气垫车

This paper also researches on the kinematics and mechanics of the push-pull air-cushion vehicle. By velocity composition method, the velocity vector formulae of any point on moving platform is obtained.

本文还就推拉式气垫车运动学和力学两个方面进行了详细的分析，运用速度合成法得到了气垫车转向过程中，运动平台上任意点的速度矢量公式。

In this paper the dynamics characteristics are analyzed theoretically at first. According to the unique configuration and mechanics characteristics, the mechanics model and kinetic differential equation of the half-tracked air-cushion vehicle are established. Algorithm of mechanics and lifting-state parameters are put forward and analyzed. And variation ranges of the driving state parameters are obtained and the corresponding influence factors are analyzed. The further qualitative studies on control model are carried out.

因此，本文首先从理论上分析了半履带式气垫车的动力学特性，根据半履带式气垫车的独特结构和力学特性，建立了半履带式气垫车的力学模型和相应的运动微分方程，提出并分析了在纵摇与升沉运动时，半履带式气垫车的力学参数和垫升状态参数的计算方法，得到了在行驶过程中各运行状态参数的变化规律，并分析了相应的影响因素，进而对控制对象模型进行了定性研究。

In order to prove the reliability, test studies have been primarily carried out in the indoor soil bin. The data of the vehicle driving state parameters under the same or different terrain are analyzed. The process curves are compared by different control schemes. The theoretical model of the optimum driving state is reliable and fuzzy control scheme is feasible. The disturbances and unknown factors of control system are analyzed. Test results prove that the half-tracked air-cushion vehicle can drive steadily under control of the computer. At the same time the sensors used to measure soil mechanics characteristics on line need to be developed. And it is the important problem to be solved in the future study. The necessary regulation and correction are put up. So the studies in this paper provide some instruction for the further research work.

为了验证本文提出的最佳工作状态及最佳垫压理论，并分析控制系统的可靠性和稳定性，本文在半履带式气垫车的模型车上，在室内土槽中进行了初步的实车性能和理论验证试验，考察了在同种和不同土壤条件下气垫车的行驶状态参数的测量数据，比较了采用不同控制方法下的过程曲线，验证了最佳工作状态的理论模型和模糊控制系统方案的可行性与可靠性，从而保证了采用自整定模糊PID控制器能够使半履带式气垫车在稳定行驶最佳工作状态下；同时通过试验研究，分析了系统中各干扰与未知因素，对控制方案进行了相应的调整和修正，为今后进一步的研究工作提供了一定的指导。

Push-pull air-cushion platform is the first non-continuously moving air-cushion vehicle that applied worming bionic principle.

推拉式气垫运载平台是第一台应用蠕动式仿生原理设计的非连续运动型气垫车，这不同于以往设计的气垫车。

Considering the characteristics of the push-pull air-cushion vehicle, this paper gives the definition of pace steering angle, that is taking the actual steering angle of the moving platform in one pace circle as a pace steering angle.

针对上述问题，结合推拉式气垫车的运动特点，文章给出了单步转向角这样一个定义，即以车辆的一个步进工作循环下运动平台的实际转角作为一个单步转向角，气垫车的实际转向角通过各单步转向角累加而成。

Based on mechanism and vehicle theories theoretical analysis is pursued and normal driving conditions are put forward. The relations are analyzed between load distribution and power consumption. Mechanical formula is proposed. Furthermore in this paper the theoretical model of the total power consumption is established, and the relations of the total minimized power consumption with the air-cushion pressure and the fan revolution are discussed. The optimum operation point is put forward. The dynamic digital simulation studies are carried out on the operating procedure of the half-track air-cushion vehicle on soft terrain. Mechanical parameters and soil mechanics characteristics affecting vehicle power consumption and riding performance are analyzed. At the same time according to the model formula, the automation control problem is discussed. It is a theoretical instruction for further automation control.

本文还从力学和车辆原理的角度进行了理论分析，推导了半履带式气垫车的需求功率及正常行驶条件，研究了气垫压力和功率消耗之间的关系，提出了力学模型公式；建立了半履带式气垫车总功率消耗的理论模型，研究了最小功率消耗时功率与垫压及表征气垫车行驶状态的各参数的关系，分析了相应的影响因素，并提出了最佳工作状态的定义；同时进行了半履带式气垫车在软地面的行驶过程的动态数字仿真试验研究工作，对影响车辆功率消耗和行驶平顺性的各力学参数和土壤参数进行了分析，得到了各运行状态参数的变化规律，验证了最佳工作状态和最佳垫压的理论，根据力学模型公式对进一步的自动控制问题进行了探讨，为系统的控制提供了理论指导。

The walking mechanism of push-pull air-cushion vehicle includes two parts: push-pull mechanism and anchoring mechanism, both take hydraulic cylinders as driving components. So this walking mechanism has advantages of lighter weight and higher driving efficiency, it can work on many areas.

推拉式气垫车的行走机构包括推拉机构和抓地锚定机构两部分，它们都是以液压油缸作为驱动元件，通过液压传动实现伸缩动作的，这样既省却了轮式、履带式车辆笨重、复杂的行走机构，又大大提高了气垫车的驱动效率，能够适应各种复杂地表条件。

So in this paper based on the characteristics and the optimum state theory of the vehicle, some kinds of control schemes are compared and discussed, and the fuzzy PID control scheme is adopted at last. The relation between air-cushion pressure and fan rotational speed on the optimum driving state is studied. The cushion pressure is used as controlled variable and the fan revolution is used as regulated variable. And transducer and fan motor are actuators.Based on the structure and operating properties of half-tracked air-cushion vehicle, the control system scheme and structure are presented. A control scheme using the self-tuning PID fuzzy logical controller is adopted. Fuzzy rules are set up and some researches have been done for fuzzy tuning method. At the same time the real-time measurement scheme by computer control is proposed, and electric circuits are designed. In the control system of half-tracked air-cushion vehicle cushion pressure P〓 is used as controlled variable and the fan speed n〓 as regulated variable.

因此本文以半履带式气垫车的特性和最佳工作状态理论为指导，通过对各种控制方法的比较与探讨，提出采用模糊PID控制方案，并且研究了在最佳工作状态下垫压及风机转速的关系，提出气垫压力作为控制参数，变频器和风机电机为执行机构，风机转速为调节量；主要进行了自整定模糊PID控制器的设计，研究了自整定PID模糊控制器的实现方法，编制了模糊控制规则，制定了模糊控制参数查询表，并分析了影响自整定模糊控制器相关的影响因素，确定了模糊控制表；为了实现半履带式气垫车的自动控制，还提出了计算机模糊控制系统的原理与结构，设计了相应的测量电路与控制软件。

The non-continuously moving state lies on the vehicle's structural characteristic. This air-cushion vehicle has two platforms, which are connected by two hydraulic cylinders. When it moves, one platform is fixed on ground as the base platform, and takes the other one as moving platform, then the vehicle can go forward by alternate movement of these two platforms. So the push-pull air-cushion vehicle is a self-propelled vehicle.

它的非连续运动形态取决于其结构特点，该气垫车由两个对称的子平台组成，中间通过液压油缸相铰接，运动时总是固定其中一个平台作为基础平台，而将另一个平台作为运动平台，基础平台通过液压缸推出或拉进运动平台交替动作，实现运动，因此推拉式气垫车是一种自走式气垫车。

Wheel, track and walking wheel are three main kinds of the walking mechanisms on the developed air-cushion vehicles.

目前已开发的气垫车辆所采用的行走机构有轮胎、履带、步行轮等三种，虽然气垫车的垫升机构可以明显降低它们的接地比压从而减少了行驶阻力，但依然存在着行走机构自身重量大，结构复杂以及在软湿地面上的滑转、粘土等一系列问题，另外，限于行走机构的几何尺寸影响，这些车辆的抓地位置仅作用于表层土壤，对于表层土壤含水量严重饱和并且硬底层较深的地面来说，甚至使车辆无法行驶和作业，严重阻碍了气垫车辆的推广应用。

Lugalbanda was a god and shepherd king of Uruk where he was worshipped for over a thousand years.

Lugalbanda 是神和被崇拜了一千年多 Uruk古埃及喜克索王朝国王。

I am coming just now,' and went on perfuming himself with Hunut, then he came and sat.

我来只是现在，'歼灭战perfuming自己与胡努特，那麼，他来到和SAT 。