Xia Li

Intermittent tilting pouring is widely utilized in metal casting due to its operational simplicity and cost-effectiveness. However, this method faces challenges such as difficult manual tuning and inconsistency in achieving constant flow rates. Targeting pouring equipment at a high-purity metal smelting company, this study proposes a closed-surface flux calculation method based on the Gauss divergence theorem to determine molten metal volume at any given instant. A mathematical model for pouring processes involving ladles with non-cylindrical inner surfaces is established. Based on this model, pouring characteristics are analyzed. Through piecewise fitting, angular velocity functions for constant flow rate pouring are derived, which provides theoretical guidance for practical industrial operations.

The vibration energy harvester based on diamagnetic levitation can increase the amplitude of the floating magnet by adjusting the natural frequency of the diamagnetic levitation structure. However, due to size constraints, the floating magnet frequently collides with the shell. To collect the energy generated by the collision and improve the output performance of the harvester, we introduce piezoelectric cantilever beams into the shell of the vibration energy harvester. The piezoelectric cantilever beam comprises a structural layer, a piezoelectric layer (PZT-5H) and a seismic block. This structure exhibits high energy density and excellent structural stability. The collision provides the initial velocity for the vibration of the piezoelectric cantilever beam, thereby enhancing its output voltage. The simulation results show that collision between the floating magnet and the shell can increase the output voltage of the piezoelectric cantilever beam by more than 10 times. Experimental results show that when the resonance frequency is 3.8 Hz and the external amplitude is 5 mm, the effective output voltage of the piezoelectric cantilever beam is 3034 mV, and the error between the simulation and experiment results is 8.7%. Following the addition of piezoelectric cantilever beams, the output performance of the vibration energy harvester is increased by 7.15 times. This research provides an effective solution for collecting energy generated by impacts and collisions.

A four-steering-wheel heavy-duty Automated Guided Vehicle (AGV) is prone to lateral instability and wheel slippage during acceleration, climbing, and small-radius turns. To address this issue, a trajectory tracking strategy considering lateral stability and an optimal driving torque distribution strategy considering load transfer and tire adhesion coefficient are proposed. Firstly, a three-degree-of-freedom AGV trajectory tracking model is established, tracking error and sideslip angle are incorporated into the cost function, and an improved model predictive trajectory tracking controller is proposed. Secondly, the longitudinal and yaw dynamic model of AGV is established, and vertical load transfer is analyzed. With the goal of minimizing tire adhesion utilization rate, quadratic programming is used for the optimal distribution of driving torque. Finally, through co-simulation using ADAMS and MATLAB on a narrow “climbing straight+ S-curve” road, the maximum tracking error is 0.0443 m. Compared to the unimproved model predictive control and average driving torque distribution strategy, the sideslip angle is reduced by 58.18%, the maximum tire adhesion utilization rate is reduced by 6.62%, and climbing gradeability on wet roads is enhanced.

During the operation of outdoor heavy-duty Automated Guided Vehicle (AGV), the stability and safety of AGV are easily reduced due to load transfer. In order to solve this problem, a trajectory tracking control strategy considering load transfer is proposed to realize the trajectory tracking of AGV and the adaptive distribution of driving torque. The three-degree-of-freedom (3-DOF) kinematics model and pose error model of heavy-duty AGV vehicles are established. The lateral load transfer and longitudinal load transfer rules are analyzed. The vehicle trajectory tracking control strategy is composed of an improved model predictive controller (IMPC) and drive motor torque adaptive distribution controller considering load transfer. By optimizing the lateral acceleration of the vehicle body, the IMPC controller improves the problem of large driving force difference between the left and right sides of the wheel caused by the lateral transfer of the load and the problem of large wheel adhesion rate caused by the longitudinal transfer of the load is improved by the speed controller and the torque proportional distribution controller. The joint simulation platform of MATLAB/Simulink and CarSim is built to simulate and analyze the trajectory tracking of heavy-duty AGV under different pavement adhesion coefficients. The simulation results have shown that compared with the control strategy without considering load transfer, on the two types of pavements with different adhesion coefficients, the maximum lateral acceleration is reduced by 19.7%, and the maximum tire adhesion rate is reduced by 11.5%.

In order to solve the problem of self-energy supply of vehicle-mounted micro-sensors, bridge detection and some other low-power electronic devices in their working state, a vortex-induced flutter composite nonlinear piezoelectric energy harvester (VFPEH) with symmetrical airfoils on both sides of a cylindrical bluff body is designed. The VFPEH consists of a cantilever beam, a cylindrical bluff body connected to the free end of the cantilever beam, and two airfoil components symmetrically fixed at both ends of the shaft, which enables coupling between vortex-induced vibration and flutter. The airfoil symmetrically arranged on both sides of the cylindrical bluff body induces the cantilever beam to produce bending and torsional composite vibrations at high wind velocities, realizing energy harvest in the two degrees of freedom motion direction, which can effectively improve the output power of the energy harvester. Based on a wind tunnel experimental platform, the effect of key parameters matching impedance and the diameter of the cylindrical bluff body on the output performance of the VFPEH is investigated, together with the output performance of the classical vortex-induced energy harvester (VEH), the flutter energy harvester (FEH) and the VFPEH. The experimental results show that for the VFPEH under a combination of vortex-induced vibrations and flutter vibrations has a better output performance than the VEH and the FEH when using the same size. The coupling of vortex-induced vibration and flutter can reduce the start-up wind velocity of the VFPEH and expand the wind velocity range of the high output power of the VFPEH. The VFPEH has a better output performance at the cylindrical bluff body diameter of 30 mm and a load resistance of 140 kΩ. When the wind velocity range is 2 m/s–15 m/s, the maximum output power of the VFPEH is 6.47 mW, which is 129.4 times and 24.9 times of the maximum output power of the VEH (0.05 mW) and FEH (0.26 mW), respectively.

In order to solve the demand for low-power microcomputers and micro-electro-mechanical system components for continuous energy supply, a magnetic coupling piezoelectric–electromagnetic composite galloping energy harvester (MPEGEH) is proposed. It is composed of a piezoelectric energy harvester (PEH) and an electromagnetic energy harvester (EEH) coupled by magnetic force. The bistable nonlinear magnetic coupling structure improves the output power of the MPEGEH. The advantages and output performance of the MPEGEH are analyzed. The prototype of the energy harvester is made, and the nonlinear output characteristics under different load resistances are analyzed. Through the experiment on the key parameters of the composite energy harvester, it is found that the higher the coupling degree of the two parts of the MPEGEH, the stronger the nonlinear characteristics and the better the output characteristics. The results show that the onset wind velocity and output power of the MPEGEH are better than the classic galloping piezoelectric energy harvester (CGPEH). At the same wind speed, with the increase in the distance d₀ between magnets A and B, the output power of both the PEH and the EEH decreases. When d₀ is 37 mm, the output power of the EEH is the largest. The distance s₀ between magnets B and C has little influence on the output power of the PEH but has a great influence on the EEH. When s₀ is 23 mm, the EEH has the best output characteristics. Compared with the CGPEH, the onset wind velocity is reduced by 28%, and the output power is increased by 136% when the wind speed is 11 m/s.