JPH02106492A - Control thrust distributing device - Google Patents

Abstract

PURPOSE:To secure the superior constant-point holding function and route holding function by carrying out the thrust distribution of a plurality of thrust generators under the condition that the fuel consumption reduces to the min., when the constant-point holding and route holding of a navigation body (aeroplane, underwater navigation body, vessel, etc.) are carried out. CONSTITUTION:The position, angle, and speed information of a navigation body are detected by a detector 1, and the set position, set angle, and the set speed information are outputted by a setting device 2, and the command signals for the total thrust force and total moment which are necessary for constant- point-holding the navigation body 7 at a set position or for route-holding the navigation body 7 at a set route are outputted from the above-described signals by a control command calculator 3. Each driving means 5 for a plurality of thrust generators 6 is allowed to output a thrust distribution signal so that the total thrust and total moment can be secured with the min. fuel consumption by a control thrust optimum distributor 4 according to the command signals, and the movement of the navigation body 7 is controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control thrust distribution device for a moving vehicle (a flying vehicle, an underwater vehicle, a ship, etc.).

[Conventional technology]

The vehicle is equipped with thrust generators (thrusters, rudders,
A thrust generator is provided, and the thrust generator is driven by a thrust generator drive means to control the motion of the propellant by the thrust generator.

[Problem to be solved by the invention]

However, in such a conventional motion control device for a vehicle, the total thrust (Force command) and total moment (Mo
There is still no control thrust distribution device that receives the command signal (ment command) and distributes the thrust optimally to the drive means of the thrust generator so that fuel consumption is minimized, and it has been a long time since it was realized. It was long awaited.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control thrust distribution device for a mobile vehicle that solves the above problems and enables excellent fixed point keeping control and course keeping control.

[Means to solve the problem]

A control thrust distribution device according to the present invention includes a detector 1 for detecting position, angle, and speed information of a moving object in a moving object having a plurality of thrust generators for motion control.

A setter 2 outputs information on the set position, set angle, and set speed of the vehicle, and compares the information from the detector 1 and the setter 2 to determine the total required to maintain the vehicle at the set position or on the set route. a control command calculator 3 that outputs command signals of thrust and total moment; and a plurality of thrust generators that input command signals from the control command calculator 3 to ensure the total thrust and total moment with minimum fuel consumption. a control thrust optimum distributor 4 which outputs a thrust distribution signal to each driving means of the control thrust optimum distributor 4;
The present invention is characterized in that it is equipped with a driving means 5 that inputs an output signal from the engine and drives the thrust generator, and a thrust generator 6.

According to the control thrust distribution device for a vehicle of the present invention, the control command calculator 3 calculates the total thrust (
Forco command) and total moment (Mom@
nt command), and the control thrust optimum distributor 4 outputs a thrust distribution signal to each driving means of the plurality of thrust generators so as to secure the total thrust and total moment with minimum fuel consumption. For,
It becomes possible to control the vehicle to maintain a fixed point or maintain a course.

〔Example〕

Examples of the present invention are shown in FIGS. 1 to 4.

FIG. 1 shows a system diagram of a control thrust distribution device for a vehicle according to the present invention. In FIG. 1, a detector 1 detects the position, angle, and speed information of the vehicle, and a setting device 2 outputs the set position, set angle, and set speed information. Signals from the detector 1 and setting device 2 are sent to a control command calculator 3.

The control command calculator 3 calculates the total thrust (Forco command) and total moment (M
oment command) is output.

In response to the command signal from the control command calculator 3, the control thrust optimum distributor 4 sends a thrust distribution signal to each driving means of the plurality of thrust generators so as to secure the total thrust and total moment with minimum fuel consumption. Output. Then, the thrust generator 6 is driven by the thrust generator driving means 5 to control the motion of the mobile vehicle 7.

The distribution algorithm of the control thrust optimum distribution unit 4 is as follows.

The motion of the vehicle 7 is a three-dimensional spatial motion, along the X axis.

It has six degrees of freedom: the y-axis and two rotational axes. Therefore, the thrust of the thrust generator 6 must satisfy the following six equation conditions.

Force equality condition: ΣFxi −Fxc = 0 − (2, 1) l = 1 ΣF□−FYe=0 1=1 822%”-FZe=O 1;1 ...(2,2) ...(2,3) Equation condition for moments: here n: Number of thrust generators l: 1st thrust generator FXe"YeTFZe'x when requested by the thrust generator.

Total thrust in the y and z axis directions.

Mc, No., Rc: Total moment of yawing (z@ rotation), pitching (y axis rotation), and rolling (X axis rotation) required for the thrust generator.

CLzl +41 r1□): Distance from the cruising center of gravity G to the thrust generator 1.

(Fxi*Fyl+Fzl): Thrust generator l! +
'I r Thrust component in the L-axis direction.

However, the following allowable ranges are specified for F-i, F71, and Fxi, respectively.

0≦IF 1=2~n...
(2,7) 0≦IF l≦-1... (2,8) IO≦IF l≦Frn, ・・
・(2,9) Also, F,, 10FY, 10F, ≦Frn1
...-(2,10)Fmi: Maximum capacity of thrust generation i Thrust component that satisfies the six equation conditions within the above allowable range (
There are a large number of F, F xs yi+ Fzl ) (1=1 to n). Therefore, it is necessary to provide one evaluation standard and determine the thrust component of each thrust generator according to that standard.

In this algorithm, the thrust component of each thrust generator is determined so as to "minimize the fuel consumption of the thrust generator" as its evaluation criterion. The evaluation function is as follows (2,
11) Use formula.

F, : Thrust force of thrust generator l Fmi 'Maximum capacity of thrust generator 1 where F, ±Fx, 10F,, +F,,
,・(2,12) By solving the problem of minimizing J above, the thrust component (Fxt”yt
+FB) (1=1=n) is determined. The method is based on the Lagrange undetermined multiplier method.

To solve the above optimization problem, (2,7) to (2,9)
Replace the inequality condition in the expression with the following equality condition.

FXI “xxi” Fml
−(2,13)F y 1 +x y I :==
F, t =・(2,14)F
Zt”2t=’mi −(2
, 15) From equations (2, 13) to (2, 15), Fxi = Fmi −”xl
・=(2,1
6) Fy17 Fmt-”yl
−・−(2,17)FZk −Fml −xzl
...(2,18)(2,16)~
When the equation (2, 18) is substituted into the evaluation function equation (2, 11), J becomes K as follows.

The necessary conditions for minimizing J′ are ...(2,19) Furthermore, hi (1=1 to 6) is defined as follows.

h1=Σ(Fm, -Xx,)-Fxc・(2,20)
l=1 h2=Σ”rtli−”Yi) −FYc
...(2,21)1=1 h3=Σ(Fml-xzi)-Fzc=
(2, 22) i = 1 From equation (2, 26), next we introduce a new Lagrange multiplication λ, (1 = 1 to 6), set the evaluation function as follows, and create a new The evaluation function J' is Xxi(1"1 + 2 +"・n) + x
yt (1=1 +2 +”'n) s Xzl (z
is optimized for i 12 +...n).

J' = J ten stones, λ1hi
... (2,26) (2,13) to (2,15) equations and (2,30) to (2,32) equations, X of thruster l
,7. Z-axis direction thrust components FX, IF, , F□ are obtained.

FxI = (-λ, +λ4tYi-λ5tZl)Fmlp
Y, = (-λ2-λ4tXi+λ6tzl”m1Fz,
=(-λ3+λ5txt-λ6tYi)Fml...(
2,33) ...(2,34) ...(2,35) Lagrange multiplier λ, (1=1~6) is (2,33)~
It is obtained by solving the following simultaneous equations obtained from equations (2, 35) and equations (2, 3) to (2, 8).

\ ...(2,36) ...(2,37) ...(2,38) ...(2,39) ...(2,40) X, y of the thrust generator l that minimizes the evaluation function.

Biaxial thrust acid content Fx,, FT,, F2. is (2,42
) to (2,45) and (2,33) to (2,35). In other words, the required total thrust in the +'lrZ-axis direction (Force command) and the required total moments of yawing, pitching, and rolling Mc, Nc, and Rc (Moment command).
Solve the matrix of equations (2,42) to (2,45) to determine the Lagrange multiplier λ1 (i = 1 to 6), and (
2, 33) to (2, 35) to find the thrust component of the thrust generator l.

Figure 2 summarizes the above thrust distribution determination method.

The signal output from the control thrust distribution device 4 is sent to the thrust generator driving means 5, which drives the thrust generator 6 to maintain a fixed point and maintain a constant course with minimum fuel.

FIG. 3 is a demonstration of the application of the controlled thrust distributor of the present invention to maintain a fixed point of the vehicle 7. Absolute position coordinates (x, y, z) and angles (yaw angle ψ, pitch angle θ
, roll angle φ) is detected by the detector 1, and the setting device 2
The position and angle settings of the vehicle 7 (xp, yp, z, .
ψ2. θ1. φ,) is performed. Signals from the detector 1 and setting device 2 are sent to a control command calculator 3. Next, the control commands (FXc, FYe, F'
2. Mc, NI! An example of a method for generating IRc) will be described. The adder/subtractor 3a in the control command calculator 3 calculates a deviation signal between the set value and the detected value.

e : r −X (1) As an example for the deviation signal elc, a control command U is created using the following equation.

u = LPe + L, J' edt = - (2)
The above-mentioned algorithm is applied to this control command uK to optimally allocate the control thrust. Control thrust optimal distributor 4
The thrust distribution signals obtained for each thrust generator are sent to the driving means of each thrust generator 6, and the thrust generator 6 is driven and controlled.

In Figure 4, initially CX , Y , Z ) = (0,0,0)
This is the result of holding a fixed point using the control thrust distributor 4 of the present invention when the moving object 2 stationary at the position receives a steady disturbance. In this case, the setting values are X, = 0, Y = O
, Zp=0, cpp=-15°lθday-15°φ=
It was o'.

〔Effect of the invention〕

Since the present invention is configured as described above, the thrust of the plurality of thrust generators is generated under the condition that one fuel consumption is minimized when the device of the present invention holds a fixed point of a mobile vehicle and maintains a course. Since the distribution can be performed, it is possible to have excellent fixed point holding and route keeping functions.

[Brief explanation of drawings]

FIG. 1 is a system diagram of a control thrust distribution device according to the present invention;
Fig. 2 is a diagram summarizing the thrust distribution determination method of the device of the present invention, Fig. 3 is a diagram showing an example in which the device of the present invention is applied, and Fig. 4 is a diagram showing a case in which a stationary mobile vehicle is subjected to a steady disturbance. FIG. 3 is a diagram showing the results of applying the device of the present invention in the case of FIG. DESCRIPTION OF SYMBOLS 1...Detector, 2...Setting device, 3...Control command calculator, 4...Control thrust optimum distribution device, 5...-Thrust generator drive means, 6...Thrust generator , 7... Navigation object.

Claims (1)

[Claims] In a vehicle having multiple thrust generators for motion control,
A detector (1) that detects the position and angular velocity information of the vehicle; a setter (2) that outputs the set position, set angle, and set speed information of the vehicle; and the detector (1) and the setter ( a control command calculator (3) that compares the information in 2) and outputs command signals for the total thrust and total moment necessary to maintain the vehicle at a set position or on a set route; and a control command calculator (3) a control thrust optimum distributor (4) that inputs a command signal from the controller and outputs a thrust distribution signal to each drive means of the plurality of thrust generators so as to secure the total thrust and total moment with minimum fuel consumption;
a driving means (5) for driving a thrust generator by inputting an output signal from the control thrust optimum distributor (4);
6) A control thrust distribution device comprising: