The complete spectrum of elementary excitations for the quasi two-dimensional electron gas interacting with the optical phonons of semiconductor heterostructures is calculated within the random-phase approximation. The dispersion curves of the coupled intra- and intersubband plasmon-phonons are plotted in graphical form for various cases. Considering the intersubband mixing we found that this yields only a very weak contribution to the dispersion curves of the plasmon-phonon modes. The theoretical results for the dispersion curve of the (0-0) intrasubband plasmons obtained, including exchange and correlation effects, coupling to the long-wavelength optical phonons, intersubband mixing and screening effects of the grating on top of the sample agree very well with experimental results from far-infrared transmission spectroscopy.