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Proportional directional valve based automatic steering system for tractors Project supported

Jin-yi LIU,Jing-quan TAN,En-rong MAO,Zheng-he SONG,Zhong-xiang ZHU

《信息与电子工程前沿（英文）》 2016年第17卷第5期页码 458-464 doi: 10.1631/FITEE.1500172

摘要： Most automatic steering systems for large tractors are designed with hydraulic systems that run on either constant flow or constant pressure. Such designs are limited in adaptability and applicability. Moreover, their control valves can unload in the neutral position and eventually lead to serious hydraulic leakage over long operation periods. In response to the problems noted above, a multifunctional automatic hydraulic steering circuit is presented. The system design is composed of a 5-way-3- position proportional directional valve, two pilot-controlled check valves, a pressure-compensated directional valve, a pressurecompensated flow regulator valve, a load shuttle valve, and a check valve, among other components. It is adaptable to most open-center systems with constant flow supply and closed-center systems with load feedback. The design maintains the lowest pressure under load feedback and stays at the neutral position during unloading, thus meeting the requirements for steering. The steering controller is based on proportional-integral-derivative (PID) running on a 51-microcontroller-unit master control chip. An experimental platform is developed to establish the basic characteristics of the system subject to stepwise inputs and sinusoidal tracking. Test results show that the system design demonstrates excellent control accuracy, fast response, and negligible leak during long operation periods.

关键词： Automatic steering system Hydraulic circuit Proportional directional valve Proportional-integral-derivative (PID) control

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Multi-axle dynamic steering system of truck-howitzer

LI Yanliang, GAO Xiuhua, ZHANG Chunqiu, SUN Yubo

《机械工程前沿（英文）》 2008年第3卷第1期页码 44-49 doi: 10.1007/s11465-008-0002-9

摘要： A two-degree-of-freedom (2-DOF) steering model of multi-axle vehicle was established. The steering center position, the relationship between the steering angle and the vehicle velocity, and the minimum turn radius were deduced on the basis of the proportional control with a zero sideslip angle. Results indicate that the system stability is decided by the vehicle barycenter position and the lateral stiffness of a tire. Under this control, the steady value of the lateral acceleration is obviously diminished and the yaw angular velocity changes little under any vehicle velocity. The system rapidly responds, the vehicle smoothly steers, and its handling stability is prominently improved.

关键词： multi-axle acceleration relationship smoothly handling stability

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Fully automatic container terminals of Shanghai Yangshan Port phase IV

Jack Xunjie LUO

《工程管理前沿（英文）》 2019年第6卷第3期页码 457-462 doi: 10.1007/s42524-019-0053-0

摘要：

Engineering Owner: Construction Headquarters of Yangshan Deep-water Port Phase IV Project of Shanghai International Shipping Center

关键词： Yangshan Port automated equipment intelligent system container terminals port engineering

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Structural parameter design method for a fast-steering mirror based on a closed-loop bandwidth

Guozhen CHEN, Pinkuan LIU, Han DING

《机械工程前沿（英文）》 2020年第15卷第1期页码 55-65 doi: 10.1007/s11465-019-0545-y

摘要： When a fast-steering mirror (FSM) system is designed, satisfying the performance requirements before fabrication and assembly is vital. This study proposes a structural parameter design approach for an FSM system based on the quantitative analysis of the required closed-loop bandwidth. First, the open-loop transfer function of the FSM system is derived. In accordance with the transfer function, the notch filter and proportional-integral (PI) feedback controller are designed as a closed-loop controller. The gains of the PI controller are determined by maximizing the closed-loop bandwidth while ensuring the robustness of the system. Then, the two unknown variables of rotational radius and stiffness in the open-loop transfer function are optimized, considering the bandwidth as a constraint condition. Finally, the structural parameters of the stage are determined on the basis of the optimized results of rotational radius and stiffness. Simulations are conducted to verify the theoretical analysis. A prototype of the FSM system is fabricated, and corresponding experimental tests are conducted. Experimental results indicate that the bandwidth of the proposed FSM system is 117.6 Hz, which satisfies the minimum bandwidth requirement of 100 Hz.

关键词： fast-steering mirror structural parameter PI controller bandwidth notch filter

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Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

《机械工程前沿（英文）》 2007年第2卷第1期页码 82-88 doi: 10.1007/s11465-007-0014-x

摘要： The variables of the main module of a servo system for miniature reconfigurable parallel mechanism were identified and automatically tuned. With the reverse solution module of the translation, the module with the exerted translation joint was obtained, which included the location, velocity and acceleration of the parallelogram carriage-branch. The rigid dynamic reverse model was set as the virtual work principle. To identify the variables of the servo system, the triangle-shaped input signal with variable frequency was adopted to overcome the disadvantages of the pseudo-random number sequence, i.e., making the change of the vibration amplitude of the motor dramatically, easily impact the servo motor and make the velocity loop open and so on. Moreover, all the variables including the rotary inertia of the servo system were identified by the additive mass. The overshoot and rise time were the optimum goals, the limited changing load with the attitude was considered, and the range of the controller variables in the servo system was identified. The results of the experiments prove that the method is accurate.

关键词： acceleration reconfigurable parallel additive sequence parallel mechanism

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水下滑翔机航向控制 Article

You LIU, Qing SHEN, Dong-li MA, Xiang-jiang YUAN

《信息与电子工程前沿（英文）》 2017年第18卷第7期页码 898-914 doi: 10.1631/FITEE.1601735

摘要：水下滑翔机动力学特性随有效载荷及外形变化而变化，其航向控制富有挑战性。解决方法是使用在线系统辨识算法捕捉当前动力学特性，更新运动模型。为此，我们设计了一个在线多项式辨识器，不断更新当前动力学模型，同时用一个自适应模型预测控制器计算并输出最优化的控制指令。该控制器根据用户自定义的指标函数，使用二次规划方法得到最优控制指令。该指标函数由两项组成，一项用来表达轨迹跟踪性能，一项用来表达输入指令抑制性能。输入指令抑制性能一定程度上可以代表该控制器的能量消耗性能。设计师可以通过调节这两项的权重，平衡两个控制器的性能。比较二次与五次多项式模型的控制效果，发现：二次多项式模型不足以表达无人机的动力学特性，且控制结果易发生剧烈波动。硬件在环模拟以及湖试结果验证了控制器性能。

关键词：水下滑翔机；在线系统辨识；航向控制；自适应控制；最优控制；节能控制；硬件在环模拟

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基于以太网通信的自动化立体仓库管理与监控系统

王志伟,蒋兆远

《中国工程科学》 2004年第6卷第6期页码 74-76

摘要：

介绍了基于以太网通信的自动化立体仓库管理与控制系统的结构、工作原理、主要功能特点以及该系统软件的设计思想。该系统充分利用了以太网高速通信的特点，实现了对立体仓库的实时管理和控制。

关键词：自动化立体仓库计算机管理与监控以太网通信

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Construction risks of Huaying mount tunnel and countermeasures

Haibo YAO, Feng GAO, Shigang YU, Wei DANG

《结构与土木工程前沿（英文）》 2017年第11卷第3期页码 279-285 doi: 10.1007/s11709-017-0414-x

摘要： The Chongqing-Guang’an motorway is planned to cross Huaying mount at Jingguan town of Chongqing city. The whole mount is a colossal anticline whose core is consisted of coal measure strata (upper Permian Longtan formation P l) and the limbs are limestone strata (middle Triassic Leikoupo formation T l and lower Triassic Jialingjiang formation T j). The tunneling is full of risks of collapse, gas explosion or gas outburst, water (mud) inrush, gas inrush because of existence of faults, high pressure gas, karst tectonics and coal goafs around the tunnel. In order to cope with the high risk, two main countermeasures were taken to ensure security of construction. One is geology prediction, and the other is automatic wireless real-time monitoring system, which contains monitoring of video, wind speed, poisonous gas (CH , CO, H S, SO ), people location, and automatic power-off equipment while gas contents being more than warning threshold. These ascertained the engineering safety effectively.

关键词： tunnel?construction gas?outburst geology?prediction automatic?monitoring?system

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DEVELOPMENT OF AN AUTOMATIC WEIGHING PLATFORM FOR MONITORING BODYWEIGHT OF BROILER CHICKENS IN COMMERCIAL

《农业科学与工程前沿（英文）》 2023年第10卷第3期页码 363-373 doi: 10.15302/J-FASE-2023510

摘要：

● An automatic weighing system for monitoring bodyweight of broilers was developed.

关键词： automatic weighing weight monitoring floor housing uniformity precision poultry farming

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Innovation, practical benefits and prospects for the future development of automatic milking systems

Hongzhe JIANG,Wei WANG,Chunyang LI,Wei WANG

《农业科学与工程前沿（英文）》 2017年第4卷第1期页码 37-47 doi: 10.15302/J-FASE-2016117

摘要： Automatic milking systems (AMS) were designed to replace existing, labor-intensive machine milking and are an area of rapid development in modern dairy farming. The popularity of AMS lies in the convenience of management, decreasing workloads and the consistency of milking compared with non-automated machine milking. Nevertheless, this innovation has not been reviewed comprehensively and the practical benefits of AMS are still unclear. This review gives a brief overview of the historical development of milking machines and the workflow process of state-of-the-art AMS. In addition, a series of comparisons between AMS and current milking machines are made with respect to labor savings, quality parameters, udder health, herd behavior and mastitis detection and are summarized on the basis of relevant studies to show the benefits of the technological changes achieved by AMS. Finally, this review addresses several deficiencies in the technology and procedures of current AMS that need to be improved and also assesses recent advances in milking techniques with a particular focus on their potential for application in AMS.

关键词： automatic milking systems (AMS) innovation milking machine practical effect future prospects

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基于μ综合鲁棒控制的四轮转向车辆操纵稳定性研究

殷国栋,陈南,李普

《中国工程科学》 2005年第7卷第4期页码 54-58

摘要：

车辆总是承担不同的载荷，车辆建模亦存在着误差，传统四轮转向控制器难以达到原有的性能指标；针对外界干扰，采用μ综合鲁棒控制方法，构造横摆角速度跟踪综合控制系统设计框架，选取了不同环节的权函数。仿真结果表明，四轮转向车辆控制系统具有良好的动态性能、鲁棒稳定性和鲁棒性能，有效地提高了车辆操纵稳定性和安全性。

关键词：四轮转向鲁棒控制操纵稳定性 μ综合

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如何应对列车控制系统革新？

Hideo Nakamura

《工程（英文）》 2016年第2卷第3期页码 380-386 doi: 10.1016/J.ENG.2016.03.015

摘要：

列车控制系统的作用是确保铁路的安全。本文首先总结了日本、欧洲通用的列车控制系统，在此基础上，笔者根据现有列车控制系统，提出以下问题：应该采用什么方法来提高列车控制系统的功能性、安全性和可靠性，并协助铁路的商业运营？其次，笔者提出了一个有助于基于当前信息和通信技术对新型列车控制系统进行开发的理想架构；同时，还提出了一种新的统一列车控制系统(UTCS)，它能有效地提高列车控制系统的鲁棒性和竞争力。UTCS 的最终架构仅由基本设备组成，如铁轨中的转辙机和铁路道口控制设备。最后讨论了UTCS 在应用中的处理方式。

关键词：列车控制系统铁路信号基于无线通信的列车自动控制系统列车自动防护系统闭塞系统

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Phase change effect of low melting point metal for an automatic cooling of USB flash memory

Haoshan GE, Jing LIU

《能源前沿（英文）》 2012年第6卷第3期页码 207-209 doi: 10.1007/s11708-012-0204-z

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Image automatic mosaics based on contour phase correlation

ZHANG Jing, HU Zhiping, OU Zongying, LIU Zhitai

《机械工程前沿（英文）》 2007年第2卷第2期页码 228-234 doi: 10.1007/s11465-007-0040-8

摘要： The image planar mosaics is studied, and an image automatic mosaics algorithm on the basis of contour phase correlation is proposed in this paper. To begin with, by taking into account mere translations and rotations between images, a contour phase correlation algorithm is used to realize the preliminary alignments of images, and the initial projective transformation matrices are obtained. Then, an optimization algorithm is used to optimize the initial projective transformation matrices, and complete the precise image mosaics. The contour phase correlation is an improvement on the conventional phase correlation in two aspects: First, the contours of images are extracted, and the phase correlation is applied to the contours of images instead of the whole original images; Second, when there are multiple peak values approximate to the maximum peak value in the ? function array, their corresponding translations can be regarded as candidate translations and calculated separately, and the best translation can be determined by the optimization of conformability of two images in the overlapping area. The running results show that the proposed algorithm can consistently yield high-quality mosaics, even in the cases of poor or differential lighting conditions, existences of minor rotations, and other complicated displacements between images.

关键词： function conventional multiple algorithm correlation algorithm

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Impact of wind power generating system integration on frequency stabilization in multi-area power system

Y. K. BHATESHVAR,H. D. MATHUR,H. SIGUERDIDJANE

《能源前沿（英文）》 2015年第9卷第1期页码 7-21 doi: 10.1007/s11708-014-0338-2

摘要： Among the available options for renewable energy integration in existing power system, wind power is being considered as one of the suited options for future electrical power generation. The major constraint of wind power generating system (WPGS) is that it does not provide inertial support because of power electronic converters between the grid and the WPGS to facilitate frequency stabilization. The proposed control strategy suggests a substantial contribution to system inertia in terms of short-term active power support in a two area restructured power system. The control scheme uses fuzzy logic based design and takes frequency deviation as input to provide quick active power support, which balances the drop in frequency and tie-line power during transient conditions. This paper presents a comprehensive study of the wind power impact with increasing wind power penetration on frequency stabilization in restructured power system scenario. Variation of load conditions are also analyzed in simulation studies for the same power system model with the proposed control scheme. Simulation results advocates the justification of control scheme over other schemes.

关键词： two area power system automatic generation control wind power generating system (WPGS) deregulated environment fuzzy logic controller (FLC)