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针对现代飞机操纵面多、交叉耦合效应强,线性可达集无法实现指令精确分配的问题,提出了一种耦合非线性可达集的构建方法.研究了线性控制分配方法,给出了可达集的基本性质.根据耦合非线性可达集边界面的特点,分别定义了耦合、半耦合和非耦合三种边界面类型,并通过向量空间运算,给出了耦合非线性可达集的构建方法.针对边界面非线性的特点,采用线性逼近方法得到了可达集体积的计算公式.最后通过实例构建了某多操纵面飞机的耦合非线性可达集.“,”To deal with the problem that linear attainable subsets cannot be easily applied in accurate control allocation for modern aircrafts with multiple effectors and strong interaction effects, a method for designing the attainable subset by considering the nonlinear interactions between effectors is proposed. With the knowledge of the linear control allocation approach, basic properties of the attainable subset are presented. Three kinds of boundaries, namely coupling boundary, half-coupling boundary and non-coupling boundary, are introduced based on the features of the attainable subset. Then the attainable subset is constructed via vector operations. Considering the nonlinearity of the boundary, the volume formula of the attainable subset is obtained by applying the linear approximate method. At last an example about constructing the attainable subset for the multiple effectors aircraft is presented.