Considering that the clutch cover assembly and driven disc assembly show common effect on the engagement/disengagement characteristics of the pull-type diaphragm spring clutches for heavy-duty commercial vehicles,the ...Considering that the clutch cover assembly and driven disc assembly show common effect on the engagement/disengagement characteristics of the pull-type diaphragm spring clutches for heavy-duty commercial vehicles,the diaphragm spring,cushion plate,and friction plate,are thoroughly analyzed in this paper.The A-L method and the micro-element method are used to analyze the mechanical properties of diaphragm spring and cushion plate,respectively.The mechanical characteristics are obtained via numerical simulation,and the deformation and load mechanical characteristics of the cushion plate are verified by experimental tests.According to the relationship between the pressure plate temperature and the friction coefficient of the friction plate,the influence of the change of the friction coefficient on the transmission torque characteristics of the clutch is analyzed.In view of the torque fluctuation in the process of engagement/disengagement,the mathematical model of torsional characteristics is established with consideration of the torsional characteristics of torsional damper.Modeling and simulation of the handling characteristics are carried out to evaluate the influence of the boosting characteristics of the hydraulic operated pneumatic booster on the clutch pedal operating force separation characteristics.Specific tests are also conducted,and the effectiveness of the established models is verified.展开更多
Electronic control suspension(ECS)systems are of significance to ride comfort and handling stability of ground vehicles.However,ECS systems may pose unreasonable safety risks due to performance inadequacies or imprope...Electronic control suspension(ECS)systems are of significance to ride comfort and handling stability of ground vehicles.However,ECS systems may pose unreasonable safety risks due to performance inadequacies or improper use by drivers,which are referred to as safety of the intended functionality(SOTIF)issues.Aiming to address the inadequate performance of the ECS system,this study proposes a model predictive control(MPC)method,with a particular focus on ensuring SOTIF.First,Systems theoretic process analysis(STPA)is utilized to assess the SOTIF of the ECS system and the ECS system control architecture is built.Then,Models including the input model,lateral and vertical coupled dynamics model,and nonlinear actuator model are established.In addition,an MPC strategy with explicit dynamic constraints is designed,incorporating the dynamic mechanical performance boundaries of ECS actuators into the constraints of the controller.Subsequently,a hardware-in-the-loop testing platform is constructed for the ECS system to conduct simulation experiments under various operating conditions.Results demonstrate that the designed control strategy effectively mitigates performance inadequacies of the suspension system,significantly enhancing its overall functionality and safety.展开更多
A differential steering system is presented for electric vehicle with motorized wheels and a dynamic model of three-freedom car is built.Based on these models,the quantitative expressions of the road feel,sensitivity,...A differential steering system is presented for electric vehicle with motorized wheels and a dynamic model of three-freedom car is built.Based on these models,the quantitative expressions of the road feel,sensitivity,and operation stability of the steering are derived.Then,according to the features of multi-constrained optimization of multi-objective function,a multi-island genetic algorithm(MIGA)is designed.Taking the road feel and the sensitivity of the steering as optimization objectives and the operation stability of the steering as a constraint,the system parameters are optimized.The simulation results show that the system optimized with MIGA can improve the steering road feel,and guarantee the operation stability and steering sensibility.展开更多
The integrated control system of vehicle ABS/ASR/ACC has been developed using the MC9S12DP256 single chip, which is the new Motorola 16-bit product in HSC12 family. The system including the main control module, the da...The integrated control system of vehicle ABS/ASR/ACC has been developed using the MC9S12DP256 single chip, which is the new Motorola 16-bit product in HSC12 family. The system including the main control module, the data collection module and the drive and fault diagnosis module is demonstrated and its data collection function is presented in detail. The system designed by the modularization can supervise the data, drive the valves and pump. The program can be debugged on line, which is steady and reliable validated by the large numbers of vehicle road tests.展开更多
Anti-rollover is a critical factor to consider when planning the motion of autonomous heavy trucks.This paper proposed a method for autonomous heavy trucks to generate a path that avoids collisions and minimizes rollo...Anti-rollover is a critical factor to consider when planning the motion of autonomous heavy trucks.This paper proposed a method for autonomous heavy trucks to generate a path that avoids collisions and minimizes rollover risk.The corresponding rollover index is deduced from a 5-DOF heavy truck dynamic model that includes longitudinal motion,lateral motion,yaw motion,sprung mass roll motion,unsprung mass roll motion,and an anti-rollover artificial potential field(APF)is proposed based on this.The motion planning method,which is based on model predictive control(MPC),combines trajectory tracking,anti-rollover APF,and the improved obstacle avoidance APF and considers the truck dynamics constraints,obstacle avoidance,and anti-rollover.Furthermore,by using game theory,the coefficients of the two APF functions are optimised,and an optimal path is planned.The effectiveness of the optimised motion planning method is demonstrated in a variety of scenarios.The results demonstrate that the optimised motion planning method can effectively and efficiently avoid collisions and prevent rollover.展开更多
Recently,many Sequential Recommendation methods adopt self-attention mechanisms to model user preferences.However,these methods tend to focus more on low-frequency information while neglecting highfrequency informatio...Recently,many Sequential Recommendation methods adopt self-attention mechanisms to model user preferences.However,these methods tend to focus more on low-frequency information while neglecting highfrequency information,which makes them ineffective in balancing users’long-and short-term preferences.At the same time,manymethods overlook the potential of frequency domainmethods,ignoring their efficiency in processing frequency information.To overcome this limitation,we shift the focus to the combination of time and frequency domains and propose a novel Hybrid Time-Frequency Dual-Branch Transformer for Sequential Recommendation,namely HyTiFRec.Specifically,we design two hybrid filter modules:the learnable hybrid filter(LHF)and the window hybrid filter(WHF).We combine these with the Efficient Attention(EA)module to form the dual-branch structure to replace the self-attention components in Transformers.The EAmodule is used to extract sequential and global information.The LHF andWHF modules balance the proportion of different frequency bands,with LHF globally modulating the spectrum in the frequency domain and WHF retaining frequency components within specific local frequency bands.Furthermore,we use a time domain residual information addition operation in the hybrid filter module,which reduces information loss and further facilitates the hybrid of time-frequency methods.Extensive experiments on five widely-used real-world datasets show that our proposed method surpasses state-of-the-art methods.展开更多
When sinters are filled into the sinter cooler from the sintering machine, it is commonly seen that, due to segregation effects, sinters of larger size usually accumulate closer to the inner wall of the sinter cooler,...When sinters are filled into the sinter cooler from the sintering machine, it is commonly seen that, due to segregation effects, sinters of larger size usually accumulate closer to the inner wall of the sinter cooler, whereas those of smaller size are to the outer wall. This nonuniform distribution of sinters has led to uneven cooling effect throughout the cooler. This causes the sinters leaving the cooler at a large temperature difference. This undesired temperature difference leads to the deformation and even the destruction of the conveyors. The computational fluid dynamics （CFD） technique was used in the present work to investigate the heat and fluid flow phenomena within the sinter cooler corresponding to the different distribution of sinter layer porosity, which was highly dependent on the arrangement and orientation of sinters within the sinter cooler. It is confirmed that a high mass flow rate within the sinter layer causes a low temperature region and vice versa. The flow fields for vertically reducing porosity distribution and random distribution are almost identical indicating the relative insignificance of convective heat transfer mechanism.展开更多
Machine learning-based methods have emerged as a promising solution to accurate battery capacity estimation for battery management systems.However,they are generally developed in a supervised manner which requires a c...Machine learning-based methods have emerged as a promising solution to accurate battery capacity estimation for battery management systems.However,they are generally developed in a supervised manner which requires a considerable number of input features and corresponding capacities,leading to prohibitive costs and efforts for data collection.In response to this issue,this study proposes a convolutional neural network(CNN)based method to perform end-to-end capacity estimation by taking only raw impedance spectra as input.More importantly,an input reconstruction module is devised to effectively exploit impedance spectra without corresponding capacities in the training process,thereby significantly alleviating the cost of collecting training data.Two large battery degradation datasets encompassing over 4700 impedance spectra are developed to validate the proposed method.The results show that accurate capacity estimation can be achieved when substantial training samples with measured capacities are given.However,the estimation performance of supervised machine learning algorithms sharply deteriorates when fewer samples with measured capacities are available.In this case,the proposed method outperforms supervised benchmarks and can reduce the root mean square error by up to 50.66%.A further validation under different current rates and states of charge confirms the effectiveness of the proposed method.Our method provides a flexible approach to take advantage of unlabelled samples for developing data-driven models and is promising to be generalised to other battery management tasks.展开更多
In order to improve the machining efficiency of ultrasonic milling,the easiest and most effective approach was started with the improvement of tool design.The main objective of this research was to utilize rotary ultr...In order to improve the machining efficiency of ultrasonic milling,the easiest and most effective approach was started with the improvement of tool design.The main objective of this research was to utilize rotary ultrasonic machining (RUM's) effectiveness in removing brittle materials to extend the applications of this independent,innovative manufacturing method (self-driving rotary ultrasonic machining),and to experimentally investigate its milling application on brittle materials.The designed tool was used in the conjunction with previously established RUM machine tools,and glass was selected as workpiece for experiments.The interrelationship between feed rate and depth of cut was discussed.By measuring the surface roughness of workpiece,the overall efficacy of utilizing RUM for milling was evaluated and presented.Ultrasonic assisted milling results in the reduction of milling resistance,which leads to a greater process rate.展开更多
State of charge(SOC)estimation for lithium ion batteries plays a critical role in battery management systems for electric vehicles.Battery fractional order models(FOMs)which come from frequency-domain modelling have p...State of charge(SOC)estimation for lithium ion batteries plays a critical role in battery management systems for electric vehicles.Battery fractional order models(FOMs)which come from frequency-domain modelling have provided a distinct insight into SOC estimation.In this article,we compare five state-of-the-art FOMs in terms of SOC estimation.To this end,firstly,characterisation tests on lithium ion batteries are conducted,and the experimental results are used to identify FOM parameters.Parameter identification results show that increasing the complexity of FOMs cannot always improve accuracy.The model R(RQ)W shows superior identification accuracy than the other four FOMs.Secondly,the SOC estimation based on a fractional order unscented Kalman filter is conducted to compare model accuracy and computational burden under different profiles,memory lengths,ambient temperatures,cells and voltage/current drifts.The evaluation results reveal that the SOC estimation accuracy does not necessarily positively correlate to the complexity of FOMs.Although more complex models can have better robustness against temperature variation,R(RQ),the simplest FOM,can overall provide satisfactory accuracy.Validation results on different cells demonstrate the generalisation ability of FOMs,and R(RQ)outperforms other models.Moreover,R(RQ)shows better robustness against truncation error and can maintain high accuracy even under the occurrence of current or voltage sensor drift.展开更多
Based on the traditional active steering system, a novel active steering system integrated with electric power steering function was introduced, which can achieve the functions of both active steering and electric pow...Based on the traditional active steering system, a novel active steering system integrated with electric power steering function was introduced, which can achieve the functions of both active steering and electric power steering. In view of the interference from road random signal and sensor noise in the novel active steering system, the H∞ control model of the novel active steering system was built. With satisfying steering feel, good robust performance and steering stability being the control objectives, the H∞ controller for the novel active front steering (AFS) system was designed. The simulation results show that the novel AFS system with H∞ control strategy can attenuate the road interference quickly, and there is no resonance peak in the bode diagram. It can make the driver obtain more useful information in the low frequency range, and attenuate the road interference better in the high frequency range, thus the driver can get more satisfying road feeling. Therefore, the designed H∞ controller can synthesize the advantages of both robust performance and robust stability, and has certain contribution to the design of novel AFS system.展开更多
Lithium-ion batteries(LIBs)have emerged as the preferred energy storage systems for various types of electric transports,including electric vehicles,electric boats,electric trains,and electric airplanes.The energy man...Lithium-ion batteries(LIBs)have emerged as the preferred energy storage systems for various types of electric transports,including electric vehicles,electric boats,electric trains,and electric airplanes.The energy management of LIBs in electric transports for all-climate and long-life operation requires the accurate estimation of state of charge(SOC)and capacity in real-time.This study proposes a multistage model fusion algorithm to co-estimate SOC and capacity.Firstly,based on the assumption of a normal distribution,the mean and variance of the residual error from the model at different ageing levels are used to calculate the weight for the establishment of a fusion model with stable parameters.Secondly,a differential error gain with forward-looking ability is introduced into a proportional–integral observer(PIO)to accelerate convergence speed.Thirdly,a fusion algorithm is developed by combining a multistage model and proportional–integral–differential observer(PIDO)to co-estimate SOC and capacity under a complex application environment.Fourthly,the convergence and anti-noise performance of the fusion algorithm are discussed.Finally,the hardware-in-the-loop platform is set up to verify the performance of the fusion algorithm.The validation results of different aged LIBs over a wide range of temperature show that the presented fusion algorithm can realize a high-accuracy estimation of SOC and capacity with the relative errors within 2%and 3.3%,respectively.展开更多
A novel active steering system with force and displacement coupled control(the novel AFS system) was introduced,which has functions of both the active steering and electric power steering.Based on the model of the nov...A novel active steering system with force and displacement coupled control(the novel AFS system) was introduced,which has functions of both the active steering and electric power steering.Based on the model of the novel AFS system and the vehicle three-degree of freedom system,the concept and quantitative formulas of the novel AFS system steering performance were proposed.The steering road feel and steering portability were set as the optimizing targets with the steering stability and steering portability as the constraint conditions.According to the features of constrained optimization of multi-variable function,a multi-variable genetic algorithm for the system parameter optimization was designed.The simulation results show that based on parametric optimization of the multi-objective genetic algorithm,the novel AFS system can improve the steering road feel,steering portability and steering stability,thus the optimization method can provide a theoretical basis for the design and optimization of the novel AFS system.展开更多
Ammonia （NH3） has an important use in the chemical industry and is widely found in industrial wastewater. For this investigation of copper-based rare earth composite metal materials, aqueous solutions containing 400...Ammonia （NH3） has an important use in the chemical industry and is widely found in industrial wastewater. For this investigation of copper-based rare earth composite metal materials, aqueous solutions containing 400 mg/L of ammonia were oxidized in a batch-bed reac-tor with a catalyst prepared by the co-precipitation of copper nitrate, lanthanum nitrate and cerium nitrate. Barely any of the dissolved ammo-nia was removed by wet oxidation without a catalyst, but about 88% of the ammonia was reduced during wet oxidation over the catalysts at 423 K with an oxygen partial pressure of 4.0 MPa. The catalytic redox behavior was determined by cyclic voltammetry （CV）. Furthermore, the catalysts were characterized using thermogravimetric analyzer （TGA） and scanning electron microscope-energy dispersive X-ray spectroscopy （SEM-EDX）, which showed that the catalytic behavior was related to the metal oxide properties of the catalyst. In addition, the copper-lanthanum-cerium composite-induced cytotoxicity in the human lung MRC-5 cell line was tested, and the percentage cell survival was determined by 3-（4,5-dimethylthiazol-2-yl）-5-（3-carboxymethoxyphenyl）-2-（4-sulfophenyl）-2H-tetra-zolium （MTS） analysis in vitro. No ap-parent cytotoxicity was observed when the human lung cells were exposed to the copper-lanthanum-cerium composite.展开更多
Engine mount system affects the automobile NVH performance.Active mounts would achieve excellent vibration isolation and relative displacement control performance in a broad frequency bandwidth by outputting controlle...Engine mount system affects the automobile NVH performance.Active mounts would achieve excellent vibration isolation and relative displacement control performance in a broad frequency bandwidth by outputting controlled force to the mounting system.The actuator and control method of the active mounts determine the system performance.In this paper,an active mount based on the smart material,i.e.,Terfenol-D rod,is proposed,which mainly includes three parts:rubber spring,magnetostrictive actuator(MA),and hydraulic amplification mechanism(HAM).Dynamic model of the active mount is correspondingly established.A state feedback control method based on x-LMS(Least-Mean-Square)algorithm is proposed as well.Specifically,with the consideration of the unmeasurable state parameters in the active mounting system,an x-LMS state feedback controller with the system state as the reference signal is constructed by employing Sage-Husa Kalman filter to realize the state estimation of the active mounting system.Then a detailed analysis of the proposed control method is conducted,with deriving iterative formula of tap-weight vector.Sequentially,the problem of the dependence on the excitation signal in the x-LMS algorithm is addressed.The feasibility and capability of the proposed control method are verified and evaluated by simulation of a two-degree-offreedom active mounting system.展开更多
The manufacture,physical characterization,environmental applications and cytotoxicity properties of nanocomposites consisting of CuO/CeO2 nano-rare earth composite materials prepared using the coprecipitation method a...The manufacture,physical characterization,environmental applications and cytotoxicity properties of nanocomposites consisting of CuO/CeO2 nano-rare earth composite materials prepared using the coprecipitation method at molar ratio of 6:4 with aqueous solutions of copper nitrate and cerium nitrate were reported.The performance of the selective catalytic oxidation of ammonia to N2(NH3-SCO) over a CuO/CeO2 nano-rare earth composite materials in a tubular fixed-bed reactor(TFBR) at temperatures from 423 to 673 K in the presence of oxygen was elucidated.The catalytic redox behavior was determined by cyclic voltammetry(CV).The nanocomposite particles were characterized by TEM,with a tiny particle size around 10 nm with high dispersion phenomena.Further,cell cytotoxicity and the percentage cell survival were determined by using 3-(4,5-dimethylthiazol-2-yl)-5(3-carboxymethoxyphenol)-2-(4-sulfophenyl)-2H-tetra-zolium(MTS) assay on human lung MRC-5 cell line.Experimental results showed that no apparent cytotoxicity was observed when the MRC-5 was exposed to the CuO/CeO2 nanocomposite materials.展开更多
The development of Vehicular Ad-hoc Network(VANET)technology is helping Intelligent Transportation System(ITS)services to become a reality.Vehicles can use VANETs to communicate safety messages on the road(while drivi...The development of Vehicular Ad-hoc Network(VANET)technology is helping Intelligent Transportation System(ITS)services to become a reality.Vehicles can use VANETs to communicate safety messages on the road(while driving)and can inform their location and share road condition information in real-time.However,intentional and unintentional(e.g.,packet/frame collision)wireless signal jamming can occur,which will degrade the quality of communication over the channel,preventing the reception of safety messages,and thereby posing a safety hazard to the vehicle’s passengers.In this paper,VANET jamming detection applying Support Vector Machine(SVM)machine learning technology is used to classify jamming and non-jamming situations.The analysis is based on two cases which include normal traffic and heavy traffic conditions,where the results show that the probability of packet dropping will increase when many vehicles are using the wireless channel simultaneously.When using SVM classification,the most appropriate feature set applied in determining a jamming situation shows an accuracy of 98%or higher.Furthermore,more advanced jamming attacks need to be considered for preparation of more reliable and safer autonomous ITS services.Such research can use vehicular communication transmission and reception data based on selected published datasets.In this paper,an additional adversarial defense algorithm using the Density-Based Spatial Clustering of Applications with Noise(DBSCAN)method is proposed,which assumes that evolutionary attacks of the jammer will attempt to confuse the trained classifier.The simulation results show that applying DBSCAN can improve the accuracy by elimination of outliers before conducting classification testing.展开更多
Failure of induction motors are a large concern due to its influence over industrial production. Motor current signature analysis (MCSA) is common practice in industry to find motor faults. This paper presents a new a...Failure of induction motors are a large concern due to its influence over industrial production. Motor current signature analysis (MCSA) is common practice in industry to find motor faults. This paper presents a new approach to detection and diagnosis of motor bearing faults based on induction motor stator current analysis. Tests were performed with three bearing conditions: baseline, outer race fault and inner race fault. Because the signals associated with faults produce small modulations to supply component and high nose levels, a modulation signal bispectrum (MSB) is used in this paper to detect and diagnose different motor bearing defects. The results show that bearing faults can induced a detestable amplitude increases at its characteristic frequencies. MSB peaks show a clear difference at these frequencies whereas conventional power spectrum provides change evidences only at some of the frequencies. This shows that MSB has a better and reliable performance in extract small changes from the faulty bearing for fault detection and diagnosis. In addition, the study also show that current signals from motors with variable frequency drive controller have too much noise and it is unlikely to discriminate the small bearing fault component.展开更多
To speedily regulate and precisely control a hydraulic power system in a unmanned walking platform(UWP),based on the brief analysis of digital PID and its shortcomings,dual control parameters in a hydraulic power syst...To speedily regulate and precisely control a hydraulic power system in a unmanned walking platform(UWP),based on the brief analysis of digital PID and its shortcomings,dual control parameters in a hydraulic power system are given for the precision requirement,and a control strategy for dual relative control parameters in the dual loop PID is put forward,a load and throttle rotation-speed response model for variable pump and gasoline engine is provided according to a physical process,a simplified neural network structure PID is introduced,and formed mixed neural network PID(MNN PID)to control rotation speed of engine and pressure of variable pump,calculation using the back propagation(BP)algorithm and a self-adapted learning step is made,including a mathematic principle and a calculation flow scheme,the BP algorithm of neural network PID is trained and the control effect of system is simulated in Matlab environment,real control effects of engine rotation speed and variable pump pressure are verified in the experimental bench.Results show that algorithm effect of MNN PID is stable and MNN PID can meet the adjusting requirement of control parameters.展开更多
We present a method for identifying the flexural rigidity and external loads acting on a beam using the finite-element method. We used mixed beam elements possessing transverse deflection and the bending moment as the...We present a method for identifying the flexural rigidity and external loads acting on a beam using the finite-element method. We used mixed beam elements possessing transverse deflection and the bending moment as the primary degrees of freedom. The first step is to determine the bending moment from the transverse deflection and boundary conditions. The second step is to substitute the bending moment into the final equations with respect to the unknown parameters (flexural rigidity or external load). The final step solves the resulting system of equations. We apply this method to some inverse beam problems and provide an accurate estimation. Several numerical examples are performed and show that present method gives excellent results for identifying bending stiffness and distributed load of beam.展开更多
基金Supported by Technical Innovation Special Project(Major)of Hubei Province of China(Grant No.2020BED012)。
文摘Considering that the clutch cover assembly and driven disc assembly show common effect on the engagement/disengagement characteristics of the pull-type diaphragm spring clutches for heavy-duty commercial vehicles,the diaphragm spring,cushion plate,and friction plate,are thoroughly analyzed in this paper.The A-L method and the micro-element method are used to analyze the mechanical properties of diaphragm spring and cushion plate,respectively.The mechanical characteristics are obtained via numerical simulation,and the deformation and load mechanical characteristics of the cushion plate are verified by experimental tests.According to the relationship between the pressure plate temperature and the friction coefficient of the friction plate,the influence of the change of the friction coefficient on the transmission torque characteristics of the clutch is analyzed.In view of the torque fluctuation in the process of engagement/disengagement,the mathematical model of torsional characteristics is established with consideration of the torsional characteristics of torsional damper.Modeling and simulation of the handling characteristics are carried out to evaluate the influence of the boosting characteristics of the hydraulic operated pneumatic booster on the clutch pedal operating force separation characteristics.Specific tests are also conducted,and the effectiveness of the established models is verified.
基金Supported by Anhui Provincial Key Research and Development Projects(Grant No.202304a05020087)the National Natural Science Foundation of China(Grant No.52272392)the Fundamental Research Funds for the Central Universities(Grant No.JZ2023YQTD0073).
文摘Electronic control suspension(ECS)systems are of significance to ride comfort and handling stability of ground vehicles.However,ECS systems may pose unreasonable safety risks due to performance inadequacies or improper use by drivers,which are referred to as safety of the intended functionality(SOTIF)issues.Aiming to address the inadequate performance of the ECS system,this study proposes a model predictive control(MPC)method,with a particular focus on ensuring SOTIF.First,Systems theoretic process analysis(STPA)is utilized to assess the SOTIF of the ECS system and the ECS system control architecture is built.Then,Models including the input model,lateral and vertical coupled dynamics model,and nonlinear actuator model are established.In addition,an MPC strategy with explicit dynamic constraints is designed,incorporating the dynamic mechanical performance boundaries of ECS actuators into the constraints of the controller.Subsequently,a hardware-in-the-loop testing platform is constructed for the ECS system to conduct simulation experiments under various operating conditions.Results demonstrate that the designed control strategy effectively mitigates performance inadequacies of the suspension system,significantly enhancing its overall functionality and safety.
基金Supported by the National Natural Science Foundation of China(51375007,51205191)the Visiting Scholar Foundation of the State Key Lab of Mechanical Transmission in Chongqing University+1 种基金the Funds from the Postgraduate Creative Base in Nanjing University of Aeronautics and Astronauticsthe Research Funding of Nanjing University of Aeronautics and Astronautics(NS2013015)
文摘A differential steering system is presented for electric vehicle with motorized wheels and a dynamic model of three-freedom car is built.Based on these models,the quantitative expressions of the road feel,sensitivity,and operation stability of the steering are derived.Then,according to the features of multi-constrained optimization of multi-objective function,a multi-island genetic algorithm(MIGA)is designed.Taking the road feel and the sensitivity of the steering as optimization objectives and the operation stability of the steering as a constraint,the system parameters are optimized.The simulation results show that the system optimized with MIGA can improve the steering road feel,and guarantee the operation stability and steering sensibility.
基金Ford-China Research and Development Fund Project(50122148)
文摘The integrated control system of vehicle ABS/ASR/ACC has been developed using the MC9S12DP256 single chip, which is the new Motorola 16-bit product in HSC12 family. The system including the main control module, the data collection module and the drive and fault diagnosis module is demonstrated and its data collection function is presented in detail. The system designed by the modularization can supervise the data, drive the valves and pump. The program can be debugged on line, which is steady and reliable validated by the large numbers of vehicle road tests.
基金Supported by National Natural Science Foundation of China(Grant No.51775269)Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20211190).
文摘Anti-rollover is a critical factor to consider when planning the motion of autonomous heavy trucks.This paper proposed a method for autonomous heavy trucks to generate a path that avoids collisions and minimizes rollover risk.The corresponding rollover index is deduced from a 5-DOF heavy truck dynamic model that includes longitudinal motion,lateral motion,yaw motion,sprung mass roll motion,unsprung mass roll motion,and an anti-rollover artificial potential field(APF)is proposed based on this.The motion planning method,which is based on model predictive control(MPC),combines trajectory tracking,anti-rollover APF,and the improved obstacle avoidance APF and considers the truck dynamics constraints,obstacle avoidance,and anti-rollover.Furthermore,by using game theory,the coefficients of the two APF functions are optimised,and an optimal path is planned.The effectiveness of the optimised motion planning method is demonstrated in a variety of scenarios.The results demonstrate that the optimised motion planning method can effectively and efficiently avoid collisions and prevent rollover.
基金supported by a grant from the Natural Science Foundation of Zhejiang Province under Grant LY21F010016.
文摘Recently,many Sequential Recommendation methods adopt self-attention mechanisms to model user preferences.However,these methods tend to focus more on low-frequency information while neglecting highfrequency information,which makes them ineffective in balancing users’long-and short-term preferences.At the same time,manymethods overlook the potential of frequency domainmethods,ignoring their efficiency in processing frequency information.To overcome this limitation,we shift the focus to the combination of time and frequency domains and propose a novel Hybrid Time-Frequency Dual-Branch Transformer for Sequential Recommendation,namely HyTiFRec.Specifically,we design two hybrid filter modules:the learnable hybrid filter(LHF)and the window hybrid filter(WHF).We combine these with the Efficient Attention(EA)module to form the dual-branch structure to replace the self-attention components in Transformers.The EAmodule is used to extract sequential and global information.The LHF andWHF modules balance the proportion of different frequency bands,with LHF globally modulating the spectrum in the frequency domain and WHF retaining frequency components within specific local frequency bands.Furthermore,we use a time domain residual information addition operation in the hybrid filter module,which reduces information loss and further facilitates the hybrid of time-frequency methods.Extensive experiments on five widely-used real-world datasets show that our proposed method surpasses state-of-the-art methods.
文摘When sinters are filled into the sinter cooler from the sintering machine, it is commonly seen that, due to segregation effects, sinters of larger size usually accumulate closer to the inner wall of the sinter cooler, whereas those of smaller size are to the outer wall. This nonuniform distribution of sinters has led to uneven cooling effect throughout the cooler. This causes the sinters leaving the cooler at a large temperature difference. This undesired temperature difference leads to the deformation and even the destruction of the conveyors. The computational fluid dynamics （CFD） technique was used in the present work to investigate the heat and fluid flow phenomena within the sinter cooler corresponding to the different distribution of sinter layer porosity, which was highly dependent on the arrangement and orientation of sinters within the sinter cooler. It is confirmed that a high mass flow rate within the sinter layer causes a low temperature region and vice versa. The flow fields for vertically reducing porosity distribution and random distribution are almost identical indicating the relative insignificance of convective heat transfer mechanism.
基金supported by the National Key R&D Program of China(2021YFB2402002)the National Natural Science Foundation of China(51922006 and 51877009)+1 种基金the China Postdoctoral Science Foundation(BX2021035 and 2022M710379)the Beijing Natural Science Foundation(Grant No.L223013)。
文摘Machine learning-based methods have emerged as a promising solution to accurate battery capacity estimation for battery management systems.However,they are generally developed in a supervised manner which requires a considerable number of input features and corresponding capacities,leading to prohibitive costs and efforts for data collection.In response to this issue,this study proposes a convolutional neural network(CNN)based method to perform end-to-end capacity estimation by taking only raw impedance spectra as input.More importantly,an input reconstruction module is devised to effectively exploit impedance spectra without corresponding capacities in the training process,thereby significantly alleviating the cost of collecting training data.Two large battery degradation datasets encompassing over 4700 impedance spectra are developed to validate the proposed method.The results show that accurate capacity estimation can be achieved when substantial training samples with measured capacities are given.However,the estimation performance of supervised machine learning algorithms sharply deteriorates when fewer samples with measured capacities are available.In this case,the proposed method outperforms supervised benchmarks and can reduce the root mean square error by up to 50.66%.A further validation under different current rates and states of charge confirms the effectiveness of the proposed method.Our method provides a flexible approach to take advantage of unlabelled samples for developing data-driven models and is promising to be generalised to other battery management tasks.
基金Project(NSC-94-2622-E-027-036-CC3)supported by National Science Council
文摘In order to improve the machining efficiency of ultrasonic milling,the easiest and most effective approach was started with the improvement of tool design.The main objective of this research was to utilize rotary ultrasonic machining (RUM's) effectiveness in removing brittle materials to extend the applications of this independent,innovative manufacturing method (self-driving rotary ultrasonic machining),and to experimentally investigate its milling application on brittle materials.The designed tool was used in the conjunction with previously established RUM machine tools,and glass was selected as workpiece for experiments.The interrelationship between feed rate and depth of cut was discussed.By measuring the surface roughness of workpiece,the overall efficacy of utilizing RUM for milling was evaluated and presented.Ultrasonic assisted milling results in the reduction of milling resistance,which leads to a greater process rate.
基金Beijing Municipal Natural Science Foundation of China(Grant No.3182035)National Natural Science Foundation of China(Grant No.51877009).
文摘State of charge(SOC)estimation for lithium ion batteries plays a critical role in battery management systems for electric vehicles.Battery fractional order models(FOMs)which come from frequency-domain modelling have provided a distinct insight into SOC estimation.In this article,we compare five state-of-the-art FOMs in terms of SOC estimation.To this end,firstly,characterisation tests on lithium ion batteries are conducted,and the experimental results are used to identify FOM parameters.Parameter identification results show that increasing the complexity of FOMs cannot always improve accuracy.The model R(RQ)W shows superior identification accuracy than the other four FOMs.Secondly,the SOC estimation based on a fractional order unscented Kalman filter is conducted to compare model accuracy and computational burden under different profiles,memory lengths,ambient temperatures,cells and voltage/current drifts.The evaluation results reveal that the SOC estimation accuracy does not necessarily positively correlate to the complexity of FOMs.Although more complex models can have better robustness against temperature variation,R(RQ),the simplest FOM,can overall provide satisfactory accuracy.Validation results on different cells demonstrate the generalisation ability of FOMs,and R(RQ)outperforms other models.Moreover,R(RQ)shows better robustness against truncation error and can maintain high accuracy even under the occurrence of current or voltage sensor drift.
基金Foundation item： Projects（51005115, 51205191） supported by the National Natural Science Foundation of China Project（2012-NELEV-03） supported by the Research Foundation of National Engineering Laboratory for Electric Vehicles, China+2 种基金 Project（kfjj 120105） supported by the Visiting Scholar Foundation of the State Key Laboratory of Mechanical Transmission in Chongqing University, China Project supported by the Funds from the Postgraduate Creative Base in Nanjing University of Areonautics and Astronautics, China Project supported by the Fundamental Research Funds for the Central Universities, China
文摘Based on the traditional active steering system, a novel active steering system integrated with electric power steering function was introduced, which can achieve the functions of both active steering and electric power steering. In view of the interference from road random signal and sensor noise in the novel active steering system, the H∞ control model of the novel active steering system was built. With satisfying steering feel, good robust performance and steering stability being the control objectives, the H∞ controller for the novel active front steering (AFS) system was designed. The simulation results show that the novel AFS system with H∞ control strategy can attenuate the road interference quickly, and there is no resonance peak in the bode diagram. It can make the driver obtain more useful information in the low frequency range, and attenuate the road interference better in the high frequency range, thus the driver can get more satisfying road feeling. Therefore, the designed H∞ controller can synthesize the advantages of both robust performance and robust stability, and has certain contribution to the design of novel AFS system.
基金This work was supported by the National Key Research and Development Program of China(2017YFB0103802)the National Natural Science Foundation of China(51922006 and 51707011).
文摘Lithium-ion batteries(LIBs)have emerged as the preferred energy storage systems for various types of electric transports,including electric vehicles,electric boats,electric trains,and electric airplanes.The energy management of LIBs in electric transports for all-climate and long-life operation requires the accurate estimation of state of charge(SOC)and capacity in real-time.This study proposes a multistage model fusion algorithm to co-estimate SOC and capacity.Firstly,based on the assumption of a normal distribution,the mean and variance of the residual error from the model at different ageing levels are used to calculate the weight for the establishment of a fusion model with stable parameters.Secondly,a differential error gain with forward-looking ability is introduced into a proportional–integral observer(PIO)to accelerate convergence speed.Thirdly,a fusion algorithm is developed by combining a multistage model and proportional–integral–differential observer(PIDO)to co-estimate SOC and capacity under a complex application environment.Fourthly,the convergence and anti-noise performance of the fusion algorithm are discussed.Finally,the hardware-in-the-loop platform is set up to verify the performance of the fusion algorithm.The validation results of different aged LIBs over a wide range of temperature show that the presented fusion algorithm can realize a high-accuracy estimation of SOC and capacity with the relative errors within 2%and 3.3%,respectively.
基金Project(51005115) supported by the National Natural Science Foundation of ChinaProject(KF11201) supported by the Science Fund of State Key Laboratory of Automotive Safety and Energy,ChinaProject(201105) supported by the Visiting Scholar Foundation of the State Key Laboratory of Mechanical Transmission in Chongqing University,China
文摘A novel active steering system with force and displacement coupled control(the novel AFS system) was introduced,which has functions of both the active steering and electric power steering.Based on the model of the novel AFS system and the vehicle three-degree of freedom system,the concept and quantitative formulas of the novel AFS system steering performance were proposed.The steering road feel and steering portability were set as the optimizing targets with the steering stability and steering portability as the constraint conditions.According to the features of constrained optimization of multi-variable function,a multi-variable genetic algorithm for the system parameter optimization was designed.The simulation results show that based on parametric optimization of the multi-objective genetic algorithm,the novel AFS system can improve the steering road feel,steering portability and steering stability,thus the optimization method can provide a theoretical basis for the design and optimization of the novel AFS system.
基金supported by the National Science Council of Taiwan (NSC 98-2221-E-132-003-MY3)
文摘Ammonia （NH3） has an important use in the chemical industry and is widely found in industrial wastewater. For this investigation of copper-based rare earth composite metal materials, aqueous solutions containing 400 mg/L of ammonia were oxidized in a batch-bed reac-tor with a catalyst prepared by the co-precipitation of copper nitrate, lanthanum nitrate and cerium nitrate. Barely any of the dissolved ammo-nia was removed by wet oxidation without a catalyst, but about 88% of the ammonia was reduced during wet oxidation over the catalysts at 423 K with an oxygen partial pressure of 4.0 MPa. The catalytic redox behavior was determined by cyclic voltammetry （CV）. Furthermore, the catalysts were characterized using thermogravimetric analyzer （TGA） and scanning electron microscope-energy dispersive X-ray spectroscopy （SEM-EDX）, which showed that the catalytic behavior was related to the metal oxide properties of the catalyst. In addition, the copper-lanthanum-cerium composite-induced cytotoxicity in the human lung MRC-5 cell line was tested, and the percentage cell survival was determined by 3-（4,5-dimethylthiazol-2-yl）-5-（3-carboxymethoxyphenyl）-2-（4-sulfophenyl）-2H-tetra-zolium （MTS） analysis in vitro. No ap-parent cytotoxicity was observed when the human lung cells were exposed to the copper-lanthanum-cerium composite.
基金National Natural Science Foundation of China(Grant No.52272392)Fundamental Research Funds for the Central Universities of China(Grant No.JD2019JGPY0018).
文摘Engine mount system affects the automobile NVH performance.Active mounts would achieve excellent vibration isolation and relative displacement control performance in a broad frequency bandwidth by outputting controlled force to the mounting system.The actuator and control method of the active mounts determine the system performance.In this paper,an active mount based on the smart material,i.e.,Terfenol-D rod,is proposed,which mainly includes three parts:rubber spring,magnetostrictive actuator(MA),and hydraulic amplification mechanism(HAM).Dynamic model of the active mount is correspondingly established.A state feedback control method based on x-LMS(Least-Mean-Square)algorithm is proposed as well.Specifically,with the consideration of the unmeasurable state parameters in the active mounting system,an x-LMS state feedback controller with the system state as the reference signal is constructed by employing Sage-Husa Kalman filter to realize the state estimation of the active mounting system.Then a detailed analysis of the proposed control method is conducted,with deriving iterative formula of tap-weight vector.Sequentially,the problem of the dependence on the excitation signal in the x-LMS algorithm is addressed.The feasibility and capability of the proposed control method are verified and evaluated by simulation of a two-degree-offreedom active mounting system.
基金Project partially supported by the National Science Council of the Republic of China Taiwan (NSC 98-2221-E-132-003-MY3)
文摘The manufacture,physical characterization,environmental applications and cytotoxicity properties of nanocomposites consisting of CuO/CeO2 nano-rare earth composite materials prepared using the coprecipitation method at molar ratio of 6:4 with aqueous solutions of copper nitrate and cerium nitrate were reported.The performance of the selective catalytic oxidation of ammonia to N2(NH3-SCO) over a CuO/CeO2 nano-rare earth composite materials in a tubular fixed-bed reactor(TFBR) at temperatures from 423 to 673 K in the presence of oxygen was elucidated.The catalytic redox behavior was determined by cyclic voltammetry(CV).The nanocomposite particles were characterized by TEM,with a tiny particle size around 10 nm with high dispersion phenomena.Further,cell cytotoxicity and the percentage cell survival were determined by using 3-(4,5-dimethylthiazol-2-yl)-5(3-carboxymethoxyphenol)-2-(4-sulfophenyl)-2H-tetra-zolium(MTS) assay on human lung MRC-5 cell line.Experimental results showed that no apparent cytotoxicity was observed when the MRC-5 was exposed to the CuO/CeO2 nanocomposite materials.
文摘The development of Vehicular Ad-hoc Network(VANET)technology is helping Intelligent Transportation System(ITS)services to become a reality.Vehicles can use VANETs to communicate safety messages on the road(while driving)and can inform their location and share road condition information in real-time.However,intentional and unintentional(e.g.,packet/frame collision)wireless signal jamming can occur,which will degrade the quality of communication over the channel,preventing the reception of safety messages,and thereby posing a safety hazard to the vehicle’s passengers.In this paper,VANET jamming detection applying Support Vector Machine(SVM)machine learning technology is used to classify jamming and non-jamming situations.The analysis is based on two cases which include normal traffic and heavy traffic conditions,where the results show that the probability of packet dropping will increase when many vehicles are using the wireless channel simultaneously.When using SVM classification,the most appropriate feature set applied in determining a jamming situation shows an accuracy of 98%or higher.Furthermore,more advanced jamming attacks need to be considered for preparation of more reliable and safer autonomous ITS services.Such research can use vehicular communication transmission and reception data based on selected published datasets.In this paper,an additional adversarial defense algorithm using the Density-Based Spatial Clustering of Applications with Noise(DBSCAN)method is proposed,which assumes that evolutionary attacks of the jammer will attempt to confuse the trained classifier.The simulation results show that applying DBSCAN can improve the accuracy by elimination of outliers before conducting classification testing.
文摘Failure of induction motors are a large concern due to its influence over industrial production. Motor current signature analysis (MCSA) is common practice in industry to find motor faults. This paper presents a new approach to detection and diagnosis of motor bearing faults based on induction motor stator current analysis. Tests were performed with three bearing conditions: baseline, outer race fault and inner race fault. Because the signals associated with faults produce small modulations to supply component and high nose levels, a modulation signal bispectrum (MSB) is used in this paper to detect and diagnose different motor bearing defects. The results show that bearing faults can induced a detestable amplitude increases at its characteristic frequencies. MSB peaks show a clear difference at these frequencies whereas conventional power spectrum provides change evidences only at some of the frequencies. This shows that MSB has a better and reliable performance in extract small changes from the faulty bearing for fault detection and diagnosis. In addition, the study also show that current signals from motors with variable frequency drive controller have too much noise and it is unlikely to discriminate the small bearing fault component.
基金Supported by the National Natural Science Foundation of China(51305457)。
文摘To speedily regulate and precisely control a hydraulic power system in a unmanned walking platform(UWP),based on the brief analysis of digital PID and its shortcomings,dual control parameters in a hydraulic power system are given for the precision requirement,and a control strategy for dual relative control parameters in the dual loop PID is put forward,a load and throttle rotation-speed response model for variable pump and gasoline engine is provided according to a physical process,a simplified neural network structure PID is introduced,and formed mixed neural network PID(MNN PID)to control rotation speed of engine and pressure of variable pump,calculation using the back propagation(BP)algorithm and a self-adapted learning step is made,including a mathematic principle and a calculation flow scheme,the BP algorithm of neural network PID is trained and the control effect of system is simulated in Matlab environment,real control effects of engine rotation speed and variable pump pressure are verified in the experimental bench.Results show that algorithm effect of MNN PID is stable and MNN PID can meet the adjusting requirement of control parameters.
文摘We present a method for identifying the flexural rigidity and external loads acting on a beam using the finite-element method. We used mixed beam elements possessing transverse deflection and the bending moment as the primary degrees of freedom. The first step is to determine the bending moment from the transverse deflection and boundary conditions. The second step is to substitute the bending moment into the final equations with respect to the unknown parameters (flexural rigidity or external load). The final step solves the resulting system of equations. We apply this method to some inverse beam problems and provide an accurate estimation. Several numerical examples are performed and show that present method gives excellent results for identifying bending stiffness and distributed load of beam.
