针对Qball-X4四旋翼无人飞行器的自身特点,建立系统的非线性模型,采用姿态内环和位置外环的双闭环控制算法。线性二次型调节器(LQR)可以快速简便地求解出最优的状态反馈控制率,并且具有良好的鲁棒性,因而利用LQR控制算法来控制姿态内环。由于PID控制算法结构简单、鲁棒性强,因而控制位置外环。通过Matlab/Simulink和飞行试验对控制算法进行仿真和验证,结果表明,设计的控制算法能成功地实现飞行器的悬停控制,并达到较好的控制效果。 According to the characteristics of the Qball-X4 quadcopter UAV, a nonlinear model of the system is established. The double closed-loop control algorithm of the inner ring and the outer ring is adopted. Linear quadratic regulator (LQR) can quickly and easily solve the optimal state feedback control rate, and has good robustness. Therefore, the LQR control algorithm is used to control the pose inner loop. Because PID control algorithm is simple in structure and strong in robustness, it controls the position of outer ring. The control algorithm is simulated and verified by Matlab / Simulink and flight test. The results show that the designed control algorithm can successfully achieve the hovering control of aircraft and achieve better control effect.