针对样例靶机航向不稳定的问题, 首先设计了增稳控制律, 其次, 根据蛇形机动动力学非线性特性, 采用线性最优二次型鲁棒自适应动态补偿的混合控制方法, 设计了横侧向蛇形机动指令跟踪控制律, 实现滚转角和航迹角快速响应的同时兼顾快速消除侧滑角。同时, 根据蛇形机动过程中通道之间的耦合效应, 进行了解耦补偿控制。通过分析蛇形机动过程中各物理量的运动关系, 设计出蛇形机动控制指令。最后, 在Matlab/Simulink环境下进行了数值仿真验证, 从仿真结果可以看出, 蛇形机动控制律可以有效克服外界扰动, 维持良好的指令跟踪的响应品质。

In order to solve the problem of directional instability of the target drone, the stability augmentation control law is designed as the basis for subsequent control law designs. Then, according to the nonlinear dynamic characteristics of S maneuver, a hybrid control method consisting of robust servo mechanism linear quadratic regulator and adaptive dynamic offsets is used to design the tracking control law of lateral S maneuver command, which can make the roll angle and flight-path angle respond quickly as well as eliminate the sideslip angle rapidly. In order to decrease the coupling effect among channels in the process of S maneuver, the decoupling offsets control law is designed. The S maneuver control command is designed by analyzing the motion relationship between physical quantities in the process of S maneuver. A numerical simulation under Matlab/Simulink environment is carried out. The results show that the S maneuver control law can overcome the external disturbances effectively and track commands well.