Tiezhu Zhang

Unmanned aerial vehicle (UAV) path planning in unknown 3D environments remains challenging due to missing prior maps, irregular terrain, and real-time obstacle avoidance requirements. This paper proposes TD3-DLSAs, a novel framework that integrates a conditional diffusion model with low-rank adaptation (LoRA) for transfer reinforcement learning. The diffusion model generates multiple feasible local subgoals based on the current UAV state, target, and local elevation map, thereby reducing the exploration burden on the reinforcement learning agent. LoRA enables rapid adaptation to new terrains by fine-tuning only a small set of low-rank matrices and scaling parameters. Extensive experiments on three increasingly difficult 3D mountain scenarios demonstrate that TD3-DLSAs achieve a success rate of 93% in the easiest and 84% in the hardest test set, outperforming standard TD3 by up to 24% and the state-of-the-art TD3-LSAs by 11%. Compared with standard RL baselines, TD3-DLSAs also tend to produce shorter and smoother trajectories in complex terrains, while maintaining a lower computational cost. These results confirm that the synergistic combination of diffusion guidance and low-rank transfer learning provides a robust and generalizable solution for autonomous UAV navigation in completely unknown environments.

Unmanned underground articulated dump trucks (UADTs) are an important direction for the coal mining industry to vigorously promote automation and intelligence. Among these, tracking and controlling the motion trajectory is the key weak link. This paper presents a kinematic analysis of the stationary turning process of UADTs. Then, a posture state model for articulated trucks is established. The objective is to optimize the control method and further improve trajectory tracking accuracy. Based on the advantages and disadvantages of the feedback linearization control (FLC) method, a sliding mode control method based on the Ackermann formula (ASMC) and integral type switch gain (ISMC) are proposed. Finally, hardware-in-the-loop simulation verifies the superiority and tracking quality of the controller. The results show that the ASMC controller can control the lateral position deviation, course angle deviation, and curvature deviation around 10 cm, 0.04 rad, and 0.08 m⁻¹ in the hardware-in-the-loop simulation environment. The ISMC controller can control the lateral position deviation, course angle deviation, and curvature deviation near 8 cm, 0.01 rad, and 0.02 m⁻¹, and can also effectively control the jitter problem. Each deviation is stabilized within 10 s. This provides a reference for the development of trajectory tracking strategies for articulated vehicles.

This paper proposes a five-blade rotor swing scraper pump (FRSSP) to overcome traditional volumetric pumps’ drawbacks, such as poor sealing performance, low volumetric efficiency, and complex structure. This pump employs a rotating cam-swing scraper mechanism to achieve fluid intake and discharge. The FRSSP is compact in structure, self-sealing, and highly efficient in volumetric utilization, offering promising applications. A companion trajectory kinematic analysis method of the FRSSP is proposed. The polar coordinate equation of the companion trajectory is derived from the profile equation of the five-blade rotor cam. Based on this trajectory, a kinematic model of the scraper pump is established, resulting in the kinematic equations for the swing angle of the scraper, the pressure angle of the scraper, the rotation angle of the rotor, the angular velocity of the scraper, and the angular acceleration of the scraper. The kinematics of the FRSSP were simulated and validated using ADAMS. Comparing the results of theoretical calculations and simulation reveals that the error in the scraper swing angle is 1.85%, the maximum error in the scraper angular velocity is 4.93%, and the maximum error in the scraper angular acceleration is 2.47%, confirming the accuracy of the kinematic analysis method. A sensitivity analysis was performed on the kinematic research method for companion trajectories. After modifying the dimensions of key components in the scraper pump, the discrepancies between theoretical calculations and simulation results were within 5%, confirming the accuracy and robustness of the method. Flow field simulation analysis and experimental tests on the scraper pump revealed that the deviation between the simulated and experimental outlet flow rates was less than 5%, validating the feasibility of the pump’s structural principles and the reliability of the simulations. Furthermore, these findings indirectly affirmed the correctness of the companion trajectory kinematic analysis method.

Optimizing control rate parameters is one of the key technologies in motor control systems. To address the issues of weak robustness and slow response speed in traditional adaptive control strategies, an adaptive control system based on sliding mode control is proposed to enhance the overall performance of permanent magnet synchronous motors. The Non-dominated Sorting Genetic Algorithm II and Multi-objective Particle Swarm Optimization are employed to effectively optimize control parameters, thereby mitigating motor torque and speed overshoot. A Partial Sample Shannon Entropy Evaluation method, leveraging entropy theory in conjunction with the Z-score method, is introduced to facilitate the feedback regulation of the optimization process by assessing motor output torque. Simulation results confirm that the proposed control strategy, in combination with the optimized control rate parameters, leads to substantial improvements in motor performance. Compared to traditional adaptive control strategies, the proposed approach improves the motor’s steady-state response speed by 42% and reduces rotor error during system fluctuations by 23%, significantly enhancing the motor’s response speed and robustness. Following parameter optimization, speed and torque overshoot are reduced by 38% and 10%, respectively, resulting in a significant improvement in the stability and precision of the motor control system.

In response to the problems of considerable size, loose structure, and low energy conversion efficiency of multi-energy power coupling devices, this paper makes improvements based on the mechanical–electric–hydraulic power coupler proposed by our research group. We propose a new asynchronous mechanical–electric–hydraulic power coupler (IA-MEHPC). This mechanism integrates a traditional three-phase asynchronous motor with a swashplate axial piston pump/motor to realize the mutual conversion of electrical, mechanical, and hydraulic energy. Compactness, efficiency, and adaptability are the distinguishing features of the complex. This paper builds a three-dimensional model of the IA-MEHPC and a two-dimensional theoretical model of the electrical structure (motor part). Moreover, the electrical structure parameters of the IA-MEHPC are optimized using an approximate response surface-based optimization method. The maximum motor peak torque and minimum torque fluctuation are identified as optimization objectives, and we obtain the optimal combination of parameters. The simulation results show that, compared to the pre-optimized structure, the peak motor torque of the optimized IA-MEHPC is increased by 5.78%, and the torque pulsation coefficient is reduced by 15.83%, in line with engineering practice expectations. This paper innovatively proposes and optimizes IA-MEHPC, which is significant for developing hybrid mechanical devices and subsequent research.

By effectively integrating traditional engines with reciprocating plunger pumps, the constrained piston hydraulic engine can simultaneously output hydraulic energy and rotational mechanical energy, which effectively solves the problems of the complex structure, long power transmission chain, and low energy conversion efficiency of traditional power sources. Based on a certain single-cylinder diesel engine, a single-cylinder axial constrained piston hydraulic engine was designed, and its thermal–mechanical–liquid coordination mechanism was studied and analyzed in-depth. A mathematical model of the thermal–mechanical–liquid coupling working process of the single-cylinder axial hydraulic engine was established, and the conversion mechanism and output of the three types of energy, thermal, mechanical, and liquid, were simulated and analyzed. The results show that under the premise of improving the overall efficiency, the constrained piston hydraulic engine can effectively output mechanical–hydraulic dual-element power, and its combustion characteristics and output power performance indicators meet the expected design requirements. The maximum amplitude difference of the output hydraulic oil flow rate reaches 248 L/min, and the flow rate fluctuates greatly, so it is necessary to adopt methods to suppress the flow rate pulsation to ensure the reliability of the output flow rate.

In order to address the problems of low energy storage capacity and short battery life in electric vehicles, in this paper, a new electromechanical-hydraulic power coupling drive system is proposed, and an electromechanical-hydraulic power coupling electric vehicle is proposed based on this system. The system realizes the mutual conversion between mechanical energy, hydraulic energy, and electric energy through the electromechanical–hydraulic coupler. This paper describes the structural characteristics and working principles of the system and analyzes the different working modes during the driving of the vehicle. We established a mathematical model of the hydraulic accumulator and the hydraulic pump and motor. Based on the vehicle dynamics model, an AME Sim vehicle model was built and the vehicle, and the relevant hydraulic parameters were set in combination with the actual situation. The braking energy recovery and release process was jointly simulated by AME Sim and Simulink. The simulation results show that the hydraulic accumulator size of the accumulator volume can influence the maximum working pressure of the accumulator and the SOC of the vehicle battery, and it is verified that 35 L is the best capacity. This study has an important reference value for matching electromechanical–hydraulic coupling parameters of electric vehicles.

The mechatronic-electro-hydraulic coupler (MEHC) is a novel type of multisource coupling power device which integrates a traditional permanent magnet synchronous motor with a swash plate axial piston pump/motor to realize the mutual conversion of electrical energy, mechanical energy, and hydraulic energy. In order to improve the MEHC’s noise, vibration, and harshness performance, an electromagnetic vibration and noise simulation analysis was performed with a six-pole 36-slot motor as the research object. Firstly, the spatial order and frequency of the radial electromagnetic force were deduced by an analytical method. Subsequently, the electromagnetic field was simulated, and the electromagnetic force was extracted via a fast Fourier transform using Ansys/Maxwell software for the numerical verification. Thereafter, the harmonic response module coupled the electromagnetic field with the structural field for the harmonic response analysis. Ultimately, the research results were imported into the harmonic acoustics module for a noise simulation analysis and two different-shape magnetic isolation bridges optimization schemes were proposed. The results suggested that both optimisation solutions could effectively reduce motor vibration and noise. Scheme one reduced the maximum noise by about 6.5% and scheme two by 10.4%. The analysis process and conclusion provide a theoretical basis for the vibration and noise analysis of permanent magnet synchronous motors with different integer slots.

The optimal design of a super highspeed flywheel rotor could improve flywheel battery energy density. The improvement of flywheel battery energy density could enhance the performance of the flywheel lithium battery composite energy storage system. However, there are still many problems in the structure, material and flywheel winding of super highspeed flywheels. Therefore, in this paper, electric flywheel energy and power density parameters are designed based on CPE (Continuous Power Energy) function and vehicle dynamics. Then, according to the design index requirements, the structure, size and material of the electric flywheel rotor are designed. Furthermore, the numerical analysis model of stress and displacement of multi-ring interference fit flywheel rotor under plane stress state is established. On this basis, the influence laws of flywheel rotor wheel flange numbers and interlaminar interference on stress distribution of flywheel rotor are analyzed, and the assembly form of wheel flange is determined. Finally, the stress check of the flywheel rotor is completed. The results show that the super highspeed flywheel rotor designed in this paper meets vehicle dynamics requirements in terms of energy storage and power. In terms of strength, it meets the design requirements of static assembly stress and dynamic stress at maximum speed.

The hydraulic accumulator has the advantages of high power density, fast response, stable operation and high cost performance. However, compared with the electric energy storage method, the hydraulic accumulator has low energy density and large pressure fluctuation while absorbing and discharging energy, which severely limits its application in hydraulic excavators. To improve the potential energy loss of the boom during the lowering process, an electro-hydraulic drive and energy recovery system for excavator booms (EHDR-EEB) based on a battery and accumulator is proposed. As a result, a simulation model of the electro-hydraulic drive and energy management strategy of a 1.6 t pure electric hydraulic excavator is built to investigate the energy regeneration and utilization. The simulation outcomes show that the potential energy recovery rate is as high as 92%. This research on EHDR-EEB makes a significant contribution to the economic improvement of electric hydraulic excavators.