In order to effectively control the dust at the transshipment point with foam-sol, this paper attempted to study the characteristics of dust diffusion at transshipment point and the foam-sol foaming device with diffus...In order to effectively control the dust at the transshipment point with foam-sol, this paper attempted to study the characteristics of dust diffusion at transshipment point and the foam-sol foaming device with diffusion outlet was also designed in this paper. To study the diffusion rules of coal dust, fluent discrete phase model was utilized in the numerical simulation, as the coal dust was thrown down at a horizontal velocity of 2.5 m/s. A foam-sol foaming device was designed, through which foaming agent could be automatically sucked into the Venturi by the negative pressure. The automatic controller was also equipped,which could transform the energy of the compressed air into the constant pressure difference so that the gelling agent could be qualitatively added into the gel container. The diffusion outlet that could spray out foam-sol in a continuous, conical and 3D manner was also designed. Moreover, this paper also carried out the contrast experiments on dust removal efficiency among water, aqueous foam and foam-sol. The results clearly show that the symmetrical whirlpools appeared below the inlet where the largest whirlpool diameter was 0.52 m, and the horizontal distance from swirl range to the inlet was approximately0.69 m. By using the self-designed foaming device, the foaming was multiplied by 30 times and the volume ratio with water and foaming agent reached 95%:5%. In this context, the gas pressure was controlled at 0.3 MPa, with gas flow at 15 m3/h and water flow at 0.5 m3/h, with water pressure controlled between0.34 and 0.36 MPa. The foam-sol has the highest dust removal efficiency than other agents.展开更多
This paper presents the automatic guidance system of an agricultural tractor and the side shift control of the attached row crop cultivator using electro-hydraulic actuators. In order to simulate the dynamic behaviour...This paper presents the automatic guidance system of an agricultural tractor and the side shift control of the attached row crop cultivator using electro-hydraulic actuators. In order to simulate the dynamic behaviour of the tractor along with the attached cultivator, the modified bicycle model was adopted. Steering angle sensor, fibre optic gyroscope （FOG） and RTK-DGPS technologies are assumed for measurements of the steering angle, yaw rate and the lateral position of the tractor, respectively. The kinematics model was used for the implement. In this study four cascade controllers were designed and simulated for tractor guidance which consists ofPD, PD, P and PID controllers. Other PI and PID controllers also had been designed for implement side shifting purpose. Then, these two systems were combined and the performance of the whole system was evaluated through the simulation results. According to the results tractor reaches the desired path after less than 10 seconds. Simulations showed that the maximum deviation of the tractor from the desired path was about 5 cm within this period. And the cultivator blades would follow the predetermined path with steady state error of about 5 cm too.展开更多
基金supported by the National Natural Science Fund of China (No. 51304146)131 Innovative Talents Cultivation Engineering for Tianjin Province of Chinathe National Innovation Training Project of Undergraduate Student of China (No. 201210060042)
文摘In order to effectively control the dust at the transshipment point with foam-sol, this paper attempted to study the characteristics of dust diffusion at transshipment point and the foam-sol foaming device with diffusion outlet was also designed in this paper. To study the diffusion rules of coal dust, fluent discrete phase model was utilized in the numerical simulation, as the coal dust was thrown down at a horizontal velocity of 2.5 m/s. A foam-sol foaming device was designed, through which foaming agent could be automatically sucked into the Venturi by the negative pressure. The automatic controller was also equipped,which could transform the energy of the compressed air into the constant pressure difference so that the gelling agent could be qualitatively added into the gel container. The diffusion outlet that could spray out foam-sol in a continuous, conical and 3D manner was also designed. Moreover, this paper also carried out the contrast experiments on dust removal efficiency among water, aqueous foam and foam-sol. The results clearly show that the symmetrical whirlpools appeared below the inlet where the largest whirlpool diameter was 0.52 m, and the horizontal distance from swirl range to the inlet was approximately0.69 m. By using the self-designed foaming device, the foaming was multiplied by 30 times and the volume ratio with water and foaming agent reached 95%:5%. In this context, the gas pressure was controlled at 0.3 MPa, with gas flow at 15 m3/h and water flow at 0.5 m3/h, with water pressure controlled between0.34 and 0.36 MPa. The foam-sol has the highest dust removal efficiency than other agents.
文摘This paper presents the automatic guidance system of an agricultural tractor and the side shift control of the attached row crop cultivator using electro-hydraulic actuators. In order to simulate the dynamic behaviour of the tractor along with the attached cultivator, the modified bicycle model was adopted. Steering angle sensor, fibre optic gyroscope （FOG） and RTK-DGPS technologies are assumed for measurements of the steering angle, yaw rate and the lateral position of the tractor, respectively. The kinematics model was used for the implement. In this study four cascade controllers were designed and simulated for tractor guidance which consists ofPD, PD, P and PID controllers. Other PI and PID controllers also had been designed for implement side shifting purpose. Then, these two systems were combined and the performance of the whole system was evaluated through the simulation results. According to the results tractor reaches the desired path after less than 10 seconds. Simulations showed that the maximum deviation of the tractor from the desired path was about 5 cm within this period. And the cultivator blades would follow the predetermined path with steady state error of about 5 cm too.
