针对小型无人直升机,提出一种双时标鲁棒飞行控制器的设计方法.首先根据小型无人直升机模型的特点和时标分离思想,将快速变化的姿态控制回路作为控制系统内环,慢速变化的平移控制回路作为控制系统外环,分别采用基于四元数描述的方法和基于反步法的鲁棒控制完成控制器设计.然后运用Lyapunov方法对所设计的闭环控制系统进行稳定性分析,证明这种双时标飞行控制系统在没有干扰时可以实现跟踪误差的指数收敛.最后对该控制器进行仿真验证,结果表明,在阵风干扰下这种控制器仍然能够保证小型无人直升机实现良好的位置跟踪控制. Aiming at the small unmanned helicopter, a design method of double time-scale robust flight controller is proposed.Firstly, according to the characteristics of the small unmanned helicopter model and the time-scale separation idea, the rapidly changing attitude control loop is taken as the inner ring of the control system, The fast varying translational control loop is used as the outer loop of the control system, and the controller design based on the quaternion description method and the robust control method based on backstepping method are respectively used. Then, the stability of the closed-loop control system is analyzed by Lyapunov method , Which proves that the two-time-flight flight control system can achieve the exponential convergence of the tracking error without interference.Finally, the controller is verified by simulation and the results show that the controller can still guarantee the realization of the small unmanned helicopter under gust disturbance Good position tracking control.