Journal of Jiangsu University(Natural Science Eidtion)

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Journal of Jiangsu University(Natural Science Eidtion)

	2023 Vol.44 Issue.1 Published 2023-01-10

	1	Localization and track correction algorithm with low cost for freight car in warehouse
		WANG Hai， WU Chu， BAI Xin， CHEN Zongzhe， HOU Qianhe
		To solve the problems of the existing indoor localization methods with high cost, low precision and accumulated error, a vehicle localization method integrating dead reckoning (DR) algorithm, motion state identification and correction points and sensors information was proposed. The DR algorithm was used to calculate the approximate position of the vehicle for detecting the vehicle whether at correction point, and the trajectory was corrected according to the correction point information and sensor data by the motion state recognition technology. The data collected by low precision inertial sensor were simulated, and the trajectory was tracked. The results show that by eliminating the cumulative error at the correction point, the proposed method can effectively improve the localization accuracy and meet the localization needs of vehicles using lowaccuracy inertial sensor without global positioning system （GPS）.
		2023 Vol. 44 (1): 1-6 [Abstract] ( 63 ) [HTML 1KB] [ PDF 2485KB] ( 786 )

	7	Active obstacle avoidance path planning based on improved artificial potential field method in front vehicle cut-in scenario
		LI Shengqin， SUN Xin
		To ensure the active safety of self-driving cars steering to avoid collisions in the front vehicle cut-in scenario, an active obstacle avoidance path planning method was proposed based on the improved artificial potential field method. Based on the traditional artificial potential field method, the repulsive potential field function was changed to ensure that the vehicle drived in a straight line after the end of collision avoidance by increasing the road boundary repulsive potential field. The speed adjustment factor was introduced to establish dynamic obstacle potential field to solve the artificial potential field for collision avoidance path planning under dynamic obstacles. The proposed path planning method was simulated using the joint simulation of MATLAB and Carsim in the dynamic scenario for the front vehicle cut-in. The results show that the smooth and safe localized collision avoidance path can be obtained by the improved algorithm, and the vehicle dynamics requirements are met when the self-driving car travels along this path.
		2023 Vol. 44 (1): 7-13 [Abstract] ( 74 ) [HTML 1KB] [ PDF 1844KB] ( 791 )

	14	Research of acceptance of autonomous vehicles technologybased on mapping knowledge domain
		JING Peng, YUAN Daibiao, DU Liuyang, XU Gang, CHEN Yuexia, ZHAN Fengping
		For the acceptance of autonomous vehicles technology, the mapping knowledge domain was applied to analyze and visualize the relationship between the research and development process and the knowledge network in the field of the acceptance of autonomous vehicles technology based on the annual trend of published literature, national cooperation network, publications and periodicals, acceptance behavior theory, influencing factors and data analysis methods. The results show that the United States, Germany and China are the major contributors to the field. The safety of autonomous vehicles technology is the primary affecting factor on public acceptance, and trust, attitude, perceived ease of use, perceived usefulness, perceived risk and social norms are the most important psychological influencing factors on the acceptance. Descriptive statistics and analysis of variance, regression analysis, factor analysis, structural equation model, Logit model and Probit model are the main research methods in the field. However, the existing theoretical models of acceptance of autonomous vehicles technology have low explanatory power, and the symbolic value and key psychological influencing factors on the acceptance of autonomous vehicles technology with Chinese characteristics should be further explored. The samples with deviation and the adding autonomous vehicles technology simulator should be further analyzed.
		2023 Vol. 44 (1): 14-21 [Abstract] ( 57 ) [HTML 1KB] [ PDF 12783KB] ( 460 )

	22	Autonomous navigation algorithm for intelligent vehicle in weak GPS environment
		YUAN Chaochun1， ZHU Haoyu1， HE Youguo1， JIE Shen2， CHEN Long1
		To solve the problem that global positioning system (GPS) was easy to fail in urban environment, an autonomous navigation algorithm for intelligent vehicle was proposed by visual location recognition. To identify the global position of vehicle in the GPSfree environment, the discriminative visual features in the image were obtained through the attention model and the finegrained feature extraction module, and the matching retrieval between the aerial image and the offline satellite image was realized. According to the vehicle position information, the elite ant colony optimization algorithm was used to output the direction of the road branch ahead for the vehicle and perform global path planning. The results show that the finegrained feature extraction module can extract more discriminative features. The labelsmoothed crossentropy loss function training can be used to achieve effective identification of actual environmental locations, and vehicles can use the proposed algorithm to navigate autonomously in weak GPS environment.
		2023 Vol. 44 (1): 22-28 [Abstract] ( 53 ) [HTML 1KB] [ PDF 5534KB] ( 520 )

	29	Slip rate control of electro-hydraulic compound ABS based on Taylor series feedforward hysteresis compensation
		YUAN Lei， HE Ren
		To improve the slip ratio control precision, a slip rate control strategy for electrohydraulic compound ABS was proposed based on Taylor series feedforward hysteresis compensation. The slip rate and the integral of slip rate were selected as control goal, and the slip rate controller of ABS was designed to obtain the optimal performance of the controlled system with increased system robustness. The hysteresis compensation of electronic hydraulic brake system was estimated by Taylor series prediction method and tracking differentiator and compensated by electromagnetic braking torque. Considering the hysteresis characteristics in different kinds of adhesion road, the simulation of electrohydraulic compound ABS slip rate control for Taylor series feedforward hysteresis compensation was conducted to compare with that of ABS slip rate control without compensation. The influence of hysteresis characteristics on braking performance and the performance of two ABS controls were analyzed. The results show that the electro-hydraulic compound ABS control based on Taylor series feedforward hysteresis compensation can effectively improve the slip ratio precision and response speed of electric vehicle ABS under different driving conditions.
		2023 Vol. 44 (1): 29-36 [Abstract] ( 62 ) [HTML 1KB] [ PDF 1792KB] ( 521 )

	37	Flight control system design of tandem unmanned helicopter
		HE Zhihui1, GAO Wanlin1,2, HE Xiongkui3, REN Yanzhao3, MA Zhongwei4
		The hardware and software of the flight control system of tandem unmanned helicopter were designed using embedded design technology. For the hardware of the flight control system, STM32H750VBT6 was used as the main control chip of the system, and the multisensor attitude measurement hardware system was constructed using 6axis motion processing sensor LSM6DSR and threeaxis magnetometer LIS2MDL. The timer on the main control chip was used to receive remote control input signal, output PWM motor control signal and steering gear control signal. For the flight control system software, the quaternion complementary filtering method was used to fuse the acceleration and angular velocity measured by the inertial navigation module and the threeaxis magnetic field intensity measured by the magnetometer, and the flight attitude of the UAV was calculated. Cascade control strategy was adopted in the control strategy. The attitude angle of the UAV was controlled by the outer loop controls, and the attitude angular velocity of the UAV was controlled by the inner loop controls to achieve rapid and accurate control of the UAV attitude. The results show that the software and hardware of the flight control system of tandem unmanned helicopter are realized, and the expected results are achieved according to the flight test verification.
		2023 Vol. 44 (1): 37-44 [Abstract] ( 58 ) [HTML 1KB] [ PDF 13756KB] ( 457 )

	45	Simulation analysis and experiment of trapezoidal orchard air delivery electrostatic spray machine
		College of Mechatronics Engineering, Nanjing Forestry University, Nanjing， Jiangsu 210037, China
		To solve the problems of the traditional orchard sprayer with the lack of droplet penetration and the small amount of droplet deposition on the back of blade, the trapezoidal orchard air delivery electrostatic sprayer was independently designed for Yshaped directional growth fruit trees by electrostatic spray technology. To optimize the working parameters of the orchard electrostatic sprayer and clarify the influence of parameters on the atomization effect of droplets, the Fluent software was used to establish the coupling simulation model of air flow field, discrete fog field and space electric field. The simulation test results show that the droplets charging process are focused on electrodes near the nozzle. The closer the distance to the nozzle electrode is， the greater the electric field intensity is. The farther the distance from the nozzle is, the faster the electric field intensity attenuation is. The best charged area is 20 mm away from nozzle. With the decreasing of electrode gap, the space superposition of electric field intensity becomes more uniform.Under the conditions with charging voltage of 8 kV and nozzle distance of 150 mm, the best droplets charge effect can be achieved with the largest deposition amount. Taking charging voltage, wind speed and speed as test factors, the droplet deposition performance test results show that with the increasing of charging voltage, the overall deposition quantity of droplets in the blade is increased， and the penetrability of droplet is significantly strengthened. With the increasing of export wind speed,the overall deposition quantity of droplets is increased firstly with latter decreasing. When the export wind speed is 20 m·s-1, the best droplet deposition is obtained. The decreasing effect sequence of parameters in the experiment on droplet deposition is spray distance, export wind speed， charging voltage and speed.The result of field test is basically consistent with that of simulation.
		2023 Vol. 44 (1): 45-51 [Abstract] ( 53 ) [HTML 1KB] [ PDF 3757KB] ( 478 )

	52	Calibration of discrete element simulation parameters for interaction between layered cold soil and contact soil clearing tools
		YANG Qizhi, HE Mingsheng, SHI Lei, ZHU Menglan, LI Zhangyan, HE Wenbing
		To obtain the cold soil of different soil layers in northwest China and the discrete element simulation parameters with contact components (Q235 steel), an accurate EDEM simulation model was constructed.The cold soil was divided into three layers, and Hertz-Mindlin (no slip) was used as contact model. The stacking angle test and straight shear test were used, and the significant factors were determined by the Packett-Burman method. The narrowing range was determined by the steepest climbing test,and the Box-Behnken response surface analysis method was used to determine the regression equation. The elastic recovery coefficient, the rolling friction factor and the static friction factor between different layers of soil particles were determined gradually.Through soil slip test and two-factor universal rotation center combination simulation test, the values of elastic recovery coefficient, static friction factor and rolling friction factor between soil particles and scrapers of different soil layers were obtained. The results show that the relative error is 5.78%, and the simulation parameters and research methods of layered cold soil calibration are verified.
		2023 Vol. 44 (1): 52-61 [Abstract] ( 88 ) [HTML 1KB] [ PDF 3881KB] ( 808 )

	62	R-ATB algorithm with dynamic channel prediction in C-V2X system
		JIANG Xiaoming， WU Hao， CONG Yingqi， DU Xue， FANG Jingru
		In the IoV system, the high speed movement of vehicle nodes and frequent changes in speed, direction and other states cause time-varying fading of the wireless channel in vehicular networks. To solve the problems of the currently used adaptive traffic beacons (ATB) prediction algorithm process with complex and many channel quality evaluation indicators, a new R-ATB prediction algorithm was proposed. The R-ATB algorithm was achieved by calculating the corresponding correlation time parameter of relevant time (RT) according to the Doppler shift degree of node motion. The package delivery rate (PDR) and the time delay parameters under the correlated channel prediction algorithm were analyzed and evaluated by setting the conditions and system modeling in OMNET++ universal network platform. The results show that compared with static beacons and traditional ATB algorithms, in the proposed R-ATB prediction algorithm, less amount of real-time evaluation metrics and smaller computation of the prediction process are used to reduce the communication channel congestion of IoV. The propagation timeliness of security beacons and the PDR of high-speed data transmission success rate are improved in typical highdensity OBUs data interaction scenarios.
		2023 Vol. 44 (1): 62-66 [Abstract] ( 50 ) [HTML 1KB] [ PDF 1459KB] ( 400 )

	67	Comparison and analysis of split-tooth permanent magnet vernier motor
		DU Yi, XU Chen
		To solve the problems of permanent magnet vernier motor (PMVM) with high torque density and high power density, the performance of PMVM was compared with that of traditional permanent magnet synchronous motor (PMSM). The structure and working principle of 6slot/32pole splittooth PMVM were introduced. The air-gap flux density of PM field and armature reaction magnetic field (ARMF), the noload EMF, the torque and the loss of 6slot/32pole split-tooth PMVM were analyzed by finite element simulation software of JMAG and quantitatively compared with those of two traditional PMSMs with the same diameter, stack length and number of stator teeth. The results show that compared with 6slot/32pole and 6slot/4pole PMSMs, the average torque of 6slot/32pole split-tooth PMVM is increased by about 45.0% and 76.2%, and the torque ripple is decreased about 90.5% and 95.0%, respectively. The results reveal that the split-tooth PMVM has merits of high torque density and low cogging torque. However, the air-gap flux density of the split-tooth PMVM contains large number of harmonics with different pole-pairs and rotation speeds, which leads to higher iron loss and PM eddy current loss.
		2023 Vol. 44 (1): 67-74 [Abstract] ( 54 ) [HTML 1KB] [ PDF 2495KB] ( 606 )

	75	Electric shock identification method based on probabilistic neural network and wavelet analysis
		LI Chunlan1, LUO Jie1, SHI Zhai1, WANG Changyun1, YE Hao2, WANG Haiyang2, WANG Jing1
		To solve the problem that the existing residual current protection device was difficult to identify electric shock accidents, a new method of electric shock identification based on wavelet high-frequency distribution characteristics and probabilistic neural network(PNN) was proposed. The S-transform was used to analyze the spectral characteristics of the residual current signal including the moment of electric shock, which was found that the high-frequency component of the residual current signal at the time of electric shock had sudden change in amplitude. The wavelet highfrequency distribution of each layer was extracted through the multi-scale frequency window provided by the wavelet multi-resolution analysis. To describe the electric shock accident, the normalized processing of each layer of wavelet highfrequency distribution mutations was used to accumulate and quantify the high-frequency characteristics of the first 5 layers of the residual current signal. Taking full account of the randomness of the time of electric shock accidents, the extracted wavelet features were divided into categories. A PNNbased electric shock accident recognition model was constructed, and the network smoothing parameters in the defined domain were optimized according to the specified step. The mean clustering method was also used to optimize the network structure. The results show that there is significantly sudden change in the amplitude of the residual current signal above 500 Hz at the time of electric shock. After normalization, the cumulative sum of the amplitude mutations of the wavelet high-frequency distribution of each layer can well describe the amplitude sudden increase in the corresponding stage of the wavelet high-frequency distribution of each layer. The optimal smoothing parameter interval of the established PNN network model is from 0.15 to 0.29, and the best corresponding identification rate of electric shock accidents is 95.5%.
		2023 Vol. 44 (1): 75-81 [Abstract] ( 59 ) [HTML 1KB] [ PDF 1780KB] ( 539 )

	82	Removal characteristics of fine particles in desulfurization tower by charged spray
		MENG Xin， WANG Junfeng， XU Huibin， LI Jin， ZHANG Wei
		To improve the removal efficiency of flue gas fine particles in the desulfurization tower by wet desulfurization technology, a new set of purging electrically charged atomization nozzle device was designed and applied to the visual desulfurization tower model test bed. The effects of operating parameters on the particle removal efficiency were systematically investigated. The results show that the charge effect of spray droplets is greatly affected by spray flow rate and spray angle, and there is an optimal charge effect working condition value. With the increasing of particle size, the overall particle classification removal efficiency is increased. The particle removal efficiency is increased with the increasing of fluid flow rate and decreased with the increasing of flue gas flow rate, which is increased firstly with latter decreasing by increasing the dust concentration. The removal efficiency of particulate matter can be further improved after the droplet is charged, and the purpose of efficient removal of fine particulate matter can be realized.
		2023 Vol. 44 (1): 82-88 [Abstract] ( 61 ) [HTML 1KB] [ PDF 3779KB] ( 399 )

	89	Liquid film flow and heat transfer characteristics of falling film evaporation on horizontal corrugated tube
		WANG Yinghui， XING Congcong， LIU Jianting
		To investigate the falling film evaporation process of R134a（C2H2F4） on horizontal tube, the volume of fluid (VOF) model and the userdefined functions (UDF) were used to numerically simulate the flow and heat transfer characteristics of the liquid film on tubes, including the flow of liquid film along the axial direction and circumferential direction of cross section of heat exchange tubes（corrugated tubes and smooth tubes）, the thickness and distribution of liquid film and the bubbles nucleation and distribution in liquid film. The calculation results show that when the heat flux on the wall is 2×104 W·m^-2, both flow and heat transfer of the R134a liquid film have differences between corrugated tube and smooth tube in the axial and circumferential direction. Along the axial direction, the spreading speed of the liquid film on corrugated tube is 2.0 ms faster than that on smooth tube, while along the circumferential direction, the liquid film spreads more uniformly and slowly than that on smooth tube. The average thickness of the liquid film on corrugated tube is 0.120 mm, which is 7.00% thinner than that on smooth tube. The thickness of liquid film on the front area of tube is 0.119 mm, which is 13.14% thinner than that on smooth tube. Compared with smooth tube, the first bubble nucleation in the liquid film on corrugated tube occurs 2.6 ms earlier, and the number of bubble nucleation is 15.32% more than that on smooth tube, while the range of bubble nucleation is larger with more bubble nucleation occurring at circumferential angles of 55°-135°. The average heat transfer coefficient on corrugated tube is 10.17% higher than that on smooth tube, and the heat transfer coefficient on the front area is 3.53 times bigger than that on the back area.
		2023 Vol. 44 (1): 89-95 [Abstract] ( 53 ) [HTML 1KB] [ PDF 2615KB] ( 378 )

	96	Spray-wall impingement characteristics of GDI elliptical nozzle
		WANG Jiaze, JIA Hekun, YU Shenghao, ZHOU Zeyuan
		The internal flow and spraywall impingement characteristics of circular and elliptical GDI orifices were simulated by the VOFspray one way coupling method under different injection pressures. The results show that the mass flow rate of isooctane at the outlet of elliptical orifice is larger than that of circular orifice, and the mass flow rate of isooctane in elliptical orifice E2 with the aspect ratio of 4 is 3.54% larger than that of circular orifice under the injection pressure of 15.0 MPa. In the spray penetration stage, the spray penetration of elliptical orifice is always smaller than that of circular orifice, which delays the time when the spray impacts the wall. Under the injection pressure of 6.0 MPa, compared with the circular orifice, the spray impingement time of the elliptical orifice E2 is delayed by 0.14 ms. The impinged spray radius width and height width of the circular orifice are larger than those of the elliptical orifices after the impingement. This is because the circular spray has larger momentum, which promotes the splash and rebound of the impinged spray, while the difference between circular and elliptical orifices is decreased with the increasing of injection pressure.
		2023 Vol. 44 (1): 96-103 [Abstract] ( 54 ) [HTML 1KB] [ PDF 4023KB] ( 487 )

	104	Cavitation phenomenon and cavitation-induced pressure fluctuations in NaOH solutions passing through-Venturi pipe
		LI Mingyi1, ZHU Yang1, ZHANG Wenbin2, YU Zheng1, KANG Can1
		With the cavitation visualization experiment rig involving Venturi pipe segment, the instantaneous cavity profiles were captured using high-speed camera, and the pressure fluctuations in the flow field were recorded using highfrequency pressure fluctuation measurement system. Pure water and NaOH solutions with mass fractions of 0.5% and 1.0% were selected as liquid mediums. The effect of volumetric flow rate of the liquid medium on the cavitation was investigated. The comprehensive analyses of cavity morphology, power spectra density and root mean square (RMS) energy of pressure fluctuation were implemented. The results show that the cavitation intensities in the two NaOH solutions are relatively higher than that in pure water, and the increasing of NaOH mass fraction can promote the severity of cavitation. In pure water, backflow of cavitation bubbles at the downstream end of cavity zone is remarkable. The cavitation can stimulate high-frequency fluctuations in the NaOH solutions, while the power spectra density is not positively related to the cavitation intensity. The position of the maximum RMS energy of pressure fluctuation shifts downstream with the increasing of flow rate, and the highest RMS energy of pressure fluctuation is obtained in 10%NaOH solution.
		2023 Vol. 44 (1): 104-111 [Abstract] ( 86 ) [HTML 1KB] [ PDF 6302KB] ( 482 )

	112	Determination and analysis of CFRP based ondigital image correlation photometry
		LI Shiquan1,2， LIU Ronggui2， ZHU Qi2， WU Wenxin2
		To test the tensile elastic modulus and bending modulus of carbon fiber reinforced plastics(CFRP), the tensile test and three point bending test of CFRP specimens were carried out. The measurement and analysis of electrical measurement and digital image correlation (DIC) optical measurement were also conducted. The results show that the tensile modulus values measured by electrical method and DIC optical method are 19.1 GPa and 19.3 GPa, respectively, and the results are similar. The flexural modulus values measured by electrical method and DIC optical method are 18.5 GPa and 19.2 GPa, respectively, and the results are quite different. A threepoint bending finite element model is established based on the electrical data of axial tensile specimens. The displacement field and strain field of specimens by the electrical measurement method are consistent with the analysis results by the DIC optical measurement method, which verifies the reliability of the calculation results of the DIC optical measurement method. Compared with the electrical measurement method, the DIC optical measurement method has the advantages of non-contact, field test features and so on. It can be used to monitor the displacement field in the surface area of specimen in real time and obtain the strain field in the surface area.
		2023 Vol. 44 (1): 112-116 [Abstract] ( 57 ) [HTML 1KB] [ PDF 10226KB] ( 447 )

	117	Temperature effect of mass concrete pouring on station floor
		XU Jiaxiang1, WU Ke1, YANG Tao2, LI Guodong2, HAN Yucong1
		To investigate the temperature effect of the mass concrete on the subway station bottom slab after pouring, based on the mass concrete bottom slab pouring project of Huaxing Street Station of Chengdu Metro Line 19, the dry shrinkage and self-shrinkage characteristics of concrete caused by hydration heat reaction were discussed by field monitoring and numerical analysis method. Using the finite element analysis software, the temperature field was applied to simulate the strain variation characteristics of the concrete bottom plate by stratification and subsection. The main factors on the deformation of mass concrete bottom plate were analyzed, and the reasonable control measures were proposed based on the construction characteristics and construction period of the subway station. The results show that there are great differences in temperature and strain of each layer of mass concrete floor. When the pouring days are 0-3.0 d, the main influencing factors on floor deformation are the dry shrinkage and the self-shrinkage of concrete after intense hydration reaction. When the pouring days are 4.0-10.0 d, the main influencing factors are the temperature and the temperature difference effect caused by the uneven heat dissipation of concrete.
		2023 Vol. 44 (1): 117-124 [Abstract] ( 55 ) [HTML 1KB] [ PDF 11035KB] ( 438 )

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