Values through Spatial Vector State Convergence The present invention relates to a computing operation structure used for the control of autonomous vehicles, robot systems, aerospace systems, industrial plants, and other mechanical systems. In particular, it relates to a computing control integrated operation structure that forms control constraints defined by the design specifications of a machine into a computational premise space and performs space-vector-based state convergence operations within said space to calculate a continuous control value that can be provided to a control system . Conventional control systems generate control commands by performing discrete value comparisons, threshold determinations, and conditional branching on sensing data. In this structure, control decisions and calculations are clearly separated, and constraints are often expressed as fixed values or conservatively set limits. Consequently, control performance is limited under extreme operating conditions or abnormal states, or multiple exception handling paths are required. Fig. 1 : Overall structural diagram of the computing control integrated arithmetic unit Fig. 2 : Conceptual diagram of behavior space formation based on specification-based control limit redefinition Fig. 3 : Conceptual diagram of space-vector-based state convergence and computation result generation The present invention provides a means of solution according to the following configuration. (1) Input and sensing layer (100) The input data (100) includes an operating state value or a control-related input value obtained from a machine system to be controlled, and may include sensing data (110). (2) Spec-based control limit redefinition unit (200) The specification-based control limit redefinition unit (200) uses mechanical, electrical, or thermal design specification information (210) of the machine to form **boundary conditions (221) of the behavior space for generating control commands. The above-mentioned redefinition does not change the internal operation path of the control algorithm and functions as a prerequisite element that defines an operable region where space-vector-based operations can be performed . (3) State space hierarchy defined by constraints (600) (Maintain explanation of Fig. 2) (4) Space-vector based operation unit (300) The space-vector based operation unit (300) encodes input data mapped to the action space into a vector state (310) and performs a state convergence operation (320) that forms a temporal change of the vector state by decay or shift operation. (5) Vector State Convergence Layer (331~334) The vector state formed by space-vector-based operations reaches a stable convergence state (334) by staying for a certain period of time or longer within the safe state group (332) and the convergence alternate group (333). (6) Operation result generation unit (400) The operation result generation unit (400) calculates a **continuous control value (420)** that can be provided to a control system from the converged vector state. The continuous control value is not a control judgment result, but an operation output value generated as a result of a spatial-vector state convergence operation .