研究旋转飞行器的解耦控制问题.考虑飞行过程中耦合对象系统的时变性,采用串联解耦网络对开环系统进行近似解耦,并采用模糊PID控制对闭环系统进行设计,实现了纵向和侧向通道之间的稳态解耦.仿真算例表明,该方法有效消除了旋转飞行器纵、侧向通道之间的耦合效应,在飞行状态时变的情况下能够获得良好的动态性能. The problem of decoupling control of rotary vehicle is studied.Considering the time-varying of the coupled system during flight, the open-loop system is decoupled by series decoupling network and the closed-loop system is designed by fuzzy PID control, the vertical and lateral The steady-state decoupling of the channels is demonstrated.The simulation results show that the proposed method can effectively eliminate the coupling effect between the longitudinal and lateral channels of the rotary vehicle and obtain good dynamic performance under the condition of varying flight states.