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| Design of a Parallel Double-Loop Control System for Air-Cushion Vehicles |
| XU Shuo-1, LUO Zhe-2, YU Fan-2 |
| (1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China; 2. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract Linear/angular velocities and load distribution ratio could act as control variables for the propulsion system and the lifting system of an aircushion 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 doubleloop control system cored with fuzzyPID 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 steadystate 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 softlanding. 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.
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Received: 13 August 2011
Published: 31 August 2012
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