Quadrotor aircraft that has four input and six output,is unstable,nonlinear,strong coupling,modeling uncertainties and other characteristics,which is a under actuated system.In view of such systems,scholars have done a lot of research in the design of aircraft control method and controller,such as LQR,sliding mode control,backstepping control and so on.In terms of attitude control that these control algorithms has better effect,but accurate mathematical model need to be established,real time data processing on the processor performance requirement is particularly high,there are a certain difficulties to achieve.Aiming at these problems,this paper takes small quadrotor as the research object,quadrotor dynamics model is established according to the Newton Euler equation.An easy to implement cascade PID controller is designed to control the position and attitude of the aircraft,using Matlab/Simulink to design the controller simulation.The results show that the cascade PID controller can control the attitude and position of the quadrotor quickly,stably and accurately,and has good robustness.%四旋翼飞行器具有不稳定、非线性、强耦合、建模不确定性等特性,同时是一个四输入、六输出的欠驱动系统.针对这样的系统,学者们在飞行器控制算法方面做了许多研究,比如LQR、滑模控制、反演控制等.虽然这些控制算法在姿态控制等方面有比较好的效果,但需要建立准确的数学模型,数据的实时处理对处理器性能要求高,实现起来有一定的困难.针对上述问题,以小型四旋翼飞行器为研究对象,根据牛顿-欧拉方程建立了四旋翼飞行器的运动、动力学模型,设计了一种易于实现的串级PID控制器,分别对飞行器的位置与姿态进行控制,应用MAT-LAB/Simulink对所设计的控制器进行仿真.结果表明,串级PID控制器能够快速、稳定、准确地对四旋翼飞行器实现姿态和位置的控制,同时具有比较好的鲁棒性.
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