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Journal of Jiangsu University(Natural Science Eidtion)
 
2021 Vol.42 Issue.6
Published 2021-11-10
621 Failure investigation method for pure electric bus based on signal processing
SUN Xiaoqiang， HU Weiwei， WU Pengcheng， REN Hao
To solve the problem that the correlation characteristics between the pure electric bus failure and the main faults of motor, battery and electric control systems could not be accurately elucidated by traditional failure investigation method, a new method based on signal processing was proposed. Based on the main failure types of pure electric bus and the main faults of motor, battery and electric control systems, the causal relationship between failure types and main faults of motor, battery and electric control systems was initially established. To further clarify the system failure point, the model of the pure electric bus including motor, battery and electric control systems was established. The artificial failures of pure electric bus were modeled by setting the main faults of motor, battery and electric control systems. The signals measured easily by system were analyzed, and the typical signal characteristics of different system faults were revealed. The correlation characteristics between the pure electric bus failure and the main faults of motor, battery and electric control systems were determined, and a new failure investigation method of pure electric bus was formatted. The results show that the proposed method can effectively reveal the relationship between the pure electric bus failure types of power loss, fire and out of control and the main faults of motor, battery and electric control systems.
2021 Vol. 42 (6): 621-627 [Abstract] ( 28 ) [HTML 1KB] [ PDF 4854KB] ( 518 )
628 A multiscale YOLOv3 detection algorithm of road scene object#br#
YU Qiang， WANG Kuan， WANG Hai
 In natural traffic scene, the bounding box sizes of different road targets vary greatly. The existing realtime object detection algorithm YOLOv3 can not balance the detection accuracy of large and small targets and has poor performance in the task. To solve the problems, the feature fusion module of YOLOv3 target detection algorithm was redesigned to realize the multiscale feature stitching. The detection module was improved by adding two extra feature output modules for small targets, and a new multiscale detection method of YOLOv3_5d for road targets was obtained with 5 detection scales. The experimental results show that the average precision of the improved YOLOv3_5d algorithm is 0580 9 on BDD100K dataset, which is 0082 0 higher than that of original YOLOv3. The running speed is 454 frames·s-1, which can meet the realtime requirement.
2021 Vol. 42 (6): 628-633 [Abstract] ( 32 ) [HTML 1KB] [ PDF 6571KB] ( 656 )
634 Torque distribution strategy of pure electric bus with double motors driving by front and rear axles
WU Dirui， TIAN Shaopeng
To solve the coordination problem between the driving antiskid strategy and the optimal torque distribution strategy, based on the realtime particle swarm optimization algorithm, a comprehensive torque distribution strategy with the consideration of stability and economy of vehicles was proposed. The driving antiskid strategy with slip rate as control target could output the front and rear axle torque constraints. By the particle swarm optimization with realtime optimization as optimization method and with front and rear axle torque constraints as dynamic constraint condition, the optimal torque distribution strategy could run normally when the antiskid strategy took effect. Based on AVLCruise and Simulink platform, a joint simulation model of vehicle economy was established to analyze the optimization effect. The results show that under the three selected cycle conditions, the power consumption per hundred kilometers is averagely decreased by 479%, and the driving mileage is averagely increased by 549%. The comprehensive torque distribution strategy can improve the fuel economy on the premise of ensuring the longitudinal stability of  bus. 
2021 Vol. 42 (6): 634-641 [Abstract] ( 31 ) [HTML 1KB] [ PDF 4369KB] ( 531 )
642 Failure compensation control design of  adaptive actuator for vehicle robot driver
YAO Xuelian, DING Dongdong, YANG Yi, GE Wanjun, WU Mingyu
 To solve the problem that the uncertain actuator failures occurred in automobile driving robots could not drive the mechanical leg to work normally and could affect the safety of automobile during driving, an adaptive faulttolerant control method was proposed. The basic feedback controller was designed based on Backstepping to ensure the desired performance of the mechanical leg, and the failure compensation controllers were designed according to each failure case. By defining the failure indication function, the multiple controllers were combined based on weight fusion algorithm to form a comprehensive controller. Based on the adaptive method, the parameters of the integrated controller were updated. The feasibility and performance of the proposed control strategy were validated by the numerical simulation results. The results show that the proposed control method can ensure the  stable  control system and can asymptotically track the given control signal when one uncertain failure occurs.
2021 Vol. 42 (6): 642-647 [Abstract] ( 34 ) [HTML 1KB] [ PDF 1207KB] ( 468 )
648 Flexible jobshop dynamic scheduling based on random machine fault
YOU Yichen， WANG Yan， JI Zhicheng
 To effectively and quickly deal with the random machine fault appeared in the process of production, a machine recoverable flexible jobshop dynamic scheduling model was constructed. A combined rescheduling policy with the driving method of hybrid events and period was designed. In the combined rescheduling policy, partial rightshift rescheduling and full rescheduling were adopted, and ordinal deviation and completion time deviation were introduced as assessment criteria to decide the rescheduling strategies. Based on the elite selection genetic algorithm (ESGA), an improved elite selection strategy was designed to avoid falling into local optimum. The simulation results of experimental examples show that the dynamic scheduling algorithm is effective for flexible jobshop dynamic scheduling with random machine fault.
2021 Vol. 42 (6): 648-654 [Abstract] ( 35 ) [HTML 1KB] [ PDF 1993KB] ( 523 )
655 Obstacle avoidance and attitude control of AUV based on fuzzy algorithm
LIU Yong, YANG Xiaofei, XIA Jinming
To realize the stable control of autonomous underwater vehicle （AUV）in underwater, an obstacle avoidance and attitude control algorithm was proposed based on fuzzy algorithm. By analyzing the condition of AUV in the horizontal plane and vertical plane, the fuzzy algorithms for obstacle avoidance and attitude control were constructed respectively, and the corresponding control systems were designed. The control system was mainly composed of two fuzzy controllers. The left, right and diving accelerations of AUV were output by the fuzzy controller, and the velocity was approximated by the fuzzy logic system. The obstacle avoidance and attitude control of AUV horizontal plane and vertical plane were realized by the velocity information of AUV. The simulation scene was constructed by placing obstacles in different positions, and Matlab simulation experiment was adopted. The simulation results show that the obstacle avoidance and attitude control method based on fuzzy algorithm can meet the design requirements.
2021 Vol. 42 (6): 655-660 [Abstract] ( 31 ) [HTML 1KB] [ PDF 1570KB] ( 608 )
661 Mechanism analysis and parameter optimization of unloading paddle device for pigfeeder
LIU Chaoxian, WANG Defu, HUANG Huinan, DANG Chunxue, ZHANG Hongjian
 为提高我国生猪养殖业应用的饲喂器的工作性能，对设计的一种猪用饲喂器拨片式供料装置进行了机理分析与试验.通过对其主要结构的理论分析以及离散元模拟仿真，确定杆绳斜置式破拱单元和拨片式排料单元的结构.在实现稳定排料基础上，以影响其排料性能的主要因素为试验因素，以排料速率和排料均匀性（以变异系数表示）为评价指标进行三因素五水平二次回归正交旋转组合试验，获得最优参数组合.试验结果表明：杆绳斜置式破拱单元实现了料斗内颗粒饲料连续、稳定排料；在填充率为80%，且拨片转速为555 r·min-1、出口间距为145 mm、排料段最大后倾角为315°时，对应排料速率和变异系数分别为16675 g·s-1和439%；饲槽内颗粒饲料分布均匀，饲喂器排料性能较佳.
2021 Vol. 42 (6): 661-670 [Abstract] ( 41 ) [HTML 1KB] [ PDF 19670KB] ( 335 )
671 Effect of rotorstator interference on film cooling at leading edge of cascade
SUN Xiaokai, WANG Zhenyu, WANG Chunhua
To investigate the interaction between jet flow and main flow at the leading edge of turbine blade under the influence of rotorstator interference, the differences of flow distribution and temperature distribution at the end wall, the middle section and the tip of turbine blade were compared and analyzed.The results show that  with the increasing of blade height, the leading edge stagnation line is gradually shifted from the suction side to the pressure side, and the wall adherence of jet flow on the pressure side is weakened.The phenomena of  "divergence", "uptrend" and "countercurrent" of jet flow are caused by rotorstator interference, and the influence on gas film coverage at central section is greater than those at root and tip.In the downstream of jet flow, the inversion of vortex pairs shows obviously asymmetric, and the strength and scale of the vortex pairs on the suction side are decreased along the direction of blade height, while the variation trend of the inversion of vortex pairs on the pressure side is opposite.The rotorstator interference can reduce the film cooling efficiency.
2021 Vol. 42 (6): 671-677 [Abstract] ( 27 ) [HTML 1KB] [ PDF 9298KB] ( 349 )
678 Construction of cold chain logistics network of agricultural products in Jiangsu province
HE Meiling, PU Jun, AN Yongfeng
The construction of regional agricultural products logistics network is conducive to integrate the regional agricultural products logistics resources and improve the efficiency of regional agricultural products logistics for promoting agricultural development and increasing farmers income. Taking the agricultural cold chain logistics network in Jiangsu province as research object under the background of ′Internet plus agriculture′, the GM(1,1) model was used to forecast the demand scale of agricultural products cold chain logistics in Jiangsu province from 2021 to 2030 and analyze the spatial distribution characteristics. The evaluation index system of logistics network node development level was constructed from four aspects of urban economic development level, logistics development level, agricultural product demand level and supply level. The factor analysis and the cluster analysis were used to rank the importance of nodes into three levels of axis, center and spoke point.The radiation scope of axis city was determined according to logistics connection strength and logistics membership degree, and the trunk and branch logistics channels were constructed. Nanjing and Suzhou were taken as axis cities to construct the axial agricultural products cold chain logistics network in Jiangsu province.
2021 Vol. 42 (6): 678-684 [Abstract] ( 36 ) [HTML 1KB] [ PDF 2207KB] ( 582 )
685 Oppositionbased multiobjective particle swarm optimization algorithm based on tripartite competition mechanism
HAN Fei, ZHENG Mingpeng
To solve the problem of premature in traditional multiobjective particle swarm optimization algorithms, an oppositionbased multiobjective particle swarm optimization algorithm was proposed based on tripartite competition mechanism (MOPSOTCOL). The tripartite competitors were selected from the current population in each generation to guide the population evolution in MOPSOTCOL, which could effectively reduce the computational cost. In each competition, three particles were randomly selected from the population for comparison and updated by different strategies, which could help to maintain the diversity of population. A novel progressive particle update strategy was proposed based on oppositionbased learning (OBL). Some particles were updated by OBL strategy to avoid the algorithm from falling into local optima, and other particles were updated by learning from the specified better particles to improve the convergence. The experimental results on 14 benchmark test instances verify the superiority of the proposed algorithm in terms of diversity and convergence over 8 multiobjective optimization algorithms, and it has faster convergence rate.
2021 Vol. 42 (6): 685-693 [Abstract] ( 33 ) [HTML 1KB] [ PDF 3766KB] ( 545 )
694 Multimodel soft sensor modeling and online monitoring system design  of key variables in lysine fermentation process
ZHU Huangqiu, WANG Xingyu, WANG Bo
To solve the problems that the quality variables of fermentation products in the lysine production process were difficult to measure in real time and the existing soft measurement models had low accuracy and poor robustness, a multimodel soft measurement method was proposed based on an improved satisfactory clustering algorithm and the least squares support vector regression (ISCALSSVR) for lysine fermentation process. The sample data set was divided into c subsets by ISCA, and LSSVR machine was used to construct submodels for each subset separately. The particle swarm optimization algorithm and the annealing algorithm were used to collaboratively optimize the model parameters, and the output of each submodel was weighted and fused to obtain the final system output. The intelligent realtime monitoring system for key variables in lysine fermentation process was designed with the upper computer data processing module and the lower computer data acquisition module. The experimental simulation results show that compared with the traditional single LSSVR prediction model, by the ISCALSSVR model, the mass concentration prediction accuracies of product, substrate and cell are respectively increased by 501%, 362% and 678%, and the generalization ability is greatly improved.
2021 Vol. 42 (6): 694-701 [Abstract] ( 36 ) [HTML 1KB] [ PDF 1766KB] ( 477 )
702 Fixedtime bipartite synchronization of coupled delayed #br# neural networks with external disturbances
CHEN Suhao, LIU Xiaoyang, XIE Chunli, WANG Shuqin
  For the structurally balanced and structurally unbalanced graphs, two new fixedtime control protocols were designed to ensure the bipartite synchronization for coupled delayed neural networks with external disturbances. According to the fixedtime stability theory and some inequality skills, some sufficient criteria were obtained to guarantee the coupled network to reach bipartite synchronization in fixed time, and the upperbounds of the settling time were estimated. The robustness and the disturbance rejection were verified. To improve the applicability of the considered network models, the considered activation functions were discontinuous, and the differential inclusion and setvalued Lie derivative theories were used to handle with the discontinuous systems. The numerical simulations were proposed for the fixedtime bipartite synchronization of coupled delayed neural networks under the structurally balanced and structurally unbalanced graphs, respectively. The results show that the effectiveness of the control algorithm and the validity of the theoretical results are verified.
2021 Vol. 42 (6): 702-708 [Abstract] ( 32 ) [HTML 1KB] [ PDF 1243KB] ( 476 )
709 Detection and extraction of compaction edge of roller steel wheel
HUANG Hao， WANG Xuebin
 For  the unique unstructured working scene and relatively fixed working track of the roller, the visual processing algorithm was adopted to extract the rolling trace of the steel wheel. The RGB image of rolling area was grayed, and the random noise was eliminated by preprocessing algorithm. By comparing Roberts, Sobel, Prewitt, Canny, Kirsch and other edge detection operators, the operator with the best detection effect was selected. Hough transform was used to extract the rolling trace line segments. The results show that the edge detection effects of Canny and Kirsch operators are more clear. After Hough transform, the straight line error extracted by Kirsch operator is the smallest. The method combined with Kirsch operator and Hough transform can extract the edge information of steel wheel accurately and can ensure the accuracy and realtime, which provides important visual information for the automatic driving of roller.
2021 Vol. 42 (6): 709-714 [Abstract] ( 38 ) [HTML 1KB] [ PDF 12635KB] ( 351 )
715 Vessels adaptive control based on barrie function
ZHAO Xiangtao， YAN Yan， YU Shuanghe， ZHAO Ying
An adaptive sliding mode control method was proposed based on barrier function for tracking the trajectory of autonomous surface vessels. A switching control rate was set according to the convergence of sliding variable mode, and the sliding variable mode gain could be adjusted adaptively without the prior information of external disturbance. The results show that sliding variable can converge and remain in a predefined neighborhood of zero independently of the upper bound of disturbances. The barrier function ensures that the sliding mode gain is always dynamically greater than the uncertain external environmental disturbances, which guarantees the trajectory tracking performance of autonomous surface vessels. The Lyapunov theoretical analysis proves that the autonomous surface vessel system can reach the predetermined neighborhood of zero in a finite time. The simulation results verify the effectiveness of the controller designed for the trajectory tracking problem, which illuminates that the vessel trajectory can track the desired trajectory well by the designed method.
2021 Vol. 42 (6): 715-720 [Abstract] ( 28 ) [HTML 1KB] [ PDF 1326KB] ( 494 )
721 Navigation system of autonomous underwater#br# vehicle based on MOOS
QIU Haiyang, ZENG Qingjun, ZHI Pengfei
 To solve the problems of autonomous underwater vehicle (AUV) with high test cost, requiring ideal simulation environment for the application of underwater robots and robot verification and difficult modeling of simulation environment, the MOOS software system was used to perform navigation, communication and threedimensional simulation of the AUV navigation system. The communication methods, the software architecture, the data collection methods and the sensor data types of the MOOS software system were configured and simulated. Based on the perspectives of mechanism, the data subscription and publication and the data analysis and processing, the MOOS software system was analyzed and verified. The results show that the MOOS system can generate relevant environmental sensor data according to the preset trajectory of AUV, which can effectively realize multisource information fusion and navigation pose calculation.
2021 Vol. 42 (6): 721-726 [Abstract] ( 35 ) [HTML 1KB] [ PDF 3790KB] ( 902 )
727 Multi module fusion plankton detector
QI Lei， HU Jiaochan， YU Shuanghe， YAN Yan， ZHAO Ying
To solve the problems of detection process with low detection accuracy and redundancy in the traditional detection method of Marine plankton by artificial features extraction, a multi module fusion single shot  detector (MMFSSD) was proposed based on deep learning technology. The feature information enhancement module was proposed to add the receptive field of network without increasing the network complexity, and the downsampled image was infused into the module to enhance the lowlevel feature information of feature graph. The selective feature fusion module was further proposed to learn the weight of fusion in the network and selectively fuse features of different scales. The results of  verification test show that the mean average precision values are 8070% and 3220% on PASCAL VOC and MS COCO testset, respectively. The mean average precision on PMID2019 dataset reaches 90.41%.
2021 Vol. 42 (6): 727-732 [Abstract] ( 44 ) [HTML 1KB] [ PDF 6855KB] ( 389 )
733 Place recognition method based on YOLOv3 and deep features
NIU Jie, QIAN Kun, BU Xiongzhu
 To eliminate the adverse effects of viewpoint and appearance on the application of place recognition, a method was proposed based on salient landmarks and deep features. The salient objects were extracted as candidate landmarks. The YOLOv3 network was designed to identify candidate landmarks for deleting specific object types not suitable for environmental modeling. In the image similarity measurement process, the convolutional neural network(CNN) features of candidate landmarks were extracted, and the dimension reduction operation was combined to improve the matching efficiency. The experiments were conducted on three challenging place recognition datasets. The results show that compared with the methods of FABMAP, SeqSLAM and PlaceCNN, the average accuracy of the proposed recognition method reaches 7122%, which is better than those of comparison algorithms.The CNN features on the filtered salient landmarks can adapt to the changes in viewpoint and appearance.
2021 Vol. 42 (6): 733-737 [Abstract] ( 34 ) [HTML 1KB] [ PDF 2333KB] ( 495 )
738 Influence and control of diaphragm wall trench construction on surrounding environments
TANG Yinwei， LIU Wei， SHI Peixin， TANG Qiang， CHEN Xiuming
 Taking the diaphragm wall construction of a station in Suzhou metro line 5 as research background, the measures of enhancing  guide wall stiffness, selecting suitable machinery, dividing relatively small trench panel, trenching stagger and controlling slurry parameters were adopted. The effects of the length of trench, the friction angle of soil and the height difference of mud liquid level on the trench stability were analyzed. Onsite monitoring was used to detect the horizontal displacement of soil, surface settlement, building settlement and building tilt. The ground stability and the deformation law during the diaphragm wall construction were investigated and evaluated. The results show that the construction disturbs the ground at shallow depth pronouncedly, which causes the significant lateral ground movement with the maximum lateral ground movement at the ground surface. The deep soil is less disturbed, and the movement is decreased with the increasing of depth. The ground movement is under the controllable range due to the adopted measures.
2021 Vol. 42 (6): 738-744 [Abstract] ( 40 ) [HTML 1KB] [ PDF 4808KB] ( 441 )
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