Flight control method and device of multi-rotor and fixed wing composite aircraft

The invention discloses a flight control method and a flight control device of a multi-rotor and fixed wing composite aircraft. When the composite aircraft is at a mixed working mode, the current attitude angle is subtracted from the attitude angle instruction of the composite aircraft to obtain an attitude angle deviation signal, the attitude angle deviation signal is operated by a controlled quantity allocation technology and is respectively configured to a lifting steering engine, a direction steering engine, an aileron steering engine and multi-rotor equipment, so as to enable the steering engines of the fixed wing to drive the control surface thereof to deflect, the multi-rotor equipment controls a rotating speed or a propeller pitch to change, and the fixed wing and the multi-rotor respectively generate corresponding control forces to drive the machine body to move towards the direction reducing the attitude angle deviation, so as to eliminate the attitude angle deviation. Therefore, the controlled quantity allocation technology is adopted by the flight control method and the flight control device disclosed by the invention to simultaneously control the control surface of the fixed wing and the rotating speed or the propeller pitch of the multi-rotor and control the posture of the composite aircraft, and the flight control function of the composite aircraft formed by the fixed wing and the multi-rotor at the mixed working mode is achieved.