针对在平台上的无人直升机姿态控制,设计了1个非线性预测姿态控制器,该预测控制器具有解析解不需要在线优化,通过查表的方式可以方便地得到满足设计要求的控制器参数。讨论了当输入饱和时的处理方法,通过仿真比较了当输入出现饱和时剪切法和方向保持法对系统性能的影响。最后,将非线性预测控制器和PID控制器的进行了比较,仿真结果说明采用该控制器系统响应比PID控制快,并且可以去除通道耦合引起的过大的超调量。 Aiming at the unmanned helicopter attitude control on the platform, a nonlinear predictive attitude controller is designed. The predictive controller has the analytical solution without the need of on-line optimization, and the controller parameters that meet the design requirements can be easily obtained through look-up table . The processing method when the input saturation is discussed. The influence of the shear method and the direction preserving method on the system performance is compared by simulation when the input saturation occurs. Finally, the nonlinear predictive controller and the PID controller are compared. The simulation results show that the system response is faster than the PID control and can remove the excessive overshoot caused by channel coupling.