中文摘要：

采用副气囊和升降舵作为飞艇俯仰控制的执行机构，分别建立了副气囊和升降舵的俯仰操纵模型。在传统加权伪逆法的基础上，提出了变权增量式伪逆法，以使用基于性能指标的变权方法实现控制分配优化，通过增量方式实现了执行机构主动速率约束。比较副气囊和升降舵操纵能力后，采用相对控制量平方和的变权性能方法，实现了基于执行机构操纵能力的最优分配；通过副气囊和升降舵耗能计算，提出了基于实际能量的变权增量式伪逆法，获得了符合执行机构实际耗能最优的分配结果。仿真结果表明，在高速和低速情况下，两种变权方法都取得了较好的姿态控制效果，基于实际能量的变权方法更能反映飞艇执行机构耗能的真实情况。

英文摘要：

The ballonets and elevator of a stratosphere airship were adopted as its actuators, and the pitch moment models of the two kinds of actuators were established. A variable-weight incremental pseudo inverse method was proposed based on the traditional weighting pseudo inverse method to optimize the control allocation by using the performance index based weight raring method and realize the actuators＇ proactive rate constraint by the incremental mode. On account of the operational capacity comparison between the ballonets and the elevator, a variable-weight method correlated with relative controlled variable quadratic sum optimal object was adopted to make the control allocation satisfy the operational capacity of the actuators. After the energy consumption analysis for the two kinds of actua- tors, a variable-weight incremental pseudo inverse method based on actual energy was proposed to optimize the con- trol allocation adapted to the minimal energy consumption. The simulation results show that regardless of whether the forward speed is high or low, the two kinds of variable-weight methods can get good attitude control effects and the variable-weight method based on actual energy reflects the real energy consumption of an airship better.