为保证无刷直流电机（brushless DC motor, BLDCM）调速控制的稳定性，并提高其精确性和稳定性，在BLDC自抗扰磁场定向控制的基础上，改进常青藤算法（ivy algorithm, IVY）并用于BLDC自抗扰控制（active disturbance rejection control, ADRC）策略，由于ADRC控制参数多整定困难，使用IVY优化算法整定前期初始化的随机性和均匀性会影响到算法收敛速度和收敛精度，迭代后期易陷入局部最优解导致收敛精度不高，引入Circle混沌映射初始化种群，常青藤生长阶段使用概率转换莱维飞行策略增加搜索可能性，扩张阶段使用自适应权重柯西变异防止后期陷入局部收敛。最后进行函数优化测试和仿真对比实验。结果表明：所提出的改进常青藤优化自抗扰控制（improvement ivy algorithm-active disturbance rejection control, IIVY-ADRC）策略的转速响应更快，控制精度更高，抗扰性能更强。

In order to ensure the stability of brushless DC motor (BLDC) speed control and improve its accuracy and stability, the IVY algorithm (IVY) was improved and applied to the BLDC active disturbance rejection controller (ADRC) strategy based on the BLDC self-immunity magnetic field direction control, due to the difficulty of the ADRC control parameters multi-level rectification, the randomness and uniformity of initialization in the pre-rectification period with the IVY optimization algorithm affected the convergence speed and convergence accuracy of the algorithm, It was prone to falling into the local optimal solution in the late iteration, resulting in poor convergence accuracy, a Circle chaotic map was introduced to the population. During the ivy growth stage, probabilistic conversion Levy flight strategy was used to increase the possibility of search. During the expansion stage, adaptive weight Cauchy variation was utilized to prevent the late fall into the local convergence. Finally, function optimization tests and simulation comparison experiments were conducted. The results show that the proposed improved ivy algorithm-active disturbance rejection control (IIVY-ADRC) strategy has faster response speed, higher control accuracy and better anti-interference capability.