Abstract: 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.

Key words: air-cushion vehicle, parallel double-loop control, fuzzy-PID control, coordinated control