气垫车并行双环控制系统设计

针对车速和载荷分配比分别作为气垫车驱动系统和垫升系统的独立控制变量具有不同的控制要求和目标值更新频率但均可对能耗产生影响的特点，设计了以模糊PID控制器为核心的并行双环控制系统.其中：车速控制跟踪瞬态目标值，目标值更新频率较高，因而设计更加注重动态性能；载荷分配比控制跟踪稳态目标值，目标值更新频率较低，因而设计更加注重静态性能.从减小能耗的角度出发，在载荷分配比控制中考虑了滑转率（车速相关量）的影响，反映出参数协调控制的思想.仿真试验结果表明：在所设计控制系统的作用下，气垫车能够顺利抵达目的地并实现软着陆；车速控制表现出良好的动态性能，有利于提高车辆的安全性；载荷分配比控制表现出良好的静态性能，有利于降低车辆能耗.

Design of a Parallel Double-Loop Control System for Air-Cushion Vehicles

Linear/angular velocities and load distribution ratio could act as control variables for the propulsion system and the lifting system of an air cushion vehicle (ACV), respectively. They are independent in control and different in terms of control requirements and update frequencies for control objectives, but are both able to impact energy consumption. A parallel double loop control system cored with fuzzy PID controllers was designed to match these features, in which, velocity control tracks an instantaneous objective with a high update frequency, so that dynamic performance is paid more attention to; instead, load distribution radio control tracks a steady state objective with a low update frequency and thus more importance is attached to static performance; besides, for the latter, the impact of slip ratio (a running variable relevant to velocities) is taken into account to reduce energy consumption, reflecting the idea of parameter coordinated control. The simulation results show that the ACV prototype can, under control, reach the destination with soft landing. The velocity control presents a good dynamic performance so as to benefit the vehicle’s safety, and the load distribution ratio control manifests a good static performance so as to decrease energy consumption.