飞机的每一个飞行阶段都可看做为它在完成一个既定的任务,即按给定的运动参数变化规律和预定的轨迹飞行。例如,以等速作直线巡航飞行、转弯、跟踪一个活动的目标等等。在实现这些飞行任务的过程中,要求自动器控制的飞机运动参数往往有多个,同时它所能操纵的操纵面也可以有多个。例如,在纵向运动中可以操纵油门、升降舵、襟翼等;在横航向运动中可操纵副翼、方向舵等等。如果把每一个操纵而以及与它相关连的各个环节所组成的 Each phase of the flight can be viewed as completing an established task of flying at a given trajectory of motion parameters and trajectories. For example, cruising straight at a constant speed, turning, tracking an activity’s goal, and more. In the process of achieving these missions, there are often more than one aircraft movement parameters controlled by the robot, and at the same time, there may be more control surfaces that it can manipulate. For example, the throttle, elevator, flaps, etc. can be maneuvered in longitudinal motion; the aileron, rudder, etc. can be maneuvered in lateral motion. If every manipulation and the various links associated with it