| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method for a thrust generator for performing the thrust distribution capable of minimizing consumption energy under restriction of rated thrust of the thrust generator and under the influence of angle prohibiting processing. SOLUTION: Optimal distribution processing is performed on thrust to be outputted by respective thrusters so that a value of an evaluation function becomes minimum on the basis of a value of the imparted whole thrust X, Y and the whole moment N (Step 2), and when an azimuth of respective thruster thrust generators on the basis of obtained optimal thrust falls within a prohibiting angle range, after performing the angle prohibiting processing for setting an angle outside of the prohibiting angle range, the optimal distribution is also performed (Step 4), so that when there is a thruster where optimal thrust exceeds the rated thrust, the optimal thrust is determined again by increasing a cost parameter, and when a change in the cost parameter exceeds an allowable value, thrust restricting processing (Step 6) for changing the value of the X, Y and N is repeatedly performed up to becoming nonexistent in the thruster where optimal output exceeds the rated thrust so that the evaluation function reduces.
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