PROBLEM TO BE SOLVED: To reduce a travel time of a moving body incapable of causing trust generation devices to generate a maximum thrust all together at the same time to reach a destination.SOLUTION: An arithmetic unit includes: a restriction condition speed arithmetic part that calculates a restriction condition speed vector which is a speed vector of a moving body having a plurality of thrust generation parts each of which generates a thrust in a direction different from those of other trust generation parts under a restriction condition in which the total sum of thrusts generated by the plurality of trust generation parts is restricted on the basis of an operation instruction to the plurality of thrust generation parts; an ideal speed arithmetic part which calculates an ideal speed vector which is a speed vector of the moving body under a condition without restriction in thrusts of the plurality of thrust generation parts; and a thrust distribution determination part which determines a distribution of thrusts of the plurality of thrust generation parts under the restriction condition so that the evaluation value of a difference between the restriction condition speed vector and the ideal speed vector becomes smaller.SELECTED DRAWING: Figure 8
【課題】全ての推力発生装置で同時に最大推力を発生させることができない移動体が目的地に到達するまでの移動時間を短縮する。【解決手段】演算装置が、移動体における互いに異なる方向に推力を発生させる複数の推力発生部に対する動作指令に基づいて、前記複数の推力発生部が発生させる推力の総和が制限された制限条件下における前記移動体の速度ベクトルである制限条件速度ベクトルを演算する制限条件速度演算部と、前記動作指令に基づいて、前記複数の推力発生部の推力を制限しない制限無し条件下における前記移動体の速度ベクトルである理想速度ベクトルを演算する理想速度演算部と、前記制限条件速度ベクトルと前記理想速度ベクトルとの相違の評価値が小さくなるように、前記制限条件下における前記複数の推力発生部の推力の配分を決定する推力配分決定部と、を備える。【選択図】図8
ARITHMETIC UNIT, MOVING BODY SYSTEM, ARITHMETIC METHOD AND PROGRAM
演算装置、移動体システム、演算方法およびプログラム
2016-10-20
Patent
Electronic Resource
Japanese
ARITHMETIC DEVICE, ARITHMETIC METHOD, ARITHMETIC SYSTEM, AND PROGRAM
European Patent Office | 2018
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