三自由度气浮台推力分配算法设计

针对有冗余的喷嘴推力分配问题，首先提出一个目标函数，该目标函数不仅考虑了期望力向量和喷嘴产生合力之间的偏差，且统计了喷气的消耗量；其次根据喷嘴所产生力向量的对称性原则使搜索的范围从256减小到11，在很大程度上减小了每个周期搜索的计算量；最后通过数学仿真验证所提算法的合理和有效性，为其应用到半物理仿真中提供理论基础．

Thrusts allocation algorithm design for 3-DOF air bearing test-bed

To resolve the problem about the redundant in thrust allocation,an cost function was proposed in this paper.In the function,not only the net force error between the desired force vector and net force generated by thrusters into account was taken,but also the consumption of jet.And then,according to symmetry principle of the force vector generated by the thrusters,the search range is reduced from 256 to 11,and the computation is largely reduced;Finally,mathematical simulation results show that the approach is reasonable and effective,and it provides theoretical basis for hardware-in-loop simulation.