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基于功耗最优的半履带气垫车模糊PID控制仿真
引用本文:许烁,罗哲,周科.基于功耗最优的半履带气垫车模糊PID控制仿真[J].上海交通大学学报,2007,41(6):1026-1030.
作者姓名:许烁  罗哲  周科
作者单位:上海交通大学,机械与动力工程学院,上海,200030
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.

关 键 词:半履带气垫车  载荷分配  气垫压强  模糊PID控制
文章编号:1006-2467(2007)06-1026-05
收稿时间:2006-07-22
修稿时间:2006年7月22日

Fuzzy PID Control Simulation for a Semi-Track Air-Cushion Vehicle Based on Power Consumption Optimization
XU Shuo,LUO Zhe,ZHOU Ke.Fuzzy PID Control Simulation for a Semi-Track Air-Cushion Vehicle Based on Power Consumption Optimization[J].Journal of Shanghai Jiaotong University,2007,41(6):1026-1030.
Authors:XU Shuo  LUO Zhe  ZHOU Ke
Abstract: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 operation state can be obtained by using the designed control system.It provides a theoretical guidance for the control system design for the STACV.
Keywords:semi-track air-cushion vehicle  load distribution  air-cushion pressure  fuzzy PID control
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