Volume 46,Issue 9,2023 Table of Contents

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  • 1  Torsional vibration suppression method of large-scale wind turbine drivetrain considering torsional speed prediction
    REN Kuntao ZHU Caichao TAN Jianjun SONG Caosheng WANG Ye
    2023, 46(9):1-12. DOI: 10.11835/j.issn.1000-582X.2022.009
    [Abstract](378) [HTML](64) [PDF 3.07 M](759)
    Abstract:
    The drivetrain of high-power wind turbines has a large moment of inertia, resulting in a high risk of low-frequency torsional vibration when subjected to random wind speeds. The traditional torsional vibration control method for the drivetrain based on the determination of the torsional speed control target fails to consider the influence of the random measurement noise introduced by the measurement equipment on the torsional speed. This oversight can lead to a decrease in control performance. To address the uncertainty associated with torsion speed measurement, this paper proposed an active disturbance rejection control method for torsional vibration of large-scale wind turbine drivetrain. A KF-ADRC torsional vibration controller was designed which dynamically estimated the torsion speed of drivetrain using a Kalman filter. The ADRC control target was set as zero torsion speed to regulate the electromagnetic torque of the generator and suppress low-frequency torsional vibration in the drivetrain. The research results show that when the input signal of the conventional torsional vibration controller has random measurement noise, it will significantly reduce its performance. In contrast, the KF-ADRC torsional vibration controller can effectively predict the drivetrain’s torsional speed and achieve superior suppression of the low-frequency torsional vibration in the drivetrain.
    2  Robot path planning based on improved RRT algorithm
    TAN Bo LUO Jun LUO Yusong HU Chunhui ZHUO Junkang BAI Zexin TIAN Jintao
    2023, 46(9):13-22. DOI: 10.11835/j.issn.1000-582X.2022.107
    [Abstract](404) [HTML](62) [PDF 3.11 M](925)
    Abstract:
    Robots have been widely used in daily life. Path planning is one of the main technologies of robots. An outstanding path planning algorithm can improve the work efficiency of robots, reduce cost, and lay a good foundation for the research of robot navigation. The RRT (rapidly-exploring random trees) algorithm, which is well known for its strong scalability, has some shortcomings, such as suboptimal path length and poor smoothness. An improved algorithm of reverse optimization and cubic spline interpolation is proposed, and then simulated in different scenarios in MATLAB. Taking the restaurant environment as an example in ROS (robot operating system), the experimental results show that the improved RRT algorithm can decrease the path length and the number of nodes, and improve the smoothness, verifying the effectiveness of the algorithm.
    3  Reconstruction and transport performance of gas diffusion layer based on the in-plane distribution of fibers
    YIN Zequan WANG Hu ZHANG Ruiming TANG Haolin SUI PangChieh
    2023, 46(9):23-32. DOI: 10.11835/j.issn.1000-582X.2022.126
    [Abstract](267) [HTML](58) [PDF 3.87 M](627)
    Abstract:
    A new method to reconstruct the microstructure of the gas diffusion layer (GDL) in fuel cells is proosed in this work to investigating the influence of fiber’s in-plane distribution on the GDL transport performance. A 3D model of GDL is obtained by threshold segmentation of the 2D slices acquired through X-ray computed tomography (XCT) scanning. Fiber-tracking technique is used to differentiate fibers and binders, to obtain information such as the in-plane orientation probability distribution of fibers, local porosity of the fiber skeleton, and the proportion of fiber and binder components as control factors. This enables the reconstruction of a more accurate GDL fiber skeleton. A pore scale model is then reconstructed by adding binders through morphological processing. Performance simulations are conducted on a 1 000 μm×1 000 μm×200 μm computational domain to analyze the effects of different fiber orientation distributions on the GDL diffusivity, electronic and thermal conductivities. Because most of the fibers of carbon paper in the manufacturing are arranged in the direction of the paper machine (machine direction), different arrangements seriously affect the performance of GDL in the machine direction, cross-machine direction, and through-plane direction (TP direction). The results show that as the concentration of fibers in the machine direction increases, the gas transmission and thermoelectric conduction performance increase in the machine direction, and decrease in the cross-machine direction. In the TP direction, the GDL model with a consistency coefficient of 0.029 for the orientation distribution of fibers concentrated in the machine direction in this study has better performance. The study reveals that the electrical conductivity and thermal conductivity are more sensitive to the fiber orientation distribution than the gas diffusion rate.
    4  Visual servo control of pneumatic soft manipulator based on random forest algorithm
    CHEN Yuanjie ZHAO Hanyu HE Qining CHEN Yanxi PENG Jiang JIANG Pei
    2023, 46(9):33-40. DOI: 10.11835/j.issn.1000-582X.2022.002
    [Abstract](306) [HTML](60) [PDF 1.63 M](607)
    Abstract:
    The soft manipulator possesses dexterity and flexibility, ensuring safe interaction with the environment while accurately tracking position and posture. It has emerged as a prominent area of research in recent years. However, because the material deformation of the soft manipulator is nonlinear, its kinematic modeling parameters are numerous and it is difficult to obtain accurate values, these difficulties hinder the realization of kinematic control for the soft manipulator. To address the uncertainty of the soft manipulator, this paper proposes a new hand-eye visual servoing method driven by historical data, building upon the current visual servoing techniques. This method integrates a controller based on the random forest algorithm to accomplish the control tasks of the manipulator. By clustering historical data, an inverse mapping of the driving state of the soft manipulator and image characteristics is established using the random forest regression model. The system input variables are predicted quickly without the need to solve any parameters of the manipulator and camera. The experimental results show that the proposed method can better achieve the expected control objectives.
    5  Coordinated secondary voltage control method of AC/DC system considering wind power randomness
    CUI Wei CAO Yifan LI Chenghao ZHANG Ziwei LIU Mingyang ZHANG Hao YAN Wei
    2023, 46(9):41-51. DOI: 10.11835/j.issn.1000-582X.2022.203
    [Abstract](192) [HTML](56) [PDF 1.48 M](526)
    Abstract:
    To address the challenges posed by large-scale changes of the sending grid tide and the voltage disturbance in converter buses caused by random fluctuation of wind power, which further leads to additional actions of the discrete equipment in the converter station, this paper proposes a coordinated secondary voltage control method for AC-DC systems that consider the randomness of wind power. Firstly, the degree of wind power fluctuation is quantified by defining the relative deviation of power, and characteristic time periods of wind power fluctuation which cannot be ignored in the secondary voltage control are identified. Next, the k-means clustering method is employed to obtain typical scenarios of wind power output during these characteristic time periods. Finally, the probabilistic scenario method is used to represent the randomness of wind power, and the uncertainty optimization problem is solved using the chance constraint method. The effectiveness of the proposed method is validated through simulations conducted on a modified IEEE39 node arithmetic system.
    6  Fragmentation mechanism and optimization of the picks in rotary drilling gig
    LIU Xianshan NIU Wanbao XU Ming
    2023, 46(9):52-65. DOI: 10.11835/j.issn.1000.582X.2023.09.007
    [Abstract](320) [HTML](105) [PDF 3.25 M](824)
    Abstract:
    The significant advantages of the rotary drilling rig for boring have attracted increasing attention. However, achieving ideal fragmentation efficiency in practical drilling remains challenging. Therefore, it is crucial to understand the fragmentation mechanism in the stratum environment. By solving the Boussinesq problem, the force and displacement exerted on the picks by the power head, as well as the penetrating force and cutting force under picks fragmentation conditions, have been determined. Additionally, a 3-Dimension numerical model for a single pick has been proposed to analyze the variation in penetrating force and cutting force. The results have been calibrated with theory to validate their reliability. Furthermore, a numerical simulation involving two picks has been conducted to describe the mechanical response and cracking evolution, thus revealing the mechanism of the pick fragmentation. In addition, the fragmentation forces exerted by picks with different arrangements have been extensively discussed, highlighting that the pick inclination or deviation angle has a significant impact on fragmentation force. Finally, the fragmentation efficiency with considering the picks arrangement in different strata has been thoroughly investigated. The findings demonstrate that specific work increases as the machine drills from soft to hard formations, while maintaining the same pick inclination, deviation angle or spacing. Furthermore, the corresponding value firstly decreases, then increases for a given stratum, indicating that the optimized arrangement of picks yields the highest efficiency. These achievements provides theoretical support for the optimization of picks and improvement of fragmentation efficiency.
    7  Automatic extraction method of strut-and-tie models for explicit topology optimization
    QIAO Wenzheng YUAN Weihai GU Jiming
    2023, 46(9):66-77. DOI: 10.11835/j.issn.1000.582X.2023.09.008
    [Abstract](240) [HTML](48) [PDF 3.64 M](474)
    Abstract:
    To achieve the natural transition from explicit topology optimization to strut-and-tie models, while maintaining the topology consistency between the two, an automatic extraction method of strut-and-tie models using explicit topology optimization was developed. The proposed method is demonstrated using topology optimization based on moving morphable components as an example. It combines computer graphics and structural optimization techniques, employing skeleton extraction based on Voronoi diagram and shape optimization. The method consists of three main steps: skeleton extraction, frame extraction and shape optimization. The results show that the method can automatically generate strut-and-tie models with reasonable force distribution and regular geometry. The skeleton extraction based on Voronoi diagram extracts smooth and medial skeleton from the optimized structure obtained through explicit topology optimization. Shape optimization constrained by truss-like index realizes the qualitative change of strut-and-tie models from a frame structure to a truss structure.
    8  Electroconductive Ni@Kevlar® composite fabric prepared by palladium-free electroless plating and electromagnetic shielding properties
    LI Minna ZHANG Leilei LI Xiaolin WANG Shasha SHENG Mingjie BAI Ruicheng SHAO Qinsi
    2023, 46(9):78-91. DOI: 10.11835/j.issn.1000-582X.2022.116
    [Abstract](290) [HTML](73) [PDF 4.49 M](619)
    Abstract:
    Ni@Kevlar? fabric was prepared by electroless plating process using high performance Kevlar? fabric as substrate and activated by etchant-free, palladium-free, and tin-free swelling-silver pretreatment. SEM and HRTEM were used to observe the morphology of the fabric and the cross section of the fiber. The mass gain, thickness and areal density of the samples at different plating time were investigated. The composition and structure of different Ni@Kevlar? fabrics were measured by EDS, XPS and WXRD. The electrical and magnetic properties of the materials were measured by four-probe tester and PPMS. Results showed that the exploitation of etchant-free, Pd-free, tin-free swelling-silver activation was very simple and efficient to fix massive silver seeds into the fiber matrix and facilitate the ensuing electroless Ni plating process with maintenance of the remarkable properties of the Kevlar? fabric, and exerted positive influence over the adhesion between the fiber matrix and the subsequent pure Ni nano-crystalline layer. Coaxial electromagnetic shielding test results demonstrated the excellent shielding effectiveness (up to 70 dB) at low-frequency band (0.1 MHz~1.5 GHz) and the fair shielding effectiveness (up to 25 dB) at high-frequency band (2~18 GHz), which could well meet the electromagnetic shielding needs of life and production.
    9  Research progress of plant extract-based green corrosion inhibitors in aggressive media
    CHEN Lingli SHI Yueting LI Hongru WANG Xinchao ZHANG Shengtao GAO Fang
    2023, 46(9):92-109. DOI: 10.11835/j.issn.1000-582X.2021.114
    [Abstract](369) [HTML](48) [PDF 3.34 M](941)
    Abstract:
    Metal corrosion occurs absolutely in aggressive media, which may cause serious consequences. Therefore, it is very important and significant to realize metal corrosion inhibition. As compared with chemically synthesized organic corrosion inhibitors, plant extract-based inhibitors have many unique advantages, such as low cost, environment-friendly, renewable and sustainable. Hence, the use of plant extract-based organic corrosion inhibitor meets the requirements of low-carbon and green chemical industry, which is conducive to achieving the goal of carbon peak and carbon neutralization in China. The use of plant extract-based organic corrosion inhibitors to prevent metal corrosion has attracted intensive attention. In this review, the research progress of natural plant extracts as metal corrosion inhibitors in recent two decades is analyzed, and the scientific basis and application of plant extracts-based organic green corrosion inhibitors are discussed. Plant extracts containing abundant heteroatomic groups are prone to process physical or chemical interaction with metal surface for the formation of adsorption films, which hinders the direct contact between metal surface and aggressive species. Thus, the electrochemical reaction on metal surface is blocked or inhibited. This helps us in realization of the protection of metal corrosion in different aggressive media and prevention of metal dissolution. This paper also gives perspective of research focus and objectives in this field, and guides us to explore organic corrosion inhibitors based on natural products.
    10  Coupling mechanism of wireless power transfer of UAV with strong anti-offset and lightweight
    ZHENG Hongxing ZUO Fei SUN Xuege
    2023, 46(9):110-119. DOI: 10.11835/j.issn.1000.582X.2023.09.011
    [Abstract](210) [HTML](84) [PDF 3.20 M](561)
    Abstract:
    In the practical application of wireless power transmission technology for unmanned aerial vehicles(UAVs), inaccuracies in positioning and docking control during UAV landing can lead to errors in docking position and displacement. Due to the small size of the UAV, the coupling mechanism’s size is also limited, and any offset at this time can reduce the coupling efficiency of coupling mechanism, which in turn leads to the reduction of the efficiency of the wireless power transmission system, affecting its normal operation. Therefore, to improve the system’s anti-offset characteristics, it is necessary to design and optimize the coupling mechanism of the UAV wireless charging system. This study analyzes and compares the coupling characteristics of different coupling mechanisms with considering consistent line usage and the structural characteristics of UAVs. A suitable coupling mechanism for UAVs is then designed and the parameters of the coupling mechanism are optimized for lightweight, using M/l as the optimization goal. Finally, the feasibility of optimization method for the coupling mechanism is verified by simulation and experiment.
    11  Formal modeling and verification of CTCS-3 train control on-board equipment
    HE Tao HAN Jingjia
    2023, 46(9):120-129. DOI: 10.11835/j.issn.1000.582X.2023.09.012
    [Abstract](217) [HTML](70) [PDF 2.13 M](698)
    Abstract:
    The CTCS-3 train control system is subject to stringent safety requirements, with the train control on-board equipment serving as its core. This equipment plays a vital role in operating and controlling the train, ensuring the overall safety of train operation. In this study, the information interaction between CTCS-3 train control on-board devices and the work mode conversion rules in the on-boar safety computer was analyzed. To establish a comprehensive model, colored Petri nets (CPN) were used, enabling the construction of an information interaction model and work mode transformation model for the on-board equipment. To validate the model’s effectiveness, the ASK-CTL branching sequence logic formula was used to verify its performance concerning dead identification, deadlock and transferability under various working modes. The results show that the CPN model conforms to the system specification requirements, adhering to the expected process and rules. This research provides valuable ingishgts and serves as a reference for the design of the relevant security demanding systems.
    12  Forecasting for urban traffic grid clusters based on Bi-LSTM
    JIA Xianguang FENG Chaoqin SU Zhiwen QIAN Zhengfu SONG Tengfei LIU Huan LYU Yingying
    2023, 46(9):130-141. DOI: 10.11835/j.issn.1000.582X.2023.09.013
    [Abstract](248) [HTML](82) [PDF 5.37 M](433)
    Abstract:
    This study aims to improve the accuracy of traffic prediction and to explore the spatio-temporal characteristics of traffic data in urban areas by proposing a traffic flow prediction model based on Bi-LSTM (Bidirectional Long Short Term Memory) for urban traffic grid clusters. The trajectory dataset of ride-hailing vehicles was gridified, and the Bayesian information criterion was used for parameter estimation to determine the cluster number, with considering the influence of manually determining the number of clusters on the results. The Gaussian mixture model was then employed to cluster grids with similar traffic conditions, resulting in distinct traffic grid clusters. A Multi-to-Multi model was designed by considering the mutual influence of input time series of traffic grids within each cluster. The Bi-LSTM model was established to predict traffic flow in non-overlapping clusters. Experimental validation was conducted using the classical MLRA (multiple linear regression analysis) as a control group, and four performance metrics: MAE(mean absolute error), RMSE(mean squared root error), MAPE(mean absolute percentage error) and DTW (dynamic time warping) were used to comprehensively evaluate the prediction results, confirming the feasibility and superiority of the Bi-LSTM model for city traffic grid cluster flow prediction. The results showed that both MLRA and Bi-LSTM models predicted urban traffic grid cluster traffic values were generally smaller than the real value, with more pronounced discrepancies observed during morning peak hours. Increasing data volume improved the prediction performance of the models. Traffic state dynamics within each traffic grid cluster were similar, displaying strong intra-cluster correlation. Both models achieved better traffic prediction results, with Bi-LSTM outperforming MLRA. In terms of model accuracy, the Bi-LSTM model showed improved MAE, RMSE and MAPE(3.068 7, 4.294 3, 0.304 5, respectively) compared to MLRA(3.201 1, 4.400 9, 0.318 7, respectively), representing a 4.14%, 2.40% and 4.46% enhancement, respectively. The constructed Bi-LSTM model exhibited higher accuracy, lower error and better generalization performance. In terms of similarity result evaluation, the DTW results of MLRA and Bi-LSTM were 52 938.635 6 and 54 815.105 5 respectively. The Bi-LSTM model showed better robustness by 3.42% compared to the respective weekday and holiday time series similarity DTW results of the MLRA model. By considering the characteristics of urban traffic flow and leveraging the advantages of gridding traffic trajectory data, the Bi-LSTM-based model for urban traffic grid cluster traffic prediction exhibited high accuracy, low error and superior robustness compared to the MLRA traffic flow prediction model. Meanwhile, in terms of DTW metrics, the Bi-LSTM-based urban traffic grid cluster traffic model captured the real traffic variation trend and demonstrated excellent performance in traffic flow prediction for urban areas.
    13  Hydraulic construction personnel safety helmet wearing detection algorithm based on STA-YOLOv5
    LI Shunxiang JIANG Haiyang XIONG Ling HUANG Caisheng JIANG Yougao DENG Xi WANG Kai ZHANG Peng
    2023, 46(9):142-152. DOI: 10.11835/j.issn.1000.582X.2023.09.014
    [Abstract](233) [HTML](52) [PDF 4.63 M](470)
    Abstract:
    At the site of large-scale water conservancy construction projects, there are problems such as falling objects, tower crane rotation, wall collapse, which pose a great threat to the personal safety of construction personnel. Wearing safety helmets is an effective measure to protect construction personnel. Therefore, it is necessary for construction personnel to carry out accurate detection of helmet wearing as a safety management in engineering operations. Aiming at the problems of missing detection and low detection accuracy of small and dense helmet targets in large-scale hydraulic construction scenarios, a helmet wearing detection algorithm based on STA-YOLOv5 is proposed, which introduces Swin Transformer and attention mechanism into YOLOv5 algorithm to improve the identification ability of the model to the helmet. The experimental results show that the STA-YOLOv5 algorithm has more accurate detection results, and the recognition accuracy reaches 91.6%, which is significantly improved compared with the original YOLOv5 algorithm.

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