超低空空投过程中货台运动与侧风干扰耦合会影响载机的安全性和空投任务的完成，为此提出了基于反馈线性化和滑模变结构相结合的控制律设计方法. 利用微分几何反馈线性化完成系统解耦线性化，在此基础上采用滑模变结构控制设计系统内环姿态角的跟踪控制器，保证了系统鲁棒性，并结合外环PID 轨迹保持控制完成整个飞行控制系统设计. 仿真验证了控制器的鲁棒性，且满足空投战技指标要求.
Translation of the inner cargo coupled with the crosswind threats flight safety and affects the mission of airdrop. To solve the problem, a controller combining feedback linearization with variable structure is proposed. The system is decoupled and linearized using a differential geometry feedback linearization technique. Thus, the inner loop for altitude angle control is designed by using the variable structure theory so that system robustness is ensured. The flight control system is completed by combining with the outer loop PID control for path-hold. Simulation results confirm that a controller with strong robustness can satisfy the airdrop indexes.
[1] HENRY Michael, LAFOND Kristen, NOETSCHER Gregory. Development of a 2,000-10,000lbs improved container delivery system[C]// 20th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, Washington, AIAA -2009-2909:1-16.
[2] 杨雪松，王乘，李振环. 超低空空投过程的仿真.，华中科技大学学报, 2003, 31(4): 108-110.
YANG Xuesong, WANG Cheng, LI Zhenhuan. Simulation for airdropping at a super-low-altitude[J].Journal of Huazhong University of Science and Techology, 2003, 31(4): 108-110. (in Chinese)
[3] Chen Jie, Shi Zhongke. Aircraft modeling and simulation with cargo moving inside[J]. Chinese Journal of Aeronautics, 2009, 22(2): 191-197.
[4] KE Peng, YANG Chunxin. Extraction phase simulation of cargo airdrop system [J]. Chinese Journal of Aeronautics, 2006, 19(4): 315-321.
[5] 柯鹏，杨春信，杨雪松，孙晓伟. 重型货物空投系统过程仿真及特性分析[J]. 航空学报，2006, 27(5): 856-860.
KE Peng, YANG Chunxin, YANG Xuesong, SUN Xiaowei. System simulation and analysis of heavy cargo airdrop system[J]. Journal of Astronautics, 2006, 27(5): 856-860. (in Chinese)
[6] ZHANG Huiyuan, SHI Zhongke. Variable structure control of catastrophic course in airdropping heavy cargo[J]. Chinese Journal of Aeronautics, 2009, 22(2): 520-527.
[7] McQuilling Mark, POTVIN Jean. Simulating the flows about cargo containers used during parachute airdrop operations[C]// 28th AIAA Applied Aerodynamics Conference, Chicago, AIAA 2010-4565, 2010: 1-11.
[8] GEISBAUER Sven, SCHADE Niko, ENK Stephan. Experimental and Numerical Investigation of the Flow Topology During Airdrop Operations[C]// 21st AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar Dublin, Ireland, AIAA -2011-2565, 2011: 1-11.
[9] 刘日，孙秀霞，董文瀚，李大东. 大气扰动下运输机空投过程建模与仿真分析[J].飞行力学，2013, 31(1): 24-28.
LIU Ri, SUN Xiuxia, DONG Wenhan. Modeling of flight dynamics and analyzing of simulationfor airdrop in atmospheric disturbance[J]. Flight Dynamics, 2013, 31(1): 24-28. (in Chinese)
[10] BERGERON Keith, HAYES Michael, ARONOFF Jonathan. C-17 low speed wind tunnel wake-vortex study [C]// 47th AIAA Aerospace Sciences Meeting, Orlando, AIAA 2009-1482, 2009: 1-16.
[11] ROOSENBOOM E W M, SCHRODER A, AGOCS J, GEISLER R. Experimental investigation of the flow field topology for several cargo drop configurations[C]// 28th Aerodynamic Measurement Technology, Ground Testing, and Flight Testing Conference, New Orleans, AIAA -2012-3198, 2012: 1-12.
[12] 杨雨，陆宇平，戴正升. 基于动态逆的超低空空投抗侧风控制器设计[J].飞行力学，2013, 31(1): 37-41.
YANG Yu, LU Yuping, DAI Zhengsheng. Counteracting crosswind controller design for low altitude heavy cargo airdrop based on dynamic inversion theory[J]. Flight Dynamics, 2013, 31(1): 37-41. (in Chinese)
[13] 李智，陆宇平. 运输机超低空空投抗侧风控制器设计[J].飞机设计，2011, 31(6): 32-36.
LI Zhi, LU Yuping. Design of counteracting crosswind controller for ultra-low altitude airdrop of transport aircraft [J]. Aircraft Design, 2011, 31(6): 32-36. (in Chinese)
[14] 汤志杰. 非线性反馈线性化方法在飞控系统中的应用[D]. 西安：西北工业大学，2008: 50-51.
TANG Zhijie. Flight control application based on nonlinear feedback linearization[D]. Xi’an: Northwestern Polytechnical University, 2008: 50-51. (in Chinese)
[15] 陈代展，李志强. 非线性系统线性化综述[J]. 山东大学学报，2009,39(2): 27-36.
CHEN Daizhan, Li Zhiqiang. A Survey on Linearization of Nonlinear Systems[J]. Journal of SHANGDONG University, 2009, 39(2): 27-36. (in Chinese)
[16] 杨志峰，雷虎民，李庆良，李炯. 基于动态逆和鲁棒轨迹跟踪控制的导弹控制系统设计[J]. 宇航学报, 2011, 32(2): 317-322.
YANG Zhifeng, LEI Humin. A missile control system design approach based on dynamic inverse and robust trajectory tracking control[J]. Journal of Astronautics, 2011, 32(2): 317-322. (in Chinese)
[17] 杨朝星. 超低空空投飞行控制系统性能评估[D]. 南京：南京航空航天大学, 2010.
YANG Zhaoxing. Flight control system performance evaluation technology of super-low-altitude airdrop[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2010. (in Chinese)
