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Research on Anti-Fluctuation Control of Winding Tension System Based on Feedforward Compensation

Computer Modeling in Engineering & Sciences 2024年第5期139卷 1239-1261页

作者： Yujie Duan Jianguo Liang Jianglin Liu Haifeng Gao Yinhui Li jinzhu zhang Xinyu Wen College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan030024China College of Electronic Information and Optical Engineering Taiyuan University of TechnologyTaiyuan030024China School of Electronic Information Engineering Taiyuan University of Science and TechnologyTaiyuan030000China

In the fiber winding process,strong disturbance,uncertainty,strong coupling,and fiber friction complicate the winding constant tension control.In order to effectively reduce the influence of these problems on the tension output,this paper proposed a tension fluctuation rejection strategy based on feedforward compensation.In addition to the bias harmonic curve of the unknown state,the tension fluctuation also contains the influence of bounded noise.A tension fluctuation observer(TFO)is designed to cancel the uncertain periodic signal,in which the frequency generator is used to estimate the critical parameter information.Then,the fluctuation signal is reconstructed by a third-order auxiliary filter.The estimated signal feedforward compensates for the actual tension fluctuation.Furthermore,a time-varying parameters fractional-order PID controller(TPFOPID)is realized to attenuate the bounded noise in the fluctuation.Finally,TPFOPID is enhanced by TFO and applied to control a tension control system considering multi-source disturbances.The stability of the method is analyzed by using the Lyapunov theorem.Finally,numerical simulations verify that the proposed scheme improves the tracking ability and robustness of the system in response to tension fluctuations.

关键词： Constant tension control anti-fluctuation strategy tension fluctuation observer time-varying parameters fractional-order PID controller feedforward compensate

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Research on Bionic Jumping and Soft Landing of Single Leg System in Quadruped Robot

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Journal of Bionic Engineering 2023年第5期20卷 2088-2107页

作者： jinzhu zhang Miao Li Jiandong Cao Yuhan Dou Xiaoyan Xiong College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan030024China

This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspace of the single leg mechanism in the quadruped robot were established.A single leg complex dynamic model of the quadruped robot is derived,considering the mass and inertial force of all the components in the mechanical leg.Combined with the human jumping law in situ,the jumping trajectory of the single leg was planned.To reduce landing impact,a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action.The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied,and the influencing factors of jump height were analyzed to realize the height control of the jump.Single leg jumping dynamics model was established,and a dynamic control strategy for trajectory tracking with foot force compensation was proposed.In Adams and MATLAB/Simulink software,the jump simulation of single leg mechanism was carried out.The prototype of quadruped robot was developed,and the jumping experiment of the single leg mechanism was tested.The robot's single leg bionic jumping and soft landing control are realized.

关键词： Wheel-leg-separated quadruped robot Bionic jumping Dynamic modeling Soft landing

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Dynamic Analysis and Dimensional Synthesis of Easy-to-Protect Large-Load Robot for Extracting Fermented Grains

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Journal of Beijing Institute of Technology 2023年第4期32卷 529-550页

作者： Yubin zhang jinzhu zhang Congming Li Xiaoyan Xiong Hongjie Du College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024China National Key Laboratory of Metal Forming Technology and Heavy Equipment Taiyuan University of TechnologyTaiyuan 030024China Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China

To improve the operation situation of difficulty and low efficiency in the extraction of fermented grains(FG),a high-load and large-workspace reclaiming robot for ceramic cylinder fermentation is designed,and a reclaiming effector is designed according to the operating characteristics.Firstly,the kinematics and singularity of the mechanism are analyzed.A multi-domain polar coordinate search method is proposed to obtain the workspace and the volume of the mechanism.Secondly,the dynamic modeling is completed and the example simulation is carried out.Thirdly,the motion-force transmission index of the mechanism is established.And based on the global transmissibility and the good-transmission workspace,the dimensional synthesis of the driving mechanism is completed by using the performance atlas-based method.Finally,aiming at the regular workspace size,stiffness and loading capacity,the Pareto optimal solution set of the executive mechanism dimension is obtained by using the multi-objective particle swarm optimization(MOPSO)algorithm.This paper can provide a theoretical basis for the optimal design and control of FG reclaiming robot.

关键词： reclaiming robot configuration design performance index dynamic modeling multi-objective optimization

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Resonance and Bifurcation of Fractional Nonlinear Systems with Power Damping Term for Robot Grinding

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Journal of Beijing Institute of Technology 2023年第1期32卷 23-40页

作者： Wei Shi Qingxue Huang jinzhu zhang Tao Wang Ziliang Li Yanjie zhang Xiaoyan Xiong College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024China Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China Institute of Advanced Forming and Intelligent Equipment Taiyuan University of TechnologyTaiyuan 030024China

A fractional nonlinear system with power damping term is introduced to study the forced vibration system in order to solve the resonance and bifurcation problems between grinding wheel and steel bar during robot grinding.The robot,grinding wheel and steel bar are reduced to a spring-damping second-order system model.The implicit function equations of vibration amplitude of the dynamic system with coulomb friction damping,linear damping,square damping and cubic damping are obtained by average method.The stability of the system is analyzed and explained,and the stability condition of the system is proposed.Then,the amplitude-frequency characteristic curves of the system under different fractional differential orders,nonlinear stiffness parameters,fractional differential term coefficients and external excitation amplitude are analyzed.It is shown that the fractional differential term in the dynamic system is the damping characteristic.Then the influence of four kinds of damping on the vibration amplitude of the system under the same parameter is investigated and it is proved that the cubic damping suppresses the vibration of the system to the maximum extent.Finally,based on the idea that the equilibrium point of the system is the constant part of the Fourier series expansion term,the bifurcation behavior caused by the change of damping parameters in linear damping,square damping and cubic damping systems with different values of fractional differential order is investigated.

关键词： robot grinding fractional system average method power damping resonance and bifurcation

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Polyploidy Induction and Morphological Characteristics in the Asiatic Hybrid Lily(Lilium spp.cultivar dazzling)

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Journal of Northeast Agricultural University(English Edition) 2024年第2期31卷 24-33页

作者： Xiang Yixun Chen Mingxuan Chen Jianguo Yu Zhenyu zhang jinzhu Yang Tao Che Daidi Fan Jinping College of Horticulture and Landscape Architecture Northeast Agricultural UniversityHarbin 150030China Key Laboratory of Cold Region Landscape Plants and Applications Harbin 150030China

The Asiatic hybrid lily cultivar Lilium dazzling(family Liliaceae)is a perennial herbaceous bulbous plant with bright yellow flowers of ornamental values.It also shows resistance to diseases and abiotic stress,making it an ideal parent for breeding studies.This study established a sterile culture system using scales of dazzling lily as explants to induce polyploidy.Adventitious buds growing to 1 cm were treated with different concentrations of colchicine(125,250 and 500μmol·L-1),pendimethalin or trifluralin(100,200 and 300μmol·L-1,respectively)for 12,24 and 36 h.Flow cytometry and chromosome counting were used to identify ploidy,and the phenotype of the polyploids was examined by stomatal observation and leaf index determination.With increasing mutagen concentration and exposure time,the mortality and mutagenic rate increased.The optimal treatment group was:300μmol·L-1 trifluralin for 12 h,which resulted in 15.55%mortality rate and 42.22%induction rate.The polyploid plants showed a significant increase in stomata length,leaf length and leaf width,with a decrease in stomatal density compared with the control plants.This study provided a basis for polyploid breeding.

关键词： polyploid Asiatic hybrid lily trifluralin flow cytometry plant morphology

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Effects of biodegradable mulching films on soil hydrothermal conditions and yield of drip-irrigated cotton(Gossypium hirsutum L.)

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International Journal of Agricultural and Biological Engineering 2022年第6期15卷 153-164页

作者： Dongwang Wang Zhenhua Wang Hongwei Ding Bo Zhou jinzhu zhang Wenhao Li Haiqiang Li Yam P.Dhital Tianyu Wang Rui Zong College of Water Conservancy&Architectural Engineering Shihezi UniversityShihezi 832000XinjiangChina Key Laboratory of Modern Water-saving Irrigation of Xinjiang Production&Construction Group Shihezi 832000XinjiangChina Key Laboratory of Northwest Oasis Water-Saving Agriculture Ministry of Agriculture and Rural AffairsChina

The pollution of cotton fields by residual films is serious on ground that has been subjected to long-term drip irrigation in Xinjiang,China,and biodegradable mulches are therefore advocated as an alternative to plastic ones.In this study the mulching with biodegradable films under drip irrigation conditions in the extremely arid region of Xinjiang was investigated to determine the effects on soil hydrothermal conditions and cotton(Gossypium hirsutum L.)yield over two consecutive years(2019-2020)using plastic mulch made from polyethylene(PE)film and four types of biodegradable films,including black opaque oxidation-biodegradable film(M1),colorless transparent oxidation-biodegradable film(M2),black opaque fully biodegradable film(M3)and white translucent fully biodegradable film(M4),which had different levels of biodegradability(i.***.different degradation times and rates).The biodegradability,soil water contents,soil temperatures and cotton yields were compared between the degradable(M1 to M4)and PE films.The results indicated that M2 was degraded the quickest and showed the highest degree of degradation compared with the other degradable films and PE films.The degradation rates of the various mulching films were ranked in a descending order as M2,M4,M1,M3 and PE,but the PE mulch exhibited the best performance in terms of soil water and heat conservation throughout the growth period.The soil heat preservation and moisture conservation performance under biodegradable films mulching at the cotton seedling stage and budding stage was similar to that of PE film.The average soil temperature at a depth of 5 cm under mulching with the degradable films was 2.66°C-5.06°C(p<0.05)lower than that under traditional PE films at the flowering stage.At the late stage of cotton growth,the water content of shallow soil mulched with PE film was better for plant grown than that under the biodegradable films.The effect of film degradation on the shallow soil water content was much greater than that in deep soil,especially at a depth of

关键词： arid environment biodegradable films cotton yield oasis agroecosystem soil temperature soil moisture

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可拉压预应力钢支撑结构及其性能评价

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都市快轨交通 2024年第2期37卷 92-98页

作者：张金柱张建良李延川北京城建信捷轨道交通工程咨询有限公司北京100045

针对传统钢支撑不能受拉、混凝土支撑工序复杂且拆除产生大量建筑垃圾等问题,研发可拉压预应力钢支撑结构。对可拉压预应力钢支撑结构进行技术评价及造价对比,结果表明:其抗压承载力与传统钢支撑相同,与混凝土支撑相当;抗拉性能及支撑... 详细信息

针对传统钢支撑不能受拉、混凝土支撑工序复杂且拆除产生大量建筑垃圾等问题,研发可拉压预应力钢支撑结构。对可拉压预应力钢支撑结构进行技术评价及造价对比,结果表明:其抗压承载力与传统钢支撑相同,与混凝土支撑相当;抗拉性能及支撑刚度与混凝土支撑相当,优于传统钢支撑;施工便捷性与传统钢支撑相当,优于混凝土支撑;造价与传统钢支撑相当,比混凝土支撑低20%~30%。在地铁基坑工程中,首道支撑采用可拉压预应力钢支撑,相比混凝土支撑,在保证支护效果的同时,能够产生更好的经济效益和社会效益。

关键词：地铁基坑支护可拉压预应力钢支撑性能评价垃圾减量

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清末民国教科书发展阶段回望:编辑特色、历史经验及意义启示

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语文教学通讯 2024年第20期1306卷 5-8页

作者：张金柱西安翻译学院文学与传媒学院陕西西安710105

清末甲午之役彻底惊醒国人,遂有改革体制与改造文化之议。教科书担当改造国民性格、塑造时代社会之重任,于是上下鼓噪,络绎出笼。以清末民国时期教科书为观察对象,通过对其发展脉络与过程的回顾评价,明确不同阶段的教科书特色,分析其内... 详细信息

清末甲午之役彻底惊醒国人,遂有改革体制与改造文化之议。教科书担当改造国民性格、塑造时代社会之重任,于是上下鼓噪,络绎出笼。以清末民国时期教科书为观察对象,通过对其发展脉络与过程的回顾评价,明确不同阶段的教科书特色,分析其内容及形式之优长,对其编写出版经验进行客观总结,评估其意义及价值,以期对相关研究提供借鉴与帮助。

关键词：西学东渐新教科书启蒙民智

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考虑关节摩擦力的打捆机构动力学建模

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机械设计 2024年第5期41卷 42-47页

作者：芦泽鹏张金柱王涛姜力太原理工大学机械与运载工程学院山西太原030024 先进金属复合材料成形技术与装备教育部工程研究中心山西太原030024 哈尔滨工业大学机器人技术与系统国家重点实验室黑龙江哈尔滨150001

为了减小钢铁生产的能量消耗,文中提出了一种基于折展机构的打捆机器人以降低打捆作业能耗。首先,基于棒材打捆轨迹设计了一种新型的打捆机器人,分别建立了打捆机构的位置正反解模型,并通过算例对其进行验证;基于牛顿-欧拉法对打捆机构... 详细信息

为了减小钢铁生产的能量消耗,文中提出了一种基于折展机构的打捆机器人以降低打捆作业能耗。首先,基于棒材打捆轨迹设计了一种新型的打捆机器人,分别建立了打捆机构的位置正反解模型,并通过算例对其进行验证;基于牛顿-欧拉法对打捆机构各组成单元进行动力学分析,建立了整个打捆机构考虑关节摩擦力的动力学模型;采用AD⁃AMS软件对打捆机构进行动力学仿真。理论和仿真结果表明:在考虑关节摩擦的情况下驱动力的差值明显大于理想状况,揭示了实际打捆工序中考虑摩擦力的必要性。所建立的动力学模型可为整个机构的能耗优化设计提供了理论基础。

关键词：打捆机器人折展机构动力学关节摩擦力

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Controlling threshold in soil salinity when planting spring wheat and sequential cropping silage corn in Northern Xinjiang using drip irrigation

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International Journal of Agricultural and Biological Engineering 2018年第2期11卷 108-114页

作者： Zhenhua Wang Bo Zhou Lei Pei jinzhu zhang Xinlin He Henry Lin College of Water and Architectural Engineering Shihezi UniversityShihezi 832000XinjiangChina Department of Ecosystem Science and Management Pennsylvania State UniversityUniversity ParkPA 16802USA College of Water Resources and Civil Engineering China Agricultural UniversityBeijing 100083China College of Agricultural and Life Sciences University of Wisconsin-MadisonMadisonWI 53706USA

Xinjiang Region of China is one of the most typical and representative arid areas worldwide,along with severe soil salinization issue.Planting spring wheat and sequential cropping silage corn in Northern Xinjiang using drip irrigation has become an effective way to relieve soil salinity stress,which improves the simple agricultural structure in the past and ensures food security in this area.However,neither the effects of different soil salinities on the growth and yield of spring wheat and silage corn,nor their desalination effect correspondingly was clear until now.Therefore,a pot experiment was conducted at Shihezi,Xinjiang from March to June 2015.The study aimed to establish the quantitative correlations between the parameters mentioned above and came up with the appropriate soil salinity threshold in Northern Xinjiang area.The results confirmed that the soils in all treatments were desalinated after the whole growth period,and the decreasing rates varied within 18.89%-44.08%and 11.06%-30.83%for two plants,which showed linear and quadratic correlations with initial soil salinity,respectively(R^(2)>0.92^(**),p0.92^(**),p<0.01).The inhibition effect was enhanced with larger initial soil salinity.After the comprehensive consideration of soil salinity variation,crop growth and yield,the initial soil salinity was recommended under 8.91 g/kg and 5.54 g/kg to plant spring wheat and sequential cropping silage corn in Northern Xinjiang using drip irrigation.

关键词： soil salinity drip irrigation spring wheat sequential silage corn quantitative correlations critical controlling threshold

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