针对微小型直升机建模困难,动态模型中不仅含有较多的未知动态,且飞行中内外扰动均比较大的问题,提出一种基于自抗扰控制的飞行控制方法。该方法不仅可以确保微小型直升机六自由度方向上的稳定准确跟踪控制,而且可实时估计并补偿未知动态影响。通过盘旋上升模态下飞行仿真验证了此控制方法的有效性和鲁棒性。 In order to solve the difficulty of modeling the micro-helicopter, the dynamic model not only contains more unknown dynamics but also has large perturbations both inside and outside the flight, and proposes a flight control method based on ADRC. The method can not only ensure stable and accurate tracking control of the six-DOF micro-helicopter, but also estimate and compensate the unknown dynamic influence in real time. The validity and robustness of this control method are verified by the flight simulation under the spiraling mode.