Composite control method for visual axis stability of drone

The present invention relates to the field of drone visual axis stability control, and in particular, relates to a composite control method for visual axis stability of a drone. Requirements for the visual axis stability of the drone can be met. Firstly, the loop-shaping method is used to design the Quantitative Feedback Theory (QFT) visual axis stability controller. Then, the QFT controller is used as a main controller, and a PID controller is used to implement dynamic compensation of the QFT controller. The method is a visual axis stabilization method of composite parallel control of the QFTcontroller and the PID controller, which can improve an anti-interference ability and robustness of the drone to a visual axis stabilization platform, and is superior to a single control method of the QFT controller. 本发明涉及无人机视轴稳定控制领域，具体涉及一种无人机视轴稳定的复合控制方法。可以满足无人机对视轴稳定性的要求。该方法首先采用回路整形法设计定量反馈理论（Quantitative Feedback Theory，QFT）视轴稳定控制器，然后以QFT为主控制器,采用PID实现QFT的动态补偿。该方法是QFT和PID复合并行控制的视轴稳定方法，可以提高无人机对视轴稳定平台的抗干扰能力和鲁棒性，且优于QFT单独控制的方