METHOD AND DEVICE FOR ALLOCATING THRUST TO AIR OR WATER CRAFT

摘要

PROBLEM TO BE SOLVED: To provide a thrust distribution method and its device allowing highly accurate control of thrust generated by a thrust generator, compared with conventional control. SOLUTION: Force balance and moment balance associated with thrust of air and water craft 1 equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators 1-3. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders 22 and 32 that minimize the performance index are calculated. COPYRIGHT: (C)2004,JPO