图  1  滚转状态下的V/STOL飞机模型

Fig.  1  V/STOL aircraft model in rolling state

图  2  引射喷口推力${F_1}$产生的力与力臂

Fig.  2  Moment arm of jettube force ${F_1}$

图  3  轨迹跟踪控制器结构框图

Fig.  3  Trajectory tracking controller structure diagram

图  4  理想内模${\eta _{1d}}$

Fig.  4  Ideal internal dynamic ${\eta _{1d}}$

图  5  理想内模${\eta _{2d}}$

Fig.  5  Ideal internal dynamic ${\eta _{2d}}$

图  6  ${\eta _d} = 0$的轨迹跟踪误差

Fig.  6  Trajectory tracking error for ${\eta _d} = 0$

图  7  ${\eta _d } = 0$时$Y$方向输出跟踪轨迹

Fig.  7  $Y$ direction output tracking trajectory for ${\eta _d} = 0$

图  8  ${\eta _d } = 0$时$Z$方向输出跟踪轨迹

Fig.  8  $Z$ direction output tracking trajectory for ${\eta _d} = 0$

图  9  ${\eta _d } = 0$时实际跟踪轨迹

Fig.  9  Actual tracking trajectory for ${\eta _d} = 0$

图  10  跟踪所求${\eta _d}$的轨迹跟踪误差

Fig.  10  Tracking trajectory error for tracking required ${\eta _d}$

图  11  跟踪所求${\eta _d}$的$Y$方向输出跟踪轨迹

Fig.  11  $Y$ direction output trajectory for tracking required ${\eta _d}$

图  12  跟踪所求${\eta _d}$的$Z$方向输出跟踪轨迹

Fig.  12  $Z$ direction output trajectory for tracking required ${\eta _d}$

图  13  跟踪所求${\eta _d }$时的实际跟踪轨迹

Fig.  13  Actual trajectory for tracking required ${\eta _d}$

图  14  $Y$方向轨迹跟踪误差

Fig.  14  $Y$ direction trajectory tracking error

图  15  $Z$方向轨迹跟踪误差

Fig.  15  $Z$ direction trajectory tracking error

图  16  $Y$方向两种情况跟踪曲线

Fig.  16  $Y$ output tracking for two conditions

图  17  两种情况下实际轨迹跟踪曲线

Fig.  17  Actual trajectory tracking for two conditions

图  18  仿真1中的$\phi$

Fig.  18  $\phi $ in simulation 1

图  19  仿真2中的$\phi $

Fig.  19  $\phi $ in simulation 2

图  20  $Y$方向误差镇定曲线

Fig.  20  $Y$ direction error stabilization

图  21  $Z$方向误差镇定曲线

Fig.  21  $Z$ direction error stabilization

图  22  $Y$方向轨迹跟踪曲线

Fig.  22  $Y$ direction trajectory tracking

图  23  实际轨迹跟踪曲线

Fig.  23  Actual trajectory tracking

图  24  $\varepsilon$不同取值下$Y$方向跟踪轨迹

Fig.  24  $Y$ direction trajectory tracking under different $\varepsilon$

图  25  $\varepsilon$不同取值下滚转角响应曲线

Fig.  25  Roll response curve under different $\varepsilon$