318results about How to "Solve the coupling problem" patented technology

The invention provides a pedestrian re-recognition method and device based on deep learning. The pedestrian re-recognition method comprises the steps of acquiring a target pedestrian image and a reference pedestrian image from a first video stream and a second video stream respectively, wherein the first video stream and the second video stream are videos shot by cameras with different angles in a preset region; by using a pre-trained deep learning network model, extracting an image feature of the target pedestrian image to act as a first image feature, and extracting an image feature of the reference pedestrian image to act as a second image feature; calculating the feature similarity of the first image feature and the second image feature; if the feature similarity conforms to a preset requirement, determining a target pedestrian in the target pedestrian image and a reference pedestrian in the reference pedestrian image are the same pedestrian. Implicit features of the target pedestrian image and the reference pedestrian image are learnt respectively by adopting a deep learning technology, a coupling problem existing in paired pedestrian images adopted by a traditional pedestrian re-recognition method is overcome, and the flexibility is good.

The invention discloses a rotor gravity unloading type magnetic bearing composite motor comprising an external stator, an armature winding, a permanent magnet, a rotor, a magnetic isolation aluminum ring, an internal stator and a suspension control winding. The armature winding is wound in external stator slots. The magnetic isolation aluminum ring is embedded in the rotor. A Halbach type permanent magnet array is surface-mounted on the surface of the rotor. The internal stator has seven internal stator poles including two opposite bias flux magnetic poles, four radial suspension control poles and one gravity direction rotor weight unloading pole. Radial magnetized permanent magnets are surface-mounted on the surface of the bias flux magnetic poles. The suspension control winding is wound on the four suspension control poles. Coupling between the suspension winding and the armature winding in the conventional magnetic suspension motor can be eliminated, and the influence of the rotor weight on suspension control in the conventional suspension motor can also be greatly solved so that the rotor is enabled to stably work at the central balance position without increasing suspension control current, and low power consumption and stable suspension of the magnetic bearing composite motor can be realized.

A method for automatically optimizing the technological parameters in rolling metallic plate or band features use of an automatic control system composed of an in-line automatic measuring unit, a network communication unit and a data processing unit with computer. It includes measuring the rolling force F and advancing value fs, inserting them in a dyadic high-order non-linear equations to find out deforming resistance K and friction coefficient Mu, adaptive learning of the calculation module, and optimizing.

Disclosed is an optimizing method for a hydrogen and natural gas mixed fuel engine, which belongs to the hydrogen and natural gas mixed fuel engine technical field. The invention aims to effectively discover three control variables, including the optimum hydrogen mixing ratio, ignition advance angle and the excess air factor under each operating condition and obtain the optimum comprehensive performance of the engine. The rotation speed and the torque are used for determining the operating condition point; the three-dimension state space of the hydrogen mixing ratio, the ignition advance angle and the excess air factor is determined under the operating condition point; based on the method of experimental design, the most representative point is selected for the experiment; the data is acquired after the experiment; the points in the data are used for establishing the engine error backward neural network model; namely, the relation of the control variables of the hydrogen mixing ratio, ignition advance angle and the excess air factor, and the economical exhaust is established; the model data is exported and the genetic algorithm is adopted to optimize the engine control parameters; finally, the control variables of optimum hydrogen mixing ratio, the ignition advance angle and the excess air factor of the engine are acquired under the operating condition so that the optimum engine performance is obtained.

The present invention relates to an optical fibre side edge coupling method for pumping light source, and includes the following steps: using MM optical fibre as pump input optical fibre, DC optical fibre as one fo producing amplifier or laser, removing protecting layer in the MM optical fibre and DC optical fibre coupled zone and coiling the coupled part of DC optical fibre. The coupling of the above-mentioned two optical fibres adopts chemical contact, i.e. they are mutually molten or mutually combined together. Said invention not only raises the coupling efficiency, but also can make DC optical fibre obtain uniformly pumping and can raise the conversion efficiency from pumping light source to optical fibre laser output.

The invention discloses a speed-tension coordination control method for jigger fabrics; the method mainly uses a fuzzy control system to compare the sampling speed of a photoelectric coder with the set speed, and compare the tension-detection value of a tension detection device with the set tension, so as to timely adjust the control rules according to the dynamic changes of the errors to subsectionally and alternately control the speed and the tension to respectively obtain a coiling frequency fA and an unwinding frequency fB needed in maintaining the equal linear velocity constant tension of dyeing fabrics; a coiling electromotor and an unwinding electromotor are respectively controlled by a coiling transducer working in speed mode and an unwinding transducer working in torque conversion mode. The method solves the coupling problem between the speed and the tension of the jigger fabrics and makes more accurate speed-tension coordination control of the double-input / double-output, coupled and time-varying non-linear system of jiggers, so as to reduce dyeing color difference caused by instable speed and tension and improve the dyeing quality of fabrics.

The invention provides a radio frequency impedance matcher, which comprises a first sensor, a second sensor, a controller and an executive device, wherein the first sensor is used for detecting input impedance of a matching network; the second sensor is used for detecting load impedance of the matching network; the controller comprises a current impedance calculating unit, a matching impedance calculating unit and an adjustment calculating unit, wherein the current impedance calculating unit is used for obtaining a current impedance value of a variable impedance element through calculation according to the input impedance and the load impedance, the matching impedance calculating unit is used for obtaining a matching impedance value of the variable impedance element through calculation according to the load impedance and output impedance when the input impedance is not matched with the output impedance of a radio frequency generator, and the adjustment calculating unit is used for obtaining adjustment required by the variable impedance element through calculation according to the current impedance value and the matching impedance value of the variable impedance element; and the executive device is used for adjusting the variable impedance element according to the adjustment. The radio frequency impedance matcher can avoid coupling problem and improve matching efficiency.

The invention discloses a monolithic integrated six-degree-of-freedom micro-inertial measurement unit and a processing method thereof. The monolithic integrated six-degree-of-freedom micro-inertial measurement unit comprises a main unit structure mounted in the center of a glass substrate in a bonding manner, wherein the main unit structure is square and comprises a triaxial accelerometer unit and a triaxial gyroscope unit; the triaxial gyroscope unit comprises four square frames same in structure; a Z-axis detection structure, a driving structure, a Y-axis detection structure and an X-axis detection structure are connected to the inner side edge of each square frame; the triaxial accelerometer unit comprises a central mass block positioned in the center of the main unit structure and twisting-type mass blocks mounted at four top angles of the main unit structure respectively. The monolithic integrated six-degree-of-freedom micro-inertial measurement unit has the advantages of high measurement precision, strong reliability, high panel utilization rate, full decoupling, small mass, low cost, simple and ingenious volumetric structure and the like, can be used for measuring accelerated speeds and angular speeds in three directions at the same time, and is strong in applicability, thereby having a wide market prospect.

The invention discloses a six-phase permanent-magnet synchronous motor (PMSM) model predictive control method comprising establishing a state space model of a six-phase PMSM by performing discretization on the six-phase PMSM in a natural coordinate system; by acquiring the state information at the kth time, using the current in the fundamental wave subspace as a master control amount and using the current in the harmonic wave subspace as an optimizable controlled amount, establishing an objective function based on torque maximum and harmonic current minimum. The six-phase PMSM model predictive control method is established on the basis of a completely-discretized six-phase PMSM mathematic model and the essential discreteness of the method is liable to digital realization. An experiment verifies the fast responsiveness and the good robustness of the method in real control.

The invention discloses a tilting double-duct subminiature unmanned plane adopting a vector boosting principle. The tilting double-duct subminiature unmanned plane is characterized in that a central inner cavity of a machine body is provided with a control system of the whole aircraft, double-duct fan aircrafts are connected with a machine body through a tilting shaft and are symmetrically distributed on the two sides of the machine body; and duct tilting mechanisms are distributed at positions of the machine body connected with the tilting shaft, a lifting frame is arranged below the machine body, and the duct tilting mechanisms and the duct fan aircrafts are respectively connected with a flight control system. The tilting double-duct subminiature unmanned plane provided by the invention has the advantages that left and right ducts are symmetrically distributed relative to the machine body, so as to respectively generate pull force for enabling the aircrafts to ascend, the left and right ducts can rotate relative to the machine body under the control of the tilting system, so that the aircrafts can change postures conveniently; since the ducts adopt rotor ring design, the plane has higher flying efficiency and higher safety; and the tilting double-duct subminiature unmanned plane has wide application prospect in the fields such as low-altitude reconnaissance and atmospheric environmental monitoring under complex environment in a city.

The invention relates to a breakpoint simulation controller and a breakpoint simulation control method for a ground simulation system. The controller comprises a breakpoint monitoring storage module, a data recovery module and a time synchronizing module; under the semi-physical simulation condition, the breakpoint monitoring storage module records the global variable of the simulation system; when the simulation restarts, the data recovery module takes the data as input, so that continuation of system simulation is realized, the simulation efficiency and the simulation effect are greatly improved, and massive time, energy and cost are saved; meanwhile, the controller comprises the time synchronizing module, so that synchronization of accuracy record and recovery time of the system operating breakpoint is ensured; and by using the controller and the method, judgment of multi-process breakpoints of the complex simulation system is solved, the process data are stored in time, and data and means are provided for recovering the operation of the system.

The invention provides an active disturbance rejection control method for cluster spacecraft electromagnetic traction, complexity of a cluster spacecraft system and model uncertainty are fully considered, an electromagnetic force / torque model and a relative motion dynamics equation are established, so that the active disturbance rejection control method formed by a most speed tracking differentiator, a non-linear extension observer and a non-linear feedback control law has good working performance, a coupled problem of a dynamic model is effectively solved, high precise electromagnetic traction control can be realized, and the effectiveness and the Lyapunov asymptotic stability of the method are verified; compared with the control performance of a finite time control method, the control method has better rapidity, vibration resistance ability and disturbance rejection, and the control method is simple in design and has engineering realizability.

The invention discloses an all-fiber electro-optical modulator based on graphene materials and a method of the all-fiber electro-optical modulator. The all-fiber electro-optical modulator based on the graphene materials comprises a single mode fiber, a silicon dioxide groove-type substrate, an Al2O3 transition thin layer and a graphene membrane, wherein the single mode fiber is arranged on the silicon dioxide groove-type substrate and fixed through sealed epoxy glue, a groove is formed in the single mode fiber, the Al2O3 transition thin layer is arranged in the groove, and the graphene membrane is arranged on the Al2O3 transition thin layer. Conductivity performance of graphene is changed through change of voltage applied on a metal electrode, therefore an imaginary part or a real part of an effective refractive index of a graphene composite layer structure is changed, and an electric absorption strength modulator or a phase modulator is achieved. The all-fiber electro-optical modulator based on the graphene materials and the method of the all-fiber electro-optical modulator can achieve design of the all-fiber electro-optical modulator, and have the advantages of being tiny in size, little in power consumption, low in insertion loss, high in modulating speed, beneficial for optical integration and the like. In addition, due to the fact that additional optoelectronic devices are not introduced, the all-fiber electro-optical modulator based on the graphene materials and the method of the all-fiber electro-optical modulator are suitable for being used in an all-fiber communication system and a dense wavelength division multiplexing (DWDM) system.

The invention discloses a method and a system for mobile phone antenna coupling test on a production line. The system comprises a coupling test module, an industrial personal computer, a multi-signal-source device, radio-frequency cables, a combiner and a coupling shielding box. The coupling test module comprises mobile internal test software for coupling test of a to-be-tested mobile phone in set process; the industrial personal computer is connected with the multi-signal-source device and used for configuration of parameters of the multi-signal-source device and controlling a transmission channel of the multi-signal-source device to open or close; the multi-signal-source device under control of the industrial personal computer is used for generating radio-frequency signals with multiple frequency points for mobile phone antenna coupling; the radio-frequency cable is arranged between the multi-signal-source device and the combiner and between the combiner and the coupling shielding box respectively; the coupling shielding box is used for placement of at least one mobile phone and used for broadcast type parallel coupling test of mobile phones. The method and the system for mobile phone antenna coupling test on a production line have the advantage that test efficiency and precision can be improved.

The invention relates to an electromechanical equipment digital twin model consistency maintaining method. The method is applied to digital twinning model consistency of a digital space to a physicalspace. a digital twinning mapping module is arranged between the physical space and the digital space; Electromechanical equipment data collected by a data sensing device in a physical space is mappedto a digital space, and an updated digital twin model is obtained through a data processing module, a performance attenuation updating module and a self-updating digital twin model overall construction module in the digital space. The electromechanical equipment digital twin model consistency maintaining method comprises the following steps: carrying out modal analysis on a performance attenuation part; and analyzing the function static link library file through the modal neutral file, combining the performance attenuation part with other associated part systems, constructing an integrity attenuation updating electromechanical equipment digital twinning model, maintaining the consistency with physical electromechanical equipment in the use period, and providing support for data communication in the whole use period.

The invention provides a double-pore model-based multi-medium oil gas flow simulation method and device. The method comprises the following steps: obtaining geological parameters and oil gas development engineering geometric parameters, and establishing a simulation area with multiple mediums; dividing the simulation area into a matrix structure grid system and a crack structure grid system; respectively setting the medium attribute parameter value of a pore structure grid and the medium attribute parameter value of a crack structure grid according to the medium type of the pore structure grid and the medium type of the crack structure grid; establishing a communication table of structure grids in the pore structure grid and the crack structure grid according to a set fluid flow rule; calculating the conductivity between the structure grids; and carrying out numerical value analog calculation on the flow trend between the structure grids according to the conductivity so as to predict the dynamic change data of the compact oil gas reserves in the mediums, the contribute data for the oil gas output, the output of the wells and the formation pressure. According to the double-pore model-based multi-medium oil gas flow simulation method and device, the oil gas conditions in multiple mediums can be predicted.

The invention relates to a ducted coaxial helicopter control mechanism, which aims at solving the flight coupling problem of ducted coaxial helicopters, and realizes the control effect of obtaining single output by single input. According to the control mechanism, an upper and a lower rotor systems are distributed at the middle part of a helicopter body; the upper and the lower rotors are provided with three control channels respectively, that is, two more channels are provided than a common ducted coaxial helicopter; the six control channels are respectively collective pitch synchronous control, collective pitch differential control, vertical periodic variable pitch synchronous control, vertical periodic variable pitch differential control, horizontal periodic variable pitch synchronous control, horizontal periodic variable pitch differential control; the forward speed, lateral speed, vertical speed, pitch angle, roll angle, and course angle of an aircraft can be controlled individually. The control mechanism offsets coupling caused by control through symmetry, realizes decoupling control; an aircraft with the decoupling control system solves the control coupling problem of few input and excessive output by a control mode of six freedom degrees, and the control of the aircraft becomes simpler. The control mechanism has wide application prospects in military and civil fields.

The invention discloses a method to measure the parameter distribution of the nonuniform structure of a particle-fluid two phase flow system, which comprises the following steps: 1. determination of the input conditions; 2. establishment of a two-phase equation of momentum and mass conservation of particle-fluid; 3. getting the local void ratio and the local void ratio gradient of particles according to the particles inside grids; 4. dividing the nonuniform structure inside the grids into combinations of local uniform structures according to the local information of the particles, and distributing the rates of flow of the fluid; 5.the distributed rates of flow of fluid are substituted in the equation of momentum and mass conservation to get the results. The problem of coupling between phases of particle-fluid is solved, and the inherent limitations of experience relation equations are overwhelmed.

The invention discloses an integrated control method used for a semi-strapdown guided missile. The method includes the following steps that firstly, missile guider stable tracking and missile body posture control integrated mathematical models are established and include a missile body posture kinematic model, a frame kinematic model, an angle tracking system model and an integrated mathematical model; secondly, an integrated controller configuration is designed; and thirdly, controller design based on non-linear dynamic inverse is conducted. According to the integrated models, the integrated control configuration based on an inner ring and an outer ring is designed, the coupling problem between control loops is solved, the conservative property of design of a control system is reduced, and the comprehensive performance of the system is improved.

The invention relates to a D-type optical fiber based graphene electro-optical modulator which is characterized in that one section of an optical fiber (1) is prepared into a D-type groove, graphene (4) is laid on the surface of a D-type optical fiber (2), one end of the graphene (4) is provided with a metal electrode and lead (3), and a film of the graphene (4) is plated with an insulating layer (5); the insulating layer (5) is an Al2O3 insulating layer or an insulating layer with a high dielectric constant, and the insulating layer (5) is plated beside a metal electrode and lead (6) on the film of the graphene (4); and the metal electrode-lead (6) is a conductive electrode, and the conductive electrode is made of Au or Pt. According to the invention, electrical signals are applied to the two electrode and leads so as to generate an electric field perpendicular to the film of the graphene (4), thereby changing the Fermi level of the graphene (4), and further realizing the electro-optical modulating function of the graphene (4) through changing the optical signal absorption strength of the graphene (4).

A method of hydraulic pressure auto-leveling controlled by an adaptive fuzzy-surface switch valve comprises the steps: a neural network is adopted to train the movement characteristics of one-way hydraulic cylinder of each hydraulic pressure support leg of the hydraulic pressure system controlled by the switch valve, the functional relation of travel Z, flow Q, load F and on-off time t is determined, a corresponding model is established; a surface-leveling method of 'adjust surface by using surface' is adopted to cause each hydraulic support leg to move at the same time so as to realize all-way adjustment; an adaptive fuzzy-surface controller is adopted to modify leveling angel, travel and time in real time, obtain the relationship of an angle amendment quantity, travel amendment quantity and time amendment quantity, solve the problem of strong coupling and weak supporting in the process of leveling and realize multipoint adjusting until the demand on horizontal precision is achieved. The method of the invention changes the one-point and one-way adjustment situation existing in the prior art, realizes multipoint adjustment; by adopting the combination of MIMO following-up fuzzy control and surface leveling methods, real decoupling is realized and weak supporting problem is thoroughly solved as well as multipoint decoupling auto-leveling of a hydraulic pressure system controlled by the switch valve of overloading large-span launch or supporting platform is realized.

The invention provides a design method for resolving a modal space controller of a hydraulic drive six-degree-of-freedom parallel mechanism. A modal matrix is directly calculated according to system structure parameters; a six-degree-of-freedom strong coupling multi-input multi-output system is converted into a six-decoupling single-input single-output system in a modal space by conversion of the modal matrix; and parameters of a dynamic pressure feedback controller in the modal space are designed according to a hydraulic dynamic pressure feedback technology. The problem about coupling of a system is solved, and each decoupled modal space channel has the optimal control performance. The design method is only related to the system structure parameters, so that the application range of a modal decoupling controller is greatly expanded.

The invention provides a high-speed precision machining system and method for complex curved surface machining, and relates to the technical field of advanced manufacturing processes and equipment. The method comprises the following steps: firstly, acquiring a geometric model, a cutter profile image and an initial cutting parameter of a machined part; according to the characteristics of the to-be-machined curved surface, generating a curved surface machining tool path, wherein the generated curved surface machining tool path is optimized, and a final optimized tool path is obtained; establishing a complex curved surface high-speed machining cutting parameter optimization model by using a complex curved surface cutting parameter double-neural-network optimization algorithm and taking cutting time, energy consumption and the surface roughness of the machined part as optimization targets, and optimizing the initial cutting parameters to obtain optimal cutting parameters; carrying out post-processing on the optimized tool path and the optimized cutting parameters to generate a numerical control code. By means of the system and method, overall coordination and optimization of high-speedmachining of the complex curved surface are achieved, and the machining efficiency and machining precision of the complex curved surface are improved.

The invention discloses a permanent magnet synchronous motor direct torque control method based on model predictive control, and belongs to the technical field of control. The invention aims to provide the manent magnet synchronous motor direct torque control method based on model predictive control, wherein by means of an electric vehicle wheel hub motor drive control method based on extended Kalman estimation and model predictive control, the defects in the prior art can be well overcome. According to the permanent magnet synchronous motor direct torque control method based on model predictive control, firstly, an extended Kalman principle is used for completing motor drive system estimator designing, secondly, torque and flux linkage values obtained by the estimator are used as feedbackvalues which are transferred to a motor control system controller along with reference set values, and finally, by solving an optimum control problem corresponding to a target function, fast accuratetracking control of motor torque and flux linkage is completed by the system. By means of the permanent magnet synchronous motor direct torque control method based on model predictive control, the problems of complex coordinate change and current magnitude coupling in a motor model are effectively solved, the system complexity is reduced, and dynamic response speed of the system and the intuitionism and the reliability of a system control effect are improved.

The invention discloses a rail transportation ticket-card processing intelligent system, which comprises a sorting center and an automatic ticketing system for a plurality of rail transportation lines. The sorting center comprises a set of service computers, and the automatic ticketing system comprises a set of equipment computers and a ticket-card processing intelligent terminal connected with the equipment computers; and the card processing intelligent terminal is used for processing of ticket transaction flow, issuing of single ticket transaction keys, online authentication of value-stored ticket recharge and generation and verification of transaction logs. The sorting center also comprises an encryption computer which is connected with the ticket-card processing intelligent terminal and is used for receiving an encryption certification request of the ticket-card processing intelligent terminal; and the equipment computers are used for transmitting service commands to the ticket-card processing intelligent terminal and receiving the service command processing result. The modification of the ticket-card processing service is realized through the online update function of the parameters or ticket-card processing programs and the maintenance cost due to the updated card processing programs is reduced. The invention also discloses a data encryption auditing method.

The invention belongs to the radar signal processing technology field and discloses a target parameter estimation method based on an FDA-MIMO radar. The method comprises the following steps of designing a frequency increment resulting in wave beam coupling and an array element spacing, breaking linearly increasing synchronization between the two, achieving a decoupling effect, and providing a condition for unique estimation of a target distance angle; and through designing, making the frequency increment of each array element satisfy a sinc function increasing relation, and then carrying outangle and distance estimation to obtain an accurate target angle and distance information. By using the method of the invention, coupling of an emission wave beam at a distance-angle can be solved. When the distances and the angles of multiple targets are different, the distance and the angle of the target is well estimated to avoid occurrence of false targets, and estimation performance of the radar is improved.

A micro-grid energy management strategy that combines energy storage investment and operation realizes reasonable investment and operation of energy storage devices in the construction of micro-grids.First, the fact that the energy storage capacity is a coupling variable in the investment and operation of the micro-grid is considered, the two time scales of energy storage year investment and micro-grid daily operation are used as two-stage optimization problems to be solved. Secondly, the information interactive relationship of electricity price and load consumption between the operator and the user is considered. A two-level distributed iterative algorithm is proposed to optimize the solution of the optimal real-time electricity price and optimal user consumption. Finally, the decoupledsolution of the optimal integer solution of the energy storage unit is performed according to the obtained micro-grid operating costs, so as to achieve the optimal investment of energy storage devicesand the economics of micro-grid operation. The method can also be applied to the optimization of investment and operation of other distributed units in the micro-grid.

The invention provides a bionic six-foot robotic exploration ant, and belongs to the technical field of multi-degree-of-freedom moving robotic explorers. The bionic six-foot robotic exploration ant comprises three left feet, three right feet and a host body. The left feet and the right feet are completely identical in the connection mode, and are in mirror symmetry during assembly. According to the left feet and the right feet, multi-degree-of-freedom movement of a single leg is simplified into two-degree-of-freedom movement which is realized by two steering gears in each group, and the groupof the steering gears of each single leg include a linear action steering gear and a rotating action steering gear which drive two-phase movement of swinging and lifting legs, so that decoupling of leg movement is realized, control schemes are simplified, and control stability is improved. Six-foot tread control laws are designed to achieve movement of the robotic exploration ant on different grounds, a camera on the host body is used for acquiring more environmental information, and accordingly, the exploration effect is good. The bionic six-foot robotic exploration ant has the advantages ofdiversity in movement mode, rapidness in multi-foot movement switching, efficiency in tread and step pitch adjustment, accuracy and rapidness in movement direction adjustment and multi-directional movement.

The invention relates to an imitated gecko sole capable of self-sensing and self-adapting to a contact force with an initiative sticking / desorbing function and belongs to the field of robot technology application. The imitated gecko sole comprises a shank beam (1), a one-dimensional sensor (2), a wire-pull steering engine bracket (3), a rotating support frame (4), a wire-pull steering engine (5), a rotating flange (6), a two-dimensional force sensor (7), a bulb (8), a fetlock cover, a spring, a toe slice base and a sticking material. The imitated gecko sole can initiatively drive a plurality of toes and can realize an initiative sticking function and an initiative desorbing function; the one-dimensional sensor and the two-dimensional force sensor along different directions are combined and are moved and decoupled together with an initiative sticking and desorbing mechanism, so that the coupling problem of motion and force sensing can be avoided; the fetlock at three degrees of freedom constrained by eight resetting springs is added, so that the space surface has self-adaptive ability.

The invention discloses a coordinated turning control method for a tailless air vehicle on the basis of fusion of multiple controllers and belongs to the technical field of automatic control over air vehicles. According to the coordinated turning control method for the tailless air vehicle on the basis of the fusion of the multiple controllers, the controllers are divided into inner ring controllers and outer ring controllers, wherein robust self-adaptive nonlinear inverse controllers are used as main controllers by the inner ring controllers, H<8> times optimum controllers are used as compensators by the inner ring controllers, and nonlinear inverse controllers are adopted by the outer ring controllers. According to the kinematics characteristics of the tailless air vehicle in the turning process, multiple control methods are fused, and therefore the problems, such as nonlinear coupling, heading static instability and uncertain disturbance, existing in the turning process of the tailless air vehicle are solved. The tailless air vehicle can complete coordinated turning stably, accurately and rapidly by adopting the control mode that the multiple controllers are coordinated and combined.