1186 results about "Flight speed" patented technology

A wind harnessing system using a plurality of self supporting airfoil kites 50 for production of useful power. The system comprising multiple airfoil kites 50 in tandem attached to a pivotal control housing 32 by control lines 58L and 58R and support lines 60L and 60R. Control lines 58L and 58R can change length with respect to the length of support lines 60L and 60R to control the airfoil kites' 50 angle-of-attack, pitch angle, direction of flight, and flight speed. The length of control lines 58L and 58R are controlled from ground station 30 by a movable pulley system in control housing 32 to adjust the airfoils' direction to follow a specific flight path 140. Control lines 58R and 58L and support lines 60R and 60L are also wound on a power shaft and pulley system in control housing 32. As the airfoil kites are propelled by the wind at very-high speed, the airfoils generate a powerful AXIAL force. The control lines 58L and 58R and support lines 60L and 60R are then reeled-out under this AXIAL tension causing the power shaft and pulley system in control housing 32 to turn a generator to generate electricity. After airfoil kites 50 have finished their reel-out power stroke 140a, the airfoil's pitch angle is made negative so they can be reeled-in by their control and support lines using a minimum of force along path 140b. Once the airfoils have been rewound to the proper distance, the airfoils are again angled for high-speed operation to generate powerful AXIAL force and reeled-out along 140c to provide another power stroke. The airfoil kites are then reeled-in again along path 140d and the entire process repeats starting with power stroke 140a. Since the force to rewind the airfoils is much less than the force generated during reel-out, there is net power generated.

The invention is a sense-and-avoid display system that obtains position and / or velocity data for an unmanned aerial vehicle (UAV) and other aerial vehicles (AVs) from one or more radar and / or GPS data sources by wireless and / or wired data transfer pathways. The UAV and AV data are used to compute and display: present and projected future positions of UAV and other AVs; time and distance of closest approach between UAV and an AV; and recommended change in UAV's flight path and / or flight speed for conflict avoidance. This information is provided to the UAV pilot in 2D and 3D graphic displays.In standard mode of operation, UAV position and / or velocity data are obtained from UAV ground control station (GCS), while data for other AVs are obtained from a non-GCS data source (e.g., radar). In an alternative mode, UAV and other AV data are obtained from the same non-GCS data source. This alternative is an option when UAV is equipped with an identification device (e.g., transponder) and UAV is distinguished from other AVs using data obtained from an AV identification system (e.g., IFF).

The invention discloses an unmanned aerial vehicle trajectory optimization method and device based on deep reinforcement learning and an unmanned aerial vehicle. The method comprises the steps: constructing a reinforcement learning network in advance, and generating state data and action decision data in real time in a flight process of an unmanned aerial vehicle; and taking the state data as input, the action decision data as output and the instantaneous energy efficiency as reward return, optimizing strategy parameters by utilizing a PPO algorithm, and outputting an optimal strategy. The device comprises a construction module, a training data collection module and a training module. The unmanned aerial vehicle comprises a processor, and the processor is used for executing the unmanned aerial vehicle trajectory optimization method based on deep reinforcement learning. The method has the capability of carrying out autonomous learning from accumulated flight data, can intelligently determine the optimal flight speed, acceleration, flight direction and return time in an unknown communication scene, concludes a flight strategy with the optimal energy efficiency, and is higher in environment adaptability and generalization capability.

The invention relates to an unmanned aerial vehicle which can vertically take off and land and hover in the air and has higher flight speed and larger flying range. The unmanned aerial vehicle does not need running take-off, thereby reducing the requirement on a taking off and landing field and greatly expanding the application range, and the unmanned aerial vehicle has higher speed and further flaying range than a manned helicopter. The unmanned aerial vehicle comprises a body (1), wings (8), a horizontal empennage (2), a vertical empennage (5), a nose power cabin (15) arranged on the front part of the body (1), a propeller power system (12) arranged on the front part of the nose power cabin (15) and a tilting mechanism (16) arranged on the middle upper part of the body, wherein the nosepower cabin (15) is connected with the body in a titling mode through the tilting mechanism (16) so as to ensure that the axial directions of the propellers (121) and (122) of the propeller power system (12) can be correspondingly titled.

The invention discloses an unmanned aircraft electric quantity early warning method and a device; the method comprises the following steps: using a satellite positioner to obtain inward journey drop point information of the unmanned aircraft; obtaining present position information of the unmanned aircraft, and calculating a horizontal distance and a vertical height difference between the present position of the unmanned aircraft and the inward journey drop point; obtaining battery state information of the unmanned aircraft, and calculating a maximum horizontal distance and a maximum climb or descending height of the unmanned aircraft using residual electric quantity at a preset flight speed; determining whether the electric quantity of the unmanned aircraft has reached a lowest critical point of safety inward journey or not according to the horizontal distance and the vertical height difference between the present position of the unmanned aircraft and the inward journey drop point, and the maximum horizontal distance and the maximum climb or descending height of the unmanned aircraft using residual electric quantity at the preset flight speed; if yes, controlling the unmanned aircraft to fly back. The unmanned aircraft electric quantity early warning method and the device can maximize a task flight time while ensuring the safety of the unmanned aircraft, thus maximizing the utilization efficiency of the aircraft.

The invention relates to a static path planning method of a robot. The method comprises that a target point is set, and an artificial potential field is established within the map range by taking the target point as a terminal point; particle swarm optimization is used, a start point of the robot is provided with m particle swarms, the flight speed of the ith particle in the tth step is vi(t), simulated walking along the path from the start point to the terminal point is carried out on each particle by combining the artificial potential field with the particle swarm optimization, and each particle forms self movement track in the simulated walking process; most particles are converged to one of the multiple tracks gradually, and an optical walking path from the start point to the terminal point is obtained within the map range; and the robot moves from the start point to the terminal point according to the optimal walking path. According to the invention, the potential field method, the grid method and the particle swarm optimization are combined, potential field distribution in a grid map is calculated directly, the pre-planned path is obtained from the target point of the potential field along the direction in which the potential field decreases most rapidly, the method is safe and effective, and path planning is accurate and reliable.

An unmanned aerial vehicle (UAV) is provided, that is cost effective to use and manufacture and that includes a low count of component parts, allowing mission planners to use the UAVs in a disposable manner. The UAV includes an airframe having a central body and wings extending from the central body, defining an interior cavity. The airframe includes an upper and a lower shell, each configured of a unitary piece of plastic. The upper and lower shells have walls among them that define a fuel tank and a payload bay in a stacked configuration. The airframe can further include a payload cover configured to enclose the payload bay and to contribute to the central body of the airframe. A launch assembly is also provided. In a first configuration, a launch assembly is provided, that includes a container for housing multiple UAVs and a deployment mechanism that initiates rapid ejection of the UAVs from the container. In a second configuration, a launch assembly is provided, that includes an elastic tether connecting a UAV to an accelerated mass for gentle acceleration to flight speed under a stable tow.

The invention relates to the field of unmanned aerial vehicles, and discloses a remote control method and equipment for the unmanned aerial vehicle and the unmanned aerial vehicle. According to the remote control method and equipment for the unmanned aerial vehicle and the unmanned aerial vehicle, operators just need to trigger a wireless remote control to send a first command, a second command and a third command so that the unmanned aerial vehicle can carry out point-surrounding flight monitoring around the physical coordinate of an interest point according to an adjusted flight speed and an adjusted point-surrounding flight radius, the second command is independently used for adjusting the surrounding radius, the third command is independently used for controlling the surrounding speed, and therefore the operating skill requirement for the operators is lowered, and the experience of the operators is improved.

The image forming apparatus includes a liquid ejection head and an ejection control device. The liquid ejection head includes: a large nozzle and a small nozzle performing ejection of droplets of liquid, the droplet ejected from the large nozzle having volume larger than the droplet ejected from the small nozzle; and liquid flow channels corresponding to the large and small nozzles, the ejection of the droplets from the large and small nozzles being induced by formation of bubbles in the liquid in the corresponding liquid flow channels caused by applied thermal energy. The ejection control device controls the ejection of the droplets in such a manner that a product of a Reynolds number and a Weber number for the droplet ejected from the large nozzle and a product of a Reynolds number and a Weber number for the droplet ejected from the small nozzle are equal to each other. Each of the products is defined as:Re×We=ρ2×V3×D2μ×γ,where Re is the Reynolds number for the droplet, We is the Weber number for the droplet, ρ is a density of the liquid, V is a flight speed of the droplet, D is a diameter of the nozzle from which the droplet is ejected, μ is a viscosity of the liquid, and γ is a surface tension of the liquid.

A variable cycle propulsion system for a supersonic airplane, the system comprising at least one engine having means for producing exhaust gas and a gas exhaust nozzle for generating thrust for supersonic flight speeds, and at least one separate auxiliary propulsion assembly dissociated from said engine, having no gas generator, and capable of generating thrust for takeoff, landing, and subsonic flight speeds. The system further comprises gas flow tapping means movable between a position in which they tap off at least a fraction of the exhaust gas produced by said engine and feed it to said propulsion assembly to enable it to generate thrust for takeoff, landing, and subsonic cruising flight, and a position in which the gas produced by the engine is directed solely to the engine nozzle for supersonic cruising flight.

The invention discloses a multi-dimensional fast acquisition method and system for satellite signals. The acquisition system comprises a digital intermediate frequency mixer, a local code generator, a partial matching filter (PMF), a fast Fourier transform (FFT) module, an acquisition detection module, an acquisition verification module and an acquisition judgment module; the technical problems of limited detection frequency offset range, high hardware implementation complexity, long processing delay and the like a satellite signal acquisition algorithm under a high dynamic environment can be solved via the algorithms of frequency adaptive adjustment, partial matching filter, fast Fourier transform and the like; the method and the system have the remarkable advantages of simple structure, low technical implementation complexity, short processing delay, large detection frequency offset range and the like, wherein the detectable Doppler frequency shift range is + / - 50 KHz, the Doppler frequency change rate is + / - 50 Hz, stable reception of radio communication under the extremely high dynamic environment having the flight speed of 20Ma and the acceleration of 180g can thus be realized, and the acquisition tracking time is less than 100ms.

The invention discloses a multi-rotor aircraft control system, a terminal and an airborne flight control system. The control system comprises an airborne flight control system and an intelligent terminal, wherein the airborne flight control system is used for acquiring first position information and sending the first position information to the intelligent terminal; the intelligent terminal is used for acquiring second position information, acquiring a yawing angle and at least one speed selected from a horizontal flight speed and a vertical flight speed according to the second position information and the first position information sent by the airborne flight control system, and sending the yawing angle and at least one speed selected from the horizontal flight speed and the vertical flight speed to the airborne flight control system; the first position information is the position information of the aircraft where the airborne flight control system is located; the second position information is the position information of the intelligent terminal; the airborne flight control system is also used for controlling the aircraft where the airborne flight control system is located to fly to the intelligent terminal according to the yawing angle and at least one speed selected from the horizontal flight speed and the vertical flight speed.

The invention discloses a UAV (Unmanned Aerial Vehicle)-assisted WSN (Wireless Sensor Network), as well as a method for designing node scheduling, route planning and power distribution of the same, and belongs to the technical field of wireless communication and IOT (Internet Of Things). The UAV-assisted WSN consists of a UAV aerial base station and K single-antenna ground terminal nodes. The method of the invention is characterized by aiming at minimizing system power consumption, considering constraint conditions such as a data transmission rate of the terminal node, a flight speed of the UAV and a transmitting power of the UAV, building a mathematical optimization model by taking a scheduling variable of the terminal node, a flying route of the UAV and a transmitting power variable of the UAV as parameters, respectively converting two sub-problems decomposed from a non-convex optimization problem of mixed integer variables into upper bound convex problems corresponding to the two sub-problems, alternately iterating sub-optimization problems through a block coordinate descent method and an interior point method, and obtaining a suboptimal parameter solution for scheduling of theterminal node, the flying route and the power distribution of the UAV.

The invention provides an operating method of spraying a pesticide by an unmanned aerial vehicle, which comprises the following steps: calculating parameters W and K of a spraying system and a spraying dosage P in a unit area, and transmitting W, K and P to a flight control system of the unmanned aerial vehicle through a ground station; obtaining a flight speed V of the unmanned aerial vehicle by a GPS (global positioning system) module; calculating a control voltage U of a liquid pump by the flight control system according to the parameters W and K of the spraying system, the spraying dosage P in the unit area and the flight speed V; and driving the liquid pump to work by the control voltage U of the liquid pump and spraying the pesticide through a nozzle. By adoption of the operating method, the control voltage U of the liquid pump can be calculated precisely according to the characteristics of different farm crops, pesticide types, a dilution ratio of pesticide, the spraying dosage P in the unit area and the flight speed V of the unmanned aerial vehicle, accurate control on the spraying flow is implemented, thereby making the pesticide spraying dosage in the unit area be uniform, improving the adaptation of spraying pesticides by the unmanned aerial vehicle and effectively reducing the waste of pesticides and the environment pollutions.

The invention discloses a control device and method for integrated unmanned aerial vehicle (UAV) flight. The control device comprises a data link communication unit, an acquisition unit, a processing unit and a control unit, wherein the data link communication unit is used for interacting with a ground station, acquiring a flight task of a UAV and monitoring the flight state of the UAV; the acquisition unit is used for acquiring current flight acceleration and angular speed of the UAV, static air pressure on the UAV, motion speed of the UAV relative to surrounding air, magnetic field intensity of geomagnetic field on the UAV and positioning information of the UAV; the processing unit is used for processing data acquired by the acquisition unit to acquire the flight attitude of the UAV, and comparing the flight attitude with the flight task received by the data link communication unit so as to give flight height, flight speed and flight direction which need to be adjusted by the UAV; and the control unit is used for controlling a steering engine controller of the UAV to adjust according to the flight height, flight speed and flight direction which need to be adjusted by the UAV and are given by the processing unit, so that the UAV meets the requirement of the flight task. The device and the method can effectively and quickly control the flight of the UAV.

The invention discloses an unmanned aerial vehicle flight control method and an unmanned aerial vehicle control system. The method includes the following steps that: a control command is received, and the location information and flight attitude parameter of an unmanned aerial vehicle are acquired, and flight attitude information can be obtained according to the location information and the flight attitude parameter; aerial photography data are acquired, and the flight attitude information and the aerial photography data of the unmanned aerial vehicle are outputted according to the control command; a remote sensing command is sent out according to the flight attitude information and the aerial photography data of the unmanned aerial vehicle; the remote sensing command is received and analyzed; and a flight control command used for controlling the operation of the drivers of the unmanned aerial vehicle is formed according to the analyzed remote sensing command, and the flight attitude information of the unmanned aerial vehicle, so that the flight direction and flight speed of the unmanned aerial vehicle can be controlled. With the above technical schemes of the invention adopted, simplicity, security and real-time performance of data exchange can be improved.

A vehicle-mounted anti-unmanned-aerial-vehicle net bullet interception system comprises a searching cradle head, an early warning detector, a launch canister and bullet ammunition, wherein the early warning detector and the launch canister are arranged on the searching cradle head, and the bullet ammunition is arranged in the launch canister. According to the vehicle-mounted anti-unmanned-aerial-vehicle net bullet interception system, the technical problem that an interception method provided by the prior art only applies to propeller-type unmanned aerial vehicles made from metal, is difficult to apply to high-speed maneuverable unmanned aerial vehicle targets and is prone to causing secondary damage to ground surface personnel or other targets are solved. According to the vehicle-mounted anti-unmanned-aerial-vehicle net bullet interception system, unmanned aerial vehicle distance and speed information is obtained through a millimeter wave one-emitting-and-double-receiving early warning frequency-modulated radar, the unmanned aerial vehicles are searched, traced and automatically targeted through the searching cradle head, and a net bullet is launched; the net bullet is equipped with a close sensing fuse, timely ignition is conducted with the miss distance serving as the base point, small rockets are launched so as to enable the net bullet to obtain best cooperating of the net setting speed and the flight speed, and the time for approaching the targets are shortened to the greatest extent; and interception and capturing efficiency of the net bullet interception system are improved, and the vehicle-mounted anti-unmanned-aerial-vehicle net bullet interception system is suitable for accurate interception and capturing of the high-speed maneuverable unmanned aerial vehicles.

The invention discloses a 4D track generating method. The method includes the following steps of receiving aircraft meteorological data sent by an aircraft to download AMDAR data, conducting testing and quality control on the AMDAR data, generating a flight height profile and a flight speed profile according to the track historical information in the AMDAR data and the large elliptic distance method, generating a nominal flight profile as an initial 4D track generating profile according to the flight height profile and the flight speed profile and through a dynamic time warping (DTW) algorithm and an aircraft basic performance database (BADA) model, modifying weather forecast GRIB data according to actually-measured meteorological data in the AMDAR data, and calculating aircraft airway point-to-point time and combining the aircraft airway point-to-point time with the nominal flight profile to generate a 4D track.

A combination powered parachute and motorcycle modifies an initially conventional motorcycle with the addition of various flight components to provide sustained flight for the machine. A peripheral and overhead safety structure is installed upon the motorcycle, with a second flight engine, propeller, folding propeller guard, and fuel system also installed. The flight engine and all of its systems are completely independent of the conventional motorcycle engine used for surface propulsion. A set of laterally disposed stabilizer wheels is also provided for transition from ground to flight and from flight to ground operation. Lift is provided by a folding parafoil device of either the ram air inflated or partially pneumatically inflated type. For flight operations, the lateral wheels are lowered and extended, the folding propeller guard is extended, and the parafoil is deployed behind the motorcycle, with the parafoil lifting conventionally upon attaining flight speed.

It is an object of the present invention to provide a system that is used to provide support so that a pilot can perform flight operations that reduce noise pollution, by devising this system so that noise conditions on the ground are calculated and displayed on the basis of map information for the flight area in which facilities and the like are described, environmental conditions in the flight area such as the wind direction and wind velocity, or the temperature and density of the atmosphere, and noise generation data for the aircraft itself. The apparatus for supporting low-noise flight according to the present invention comprises means for estimating the noise generated by an aircraft using flight data such as the flight speed, the climb and descent rates, the engine power and the like of the aircraft, means for calculating the level at which the noise generated by the aircraft is propagated in the respective regions on the ground, and means for displaying the calculation results on a map in quantitative terms.

The invention discloses an onboard automatic speed measuring and height measuring radar system and a speed measuring and height measuring method. The system comprises an antenna, a transmitter, a superhet receiver, a broadband digital intermediate-frequency receiver, a center computer and a power module. The transmitter generates four sawtooth wave linear frequency modulation radio-frequency signals and achieves space symmetric configuration through the antenna; the superhet receiver and the broadband digital intermediate-frequency receiver complete echo signal digital demodulation together and calculate the frequency, amplitude, phase and signal-to-noise ratio information of echo signals; the center computer separates the speed information and the height information of the same echo beam by applying Doppler principle directivity based on the space symmetry and the timing sequence relevance of four beams, and the information is used for calculating the flight speed value and the flight height value of an aircraft. According to the onboard automatic speed measuring and height measuring radar system and the speed measuring and height measuring method, the same radar can be used for automatically measuring the speed and the height, the structure of an aircraft avionics system is simplified, the measuring precision is high, and the onboard automatic speed measuring and height measuring radar system and the speed measuring and height measuring method can be used for measuring carrier aircraft flight parameters.

The invention discloses a cooperative real-time path planning method for multiple unmanned aerial vehicles (UAVs) in case of communication latency. UAV data, obstacle data and target point data are firstly set to generate a digital map; then a simultaneous arrival constraint is executed, and the flight speed of each UAV is obtained; a communication latency constraint is executed, and the spacing range of the UAVs is obtained; an A-* algorithm is executed, and the next path of each UAV is obtained; and whether conditions of a collision avoidance constraint and a communication distance restriction are satisfied or not is judged, and whether the UAVs arrive a target point or not is finally judged. By adopting the cooperative real-time path planning method, the multiple UAVs can take off from different places and simultaneously arrive at the same target point under the condition of communication latency and can avoid obstacles on the way; the collision among the UAVs is avoided; and meanwhile, the communication among the UAVs can be kept.

The invention discloses a two-engine carrier-based aircraft with one engine off safety carrier landing control method, belonging to the flight control technology field. Through researching a flight characteristic of a carrier-based aircraft with asymmetric thrust force, the invention provides a flight state simulation method of the two-engine carrier-based aircraft with one engine off. Based on anormal two-engine aircraft flight state, different constant interference is added on a flight state variable of a flight speed, a pitch angle speed, a roll angle speed and a yaw angle speed respectively, thus a flight state of the two-engine carrier-based aircraft with one engine off is obtained. Based on a simulated flight state, vertical and lateral control law are subjected to reconstruction respectively, thus the two-engine carrier-based aircraft with one engine off safety carrier landing control method is obtained. Compared with the prior art, the method in the invention has the advantages of simple structure, reliable performance, high security of carrier landing and the like.

The invention discloses a multi-camera synchronous triggering device and a control method, thereby achieving the automatic triggering of a plurality of cameras based on a GPS signal. A synchronous trigger receives GPS serial port information and a PPS signal. According to the GPS signal, the flight height, flight speed and preset overlap ratio of an aircraft are resolved according to the GPS signal, and the photographing intervals between the cameras are calculated. According to the photographing intervals, the synchronous triggering is carried out, and feedback signals exposed by the cameras are read. Moreover, the height, speed and time information of camera triggering are stored in an on-board SD card, thereby facilitating the subsequent data processing. The device irons out the defects that a conventional camera trigger cannot be corresponding to the standard time, cannot achieve the storage of data and is short of an exposure feedback signal detection loop when the conventional camera trigger is based on an off-line clock of a local timer, thereby effectively employing the GPS information to facilitate the subsequent data processing, and improving the reliability.

The invention provides a multi-rotor unmanned airplane with inclined wings and rotors. The structure of the unmanned airplane comprises a plurality of rotors, a pair of wings and two rotors, wherein the plurality of rotors are arranged on a connecting rod, the wings are symmetrically arranged on the left and right sides of a fuselage and can be inclined between the directions perpendicular to the fuselage and parallel to the fuselage, and the two rotors are installed on the wings and can be synchronously inclined with the wings. The invention further provides a control system and a control method of the multi-rotor unmanned airplane with the inclined wings and the rotors. The attitude of the unmanned airplane provided by the invention is fully completed by a rotor system which is symmetrically arranged on the connecting rod, the rotors arranged on the wings only provide thrust, the attitude is not influenced, thereby decoupling the attitude control and the speed control, the complexity and the control difficulty of a dynamic model are reduced, additional lifting force is provided by utilizing an aerodynamic effect of the wings, and the flight speed, the bearing capacity and the endurance efficiency of the multi-rotor unmanned airplane are improved.

The invention discloses an uninhabited combat air vehicle route path determining method based on a PGSO (Particle-Glowworm Swarm Optimization) algorithm. The PGSO algorithm is designed by integrating a particle swarm optimization algorithm and a glowworm swarm optimization algorithm; a high-efficiency PGSO algorithm is designed by simulating a behavioural process of glowworms and establishing a swarm intelligence algorithm model under the inspiration of foraging or companion attracting courtship behaviors of the glowworms in nature through luminescence (fluorescein) and a bird swarm foraging behavior on the basis of a biological principle of a glowworm swarm in the nature; the high-efficiency PGSO algorithm is applied to determining of an uninhabited combat air vehicle route path; the uninhabited combat air vehicle route path determining method which is more excellent in performance is provided; a parallel hybrid mutation strategy and a strategy for performing local search close to the position of a global optimal individual are introduced into the PGSO, so that higher flight speed and positioning accuracy are achieved by finding the uninhabited combat air vehicle route path by utilizing the PGSO.

A method for controlling flying of a tilt-rotor unmanned helicopter in a transition section is characterized in that the optimal preview control is adopted, and by fusing system motion equation constraints, a preview ideal state and the optimal performance index constraint information, the flying of the tilt-rotor unmanned helicopter in the transition section is controlled; specifically, the method comprises the steps that firstly, a nonlinear model is set up for the transition section of the tilt-rotor unmanned helicopter, and then a liner equation for state space description is obtained in the mode that trimming and linearization at different nacelle dip angles are achieved; secondly, based on the linear model, the optimal preview controller is designed, and the flying speed, the flying height and the flying attitude angle in the transition process are controlled; finally, inertia delay desalted equipment is designed for achieving smooth transition of the tilt-rotor unmanned helicopter between different nacelle dip angles. According to the method for controlling flying of the tilt-rotor unmanned helicopter in the transition section, by fusing a predicable expected speed, a height, an attitude angle and other information, safe switching between modes of the tilt-rotor unmanned helicopter is achieved.

The invention discloses a control method of a hypersonic vehicle orienting the uncertainty condition. The control method comprises the following steps that step S1, full state feedback linearization processing is performed on flight speed V and flight height h according to a hypersonic vehicle longitudinal dynamic equation so as to obtain a corresponding state equation; step S2, an anti-step sliding mode controller is designed according to the state equation, and the double exponential approximation law of the selected sliding mode surface is S<.>=-k<1>|S|<eta>sgn(S)-k<2>|S|<lambda>sgn(S), wherein k<1>>0, K<2>>2, eta>1 and 1>lambda>0 are parameters in the formula; and step S3, a test platform is established based on the anti-step sliding mode controller to perform performance simulation. According to the method, the double exponential sliding mode controller based on the backstepping method is adopted, and switching gain and the problem of buffeting existing in sliding mode control can be effectively reduced by the method.