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The primary mirror support truss of large-aperture segmented telescopes, serving as a critical load-bearing component of the optical system, has its structural stability directly determining the optical imaging quality. This paper adopts a collaborative design method integrating topology optimization and size optimization to address issues, including excessive weight and unreasonable stiffness distribution in traditional support truss designs. First, based on the topology optimization theory of the Solid Isotropic Material with Penalization variable density method, topology optimization was performed on the initial truss structure using finite element simulation software, with the volume fraction as a constraint and the objective of maximizing structural stiffness to determine the optimal material distribution model. Subsequently, the truss structure was reconfigured based on the topology optimization results. Finally, the cross-sectional dimensions of the truss members were selected as optimization variables, and size optimization was performed using the NSGA-II multi-objective optimization algorithm with the objectives of minimizing structural weight and minimizing weighted compliance, while considering constraints such as stress and displacement. The results show that the optimized support truss achieves a 3.9% reduction in weight and a 35.47% decrease in elastic strain energy. This effectively meets the high-precision and lightweight design requirements for telescope support structures and provides a feasible technical solution for the design of large-aperture telescope support trusses.
Tan, DeliGuo, LiquanGao, DedongLiu, ChuanjieDai, XiaodongHuang, Lei
Due to their high specific modulus and specific strength, carbon fiber reinforced polymer (CFRP) composites have been widely adopted in the aviation field. However, CFRP components produced by conventional vacuum assisted resin transfer molding (VARTM) often exhibit defects such as Pores and dry spots. To address these limitations, this study develops a large-area, highly uniform vibration-assisted VARTM (UAVR) system and conducts ultrasound-assisted experiments. The results demonstrate that ultrasonic treatment at various frequencies consistently improves moulding uniformity. In particular, when the ultrasound frequency is 22 kHz, the tensile strength increases by up to 13.23%, and the compressive strength increases by up to 8.48%. This study has practical significance for improving the performance of CFRP.
Fang, KaifaSun, RuqianSong, GaokeZhang, ShuoCheng, LiqiangMa, LipingRuan, BenshuaiXie1, Jiaqing
A two-dimensional (2-D) mixer has been widely used in the engineering field. The discrete element method (DEM) is capable of simulating and tracking collisions among particles inside the mixer. In this paper, the mixing process of spherical particles inside a 2-D mixer known as EYH150L is simulated by the DEM. The Lacey Index provides a quantitative measure of the blending efficacy achieved by a 2-D mixer. The DEM analysis indicated that the level of blending effectiveness among the particles in proximity to the rotating blades is significantly superior to that in regions devoid of blades. The rotational velocities of particles in blade-free zones are about 40% of those near the rotating blades, which serves as a key factor accounting for the slower increase in mixing efficiency observed in these regions. To address this disparity and enhance overall mixing performance, a mirrored rotating blade was incorporated, positioned to the left of the baseline revolving cylinder, thereby optimizing the structural configuration of the 2-D mixer. The verification tests indicated that the modification increases the mixing efficiency of the mixer at its left side, and enhances the blending uniformity, ensuring the four particle types are mixed equitably.
Fang, ZiqiangLiu, YongChen, Yafeng
The cabins of ships are mainly made of steel. When a fire breaks out, the temperature inside the cabin rises rapidly, and an extensive body of heat spreads through the bulkheads to adjacent cabins. Understanding the variation law of the temperature field in adjacent compartments after a fire occurs in the compartments is of great significance for the research on the thermal safety of ship compartments. This paper designs an L-shaped cabin test system. We conduct fire tests of different scales and obtain the temperature distribution of adjacent compartments. The test results show that as the fire area in the pool keeps rising, the temperature in the adjacent compartments keeps rising. Due to the fact that an extensive body of high-temperature smoke produced by combustion is suspended at the ceiling of the compartment of fire, the temperature of the vertically adjacent compartments is higher than that of the horizontally adjacent compartments.
Hu, Wei-guoHu, YangWei, JinYuan, Ya-long
In light of the significant roll/pitch experienced by traditional shipboard trestles due to wave action during the transfer of maintenance personnel from the operation and maintenance vessel to the offshore wind turbine base, an analysis of ship motion states was conducted under various sea conditions and ship manufacturing parameters. The kinematic capabilities and characteristics of the actuator were defined, and the mapping relationship between the wave compensation capability of the active wave compensation trestle and key design parameters, such as actuator power, was established. Consequently, an active wave compensation trestle executive mechanism was developed, incorporating lightweight research into its design. A prototype of the active wave compensation trestle was constructed and subjected to motion compensation testing. The results indicate that the prototype can effectively maintain stability between the ship and the offshore facility, thereby enhancing the safety of transferring personnel and improving maintenance efficiency.
Sun, TieruiZhao, PengfeiXin, RanQiu, JichengYang, XiaotaoShiyuan, E
This study aims to verify the accuracy and stability of a system used for measuring and analyzing the welding deformation of vehicle bodies under different welding parameters. A 3D laser scanner was employed to capture the surface topography data of the vehicle’s front deck before and after welding. In order to determine the welding deformation, PolyWorks software was utilized for deformation analysis, which processed the 3D scanning data and compared the post-welding data set. A dedicated vehicle body welding deformation measurement system was developed, including hardware configuration and software development. The BP neural network algorithm was adopted to predict the welding deformation, and the results indicated that the deviation between the predicted values and the average experimental measurements was less than 10%. This confirmed the practicality of the BP neural network in predicting welding deformation and highlighted its effectiveness in technical support for the optimization of welding parameters and deformation control in automotive manufacturing.
Li, LinaZhang, YiqiSun, HongchangWei, Xiezhen
With the goal of enhancing diesel engine adaptability to low-temperature environments and exploring cold-start potential at - 50 °C, this paper develops a one-dimensional simulation model for the cold-start system. The model is based on a method that utilizes a diesel heater to warm the coolant, which in turn heats the engine block and oil. The heating condition of coolant and oil of a 10-cylinder V-type engine within a specified time under a -50 °C environment is studied through simulation. We further optimized the cold-start process by enhancing the coolant flow distribution within each circulation circuit to improve overall thermal management and start-up efficiency. The results show that: at an ambient temperature of -50 °C, with a heating power of 80 kW, a total flow rate of 110 L/min, and an engine block flow rate of not less than 54 L/min, the diesel engine can raise the coolant temperature at the engine outlet to 40 °C and the oil temperature to -35 °C within 20 minutes. Through flow optimization, by maximizing the flow rate of the engine block heating circuit and reducing the flow diversion of the intercooler, the coolant temperature at the engine outlet can reach 40 °C in 18.9 minutes, while the oil is heated to -34.9 °C, and the final heating coolant temperature reaches 44.4 °C at 20 minutes. Compared to the situation without flow optimization, the time for the engine outlet coolant temperature to reach 40 °C was shortened by 0.55 minutes, and the final heating coolant temperature increased by 2.2 °C. Based on relevant experiments and the dynamic viscosity curve of 5 W engine oil, this paper holds that the starting conditions of a diesel engine can be met when the engine outlet coolant temperature reaches 40 °C, and the engine oil temperature reaches -35 °C.
Wang, JingfeiXie, PengWang, ZhuoXia, YingqiuZhang, XiaodongChen, KeWang, Guodong
PID
Lin, JingDeng, ZhixiangXu, JunWu, HuankunGuan, BinLiu, Lei
In this paper, the simulation software was used to conduct a thermal analysis of the design scheme of a certain type of forced air-cooled display and control console, and the results were compared with the experimental results. The results show that in an environment of 50 °C, the maximum temperature of the chip on this strong display control console does not exceed 98 °C, meeting the usage requirements of the chip and the thermal reliability requirements of the display control console. The thermal design scheme of the display and control console proposed in this paper has the advantages of a simple structural form, good heat dissipation effect, low fan noise, and consideration of the heat dissipation of multiple heat sources. It can provide a good reference for the thermal design of similar display and control consoles.
Li, Yun
This paper proposes a Linear Quadratic Regulator (LQR) parameter optimization method based on Particle Swarm Optimization (PSO) to enhance the grab attitude controller for rotary crane systems, with the objectives of improving positioning accuracy and suppressing load swing. Lagrange’s equations are first used to create a nonlinear dynamic model of the rotary crane, which is then linearized around an operational point to produce a fourth-order state-space representation. Based on this representation, a dual-objective fitness function is created, employing the Integral of Time multiplied by Absolute Error (ITAE) as the performance index and assigning the swing angle error more weight. The important parameters of the LQR weight matrix are optimized using the PSO algorithm. A dedicated novel pre-compensation gain algorithm is then developed to solve the pseudo-inverse of an augmented matrix, thereby removing steady-state error. According to simulation results, the PSO-optimized controller greatly improves the anti-sway performance and positioning accuracy of the system by reducing the peak swing angle and settling time by 33.9% and 55.9%, respectively, as compared to the traditional LQR control.
Yao, YuleiXiang, Yang
To address the challenges of binocular vision ranging under complex environmental conditions—such as illumination variations, occlusion, and textureless regions, which result in unreliable and non-robust performance—this paper proposes a multi-source heterogeneous sensor fusion ranging method integrating 4D millimeter-wave radar with the YOLOv5-Monster framework. This method is capable of overcoming the issue of limited ranging accuracy in monocular or binocular vision algorithms under non-ideal imaging conditions. This study achieves high-precision spatial perception through the following specific pipeline: First, Zhang’s calibration method is used to obtain the intrinsic and extrinsic parameters of the binocular camera, and stereo rectification is performed on the raw images. Next, a lightweight YOLOv5 network is employed for object detection, while a high-performance Monster network is utilized to generate dense disparity maps, thereby accomplishing initial depth estimation. To mitigate the inherent depth estimation errors of vision-only systems, 3D point cloud data from a 4D millimeter-wave radar is further introduced. By applying a Kalman filter algorithm, the millimeter-wave radar point cloud and visual outputs are fused, achieving spatiotemporal synchronization and optimal state estimation across modalities and effectively correcting biases in visual ranging. Experimental results show that within the full range of 4 to 150 meters, the relative error of the proposed method remains below 5%. Specifically, the relative errors are 1.25% (absolute error: 0.05 m) at 4 meters, 1.40% at 5 meters, 2.99% at 75 meters, and 4.91% at 150 meters. Compared with the vision-only Monster-YOLOv5 baseline method, the relative error at 150 meters is reduced from 13.16% to 4.91%, representing an accuracy improvement of over 60%. Meanwhile, in terms of long-distance error control, the proposed method significantly outperforms traditional stereo matching approaches such as SGBM+YOLOv5 and BM+YOLOv5, reducing errors by more than 20 percentage points. These results verify that deep multi-modal fusion can enhance environmental adaptability and measurement reliability, providing a high-precision and highly robust solution for distance estimation in intelligent perception systems, which holds important theoretical and engineering significance.
Li, FugaiXie, YuwenSu, HaoLiu, DongleiWu, Qiong
As multi-vehicle cooperation becomes an increasingly important operational mode for armored vehicles, the performance of cooperative crews plays a crucial role in accomplishing coordinated missions and enhancing the functionality of the human–machine system. In this study, the influencing factors of crew performance in multi-vehicle cooperation of armored vehicles were initially extracted through a literature review. The Delphi method was then employed to collect expert opinions and perform a preliminary simplification of the indicator system, followed by an optimization of the system using exploratory factor analysis. The final indicator system consisted of 11 indicators, and the DEMATEL–TAISM method was further employed to analyze the interaction relationships among the identified key influencing factors. In terms of the interrelationships among influencing factors, the fundamental determinants of armored vehicle crew performance include individual capability and experience, operational characteristics, shared screen and auditory design, display–control interface and cabin layout, and intelligent and automated design. The findings suggest that improving crew capability and experience through training, optimizing the interface, cabin, and auditory design, and promoting intelligent and automated system design can significantly enhance armored vehicle crew performance.
Wang, RulanChen, XingjiangZhou, YueXie, FangWanyan, XiaoruLiu, Shuang
Violent shaking induced by motion excitation in a dynamic environment can generate significant additional forces and moments in liquid propellants, affecting spacecraft stability and attitude control. This study employs the CEL method to establish a fluid-structure interaction model for a launch vehicle fuel tank. The penalty function approach addresses FSI and hinged contact behavior, while the control volume method quantifies liquid pressure on anti-sloshing plates and propellant volume changes. Initial filling angles were used to simulate motion excitation equivalently. For partial filling conditions, the effects of equivalent filling height, initial filling angle, and anti-shake plate thickness on impact resistance were analyzed. Results indicate that at a fixed initial liquid filling angle, increasing the equivalent liquid filling height elevates both the maximum pressure and displacement of the anti-sloshing plate, though the rate of increase diminishes with greater plate thickness. At a fixed equivalent liquid filling height, increasing the initial liquid filling angle raises the maximum pressure, while the enlarged liquid-solid contact volume suppresses propellant sloshing, thereby reducing the displacement of the anti-sloshing plate. This study provides theoretical support for the structural design of anti-sloshing plates in rocket tanks.
Jiang, LongxuanLe, Guigao
Addressing the challenge of high-precision control requirements for assembly force and displacement during the automatic assembly of digital direct-writing light source lens units, this paper proposes an automatic assembly system design based on impedance control. The system employs torque motors as actuators and achieves dynamic, precise regulation of assembly force and displacement through impedance control with force-displacement coupling. The simulation process consists of three parts: finite element simulation of the assembly system structure, finite element simulation of the assembly process, and MATLAB simulation of impedance control. The finite element simulation of the assembly system structure verifies structural strength and determines deformation values for assembly displacement compensation. A finite element simulation of the assembly process is utilized to investigate the coupling relationship between assembly force and displacement, yielding the coupled force-displacement curves during assembly and determining the theoretical maximum assembly force. The MATLAB simulation of impedance control analyzes parameter settings, including three parameters: theoretical mass, theoretical damping, and theoretical stiffness, in order to ensure the controlled output converges to theoretical values. The main innovation lies in incorporating theoretical maximum assembly force and displacement as impedance control inputs, enabling the force-displacement curve to converge to the theoretical curve, thereby improving assembly quality and precision. The experimental results demonstrate significant improvements in system stability, response speed, and assembly force control precision, effectively enhancing the assembly accuracy and overall efficiency of automated light source production lines. This research provides a viable solution for high-precision assembly of digital direct-writing light source lens units in intelligent manufacturing environments.
Li, FuduanWang, HuaWang, RixinZhang, Xianmin
With the continuous advancement of marine technology and growing humanity’s demand for ocean exploration, autonomous underwater vehicles (AUVs) have been widely deployed. Consequently, the safe, efficient, and accurate recovery of AUVs has become a significantly important research issue. To address these challenges, this study proposes an AUV recovery system utilizing a Cable-based roll reduction device. Based on existing marine crane equipment, the crane design is modified to incorporate this roll reduction mechanism. A three-dimensional model and kinematic model of the recovery system were established for analysis. MATLAB-based simulation analysis examined the forces and motion states under wave disturbances. A novel recovery cage was designed, modeled in SolidWorks, and subjected to finite element analysis to verify structural strength and validate design rationality. Final results demonstrate that this device significantly reduces recovery system sway, substantially enhances AUV retrieval accuracy, and provides a novel approach for AUV recovery.
Wu, TianCheng, ZhaoyangLi, TianyiZhao, LeiKang, XiaogangWa, JianliHe, Yunpeng
Laser welding technology for aluminum alloy electrode and busbar connections: addressing challenges in battery module assembly. In this work, a CFD framework was built in ANSYS Fluent using a Gaussian rotating heat-source representation, while a VOF approach was used to capture the transient gas–liquid interface in deep-penetration welding. A three-dimensional, transient, thermal-fluid coupled numerical model of the dual-layer heterogeneous aluminum alloy laser deep penetration weld pool was established concurrently with laser deep penetration welding experiments. Results indicate: Peak flow velocities in the weld pool during welding are concentrated along the weld centerline, with flow vectors predominantly directed axially along the weld. Once a quasi-steady keyhole regime is established, vaporization-induced recoil pressure becomes the primary driver governing melt circulation. The liquid metal first impinges on the pool bottom along the keyhole wall and then recirculates upward near the pool boundary, producing strong vortical motion. These findings are intended to support parameter selection and process optimization for laser welding of layered dissimilar aluminum components used in battery tab–busbar assemblies.
Lv, WenjunWu, Yan
Drill string whirl and buckling cause impact-rub contact against the casing inner wall, which induces casing wear and threatens wellbore integrity. This study incorporates both whirl and buckling to analyze the wear mechanism. Finite-element dynamic models are established for three drill string states: stable unbuckled, sinusoidally buckled, and helically buckled. Transient dynamic simulations are performed in the ANSYS Workbench Transient Structural module to obtain whirl trajectories, contact pressures, and contact characteristics at multiple sections along the string. A casing-wear volume calculation based on the Kumar–Samuel formulation with time-varying contact pressure is then used to quantify wear at the lower drill collar, the upper stabilizer, the upper drill collar, the heavyweight drill string, and the buckled segment. Results show that once buckling occurs, whirl concentrates in the bottom-hole assembly and decays progressively from the bottom of the well toward the wellhead. Casing wear increases across all locations, with the largest increments at the lower drill-collar interval and within the buckled segment. Helical buckling produces greater casing wear than sinusoidal buckling. Neglecting drill string buckling, especially helical buckling, leads to underestimation of casing wear and thus underestimation of wellbore-integrity risk.
Liu, JunlinCao, GenpeiWan, ZhiguoYang, ZhengLi, LongDou, YihuaGu, Runpeng
During the cold rolling process, when the rolling speed enters the acceleration stage, the rolling force often exhibits a linear decline accompanied by fluctuations. This leads to a decrease in the uniformity of steel strip thickness distribution, resulting in the failure of the outgoing strip to meet quality requirements in terms of shape and thickness. In this paper, a three-dimensional model of a six-high rolling mill is established using Abaqus, and the influence of gap control during the acceleration stage on strip shape is systematically investigated. By analyzing the relationship between rolling force and roll gap variations, a gap compensation strategy based on a dynamic stiffness model is proposed. Simulation results demonstrate that implementing gap compensation during the acceleration stage effectively improves the consistency of strip thickness, with significant reductions in both thickness range and standard deviation.
Tang, YingxinYan, ZhuwenCao, WenjunWu, Jiawei
Aligned with the “3060 dual carbon” goal, the rapid growth of new energy installation capacity in China’s western high-altitude regions has caused an urgent demand for UHV converter station construction. This paper suggests a prefabricated structural system by using embedded ear-shaped tongue-and-groove UHPC wall-column connections to meet the challenges of traditional cast-in-place concrete firewalls, such as prolonged construction periods and difficulty in quality control in harsh environments. The seismic performance of the connection was investigated through pseudo-static tests and finite element analysis. The results show that failure mainly occurs on the wall–column interface, with cracks mainly appearing at the wall panel corners. The scaled model demonstrated full hysteresis loops, indicating stable energy dissipation. The ear-shaped tongue-and-groove connection showed superior initial stiffness and ultimate load-bearing capacity (404.3 kN) compared with the straight-type connection (177.5 kN). An increase in the semicircular diameter improved load capacity, while the axial compression ratio had little effect. This study proposes a theoretical reference for the design and application of prefabricated valve hall structures in high-altitude regions.
Wang, FengyunYan, YongZeng, ChengZhou, TingRen, Zhaoyang
This paper presents the design, implementation, and validation of an aerial-launch FPV (First-Person View) drone system that was developed to provide a complex environment with flexible deployment and precise delivery capabilities. The integrated system is composed of a hybrid VTOL carrier aircraft, a number of FPV drones, and an aerial mounting / release equipment. Using the AYK-250 platform, the carrier has a vertical take-off and landing function and long-time endurance. In terms of the FPV drones, it is built upon the high performance MARK4 5-inch frame that has high agility and high payload. The release module uses a single-hook point structure with a limit stop. The FPV drones are released stably, and the separation is reliable in flight. Comprehensive flight tests proved all workflows completely, involving carrier take-off, cruise with drones mounted, sequential aerial launch, and subsequent autonomous attitude recovery and route tracking by the FPV drones. The test results confirm the system’s capability for reliable launch from an aerial platform coupled with precise guidance, establishing a credible technical solution for expanding the practical applications of FPV drones in distributed tasks. Results show that our system can be launched via an aerial platform with an accurate guide and is a viable technological solution to spread FPF Drones for operational strategies in a more distributed way.
Wang, YujieXi, YangyangLu, YafeiWang, ChengyuanZhang, ZhiyongChen, Qingyang
Traditional methods for assessing bridge resilience often focus on single hazards or static conditions. Yet bridges today face more complex multi-hazard threats. To address this, this research develops a dynamic model to evaluate bridge resilience under multi-hazard conditions, which is intended to provide scientific support for decision-making to improve resilience. The study first establishes an index system that measures a bridge’s ability to absorb impacts, adapt during an event, and recover afterward. We also propose a method to calculate the coupling degree, which quantifies the amplification effect of multiple hazards, such as an earthquake followed by a flood, on each other’s impacts. Next, we clarify the interrelationships among key resilience factors. Using this understanding, we construct a system dynamics model that simulates the variation of bridge resilience over a full disaster cycle. Finally, a numerical simulation is carried out for a concrete continuous girder bridge in China’s coastal areas as a case study. The results confirm the model is valid and clearly show the differences in bridge resilience between single-hazard and multi-hazard events. More importantly, they prove that combined hazards make the bridge system much more vulnerable. The model also identifies the best strategies for intervention: a strategy that coordinates actions across all disaster phases performs best, as it most effectively reduces the impact of compound hazards and keeps the resilience curve smoother. In short, this study presents a new method for assessing bridge resilience and provides engineers and managers with a practical tool to identify structural weaknesses and optimize resource allocation for resilience improvement.
Lin, JiachenChai, Liang
The reliability verification of cargo door latches for civil aircraft requires a safe, accurate, and controlled method for simulating jamming failures in lab settings. We adopt a crank-rocker mechanism with a variable degree of freedom (DOF) to construct a novel jamming apparatus that may be dynamically constrained in order to meet this requirement. The apparatus maintains two DOFs when not in use, which permits the latch mechanism to move freely. Both the guiding shafts and the rotation shafts are simultaneously constrained for a jamming test, reducing the mechanism’s DOFs to zero. This operation creates a precise and passive lock that immobilizes the mechanism without the need for an active external load. This approach offers a more realistic simulation of the sudden jamming brought on by wear, foreign object intrusion, or manufacturing tolerances. A theoretical kinematic analysis is then conducted to calculate the mobility of the mechanism and determine the theoretical conditions and transition paths to reach the two functional states. Moreover, the apparatus implements a real-time computational model based on classical planar linkage force analysis and integrates a multi-sensor system. This model converts sensor data into the torques and jamming forces that are actually delivered to the latch. The findings demonstrate that the proposed design accurately simulates latch jamming conditions while allowing for real-time monitoring and quantification of important dynamic characteristics. Thus, by offering a dependable and effective verification solution for cargo door latches, the apparatus greatly improves testing safety and the value of the data gathered.
Ren, JieZeng, XiaohuQiu, XudongXie, Youshui
During fluid injection operations such as fracturing and well killing, the casing, cement sheath, and borehole wall rock are subjected to three-dimensional in-situ stresses and internal pressure. If the equivalent stress exceeds the material’s yield strength, component failure may occur, leading to wellbore failure or even blowout accidents. In order to investigate the stress distribution in wellbores under specific working conditions, a three-dimensional mechanical model of curved wellbores was established. By adopting the superposition principle and stress function method, the influence of horizontal in-situ stress non-uniformity on the fourth equivalent stress of various components was analyzed. The study demonstrates that under three-dimensional in-situ stress, the fourth equivalent stress of each component increases with the rise of horizontal in-situ stress load non-uniformity and azimuth angle. Meanwhile, borehole azimuth angle and in-situ stress load non-uniformity exert a greater influence on the fourth equivalent stress of the casing, while internal pressure has a lesser impact on it. The effects of azimuth angle, horizontal in-situ stress load non-uniformity, and internal pressure on the fourth equivalent stress of the casing are more significant than those on the cement sheath and borehole wall rock. The research results can provide theoretical and technical references for wellbore design and safety improvement, as well as for the structural safety assessment of components such as automotive chassis and body frames under complex dynamic loads.
Zhang, WenzheJiang, WuGuo, ZiwangCao, YinpingDou, Yihua
To solve the poor mobility of traditional camping vehicle chassis in complex terrains and confined spaces, this paper proposes an underactuated omnidirectional mobile chassis for outdoor camping vehicles. The chassis adopts a coupled commutation mechanism (double-crank elastic special-shaped connecting rods cross sliders), allowing each wheel to realize two motion modes (omnidirectional translation, in-situ rotation) with just one drive motor, reducing system complexity and cost. A control system based on the RoboMaster Development Board C Type integrates PID angle-loop control and motor speed-current dual closed-loop control for motion stability. Kinematic models for these two modes are established to derive the wheel parameter-chassis motion relationship. MATLAB R2023b-ADAMS 2024 co-simulations show the chassis maintains attitude stability under S-shaped curve, circular curve, and in-situ rotation; Qualisys 3D motion capture experiments confirm its stable attitude in omnidirectional movement.
Ren, YulongLu, ZhiguoYang, DongshengWu, DiZhang, TianyuQian, Zhenxin
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Li, JusenChang, MingZhu, WenyuSun, HaoranChen, KaidaYang, XiaoyinZheng, ZhenhaoZhao, Shengdun