This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based...This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.展开更多
Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operato...Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operator training,etc.;thus,a hierarchical digital twin would be a comprehensive solution to that.In this study,a novel and general framework of the digital twin is proposed for operations in process industry.With the hierarchical structure,the framework can handle various tasks driven by different roles in process industry,including managers,engineers,and operators.To complete these tasks,the framework consists of three modules:OAS(Operation Analysis System),OMS(Operation Monitoring System),and OTS(Operator Training System).Each module focuses on one unique type of demand from the staff,as well as interactions among them enabling efficient data sharing.Based on the hierarchical framework,a digital twin system is applied for one complex industrial nitration process,which successfully enhances the operation efficiency and safety in several industrial scenarios with different demands.展开更多
Underwater gas-liquid two-phase propulsion technology is an emerging propulsion method that offers high efficiency and unrestricted navigation speed.The integration of this technology into water ramjet engines can sig...Underwater gas-liquid two-phase propulsion technology is an emerging propulsion method that offers high efficiency and unrestricted navigation speed.The integration of this technology into water ramjet engines can significantly enhance propulsion efficiency and holds substantial potential for broad applications.However,forming a gas-liquid two-phase flow within the nozzle requires introducing a large amount of rammed seawater.At this time,there is a complex phase transition problem of combustion products in the combustion chamber,which makes the thermodynamic calculation for gas-liquid two-phase water ramjet engines particularly challenging.This paper proposes a thermodynamic calculation method for gas-liquid two-phase water ramjet engines,based on the energy equation for gas-liquid two-phase flow and traditional thermodynamic principles,enabling thermodynamic calculations under conditions of ultra-high water-fuel ratios.Additionally,ground ignition tests of the gas-liquid two-phase engine were conducted,yielding critical engine test parameters.The results demonstrate that the gas-liquid two-phase water ramjet engine achieves a high specific impulse,with a theoretical maximum specific impulse of up to 7000(N s)/kg.The multiphase flow effects significantly impact engine performance,with specific impulse losses reaching up to 25.86%.The error between the thrust and specific impulse in the ground test and the theoretical values is within 10%,validating the proposed thermodynamic calculation method as a reliable reference for further research on gas-liquid two-phase water ramjet engines.展开更多
In permafrost regions of the QinghaiXizang Plateau,embankments of the Qinghai-Xizang Highway and Qinghai-Xizang Railway experiencing roadside water accumulation exhibit more pronounced engineering deteriorations.A wid...In permafrost regions of the QinghaiXizang Plateau,embankments of the Qinghai-Xizang Highway and Qinghai-Xizang Railway experiencing roadside water accumulation exhibit more pronounced engineering deteriorations.A widely accepted view is that the accumulated water adjacent to the embankment possesses substantial thermal energy,which accelerates the degradation-even disappearance-of the underlying permafrost.Moreover,the presence of roadside water keeps the embankment soil in a persistently high-moisture state,thereby making the frozen-soil embankment more susceptible to deformation under traffic loading.However,in the permafrost regions of the QinghaiXizang Plateau,deteriorations of embankments affected by roadside water are more commonly manifested as undulating pavement surfaces,and extensive crack networks appear on the embankment crest even where thermosyphons are installed.These manifestations are not fully consistent with the deterioration mechanisms proposed by existing viewpoints.We propose the hypothesis that temperature gradients,formed due to the freezing and thawing processes between the roadside wateraffected soil and the roadbed soil,lead to moisture migration under the influence of temperature gradients,resulting in frost heave and thaw settlement in the roadbed soil.To validate this hypothesis,we conducted the following investigations sequentially.Initially,we selected a roadbed with a thermosyphon(TPCT)system,which has a significant cooling effect,as the study object.By analyzing the temperature monitoring data of the roadbed section,the temperature variance was calculated to identify the time nodes where the temperature gradient of the roadbed soil was maximum and minimum.Subsequently,corresponding roadbed temperature distribution maps were drawn,illustrating the changes in the temperature and position of the lowtemperature core near the TPCT over time.Furthermore,using small-scale indoor model experiments,we qualitatively concluded that moisture in the soil migrates toward the TPCT due to the temperature gradient.Thereafter,combining borehole water content data and precipitation data from the sloped terrain construction site,the formation mechanisms and timing characteristics of roadside water accumulation were analyzed.Ultimately,by integrating the ground temperature data,air temperature data,roadside water formation mechanisms,and the operating characteristics of the TPCT,it was concluded that roadside water,while in a thawed state during TPCT operation,acts as a supplementary source for moisture migration in the roadbed soil.This migration leads to cracking in the TPCT roadbed.Therefore,this study reveals a novel damage mechanism:asynchronous freeze-thaw processes induce temperature gradients,which drive the migration of roadside water into the roadbed and are responsible for the cracking damage.展开更多
This study investigates the droplet formation for the liquid–liquid two-phase flow within a square T-junction microchannel through numerical simulation using volume of fluid method and experimental visualization usin...This study investigates the droplet formation for the liquid–liquid two-phase flow within a square T-junction microchannel through numerical simulation using volume of fluid method and experimental visualization using high-speed camera imaging.The T-junction microchannel has a cross-sectional width of 0.6 mm and a total length of 27.3 mm.The solution of cyclohexane with 2%and 3%mass concentrations of sorbitan trioleate surfactant were used as the continuous phase,and water was used as the dispersed phase.Slug flow,characteristic of squeezing regime,were predominantly observed.The effects of liquid–liquid two-phase flow rate ratio,and dimensionless number on droplet size,and pressure drop were investigated.The squeezing regime was mapped for 0.0005≤Ca_(c)≤0.0052(capillary number)and 0.1≤q≤10(flow rate ratio).The pressure drops of slugs were in the range from 40 Pa to 200 Pa.The slug lengths were measured between 1 mm and 9 mm.A universal flow map dependent on Ca_(c)Re_(d)^(0.5) are projected to investigate the droplet formation behavior in T-junction microchannel.Correlation expressions are proposed to predict pressure drops and the slug lengths for liquid–liquid two-phase flow in a square T-junction microchannel,using dimensionless numbers such as flow rate ratio and capillary number.The result shows that large continuous phase flow rates facilitate smaller slugs,whereas higher dispersed phase flow rates result in longer shorts.展开更多
Amidst evolving user behavior driven by the development of the internet,enhancing the operational quality of trade publishing knowledge service platforms has become a significant challenge for publishing institutions....Amidst evolving user behavior driven by the development of the internet,enhancing the operational quality of trade publishing knowledge service platforms has become a significant challenge for publishing institutions.To address this issue,this paper employs a combined approach of theoretical analysis and case study,introducing the SICAS(Sense-Interest-Connection-Action-Share)user consumption behavior analysis model and selecting“CITIC Academy”as the case study subject.It systematically examines and summarizes the platform’s operational practices and specific strategies,aiming to offer strategic insights and practical references for the operational improvement and sustainable,high-quality development of trade publishing knowledge service platforms.展开更多
Loday introduced di-associative algebras and tri-associative algebras motivated by periodicity phenomena in algebraic K-theory.The purpose of this paper is to study the splittings of operations on di-associative algeb...Loday introduced di-associative algebras and tri-associative algebras motivated by periodicity phenomena in algebraic K-theory.The purpose of this paper is to study the splittings of operations on di-associative algebras and tri-associative algebras.We introduce the notion of a quad-dendriform algebra,which is a splitting of a di-associative algebra.We show that a relative averaging operator on dendriform algebras gives rise to a quad-dendriform algebra.Furthermore,we introduce the notion of six-dendriform algebras,which are splittings of the tri-associative algebras,and demonstrate that homomorphic relative averaging operators induce six-dendriform algebras.展开更多
As joint operations have become a key trend in modern military development,unmanned aerial vehicles(UAVs)play an increasingly important role in enhancing the intelligence and responsiveness of combat systems.However,t...As joint operations have become a key trend in modern military development,unmanned aerial vehicles(UAVs)play an increasingly important role in enhancing the intelligence and responsiveness of combat systems.However,the heterogeneity of aircraft,partial observability,and dynamic uncertainty in operational airspace pose significant challenges to autonomous collision avoidance using traditional methods.To address these issues,this paper proposes an adaptive collision avoidance approach for UAVs based on deep reinforcement learning.First,a unified uncertainty model incorporating dynamic wind fields is constructed to capture the complexity of joint operational environments.Then,to effectively handle the heterogeneity between manned and unmanned aircraft and the limitations of dynamic observations,a sector-based partial observation mechanism is designed.A Dynamic Threat Prioritization Assessment algorithm is also proposed to evaluate potential collision threats from multiple dimensions,including time to closest approach,minimum separation distance,and aircraft type.Furthermore,a Hierarchical Prioritized Experience Replay(HPER)mechanism is introduced,which classifies experience samples into high,medium,and low priority levels to preferentially sample critical experiences,thereby improving learning efficiency and accelerating policy convergence.Simulation results show that the proposed HPER-D3QN algorithm outperforms existing methods in terms of learning speed,environmental adaptability,and robustness,significantly enhancing collision avoidance performance and convergence rate.Finally,transfer experiments on a high-fidelity battlefield airspace simulation platform validate the proposed method's deployment potential and practical applicability in complex,real-world joint operational scenarios.展开更多
THE Hainan Free Trade Port(FTP)officially launched island-wide special customs operations on December 18,2025.One month in,a reporting team from China International Communications Group(CICG)conducted an exclusive int...THE Hainan Free Trade Port(FTP)officially launched island-wide special customs operations on December 18,2025.One month in,a reporting team from China International Communications Group(CICG)conducted an exclusive interview with Feng Fei,secretary of the Hainan Provincial Committee of the Communist Party of China(CPC)and chairman of the Standing Committee of the Hainan Provincial People’s Congress.展开更多
Key words,： Two 1-D dynamical and isothermal models of cathode gas diffusion layer（GDL） with isobaric and non-isobaric operations for polymer electrolyte fuel cells（PEFCs） were developed and implemented in COMSOL...Key words,： Two 1-D dynamical and isothermal models of cathode gas diffusion layer（GDL） with isobaric and non-isobaric operations for polymer electrolyte fuel cells（PEFCs） were developed and implemented in COMSOL Multiphysics v3.5.The artificial diffusion coefficient was introduced as well to make the numerical computation be stable.In the non-isobaric model,the pressure of gas mixture was obtained by summing up the governing equations of gaseous components,instead of Navier-Stoks equation.Comparison of the two models were carried out with the steady-states and dynamical simulations under given conditions.The corresponding analysis based on the simulated results was also given simultaneously.This paper is contributed to finding the differences between the isobaric and non-isobaric operation in the two-phase model of cathode GDL.展开更多
Cu-4.7%Sn （mass fraction） alloy plate was prepared by the self-developed two-phase zone continuous casting （TZCC） process. The relationship between process parameters of TZCC and surface quality of the alloy plate...Cu-4.7%Sn （mass fraction） alloy plate was prepared by the self-developed two-phase zone continuous casting （TZCC） process. The relationship between process parameters of TZCC and surface quality of the alloy plate was investigated. The microstructure and mechanical properties of the TZCC alloy plate were analyzed. The results show that Cu-4.7%Sn alloy plate with smooth surface can be obtained by means of reasonable matching the entrance temperature of two-phase zone mold and the continuous casting speed. The microstructure of the TZCC alloy is composed of grains-covered grains, small grains with self-closed grain boundaries, columnar grains and equiaxed grains. Compared with cold mold continuous casting Cu-4.7%Sn alloy plate, the room temperature tensile strength and ductility of the TZCC alloy plate are greatly improved.展开更多
Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longe...Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longer period.A multi-objective genetic algorithm(MOGA)and state of charge(SOC)region division for the batteries are introduced to solve the objective function and configuration of the system capacity,respectively.MATLAB/Simulink was used for simulation test.The optimization results show that for a 0.5 MW wind power and 0.5 MW photovoltaic system,with a combination of a 300 Ah lithium battery,a 200 Ah lead-acid battery,and a water storage tank,the proposed strategy reduces the system construction cost by approximately 18,000 yuan.Additionally,the cycle count of the electrochemical energy storage systemincreases from4515 to 4660,while the depth of discharge decreases from 55.37%to 53.65%,achieving shallow charging and discharging,thereby extending battery life and reducing grid voltage fluctuations significantly.The proposed strategy is a guide for stabilizing the grid connection of wind and solar power generation,capability allocation,and energy management of energy conservation systems.展开更多
Deep-sea mineral resource transportation predominantly utilizes hydraulic pipeline methodology.Environmental factors induce vibrations in flexible pipelines,thereby affecting the internal flow characteristics.Therefor...Deep-sea mineral resource transportation predominantly utilizes hydraulic pipeline methodology.Environmental factors induce vibrations in flexible pipelines,thereby affecting the internal flow characteristics.Therefore,real-time monitoring of solid–liquid two-phase flow in pipelines is crucial for system maintenance.This study develops an autoencoder-based deep learning framework to reconstruct three-dimensional solid–liquid two-phase flow within flexible vibrating pipelines utilizing sparse wall information from sensors.Within this framework,separate X-model and F-model with distinct hidden-layer structures are established to reconstruct the coordinates and flow field information on the computational domain grid of the pipeline under traveling wave vibration.Following hyperparameter optimization,the models achieved high reconstruction accuracy,demonstrating R^(2)values of 0.990 and 0.945,respectively.The models’robustness is evaluated across three aspects:vibration parameters,physical fields,and vibration modes,demonstrating good reconstruction performance.Results concerning sensors show that 20 sensors(0.06%of total grids)achieve a balance between accuracy and cost,with superior accuracy obtained when arranged along the full length of the pipe compared to a dense arrangement at the front end.The models exhibited a signal-to-noise ratio tolerance of approximately 27 dB,with reconstruction accuracy being more affected by sensor failures at both ends of the pipeline.展开更多
The influence of the squeeze film between the tube and the support structure on flow-induced vibrations is a critical factor in tube bundles subjected to two-phase cross-flow.This aspect can significantly alter the th...The influence of the squeeze film between the tube and the support structure on flow-induced vibrations is a critical factor in tube bundles subjected to two-phase cross-flow.This aspect can significantly alter the threshold for fluidelastic instability and affect heat transfer efficiency.This paper presents a mathematical model incorporating the squeeze film force between the tube and the support structure.We aim to clarify the mechanisms underlying fluidelastic instability in tube bundle systems exposed to two-phase flow.Using a self-developed computer program,we performed numerical calculations to examine the influence of the squeeze film on the threshold of fluidelastic instability in the tube bundle system.Furthermore,we analyzed how the thickness and length of the squeeze film affect both the underlying mechanisms and the critical velocity of fluidelastic instability.展开更多
Starch/polylactic acid(PLA) composites were prepared by melt extrusion, with corn starch and PLA as raw materials, glycerol as the plasticizer. Effects of starch/PLA ratio on the interdependence of two-phase and other...Starch/polylactic acid(PLA) composites were prepared by melt extrusion, with corn starch and PLA as raw materials, glycerol as the plasticizer. Effects of starch/PLA ratio on the interdependence of two-phase and other properties of the composites were studied. The combination of results of TGA with SEM indicated that the interdependence between starch and PLA was increased gradually as the starch/PLA ratio reduced. DSC results showed that the glass transition temperature(Tg), melting temperature(Tm) and degree of crystallinity of PLA in composites were increased gradually, whereas the cold crystallization temperature(Tc) was gradually decreased as the starch/PLA ratio reduced. The rheological properties of composites were closely related with the interdependence of two-phase, with reducing starch/PLA proportion, the interdependence was increased, and then the strain for storage modulus was firstl reduced and then gradually increased. Frequency scanning showed that the storage modulus and complex viscosity were decreased with reducing starch content. As the starch/PLA ratio reduced, the matrix phase PLA was increased, so that the strength of composites was increased gradually, whereas water absorption rate was decreased gradually.展开更多
Clayey-silt natural gas hydrate reservoirs in the South China Sea exhibit loose and unconsolidated structures, heterogeneous pore structures, high clay mineral contents, and strong hydrophilicity. These characteristic...Clayey-silt natural gas hydrate reservoirs in the South China Sea exhibit loose and unconsolidated structures, heterogeneous pore structures, high clay mineral contents, and strong hydrophilicity. These characteristics complicate the gas-water two-phase flow process in porous media following hydrate decomposition, posing challenges for efficient development. This study examines the transport response of clayey-silt reservoir samples from the Shenhu area using gas-water two-phase flow experiments and CT scanning to explore changes in pore structure, gas-water distribution, and relative permeability under varying flow conditions. The results indicate that pore heterogeneity significantly influences flow characteristics. Gas preferentially displaces water in larger pores, forming fracture-like pores, which serve as preferential flow channels for gas migration. The preferential flow channels enhance gas-phase permeability up to 19 times that of the water phase when fluid pressures exceed total stresses. However,small pores retain liquid, leading to a high residual water saturation of 0.561. CT imaging reveals that these hydro-fractures improve gas permeability but also confine gas flow to specific channels. Pore network analysis shows that gas injection expands the pore-throat network, enhancing connectivity and forming fracture-like pores. Residual water remains trapped in smaller pores and throats, while structural changes, including new fractures, improve gas flow pathways and overall connectivity. Relative permeability curves demonstrate a narrow gas-water cocurrent-flow zone, a right-shifted iso-permeability point and high reservoir capillary pressure, indicating a strong "water-blocking" effect. The findings suggest that optimizing reservoir stimulation techniques to enhance fracture formation, reduce residual water saturation, and improve gas flow capacity is critical for efficient hydrate reservoir development.展开更多
This work investigated the dynamic behavior of vertical pipes conveying gas-liquid two-phase flow when subjected to external excitations at both ends.Even with minimal excitation amplitude,resonance can occur when the...This work investigated the dynamic behavior of vertical pipes conveying gas-liquid two-phase flow when subjected to external excitations at both ends.Even with minimal excitation amplitude,resonance can occur when the excitation frequency aligns with the natural frequency of the pipe,significantly increasing the degree of operational risk.The governing equation of motion based on the Euler-Bernoulli beam is derived for the relative deflection with stationary simply supported ends,with the effects of the external excitations represented by source terms distributed along the pipe length.The fourth-order partial differential equation is solved via the generalized integral transform technique(GITT),with the solution successfully verified via comparison with results in the literature.A comprehensive analysis of the vibration phenomena and changes in the motion state of the pipe is conducted for three classes of external excitation conditions:same frequency and amplitude(SFSA),same frequency but different amplitudes(SFDA),and different frequencies and amplitudes(DFDA).The numerical results show that with increasing gas volume fraction,the position corresponding to the maximum vibration displacement shifts upward.Compared with conditions without external excitation,the vibration displacement of the pipe conveying two-phase flow under external excitation increases significantly.The frequency of external excitation has a significant effect on the dynamic behavior of a pipe conveying two-phase flow.展开更多
Accurate capture and presentation of the interactive feedback relationships among various objectives in multi-objective reservoir operation is essential for maximizing operational benefits.In this study,the niche theo...Accurate capture and presentation of the interactive feedback relationships among various objectives in multi-objective reservoir operation is essential for maximizing operational benefits.In this study,the niche theory of ecology was innovatively applied to the field of reservoir operation,and a novel state-relationship(S-R)measurement analysis method was developed for multi-objective reservoir operation.This method enables the study of interaction among multiple objectives.This method was used to investigate the relationship among the objectives of power generation,water supply,and ecological protection for cascade reservoir operation in the Wujiang River Basin in China.The results indicated that the ecological protection objective was the most competitive in acquiring and capturing resources like flow and water level,while the water supply objective was the weakest.Power generation competed most strongly with ecological protection and relatively weakly with water supply.These findings facilitate decision-making throughout the reservoir operation process in the region.The S-R method based on the niche theory is convenient,efficient,and intuitive,allowing for the quantification of feedback relationships among objectives without requiring the solution of the Pareto frontier of a multi-objective problem in advance.This method provides a novel and feasible idea for studying multi-objective interactions.展开更多
BACKGROUND A total of 100 patients diagnosed with mixed hemorrhoids from October 2022 to September 2023 in our hospital were randomly divided into groups by dice rolling and compared with the efficacy of different tre...BACKGROUND A total of 100 patients diagnosed with mixed hemorrhoids from October 2022 to September 2023 in our hospital were randomly divided into groups by dice rolling and compared with the efficacy of different treatment options.AIM To analyze the clinical effect and prognosis of mixed hemorrhoids treated with polidocanol injection combined with automatic elastic thread ligation operation(RPH).METHODS A total of 100 patients with mixed hemorrhoids who visited our hospital from October 2022 to September 2023 were selected and randomly divided into the control group(n=50)and the treatment group(n=50)by rolling the dice.The procedure for prolapse and hemorrhoids(PPH)was adopted in the control group,while polidocanol foam injection+RPH was adopted in the treatment group.The therapeutic effects,operation time,wound healing time,hospital stay,pain situation(24 hours post-operative pain score,first defecation pain score),quality of life(QOL),incidence of complications(post-operative hemorrhage,edema,infection),incidence of anal stenosis 3 months post-operatively and recurrence rate 1 year post-operatively of the two groups were compared.RESULTS Compared with the control group,the total effective rate of treatment group was higher,and the difference was significant(P<0.05).The operation time/wound healing time/hospital stay in the treatment group were shorter than those in the control group(P<0.05).The pain scores at 24 hours after operation/first defecation pain score of the treatment group was significantly lower than those in the control group(P<0.05).After surgery,the QOL scores of the two groups decreased,with the treatment group having higher scores than that of the control group(P<0.05).Compared with the control group,the incidence of postoperative complications in the treatment group was lower,and the difference was significant(P<0.05);However,there was no significant difference in the incidence of postoperative bleeding between the two groups(P>0.05);There was no significant difference in the incidence of anal stenosis 3 months after operation and the recurrence rate 1 year after operation between the two groups(P>0.05).CONCLUSION For patients with mixed hemorrhoids,the therapeutic effect achieved by using polidocanol injection combined with RPH was better.The wounds of the patients healed faster,the postoperative pain was milder,QOL improved,and the incidence of complications was lower,and the short-term and long-term prognosis was good.展开更多
Electric tractors(ETs)with mounted implements form operating units.There are significant differences in parameters such as shape,firmness,and moisture content of the soil in contact with the tractor and implements whe...Electric tractors(ETs)with mounted implements form operating units.There are significant differences in parameters such as shape,firmness,and moisture content of the soil in contact with the tractor and implements when working in complex terrains such as field stubble,waterlogged silt,and loose/firm terrain.These differentiated dynamics prevent cooperation between ETs and operating implements under independent control,resulting in poor quality operations and low energy efficiency.We propose a control mechanism for ETs and implements to achieve full life cycle management of collaborative control tasks,instantaneous intertask interaction,and a multitask synchronization mechanism.To address the internal redundant communication problems caused by traditional distributed microcontrol units,we break through the underlying technology of unit data processing and interaction and develop an integrated high-performance controller structure with high processing capacity and high-and low-speed communication interfaces.On the basis of hierarchical stepwise control theory,a hierarchical real-time operating system is designed.This system realizes a preemptive kernel response of computational tasks and competitive-collaborative synchronization among tasks;overcomes the low-latency response of collaborative control tasks,instantaneous information interaction,and multitask synchronization problems;and provides system-level support for deep collaborative operation control of units.To demonstrate and validate the proposed collaborative control mechanism,a plowing collaborative operation management strategy is designed and deployed.The experimental results show that the communication delay of collaborative tasks is as low as 83μs,the solution time of complex collaborative equations is as low as 46 ms,the mechanical efficiency of the ET is increased by 9.07%,the efficiency of the drive motor is increased by 9.72%,the stability of the operation speed is increased by 106.25%,and the stability of the plowing depth reaches 94.98%.Our work meets the hardware and software requirements for realizing complex collaborative control of ET units and improves the operational quality and operational energy efficiency in real vehicle demonstrations.展开更多
基金Supported by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems (ZDSYS20220330161800001)the National Natural Science Foundation of China (62303207)the Guangdong Basic and Applied Basic Research Foundation (2024A1515010725)。
文摘This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.
基金support of the“Pioneer”and“Leading Goose”Research&Development Program of Zhejiang(2024C01028)the State Key Laboratory of Industrial Control Technology,China(ICT2024C04)are gratefully acknowledged.
文摘Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operator training,etc.;thus,a hierarchical digital twin would be a comprehensive solution to that.In this study,a novel and general framework of the digital twin is proposed for operations in process industry.With the hierarchical structure,the framework can handle various tasks driven by different roles in process industry,including managers,engineers,and operators.To complete these tasks,the framework consists of three modules:OAS(Operation Analysis System),OMS(Operation Monitoring System),and OTS(Operator Training System).Each module focuses on one unique type of demand from the staff,as well as interactions among them enabling efficient data sharing.Based on the hierarchical framework,a digital twin system is applied for one complex industrial nitration process,which successfully enhances the operation efficiency and safety in several industrial scenarios with different demands.
基金supported by the Stable Support Fund forBasic Disciplines,China(No.3072024WD0201)。
文摘Underwater gas-liquid two-phase propulsion technology is an emerging propulsion method that offers high efficiency and unrestricted navigation speed.The integration of this technology into water ramjet engines can significantly enhance propulsion efficiency and holds substantial potential for broad applications.However,forming a gas-liquid two-phase flow within the nozzle requires introducing a large amount of rammed seawater.At this time,there is a complex phase transition problem of combustion products in the combustion chamber,which makes the thermodynamic calculation for gas-liquid two-phase water ramjet engines particularly challenging.This paper proposes a thermodynamic calculation method for gas-liquid two-phase water ramjet engines,based on the energy equation for gas-liquid two-phase flow and traditional thermodynamic principles,enabling thermodynamic calculations under conditions of ultra-high water-fuel ratios.Additionally,ground ignition tests of the gas-liquid two-phase engine were conducted,yielding critical engine test parameters.The results demonstrate that the gas-liquid two-phase water ramjet engine achieves a high specific impulse,with a theoretical maximum specific impulse of up to 7000(N s)/kg.The multiphase flow effects significantly impact engine performance,with specific impulse losses reaching up to 25.86%.The error between the thrust and specific impulse in the ground test and the theoretical values is within 10%,validating the proposed thermodynamic calculation method as a reliable reference for further research on gas-liquid two-phase water ramjet engines.
基金supported by the Major Science and Technology Project of Gansu Province(Grant No.24ZD13FA003 and 23ZDWA005)National Natural Science Foundation of China(Grant No.42371140,42301163,41971087 and 42272332)the program of the State Key Laboratory of Cryospheric Science and Frozen Soil Engineering,CAS(No.CSFSEZZ-2411)。
文摘In permafrost regions of the QinghaiXizang Plateau,embankments of the Qinghai-Xizang Highway and Qinghai-Xizang Railway experiencing roadside water accumulation exhibit more pronounced engineering deteriorations.A widely accepted view is that the accumulated water adjacent to the embankment possesses substantial thermal energy,which accelerates the degradation-even disappearance-of the underlying permafrost.Moreover,the presence of roadside water keeps the embankment soil in a persistently high-moisture state,thereby making the frozen-soil embankment more susceptible to deformation under traffic loading.However,in the permafrost regions of the QinghaiXizang Plateau,deteriorations of embankments affected by roadside water are more commonly manifested as undulating pavement surfaces,and extensive crack networks appear on the embankment crest even where thermosyphons are installed.These manifestations are not fully consistent with the deterioration mechanisms proposed by existing viewpoints.We propose the hypothesis that temperature gradients,formed due to the freezing and thawing processes between the roadside wateraffected soil and the roadbed soil,lead to moisture migration under the influence of temperature gradients,resulting in frost heave and thaw settlement in the roadbed soil.To validate this hypothesis,we conducted the following investigations sequentially.Initially,we selected a roadbed with a thermosyphon(TPCT)system,which has a significant cooling effect,as the study object.By analyzing the temperature monitoring data of the roadbed section,the temperature variance was calculated to identify the time nodes where the temperature gradient of the roadbed soil was maximum and minimum.Subsequently,corresponding roadbed temperature distribution maps were drawn,illustrating the changes in the temperature and position of the lowtemperature core near the TPCT over time.Furthermore,using small-scale indoor model experiments,we qualitatively concluded that moisture in the soil migrates toward the TPCT due to the temperature gradient.Thereafter,combining borehole water content data and precipitation data from the sloped terrain construction site,the formation mechanisms and timing characteristics of roadside water accumulation were analyzed.Ultimately,by integrating the ground temperature data,air temperature data,roadside water formation mechanisms,and the operating characteristics of the TPCT,it was concluded that roadside water,while in a thawed state during TPCT operation,acts as a supplementary source for moisture migration in the roadbed soil.This migration leads to cracking in the TPCT roadbed.Therefore,this study reveals a novel damage mechanism:asynchronous freeze-thaw processes induce temperature gradients,which drive the migration of roadside water into the roadbed and are responsible for the cracking damage.
基金supports for this project from the National Natural Science Foundation of China(22378295).
文摘This study investigates the droplet formation for the liquid–liquid two-phase flow within a square T-junction microchannel through numerical simulation using volume of fluid method and experimental visualization using high-speed camera imaging.The T-junction microchannel has a cross-sectional width of 0.6 mm and a total length of 27.3 mm.The solution of cyclohexane with 2%and 3%mass concentrations of sorbitan trioleate surfactant were used as the continuous phase,and water was used as the dispersed phase.Slug flow,characteristic of squeezing regime,were predominantly observed.The effects of liquid–liquid two-phase flow rate ratio,and dimensionless number on droplet size,and pressure drop were investigated.The squeezing regime was mapped for 0.0005≤Ca_(c)≤0.0052(capillary number)and 0.1≤q≤10(flow rate ratio).The pressure drops of slugs were in the range from 40 Pa to 200 Pa.The slug lengths were measured between 1 mm and 9 mm.A universal flow map dependent on Ca_(c)Re_(d)^(0.5) are projected to investigate the droplet formation behavior in T-junction microchannel.Correlation expressions are proposed to predict pressure drops and the slug lengths for liquid–liquid two-phase flow in a square T-junction microchannel,using dimensionless numbers such as flow rate ratio and capillary number.The result shows that large continuous phase flow rates facilitate smaller slugs,whereas higher dispersed phase flow rates result in longer shorts.
文摘Amidst evolving user behavior driven by the development of the internet,enhancing the operational quality of trade publishing knowledge service platforms has become a significant challenge for publishing institutions.To address this issue,this paper employs a combined approach of theoretical analysis and case study,introducing the SICAS(Sense-Interest-Connection-Action-Share)user consumption behavior analysis model and selecting“CITIC Academy”as the case study subject.It systematically examines and summarizes the platform’s operational practices and specific strategies,aiming to offer strategic insights and practical references for the operational improvement and sustainable,high-quality development of trade publishing knowledge service platforms.
基金Supported by the Science and Technology Program of Guizhou Province(Grant No.QKHJC QN[2025]362)the National Natural Science Foundation of China(Grant No.12361005).
文摘Loday introduced di-associative algebras and tri-associative algebras motivated by periodicity phenomena in algebraic K-theory.The purpose of this paper is to study the splittings of operations on di-associative algebras and tri-associative algebras.We introduce the notion of a quad-dendriform algebra,which is a splitting of a di-associative algebra.We show that a relative averaging operator on dendriform algebras gives rise to a quad-dendriform algebra.Furthermore,we introduce the notion of six-dendriform algebras,which are splittings of the tri-associative algebras,and demonstrate that homomorphic relative averaging operators induce six-dendriform algebras.
基金supported by the National Key Research and Development Program of China(No.2022YFB4300902).
文摘As joint operations have become a key trend in modern military development,unmanned aerial vehicles(UAVs)play an increasingly important role in enhancing the intelligence and responsiveness of combat systems.However,the heterogeneity of aircraft,partial observability,and dynamic uncertainty in operational airspace pose significant challenges to autonomous collision avoidance using traditional methods.To address these issues,this paper proposes an adaptive collision avoidance approach for UAVs based on deep reinforcement learning.First,a unified uncertainty model incorporating dynamic wind fields is constructed to capture the complexity of joint operational environments.Then,to effectively handle the heterogeneity between manned and unmanned aircraft and the limitations of dynamic observations,a sector-based partial observation mechanism is designed.A Dynamic Threat Prioritization Assessment algorithm is also proposed to evaluate potential collision threats from multiple dimensions,including time to closest approach,minimum separation distance,and aircraft type.Furthermore,a Hierarchical Prioritized Experience Replay(HPER)mechanism is introduced,which classifies experience samples into high,medium,and low priority levels to preferentially sample critical experiences,thereby improving learning efficiency and accelerating policy convergence.Simulation results show that the proposed HPER-D3QN algorithm outperforms existing methods in terms of learning speed,environmental adaptability,and robustness,significantly enhancing collision avoidance performance and convergence rate.Finally,transfer experiments on a high-fidelity battlefield airspace simulation platform validate the proposed method's deployment potential and practical applicability in complex,real-world joint operational scenarios.
文摘THE Hainan Free Trade Port(FTP)officially launched island-wide special customs operations on December 18,2025.One month in,a reporting team from China International Communications Group(CICG)conducted an exclusive interview with Feng Fei,secretary of the Hainan Provincial Committee of the Communist Party of China(CPC)and chairman of the Standing Committee of the Hainan Provincial People’s Congress.
基金National High Technology Reseach & Development Program of High Temperature PEM Fuel Cell,China (863 Program,No. 2008AA050403)Shanghai Pujiang Talent Plan,China (No. 08PJ1409)Chinese 111-Program for Energy-Saving and Environment-Friendly Automotives (No. B08019)
文摘Key words,： Two 1-D dynamical and isothermal models of cathode gas diffusion layer（GDL） with isobaric and non-isobaric operations for polymer electrolyte fuel cells（PEFCs） were developed and implemented in COMSOL Multiphysics v3.5.The artificial diffusion coefficient was introduced as well to make the numerical computation be stable.In the non-isobaric model,the pressure of gas mixture was obtained by summing up the governing equations of gaseous components,instead of Navier-Stoks equation.Comparison of the two models were carried out with the steady-states and dynamical simulations under given conditions.The corresponding analysis based on the simulated results was also given simultaneously.This paper is contributed to finding the differences between the isobaric and non-isobaric operation in the two-phase model of cathode GDL.
基金Project(51374025) supported by the National Natural Science Foundation of ChinaProject(2014Z-05) supported by the State Key Laboratory for Advanced Metals and Materials,University of Science and Technology Beijing,ChinaProject(2152020) supported by the Beijing Natural Science Foundation,China
文摘Cu-4.7%Sn （mass fraction） alloy plate was prepared by the self-developed two-phase zone continuous casting （TZCC） process. The relationship between process parameters of TZCC and surface quality of the alloy plate was investigated. The microstructure and mechanical properties of the TZCC alloy plate were analyzed. The results show that Cu-4.7%Sn alloy plate with smooth surface can be obtained by means of reasonable matching the entrance temperature of two-phase zone mold and the continuous casting speed. The microstructure of the TZCC alloy is composed of grains-covered grains, small grains with self-closed grain boundaries, columnar grains and equiaxed grains. Compared with cold mold continuous casting Cu-4.7%Sn alloy plate, the room temperature tensile strength and ductility of the TZCC alloy plate are greatly improved.
基金supported by a Horizontal Project on the Development of a Hybrid Energy Storage Simulation Model for Wind Power Based on an RT-LAB Simulation System(PH2023000190)the Inner Mongolia Natural Science Foundation Project and the Optimization of Exergy Efficiency of a Hybrid Energy Storage System with Crossover Control for Wind Power(2023JQ04).
文摘Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longer period.A multi-objective genetic algorithm(MOGA)and state of charge(SOC)region division for the batteries are introduced to solve the objective function and configuration of the system capacity,respectively.MATLAB/Simulink was used for simulation test.The optimization results show that for a 0.5 MW wind power and 0.5 MW photovoltaic system,with a combination of a 300 Ah lithium battery,a 200 Ah lead-acid battery,and a water storage tank,the proposed strategy reduces the system construction cost by approximately 18,000 yuan.Additionally,the cycle count of the electrochemical energy storage systemincreases from4515 to 4660,while the depth of discharge decreases from 55.37%to 53.65%,achieving shallow charging and discharging,thereby extending battery life and reducing grid voltage fluctuations significantly.The proposed strategy is a guide for stabilizing the grid connection of wind and solar power generation,capability allocation,and energy management of energy conservation systems.
基金financial support by the National Natural Science Foundation of China (Nos.52471293 and 12372270)the National Youth Science Foundation of China (Nos.52101322 and 52108375)+3 种基金the Program for Intergovernmental International S&T Cooperation Projects of Shanghai Municipality, China (Nos.24510711100 and 22160710200)The Oceanic Interdisciplinary Program of Shanghai Jiao Tong University (No.SL2022PT101)funded by the Open Fund of the State Key Laboratory of Coastal and Offshore Engineering of Dalian University of Technology (No.LP2415)National Key R&D Program of China (No.2023YFC2811600)
文摘Deep-sea mineral resource transportation predominantly utilizes hydraulic pipeline methodology.Environmental factors induce vibrations in flexible pipelines,thereby affecting the internal flow characteristics.Therefore,real-time monitoring of solid–liquid two-phase flow in pipelines is crucial for system maintenance.This study develops an autoencoder-based deep learning framework to reconstruct three-dimensional solid–liquid two-phase flow within flexible vibrating pipelines utilizing sparse wall information from sensors.Within this framework,separate X-model and F-model with distinct hidden-layer structures are established to reconstruct the coordinates and flow field information on the computational domain grid of the pipeline under traveling wave vibration.Following hyperparameter optimization,the models achieved high reconstruction accuracy,demonstrating R^(2)values of 0.990 and 0.945,respectively.The models’robustness is evaluated across three aspects:vibration parameters,physical fields,and vibration modes,demonstrating good reconstruction performance.Results concerning sensors show that 20 sensors(0.06%of total grids)achieve a balance between accuracy and cost,with superior accuracy obtained when arranged along the full length of the pipe compared to a dense arrangement at the front end.The models exhibited a signal-to-noise ratio tolerance of approximately 27 dB,with reconstruction accuracy being more affected by sensor failures at both ends of the pipeline.
基金financially supported by the National Natural Science Foundation of China(Grant No.12072336).
文摘The influence of the squeeze film between the tube and the support structure on flow-induced vibrations is a critical factor in tube bundles subjected to two-phase cross-flow.This aspect can significantly alter the threshold for fluidelastic instability and affect heat transfer efficiency.This paper presents a mathematical model incorporating the squeeze film force between the tube and the support structure.We aim to clarify the mechanisms underlying fluidelastic instability in tube bundle systems exposed to two-phase flow.Using a self-developed computer program,we performed numerical calculations to examine the influence of the squeeze film on the threshold of fluidelastic instability in the tube bundle system.Furthermore,we analyzed how the thickness and length of the squeeze film affect both the underlying mechanisms and the critical velocity of fluidelastic instability.
基金Funded by the National Forestry Public Welfare Industry Major Projects of Scientific Research(No.201504502)National Natural Science Foundation of China(No.31200442)Supported by the Post Doctorate Research from the Ministry of Science and Technology of China(No.2014M550178)
文摘Starch/polylactic acid(PLA) composites were prepared by melt extrusion, with corn starch and PLA as raw materials, glycerol as the plasticizer. Effects of starch/PLA ratio on the interdependence of two-phase and other properties of the composites were studied. The combination of results of TGA with SEM indicated that the interdependence between starch and PLA was increased gradually as the starch/PLA ratio reduced. DSC results showed that the glass transition temperature(Tg), melting temperature(Tm) and degree of crystallinity of PLA in composites were increased gradually, whereas the cold crystallization temperature(Tc) was gradually decreased as the starch/PLA ratio reduced. The rheological properties of composites were closely related with the interdependence of two-phase, with reducing starch/PLA proportion, the interdependence was increased, and then the strain for storage modulus was firstl reduced and then gradually increased. Frequency scanning showed that the storage modulus and complex viscosity were decreased with reducing starch content. As the starch/PLA ratio reduced, the matrix phase PLA was increased, so that the strength of composites was increased gradually, whereas water absorption rate was decreased gradually.
基金the National Natural Science Foundation of China (Nos. 42302143, 42172159)China Geological Survey Project (No. DD20211350)support from the G. Albert Shoemaker endowment
文摘Clayey-silt natural gas hydrate reservoirs in the South China Sea exhibit loose and unconsolidated structures, heterogeneous pore structures, high clay mineral contents, and strong hydrophilicity. These characteristics complicate the gas-water two-phase flow process in porous media following hydrate decomposition, posing challenges for efficient development. This study examines the transport response of clayey-silt reservoir samples from the Shenhu area using gas-water two-phase flow experiments and CT scanning to explore changes in pore structure, gas-water distribution, and relative permeability under varying flow conditions. The results indicate that pore heterogeneity significantly influences flow characteristics. Gas preferentially displaces water in larger pores, forming fracture-like pores, which serve as preferential flow channels for gas migration. The preferential flow channels enhance gas-phase permeability up to 19 times that of the water phase when fluid pressures exceed total stresses. However,small pores retain liquid, leading to a high residual water saturation of 0.561. CT imaging reveals that these hydro-fractures improve gas permeability but also confine gas flow to specific channels. Pore network analysis shows that gas injection expands the pore-throat network, enhancing connectivity and forming fracture-like pores. Residual water remains trapped in smaller pores and throats, while structural changes, including new fractures, improve gas flow pathways and overall connectivity. Relative permeability curves demonstrate a narrow gas-water cocurrent-flow zone, a right-shifted iso-permeability point and high reservoir capillary pressure, indicating a strong "water-blocking" effect. The findings suggest that optimizing reservoir stimulation techniques to enhance fracture formation, reduce residual water saturation, and improve gas flow capacity is critical for efficient hydrate reservoir development.
基金financially supported by the Key Research and Development Program of Shandong Province(Grant Nos.2022CXGC020405,2023CXGC010415 and 2025TSGCCZZB0238)the National Natural Science Foundation of China(Grant No.52171288)the financial support from CNPq,FAPERJ,ANP,Embrapii,and China National Petroleum Corporation(CNPC).
文摘This work investigated the dynamic behavior of vertical pipes conveying gas-liquid two-phase flow when subjected to external excitations at both ends.Even with minimal excitation amplitude,resonance can occur when the excitation frequency aligns with the natural frequency of the pipe,significantly increasing the degree of operational risk.The governing equation of motion based on the Euler-Bernoulli beam is derived for the relative deflection with stationary simply supported ends,with the effects of the external excitations represented by source terms distributed along the pipe length.The fourth-order partial differential equation is solved via the generalized integral transform technique(GITT),with the solution successfully verified via comparison with results in the literature.A comprehensive analysis of the vibration phenomena and changes in the motion state of the pipe is conducted for three classes of external excitation conditions:same frequency and amplitude(SFSA),same frequency but different amplitudes(SFDA),and different frequencies and amplitudes(DFDA).The numerical results show that with increasing gas volume fraction,the position corresponding to the maximum vibration displacement shifts upward.Compared with conditions without external excitation,the vibration displacement of the pipe conveying two-phase flow under external excitation increases significantly.The frequency of external excitation has a significant effect on the dynamic behavior of a pipe conveying two-phase flow.
基金supported by the National Key Research&Development Project of China(Grant No.2016YFC0402209)and the China Scholarship Council.
文摘Accurate capture and presentation of the interactive feedback relationships among various objectives in multi-objective reservoir operation is essential for maximizing operational benefits.In this study,the niche theory of ecology was innovatively applied to the field of reservoir operation,and a novel state-relationship(S-R)measurement analysis method was developed for multi-objective reservoir operation.This method enables the study of interaction among multiple objectives.This method was used to investigate the relationship among the objectives of power generation,water supply,and ecological protection for cascade reservoir operation in the Wujiang River Basin in China.The results indicated that the ecological protection objective was the most competitive in acquiring and capturing resources like flow and water level,while the water supply objective was the weakest.Power generation competed most strongly with ecological protection and relatively weakly with water supply.These findings facilitate decision-making throughout the reservoir operation process in the region.The S-R method based on the niche theory is convenient,efficient,and intuitive,allowing for the quantification of feedback relationships among objectives without requiring the solution of the Pareto frontier of a multi-objective problem in advance.This method provides a novel and feasible idea for studying multi-objective interactions.
文摘BACKGROUND A total of 100 patients diagnosed with mixed hemorrhoids from October 2022 to September 2023 in our hospital were randomly divided into groups by dice rolling and compared with the efficacy of different treatment options.AIM To analyze the clinical effect and prognosis of mixed hemorrhoids treated with polidocanol injection combined with automatic elastic thread ligation operation(RPH).METHODS A total of 100 patients with mixed hemorrhoids who visited our hospital from October 2022 to September 2023 were selected and randomly divided into the control group(n=50)and the treatment group(n=50)by rolling the dice.The procedure for prolapse and hemorrhoids(PPH)was adopted in the control group,while polidocanol foam injection+RPH was adopted in the treatment group.The therapeutic effects,operation time,wound healing time,hospital stay,pain situation(24 hours post-operative pain score,first defecation pain score),quality of life(QOL),incidence of complications(post-operative hemorrhage,edema,infection),incidence of anal stenosis 3 months post-operatively and recurrence rate 1 year post-operatively of the two groups were compared.RESULTS Compared with the control group,the total effective rate of treatment group was higher,and the difference was significant(P<0.05).The operation time/wound healing time/hospital stay in the treatment group were shorter than those in the control group(P<0.05).The pain scores at 24 hours after operation/first defecation pain score of the treatment group was significantly lower than those in the control group(P<0.05).After surgery,the QOL scores of the two groups decreased,with the treatment group having higher scores than that of the control group(P<0.05).Compared with the control group,the incidence of postoperative complications in the treatment group was lower,and the difference was significant(P<0.05);However,there was no significant difference in the incidence of postoperative bleeding between the two groups(P>0.05);There was no significant difference in the incidence of anal stenosis 3 months after operation and the recurrence rate 1 year after operation between the two groups(P>0.05).CONCLUSION For patients with mixed hemorrhoids,the therapeutic effect achieved by using polidocanol injection combined with RPH was better.The wounds of the patients healed faster,the postoperative pain was milder,QOL improved,and the incidence of complications was lower,and the short-term and long-term prognosis was good.
基金supported by the National Key Research and Development Plan of China(2022YFD2001202)the National Natural Science Foundation of China(32301719 and 52272444)the 2115 Talent Development Program of China Agricultural University.
文摘Electric tractors(ETs)with mounted implements form operating units.There are significant differences in parameters such as shape,firmness,and moisture content of the soil in contact with the tractor and implements when working in complex terrains such as field stubble,waterlogged silt,and loose/firm terrain.These differentiated dynamics prevent cooperation between ETs and operating implements under independent control,resulting in poor quality operations and low energy efficiency.We propose a control mechanism for ETs and implements to achieve full life cycle management of collaborative control tasks,instantaneous intertask interaction,and a multitask synchronization mechanism.To address the internal redundant communication problems caused by traditional distributed microcontrol units,we break through the underlying technology of unit data processing and interaction and develop an integrated high-performance controller structure with high processing capacity and high-and low-speed communication interfaces.On the basis of hierarchical stepwise control theory,a hierarchical real-time operating system is designed.This system realizes a preemptive kernel response of computational tasks and competitive-collaborative synchronization among tasks;overcomes the low-latency response of collaborative control tasks,instantaneous information interaction,and multitask synchronization problems;and provides system-level support for deep collaborative operation control of units.To demonstrate and validate the proposed collaborative control mechanism,a plowing collaborative operation management strategy is designed and deployed.The experimental results show that the communication delay of collaborative tasks is as low as 83μs,the solution time of complex collaborative equations is as low as 46 ms,the mechanical efficiency of the ET is increased by 9.07%,the efficiency of the drive motor is increased by 9.72%,the stability of the operation speed is increased by 106.25%,and the stability of the plowing depth reaches 94.98%.Our work meets the hardware and software requirements for realizing complex collaborative control of ET units and improves the operational quality and operational energy efficiency in real vehicle demonstrations.
