無人飛艇的自抗擾控制研究和控制器優(yōu)化

龍飛 徐健 劉強(qiáng) 劉磊

摘? ?要：研究了一種多螺旋槳推力飛艇的控制問題，首先對螺旋槳和舵偏進(jìn)行了控制分配，設(shè)計了線性自抗擾控制器，并在風(fēng)干擾下驗(yàn)證了控制效果。介紹了灰狼優(yōu)化算法的模型和概念，設(shè)計了灰狼優(yōu)化在控制器參數(shù)中的優(yōu)化步驟，對線性自抗擾俯仰角和偏航角控制器進(jìn)行優(yōu)化，經(jīng)過對比分析，灰狼優(yōu)化在很小的迭代次數(shù)下即可得到控制品質(zhì)較好的控制器參數(shù)。

關(guān)鍵詞：飛艇;控制分配;線性自抗擾;灰狼優(yōu)化

中圖分類號：TP13? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?文獻(xiàn)標(biāo)識碼：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