龙飞 徐健 刘强 刘磊

摘   要：研究了一種多螺旋桨推力飞艇的控制问题，首先对螺旋桨和舵偏进行了控制分配，设计了线性自抗扰控制器，并在风干扰下验证了控制效果。介绍了灰狼优化算法的模型和概念，设计了灰狼优化在控制器参数中的优化步骤，对线性自抗扰俯仰角和偏航角控制器进行优化，经过对比分析，灰狼优化在很小的迭代次数下即可得到控制品质较好的控制器参数。

关键词：飞艇;控制分配;线性自抗扰;灰狼优化

中图分类号：TP13                                               文献标识码：A

Active Disturbance Rejection Control

of Unmanned Airship and its Optimization

LONG Fei1 XU Jian1，LIU Qiang2，LIU Lei2

（1. China Special Aircraft Research Institute，Jingmen，Hubei 448035，China;

2.National Key Laboratory of Science and Technology on Multispectral Information Processing，School of Artificial Intelligence and Automation，Huazhong University of Science and Technology，Wuhan，Hubei 430074，China）

Abstract：The control problem of a multi-propeller thrust airship is studied. Firstly，the control efforts of the propellers and rudders are allocated. A linear active disturbance rejection controller（LADRC） is designed and its control effect is illustrated under the wind disturbance. Then，the model and concept of wolf optimization algorithm is introduced. And the control parameters optimization algorithm is designed based on the wolf algorithm，which is implemented to optimize the LADRC. From the comparation，the wolf optimization can obtain the controller parameters with good control quality in a small number of iterations.

Key words：airship;control allocation;linear ADRC;wolf optimization