A progressive framework for rotary motion deblurring

The rotary motion deblurring is an inevitable procedure when the imaging seeker is mounted in the rotating missiles.Traditional rotary motion deblurring methods suffer from ringing artifacts and noise,especially for large blur extents.To solve the above problems,we propose a progressive rotary motion deblurring framework consisting of a coarse deblurring stage and a refinement stage.In the first stage,we design an adaptive blur extents factor(BE factor)to balance noise suppression and details reconstruction.And a novel deconvolution model is proposed based on BE factor.In the second stage,a triplescale deformable module CNN(TDM-CNN)is designed to reduce the ringing artifacts,which can exploit the 2D information of an image and adaptively adjust spatial sampling locations.To establish a standard evaluation benchmark,a real-world rotary motion blur dataset is proposed and released,which includes rotary blurred images and corresponding ground truth images with different blur angles.Experimental results demonstrate that the proposed method outperforms the state-of-the-art models on synthetic and real-world rotary motion blur datasets.The code and dataset are available at https://github.com/JinhuiQin/RotaryDeblurring.

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.

In situ strength profiles along two adjacent vertical drillholes from digitalization of hydraulic rotary drilling

Drilling speed and associated analyses from factual field data of hydraulic rotary drilling have not been fully utilized.The paper provides the reference and comparison for the utilization of drilling information from two adjacent vertical drillholes that were formed with the same hydraulic rotary drilling machine and bit.The analysis of original factual data is presented to obtain the constant drilling speed during net drilling process.According to the factual data along two adjacent drillholes,the digitalization results respectively include 461 linear zones and 210 linear zones with their constant drilling speeds and associated drilling parameters.The digitalization results can accurately present the spatial distributions and interface boundaries of drilled geomaterials and the results are consistent with the paralleled site loggings.The weighted average drilling speeds from 2.335 m/min to 0.044 m/min represent 13 types of drilled geomaterials from soils to hard rocks.The quantitative relation between drilling speed and strength property is provided.The digitalization results can statistically profile the basic strength quality grades of III to VI from soils to hard rocks.The thickness distributions of four strength quality grades are presented for each individual type of geomaterials along two drillholes.In total,50.2%of geomaterials from drillhole A are grade IV and 57.4%of geomaterials from drillhole B are grade III.The digitalization results can offer an accurate and cost-effective tool to quantitatively describe the spatial distribution and in situ strength profile of drilled geomaterials in the current drilling projects.

New Technology of Multidirectional Loading Rotary Extrusion

To satisfy the requirements for the precise formation of large-scale high-performance lightweight components with inner ring reinforcement, a new multidirectional loading rotary extrusion forming technology is developed to match the linear motion with the rotary motion and actively increases the strong shear force. Its principle is that the radial force and rotating torque increase when the blank is axially extruded and loaded. Through the synergistic action of axial, radial, and rotating motions, the orderly fow of metal is controlled, and the cumulative severe plastic deformation (SPD) of an“uplift-trowel” micro-area is generated. Consequently, materials are uniformly strengthened and toughened. Simultaneously, through the continuous deformation of a punch “ellipse-circle,” a high reinforcement component is grown on the cylinder wall to achieve the high-quality formation of cylindrical parts or the inner-ring-reinforcement components. Additionally, the efective strain increases with rotation speed, and the maximum intensity on the basal plane decreases as the number of revolutions increase. The punch structure also afects the axial extrusion loading and equivalent plastic strain. Thus, the proposed technology enriches the plastic forming theory and widens the application feld of plastic forming. Furthermore, the formed large-scale high-performance inner-ring-stifened magnesium components have been successfully verifed in aerospace equipment, thereby solving the problems of integral forming and severe deformation strengthening and toughening. The developed technology has good prospects for mass production and application.

Formation of nanocrystalline AZ31B Mg alloys via cryogenic rotary swaging

A bulk nanocrystalline AZ31B Mg alloy with extraordinarily high strength was prepared via cryogenic rotary swaging in this study.The obtained alloy shows finer grains,higher strength,and a negligible tension-compression yield asymmetry,compared with that prepared via room-temperature rotary swaging.Transmission electron microscopy investigations showed that at the initial stage,multiple twins,mostly tension twins,were activated and intersected with each other,thereby refining the coarse grains into a fine lamellar structure.Then,two types of nanoscale subgrains were generated with increasing swaging strain.The first type of nanoscale subgrain contained twin boundaries and low-angle grain boundaries.This type of subgrain appeared at the twin-twin intersections and was mainly driven by high local stress.The second type of nanoscale subgrain was formed within the twin lamellae.The boundaries of this type of subgrain did not contain twin boundaries and were transformed from massive dislocation arrays.Finally,randomly oriented nanograins were obtained via dynamic recrystallization,under the combined function of deformation heat and increased stored energy.Compared with room-temperature rotary swaging,cryogenic rotary swaging exhibits a slower grain refinement process but a remarkably enhanced grain refinement effect after the same five-pass swaging.

Multi-Objective Adaptive Optimization Model Predictive Control:Decreasing Carbon Emissions from a Zinc Oxide Rotary Kiln

The zinc oxide rotary kiln,as an essential piece of equipment in the zinc smelting industrial process,is presenting new challenges in process control.China’s strategy of achieving a carbon peak and carbon neutrality is putting new demands on the industry,including green production and the use of fewer resources;thus,traditional stability control is no longer suitable for multi-objective control tasks.Although researchers have revealed the principle of the rotary kiln and set up computational fluid dynamics(CFD)simulation models to study its dynamics,these models cannot be directly applied to process control due to their high computational complexity.To address these issues,this paper proposes a multi-objective adaptive optimization model predictive control(MAO-MPC)method based on sparse identification.More specifically,with a large amount of data collected from a CFD model,a sparse regression problem is first formulated and solved to obtain a reduction model.Then,a two-layered control framework including real-time optimization(RTO)and model predictive control(MPC)is designed.In the RTO layer,an optimization problem with the goal of achieving optimal operation performance and the lowest possible resource consumption is set up.By solving the optimization problem in real time,a suitable setting value is sent to the MPC layer to ensure that the zinc oxide rotary kiln always functions in an optimal state.Our experiments show the strength and reliability of the proposed method,which reduces the usage of coal while maintaining high profits.

钢铁工业含锌尘泥回转窑处置技术的应用进展

钢铁冶炼过程(炼铁、炼钢)会产生大量的含锌尘泥,该尘泥不宜直接返回炼铁工序,一般以厂内长期堆存或外委等方式进行处理。随着我国钢铁企业“固废不出厂”“循环经济”“绿色制造”等新理念的深入推进,在钢铁厂内部采用新型回转窑技术直接处置含锌尘泥成为大势所趋。本文介绍了传统回转窑处置含锌尘泥技术的工艺流程,从原料、生产过程和产品特点等方面分析其不足,提出采用原料造球、多喷孔分级进风等创新技术的新型回转窑处置技术,该技术明显提高了回转窑处置能力,缓解了回转窑结圈,已相继在永锋钢铁、八一钢铁、诚钰环保等钢铁企业和环保公司稳定运行,产生了良好的经济与社会效益。该技术在多固废协同处置、热渣干式冷却等方面具备应用前景。

圆筒混合机内不同粒径颗粒的轴向分离研究

为了探讨颗粒在圆筒混合机的轴向分离机理,提出了一种由多段摩擦系数不同圆筒组成的新型圆筒混合机结构.以颗粒堆积角为参考,通过仿真与实验测试得到了颗粒的参数,并基于圆筒混合机分离实验验证了仿真模型.以此为基础,开展基于离散元法的不同粒度颗粒在圆筒混合机内分离过程的数值模拟研究,根据颗粒分布、休止角、运动速度、回转半径等分析了不同粒径颗粒在分离过程中的流动形态,并基于分离指数探讨颗粒的分离特性.结果表明:圆筒混合机侧壁摩擦系数不同将导致颗粒休止角不同,从而使不同区间颗粒的运动速度不同,高摩擦系数区域内颗粒运动快,而低摩擦系数区域内颗粒运动较慢;运动速度的不同导致颗粒在新型圆筒混合机内将产生明显的轴向分离现象,小粒径颗粒聚集在低摩擦系数区,而大粒径颗粒聚集在高摩擦系数区.

精密镗床旋转轴几何误差完备性测量与辨识

针对四轴卧式镗床旋转轴需测几何误差的数目不统一与完备性缺失的问题,提出了基于形状创成函数的四轴卧式镗床旋转轴PIGEs形成机理分析方法与旋转轴完备几何误差测量辨识方法。基于形状创成机理构建了卧式镗床几何误差创成函数,确定了旋转轴可通过误差补偿进行调整的最少与位置无关的几何误差(Position-independent geometric error, PIGEs)数目。建立了卧式镗床旋转轴4项PIGEs、6项与位置有关的几何误差(Position-dependent geometric error, PDGEs)、6项安装误差(Setup error, SEs)与球杆仪(Double ball bar, DBB)测量轨迹半径之间的完备性函数模型,设计了基于DBB的四轴联动Viviani曲线测量轨迹,构建了旋转轴6项PDGEs的NURBS表征与PIGEs、SEs辨识方法。开展了误差补偿对比实验验证,结果表明,利用几何误差完备性测量与辨识结果进行误差补偿,较仅单一补偿6项PDGEs可提升圆轨迹测量精度40.69%。

新型旋耕开沟施肥播种机的设计与研究

针对播种施肥难的问题,结合垄作区作物种植的农艺要求,设计了一款新型旋耕开沟施肥播种机。机具适用于小麦、大豆和玉米垄上栽培技术,可实现精确深施肥、精密播种、开沟、覆土和镇压等作业,为小麦、大豆和玉米的规模化、机械化作业提供了一定的技术支撑。试验结果表明:设计的新型旋耕开沟施肥播种机对降低漏播、提高播种深度和植株距离的合格率具有重要意义,大大提高了作业质量和效率。

旋转锻造连接工艺研究

为了解决焊接性能差的材料间的连接问题,提出了一种利用旋转锻造工艺进行管材-管材、管材-棒料连接的新方法,并进行了旋转锻造连接过程的有限元分析和试验研究,揭示了旋转锻造连接过程的材料流动规律,得到了影响连接头强度的工艺参数。试验设备为自主研发的基于能量控制的小型旋转锻造设备,材料为T2铜管、6061铝管及塑料棒。对旋转锻造连接成形过程进行了有限元分析,得到了材料流动情况和连接工艺参数。结果表明:旋转锻造连接工艺可以形成稳定连接头;连接长度越小,连接头越容易被拉脱;径缩量是影响连接头强度的主要因素,在一定范围内随着径缩量的增加,连接强度不断增加;径缩量过大时,内管将在旋转锻造过程中发生破裂,无法形成连接头;试验结果表明,径缩量为0.8 mm时,铜管-铝管连接头强度达到铝管强度的62%,铜管-铜管连接头强度达到内铜管强度的68%,铜管-塑料棒连接头强度达到塑料棒强度的63%。

点火位置对X型转子发动机燃烧过程的影响

为探究X型转子发动机独特燃烧室内复杂湍流场与点火位置的耦合作用对混合气燃烧过程的影响,建立了X型转子发动机的三维计算流体动力学模型,并与试验结果进行对比验证,数值研究了不同点火位置下X型转子发动机缸内燃烧过程,揭示了点火位置对火焰传播、燃烧特性及污染物形成的影响规律。结果表明,在压缩末期,X型转子发动机燃烧室内形成了包括涡流和单向流的复杂湍流场,这与点火位置的耦合作用显著影响火焰传播过程。为了获得较高火焰传播速度,点火位置不宜布置在漩涡区处。点火位置位于凹坑中部时,可以充分利用四周空间和涡团与单向流场过渡处形成的较高速度场加速火焰传播,从而提前燃烧重心,增加放热速率,而且峰值压力提高了25%,指示热效率超过30%;同时其也具有较低的HC和CO排放量;但是由于其缸内峰值温度较大,导致NO排放量增加。

不同耕作方式和前茬作物对冬小麦水肥利用效率及产量影响

【目的】探讨不同耕作方式和前茬作物对冬小麦土壤养分、产量及水肥利用效率的影响。【方法】设置2个主处理:旋耕(RT)和免耕(NT),2个副处理:玉米前茬(MW)和大豆前茬(SW),共4个处理,分别记为RTMW、RTSW、NTMW、NTSW,研究不同耕作方式和前茬作物对冬小麦土壤养分、水肥利用效率及产量的影响。【结果】同一前茬作物下,免耕处理土壤含水率高于旋耕处理;同一耕作方式下,玉米前茬处理土壤含水率高于大豆前茬;冬小麦季各处理有机碳量、全氮量、速效磷量、速效钾量、铵态氮量、硝态氮量均随土层深度增加而降低。0~50 cm土层,NTSW处理均有利于冬小麦麦田土壤有机碳、全氮、硝态氮量的积累,较RTMW处理分别提高了4.14%~13.54%、35.51%~54.44%、55.75%~112%;10~50cm土层,RTMW处理后茬麦田速效磷、速效钾量较高;0~50 cm土层,RTSW处理后茬麦田铵态氮量最高,较RTMW处理高13.39%~20.64%;NTSW处理穗数、穗粒数、千粒质量显著高于其他处理,且冬小麦产量也高于其他处理,较RTMW处理增产16.62%;NTSW处理水分利用效率及氮磷钾利用效率均最高。【结论】NTSW处理有利于冬小麦田的养分积累,且水肥利用效率最高,增产效果较好。

微小流量旋转直驱伺服阀传控特性分析与优化

针对无人机、战术弹、支线民航等小型飞行器航空发动机燃油计量系统与推力矢量系统微小流量的伺服控制需求,就旋转直驱伺服阀偏心球副传动接口与非全周节流阀口等关键结构进行了尺寸约束设计分析,并就节流阀口宽度、球副偏心距以及驱动电机转动惯量等重要参数进行了优化分析,给出了伺服阀结构设计的优化区间。在此基础上,研究提出了电机转角与电流双闭环控制方法,幅频响应实测结果与理论分析较为一致,200 Hz以上高频响应满足实际需求,且双闭环控制方法大幅降低了伺服阀响应超调并提升了稳定性。

面向切削力修正的机床主轴回转精度预测实验分析

为了提高机床控制精度,设计一种可以精确预测面向切削力修正的主轴回转精度分析方法。为验证回转精度预测准确性,建立一套不需要通过标准球实现的主轴回转精度分析系统,可以针对具体切削工况开展主轴回转精度测试。研究结果表明:随着进给速率和切削深度改变,形成了具有规律性的同步误差,切深受到同步误差因素的影响程度最大,而进给速度次之。受切削载荷影响,主轴回转精度显著改变,同步误差和切削载荷具有正相关关系。在变进给及变切宽条件下,测试结果与仿真结果相近,最大误差为0.2μm。设定切宽12 mm与进给速度1200 mm/min时,分离得到的圆度误差与100 r/min空转时圆度误差相比相吻合。

深松旋耕整地混合施肥联合作业机械设计与试验

随着现代化农业发展不断推进,为提高农业作业效率,简化土壤在耕整地阶段的工作过程,满足保护性耕作的绿色环保整地理念,设计了一款深松旋耕整地混合施肥联合作业机械。该机械能够一次性实现碎土、翻土、旋耕、施肥、深松作业,且作业过程中保证深松铲能够打破犁底层,实现施肥要求。田间试验结果表明,该机械符合土壤耕整地的农艺要求,作业过程中没有出现残茬缠绕现象,排肥通畅,施肥效果均衡,碎土率较高,满足了一机多用的设计使用要求,机具的适应能力高,适合多地区推广使用。

结构参数对液压旋转接头密封性能的影响

为探究结构参数对液压旋转接头间隙密封性能的影响规律,分别以泄漏量和压力损失作为液压旋转接头的性能指标,研究密封有效长度、密封直径、密封间隙值3种主要结构参数对旋转接头性能的影响。采用正交试验与Fluent流体仿真相结合的方法,分析液压旋转接头间隙密封在不同结构参数下的泄漏量和压力损失情况。结果表明:3种结构参数对泄漏的影响程度由大到小依次为密封间隙值、密封有效长度、密封直径,对压力损失的影响程度由大到小依次为密封有效长度、密封直径、密封间隙值;密封间隙值大小对泄漏量影响非常显著,泄漏量随着间隙的增大呈指数增长关系,而间隙密封有效长度、环形密封直径对泄漏量无显著影响;密封有效长度对压力损失有极其显著影响,而密封直径和密封间隙值对压力损失没有显著影响;从整体上看密封间隙值、间隙密封直径、密封有效长度都大致与压力损失呈一次函数关系,且前两者与压力损失呈正相关关系,后者则与压力损失呈负相关关系。

正流量液压挖掘机回转系统节能控制

针对徐工某中型正流量挖掘机回转系统存在的较大溢流损失,设计了一种减小能量损失的节能控制方法。首先建立挖掘机回转系统关键部件模型;其次基于趋近律设计滑模控制器,根据模糊规则确定趋近律参数;最后根据马达溢流阀压力改变泵排量,以实现泵输出流量对压力的快速响应,从而实现节能降耗的目的。经仿真分析,较挖掘机传统的开环控制与PID控制,采用模糊滑模控制下的泵输出流量明显减少,且马达转速较前两种算法变化不大,不会降低回转作业效率,可知设计的算法有效。

基于惯性测量单元的旋挖钻机钻具姿态测量方法

为实时获取钻孔过程中钻具的姿态信息,提高机手掌握成孔垂直度,设计了一种基于惯性测量单元的钻具姿态测量方法。该方法采用三轴加速度计、磁力计和陀螺仪构成惯性测量单元,建立基于四元数的姿态测量非线性模型,并采用基于四元数的扩展卡尔曼滤波算法,有效降低振动等干扰信号的影响,提高钻具姿态解算的准确性。实验结果表明,该方法能够有效避免振动对动态测量的干扰,实现旋挖钻机姿态的准确测量,为旋挖钻机施工提供实时、准确的姿态监测手段,为桩基施工质量提供重要保障。

夏子街油田X50区块随钻地层边界探测工具应用

夏子街油田X50井区受构造复杂影响,水平井钻井过程中出现钻入储层上部或者下部低钻速泥岩中造成井壁不稳定、卡钻、水平段井斜调整困难、追不到目的层而导致侧钻等问题。针对存在问题,斯伦贝谢公司结合本区块地质及储层的电阻率特征,进行旋转导向配合边界探测工具的可行性研究。边界探测工具探测深度较深,是具有方向性测量的随钻电磁感应测井工具,应用实时导向软件对测量参数进行反演,估算出工具到地层边界的距离以及地层边界的延伸方向。现场实践表明,在第一口水平井SP-2井侧钻过程中,使用边界探测工具能够提前预判储层顶和底部泥岩的位置,并根据轨迹与边界的距离进行实时调整,避免钻遇泥岩,机械钻速提升近两倍,储层钻遇率达100%,减少了循环和决策时间,提高了钻井效率。SP-2井侧钻成功为后期新区开发提供了技术保障,也为实现工程地质一体化奠定了基础。