Volume 45,Issue 8,2022 Table of Contents

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  • 1  Geometric error analysis of the special boring machine for RV cycloid gears
    CHEN Jiahao CHEN Yonghong XIAO Xiang CHEN Bingkui
    2022, 45(8):1-13. DOI: 10.11835/j.issn.1000-582X.2021.112
    [Abstract](373) [HTML](484) [PDF 2.50 M](594)
    Abstract:
    Common cycloid-gear boring equipment has the problems of low efficiency and low precision. In this paper, a special boring machine for the cycloid-gear coordinate hole is proposed and its overall structure is designed. To improve the machining precision of the special boring machine, it is necessary to understand the effects of geometric error elements on the precision of the special boring machine and control the major elements that have the largest effect. The geometric error elements of the special boring machine are analyzed. Based on the multi-body system theory and homogeneous coordinate transformation, the geometric error model of the special boring machine is established. The correctness of the error model is verified by comparing the calculation results of the model with those of the triangulation method. The sensitivity equation of each geometric error element is established by the sensitivity analysis method, and the sensitivity coefficient of each geometric error element is determined through normalization processing. The geometric error element that has the greatest impact on the machining accuracy of the special machine is obtained. Based on the sensitivity analysis results, the key components of the special boring machine are selected.
    2  Analysis for dynamic characteristics of the doghub transmission system used in piston engine
    HU Long HUANG You ZHOU Dan SONG Chaosheng WEI Changxu
    2022, 45(8):14-25. DOI: 10.11835/j.issn.1000-582X.2021.21
    [Abstract](297) [HTML](549) [PDF 2.20 M](582)
    Abstract:
    In order to reveal the vibration mechanism of the engine doghub transmission system, based on the analysis of the working principle of the engine doghub system, the dynamic models of the engine doghub transmission system were established with the energy method and the Adams software. The dynamic modeling and analysis methods were proposed for three-jaw curved contact system of the doghub. By comparing the axial force response results of the two models under rated working condition, the correctness of the dynamic models was verified. To reduce the vibration and impact of the doghub transmission system, the influences of different torques and axial preloads on the axial impact force and displacement of the doghub system were studied. Results show that the dynamic response characteristics of the system under different operating conditions were significantly different. As the torque increased from 350 N·m to 500 N·m, the axial impact force of the system increased, and the axial displacement nearly doubled. As the axial preload gradually increased from 6 000 N to 8 000 N, the peak value of the system axial impact force increased, and the mean value changed slightly after stabilization, and the axial displacement decreased accordingly, suggesting that under the condition of rated torque, an appropriate small axial preload is beneficial to reducing the axial impact force on the doghub transmission system and relieving the vibration and impact of the system.
    3  A steering control method of underwater glider based on parameter self-tuning PID
    CHEN Yibo ZHANG Runfeng YANG Shaoqiong ZHANG Lianhong WEI Peng
    2022, 45(8):26-33. DOI: 10.11835/j.issn.1000-582X.2021.11
    [Abstract](349) [HTML](455) [PDF 1.02 M](674)
    Abstract:
    The accuracy of steering control of an underwater glider is very important for ocean target detection. Current steering control of the underwater glider (UG) mainly uses proportional-integral-derivative (PID) controller. However, to ensure that the underwater glider moves in accordance, PID controller parameters need to be repeatedly set and adjusted, which makes it difficult to meet the requirements for fast and accurate control. To solve the problem, a parametric self-tuning PID control method based on the radial basis function (RBF) neural network was proposed. Firstly, the dynamic model of the underwater glider in the horizontal plane was established. Then, the RBF neural network structure was constructed, and the iterative formulas of neural network parameters and PID parameters were given by the gradient descent method. Simulation results show that compared with the conventional PID controller, this controller has shorter setting time, higher precision, and the parameters of the controller can be quickly self-tuned. It provides a reference for the design of the underwater glider steering controller in the future.
    4  Pore-scale modelling of reconstructed catalyst layer for high-temperature proton-exchange membrane fuel cell
    DUAN Kangjun Roswitha ZEIS SUI PangChieh
    2022, 45(8):34-43. DOI: 10.11835/j.issn.1000-582X.2021.111
    [Abstract](306) [HTML](688) [PDF 5.37 M](584)
    Abstract:
    To investigate the effect of redistribution of phosphoric acid in the catalytic layer of high-temperature proton-exchange membrane fuel cells on the electrode performance, focused ion beam-scanning electron microscopy was employed to image the in-house gas diffusion electrode, and a three-dimensional model of the catalytic layer was reconstructed. By using multiple relaxation-time-lattice Boltzmann model to simulate the migration and redistribution of phosphoric acid in the catalytic layer, two different phosphoric acid distribution forms (decreasing type and quasi-uniform type) were obtained. Pore-scale modelling was used to examine the electrode transmission properties under different conditions. The results show that when the phosphoric acid content is low, the quasi-uniform phosphoric acid distribution has slightly larger electrochemical active surface area and slightly lower effective diffusion coefficients of oxygen and water vapor. When the content of phosphoric acid is high, the electrochemical active surface areas of the two distribution types are similar, but the quasi-uniform distribution has higher effective diffusion coefficients of oxygen and water vapor.
    5  Waste heat recovery performance of electric vehicles in various subzero environments
    LI Dongjun WANG Yi XU Xiangguo DU Kun ZHANG Caizhi
    2022, 45(8):44-54. DOI: 10.11835/j.issn.1000-582X.2021.113
    [Abstract](354) [HTML](1150) [PDF 4.39 M](1042)
    Abstract:
    The waste heat recovery performance and energy consumption of PTC (positive temperature coefficient) heater in electric vehicles under subzero environments (-10℃, -5℃ and 0℃) were investigated. Based on the vehicle thermal management system of a commercial electric vehicle, an innovative waste heat recovery system was proposed to significantly reduce the energy consumption of thermal management system. In addition, rule-based control strategies were developed to control the fan, pump, proportional valve, and 4-way valve. The results show that waste heat recovery technique fully took advantage of the waste heat generated by the electric drive system. Heating from -10℃, -5℃ and 0℃ (ambient temperature) to 15℃, the waste heat recovery reduced the energy consumption by 209.5 kJ, 406.4 kJ and 460.0 kJ, respectively, compared with traditional methods.
    6  The plug-in 4WD hybrid vehicle's control strategy based on pontryagin's minimum principle
    CAI Yang WANG Zhengwu ZENG Yuping LIU Yonggang
    2022, 45(8):55-65. DOI: 10.11835/j.issn.1000-582X.2021.12
    [Abstract](245) [HTML](317) [PDF 2.77 M](638)
    Abstract:
    An energy management optimization model was established, which took state of charge (SOC) as the state variable, rear drive motor and integrated starter and generator (ISG) motor torque as the control variables, and the minimum fuel consumption of the vehicle as the goal. Then, the solution flow of the above optimization problems was designed based on pontryagin's minimum principle. Finally, based on the simulation model of the whole vehicle system, the energy management control was simulated. The simulation results were compared with the simulation results of the charge depleting (CD) and charge sustaining (CS) mode rule control strategy. The results show that compared with the CD-CS mode rule control strategy, the proposed energy control strategy reduces the fuel consumption by 28.18% per 100 km, showing efficient fuel saving potential.
    7  Real-time obstacle avoidance path planning algorithm for unmanned tractors
    CHENG Yue LI Chuan LI Xin LIU Yonggang ZHOU Bobo
    2022, 45(8):66-77. DOI: 10.11835/j.issn.1000-582X.2021.14
    [Abstract](484) [HTML](676) [PDF 2.09 M](707)
    Abstract:
    In order to realize the real-time obstacle avoidance path planning function of unmanned tractors in straight-line operation, this study proposed an obstacle avoidance path planning algorithm that used a fifth degree polynomial function to plan the path based on the improved shortest tangent method. To solve the problems of discontinuous curvature and difficult tracking control of the path planned by the shortest tangent method, firstly, the improved shortest tangent method was used to find the relevant coordinate points. Based on the obtained coordinate points, the fifth degree polynomial function was then used to solve the path. Finally, an obstacle avoidance path with continuous curvature composed of polynomial function curves and straight lines was obtained. The obstacle avoidance path planning algorithm was simulated. The simulation results show that the path generated by the proposed algorithm has features of short distance, good real-time performance and high security. A model predictive controller was designed based on the kinematics model of the Changzhou Dongfeng unmanned tractor, and the obstacle avoidance path planning and tracking control of the unmanned tractor were jointly simulated on the Simulink and CarSim co-simulation platform. The simulation results show that, compared with the improved shortest tangent method, the path planning algorithm based on the fifth degree polynomial function has higher precision and easier tracking control.
    8  A regular-expression and multi-tree based DBC network protocol analysis method
    SUN Han YANG Yalian ZHOU Lin ZHANG Xin
    2022, 45(8):78-86. DOI: 10.11835/j.issn.1000-582X.2021.109
    [Abstract](316) [HTML](957) [PDF 10.79 M](669)
    Abstract:
    To solve the problem of DBC (Database CAN) protocol data analysis and structure characterization in the CAN network, in this paper, the DBC file protocol is analyzed through regular expressions, and the CAN network protocol is characterized by using the multi-tree structure. To solve the protocol analysis problem in different formats of Intel and Motorola, an expression method of signal color blocks in the data field of messages and a start bit conversion formula are proposed. The CAN network data management software is designed and developed based on the C# language, and the CAN network protocol is output as a DBC data management file. An actual vehicle test is conducted, which verifies the validity of the DBC protocol analysis method proposed in this paper.
    9  Numerical simulation of the flicking characteristics of flexible pressure pipes
    WANG Xiaochuan LIU Zheng LI Yueqin WANG Man ZHAO Wensheng XIANG Meijing
    2022, 45(8):87-104. DOI: 10.11835/j.issn.1000-582X.2021.256
    [Abstract](298) [HTML](357) [PDF 9.44 M](542)
    Abstract:
    As an important fluid transportation equipment, flexible pressure pipeline is widely used in temporary or mobile engineering due to its applicability. However, as its pressure level and flow rate continue to increase, the vibration of the pipeline becomes more and more prominent, and slamming accidents often occur. In this paper, the ANSYS Workbench platform was used to numerically simulate the flicking behavior of flexible pressure pipeline tripping. Based on this, the effects of pipeline flow rate, fluid physical parameters, pipe bending length and bending radius, and restraint position on the flicking motion were studied. The results show that the slamming motion of the pipeline has strong nonlinear characteristics, the deformation displacement and slamming speed at the tripping end are the largest, and the equivalent stress at the fixed end is the largest. With the increase of the flow velocity, the deformation displacement, the slamming speed and the equivalent stress of the pipe slamming increase, and the strain energy changes at a high power. With the increase of fluid density, the main parameters of the pipeline slamming movement increase linearly and the viscosity of the fluid increases, resulting in more intense slamming of the pipeline. The longer the pipeline length, the longer the motion cycle. With the increase of the bending radius, the main parameters of the pipeline slamming movement are reduced. The constrained position of the pipeline safety buckle mainly affects the length of the pipeline and the bending radius, thus affecting the slamming movement. The shock vibration of pipeline is dominated by the second order mode.
    10  Centrifugal modeling test of large hexagonal drift under backfill body
    LIU Tao HAN Bing YANG Peng ZHANG Chenjie ZHAO Zhongyuan
    2022, 45(8):105-114. DOI: 10.11835/j.issn.1000-582X.2022.08.010
    [Abstract](286) [HTML](838) [PDF 11.88 M](550)
    Abstract:
    Jinchuan Nickel Mine is the most important nickel ore resource base in China. The small-section hexagonal drift layered to the cemented filling mining method used in the Longshou mining area has provided a successful mining experience for the safe mining of thick and broken ore bodies. The ore in the eastern part of the Jinchuan Company's No. 2 mining area is thick and shallowly buried, and the mining technical conditions are relatively good, but the grade of the orebody is low. However, due to its high mining cost and low efficiency, the small-section hexagonal route cannot meet the mining requirements of lean orebody in the eastern part. In order to reduce cost and improve mining efficiency, a large-section hexagonal underhand drift cut-and-fill stoping method using medium-deep hole ore was proposed. The hexagonal approach was improved from 4 m (waist width)×5 m (height) to 16 m (waist width)×20 m (height). The centrifugal deformation test was used to analyze the deformation and failure of the large-section hexagonal road filling under the influence of self-weight stress. The test results show that with the gradual increase of centrifugal acceleration, the displacement of the overlying filling body gradually increased. At 70g of centrifugal acceleration, the two gangs collapsed and were destroyed. At 92g, the roof was damaged. The stability of the roof was stronger than that of the two gangs. The maximum cumulative vertical displacement of the two gangs was 0.627 cm. When the roof was damaged, the maximum cumulative displacement was 0.904 cm. The top plate could withstand greater ultimate deformation than the two gangs. The failure mode of the filling body was mainly tensile failure and shear failure, and the hexagonal approach eventually formed a semi-elliptical collapsed arch, and tended to be stable.
    11  Fractal characteristics and energy transfer mechanism of coal-rock combined body fragments under different loading rates
    CHEN Guangbo TENG Pengcheng ZHANG Guohua YANG Lei LI Tan LYU Pengfei
    2022, 45(8):115-129. DOI: 10.11835/j.issn.1000-582X.2021.260
    [Abstract](327) [HTML](484) [PDF 16.19 M](519)
    Abstract:
    In order to study the distribution, fractal characteristics and instability failure mechanism of coal-rock assemblages under different loading rates, uniaxial compression tests of fine sandstone-coal (FC), coarse sandstone-coal (GC) and fine sandstone-coal-coarse sandstone (FCG) were carried out under 0.001 mm/s, 0.005 mm/s, 0.01 mm/s, 0.05 mm/s and 0.1 mm/s loading rates. The results show that:1) at the 0.001 mm/s rate, the particle size of the broken coal is small, which is a complete and full failure, and the failure type belongs to plastic failure. Under 0.1 mm/s loading rate, the size of the failure fragment is the largest and the shape is irregular, which is an incomplete and inadequate failure, and the failure type belongs to brittle failure. The influence of loading rate on the failure of specimens is mainly shown in the degree of fracture development, the particle size of failure blocks, the number of failure blocks, the rate of energy release, the form of failure and the mechanism of instability. 2) The sample fragments have obvious classification characteristics. With the increase of loading rate, the number of fragments from 4.75 mm to less than 10 mm and 10 mm to less than 20 mm decreases gradually, and the fragmentation degree of specimens decreases, and the length to thickness ratio of three kinds of specimens increase at first and then decrease with the decrease of fragment size. For the fragments with the same particle size, the length to thickness ratio increases with the increase of loading rate. Increasing the loading rate will promote the number of thin-shaped fragments. 3) At the five loading rates, the particle size-quantity fractal dimensions of FC, GC and FCG composites are from 1.53 to 0.55, 1.27 to 0.26, and 1.45 to 0.46, respectively. The granularity-quantity fractal dimension decreases with the increase of loading rate, and the higher the loading rate is, the smaller the fractal dimension is. The particle size-mass fractal dimensions of FC, GC and FCG composites are from 2.35 to 1.48, 2.36 to 1.34, and 2.34 to 1.58, respectively, and the particle size-mass fractal dimensions decrease with the increase of loading rate. 4) According to the failure form of coal-rock assembly, the energy transfer mechanism of the failure process is analyzed. With the continuous loading of the assembly, the coal component is the first to be destroyed, and the released energy is directly transferred to the rock component. If it reaches the energy storage limit of the rock component, it will lead to the failure of the rock component. The energy transfer mechanism in the failure process of coal-rock assemblage reveals the lag phenomenon of rock component failure.
    12  Research on multi-modal and multi-kernel learning identity recognition algorithm in smart parks
    LIU Anqiang ZHANG Bichuan GUO Dong GAN Mei LIU Hang LI Xing CHEN Jie
    2022, 45(8):130-140. DOI: 10.11835/j.issn.1000-582X.2022.08.012
    [Abstract](322) [HTML](319) [PDF 3.95 M](572)
    Abstract:
    The construction of smart parks promotes the development of enterprises and cities, and traditional park management methods are no longer suitable for smart parks with industrial integration and innovation. This paper takes Caojiatan Park as an example to design the overall framework of the smart park platform. Aiming at the problems of poor recognition environment, low efficiency and low accuracy in the park's identity recognition, this paper proposes an identity recognition algorithm based on multi-modal and multi-kernel learning. The proposed algorithm divides the data in the video data into images and audio, and collects the text of personal information, and inputs the information of the three modalities into the same sample space. By introducing a multi-kernel learning algorithm with interval constraints, the difference is retained to the greatest extent. The difference and similarity of modalities are combined with feature fusion and decision fusion, and finally the classifier and scoring mechanism are used to output the identification results. Through experiments on the public video dataset and Caojiatan Park dataset, the experimental results show that the algorithm proposed in this paper has a maximum accuracy of 97.2%, which has a great advantage over traditional algorithms.
    13  A high definition map lane line detection and extraction method based on UAV images
    LYU Kejing YAN Hong
    2022, 45(8):141-150. DOI: 10.11835/j.issn.1000-582X.2021.255
    [Abstract](317) [HTML](725) [PDF 6.97 M](842)
    Abstract:
    High definition map is an essential infrastructure to realize automatic driving technology, and lane line is an important part of lane level road network of high definition map. Currently, lane detection of high definition map is mostly based on the data of vehicle camera, which is low efficient due to limited imaging range and need for perspective transformation and multiple stitching. In this paper, based on UAV aerial images, U-Net network is used to identify road areas and filter noise in non-road areas. HSL color transform and Sobel operator are used to calculate lane color and edge gradient features respectively. Otsu algorithm is used to automatically determine feature segmentation threshold to obtain binary lane feature map. Local maximum algorithm is used to determine the initial position of sliding window. Finally, lane lines are fitted by sliding window algorithm and polynomial detection. The experimental results show that with certain detection accuracy, the detection length of a single lane line exceeds 100 m, and the road detection efficiency reaches 25.2 m/s. Compared with the lane line detection algorithms based on vehicle-mounted camera data, the proposed method is obviously more efficient.

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