中文摘要：

在分析半履带气垫车所受行驶阻力和土壤推力的基础上，建立了总功耗的理论模型，讨论了三种典型土壤条件下风机转速与总功耗、风机转速与滑转率的关系，定性分析了最佳风机转速随土壤粘度的变化规律。设计了带模糊PID控制器的滑转率控制系统，通过调节履带驱动轮的输入转矩保证总功耗最小这—控制目标的实现。使用MATLAB／Simulink软件对所设计的控制系统进行了砂壤土工况下的仿真研究。仿真结果表明，对于给定的车辆参数和土壤条件，采用所设计的滑转率控制系统能够使半履带气垫车稳定行驶在最佳工作状态。

英文摘要：

Based on analyses of the resistances and driving force for a semi-track air-cushion vehicle （STACV）, a theoretical model for total power consumption was established, and the relationships between fan rotational speed and total power consumption, fan rotational speed and slip ratio were examined respectively in three typical soil conditions, Accordingly, the change law of optimal fan rotational speed along with soil viscosity was analyzed qualitatively, A slip ratio control system with a fuzzy PID controller was designed to achieve the control objective, Le., minimizing the total power consumption, by regulating driving torque for the semi-tracks＇ driving wheels. In a MATLAB/Simulink software environment, simulation was carried out on the proposed control system in a sandy loam working condition. Simulation result shows that, for given vehicle parameters and soil condition, the optimal operation state of the STACV can be obtained and maintained by using the designed control system.