Slip ratio control for a semi-track air-cushion vehicle

Based on the analyses of the resistances and driving force for a semi-track air-cushion vehicle (STACV) operating in severe working conditions, the theoretical models for traction efficiency and total power consumption are established, and the relationships between slip ratio and traction efficiency, total power consumption are examined respectively. In different speed conditions, the control targets are selected correspondingly. For example, in the present study, maximizing traction efficiency and minimizing total power consumption are selected as control targets respectively in starting acceleration case and uniform velocity case. A slip ratio control system with a fuzzy PID controller is designed to achieve the control targets by regulating driving torque for the semi-tracks' driving wheels. In MATLAB/Simulink software environment, simulations are carried out to examine the proposed control system in different operating conditions including a level and a ramp terrain cases. Simulation results show that the optimal operation state can be obtained and maintained by using the designed control system.