针对多旋翼无人飞行器机载云台的稳定控制要求，提出一种采用双速度环控制结构的带有模糊切换条件的模糊自适应PID复合稳定控制方法。在深入分析控制结构扰动抑制能力的基础上，通过模糊自适应控制中自调整因子的引入和控制规则的在线修正，提高系统的快速响应能力;利用变速积分PID控制保证系统的高稳定精度，模糊切换条件实现复合控制的平稳切换。动态响应和稳态精度实验表明，系统的调节时间约为20 ms，稳定精度为0.13 mrad。该方法有效地实现了机载云台的稳定控制，完全满足了多旋翼无人飞行器的应用需求。

In order to satisfy the demands of stabilized control for airborne platform mounted on multi-rotor Unmanned Aerial Vehicle (UAV),a fuzzy adaptive PID hybrid control strategy with a fuzzy switching condition is put forward,and the control structure has dual rate-speed loops.Analysis is made to the anti-disturbance ability of control structure,and self-adjusting factor and self-learning control rules are introduced to improve the rapid response capability of the system.The variable integral PID control is used to ensure high and stable precision of the system.The fuzzy switching condition guarantees the switching of hybrid control smoothly.Results of dynamic response and steady-state precision experiments show that the adjust time of system is about 20 ms,and the stable accuracy is 0.13 mrad.The proposed method realizes the stable control of airborne platform effectively,and can meet the application requirements of multi-rotor UAV.