四轴飞行器姿态角系统是个非线性、强耦合和多变量的复杂系统，四轴飞行器通常采用PID 控制，但是PID 控制存在精度不高、易受干扰的缺点。为此，这里介绍了一种新型四轴飞行器姿态角控制方法与仿真。首先对四轴飞行器姿态角系统进行了数学建模与分析，并得到了简化的数学模型；然后提出了一种新型的姿态角控制方法并对新型控制系统的姿态角控制效果、抗干扰性能和抗控制对象变化的性能进行了Simulink 建模；最后对所建的姿态角Simulink 仿真模型进行了仿真。仿真结果表明，新型姿态角控制方法实现了姿态角的稳定、精确控制；抗干扰性良好，干扰撤除后，姿态角能迅速恢复稳定；当控制对象发生变化时，姿态角仍能保持稳定值不变，系统具有一定的参考和应用价值。

The four-axis aircraft attitude angle system is a nonlinear, strongly coupled and multi-variable complex system. The four-axis aircraft usually adopts PID control, but the PID control has the disadvantages of low precision and vulnerability to interference. To this end, a new four-axis aircraft attitude angle control method and simulation is introduced. Firstly, the mathematical modeling and analysis of the four-axis aircraft attitude angle system is carried out, and a simplified mathematical model is obtained. Then a new attitude angle control method is proposed and the attitude control effect and anti-interference performance of the new control system are obtained. Simulink modeling is carried out with the performance of the anti -control object. Finally, the simulated attitude angle Simulink simulation model is simulated. The simulation results show that the new attitude angle control method achieves stable and precise control of the attitude angle. The anti-interference is good. After the interference is removed, the attitude angle can quickly return to stability. When the control object changes, the attitude angle can still maintain a stable value; the system has certain reference and application value.