|국가/구분||United States(US) Patent 등록|
|국제특허분류(IPC7판)||G01M-015/00 B63H-025/04 B63H-025/00|
|미국특허분류(USC)||701/021; 073/117.4; 701/116; 701/224|
|발명자 / 주소|
|출원인 / 주소|
|대리인 / 주소||
|인용정보||피인용 횟수 : 4 인용 특허 : 11|
Force balance and moment balance associated with thrust of air and water craft equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators. 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 that minimize the performance index are calculated.
What is claimed is: 1. A method of allocating thrusts in air and water craft equipped with a plurality of thrust generators that generate thrusts corresponding to manipulated variables, comprising calculating 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, wherein 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 n...