为了解决四旋翼飞行器姿态控制问题,本文分析了四旋翼的结构特点与飞行原理;在混合坐标系下采用牛顿-欧拉法,建立了四旋翼飞行器的动力学特性方程;设计了抗积分饱和串级PID控制器、姿态反演控制器,并进行了仿真验证与飞行实验。仿真结果与实际飞行实验均证明了所设计控制方法的有效性。 In order to solve the attitude control problem of four-rotor aircraft, this paper analyzes the structural characteristics and flight principle of quadrotor. Using Newton-Euler method in mixed coordinate system, the dynamic characteristic equation of quadrotor is established. PID controller, attitude inversion controller, and the simulation and flight experiments were carried out. Simulation results and actual flight experiments prove the effectiveness of the proposed control method.