부산대학교 도서관

In order to solve the problem that the classical PID control algorithm can not adapt to the nonlinear controlled system,the robustness is weak and the anti-interference ability is poor,a control method was designed based on classical PID control and auto disturbance rejection technology. This control method provides real-time observation and compensation for uncertainties and external disturbances in aircraft attitude calculation.Finally, the digital simulation model of the classic cascade PID controller and the auto disturbance rejection PID controller is built in Simulink, and then the simulation results show that the response time of the auto disturbance rejection controller is 30% faster than the traditional cascade PID controller，the state error is 15% lower than the traditional cascade PID controller, and the overshoot is reduced by 20%. It is concluded that the quadrotor control method of PID combined auto disturbance rejection technology can be well adapted to the quadrotor aircraft nonlinear system, which can achieve the effect of suppressing external interference and compensating system control error.