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MATLAB/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。 Quadrotorcraft is unstable, nonlinear, strong coupling, modeling uncertainty and other characteristics, but also a four input, six output under-driven system. For such systems, scholars have done a lot of research on aircraft control algorithms, such as LQR, sliding mode control, inversion control and so on. Although these control algorithms have good effect in attitude control and other aspects, but need to establish an accurate mathematical model, the real-time data processing processor performance requirements are high, to achieve certain difficulties. In order to solve the above problems, a small quadrotor is taken as the research object. Based on the Newton-Euler equation, the kinematics and dynamics model of the quadrotor is set up. An easy-to-implement cascade PID controller is designed. Attitude control, the application of MATLAB / Simulink designed to simulate the controller. The results show that Cascade PID controller can control the attitude and position of quadrotor quickly, stably and accurately, and has better robustness.