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design and Performance Analysis of HMDV Dynamic Inertial Suspension Based on Active Disturbance Rejection control

Computer Modeling in Engineering & Sciences 2024年第8期140卷 1485-1506页

作者： Xiaofeng Yang Wei Wang Yujie Shen Changning Liu Tianyi Zhang School of Automotive and Traffic Engineering Jiangsu UniversityZhenjiang212013China Automotive Engineering Research Institute Jiangsu UniversityZhenjiang212013China Chongqing Key Laboratory of Urban Rail Transit System Integration and Control Chongqing400074China State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan universityChangsha410082China

This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driven Vehicle(HMDV).A dynamic inertial suspension based on Active Disturbance Rejection control(ADRC)is proposed,combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC,which distinguishes between internal and external disturbances and arranges the transition ***,a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity.A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then ***,the passive suspension model is studied under different grades of road excitation,and the impact mechanism of suspension performance at speeds of 0–20 m/s is ***,the three main components within the ADRC controller are designed for the second-order controlled system,and optimization algorithms are used to optimize its internal ***,the performance of the traditional passive suspension,the PID-based controllable dynamic inertial suspension,and the ADRC-based controllable dynamic inertial suspension are analyzed under different road *** results show that,under sinusoidal road input,the ADRC-based controllable dynamic inertial suspension exhibits a 52.3%reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension,with significant performance optimization in the high-frequency *** random road input,the ADRC-based controllable dynamic inertial suspension achieves a 29.53%reduction in the root mean square value of vehicle body acceleration and a 14.87%reduction in dynamic tire *** indicates that the designed controllable dynamic inertia

关键词： HMDV static eccentricity ADRC dynamic inertial suspension road excitation

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D-FUSION SLAM: A VSLAM SYSTEM OPTIMIZED BY INTEGRATING DEPTH INFORMATION AND RGBD FEATURE POINTS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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Online coal dust suppression system for opencast coal mines

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International Journal of Coal Science & Technology 2023年第5期10卷 178-186页

作者： Senju Panicker S.S.Shankar S.Jithin S.Sandeep Muhammed Irshad Jerry Daniel Tarique Sajad Control and Instrumentation Group Centre for Development of Advanced ComputingThiruvananthapuramKeralaIndia Mining Electronics Department Central Mine Planning and Design InstituteRanchiJharkhandIndia

Coal is the major source of power in India and world *** mining is an essential industry which has a major role in the economic development of the *** major mining activities contribute directly or indirectly to air *** dust is a major air pollutant which affects the personal working in the mines and also people residing in villages near the *** pollution due to coal particulates can affect human health and cause damages to the *** effective pollution control mechanisms are needed to keep the pollution levels within permissible *** easiest and most common method employed for dust suppression worldwide is sprinkling of *** majority of mines,water sprinklers are operated manually and can lead to wastage of water due to over *** can also prove to be ineffective in dust suppression if sprinkling is not done *** paper proposes a system which can be deployed to automate the dust suppressions *** system will monitor the concentration of PM_(10) and PM_(2.5) in the air and initiate sprinkling operation when the particulate matter content exceeds preconfigured limits.

关键词： Coal dust Dust suppression Sprinkling Automation Particulate matter PMio-PM2.5

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Path Tracking controller design of Automated Parking Systems via NMPC with an Instructible Solution

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 353-367页

作者： Liang Chen Zhaobo Qin Manjiang Hu Yougang Bian Xiaoyan Peng State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China Wuxi Intelligent Control Research Institute of Hunan University Wuxi 214115China

Parking difficulties have become a social issue that people have to *** parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking *** paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking ***,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking ***,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal ***,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is *** closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost ***,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking *** Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.

关键词： Automated parking Path tracking controller Nonlinear model predictive control Monte Carlo analysis

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Trajectory tracking control of autonomous heavy-duty mining dump trucks with uncertain dynamic characteristics

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Science China(Information Sciences) 2023年第10期66卷 246-262页

作者： Liang CHEN Zhaobo QIN Manjiang HU Hongbo GAO Yougang BIAN Biao XU Xiaoyan PENG State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Wuxi Intelligent Control Research Institute of Hunan University Department of Automation University of Science and Technology of China

The proportion of mines using autonomous mining trucks is still very low at present. To promote the development of intelligent mining, it is urgent to proceed with the drive-by-wire modification to common mining trucks and design a motion control algorithm considering uncertain dynamic *** paper proposes a trajectory tracking control method for autonomous heavy-duty mining dump trucks(AHMDTs) with uncertain dynamic characteristics. In this method, a driving/braking force compensation algorithm based on an inverse dynamic model is designed to guarantee accurate longitudinal control with less control gain tuning. Using road curvatures, a modified rear-wheel position feedback control method is proposed to deal with reverse-path tracking, which can simultaneously reduce the lateral error and yaw angle error. A modified Stanley controller considering the collaborative preview based on speed and curvature is constructed to achieve accurate path tracking in the forward gear. Moreover, the proposed method focuses on the practice of trajectory tracking control in an open-pit mine condition with the adverse effects caused by uncertain vehicle dynamics, huge variable load, and large actuator lag. Real vehicle tests show that the proposed methodology can control AHMDTs with a low tracking error.

关键词： vehicle control trajectory tracking control driving/braking force compensation rear-wheel position feedback

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Modeling, Simulation, and Parameter design of Actuation Mechanisms Based on New Magnetic control Materials 25

Modeling, Simulation, and Parameter Design of Actuation Mech...

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25th IEEE China Conference on System Simulation Technology and its Application, CCSSTA 2024

作者： Shen, Ruixuan Tian, He Zhao, Guanqiao Zhu, Ziliang Li, Jiangping Liang, Chao Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin China Tianjin Sanyuan Power Equipment Manufacturing Co. Ltd Tianjin China

ISBN: (纸本)9798350366600

With the rapid advancement of technology, the reliability and efficiency of power systems have become increasingly critical. In power systems, pole-mounted circuit breakers play a vital role. This paper presents a design scheme for an actuation mechanism of a pole-mounted circuit breaker based on new magnetic control materials. By analyzing the working principle of this actuation mechanism, a mathematical model was constructed, and a corresponding virtual prototype model was established using multi-body dynamics simulation software ADAMS and the dynamics mathematical model of this type of actuation mechanism. Key performance parameters of the circuit breaker were optimized using a quantum genetic algorithm. Simulation experiments verified that the proposed parameter settings achieved a closing time of 7.6 ms, demonstrating significant improvements in circuit breaker performance. The results of this study are of great importance for the optimization design and performance enhancement of circuit breakers in power systems. © 2024 IEEE.

关键词： Software prototyping

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An optimal design and fuzzy control method for a new flapping-wing robot 3

An optimal design and fuzzy control method for a new flappin...

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3rd International Conference on Electrical Engineering and control Science, IC2ECS 2023

作者： Zhang, Chunxiao Zhao, Yansen Zhang, Ting Liu, Qi Li, Bin Ma, Yue Suo, Mengze Li, Changrui School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350382426

Bionic flapping-wing robot has the advantages of good maneuverability, low noise and strong stealth performance. It is widely used in military intelligence collection, field rescue and investigation. In this paper, an optimal design method of bionic flapping-wing robot non-phase difference driving mechanism is proposed. By setting the constraints of flapping angle amplitude, fuselage height and slider stroke, the scale parameters of the mechanism are optimized by using the minimum transmission angle;on this basis, the effectiveness of fuzzy PD control in improving the tracking accuracy of the drive system is verified by means of ADAMS and MATLAB / Simulink electromechanical coupling simulation. This research has practical value for designing new flapping-wing robot and improving its control quality. © 2023 IEEE.

关键词： flapping-wing robot fuzzy PD control kinematics scale optimization

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A copula-based reliability model for phased mission systems with dependent components (vol 39, pg 1533, 2023)

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QUALITY AND RELIABILITY ENGINEERING INTERNATIONAL 2023年第7期39卷 3179-3179页

作者： Li, X. Zhan, K. Xiong, X. Vu, T. Q. Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan China School of Media Design College of Technology and Design University of Economics Ho Chi Minh City Vietnam

Recently, researches on the reliability analysis of phased mission systems (PMSs) are very popular. And most of the existing research on PMSs assumed that all the components are statistically independent on each other, which is not meet the engineering reality. The system structure changes from phase to phase in the PMSs, so the dependency among components may also change in different phases. Meanwhile, the well-known phase dependency is also existing in the system reliability modeling. To model the varying dependency among components and phase dependency at the same time, a copula-based method is proposed for the reliability analysis of PMS with correlated components. Firstly, the system reliability of multi-state PMS with dependent components is evaluated by different copula functions. Then, multiple indicators are used to select the optimal copula functions for different phases. And an engineering case is illustrated to show the proposed copula-based method.

关键词： copula dependent components modular method phased mission system

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Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 2011-2026页

作者： Xiaolong Chen Biao Xu Manjiang Hu Yougang Bian Yang Li Xin Xu State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082 Wuxi Intelligent Control Research Institute(WICRI)of Hunan University Wuxi 214115China College of Intelligence Science and Technology Institute of Unmanned SystemsNational University of Defense TechnologyChangsha 410073China

Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and *** paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and *** method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at *** algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization *** proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning *** intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic *** algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.

关键词： Autonomous driving decision-making reinforcement learning(RL) unsignalized intersection

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design and Practice of Blended Teaching Model of Engineering Professional Courses based on Outcome-based Education 3

Design and Practice of Blended Teaching Model of Engineering...

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3rd International Conference on Educational Technology, ICET 2023

作者： Xu, Jinyou Zhang, Lei Rui, Chengjie Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin China

ISBN: (纸本)9798350302332

In the context of engineering education, to improve the practical engineering skills of engineering students, the teaching ideas and implementation methods of the curriculum are designed based on Outcome-based Education. A blended teaching approach was used to design the implementation process to achieve the curriculum objectives. In this paper, we explain the process of blended teaching from the two aspects of basic knowledge and competency training. Active learning of basic knowledge is implemented based on a three-step blended teaching model before, after, and during classes. It adopts the project-driven learning approach of the flipped classroom model and cultivates students' ability to solve complex engineering problems through collaborative group and intra-group mutual assessment. Based on the original objective assessment of the curriculum and under the current teaching model, we design a diversified evaluation approach to comprehensively assess the effectiveness of student competence achievement. Practice has shown that project-based inquiry-based teaching methods based on the flipped classroom model can promote learning outcomes for students and increase their interest in learning. It avoids the blind and aimless theoretical learning process of the student and improves the practical ability of the student. The methods and means of instruction of teachers have been further extended, and the ability of students to learn independently has been improved. © 2023 IEEE.

关键词： Students

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