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    25 March 2026, Volume 37 Issue 3
    Prediction and Conditioning of Surface Integrity for Cutting Difficult-to-machine Metallic Materials
    LIU Zhanqiang, ZHAO Yongyao, WANG Bing, ZHAO Jinfu, LIU Annan, YAO Longxu
    2026, 37(3):  509-527.  DOI: 10.3969/j.issn.1004-132X.2026.03.001
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    Machined surface integrity, a composite reflection of the geometric, physical, chemical, and mechanical properties of the machined surface layers, is dictated by the thermo-mechanics loads and material removal modes inherent to the cutting processes. This integrity directly governed the in-service performance and lifespan of engineered components. A thorough investigation into how conditioning strategies influenced surface integrity was therefore fundamental to realize high-integrity surfaces, and was critically important for optimizing the machining of difficult-to-cut metallic materials. This review began by categorizing the metrics of machined surface integrity for these materials based on three aspects: geometric features, microstructural evolution, and surface-layer mechanical properties, while also summarizing the approaches for developing predictive models. Subsequently, it elucidated research advancements in machined surface integrity conditioning strategies of difficult-to-cut metallic materials, critically comparing the distinct influence mechanisms of tool and process optimization, multi-energy field assisted machining, and workpiece pre-treatment on machined surface integrity. Finally, this paper explored the prediction accuracy of current models and the general applicability of conditioning strategies, offering an outlook on future research priorities.

    Decoupled Modeling and Correction for Fork-Ear Type Aircraft Wing-Fuselage Docking Assembly Deviations Based on Distributed Binocular Vision and Priority Constraint
    TIAN Xingyuan, ZHU Yongguo, CUI Wei, HE Minyin, CHENG Cheng, ZHANG Yitao
    2026, 37(3):  528-537.  DOI: 10.3969/j.issn.1004-132X.2026.03.002
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    Aiming at the problems that the optical path measured by laser trackers was prone to occlusion and the coupling relationship existing in docking assembly accuracy during aircraft wing-fuselage docking assembly, the wing-fuselage docking assembly of fork-ear aircrafts was used as research object, and a method was proposed for decoupled modeling and correction for fork-ear type aircraft wing-fuselage docking assembly deviations based on distributed binocular vision and assembly accuracy priority constraint. A deviation detection and correction system was constructed for the wing-fuselage docking assembly of fork-ear aircrafts, integrating distributed binocular cameras, laser trackers, and numerical control positioners. Based on the importance and process characteristics of wing-fuselage docking assembly accuracy, a comprehensive expression was established for the wing-fuselage docking assembly deviations of fork-ear aircrafts, and a correction method was proposed for such assembly deviations, which was based on the priority constraint of assembly accuracy. The coupled accuracy requirements were decoupled into a phased discrete optimization problem for aircraft wing-fuselage docking assembly. The relative attitude deviation of the aircraft wing-fuselage was quantified using Lie algebra parameterization. The clearance correction and coaxiality correction amounts were calculated respectively via the fork-ear fit clearance model and the fork-ear hole coaxiality model, enabling the step-by-step correction of deviations in aircraft wing-fuselage docking assembly. Experimental results show that compared with the unconstrained model assembly method and the traditional geometric reference-based multi-constraint model deviation correction method, the wing-fuselage relative attitude deviation, fork-ear hole coaxiality, and fork-ear fit clearance are all improved.

    Analysis of Compressive Stiffness Characteristics of Tubular Support Structures with Negative Poisson's Ratio
    SU Yilin, JI Xiaogang, XIN Jiaming, NIU Guofa
    2026, 37(3):  538-545.  DOI: 10.3969/j.issn.1004-132X.2026.03.003
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    Negative Poisson ratio structures were widely used in engineering because of their unique structural properties, high energy absorption and good deformation adaptability. The performance optimization of tubular supports was studied with negative Poisson ratio structure in engineering applications. Combining structural design and mechanics analyses, the compressive performance of tubular supports was systematically investigated. Based on the unique inward shrinkage deformation characteristics of negative Poisson's ratio structures, four new tubular stent structures were designed and prepared. By analyzing the stress distribution and load displacement curve through physical compression test and numerical simulation, a multi-dimensional evaluation system was constructed including peak load, energy absorption and compression stiffness. The results show that the stabilitys of FB-H structure is the best under continuous radial pressure, and the compressive strength of FB-X structure and FB-S structure are increased by 42% and 123%, respectively. Different structures show differences under axial loads. The FB-X and FB-S brackets have high rigidity and are suitable for scenarios requiring support stability. The FB-N and FB-H brackets are flexible and suitable for large deformation scenes.

    Linear Hydrodynamic Polishing of Copper Substrates Based on Composite Structure Polishing Tools
    YU Hongjiao, WEN Donghui, KONG Fanzhi, FU Yuantao
    2026, 37(3):  546-554.  DOI: 10.3969/j.issn.1004-132X.2026.03.004
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    To improve the surface morphology of copper substrates, a design method was proposed for composite structure polishing tools. Based on the principle of linear hydrodynamic pressure and material removal model, numerical simulation analyses of hydrodynamic pressure flow field characteristics were carried out to verify the accuracy of simulation data and clarify the influences of processing parameters of copper substrate linear hydrodynamic pressure polishing on surface morphology. Results show that composite structures have a higher mean hydraulic pressure and smaller standard deviation than that of single spiral structures, non-uniform groove width structures, and variable thickness structures. Composite structures combine the advantages of high material removal rate of spiral structures, good surface morphology uniformity of non-uniform groove width structures, and variable thickness structures during polishing. The surface roughness parameters SaSq, and PV are optimized to 4.778 nm, 6.086 nm, and 9.900 nm, respectively, when the processing parameters are set as follows: polishing time of 45 min, polishing speed of 24 000 r/min, and polishing gap of 20 μm.

    Optimal Design of Omnidirectional Tilt Sensors Based on Magnetic-Gravity Coupled Pendulous Equilibrium
    WANG Zhongkai, XIE Tao, WANG Hongliang, HU Fangmin
    2026, 37(3):  555-563.  DOI: 10.3969/j.issn.1004-132X.2026.03.005
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    To address the issues of limited measurement directions and complex structures in existing magnetic-effect tilt sensors, a suspended, gravity-balanced omnidirectional inclinometer was proposed based on a magneto-gravitational coupling design. Finite element simulations were used to determine the optimized engineering parameters for the permanent magnet dimensions and the detection air gap. Under small perturbations, the natural restoring process was analyzed to evaluate the influences of ball material properties and contact surface geometry on the contact behavior, which guided the optimization of the spherical crown concave structures and ball material selection. Calibration experiments were conducted to verify the accuracy of the simulation models. Through systematic characterization, mapping models were established between the XY -axis magnetic field signals and displacement, and between displacement and inclination angle. Additionally, an analytical model was constructed between the Z-axis magnetic field and the inclination angle. The combination of these models enabled simultaneous estimation of inclination angle θ and azimuth angle φ. To fully exploit the response characteristics of each magnetic field component across different tilt angle ranges, a segmented tilt angle calculation strategy was proposed. Validation experiments show that within the measurement range of -20° to 20°, the maximum tilt angle error under various azimuth angles does not exceed ±0.3°.

    Research on Judgment Methods for Multi-mode Mechanism Shakiness to Avoid Local Degrees of Freedom Solution
    XIE Yuhang, HANG Lubin, KANG Kaidong, HUANG Xiaobo, CHI Yonglin
    2026, 37(3):  564-570.  DOI: 10.3969/j.issn.1004-132X.2026.03.006
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    Mechanism shakiness occured in the transition configuration where the motion branches of different degrees of freedom intersect, which was the key factor causing the poor controllability and motion stability of the mechanisms, and the judgment was crucial. The conditions for determining the kinematic singular shakiness of the mechanisms were presented. When the constraint ideal of the kinematic loop equations of the mechanisms was radical ideal or the real dimension of solution was different from the complex dimension after the decomposition of the constraint ideal, if there were higher-order tangent cones and the intersection of the different dimensional tangent spaces of the higher-order tangent cones existed real solutions, the mechanism was a kinematic singular shakiness mechanism. Combined with the kinematic non-singular shakiness conditions, shakiness types of the mechanisms were summarized. Based on the polynomial ideal and differential tangent cone theory, a unified and general judgment method and algorithm for mechanism shakiness were proposed to avoid local degrees of freedom solution. According to the algorithm, the multi-mode 7R mechanisms were judged to be kinematic singular shakiness mechanisms. The two actuation motors of the mechanisms were enabled and disabled to make the mechanism motion mode switch smoothly and avoid the influences of mechanism shakiness. The 7R mechanism satisfying the scale constraint type was embedded into vehicle latch, and realized electric cinch and auxiliary opening function by mode switching.

    Chatter Avoidance Method of Industrial Robotic Machining Based on Dynamics Mode Decoupling
    GUO Wanjin, LI Qianhui, TIAN Yuxiang, CAO Chuqing, ZHAO Lijun, XU Mingkun, LIU Xiaoheng, HOU Xudong
    2026, 37(3):  571-585.  DOI: 10.3969/j.issn.1004-132X.2026.03.007
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    To address the issue of chatter avoidance in robotic machining processes, a method was proposed to avoid chatters in industrial robot machining based on dynamics modal decoupling. Firstly, dynamics differential equations were established for the robot at various orientations within a specific location. Secondly, stability analyses were conducted separately for regenerative chatter and mode-coupling chatter, allowing the reachable robot orientations to be classified as either stable or chatter-prone. Thirdly, stability criteria for both regenerative chatter and mode-coupling chatter were derived to identify orientations where neither type of chatter occured. Based on these stability criteria, stable and chatter orientations were selected, and hammering experiments, as well as robotic machining chatter avoidance tests, were carried out.Experimental results validate the effectiveness of the proposed method.

    Rigid-Flexible Coupling Dynamics Analyses and Experiments of Spatial Parallel Mechanisms with Clearances
    CHEN Xiulong, SUN Chuijun, DENG Yu
    2026, 37(3):  586-594.  DOI: 10.3969/j.issn.1004-132X.2026.03.008
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    In order to accurately predict the dynamics characteristics of the spatial parallel mechanisms under the combined action of joint clearances and component elasticity, a 3-RRPaR spatial parallel mechanism was taken as the research object, and rigid-flexible coupling dynamics model of the mechanisms was established with clearances. The fourth-order Runge-Kutta method and the generalized α algorithm were used to solve the dynamics model. The dynamic output responses such as displacement, velocity and acceleration of the moving platform of rigid body dynamics model with clearances and the rigid-flexible coupling dynamics model with clearances were compared and analyzed. An experimental platform was built to verify the correctness of the dynamics analysis results. The results show that the elastic deformations of the components may aggravate the velocity and acceleration fluctuation of the mechanisms, and the increase of the clearance values may lead to the increase of fluctuation of dynamic output response.

    Modeling and Applications for Pointing Errors of Dual-offset Gregorian Antenna under Random Wind Loads
    LIU Huishan, PEI Jiaxing, WU Jinhui, ZHANG Lei, LIAN Peiyuan, TAO Yourui
    2026, 37(3):  595-603.  DOI: 10.3969/j.issn.1004-132X.2026.03.009
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    Investigation of pointing errors of dual-offset Gregorian antenna primarily relied on simulation software, which was computationally inefficient and not conducive to antenna performance optimization and wind disturbance rejection design. Based on the pointing error model of a Cassegrain antenna, a pointing error model was developed for dual-offset Gregorian antenna with similar formal structure. The model was validated through electromagnetic simulations, and the results demonstrate that the developed pointing error model is both highly accurate and applicable, providing a basis for establishing a unified theoretical framework for both types of antennas. Taking the dual-offset Gregorian antenna element of the square kilometre array (SKA) as an example, the pointing error variation were analyzed by combining antenna structural deformation data and the pointing error model under different random wind loads and different attitudes. The results indicate that the established error model may rapidly assess the pointing errors of dual-offset Gregorian antennas under random wind loading.

    Study on No-undercutting and Its Solution Spaces of Cam Mechanisms with Negative Radius Roller Follower
    HU Zhichao, CHANG Yong, YANG Fufu, WEN Shengxing
    2026, 37(3):  604-611.  DOI: 10.3969/j.issn.1004-132X.2026.03.010
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    The issue of “undercutting” in mechanisms with negative radius follower was highly prone to occur and was very prominent. By discovering the offset curve with opposite direction relationship between the cam pitch curve and cam profile, a new criterion was proposed for no-undercutting based on cam pitch curve. Based on this new criterion, the issue of undercutting was conducted in-depth research. Firstly, a coordinate system was established based on the base circle radius and eccentric offset, and the discrete-traversal method was employed. The inevitable /possible undercutting regions were discovered. The new concepts of non-roller-type/roller-type undercutting were proposed. And the impact of stroke, rise/return phase motion angle, and motion law on inevitable undercutting regions were discussed. Secondly, a vertical numerical axis was established based on roller radius to analyze the distribution characteristics of two types of roller radius values. Then, based on the three-dimensional coordinate system established with the base circle radius, eccentric offset, and roller radius, the solution space and two types of non-solution spaces were obtained for ensuring no-undercutting. Two types of cam profile morphological characteristics, specifically the “swallowtail-shaped- type Ⅰ/type Ⅱ” corresponding to the two types of non-solution spaces were analyzed. This solution space expresses the range of values for the base circle radius, eccentric offset, and roller radius that satisfied the no-undercutting conditions, as well as the minimum size of the cam profile, etc. Finally, the correctness and effectiveness of the proposed theory and method were verified through design cases.

    Surrogate-assisted Differential Evolution Algorithm for Compliance Optimization of Sandwich Structures
    YANG Zan, ZHU Zihua, SUN Guanguan, QIU Haobo, GAO Liang
    2026, 37(3):  612-623.  DOI: 10.3969/j.issn.1004-132X.2026.03.011
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    Sandwich structures were widely used in aerospace and other fields due to their high stiffness-to-weight ratio characteristics. The calculation costs of compliance simulation analyses in optimization design processes were significantly higher than that of weight constraints. However, the existing homogeneous algorithms assumed that the objectives were equivalent to the costs of constraint evaluation, which led to poor optimization adaptability and low efficiency. Thus, a constraint-objective two-stage optimization framework was designed based on feasibility rate to match adaptive optimization direction for real-time optimization paths. In the first stage, a dual offspring population collaborative optimization strategy of exploratory mutation-constraint relaxation screening and exploitative mutation-uncertainty screening was proposed to simultaneously enhance the level of constraint optimization and the reliability of the surrogate model, and the partial evaluation strategy was designed to save time-consuming objective evaluation. In the second stage, the search type was defined by combining feasible solution clustering analyses and dynamic threshold, and the surrogate model modeling and evolution strategy were adjusted adaptively. Under three classical loads, the proposed algorithm obtains optimal structures comparing with the gradient algorithm and other state-of-the-art algorithms of the same type, which confirms the effectiveness in practical applications.

    Spatial Layout Optimization of Ultra-high-pressure Water Jet Self-driven Rotary Sprayer
    ZHAO Wentao, CHEN Zhengshou, CHEN Yuanjie, DU Bingxin, TAN Xiaoli
    2026, 37(3):  624-633.  DOI: 10.3969/j.issn.1004-132X.2026.03.012
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    To enhance the hydrodynamic performance and rust-removal efficiency of the UHP water jet rotary sprayers, a novel layout optimization strategy was proposed based on the PSO algorithm. The sweep impinging trajectory, accumulative impinging-duration, and self-rotary models were successively established based on a fully motion characteristics analysis of the rotary sprayers. The self-rotary model revealed the influences of nozzle spatial layout on rotational speed and provided a theoretical basis for determining the attack angle. By regarding the uniformity of water jet impinging energy distribution and the sweep impinging width as evaluation criteria, a bi-objective optimization model was established. Then, the optimal spatial layouts of the nozzles were obtained via PSO algorithm, and the corresponding attack angles were derived from the self-rotary model. Finally, an actual optimization experiment was conducted using a rod-like shape 16-nozzle rotary sprayer commonly adopted in a shipyard of Zhejiang. Results show that the optimized design improves the uniformity of sweep impinging energy distribution by 22.81% and increases rust-removal efficiency by approximately 11.2%.

    Research on Chatter Recognition and Suppression Methods for Robotic Milling of Thin-walled Cylinders
    YI Yali, CHENG Yangyang, CHEN Xiaowei, YANG Wenbo, JIN Herong
    2026, 37(3):  634-644.  DOI: 10.3969/j.issn.1004-132X.2026.03.013
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    Aiming at the problems that chattering was easy to occur in robotic intermittent grooving milling applications of cast thin-walled cylindrical parts, which led to the degradation of surface quality of the parts, an on-line identification and suppression method of chatter was proposed based on entropy difference of power spectrum and variable rotational speed. Firstly, the type of chatter and the characteristics of different milling states were determined based on the analyses of milling conditions of thin-walled parts. Secondly, the combination of power spectrum entropy difference and root-mean-square value was utilized for milling state identification, and a spindle rotational frequency and the multiplier fast removal algorithm was proposed to address the issues of early chatter frequencies being easily drowned out. Thirdly, combined with a number of experiments to clarify the influences of milling parameters on chatter, the discrete variable speed method was adopted for chatter suppression, and a spindle speed update strategy was developed. Finally, an online chatter monitoring and suppression system was developed, and variable speed flutter suppression tests were conducted. The results show that the method proposed herein effectively identifies the idle, stable and chattering states, and the amplitude of vibration acceleration is reduced by about 37.3% after chattering suppression, and the roughness value of the machined groove bottom surface is reduced by about 34.7%.

    Early Fault Detection for Rolling Bearings Based on One-dimensional Structure Graph Entropy
    LI Ke, WANG Mengjun, YUAN Maojun, ZHANG Hongshuo, YUAN Keyan, LU Guoliang
    2026, 37(3):  645-655.  DOI: 10.3969/j.issn.1004-132X.2026.03.014
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    To address the challenges of accurately identifying early faults in rolling bearings, a fault detection method was proposed based on one-dimensional structural graph entropy. A graph model was developed to transform time-series data into spatial structures, enabling effective extraction of bearing condition features. A complete graph model of signal short-time power spectrum was construtured, and the complexity changing rules of time-frequency energy distribution were captured. Leveraging the ability of entropy to describe signal nonlinearity, a one-dimensional structural graph entropy measure was defined to quantify the variations in complexity of model structure, whose mean value served as health indicator for assessing the condition of the bearings. Theoretical explanations and numerical analyses demonstrated the discriminative mechanism of health indicators regarding operating states. Additionally, an adaptive detection method was developed based on the characteristics of this health indicator. The method was experimentally validated on XJTU-SY, IMS, PHM, and pulp mill datasets. Results show that the method may accurately identify fault conditions without any parametric adjustments. When compared with methods such as mean square value, synchronized pseudo-velocity corrected mean square value, variance, and kurtosis, the proposed health indicator shows superior robustness and trend-tracking performance.

    Fault Diagnosis Method of Belt Conveyor Roller Bearings Based on NSST4-SVD-DBN
    HU Kun, CHEN Zhuo, HAN Xin, JIANG Hao, NIU Jie
    2026, 37(3):  656-667.  DOI: 10.3969/j.issn.1004-132X.2026.03.015
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    Aiming at the problems of difficulty in extracting feature information generated by belt conveyor roller bearing faults, as well as low accuracy and poor robustness of fault diagnosis and identification, NSST4, SVD and DBN methods were combined to propose a suitable method for belt conveyor roller bearing acoustic signal fault diagnosis. Firstly, sequential variational mode decomposition (SVMD) was used to process the acoustic signals to enhance the recognizability of fault features. Second, the processed one-dimensional signals were converted to a two-dimensional time-frequency matrix by NSST4, which was used as the inputs of the feature matrix. Subsequently, the feature matrix was downsized using SVD technique to extract the key singular value vectors that might characterize the status of the roll bearings. These singular value vectors were then input into DBN, and the DBN core parameters were optimized by the improved sparrow search algorithm (ISSA) to improve the recognition performance of the model. Finally, in order to further validate the effectiveness of the proposed method, it was tested by simulated fault experiments and field experiments. In the simulated fault experiments of the roller bearings, the accuracy rate of the proposed method reaches 97.91%. Compared with other 5 methods, the accuracy of the proposed method is the highest, and the mean absolute error (MAE) is the lowest. In the field experiments, the recognition accuracy reaches 96.57%.

    Tool Wear State Identification and Prediction Method Based on Improved EfficientNetV2 and UNetTSF
    ZHANG Xi, ZHU Hong, ZHANG Longjia, ABDELTAWAB Ahmed
    2026, 37(3):  668-678.  DOI: 10.3969/j.issn.1004-132X.2026.03.016
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    In order to improve the accuracy of tool wear prediction for the problems of tool in-machine wear condition monitoring, a new monitoring model named GAF-iEfficientNetV2-UNetTSF was proposed integrating GAF, the improved EfficientNetV2 lightweight network, and the UNetTSF time-series prediction model. The model adopted the strategy of first classification and then prediction. Firstly, the force signals were acquired during machining processes by tool, and the feature dimensionality reduction was realized by segmented aggregation technique. Then GAF was used to encode the three-directional force signals respectively, and three groups of single-channel images were obtained. The three groups of single-channel images under the same time sequence were stacked into three-channel images. Subsequently, an improved EfficientNetV2 training network was constructed to automatically extract and classify features to recognize the tool wear states. Finally, for the most critical tool wear states, the UNetTSF model was utilized for wear value prediction in order to achieve accurate prediction. Through comparative experiments, the high accuracy of the model in the task of tool wear state recognition and the high precision in wear value prediction were verified. The results provide an efficient and accurate monitoring method in the field of tool wear state monitoring, and is of great significance for improving industrial production efficiency and reducing maintenance costs.

    Fuzzy Control for Multi-state Deformations of Variable-camber Wings Based on Multi-stage SMA Actuation
    BAI Jiangtao, JIAN Zhengheng, WANG Ziang, WANG Xiaoming, ZHOU Wenya
    2026, 37(3):  679-687.  DOI: 10.3969/j.issn.1004-132X.2026.03.017
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    The design of continuously variable-camber wings integrating SMA and flexible structures represented a crucial development direction for future morphing wings. To address complex flight environments and deformation requirements, wings should possess multi-camber deformation adjustment capabilities and precise control performance. A variable-camber wing structure was presented driven by a three-stage SMA wire actuator combined with modular flexible components, along with a multi-state deformation fuzzy control algorithm. First, by an open-loop test, the control logic was established based on minimum energy consumption and heating stages. Subsequently, a multi-stage fuzzy PID control algorithm was developed to handle SMA nonlinear driving characteristics and uncertain factors like load variations, ensuring precise deformation control across different camber states. Experimental results demonstrate that the proposed multi-state fuzzy control algorithm may effectively achieve precise deformation control under various variable curvature states. Compared with conventional PID control, the new control algorithm significantly reduces settling time, effectively improves both mean absolute errors and maximum overshoots, while maintaining good robustness.

    Fault Diagnosis of Chillers Based on Multi-scale Domain Generative Networks
    GAO Xuejin, WANG Xuan, JIANG Kexin, GAO Huihui, QI Yongsheng
    2026, 37(3):  688-696.  DOI: 10.3969/j.issn.1004-132X.2026.03.018
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    To address the issues that domain generalization methods relied on data from multiple source domains for model training, while obtaining multi-operating condition data for chiller units was challenging, a fault diagnosis method was proposed for chiller units based on multi-scale domain generative network (MSDGN). First, a multi-scale encoder-decoder convolutional neural network was used to extract multi-scale features from source domain data, and learnable weight parameters were introduced to dynamically adjust the importance of features at each scale to enhance the diversity of the extended domain. Then, focal loss was applied to strengthen the penalty for semantically inconsistent samples, improving the semantic consistency of the extended domain. A combination of reverse metric learning strategies and a domain classifier was used to maximize the distribution difference between sources and extended domains, thereby achieving diversity in the training data. Finally, a domain adversarial strategy was employed to extract domain-invariant features from both the source and extended domains, and a triplet loss was introduced to minimize the distribution difference across multiple domains, enabling fault diagnosis for unknown operating conditions. By generating the extended domain, the model’s fault diagnosis performance was improved under unknown conditions. The proposed method was experimentally validated using ASHRAE 1043-RP dataset and a metro dataset from a certain city. The results on ASHRAE 1043-RP dataset demonstrate that the proposed method effectively identifies faults even when target operating conditions are unseen, achieving a maximum diagnosis accuracy of 98.19%. Results on the metro dataset indicate that the proposed method exhibits practical applicability in real-world scenarios. Compared with existing methods, the proposed approach achieves superior fault diagnosis performance.

    Upper Limb Motion Recognition Based on Two-stream Convolutional Neural Network for sEMG Signals
    LI Xianhua, YIN Sheng, QIU Xun, DU Pengfei, SONG Tao
    2026, 37(3):  697-707.  DOI: 10.3969/j.issn.1004-132X.2026.03.019
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    In order to enhance the accuracy of upper limb motion recognition based on sEMG signals and to validate the applications of the intent recognition model in real rehabilitation robots, a upper limb motion recognition method was proposed using a two-stream convolutional neural network for sEMG signals. The approach began by applying wavelet threshold denoising, bandpass filtering, full-wave rectification, and envelope smoothing, followed by sample construction using a sliding window. The original EMG signals were then processed with variational mode decomposition and discrete wavelet packet transform. Key intrinsic mode functions and wavelet packet transform coefficients were extracted as inputs for the two branches of the model to enable high-level feature learning. A temporal convolutional network was employed to capture temporal dynamics and global dependencies within the features. The feature fusion module then integrated the high-level feature information. The proposed method achieves average recognition accuracies of 93.43%, 92.37%, and 97.54% on the public Ninapro DB4/DB5 datasets respectively and self-collected data for 6 upper limb movements. The average recognition accuracy reaches 87% for the 6 upper limb movements of 5 participants.

    Modeling and Analyses of Calendering Pressure for Lithium-ion Battery Electrodes Based on Kuhn Yield Criterion
    WANG Guodong, WANG Dongcheng, DUAN Bowei, LIU Hongmin
    2026, 37(3):  708-716.  DOI: 10.3969/j.issn.1004-132X.2026.03.020
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    Calendering was a crucial process in the manufacturing of lithium-ion battery electrodes, and the calendering pressure was an important parameter for electrode calendering. Due to the special structures of battery electrodes, the calendering pressure was difficult to predict. To address this issue, a predictive model was established for the unit pressure distribution during the calendering processes of lithium-ion battery electrodes based on Kuhn yield criterion in the field of powder forming. The model was validated through calendering experiments. The results demonstrate good agreement with experimental data, and the prediction errors of the unit width pressure remain within 10%. Further analyses exploring the distribution characteristics of unit pressure and frictional stress within the roll gap were carried out, and the effects of compression rate and roll diameter on unit width pressure and unit width torque were disussed. The results indicate that both unit width pressure and unit width torque increase with the increasing compression rate and roll diameter.

    Multi-directional Die Forging Forming Process and Grain Structure Evolution Prediction of Large High-pressure Valve Bodies
    JIN Miao, QIN Rui, LI Wenyu JIN Miao, LI Xiaolong, LUO Linfeng, ZHANG Qingling
    2026, 37(3):  717-725.  DOI: 10.3969/j.issn.1004-132X.2026.03.021
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    A multi-directional die forging forming processes would proposed for a 7-15K large gate valve bodies made of 4130 steel, and the evolution of the internal microstructure of the forging processes was predicted by numerical simulation. Based on the true stress-strain data of 4130 steels, dynamic recrystallization volume fraction and grain size models were constructed, the reliability of these models was validated through comparisons between the model predictions and metallographic experimental measurements, the calibrated models were integrated into the finite element analysis software to simulate the multi-directional die forging processes of large high-pressure valve bodies. Based on the coupled analysis of temperature and strain fields, the evolution of microstructures in 4130 steel valve body was systematically investigated, and two different methods for evaluating the homogeneity of grain structure were proposed for the fully recrystallized and incompletely recrystallized regions. The results demonstrate that compared with conventional forging processes, the multi-directional die forging process may effectively enhance material plasticity, improve the mechanics properties of the forgings, and increase the uniformity of internal deformations.

    Study on Effects of Parallel Ultrasonic Vibration-assisted Cutting on Surface Integrity of Titanium Alloy Shafts
    LONG Yupeng, CAI Wei, LI Li, PENG Tao, DONG Guojun
    2026, 37(3):  726-734.  DOI: 10.3969/j.issn.1004-132X.2026.03.022
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    Considering the difficulties in machining surface quality assurance of titanium alloy shaft parts, a parallel ultrasonic vibration cutting method was proposed based on ultrasonic vibration with two tools cutting synergy. The parallel ultrasonic vibration cutting principles and cutting modes were analyzed, and the tool-workpiece trajectory and separation cutting conditions were studied. The effects of four types of cutting processes including the parallel ultrasonic vibration cutting and the single-tool conventional cutting, the conventional cutting with two tools (parallel cutting), and the single-tool ultrasonic vibration cutting, on their surface integrity (i.e., surface roughness and machined surface morphology, surface residual stress, microstructure and surface hardness) were studied. The experimental results indicate that the parallel ultrasonic vibration cutting and the single-tool ultrasonic vibration cutting significantly benefit to reduce the surface roughness of the machined surfaces, to increase the thickness of the deformed layers and the surface hardness, resulting in high surface residual stress. The parallel cutting and parallel ultrasonic vibration cutting may reduce the surface residual stress but increase the surface roughness. Therefore, parallel ultrasonic vibration cutting combines the advantages of parallel cutting and ultrasonic vibration cutting, achieving a lower surface roughness while reducing surface residual stress, increasing surface microhardness and hardening rate, and further enhancing material properties.

    Adaptive Preview Path Tracking Algorithm for Vehicles Considering Curvature Disturbance
    ZHANG Lin, BI Yuchen, ZHAO Ning, SUN Mingyan, WEI Chao, YAN Yunbing
    2026, 37(3):  735-742.  DOI: 10.3969/j.issn.1004-132X.2026.03.023
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    Path tracking control played a vital role in unmanned vehicle motion control, and the control performance was highly sensitive to road curvature rapid variations. Therefore, an adaptive preview path tracking control method was proposed with curvature disturbance suppression to enhance the robustness and accuracy of the systems under complex road conditions. By embedding curvature disturbances into the state vector, an augmented LQR problem was formulated and efficiently solved using a reduced-order Riccati equation. Subsequently, the feasibility of the preview controller was verified through frequency-domain response analyses. Furthermore, an adaptive strategy was designed for adjusting preview steps to dynamically optimize the preview distances based on vehicle speeds and the curvatures at the distant preview points. Hardware-in-the-loop simulations and real-vehicle tests confirm the method's effectiveness in improving tracking accuracy and driving stability.

    Resonance Tracing and Suppression for Drive Systems of Distributed Full Hydraulic Fracturing Trucks
    CHEN Wenting, ZHANG Zhen, WANG Wenlong, AI Chao, HE Yifei, ZHONG Yuhang
    2026, 37(3):  743-751.  DOI: 10.3969/j.issn.1004-132X.2026.03.024
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    The low intrinsic frequency and low constant damping ratio of the pump-controlled motor hydraulic systems resulted in system resonance. To solve the problem in hydraulic systems of 318E distributed fully hydraulic fracturing trucks, a resonance origin-tracing and suppression study was conducted through experiments and classical control theory. Firstly, experiments were carried out on the fracturing trucks, and through the frequency characterization, it was initially determined that the resonance originated from proximity of fracturing pump excitation frequency and hydraulic system intrinsic frequency. Further, a mathematical model of the pump-motor systems was established to determine the intrinsic frequency of hydraulic systems. A theoretical model of the fracturing pumps was established to clarify that under specific flow,the frequency of fracturing pump operating torque fluctuation was similar to the intrinsic frequency of hydraulic systems, leading to system resonance. The system resonant was then avoided by introducing an accumulator to reduce the inherent frequency to an uncommon flow. The experimental results show that compared with the original system without the accumulator, the peak pressure resonance of the hydraulic systems is reduced by 60%, and the life and reliability of the hydraulic systems are greatly improved.

    Optimization of Static Equilibrium Leveling Algorithm for Optoelectronic Pods Based on Trust Domain and Augmented Lagrangian Method
    YANG Guang, WANG Yidong
    2026, 37(3):  752-761.  DOI: 10.3969/j.issn.1004-132X.2026.03.025
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    To address the imbalance torque caused by the center-of-mass offset in electro-optical pods, a balancing optimization method was developed. This method integrated an eccentricity parameter estimation approach based on the trust region framework with an augmented Lagrangian optimization algorithm. A mathematical model of the mass offset was first established, and high-precision eccentricity parameters were estimated using trust-region-based method. The balancing problem was then formulated as a multi-objective optimization task aimed at minimizing both the imbalance torque and the total counterweight mass. The ε-constraint method was employed to convert the multi-objective problem into a single-objective one. Following each ε updated, the augmented Lagrangian method was applied to obtain a Pareto solution sets, from which the final solution was determined using a weighted-sum strategy. Experimental validation was conducted on two electro-optical pods weighing 4 kg and 10.5 kg, respectively, with 50 trials each. The estimation errors of eccentricity distance and angle reach the order of 10-6 and 0.1°, respectively. Post-balancing, the qualified rates of residual imbalance torque were 96% and 100%. These results confirm that the proposed method may efficiently and accurately determine optimal balancing configurations, offering a reliable theoretical and experimental foundation for the static balancing of electro-optical pods.