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New Method to Improve Dynamic Stiffness of Electro-hydraulic Servo systems

Chinese Journal of Mechanical Engineering 2013年第5期26卷 997-1005页

作者： BAI Yanhong QUAN Long Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of Technology School of Electronics Information Engineering Taiyuan University of Science and Technology

Most current researches working on improving stiffness focus on the application of control *** controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated,so the control action is *** dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control *** this paper,the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is *** this basis,the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put *** a scheme using double servo valves to realize flow feedforward compensation is presented,in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in *** two valves are arranged in parallel to control the cylinder ***,the model of flow compensation is derived,by which the product of the amplitude and width of the valve’s pulse command signal can be *** determination rules of the amplitude and width of pulse signal are concluded by analysis and *** the proposed scheme,simulations and experiments at different positions with different force changes are *** simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling *** is,system dynamic load stiffness is evidently *** paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

关键词： electro-hydraulic servo system flow feedforward compensation dynamic load stiffness double-valve actuation

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Multi-Objective Cooperative Salvo Attack Against Group Target

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Journal of systems Science & Complexity 2018年第1期31卷 244-261页

作者： ZENG Jie DOU Lihua XIN Bin School of Automation State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

关键词： Coordinated path planning missile-target assignment multi-missile salvo attack multiobjective optimization

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Signal Fading Suppression in Ф-OTDR Based on EMD-GAN

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Zhongguo Jiguang/Chinese Journal of Lasers 2025年第6期52卷

作者： Liu, Xin Liu, Zhihua Zhou, Xiaoxu Wang, Yu Bai, Qing Jin, Baoquan College of Electronic Information and Optical Engineering Taiyuan University of Technology Shanxi Taiyuan030024 China Shanxi Transportation Technology Research & Development Co. Ltd. Shanxi Taiyuan030600 China Shanxi Intelligent Transportation Laboratory Co. Ltd. Shanxi Taiyuan030036 China Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education Taiyuan University of Technology Shanxi Taiyuan030024 China

Objective In phase-sensitive optical time-domain reflectometers (Ф‑OTDRs), coherent and polarization fading caused by inherent destructive interference and polarization mismatch, affect phase restoration performance. Traditional signal fading suppression methods typically require additional hardware structures, which increases system complexity and cost. Moreover, vibration signals are non- stationary with complex frequency components, which further increases the fading suppression challenge. Therefore, it is of paramount significance to investigate a novel signal fading suppression method to achieve accurate phase reconstruction on the simplest structure in scientific research and engineering applications. Methods In this study, the random signal fading process in Ф- OTDR is analyzed, and it is confirmed that the fading point phase is a random noise value that follows uniform distribution. Using the empirical mode decomposition (EMD) algorithm, phase noise including phase accumulation noise and laser frequency drift is filtered out and phase information modulated by external vibration is extracted. The extracted phase data are subsequently organized into a two-dimensional space-time map, which are input into a generative adversarial network (GAN) to realize the repair of the fading data. The GAN training dataset, which is generated using software simulation, contains a total of 12000 images including the phase spectra of sinusoidal, square, and triangular wave vibration signals, Gaussian pulse vibration signal, and random vibration signal. Results and Discussions Experiments are designed as follows. The total length of the sensing fiber is 10.12 km, which is connected by three sections of single-mode fibers of 4.17, 1.92, and 3.95 km in length, respectively. A piezoelectric ceramic (PZT) is connected between each section of fiber and driven by the signal generator to produce the required vibration signal. Phase demodulation is performed at two vibration positions (

关键词： Single mode fibers

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A Facial Expression Emotion Recognition Based Human-robot Interaction System

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 668-676页

作者： Zhentao Liu Min Wu Weihua Cao Luefeng Chen Jianping Xu Ri Zhang Mengtian Zhou Junwei Mao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems IEEE

A facial expression emotion recognition based human-robot interaction(FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize human emotions, but also to generate facial expression for adapting to human emotions. A facial emotion recognition method based on2D-Gabor, uniform local binary pattern(LBP) operator, and multiclass extreme learning machine(ELM) classifier is presented,which is applied to real-time facial expression recognition for robots. Facial expressions of robots are represented by simple cartoon symbols and displayed by a LED screen equipped in the robots, which can be easily understood by human. Four scenarios,i.e., guiding, entertainment, home service and scene simulation are performed in the human-robot interaction experiment, in which smooth communication is realized by facial expression recognition of humans and facial expression generation of robots within 2 seconds. As a few prospective applications, the FEERHRI system can be applied in home service, smart home, safe driving, and so on.

关键词： Emotion generation facial expression emotion recognition(FEER) human-robot interaction(HRI) system design

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Fault Localization and State Estimation of Power Grid under Parallel Cyber-Physical Attacks

arXiv

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arXiv 2025年

作者： Ren, Junhao Zhao, Kai Zhang, Guangxiao Liu, Xinghua Zhai, Chao Xiao, Gaoxi School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Institute of Catastrophe Risk Management Nanyang Technological University Singapore639798 Singapore Future Resilient Systems Singapore-ETH Centre Singapore138602 Singapore School of Electrical Engineering Xi’an University of Technology Xi’an710048 China Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Parallel cyber-physical attacks (PCPA) refer to those attacks on power grids by disturbing/cutting off physical transmission lines and meanwhile blocking transmission of measurement data to dwarf or delay the system protection and recovery actions. Such fierce hostile attacks impose critical threats to the modern power grids when there is a fusion of power grids and telecommunication technologies. In this paper, we investigate the fault diagnosis problem of faulty transmission lines under a broader spectrum of PCPA for a linearized (or DC) power flow model. The physical attack mechanism of PCPA includes not only disconnection but also admittance value modification on transmission lines, for example, by invading distributed flexible AC transmission system (D-FACTS). To tackle the problem, we first recover the information of voltage phase angles within the attacked area. Using the information of voltage phase angle and power injection of buses, a graph attention network-based fault localization (GAT-FL) algorithm is proposed to find the locations of the physical attacks. By capitalizing on the feature extraction capability of the GAT on graph data, the fault localization algorithm outperforms the existing results when under cyber attacks, e.g., denial of service (DoS) attacks. A line state identification algorithm is then developed to identify the states of the transmission lines within the attacked area. Specifically, the algorithm restores the power injection of buses within the attacked area and then identities the state of all the transmission lines within the attacked area by solving a linear programming (LP) problem. Experimental simulations are conducted on IEEE 30/118 bus standard test cases to demonstrate the effectiveness of the proposed fault diagnosis algorithms. Copyright © 2025, The Authors. All rights reserved.

关键词： Cyber attacks

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Physics and applications of Raman distributed optical fiber sensing

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Light(Science & Applications) 2022年第6期11卷 1059-1087页

作者： Jian Li Mingjiang Zhang College of Physics and Optoelectronics Taiyuan University of TechnologyTaiyuanShanxi 030024China Key Laboratory of Advanced Transducers and Intelligent Control Systems(Ministry of Education and Shanxi Province) Taiyuan University of TechnologyTaiyuan 030024China

Raman distributed optical fiber sensing has been demonstrated to be a mature and versatile scheme that presents great flexibility and effectivity for the distributed temperature measurement of a wide range of engineering applications over other established *** past decades have witnessed its rapid development and extensive applicability ranging from scientific researches to industrial ***,there are four theoretical or technical bottlenecks in traditional Raman distributed optical fiber sensing:(ⅰ)The difference in the Raman optical attenuation,a low signal-to-noise ratio(SNR)of the system and the fixed error of the Raman demodulation equation restrict the temperature measurement accuracy of the system.{ⅱ)The sensing distance and spatial resolution cannot be reconciled.(ⅲ)There is a contradiction between the SNR and measurement time of the system.(ⅳ)Raman distributed optical fiber sensing cannot perform dual-parameter *** on the above theoretical and technical bottlenecks,advances in performance enhancements and typical applications of Raman distributed optical fiber sensing are reviewed in this *** of this optical system technology with knowledge based,that is,demodulation technology *** further the performance and accuracy of these systems.

关键词： fiber optical contradiction

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Cu/Ag composite nanotrough embedded polyacrylonitrile film: transparent conducting electrodes with excellent flexibility and a high quality factor

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Organic Electronics 2025年

作者： Qinjun Sun Jian Zhao Hua Ding Xiaoqian Wang Qianwen Hu LiYan Gao Yuying Hao College of Physics and Photo Electricity Engineering Key Lab of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan 030024 PR China College of College of Electronic Information and Optical Engineering Key Lab of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan 030024 PR China College of Physics State Key Laboratory of Crystal Materials Shandong University Jinan PR China

With high flexibility, conductivity and transparency, metal nanotroughs (NTRs) are considered to be the most promising candidates for flexibility transparent electrode. Here, we report metal NTR films fabricated by electro-spun and thermal evaporation. By optimizing steam treatment time, copper-silver ratio, coverage rate, and transfer process, smooth and continuous metal NTR films were obtained. The Cu/Ag NTR- polyacrylonitrile (PAN) film displayed superior photoelectric properties: transmitted 94.4% of visible light (550 nm), showed a low sheet resistance of 2.48 Ω/□ and a very high quality factor of 2.27×10 -1 (Ω/□) -1 . Meanwhile, the relative change rate of resistance was less than 0.002 under a bending radius of 5 mm after 10,000 cycles. The results indicate that composite metal nanotroughs provide a new way for the preparation of high performance flexible transparent electrode.

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Excavator Energy-saving Efficiency Based on Diesel Engine Cylinder Deactivation Technology

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Chinese Journal of Mechanical Engineering 2012年第5期25卷 897-904页

作者： YANG Jing QUAN Long YANG Yang Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of Technology Taiyuan 030024 China The State Key Lab of Fluid Power Transmission and Control Zhejiang University Hangzhou 31002 7 China

The hydraulic excavator energy-saving research mainly embodies the following three measures： to improve the performance of diesel engine and hydraulic component, to improve the hydraulic system, and to improve the power matching of diesel-hydraulic system-actuator. Although the above measures have certain energy-saving effect, but because the hydraulic excavator load changes frequently and fluctuates dramatically, so the diesel engine often works in high-speed and light load condition, and the fuel consumption is higher. Therefore, in order to improve the economy of diesel engine in light load, and reduce the fuel consumption of hydraulic excavator, energy management concept is proposed based on diesel engine cylinder deactivation technology. By comparing the universal characteristic under diesel normal and deactivated cylinder condition, the mechanism that fuel consumption can be reduced significantly by adopting cylinder deactivation technology under part of loads condition can be clarified. The simulation models for hydraulic system and diesel engine are established by using AMESim software, and fuel combustion consumption by using cylinder-deactivation-technology is studied through digital simulation approach. In this way, the zone of cylinder deactivation is specified. The testing system for the excavator with this technology is set up based on simulated results, and the results show that the diesel engine can still work at high efficiency with part of loads after adopting this technology; fuel consumption is dropped down to 11% and 13% under economic and heavy-load mode respectively under the condition of driving requirements. The research provides references to the energy-saving study of the hydraulic excavators.

关键词： diesel engine cylinder deactivation hydraulic excavator energy-saving

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Research on Temperature Error Calibration Method of Fluxgate Sensor 11th

Research on Temperature Error Calibration Method of Fluxga...

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11th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2024

作者： Yang, Ruiping Ge, Jian Luo, Wang Hu, Xiangyun She, Jinhua Chugo, Daisuke Dong, Haobin School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Faculty of Engineering Kwansai Gakuin University Osaka669-1330 Japan School of Geophysics and Geomatics China University of Geosciences Wuhan430074 China Hubei Subsurface Multi-scale Imaging Key Laboratory Wuhan430074 China School of Engineering Tokyo University of Technology Hachioji Tokyo192-0982 Japan

ISBN: (纸本)9789819647521

The fluxgate sensor is the most widely used sensor in vector magnetic measurement. However, during long-term continuous observation, the fluxgate sensor will produce large measurement errors due to changes in ambient temperature. This paper proposes a temperature calibration method for the fluxgate sensor based on polynomial fitting to address the temperature error of fluxgate sensors. First, the effect of temperature on the performance indicators of the fluxgate sensor was analyzed. Second, according to the existing temperature-magnetic field data, a temperature calibration model of the fluxgate sensor was constructed. And compared it with other temperature calibration method, the result shows that the proposed temperature calibration method is relatively simple and can better achieve real-time calibration for sensor application scenarios. Finally, to verify the effectiveness of the proposed method, numerous laboratory experiments were implemented. The temperature drift was reduced from about 700 nT before calibration to about 1 nT, root mean square error RMSE=11.7189, indicating that the proposed method has a good temperature calibration effect on the data measured by the fluxgate sensor within the variable temperature background. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Curve Fitting Fluxgate Sensor Temperature Calibration

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Trajectory Tracking for Directional Drilling in Underground Coal Mine Using Robust Model Predictive control

Trajectory Tracking for Directional Drilling in Underground ...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Jiajun Wu Chengda Lu Hao Li Hongchao Wei Min Wu School of Future Technology China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China School of Automation China University of Geosciences Wuhan China Xi'an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi'an China China Coal Research Institute Beijing China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

This paper studies the problem of trajectory tracking control for directional drilling in underground coal mine by devising a robust model predictive control method. First, a directional drilling trajectory extension model is obtained by the linearization of a drilling tool kinematic model through the Taylor series expansion in the borehole depth domain. Then, in view of the influence of the uncertainty of the drilling tool slope and external interference, a robust model predictive control method is introduced in the form of an optimal control problem. A sufficient condition is obtained to calculate the corresponding controller gain matrix on the premise of satisfying the stability of the closedloop control system and the $H_{\infty}$ performance index. At last, the effectiveness of our method is illustrated through simulation analysis. Compared with model predictive control, robust model predictive control directly incorporates the uncertainty of the drilling tool slope and external interference into the control design, enabling it to better adapt to the complex and variable underground coal mine environment.

关键词： Drilling Uncertainty Trajectory tracking Stability criteria Predictive models Taylor series Coal mining Trajectory Thermal stability Predictive control

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