Patent ID: 6941195

Claim:
A device for allocating thrusts in air and water craft equipped with a plurality of thrust generators that generate thrusts corresponding to manipulated variables, the device being configured to calculate the manipulated variables given to the plurality of thrust generators to allow the air and water craft to run with a given targeted thrust or to be held at a fixed point, comprising: a calculating means for calculating the manipulated variables of the thrust generators that satisfy balance between the manipulated variables and the targeted thrust and a predetermined condition of a predetermined performance index, based on force balance and moment balance between the thrusts generated by the thrust generators and a thrust of the air and water craft, which is predetermined based on non-linear characteristics of the thrust generators, and based on the predetermined performance index associated with state variables relating to states of the thrust generators and/or the thrusts generated by the thrust generators, for minimizing the thrusts generated by the thrust generators, wherein the balance is given by formulae (1) to (3): ∑ i = 1 n ⁢ ⁢ f xi = X ( 1 ) ∑ i = 1 n ⁢ ⁢ f yi = Y ( 2 ) ∑ i = 1 n ⁢ ⁢ ( k 1 ⁢ i ⁢ f xi + k 2 ⁢ i ⁢ f yi ) = N ( 3 ) where X is a longitudinal component of the thrust of the air and water craft, Y is a lateral component of the thrust of the air and water craft, N is a thrust moment in a turning direction of the air and water craft, f xi is a longitudinal component of the thrust generated by an i-th thrust generator, f yi is a lateral component of the thrust generated by the i-th thrust generator, k 1i and k 2i are coefficients, and i is 1 to n (n: natural number); and wherein the thrusts F(t)=[f x1 . . . f xn f y1 . . . f yn ] T generated by the thrust generators are given by a non-linear equation (4) F ( t )= h[x ( t ), u ( t ), t] (4) when the manipulated variables of the thrust generators are represented by u(t)=[u 1 . . . u m ] T (m: positive integer) of the thrust generators, where t is time variable, and x are state variables given by non-linear differential equations (5): {dot over (x)} ( t )= g[x ( t ), u ( t ), t] (5).