中文摘要：

在分析半履带气垫车行驶阻力的基础上,分别对其垫升功率和驱动功率进行了研究,建立了总功率消耗最小化的理论模型,以检验车辆参数和载荷分配对总功率消耗的影响.提出了自适应模糊PID控制方案,以保证气垫车能够稳定地运行并实现总功率损耗最小.采用MATLAB/Simulink软件对所设计的控制系统进行了仿真研究.仿真结果表明,对于给定的车辆参数和土壤条件,采用自适应模糊PID控制器能够使半履带气垫车稳定行驶在最佳工作状态.该研究结果为半履带气垫车控制系统的设计提供了理论指导.

英文摘要：

Based on the traveling resistance analysis for a semi-track air-cushion vehicle （STACV）, the power consumptions for air-cushion system and propulsion system were investigated. A theoretical model for minimum total power consumption was established, for examining the effects of vehicle parameters and load distribution on power consumption. A control scheme was proposed by using self-turning fuzzy PID control approach to ensure the STACV stable driving meanwhile with minimum total power consumption. Then, in MATLAB/Simulink software environment, simulations were carried out for the proposed control system. The simulation results show that, for given vehicle parameters and soil condition, the optimal op- eration state can be obtained by using the designed control system. It provides a theoretical guidance for the control system design for the STACV.