首次应用数字仿真方法对步行轮式气垫车在软地面行驶过程进行了动态数字仿真,应用系统分析方法建立了该系统的运动微分方程,提出了运输生产率、运输效率、垫升比功率、等效运动阻力系数和升沉加速度最大值等性能评价指标,确定了目标函数。对步行轮轮轴相对车体的位置进行了优化,并对软地表进行了随机数字仿真,编制了步行轮式气垫车在软地面行驶过程的大型动态仿真程序包。 For the first time, digital simulation method is used to simulate the traveling process of walking wheeled air-cushion vehicle on soft ground. The differential equation of motion of the system is established by the method of system analysis, and the transport productivity, transportation efficiency, Sports resistance coefficient and the maximum value of ascending acceleration and other performance evaluation index to determine the objective function. The relative position of the pedestrian wheel axle is optimized, and the random digital simulation of the soft ground surface is carried out. A large-scale dynamic simulation package of the walking wheeled air-cushion vehicle on the soft ground is compiled.