A method for thrust vector and mass distance inversion composite control of a saucer-shaped aircraft

Abstract

The application discloses a thrust vector and mass distance inversion composite control method of a disc-shaped aircraft. First, by measuring a speed pitch angle, a pitch angle and an angular rate signal, an adaptive method is used for integral iteration, a plurality of factors including a thrust vector swing angle are adaptively compensated, a mass distance control adaptive compensation total signal is obtained, a mass distance control signal is obtained by using inversion error feedback, and the stability of the pitch angle rate is realized. Secondly, by using an inclination error signal for adaptive integral iteration, a plurality of factors of the thrust vector are adaptively compensated, a thrust vector total control signal is formed by using an inversion mode and an error feedback form, and finally, the composite control mode of the mutual decoupling of the thrust vector and the mass distance is realized, and the stable control of the flight direction of the pitch channel of the disc-shaped aircraft is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of compound control method of thrust vector and mass distance inversion of saucer-shaped aircraft, belong to aircraft compound control and attitude stable tracking control field. BACKGROUND

[0002] Kinetic Kill Vehicle (KKV or Kinetic Energy Weapon-KEW) has aroused extensive research interest of domestic and foreign scholars, the control method of KKV in atmosphere includes: jet reaction control, thrust vector control and variable mass moment control etc..The flight attitude control of conventional aircraft is realized by the moment of aerodynamic force relative to the center of mass.We are familiar with conventional control, for example, aircraft, missile, changes the lift of main wing and tail by the deflection angle change of aileron and rudder, forms the moment to the center of mass of aircraft, to change the attitude of aircraft.As KKV flies in high altitude, air is thin at this time, rudder efficiency will be greatly reduced, and this conventional attitude control method is not suitable.Pushing force vector control is a kind of control method for changing the direction of engine exhaust gas to control aircraft flight, and its outstanding feature is that control moment is closely related to engine, and is not affected by the attitude of aircraft;Variable mass distance control is to install mass block in aircraft, and provides moment by the process of mass block away from the center of mass;But there are problems in the compound control of the two, such as matching coordination and distribution, which are difficult to solve properly.Saucer-shaped aircraft has unique and ingenious shape, and is a typical tailless and rudderless wing aircraft, and its control is suitable for thrust vector control and variable mass distance control, and its unique aerodynamic shape and control method has aroused extensive attention of domestic and foreign scholars.The control implementation not only has the value of dazzling flight performance, but also provides basic support for the development of future low-speed aircraft control and general circular aircraft.Based on the above background, the present application proposes a kind of compound control method of thrust vector and variable mass distance inversion for saucer-shaped aircraft, which has high theoretical and engineering application value. SUMMARY

[0003] The technical problem to be solved by the present application is a kind of compound control method of thrust vector and mass distance inversion of saucer-shaped aircraft, to solve the problem of compound matching coordination difficulty of thrust vector and variable mass distance in the prior art.

[0004] The technical scheme adopted by the present application is: a kind of compound control method of thrust vector and mass distance inversion of saucer-shaped aircraft, which comprises the following steps:

[0005] Step S10, install rate gyroscope on saucer-shaped aircraft, measure the pitch angle rate signal of saucer-shaped aircraft, and mark as ω z; then install an angular gyroscope on the saucer-shaped aircraft to measure the pitch angle of the saucer-shaped aircraft, denoted as Install a speed sensor on the saucer-shaped aircraft to measure the speed pitch angle of the saucer-shaped aircraft, denoted as θ.

[0006] Step S20, install a thrust vector device at the axial tail position of the saucer-shaped aircraft in the flight direction, and the thrust pitch swing angle is denoted as ξ, and install a variable mass distance control device in the axial direction of the saucer-shaped aircraft in the flight direction, and the displacement of the mass block from the center point is denoted as x b .

[0007] Step S30, according to the speed pitch angle of the saucer-shaped aircraft and the pitch angle rate signal of the saucer-shaped aircraft, design the growth rate signal of the mass distance control tilt angle adaptive compensation amount; then perform integral iteration to obtain the mass distance control tilt angle adaptive compensation signal; according to the pitch angle of the saucer-shaped aircraft and the pitch angle rate signal of the saucer-shaped aircraft, design the growth rate signal of the mass distance control attitude angle adaptive compensation amount; then perform integral iteration to obtain the mass distance control attitude angle adaptive compensation signal; according to the thrust pitch swing angle and the pitch angle rate signal of the saucer-shaped aircraft, design the growth rate signal of the mass distance control thrust vector adaptive compensation amount; then perform integral iteration to obtain the mass distance control thrust vector adaptive compensation signal; finally, according to the pitch angle rate signal of the saucer-shaped aircraft, design the growth rate signal of the mass distance control angular rate adaptive compensation amount; then perform integral iteration to obtain the mass distance control angular rate adaptive compensation signal.

[0008] Step S40, combine the mass distance control tilt angle adaptive compensation signal, the mass distance control attitude angle adaptive compensation signal, the mass distance control thrust vector adaptive compensation signal, the mass distance control angular rate adaptive compensation signal with the speed pitch angle, the pitch angle, the thrust pitch swing angle and the pitch angle rate signal of the saucer-shaped aircraft to obtain the mass distance control adaptive compensation total signal of the saucer-shaped aircraft; then combine the aerodynamic coefficients of the saucer-shaped aircraft, and use the inversion method to design the mass distance total control signal of the saucer-shaped aircraft.

[0009] Step S50, according to the flight task of the saucer-shaped aircraft, set the speed pitch angle expectation value of the saucer-shaped aircraft as θ dThen, the pitch angle error signal is obtained by comparing the pitch angle of the saucer-shaped aircraft with the speed pitch angle of the saucer-shaped aircraft; then, the growth rate signal of the pitch angle adaptive compensation amount of the thrust vector control is designed according to the pitch angle error signal and the pitch angle signal of the saucer-shaped aircraft; and then, the pitch angle adaptive compensation signal of the thrust vector control is obtained by integral iteration; the growth rate signal of the pitch angle error adaptive compensation amount of the thrust vector control is designed according to the pitch angle error signal of the saucer-shaped aircraft; and then, the pitch angle error adaptive compensation signal of the thrust vector control is obtained by integral iteration; finally, the growth rate signal of the pitch angle rate adaptive compensation amount of the thrust vector control is designed according to the pitch angle rate signal of the saucer-shaped aircraft; and then, the pitch angle rate adaptive compensation signal of the thrust vector control is obtained by integral iteration.

[0010] In step S60, the thrust vector control adaptive compensation total signal of the saucer-shaped aircraft is obtained by combining the thrust vector control pitch angle adaptive compensation signal, the thrust vector control pitch angle adaptive compensation signal, the thrust vector control pitch angle error adaptive compensation signal, the thrust vector control pitch angle rate adaptive compensation signal with the speed pitch angle, the pitch angle, the pitch angle error and the pitch angle rate signal of the saucer-shaped aircraft; and then, the thrust vector total control signal of the saucer-shaped aircraft is designed by using the backstepping method in combination with the aerodynamic coefficients of the saucer-shaped aircraft.

[0011] In step S70, the thrust vector total control signal of the saucer-shaped aircraft and the mass distance total control signal of the saucer-shaped aircraft are respectively delivered to the thrust vector device and the variable mass distance control device, so that the thrust pitch swing angle ξ of the saucer-shaped aircraft is equal to the thrust vector total control signal ξ a , the displacement x b of the mass block of the saucer-shaped aircraft deviating from the center point is equal to the mass distance total control signal x ba of the saucer-shaped aircraft, so that the tracking control of the speed pitch angle expected value of the saucer-shaped aircraft is realized, and the flight task is completed.

[0012] In an example embodiment of the present application, a growth rate signal of the mass center control tilt angle adaptive compensation quantity is designed according to the speed pitch angle of the saucer-shaped aircraft and the pitch angle rate signal of the saucer-shaped aircraft; then integral iteration is performed to obtain a mass center control tilt angle adaptive compensation signal; a growth rate signal of the mass center control attitude angle adaptive compensation quantity is designed according to the pitch angle of the saucer-shaped aircraft and the pitch angle rate signal of the saucer-shaped aircraft; then integral iteration is performed to obtain a mass center control attitude angle adaptive compensation signal; a growth rate signal of the mass center control thrust vector adaptive compensation quantity is designed according to the thrust pitch swing angle and the pitch angle rate signal of the saucer-shaped aircraft; then integral iteration is performed to obtain a mass center control thrust vector adaptive compensation signal; finally, a growth rate signal of the mass center control angular rate adaptive compensation quantity is designed according to the pitch angle rate signal of the saucer-shaped aircraft; then integral iteration is performed to obtain a mass center control angular rate adaptive compensation signal, including:

[0013]

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

[0020]

[0021] wherein T is a constant integral step parameter; c d1 is the growth rate signal of the mass center control tilt angle adaptive compensation quantity; is the mass center control tilt angle adaptive compensation signal; c d2 is the growth rate signal of the mass center control attitude angle adaptive compensation quantity; is the mass center control attitude angle adaptive compensation signal; c d3 is the growth rate signal of the mass center control thrust vector adaptive compensation quantity; is the mass center control thrust vector adaptive compensation signal; c d4 is the growth rate signal of the mass center control angular rate adaptive compensation quantity; is the mass center control angular rate adaptive compensation signal; l1, l2, l3, l4, ε are constant parameters for adjusting the size of the growth rate of the mass center control adaptive compensation signal.

[0022] In one exemplary embodiment of the present invention, the design of the mass distance control signal for the disc-shaped aircraft is as follows:

[0023]

[0024]

[0025] Where f a For the adaptive compensation total signal of mass distance control of the disc-shaped aircraft; x ba For the total mass distance control signal of the disc-shaped aircraft, a 25 a 24 a z ′ represents the aerodynamic coefficient of the disc-shaped aircraft, which is a known constant parameter; k3 is a constant inversion parameter.

[0026] In one exemplary embodiment of the present invention, the design of the tilt error signal, the thrust vector control tilt angle adaptive compensation signal, the thrust vector control pitch angle adaptive compensation signal, the thrust vector control tilt angle error adaptive compensation signal, and the thrust vector control pitch rate adaptive compensation signal includes:

[0027] e = θ - θ d ;

[0028]

[0029]

[0030]

[0031]

[0032]

[0033]

[0034]

[0035]

[0036] Where e is the tilt angle error signal; c d5 The growth rate signal of the thrust vector control tilt angle adaptive compensation amount; For thrust vector control tilt angle adaptive compensation signal; c d6 The growth rate signal for the thrust vector control pitch angle adaptive compensation amount; For thrust vector control pitch angle adaptive compensation signal; c d7 The growth rate signal for the adaptive compensation amount of the thrust vector control tilt angle error; is the adaptive compensation signal of the pitch angle error of the thrust vector control; c d8 is the growth rate signal of the adaptive compensation quantity of the pitch angle rate of the thrust vector control; is the adaptive compensation signal of the pitch angle rate of the thrust vector control; l5, l6, l7, l8, ε1 are constant parameters, used for adjusting the size of the growth rate of the adaptive compensation signal of the thrust vector control.

[0037] In an example embodiment of the present application, the design of the total control signal of the thrust vector of the disc-shaped aircraft comprises:

[0038]

[0039]

[0040] wherein f b is the total control signal of the thrust vector of the disc-shaped aircraft; a x , a 33 , a 34 is a constant aerodynamic coefficient of the disc-shaped aircraft, k1, k2 are constant inversion control parameters; ξ a is the total control signal of the thrust vector of the disc-shaped aircraft.

[0041] Advantages of the present application

[0042] Compared with the prior art, the method adopted by the present application has the following three innovations. First, the multi-factors of the thrust vector swing angle are adaptively compensated, realizing the control decoupling problem of the thrust vector and the mass distance, while the traditional inversion or sliding mode control method adopts control distribution to realize the two kinds of compound control, and the relationship between the two hinges is relatively complex. Second, the adaptive cooperation mass distance control is adopted to realize the damping and stability of the pitch channel, ensuring the stability of the pitch rotation angle rate; and the thrust vector is divided into eliminating the steady-state error, so that the distribution of the two has clear physical meaning, and also makes the combination of the compound control have good actual effect. Third, the feedback and adaptive combination is adopted, so that the whole control strategy is relatively simple, easy to realize, and the parameter debugging is relatively convenient, and also makes the control have good damping characteristics and strong stability. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate one embodiment consistent with the present application and, together with the description, serve to explain the principles of the application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained from these drawings without creative labor for those skilled in the art.

[0044] Figure 1It is a flow chart of a thrust vector and mass distance inversion composite control method of a saucer-shaped aircraft.

[0045] Figure 2 The pitch angle rate signal curve (unit: radian per second) of the saucer-shaped aircraft provided by the method of the embodiment of the present application

[0046] Figure 3 The pitch angle curve (unit: degree) of the saucer-shaped aircraft provided by the method of the embodiment of the present application

[0047] Figure 4 The speed pitch angle curve (unit: degree) of the saucer-shaped aircraft provided by the method of the embodiment of the present application

[0048] Figure 5 The installation schematic diagram of the thrust vector device and the variable mass distance control device provided by the method of the embodiment of the present application

[0049] Figure 6 The mass distance total control signal curve (unitless) of the saucer-shaped aircraft provided by the method of the embodiment of the present application

[0050] Figure 7 The tilt angle error signal curve (unit: radian) of the saucer-shaped aircraft provided by the method of the embodiment of the present application

[0051] Figure 8 The thrust vector total control signal curve (unitless) of the saucer-shaped aircraft provided by the method of the embodiment of the present application DETAILED DESCRIPTION

[0052] To make the purpose, technical solutions and advantages of the present application clearer, the following combines specific embodiments, and refers to the attached drawings Figure 1 The thrust vector and mass distance inversion composite control method of the saucer-shaped aircraft includes the following steps:

[0053] Step S10, which can be specifically divided into the following three sub-steps. First, install a rate gyroscope on the saucer-shaped aircraft, measure the pitch angle rate signal of the saucer-shaped aircraft, and mark it as ω z The change curve is as shown in Figure 2 .

[0054] Second, then install an angle gyroscope on the saucer-shaped aircraft, measure the pitch angle of the saucer-shaped aircraft, and mark it as The change curve is as shown in Figure 3 .

[0055] Third, install a speed sensor on the saucer-shaped aircraft, measure the speed pitch angle of the saucer-shaped aircraft, and mark it as θ, and the change curve is as shown in Figure 4 .

[0056] Step S20, as follows Figure 5 The schematic diagram shows a thrust vectoring device installed at the tail position along the axial direction of the disc-shaped aircraft's flight path, with its thrust pitch angle denoted as ξ. A variable mass pitch control device is installed along the axial direction of the disc-shaped aircraft's flight path, with its mass block's displacement from the center point denoted as x. b .

[0057] Step S30 can be broken down into the following four sub-steps. First, based on the speed pitch angle and pitch rate signal of the disc-shaped aircraft, design the growth rate signal of the adaptive compensation amount for the mass distance control tilt angle; then perform integral iteration to obtain the adaptive compensation signal for the mass distance control tilt angle as follows:

[0058]

[0059]

[0060] Where T is a constant integration step size parameter; it is selected as T = 0.001, ε = 0.05, and l1 = 0.4, all of which are constant parameters used to adjust the growth rate of the adaptive compensation signal for mass distance control. d1 The growth rate signal of the adaptive compensation amount for the mass distance control tilt angle; This is the adaptive compensation signal for the tilt angle of the mass distance control.

[0061] The second step involves designing the growth rate signal of the adaptive compensation for the mass-distance control attitude angle based on the pitch angle and pitch rate signal of the disc-shaped aircraft; then, through integral iteration, the adaptive compensation signal for the mass-distance control attitude angle is obtained as follows:

[0062]

[0063]

[0064] Where c d2 The growth rate signal of the adaptive compensation amount for the attitude angle of mass distance control; The mass distance control attitude angle adaptive compensation signal; l2 = 0.2, is a constant parameter.

[0065] The third step involves designing the growth rate signal of the adaptive compensation amount for the mass-distance control thrust vector based on the thrust pitch angle and the pitch rate signal of the disc-shaped aircraft; then, through integral iteration, the adaptive compensation signal for the mass-distance control thrust vector is obtained as follows:

[0066]

[0067]

[0068] wherein l2=0.5 is a constant parameter. c d3 is a growth rate signal of the adaptive compensation amount of the mass center control thrust vector, is an adaptive compensation signal of the mass center control thrust vector.

[0069] Fourthly, according to the pitch rate signal of the saucer-shaped aircraft, a growth rate signal of the adaptive compensation amount of the mass center control angular rate is designed, and then an integral iteration is performed to obtain an adaptive compensation signal of the mass center control angular rate as follows:

[0070]

[0071]

[0072] wherein c d4 is a growth rate signal of the adaptive compensation amount of the mass center control angular rate; is an adaptive compensation signal of the mass center control angular rate; l4=0.65 is a constant parameter for adjusting the size of the growth rate of the adaptive compensation signal of the mass center control.

[0073] Step S40, specifically, can be divided into the following two sub-steps. First, the mass center control adaptive compensation total signal of the saucer-shaped aircraft is obtained by combining the mass center control adaptive compensation signal of the pitch angle, the mass center control adaptive compensation signal of the attitude angle, the mass center control adaptive compensation signal of the thrust vector, the mass center control adaptive compensation signal of the angular rate, and the speed pitch angle, the pitch angle, the thrust pitch swing angle, and the pitch rate signal of the saucer-shaped aircraft as follows:

[0074]

[0075] wherein f a is a mass center control adaptive compensation total signal of the saucer-shaped aircraft.

[0076] Secondly, the mass center total control signal of the saucer-shaped aircraft is designed in a backstepping manner by combining the aerodynamic coefficients of the saucer-shaped aircraft as follows:

[0077]

[0078] wherein x ba is a mass center total control signal of the saucer-shaped aircraft, and the change curve thereof is shown in Figure 6 a 25 , a 24 , a′ z are aerodynamic coefficients of the saucer-shaped aircraft, which are known constant parameters and are selected as a 25 =-19.162, a24 = 829.0773, a' = 0.0001 z = -12.897; k3 is a constant inversion parameter, selected as k3 = 0.4.

[0079] Step S50, specifically, can be divided into the following five small steps. First, according to the flight task of the saucer-shaped aircraft, the speed pitch angle expected value of the saucer-shaped aircraft is set as θ d = 5 degrees, and then compared with the speed pitch angle of the saucer-shaped aircraft, to obtain the pitch angle error signal as follows:

[0080] e = θ - θ d ;

[0081] Wherein e is the pitch angle error signal; in this case, the detailed changes are as shown in Figure 7 .

[0082] Second, according to the speed pitch angle of the saucer-shaped aircraft and the pitch angle error signal, the growth rate signal of the thrust vector control pitch angle adaptive compensation amount is designed; and then integrated iteration is performed to obtain the thrust vector control pitch angle adaptive compensation signal as follows:

[0083]

[0084]

[0085] Wherein c d5 is the growth rate signal of the thrust vector control pitch angle adaptive compensation amount; is the thrust vector control pitch angle adaptive compensation signal; l5, ε1 are constant parameters for adjusting the size of the growth rate of the thrust vector control adaptive compensation signal, which are selected as l5 = 0.15, ε1 = 0.1.

[0086] Third, according to the pitch angle signal of the saucer-shaped aircraft and the pitch angle error signal, the growth rate signal of the thrust vector control pitch angle adaptive compensation amount is designed; and then integrated iteration is performed to obtain the thrust vector control pitch angle adaptive compensation signal as follows:

[0087]

[0088]

[0089] Wherein c d6 is the growth rate signal of the thrust vector control pitch angle adaptive compensation amount; is the thrust vector control pitch angle adaptive compensation signal; l6 is a constant parameter, which is selected as l6 = 0.25.

[0090] Fourthly, according to the tilt angle error signal of the saucer-shaped aircraft, a growth rate signal of the thrust vector control tilt angle error adaptive compensation amount is designed; and then, integral iteration is performed to obtain a thrust vector control tilt angle error adaptive compensation signal as follows:

[0091]

[0092]

[0093] wherein c d7 is the growth rate signal of the thrust vector control tilt angle error adaptive compensation amount; is the thrust vector control tilt angle error adaptive compensation signal; and l7 is a constant parameter, which is selected as l7 = 0.25.

[0094] Fifthly, according to the pitch angle rate signal of the saucer-shaped aircraft, a growth rate signal of the thrust vector control pitch angle rate adaptive compensation amount is designed; and then, integral iteration is performed to obtain a thrust vector control pitch angle rate adaptive compensation signal as follows:

[0095]

[0096]

[0097] wherein c d8 is the growth rate signal of the thrust vector control pitch angle rate adaptive compensation amount; is the thrust vector control pitch angle rate adaptive compensation signal; and l8 is a constant parameter, which is used to adjust the size of the growth rate of the thrust vector control adaptive compensation signal; and is selected as l8 = 0.45.

[0098] Step S60, specifically, can be divided into the following two sub-steps. Firstly, according to the thrust vector control tilt angle adaptive compensation signal, the thrust vector control pitch angle adaptive compensation signal, the thrust vector control tilt angle error adaptive compensation signal, the thrust vector control pitch angle rate adaptive compensation signal, and the speed pitch angle, the pitch angle, the tilt angle error and the pitch angle rate signal of the saucer-shaped aircraft, a thrust vector control adaptive compensation total signal of the saucer-shaped aircraft is obtained as follows:

[0099]

[0100] wherein f b is the thrust vector control adaptive compensation total signal of the saucer-shaped aircraft.

[0101] Secondly, in combination with the aerodynamic coefficients of the saucer-shaped aircraft, a thrust vector total control signal of the saucer-shaped aircraft is designed in a backstepping manner as follows:

[0102]

[0103] wherein a x , a 33 , a 34 are constant aerodynamic coefficients of the disc-shaped aircraft, in the present case selected as: a x = 0.0289, a 33 = 0.0013, a 34 = 2.323; k1, k2 are constant inversion control parameters, selected as k1 = 3, k2 = 0.1; ξ a is the total thrust vector control signal of the disc-shaped aircraft, whose variation curve is shown in Figure 8 .

[0104] Step S70, the total thrust vector control signal of the disc-shaped aircraft and the total mass distance control signal of the disc-shaped aircraft are respectively delivered to the thrust vector device and the variable mass distance control device, so that the thrust pitch swing angle ξ a of the disc-shaped aircraft is equal to the total thrust vector control signal ξ a , the displacement x b of the mass block of the disc-shaped aircraft deviating from the center point is equal to the total mass distance control signal x ba of the disc-shaped aircraft, that is, the tracking control of the speed pitch angle expectation value of the disc-shaped aircraft can be realized, and the flight task is completed. It can be seen from Figure 4 that the final speed pitch angle of the disc-shaped aircraft can stably track the 5-degree expectation signal, and from Figure 7 and Figure 8 it can be seen that the entire thrust vector control amount and the mass distance control signal change smoothly without severe flutter, and the amplitude does not appear abnormal fluctuation, so as to meet the engineering requirements. Overall, the disc-shaped aircraft pitch channel has achieved good stability effect, thus indicating that the entire composite control method provided by the present application is reasonable and effective.

[0105] The above-described specific embodiments further detail the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above-described specific embodiments are merely examples of the present application and are not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for combined control of thrust vector and mass distance of a saucer-shaped aircraft, characterized by the following steps: Step S10, installing a rate gyroscope on the saucer-shaped aircraft, measuring the pitch rate signal of the saucer-shaped aircraft, denoted as ω z ; then installing an angle gyroscope on the saucer-shaped aircraft, measuring the pitch angle of the saucer-shaped aircraft, denoted as installing a speed sensor on the saucer-shaped aircraft, measuring the speed pitch angle of the saucer-shaped aircraft, denoted as θ; Step S20, installing a thrust vector device at the axial tail position of the saucer-shaped aircraft in the flight direction, the thrust pitch swing angle is denoted as ξ, installing a variable mass distance control device in the axial direction of the saucer-shaped aircraft in the flight direction, the displacement of the mass block from the center point is denoted as x b ; Step S30, according to the speed pitch angle of the saucer-shaped aircraft and the pitch angle rate signal of the saucer-shaped aircraft, a growth rate signal of the mass distance control attitude angle adaptive compensation quantity is designed; then integral iteration is performed to obtain a mass distance control attitude angle adaptive compensation signal; according to the pitch angle of the saucer-shaped aircraft and the pitch angle rate signal of the saucer-shaped aircraft, a growth rate signal of the mass distance control attitude angle adaptive compensation quantity is designed; then integral iteration is performed to obtain a mass distance control attitude angle adaptive compensation signal; according to the thrust pitch swing angle and the pitch angle rate signal of the saucer-shaped aircraft, a growth rate signal of the mass distance control thrust vector adaptive compensation quantity is designed; then integral iteration is performed to obtain a mass distance control thrust vector adaptive compensation signal; finally, according to the pitch angle rate signal of the saucer-shaped aircraft, a growth rate signal of the mass distance control angle rate adaptive compensation quantity is designed; then integral iteration is performed to obtain a mass distance control angle rate adaptive compensation signal as follows: where T is a constant integral step parameter; c d1 is a growth rate signal of the mass control bank angle adaptive compensation quantity; is a mass control bank angle adaptive compensation signal; c d2 is a growth rate signal of the mass control attitude angle adaptive compensation quantity; is a mass control attitude angle adaptive compensation signal; c d3 is a growth rate signal of the mass control thrust vector adaptive compensation quantity; is a mass control thrust vector adaptive compensation signal; c d4 is a growth rate signal of the mass control angular rate adaptive compensation quantity; is a mass control angular rate adaptive compensation signal; l1, l2, l3, l4, ε are constant parameters for adjusting the size of the growth rate of the mass control adaptive compensation signal; Step S40, according to the mass distance control attitude angle adaptive compensation signal, the mass distance control attitude angle adaptive compensation signal, the mass distance control thrust vector adaptive compensation signal, the mass distance control angle rate adaptive compensation signal, and the speed pitch angle, the pitch angle, the thrust pitch swing angle, and the pitch angle rate signal of the saucer-shaped aircraft, a total signal of the mass distance control adaptive compensation of the saucer-shaped aircraft is obtained; then, combined with the aerodynamic coefficients of the saucer-shaped aircraft, a total mass distance control signal of the saucer-shaped aircraft is designed in a backstepping manner as follows: where f a is the total signal of the adaptive compensation of the mass moment control of the saucer-shaped aircraft; x ba is the total signal of the mass moment control of the saucer-shaped aircraft, a 25 , a 24 , a′ z is the aerodynamic coefficient of the saucer-shaped aircraft, which is a known constant parameter; k3 is a constant inversion parameter; Step S50, according to the flight task of the saucer-shaped aircraft, set the speed pitch angle of the saucer-shaped aircraft expected value is θ d Then, the pitch angle error signal is obtained by comparing the pitch angle of the saucer-shaped aircraft with the speed pitch angle of the saucer-shaped aircraft; then, the growth rate signal of the adaptive compensation amount of the thrust vector control pitch angle is designed according to the pitch angle of the saucer-shaped aircraft and the pitch angle error signal; then, the integral iteration is carried out to obtain the adaptive compensation signal of the thrust vector control pitch angle; the growth rate signal of the adaptive compensation amount of the thrust vector control pitch angle is designed according to the pitch angle error signal of the saucer-shaped aircraft; then, the integral iteration is carried out to obtain the adaptive compensation signal of the thrust vector control pitch angle error; finally, the growth rate signal of the adaptive compensation amount of the thrust vector control pitch angle rate is designed according to the pitch angle rate signal of the saucer-shaped aircraft; then, the integral iteration is carried out to obtain the adaptive compensation signal of the thrust vector control pitch angle rate as follows: e = θ - θ d ; where e is the tilt angle error signal; c d5 is the growth rate signal of the tilt angle adaptive compensation quantity for thrust vector control; is the tilt angle adaptive compensation signal for thrust vector control;c d6 is the growth rate signal of the pitch angle adaptive compensation quantity for thrust vector control; is the pitch angle adaptive compensation signal for thrust vector control;c d7 is the growth rate signal of the tilt angle error adaptive compensation quantity for thrust vector control; is the tilt angle error adaptive compensation signal for thrust vector control;c d8 is the growth rate signal of the pitch angle rate adaptive compensation quantity for thrust vector control; is the pitch angle rate adaptive compensation signal for thrust vector control;15, 16, 17, 18, ε1 are constant parameters for adjusting the size of the growth rate of the adaptive compensation signal for thrust vector control; Step S60, according to the thrust vector control attitude angle adaptive compensation signal, the thrust vector control pitch angle adaptive compensation signal, the thrust vector control attitude angle error adaptive compensation signal, the thrust vector control pitch angle rate adaptive compensation signal, and the speed pitch angle, the pitch angle, the attitude angle error, and the pitch angle rate signal of the saucer-shaped aircraft, a total signal of the thrust vector control adaptive compensation of the saucer-shaped aircraft is obtained; then, combined with the aerodynamic coefficients of the saucer-shaped aircraft, a total thrust vector control signal of the saucer-shaped aircraft is designed in a backstepping manner as follows: wherein f b is the total signal of adaptive compensation for thrust vector control of the saucer-shaped aircraft; a x , a 33 , a 34 is a constant aerodynamic coefficient of the saucer-shaped aircraft, k1, k2 are constant inversion control parameters; ξ a is the total control signal of thrust vector of the saucer-shaped aircraft; Step S70, the total control signal of the disc-shaped aircraft thrust vector and the total control signal of the disc-shaped aircraft mass distance are respectively delivered to the thrust vector device and the variable mass distance control device, so that the thrust tilt angle ξ of the disc-shaped aircraft is equal to the total control signal of the thrust vector ξ a , the displacement x of the disc-shaped aircraft mass block deviating from the center point b is equal to the total control signal x of the disc-shaped aircraft mass distance ba , that is, the tracking control of the speed tilt angle expectation value of the disc-shaped aircraft can be realized, and the flight task is completed.

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