Pitch Control for a Semi-Track Air-Cushion Vehicle Based on Optimal Power Consumption FISITA2008/F2008-01-009

Authors

Dong, Xie - Institute of Automotive Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, China
Cong, Ma - Institute of Automotive Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, China
Zhe, Luo - Institute of Automotive Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, China
*Fan, Yu - Institute of Automotive Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, China

Abstract

Keywords - Vehicle Dynamics, Pitch Control, Optimal Power Consumption, Semi-track Air-cushion Vehicle, Soft Terrain

A new kind of integrated semi-track air-cushion pitch controller is proposed in this paper. The controller first compute the target working point based on a weighed function, which is the combination of optimal power consumption and pitch angle control demand. Then the sequential quadratic programming algorithm distributes the general target values to specific control values. The performance of the controller is verified through co-simulation between Matlab/Simulink and ADAMS/View. The simulation results show the effectiveness of the control algorithm and the correctness of the choice in physical configuration with two air cushions for vehicle body pitch control.

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