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Optimization design of the hydro-pneumatic suspension system for high clearance self-propelled sprayer using improved MOPSO algorithm

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International Journal of Agricultural and Biological Engineering 2024年第2期17卷 109-122页

作者： Fan Yang Yuefeng Du Changkai Wen Zhen Li Enrong Mao zhongxiang zhu College of Engineering China Agricultural UniversityBeijing 100083China Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment China Agricultural UniversityBeijing 100083China

Large high clearance self-propelled sprayers were widely used in field plant protection due to their high-efficiency operation *** by the characteristics of field operations such as high power,heavy weight,high ground clearance,and fast operation speed,the comprehensive requirements for the ride comfort,handling stability and road friendliness of the sprayer were increasingly *** the present stage,the chassis structure of the high clearance selfpropelled sprayer that attaches great importance to the improvement of comprehensive performance still has the problems of severe bumps,weak handling performance and serious road damage in complex field ***,this paper proposes an optimization design method for hydro-pneumatic suspension system of a high clearance self-propelled sprayer based on the improved MOPSO(Multi-Objective Particle Swarm Optimization)algorithm,covering the entire process of configuration design,parameter intelligent optimization,and system verification of the high clearance self-propelled sprayer ***,chassis structure of the hydro-pneumatic suspension suitable for the high clearance self-propelled sprayer was designed,and a design method combining the improved MOPSO algorithm based on time-varying fusion strategy and adaptive update with the parameter optimization of hydro-pneumatic suspension based on this algorithm was proposed,and finally the software simulation and bench performance verification were carried *** results show that the optimized hydropneumatic suspension has excellent vibration reduction effect,and the body acceleration,suspension dynamic deflection and tire deflection were increased by 16.5%,9.9%and 0.9%respectively,compared with those before *** comprehensive performance of the hydro-pneumatic suspension designed in this study is better than that of the traditional suspension.

关键词： high clearance self-propelled sprayer vibration reduction hydro-pneumatic suspension MOPSO multi-objective optimization

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基于粒子群算法的农用轮胎柔性环模型参数辨识方法

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农业机械学报 2024年第4期55卷 402-410页

作者：孙瑞王亚东李怡宁何志祝朱忠祥李臻中国农业大学工学院北京100083 智能农业动力装备全国重点实验室北京100083 贵州轮胎股份有限公司技术中心贵阳550201

轮胎柔性环模型能准确表达轮胎变形,但模型的刚度参数无法直接测定,因此模型刚度参数的辨识成为建模过程中的关键。本文基于轮胎柔性环模型运动学方程,分析农用轮胎固有频率与刚度参数之间的关系,提出基于粒子群算法的柔性环模型刚度参... 详细信息

轮胎柔性环模型能准确表达轮胎变形,但模型的刚度参数无法直接测定,因此模型刚度参数的辨识成为建模过程中的关键。本文基于轮胎柔性环模型运动学方程,分析农用轮胎固有频率与刚度参数之间的关系,提出基于粒子群算法的柔性环模型刚度参数辨识方法。通过轮胎模态试验获取轮胎固有频率,采用粒子群算法对柔性环模型刚度参数进行辨识。将固有频率的试验值与预测值的平均误差作为评价指标,对比粒子群算法与传统算法及遗传算法辨识结果,结果表明粒子群算法的参数辨识结果精度较高,平均绝对误差为1.67 Hz,平均相对误差为1.66%,相较于遗传算法,平均相对误差降低16.16%,运算时间减少93.19%。通过接地印痕试验获取农用轮胎接地角度,结合辨识所得刚度参数,估算轮胎所受到的垂向力,对比垂向力的试验值与预测值,结果表明粒子群算法的参数辨识结果精度较高,垂向载荷估算平均相对误差为1.97%,相对于遗传算法,平均相对误差降低12.05%。

关键词：农用轮胎柔性环模型粒子群算法模态试验参数辨识遗传算法

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大功率拖拉机多工况换挡自适应控制策略

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中国农机化学报 2024年第5期45卷 122-127,146页

作者：毛恩荣王皓洁杜岳峰朱忠祥翟志强张丽榕中国农业大学工学院北京市100083

拖拉机牵引不同农机具完成不同作业,其作业要求随着牵引机具的不同而变化。针对大功率拖拉机在不同工况下作业要求不同的问题,提出一种多工况换挡自适应控制方法。分析不同工况对拖拉机动力性经济性的要求,以滑转率、油门开度和速度为参... 详细信息

拖拉机牵引不同农机具完成不同作业,其作业要求随着牵引机具的不同而变化。针对大功率拖拉机在不同工况下作业要求不同的问题,提出一种多工况换挡自适应控制方法。分析不同工况对拖拉机动力性经济性的要求,以滑转率、油门开度和速度为参数,根据工况要求计算兼顾动力性和经济性的理论换挡规律,采用神经网络离线训练换挡规律实现挡位智能控制;针对重载荷下随机载荷波动导致循环换挡问题,引入加速度和油门开度变化量作为参数,利用模糊逻辑判断拖拉机负载和驾驶员操作意图得到速度修正系数,对换挡速度进行修正,扩大挡位使用范围;通过对拖拉机纵向动力学分析,利用Simulink搭建大功率拖拉机数学仿真模型,并建立变速箱换挡控制系统硬件在环仿真平台验证换挡策略的有效性。仿真结果表明,在燃油经济性方面,道路运输和轻载荷作业工况燃油经济性分别下降5.78%、3.28%。在动力性方面,保证克服牵引阻力的同时,轻载荷和重载荷工况加速时间较快,速度波动减小且有效避免重载荷工况下循环换挡问题。

关键词：拖拉机换挡规律神经网络速度修正自适应换挡

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Design and optimization of a new terrain-adaptive hitch mechanism for hilly tractors

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International Journal of Agricultural and Biological Engineering 2023年第4期16卷 134-144页

作者： Zhe Xin Qiubo Jiang zhongxiang zhu Mingxi Shao College of Engineering China Agricultural UniversityBeijing 100083China

In view of the problems of poor working quality and low efficiency caused by traditional hitch mechanisms,which cannot make farm implements adapt to hillside fields for terrain-adaptive working after leveling the body of hilly tractors,a new type of terrain-adaptive hitch mechanism was designed which can adjust the transverse posture of farm implements to meet the ploughing requirements of complicated terrain in hilly and mountainous *** mechanism was mainly composed of the original hitch device and the newly added rotating *** kinematic model of each sub-mechanism was established,as well as the mathematical relation of significant performance indexes of the whole mechanism,such as lifting capacity,transverse inclination angle and tillage *** algorithm was used to optimize the lifting performance of this hitch mechanism in Matlab,so that the minimum vertical lifting force at the center of gravity of farm implements increased by 14.1%,which met the requirements of national *** ADAMS simulation calculation,it was found that different working slopes had a certain influence on the external load of each component,and terrain-adaptive hitch mechanism had little effect on the vibration characteristics of hilly *** fatigue analysis and optimization design of the key component,rotating shaft,were carried out in ANSYS Workbench,and the mass of this part reduced by 64%.A real vehicle test platform was set up to test and verify the power lifting range and working slope range of terrain-adaptive hitch *** test results showed that the actual power lifting ranged in 185-857 mm,and the maximum error from the theoretical range was only 3.1%,while the actual working slope range was from–25.9°to+23.2°,and the maximum error from the theoretical range was only 4.5%.Therefore,the terrain-adaptive hitch mechanism can meet the requirements of power lifting performance,and simultaneously can adjust the transverse posture of farm implem

关键词： hilly tractors hitch mechanism terrain-adaptive working transverse posture optimal design

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Path-tracking control based on a dynamic trigonometric function

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Information Processing in Agriculture 2019年第1期6卷 1-10页

作者： Yunyi Wang Shuo Zhang zhongxiang zhu Zhen Li Yuefeng Du Lizhi Fang Laboratory of Optimized Design for Modern Agricultural Equipment College of EngineeringChina Agricultural UniversityBeijing 100083China Huangshi Polytechnic College HubeiHuangshi 435003China

With the rapid development of the modern vehicle industry,the automated control of new vehicles is in increasing ***,traditional course control has been unable to meet the actual needs of such *** solve this problem,more precise pathtracking control technologies have attracted increased *** paper presents a new algorithm based on the latitude and longitude information,as well as a dynamic trigonometric function,to improve the accuracy of position ***,the algorithm takes the course deviation and adjustment time as the optimization objectives and the given path and speed as the *** controller continuously adjusts the output through a cyclic“adjustment and detection”***,through an integration of the steering,positioning,and speed control systems,an experimental platform of a path-tracking control system based on the National Instruments(NI)myRIO controller and LabVIEW was *** addition,path-tracking experiments were carried out along a linear path,while changing lanes,and on a curved *** comparing and analyzing the experimental results,it can be seen that the average deviation in lateral displacement along the linear and curved paths was 0.32 and0.8 cm,and the standard deviation of the lateral displacement was 2.65 and 2.39 cm,*** changing lanes,the total adjustment time for the vehicle close to the target line to reach stability was about 1.5 ***,the experimental results indicate that the new algorithm achieves good stability and high control accuracy,and can overcome directional and positional errors caused by road interference while driving,meeting the precision requirements of automated vehicle control.

关键词： Path-tracking control Trigonometric function NI myRIO controller LabVIEW

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Tractor path tracking control based on binocular vision

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Information Processing in Agriculture 2018年第4期5卷 422-432页

作者： Shuo Zhang Yunyi Wang zhongxiang zhu Zhen Li Yuefeng Du Enrong Mao College of Engineering China Agricultural UniversityBeijing 100083China Laboratory of Optimized Design for Modern Agricultural Equipment China Agricultural UniversityBeijing 100083China

In the process of field operation management,determining how to accurately realize crop row identification and path tracking control is an essential part of tractor automatic *** to the linear operation in the process of cotton field management,the tractor path tracking control system was designed based on binocular vision and the pure pursuit model.A new crop row detection method based on the Census transform and the PID control algorithm with dead zone were ***,the upper computer software was developed by C++with the functions of parameter setting and image acquisition and ***,an automatic steering controller was developed based on microprocessor MC9S12XS128 of *** control program was developed based on modular design using CodeWarrior during development of the PID-based automatic steering control ***,a field experiment platform of tractor path tracking control was built,and field experiments under the actual cotton were *** optimal visibility distance was determined by several previous *** the tractor tracks the path with the optimal visibility distance in the growth environment of actual cotton crops,the mean absolute deviation of course angle was 0.95°,and the standard deviation was 1.26°;the mean absolute deviation of lateral position was 4.00 cm,and the standard deviation was 4.97 cm;the mean absolute deviation of front wheel angle was 2.99°,and the standard deviation was 3.67°.The experimental results show that(1)the crop row detection method based on Census transform can identify the crop line and plan the navigation path well,and(2)the tractor path tracking control system based on binocular vision has good stability and high control precision;thus,the control systemcan realize the automatic path tracking control of cotton line operation and meets the agricultural requirements of cotton field operation management.

关键词： Binocular vision Census transform Pure pursuit model Path tracking Tractor

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Factorial significance on tractor stability under variation of terrain roughness employing the Taguchi method

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International Journal of Agricultural and Biological Engineering 2018年第5期11卷 88-94页

作者： Zhen Li zhongxiang zhu Jiahao Qin Enrong Mao Muneshi Mitsuoka Eiji Inoue Soyoung Shin College of Engineering China Agricultural UniversityBeijing 100083China Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment Beijing 100083China Faculty of Agriculture Kyushu UniversityFukuoka8120025Japan

Tractor rollover accidents remain an issue with the development of agricultural *** the scale-model-based experimental approach,this study investigated the three most influential geometric factors of tractor in various agricultural ground conditions with improved configuration of force sensing *** initiation of tractor rollover,associated with the tire-ground contact status,was investigated for various front tire types,ballast weights,and rear track *** the Taguchi method,the ground reaction forces applied to the tractor’s uphill wheels were measured and evaluated using stability *** taking this approach,the effects and statistical significance of the three factors and their interactions were examined under various agricultural ground *** showed that the ballast weight significantly affected the ground contact status of the uphill front *** significance of the front tire type gradually increased as the road roughness increased,but dramatically decreased for an extremely rough road ***,none of the factors or interactions,except the factor of the rear track width for relatively rough roads,was statistically *** study revealed that not all commonly discussed factors consistently affect tractor *** results of the present study are thus expected to provide a reference explaining how to explore the necessity and feasibility of parameter adjustment before reconfiguring a tractor for higher stability.

关键词： tractor rollover scale model agricultural fields Taguchi method factorial significance

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Graphene reinforced nanoarchitectonics of 3D interconnected magnetic-dielectric frameworks for high-efficient and anti-corrosive microwave absorbers

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Journal of Materials Science & Technology 2024年第1期168卷 194-207页

作者： Chenchen Liu Xiaofang Feng Shuning Liu Guo Lin zhongxiang Bai Lingling Wang Ke zhu Xiulan Li Xiaobo Liu School of Materials and Energy University of Electronic Science and Technology of ChinaChengdu611731China Sichuan Province Engineering Technology Research Center of Novel CN Polymeric Materials Chengdu611731China School of Chemical Engineering Northwest UniversityXi’an710069China Guangdong Provincial Key Laboratory of Environmental Pollution Control and Remediation Technology School of Environmental Science and EngineeringSun Yat-sen UniversityGuangzhou510275China

The combination of high efficiency and environmental stability is vital to promote the commercial appli-cations of microwave absorption(MA)materials,yet remains challenging in the absence of facile ***,we put forward a graphene-reinforced construct approach for one-pot synthesis of 3D intercon-nected magnetic-dielectric frameworks via pre-functionalization and subsequent *** in-teractions among discrete precursors are capable of manipulating the confined growth and interfacial *** enhancements in MA properties are triggered in a straightforward manner us-ing ultralow feeding fractions of graphene oxide *** minimum reflection loss is up to-60.1 dB(99.9999%wave absorption)and the effective absorption bandwidth reaches 5.9 GHz(almost covering the Ku band).Remarkably,based on the optimization by ultralow concentrations of graphene,the as-prepared nanoarchitecture simultaneously integrates strong absorption,broad bandwidth,and low matching *** embedded graphene nanosheets serve as high-speed electron transmission channels and hollow resonance cavities,facilitating multimode attenuations and impedance-matching ***-while,the graphene-reinforced framework suppresses the corrosion of magnetic components,whose cor-rosion rate reduces by an order of *** study provides a simple procedure to boost magnetic-dielectric absorbers for comprehensive MA performances and enhanced corrosion resistance.

关键词： 3D Magnetic-dielectric framework Graphene nanosheet Microwave absorption Anti-corrosion

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Toward a New Decade:Research on the Sustainable Development of FOCAC

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国际展望 2010年第5期2卷 15-29,103页

作者： LI Weijian,ZHANG zhongxiang,ZHANG Chun,zhu Ming

FOCAC is a successful and pioneering cooperation model jointly explored by China and *** Forum has become an important platform for facilitating China-Africa relations since its founding 10 years *** this framework the two sides have achieved great accomplishment through cooperation,and have created new development ***,the international system is experiencing deep adjustments,and the international political,economic and security situation is becoming increasingly *** such a context,the Forum continues to embrace new development opportunities as well as face new *** paper will evaluate the achievements and the experiences of the Forum,and offer some proposals on promoting the sustainable development of FOCAC within the new context.

关键词： Toward a New Decade

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Copper(Ⅰ)-Catalyzed Cycloaddition between Azomethine Imines and vinylidene(bis)phosphonate under Additive-Free Conditions

Copper(Ⅰ)-Catalyzed Cycloaddition between Azomethine Imines...

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中国化学会第十四届全国有机合成化学学术研讨会

作者： zhongxiang zhu Qinghe Wang Dulin Kong Mingshu Wu Key Laboratory of Tropical Medicinal Plant Chemistry of the Ministry of Education College of Chemistry & Chemical EngineeringHainan Normal University

Many bicyclic polyhydropyrazolo[1,2-a]pyrazolone derivatives have important medicinal *** shown in Figure 1,compounds A and B are antibacterial agents that are analogues of penicillin and *** addition,nitrogen-containing bisphosphonate(N-BPs)drugs are used to treat a variety of bone resorption diseases,such as osteoporosis,Paget’s disease,and hypercalcemia due to *** are thought to act by inhibiting the enzyme farnesyl diphosphate synthase,resulting in inhibition of protein prenylation in *** is worth mentioning that most of the highly potent third-peneration BP drugs contain the nitrogen heterocyclic component in their molecular structures,as in risedronate and zoledronate,and for the treatment of bone diseases associated with excessive resorption,the cyclic nitrogen bisphosphonate(N-BPs)are up to 10,000-fold more active than the first-generation non-nitrogen containing BP,for example,***,the purposeful synthesis of new members of cyclic nitrogen containing N-BP family is of current interest for further development of more potent drugs.

关键词： azomethine imines vinylidene(bis)phosphonate cycloaddition

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