Complex optimization control problem accurate and rapid solving method based on direct method

The invention discloses a grid division method for direct discrete solution of a complex optimal control problem. According to an existing grid division method, due to the fact that the number of given finite element grids is too large, optimization calculation is very time-consuming, or discrete accuracy cannot be guaranteed, so that an optimization result is not ideal enough, and structural switching points of a system are often difficult to find rapidly and accurately. The method provided by the invention can reduce the direct discrete solution variable scale of the heterooptimal control problem, ensures that the discrete precision meets the user requirement, can quickly and accurately find the switching point of the system structure, and is simple and effective. The method is suitablefor online optimization of large-scale complex dynamic optimization problems. The grid division method for directly and discretely solving the complex optimal control problem is rapid and effective, the scale of discrete nonl