Form the practical engineering point of view , the longitudinal natural stability of anti - submarine helicopter is analyzed , the stabilized loop of the pitch angle is systematically studied . this paper is mainly on the design and simulation of the stabilized loop of pitch angle with classic control method and fuzzy control method and many useful results are achieved . the main work of this paper can briefly described as follows : after the mathematical models of aircraft was build with relevant date , the stabilized loop of pitch angel was designed and simulated 本文从工程应用的角度出发，分析了国产直九c反潜直升机的纵向自然稳定性，分别应用古典控制和模糊控制的方法，系统地研究了国产直九c直升机的纵向姿态角稳定回路、速度回路、高度回路、自动过渡等，对纵向姿态角稳定、速度、高度、自动过渡回路进行了控制律的设计与仿真，取得了良好的控制效果。
After introduced its task and construct of the controller of the homing gliding missile , the longitudinal and lateral motion equations are provided . a continuous fuzzy - pid control system combined the advantages of fuzzy control and pid control is presented , and could be guaranteed the stability of the system using popov stability criterion . the results of simulation show that the fuzzy - pid control is able to provide a better relative stability and robustness , also have better dynamic and static characteristics than the pure pid control 将模糊控制和pid控制相结合，研究了一种基于模糊pid的连续控制器，利用波波夫稳定判据判定该控制器是渐进稳定的，并将其应用于制导滑翔弹俯仰角、偏航角、滚转角稳定回路中，设计仿真结果表明，该种连续控制器可使系统获得很好的稳定性和鲁棒性，动、静态性能比单纯pid控制都有较大提高。
Third , the center of mass stabilization loop is designed by the proportion control law in variable structure control , the design method of the proportion control law is deducted elaborately . the result is the character points is unified on parameter . the two simulation results of the different methods are compared in this paper 第三，利用变结构控制中的比例控制规律对导弹的质心稳定回路进行了设计，详细推导了比例控制规律的设计方法，实现了各个特征点设计参数上统一，并对前面两种设计方法的仿真结果进行了比较，最后还讨论了两种设计方法对干扰的抑制作用。
Consequently , computational models of all subsystems are constructed , such as the strapdown inertial navigation system ( sins ) , the control loop applied in self - control period , the guidance system by applying the technology of television ( tv ) guidance and the guidance law of proportion navigation , the autopilot by applying the technology of overload control in terminal control period , and so on 建立导弹各个子系统的计算模型，主要有捷联惯性导航系统、弹体、导弹自控段的控制稳定回路、采用电视制导和比例导引制导律的导引系统，以及采用过载控制的自动驾驶仪，然后在此基础上建立导弹各系统仿真模型。
