中文摘要：

在分析半履带气垫车所受土壤力的基础上,建立了牵引效率和总功耗的理论模型,讨论了滑转率同牵引效率和总功耗的关系.在起步加速和匀速直线行驶情况下,分别以牵引效率最大和总功耗最小为控制目标,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控制目标的实现.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,采用带模糊PID控制器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.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 analysis of soil mechanics for a semi-track air-cushion vehicle （STACV）, theoretical models for traction efficiency and total power consumption were established, and relationships between slip ratio and traction efficiency, total power consumption were examined respectively. In two different speed conditions, i.e. starting acceleration and constant speed cases, maximizing traction efficiency and minimizing total power consumption were respectively chosen as control objectives. A slip ratio control system with a fuzzy PID controller was designed to achieve these control objectives by regulating driving torque of semi-tracks＇ driving wheels. In MATLAB/Simulink software environment, simulations were carried out to the proposed control system. The simulation results show that, for given vehicle parameters and soil condition, the optimal operating state can be obtained and maintained by using the designed control system. It can provide a theoretical guidance for the control system design of STACVs.