半履带式气垫车的模糊控制系统

根据半覆带式气垫车的结构型式及行走特性，提出了模糊ＰＩＤ控制方案，研制了实时测量系统，并设计了相应的测量电路，由计算机协调控制整个闭环系统，保证气垫车能够稳定地运行并达到功率损耗最小。整个控制过程用ＭＡＴＬＡＢ软件进行了仿真并进行了试验研究工作。试验结果证明采用自速写模糊ＰＩＤ控制器能够使半覆带式气垫车稳定行驶的最佳工作状态。

Fuzzy Control System of a Semi-tracked Air-cushion Vehicle

A semi tracked air cushion vehicle combines air cushion technology and track mechanism. Such a new type of hybrid vehicle can effectively solve transportation problems on soft terrain. Since total weight is partly supported by the air cushion and partly by driving mechanism, total required power of the vehicle consists of power for propulsion of propulsion system and power for lift of air cushion system. It may lead to excessive power consumption. It is important to reduce total required power consumption that considerably improves transportation efficiency and economy. A real time control system is needed to maintain the vehicle in the optimum operation condition with minimum power consumption. Based on the structure and operating properties of semi tracked air cushion vehicle, a control scheme using the self tuning PID fuzzy logical controller is proposed, and the electric circuit is designed. In the control system of semi tracked air cushion vehicle cushion pressure p c is used as controlled variable and the fan speed n c as regulated variable. Simulation studies on control system are carried out with MATLAB. Simulation results show that the vehicle can drive steadily on the optimum state by the control system. At last the tests prove that the semi tracked air cushion vehicle can drive steadily under control of the computer.