为解决折叠机翼无人机在发射控制段受助推火箭阶跃力矩和展翼火箭旋转力矩双重干扰导致的控制效果不佳的难题, 采用基于最优二次型的状态最优控制算法来计算控制律接入飞控系统参与控制的时间范围, 并结合仿真试验, 最终确定控制律接入飞控系统实施舵面控制的精确时间。在此优化控制方案下, 飞控系统能够在最短的时间内结束振荡, 恢复稳定状态。经过仿真试验验证, 该优化算法将系统受到的双重力矩干扰共同作用的影响降低到较小, 顺利解决了折叠机翼无人机发射段的控制难题, 保证了无人机发射控制和飞行控制的品质。

In order to solve the control problem in the launch control process of folding-wing UAVs, which is caused by the disturbances of both the step torque of the booster rocket and the rotation torque of the wing rocket, the optimal-state-control algorithm based on the optimal quadratic form is used to calculate the time range of the control law accessing the flight control system to participate in the controlling process. The precise time of the control law accessing the flight control system to control the rudder is finally determined by simulation tests. Using the optimal control scheme, the flight control system can overcome the oscillation within the shortest time and recover the steady state. Simulations and experiments show that: the optimal algorithm makes the effects of the dual torque disturbances on the system be lower, successfully solves the control problem of folding-wing UAVs during the launch process, and ensures the high quality of the launch control and the flight control of UAVs.