针对四旋翼飞行器传统PID控制系统存在的响应慢、抗干扰能力差、超调较大等问题, 将模型算法控制（MAC）引入传统PID控制系统, 以改善控制系统的动静态性能。将不完全微分PID控制器与MAC控制器相结合, 构成串级闭环控制系统:将不完全微分PID控制器作为内环控制, 实现对横滚角和俯仰角的姿态控制;将MAC作为外环控制, 实现对位置以及偏航角的控制。仿真结果表明该方法与传统PID控制相比, 其超调量小、响应速度快、响应曲线平滑。

Aiming at the problems of slow response speed, poor anti-jamming ability and large overshoot in traditional PID control system of quadrotor aircraft, the Model Algorithmic Control (MAC) is introduced into the traditional PID control system to improve the dynamic and static performance of the control system.The incomplete differential PID controller is combined with the MAC controller to form a cascade closed-loop control system.The incomplete differential PID controller is used as the inner loop control to realize the attitude control of roll angle and pitch angle.The MAC is used as the outer loop control to realize the control of position and yaw angle.The simulation results show that the method has smaller overshoot, faster response speed and smoother response curve than the traditional PID control.