In order to control the blade pitch of the electrically controlled rotor(ECR) accurately

the mathematic models of every part of the ECR system were built based on the improved ECR system.Then the cascade proportion integration differentiation(PID) control method was introduced to design the control law for the blade pitch of ECR in hover based on the mathematic models

and the PID parameters were tuned with the Ziegler-Nichols method.The results of the simulation analysis verified preliminarily the effectiveness of this control method.Based on the method

the open-loop and closed-loop control experiments were carried out for collective and cyclic pitch control in hover.Successful control of the amplitude and phase of ECR blade pitch was realized.And the test results verified the accuracy and effectiveness of the cascade PID control method as well.