High-speed rotor unmanned aerial vehicle stable flight control method, system and device

The invention provides a stable flight control method for a high-speed rotor unmanned aerial vehicle. The method comprises the steps that an attitude target is calculated according to the current position of the unmanned aerial vehicle and a position target; obtaining control target values of angular acceleration and acceleration according to an error between an attitude target and a current attitude, further obtaining force and torque of required acceleration inertia force, substituting the force and the torque into an unmanned aerial vehicle kinematics equation to solve and obtain an unmanned aerial vehicle rotor wing rotating speed demand, and taking the unmanned aerial vehicle rotor wing rotating speed demand as a reference control quantity output by a dynamic inverse controller; establishing a sliding mode controller to obtain the error correction control quantity of the unmanned aerial vehicle; and a hybrid controller is adopted to superpose the reference control quantity output by the dynamic inverse c