Linear Optimal Control Allocation Method for Vertical / Short Takeoff and Landing Aircraft

Abstract

The present invention provides a linear optimal control allocation method for a vertical / short take-off and landing aircraft, which belongs to the field of aircraft guidance and control technology. It aims to establish a control allocation strategy for two types of actuators, namely, thrust vector and pneumatic control surfaces, of a vertical / short take-off and landing aircraft. First, a linear fade-in and fade-out function model of each actuator is established. On this basis, a control allocation optimization mathematical model is constructed to maximize the control torque and integrate the efficiency of the actuator. The linear fade-in and fade-out node angles of the thrust vector and the pneumatic control surfaces are solved by discretizing the non-uniform intervals of the thrust vector deflection angle, thereby obtaining the control increments of the thrust vector and the pneumatic control surfaces. Compared with the traditional pseudo-inverse control allocation method, the present invention can effectively avoid the actuator saturation problem caused by matrix singularity and ensure the full envelope control capability of the vertical / short take-off and landing aircraft. At the same time, the fade-in and fade-out strategy based on the linear function is simple to implement, has clear rules, and has higher engineering practical value.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft guidance and control, and relates to a linear optimal control allocation method for a vertical / short take-off and landing aircraft. Background Art

[0002] Vertical / short takeoff and landing aircraft are a new type of aircraft that can not only take off and land vertically or in a very short distance, but also achieve high-speed cruise. They have the advantages of both conventional fixed-wing aircraft and helicopters: low requirements for take-off and landing sites, flexible deployment, strong maneuverability, etc., and have broad application prospects. However, the dynamic characteristics of vertical / short take-off and landing aircraft are complex during the transition process from "hover to cruise" or "cruise to hover", with typical variable configuration and variable speed characteristics. This type of aircraft has two different types of actuators, thrust vector and aerodynamic control surfaces. The available control torque of each actuator varies widely during the transition process. Therefore, it is extremely difficult to accurately distribute the desired virtual control amount to different actuators to ensure the control capability of each channel while avoiding control saturation.

[0003] Control allocation based on pseudo-inverse method is a typical control allocation strategy for multi-control input and output systems and is widely used in engineering. However, for vertical / short take-off and landing aircraft, the control ability of thrust vector and aerodynamic characteristics changes dramatically during the transition from hover to cruise and from cruise to hover. Directly using control allocation based on pseudo-inverse method during the entire transition process will inevitably lead to actuator saturation, seriously affecting flight safety. To this end, it is necessary to analyze the control efficiency of each actuator and establish the available working range of each actuator without losing control capability, so that the actuator will no longer participate in attitude control in the range of low control efficiency, effectively preventing control saturation. Summary of the invention

[0004] The present invention provides a linear optimal control allocation method for a vertical / short take-off and landing aircraft to solve the problems in the related art that the controllability of the thrust vector and aerodynamic characteristics changes dramatically during the transition from hovering to cruising and from cruising to hovering, and that directly using the control allocation based on the pseudo-inverse method during the entire transition process will inevitably lead to actuator saturation, seriously affecting flight safety, and the like.

[0005] A first aspect of the present invention provides a method for allocating linear optimal control of a vertical / short take-off and landing aircraft, comprising the following steps:

[0006] S1: Establish linear fade-in and fade-out functions for two types of actuators: thrust vector and aerodynamic control surface. The linear fade-in and fade-out function λ of thrust vector TV The expression of (X) can be, but is not limited to:

[0007]

[0008] Linear fade-in and fade-out function λ of aerodynamic control surfaces AS The expression of (X) can be, but is not limited to:

[0009]

[0010] Where X is the deflection angle of the thrust vector, which varies between 0° horizontally and 90° vertically; are the start and end node angles of the thrust vector fade-in and fade-out, The start and end node angles of the aerodynamic control surface fade-in and fade-out; is the unknown variable to be determined;

[0011] S2: Based on the linear fade-in and fade-out function of the actuator, a maximum available control torque mathematical model that considers both positive and negative control capabilities is established, wherein the expression of the maximum available control torque mathematical model can be but is not limited to:

[0012]

[0013] in, is the maximum positive control torque that the thrust vector can provide when the vector is deflected at angle X, is the maximum negative control torque that the thrust vector can provide when the vector is deflected at angle X, is the maximum positive control torque that the aerodynamic control surface can provide when the vector deflection angle is X, M is the maximum negative control torque that the aerodynamic control surface can provide when the vector deflection angle is X. max (X) is the overall maximum available control torque when the vector is deflected at angle X;

[0014] S3: Based on the maximum available control torque mathematical model, a control allocation optimization mathematical model for comprehensive actuator efficiency is established;

[0015] S4: Based on the control allocation optimization mathematical model, the thrust vector and the aerodynamic control surface fade-in and fade-out node angles are The range of values ​​of is discretized into non-uniform intervals to simplify the calculation amount, and the discrete integer programming method is used to obtain

[0016] S5: Based on equations (1) and (2), the thrust vector and the aerodynamic control surface fade-in and fade-out functions are obtained, and the control input increments of the thrust vector and the aerodynamic control surface actuators are calculated. The expressions of the control input increments of the thrust vector and the aerodynamic control surface actuators can be, but are not limited to, as follows:

[0017]

[0018] Among them, uV Output of the vertical / short takeoff and landing aircraft hovering attitude controller, u C is the cruise attitude controller output for vertical / short takeoff and landing aircraft, △u TV is the thrust vector control input increment, △u AS Enter increments for aerodynamic control surfaces.

[0019] Optionally, in one embodiment of the present application, the control allocation optimization mathematical model of the comprehensive actuator efficiency in S3 is represented by formula (5):

[0020]

[0021] Wherein, γ(M) is the moment balance function, wherein the expression of the moment balance function can be but is not limited to:

[0022]

[0023] Among them, J(z) in formula (5) is the objective function to be optimized, is the variable to be optimized; η TV is the thrust vector efficiency decision value, η AS is the decision value of aerodynamic control surface efficiency, is the shortest fade-in and fade-out interval of the thrust vector, It is the shortest fade-in and fade-out interval of the aerodynamic control surface.

[0024] Optionally, in one embodiment of the present application, the non-uniform interval discretization in S4 is performed by discretizing at intervals greater than 5° at the thrust vector deflection angle X∈(60°,90°]∪[0°,20°] and at intervals less than or equal to 5° at X∈(20°,60°].

[0025] A second aspect of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the linear optimal control allocation method for vertical / short take-off and landing aircraft as described in the above embodiment.

[0026] A third aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned linear optimal control allocation method for vertical / short take-off and landing aircraft.

[0027] A fourth aspect of the present invention provides a computer program product, including a computer program, which, when executed, implements the above-mentioned linear optimal control allocation method for vertical / short take-off and landing aircraft.

[0028] The embodiment of the present invention can construct a mathematical model for optimizing control allocation by combining the control efficiency and overall control capability of two types of actuators, namely thrust vector and pneumatic control surface, to obtain the linear optimal fade-in and fade-out interval of each actuator, and realize the efficient allocation of the desired control torque. The embodiment of the present invention has the advantages of clear algorithm purpose, simple implementation, and high engineering practical value, and can be applied to the attitude control allocation problem of any channel of roll, pitch, and yaw of vertical / short take-off and landing aircraft. Thus, the problem in the related art that the control capability of thrust vector and aerodynamic characteristics changes dramatically during the transition from hovering to cruising and from cruising to hovering is solved, and the direct use of control allocation based on the pseudo-inverse method during the entire transition process will inevitably lead to actuator saturation, seriously affecting flight safety, etc.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 A flow chart of a linear optimal control allocation method for a vertical / short take-off and landing aircraft provided in an embodiment of the present invention;

[0032] Figure 2 A schematic block diagram of a linear fade-in and fade-out function of a thrust vector and an aerodynamic control surface according to an embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] The following describes the linear optimal control allocation method for a vertical / short take-off and landing aircraft according to an embodiment of the present invention with reference to the accompanying drawings. In view of the problem mentioned in the above background technology that the control ability of the thrust vector and aerodynamic characteristics changes dramatically during the transition from hovering to cruising and from cruising to hovering, and the control allocation based on the pseudo-inverse method is directly used in the entire transition process, which will inevitably lead to actuator saturation and seriously affect flight safety, the present invention provides a linear optimal control allocation method for a take-off and landing aircraft, in which the control efficiency and overall control ability of two types of actuators, the thrust vector and the aerodynamic control surface, are combined to construct a control allocation optimization mathematical model, obtain the linear optimal fade-in and fade-out interval of each actuator, and realize the efficient allocation of the desired control torque, which has the advantages of clear algorithm purpose, simple implementation, and high engineering practical value, and can be applied to the attitude control allocation problem of any channel of roll, pitch, and yaw of a vertical / short take-off and landing aircraft. Thus, the problem that the control ability of the thrust vector and aerodynamic characteristics changes dramatically during the transition from hovering to cruising and from cruising to hovering in the related art is solved, and the control allocation based on the pseudo-inverse method is directly used in the entire transition process, which will inevitably lead to actuator saturation and seriously affect flight safety.

[0036] Specifically, Figure 1 This is a flow chart of the linear optimal control allocation method for vertical / short take-off and landing aircraft provided by the present invention.

[0037] Taking the pitch attitude channel of a vertical / short takeoff and landing aircraft as an example, its thrust vector control torque is generated by a three-bearing vector nozzle, and the aerodynamic control surface control torque is generated by the elevator; the specific steps of the linear optimal control allocation method are as follows:

[0038] In step S101, linear fade-in and fade-out functions of two types of actuators, namely thrust vector and aerodynamic control surface, are established.

[0039] It can be understood that the linear fade-in and fade-out function λ of the thrust vector in the embodiment of the present invention is TV The expression of (χ) can be, but is not limited to:

[0040]

[0041] Linear fade-in and fade-out function λ of aerodynamic control surfaces AS The expression of (X) can be, but is not limited to:

[0042]

[0043] Where X is the thrust vector deflection angle, which varies between horizontal 0° and vertical 90°. are the start and end node angles of the thrust vector fade-in and fade-out, The start and end node angles of the aerodynamic control surface fade-in and fade-out, It is an unknown variable to be determined, and its value range is between horizontal 0° and vertical 90°.

[0044] In step S102, based on the linear fade-in and fade-out function, a maximum available control torque mathematical model is established that takes both positive and negative control capabilities into consideration.

[0045] It can be understood that the expression of the maximum available control torque mathematical model of the embodiment of the present invention can be but is not limited to:

[0046]

[0047] in, is the maximum positive control torque that the thrust vector can provide when the vector is deflected at an angle χ, is the maximum negative control torque that the thrust vector can provide when the vector is deflected at angle X, is the maximum positive control torque that the aerodynamic control surface can provide when the vector deflection angle is X, is the maximum negative control torque that the aerodynamic control surface can provide when the vector deflection angle is x, M max (χ) is the overall maximum available control torque when the vector is deflected at an angle of χ.

[0048] In step S103, based on the maximum available control torque mathematical model, a control allocation optimization mathematical model for comprehensive actuator efficiency is established.

[0049] It can be understood that the expression of the control allocation optimization mathematical model in the embodiment of the present invention can be but is not limited to:

[0050]

[0051] Wherein, γ(M) is the moment balance function, wherein the expression of the moment balance function can be but is not limited to:

[0052]

[0053] Among them, J(z) in formula (5) is the objective function to be optimized, is the variable to be optimized, X TV is the thrust vector efficiency decision value, η AS is the decision value of aerodynamic control surface efficiency, is the shortest fade-in and fade-out interval of the thrust vector, is the shortest fade-in and fade-out interval of the aerodynamic control surface. The specific value adopted by the embodiment of the present invention can be as shown in formula (7), which can be:

[0054]

[0055] In step S104, the fade-in and fade-out node angle values ​​are discretized at non-uniform intervals, and discrete integer programming is performed to solve the control allocation optimization mathematical model.

[0056] It can be understood that the embodiment of the present invention can optimize the thrust vector and the aerodynamic control surface fade-in and fade-out node angle based on the control allocation optimization mathematical model. The value range of is non-uniformly discretized at the thrust vector deflection angle X∈(60°,90°]∪[0°,20°] at an interval greater than 5° and at X∈(20°,60°] at an interval less than or equal to 5°. The discrete result can be shown in formula (8), which can be:

[0057]

[0058] Furthermore, the embodiments of the present invention are The piecewise discretization of is the same as in formula (8) Based on the discrete integer programming method to solve the mathematical model in equation (5), the embodiment of the present invention obtains It can be expressed as:

[0059]

[0060] In step S105, the control input increments of two types of actuators, namely the thrust vector and the aerodynamic control surface, are calculated.

[0061] It can be understood that the embodiment of the present invention can obtain the thrust vector and the aerodynamic control surface fade-in and fade-out function based on equations (1) and (2), and then obtain the result of the thrust vector and the aerodynamic control surface fade-in and fade-out function, which can be expressed as:

[0062] Linear fade function λ of the thrust vector TV (χ):

[0063]

[0064] Linear fade-in and fade-out function λ of aerodynamic control surfaces AS (χ):

[0065]

[0066] Furthermore, the embodiment of the present invention can calculate the control input increments of two types of actuators, namely, thrust vector and pneumatic control surface, which can be expressed as:

[0067]

[0068] Among them, u V Output of the vertical / short takeoff and landing aircraft hovering attitude controller, u Cis the cruise attitude controller output for vertical / short takeoff and landing aircraft, △u TV is the thrust vector control input increment, △u AS Enter increments for aerodynamic control surfaces.

[0069] The embodiment of the present invention is based on the above control allocation optimization mathematical model, and the linear fade-in and fade-out functions of the thrust vector and the aerodynamic control surface are obtained as follows: Figure 2 As shown in the figure, taking hovering to cruising as an example, the thrust vector deflection angle of the vertical / short take-off and landing aircraft changes from 90° to 0°, and the optimized thrust vector gradually fades out linearly between 28° and 20°, while the aerodynamic control surface gradually fades in linearly between 60° and 52°. The optimization result reflects the idea that the aerodynamic control surface intervenes in the control as early as possible, while the thrust vector exits the control later, thereby ensuring the maximum available control torque under the premise of preventing control saturation.

[0070] According to the linear optimal control allocation method for vertical / short take-off and landing aircraft proposed in the embodiment of the present invention, a mathematical model for optimizing control allocation can be constructed by combining the control efficiency and overall control capability of two types of actuators, namely thrust vector and aerodynamic control surfaces, to obtain the linear optimal fade-in and fade-out interval of each actuator, thereby realizing efficient allocation of the desired control torque. The method has the advantages of clear algorithm purpose, simple implementation, and high engineering practical value, and can be applied to the attitude control allocation problem of any channel of roll, pitch, and yaw of vertical / short take-off and landing aircraft. Thus, the problem in the related art that the control capability of thrust vector and aerodynamic characteristics changes dramatically during the transition from hovering to cruising and from cruising to hovering is solved, and the direct use of control allocation based on the pseudo-inverse method during the entire transition process will inevitably lead to actuator saturation, seriously affecting flight safety, and the like.

[0071] Figure 3 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. The electronic device may include:

[0072] A memory 301 , a processor 302 , and a computer program stored in the memory 301 and executable on the processor 302 .

[0073] When the processor 302 executes the program, the linear optimal control allocation method for the vertical / short take-off and landing aircraft provided in the above embodiment is implemented.

[0074] Furthermore, the electronic device further comprises:

[0075] The communication interface 303 is used for communication between the memory 301 and the processor 302 .

[0076] The memory 301 is used to store computer programs that can be run on the processor 302 .

[0077] The memory 301 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0078] If the memory 301, the processor 302 and the communication interface 303 are implemented independently, the communication interface 303, the memory 301 and the processor 302 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0079] Optionally, in a specific implementation, if the memory 301, the processor 302 and the communication interface 303 are integrated on a chip, the memory 301, the processor 302 and the communication interface 303 can communicate with each other through an internal interface.

[0080] The processor 302 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0081] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned linear optimal control allocation method for vertical / short take-off and landing aircraft.

[0082] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed, implements the above-mentioned linear optimal control allocation method for vertical / short take-off and landing aircraft.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0084] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0085] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0086] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0087] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0088] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0089] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0090] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A linear optimal control allocation method for vertical / short take-off and landing aircraft, characterized in that: The following steps are involved: S1: Establish linear fade-in and fade-out functions for two types of actuators: thrust vector and aerodynamic control surface. The linear fade-in and fade-out function λ of thrust vector TV The expression of (χ) is: Linear fade-in and fade-out function λ of aerodynamic control surfaces AS The expression of (χ) is: Where χ is the thrust vector deflection angle, which varies between 0° horizontally and 90° vertically; are the start and end node angles of the thrust vector fade-in and fade-out, The start and end node angles of the aerodynamic control surface fade-in and fade-out; is the unknown variable to be determined; S2: Based on the linear fade-in and fade-out function of the actuator, a mathematical model of the maximum available control torque that takes into account both positive and negative control capabilities is established. The expression of the mathematical model of the maximum available control torque is: in, is the maximum positive control torque that the thrust vector can provide when the vector is deflected at an angle χ, is the maximum negative control torque that the thrust vector can provide when the vector is deflected at an angle χ, is the maximum positive control torque that the aerodynamic control surface can provide when the vector deflection angle is x, is the maximum negative control torque that the aerodynamic control surface can provide when the vector deflection angle is x, M max (χ) is the overall maximum available control torque when the vector is deflected at an angle χ; S3: Based on the maximum available control torque mathematical model, a control allocation optimization mathematical model for comprehensive actuator efficiency is established; S4: Based on the mathematical model of control allocation optimization, the thrust vector and aerodynamic control surface fade-in and fade-out node angles are The range of values ​​of is discretized into non-uniform intervals to simplify the calculation amount, and the discrete integer programming method is used to obtain S5: Based on equations (1) and (2), the fade-in and fade-out functions of the thrust vector and the pneumatic control surface are obtained, and the control input increments of the two types of actuators, the thrust vector and the pneumatic control surface, are calculated. The expressions of the control input increments of the two types of actuators, the thrust vector and the pneumatic control surface, are as follows: Among them, u V Output of the vertical / short takeoff and landing aircraft hovering attitude controller, u C For vertical / short takeoff and landing aircraft cruising attitude Controller output, △u TV is the thrust vector control input increment, △u AS Enter increments for aerodynamic control surfaces.

2. The linear optimal control allocation method for vertical / short take-off and landing aircraft according to claim 1, characterized in that: The control allocation optimization mathematical model of the comprehensive actuator efficiency in S3 is represented by formula (5): Among them, γ(M) is the moment balance function, and the expression of the moment balance function is: Among them, J(z) in formula (5) is the objective function to be optimized, is the variable to be optimized; η TV is the thrust vector efficiency decision value, η AS is the decision value of aerodynamic control surface efficiency, is the shortest fade-in and fade-out interval of the thrust vector, It is the shortest fade-in and fade-out interval of the aerodynamic control surface.

3. The linear optimal control allocation method for vertical / short take-off and landing aircraft according to claim 1, characterized in that: The non-uniform interval discretization in S4 is carried out in a manner of discretizing at intervals greater than 5° at the thrust vector deflection angle X∈(60°,90°]∪[0°,20°] and at intervals less than or equal to 5° at X∈(20°,60°].

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