Optimization of chemistry and process parameters for control of intermetallic formation in Mg sludges

Intermetallic formation in sludge during magnesium(Mg)melting,holding and high pressure die casting practices is a very important issue.But,very often it is overlooked by academia,original equipment manufacturers(OEM),metal ingot producers and even die casters.The aim of this study was to minimize the intermetallic formation in Mg sludge via the optimization of the chemistry and process parameters.The Al8Mn5 intermetallic particles were identified by the microstructure analysis based on the Al and Mn ratio.The design of experiment(DOE)technique,Taguchi method,was employed to minimize the intermetallic formation in the sludge of Mg alloys with various chemical compositions of Al,Mn,Fe,and different process parameters,holding temperature and holding time.The sludge yield(SY)and intermetallic size(IS)was selected as two responses.The optimum combination of the levels in terms of minimizing the intermetallic formation were 9 wt.%Al,0.15 wt.%Mn,0.001 wt.%(10 ppm)Fe,690℃ for the holding temperature and holding at 30 mins for the holding time,respectively.The best combination for smallest intermetallic size were 9 wt.%Al,0.15 wt.%Mn,0.001 wt.%(10 ppm)Fe,630℃ for the holding temperature and holding at 60 mins for the holding time,respectively.Three groups of sludge factors,Chemical Sludge(CSF),Physical Sludge(PSF)and Comprehensive Sludge Factors(and CPSF)were established for prediction of sludge yields and intermetallic sizes in Al-containing Mg alloys.The CPSF with five independent variables including both chemical elements and process parameters gave high accuracy in prediction,as the prediction of the PSF with only the two processing parameters of the melt holding temperature and time showed a relatively large deviation from the experimental data.The Chemical Sludge Factor was primarily designed for small ingot producers and die casters with a limited melting and holding capacity,of which process parameters could be fixed easily.The Physical Sludge Factor could be used for mass production with a single type of Mg alloy,in which the chemistry fluctuation might be negligible.In large Mg casting suppliers with multiple melting and holding furnaces and a number of Mg alloys in production,the Comprehensive Sludge Factor should be implemented to diminish the sludge formation.

Improved Particle Swarm Optimization for Parameter Identification of Permanent Magnet Synchronous Motor

In the process of identifying parameters for a permanent magnet synchronous motor,the particle swarm optimization method is prone to being stuck in local optima in the later stages of iteration,resulting in low parameter accuracy.This work proposes a fuzzy particle swarm optimization approach based on the transformation function and the filled function.This approach addresses the topic of particle swarmoptimization in parameter identification from two perspectives.Firstly,the algorithm uses a transformation function to change the form of the fitness function without changing the position of the extreme point of the fitness function,making the extreme point of the fitness function more prominent and improving the algorithm’s search ability while reducing the algorithm’s computational burden.Secondly,on the basis of themulti-loop fuzzy control systembased onmultiplemembership functions,it is merged with the filled function to improve the algorithm’s capacity to skip out of the local optimal solution.This approach can be used to identify the parameters of permanent magnet synchronous motors by sampling only the stator current,voltage,and speed data.The simulation results show that the method can effectively identify the electrical parameters of a permanent magnet synchronous motor,and it has superior global convergence performance and robustness.

Optimization Study of Active-Passive Heating System Parameters in Village Houses in the Southern Xinjiang Province

Aiming at the problems of large energy consumption and serious pollution of winter heating existing in the rural buildings in Southern Xinjiang,a combined active-passive heating system was proposed,and the simulation software was used to optimize the parameters of the system,according to the parameters obtained from the optimization,a test platform was built and winter heating test was carried out.The simulation results showed that the thickness of the air layer of 75 mm,the total area of the vent holes of 0.24 m^(2),and the thickness of the insulation layer of 120 mm were the optimal construction for the passive part;solar collector area of 28 m^(2),hot water storage tank volume of 1.4 m^(3),mass flow rate of 800 kg/h on the collector side,mass flow rate of 400 kg/h on the heat exchanger side,and output power of auxiliary heat source of 5∼9 kWwere the optimal constructions for active heating system.Test results showed that during the heating period,the system could provide sufficient heat to the room under different heating modes,and the indoor temperature reached over 18°C,which met the heating demand.The economic and environmental benefits of the system were analyzed,and the economic benefits of the systemwere better than coal-fired heating,and the CO_(2) emissionswere reduced by 3,292.25 kg compared with coalfiredheating.The results of the study showed that the combinedactive-passiveheating systemcouldeffectively solve the heating problems existing in rural buildings in Southern Xinjiang,and it also laid the theoretical foundation for the popularization of the combined heating systems.

Improved cat swarm optimization for parameter estimation of mixed additive and multiplicative random error model

To estimate the parameters of the mixed additive and multiplicative(MAM)random error model using the weighted least squares iterative algorithm that requires derivation of the complex weight array,we introduce a derivative-free cat swarm optimization for parameter estimation.We embed the Powell method,which uses conjugate direction acceleration and does not need to derive the objective function,into the original cat swarm optimization to accelerate its convergence speed and search accuracy.We use the ordinary least squares,weighted least squares,original cat swarm optimization,particle swarm algorithm and improved cat swarm optimization to estimate the parameters of the straight-line fitting MAM model with lower nonlinearity and the DEM MAM model with higher nonlinearity,respectively.The experimental results show that the improved cat swarm optimization has faster convergence speed,higher search accuracy,and better stability than the original cat swarm optimization and the particle swarm algorithm.At the same time,the improved cat swarm optimization can obtain results consistent with the weighted least squares method based on the objective function only while avoiding multiple complex weight array derivations.The method in this paper provides a new idea for theoretical research on parameter estimation of MAM error models.

A method to interpret fracture aperture of rock slope using adaptive shape and unmanned aerial vehicle multi-angle nap-of-the-object photogrammetry

The aperture of natural rock fractures significantly affects the deformation and strength properties of rock masses,as well as the hydrodynamic properties of fractured rock masses.The conventional measurement methods are inadequate for collecting data on high-steep rock slopes in complex mountainous regions.This study establishes a high-resolution three-dimensional model of a rock slope using unmanned aerial vehicle(UAV)multi-angle nap-of-the-object photogrammetry to obtain edge feature points of fractures.Fracture opening morphology is characterized using coordinate projection and transformation.Fracture central axis is determined using vertical measuring lines,allowing for the interpretation of aperture of adaptive fracture shape.The feasibility and reliability of the new method are verified at a construction site of a railway in southeast Tibet,China.The study shows that the fracture aperture has a significant interval effect and size effect.The optimal sampling length for fractures is approximately 0.5e1 m,and the optimal aperture interpretation results can be achieved when the measuring line spacing is 1%of the sampling length.Tensile fractures in the study area generally have larger apertures than shear fractures,and their tendency to increase with slope height is also greater than that of shear fractures.The aperture of tensile fractures is generally positively correlated with their trace length,while the correlation between the aperture of shear fractures and their trace length appears to be weak.Fractures of different orientations exhibit certain differences in their distribution of aperture,but generally follow the forms of normal,log-normal,and gamma distributions.This study provides essential data support for rock and slope stability evaluation,which is of significant practical importance.

Slope deformation partitioning and monitoring points optimization based on cluster analysis

The scientific and fair positioning of monitoring locations for surface displacement on slopes is a prerequisite for early warning and forecasting.However,there is no specific provision on how to effectively determine the number and location of monitoring points according to the actual deformation characteristics of the slope.There are still some defects in the layout of monitoring points.To this end,based on displacement data series and spatial location information of surface displacement monitoring points,by combining displacement series correlation and spatial distance influence factors,a spatial deformation correlation calculation model of slope based on clustering analysis was proposed to calculate the correlation between different monitoring points,based on which the deformation area of the slope was divided.The redundant monitoring points in each partition were eliminated based on the partition's outcome,and the overall optimal arrangement of slope monitoring points was then achieved.This method scientifically addresses the issues of slope deformation zoning and data gathering overlap.It not only eliminates human subjectivity from slope deformation zoning but also increases the efficiency and accuracy of slope monitoring.In order to verify the effectiveness of the method,a sand-mudstone interbedded CounterTilt excavation slope in the Chongqing city of China was used as the research object.Twenty-four monitoring points deployed on this slope were monitored for surface displacement for 13 months.The spatial location of the monitoring points was discussed.The results show that the proposed method of slope deformation zoning and the optimized placement of monitoring points are feasible.

Pulsed gas–liquid discharge plasma catalytic degradation of bisphenol A over graphene/Cd S:process parameters optimization and O_(3)activation mechanism analysis

In the present work,pulsed gas–liquid hybrid discharge plasma coupled with graphene/Cd S catalyst was evaluated to eliminate bisphenol A(BPA)in wastewater.The optimization of a series of process parameters was performed in terms of BPA degradation performance.The experimental results demonstrated that nearly 90%of BPA(20 mg l^(-1))in the synthetic wastewater(p H=7.5,σ=10μS m^(-1))was degraded by the plasma catalytic system over 0.2 g l^(-1)graphene/Cd S at 19k V with a 4 l min^(-1)air flow rate and 10 mm electrode gap within 60 min.The BPA removal rate increased with increasing the discharge voltage and decreasing the initial BPA concentration or solution conductivity.Nevertheless,either too high or too low an air flow rate,electrode gap,catalyst dosage or initial solution p H would lead to a decrease in BPA degradation.Moreover,optical emission spectroscopy was used to gain information on short-lived reactive species formed from the pulsed gas–liquid hybrid discharge plasma system.The results indicated the existence of several highly oxidative free radicals such as·O and·OH.Finally,the activation pathway of O_(3)on the catalyst surface was analyzed by density functional theory.

Interpretable machine learning optimization(InterOpt)for operational parameters:A case study of highly-efficient shale gas development

An algorithm named InterOpt for optimizing operational parameters is proposed based on interpretable machine learning,and is demonstrated via optimization of shale gas development.InterOpt consists of three parts:a neural network is used to construct an emulator of the actual drilling and hydraulic fracturing process in the vector space(i.e.,virtual environment);:the Sharpley value method in inter-pretable machine learning is applied to analyzing the impact of geological and operational parameters in each well(i.e.,single well feature impact analysis):and ensemble randomized maximum likelihood(EnRML)is conducted to optimize the operational parameters to comprehensively improve the efficiency of shale gas development and reduce the average cost.In the experiment,InterOpt provides different drilling and fracturing plans for each well according to its specific geological conditions,and finally achieves an average cost reduction of 9.7%for a case study with 104 wells.

Hot-deformation kinetics analysis and extrusion parameter optimization of a dilute rare-earth free magnesium alloy

The fundamental research on thermo-mechanical conditions provides an experimental basis for high-performance Mg-Al-Ca-Mn alloys.However, there is a lack of systematical investigation for this series alloys on the hot-deformation kinetics and extrusion parameter optimization. Here, the flow behavior, constitutive model, dynamic recrystallization(DRX) kinetic model and processing map of a dilute rare-earth free Mg-1.3Al-0.4Ca-0.4Mn(AXM100, wt.%) alloy were studied under different hot-compressive conditions. In addition, the extrusion parameter optimization of this alloy was performed based on the hot-processing map. The results showed that the conventional Arrhenius-type strain-related constitutive model only worked well for the flow curves at high temperatures and low strain rates. In comparison, using the machine learning assisted model(support vector regression, SVR) could effectively improve the accuracy between the predicted and experimental values. The DRX kinetic model was established, and a typical necklace-shaped structure preferentially occurred at the original grain boundaries and the second phases. The DRX nucleation weakened the texture intensity, and the further growth caused the more scattered basal texture. The hot-processing maps at different strains were also measured and the optimal hot-processing range could be confirmed at the deformation temperatures of 600~723 K and the strain rates of 0.018~0.563 s^(-1). Based on the optimum hot-processing range, a suitable extrusion parameter was considered as 603 K and 0.1 mm/s and the as-extruded alloy in this parameter exhibited a good strength-ductility synergy(yield strength of ~ 232.1 MPa, ultimate strength of ~ 278.2 MPa and elongation-to-failure of ~ 20.1%). Finally, the strengthening-plasticizing mechanisms and the relationships between the DRXed grain size, yield strength and extrusion parameters were analyzed.

Investigation of influence factors on CO_(2) flowback characteristics and optimization of flowback parameters during CO_(2) dry fracturing in tight gas reservoirs

CO_(2) dry fracturing is a promising alternative method to water fracturing in tight gas reservoirs,especially in water-scarce areas such as the Loess Plateau.The CO_(2) flowback efficiency is a critical factor that affects the final gas production effect.However,there have been few studies focusing on the flowback characteristics after CO_(2) dry fracturing.In this study,an extensive core-to-field scale study was conducted to investigate CO_(2) flowback characteristics and CH_(4) production behavior.Firstly,to investigate the impact of core properties and production conditions on CO_(2) flowback,a series of laboratory experiments at the core scale were conducted.Then,the key factors affecting the flowback were analyzed using the grey correlation method based on field data.Finally,taking the construction parameters of Well S60 as an example,a dual-permeability model was used to characterize the different seepage fields in the matrix and fracture for tight gas reservoirs.The production parameters after CO_(2) dry fracturing were then optimized.Experimental results demonstrate that CO_(2) dry fracturing is more effective than slickwater fracturing,with a 9.2%increase in CH_(4) recovery.The increase in core permeability plays a positive role in improving CH_(4) production and CO_(2) flowback.The soaking process is mainly affected by CO_(2) diffusion,and the soaking time should be controlled within 12 h.Increasing the flowback pressure gradient results in a significant increase in both CH_(4) recovery and CO_(2) flowback efficiency.While,an increase in CO_(2) injection is not conducive to CH_(4) production and CO_(2) flowback.Based on the experimental and field data,the important factors affecting flowback and production were comprehensively and effectively discussed.The results show that permeability is the most important factor,followed by porosity and effective thickness.Considering flowback efficiency and the influence of proppant reflux,the injection volume should be the minimum volume that meets the requirements for generating fractures.The soaking time should be short which is 1 day in this study,and the optimal bottom hole flowback pressure should be set at 10 MPa.This study aims to improve the understanding of CO_(2) dry fracturing in tight gas reservoirs and provide valuable insights for optimizing the process parameters.

Optimization of CNC Turning Machining Parameters Based on Bp-DWMOPSO Algorithm

Cutting parameters have a significant impact on the machining effect.In order to reduce the machining time and improve the machining quality,this paper proposes an optimization algorithm based on Bp neural networkImproved Multi-Objective Particle Swarm(Bp-DWMOPSO).Firstly,this paper analyzes the existing problems in the traditional multi-objective particle swarm algorithm.Secondly,the Bp neural network model and the dynamic weight multi-objective particle swarm algorithm model are established.Finally,the Bp-DWMOPSO algorithm is designed based on the established models.In order to verify the effectiveness of the algorithm,this paper obtains the required data through equal probability orthogonal experiments on a typical Computer Numerical Control(CNC)turning machining case and uses the Bp-DWMOPSO algorithm for optimization.The experimental results show that the Cutting speed is 69.4 mm/min,the Feed speed is 0.05 mm/r,and the Depth of cut is 0.5 mm.The results show that the Bp-DWMOPSO algorithm can find the cutting parameters with a higher material removal rate and lower spindle load while ensuring the machining quality.This method provides a new idea for the optimization of turning machining parameters.

Analysis of Additional Damping Control Strategy and Parameter Optimization for Improving Small Signal Stability of VSC-HVDC System

The voltage source converter based high voltage direct current(VSC-HVDC)system is based on voltage source converter,and its control system is more complex.Also affected by the fast control of power electronics,oscillation phenomenon in wide frequency domain may occur.To address the problem of small signal stability of the VSCHVDC system,a converter control strategy is designed to improve its small signal stability,and the risk of system oscillation is reduced by attaching a damping controller and optimizing the control parameters.Based on the modeling of the VSC-HVDC system,the general architecture of the inner and outer loop control of the VSCHVDC converter is established;and the damping controllers for DC control and AC control are designed in the phase-locked loop and the inner and outer loop control parts respectively;the state-space statemodel of the control system is established to analyze its performance.And the electromagnetic transient simulation model is built on the PSCAD/EMTDC simulation platform to verify the accuracy of the small signal model.The influence of the parameters of each control part on the stability of the system is summarized.The main control parts affecting stability are optimized for the phenomenon of oscillation due to changes in operation mode occurring on the AC side due to faults and other reasons,which effectively eliminates system oscillation and improves system small signal stability,providing a certain reference for engineering design.

Fracture propagation,proppant transport and parameter optimization of multi-well pad fracturing treatment

This paper establishes a 3D multi-well pad fracturing numerical model coupled with fracture propagation and proppant migration based on the displacement discontinuity method and Eulerian-Eulerian frameworks,and the fracture propagation and proppant distribution during multi-well fracturing are investigated by taking the actual multi-well pad parameters as an example.Fracture initiation and propagation during multi-well pad fracturing are jointly affected by a variety of stress interference mechanisms such as inter-cluster,inter-stage,and inter-well,and the fracture extension is unbalanced among clusters,asymmetric on both wings,and dipping at heels.Due to the significant influence of fracture morphology and width on the migration capacity of proppant in the fracture,proppant is mainly placed in the area near the wellbore with large fracture width,while a high-concentration sandwash may easily occur in the area with narrow fracture width as a result of quick bridging.On the whole,the proppant placement range is limited.Increasing the well-spacing can reduce the stress interference of adjacent wells and promote the uniform distribution of fractures and proppant on both wings.The maximum stimulated reservoir volume or multi-fracture uniform propagation can be achieved by optimizing the well spacing.Although reducing the perforation-cluster spacing also can improve the stimulated reservoir area,a too low cluster spacing is not conducive to effectively increasing the propped fracture area.Since increasing the stage time lag is beneficial to reduce inter-stage stress interference,zipper fracturing produces more uniform fracture propagation and proppant distribution.

Parameter Optimization of Intercalated Meltblown Nonwovens Based on NSGA-II

The preparation process parameters of intercalated meltblown nonwoven materials are complicated, and the relationship between process parameters, structural variables, and product performance needs to be investigated to establish a good mechanism for product performance regulation. In this study, we first used Wilcoxon test and Pearson correlation analysis to investigate the effect of intercalation rate on structural variables and product performance. Then, regression models were constructed to predict the values of each structural variable under different combinations of process parameters. Finally, we constructed a multi-objective constrained optimization problem based on the stepwise regression model and the product variable conditions. The problem was solved using the NSGA-II algorithm. The optimal was achieved when the acceptance distance was 2.892 cm and the hot air speed was 2000 r/min.

Multi-objective optimization of process parameters for ultra-narrow gap welding based on Universal Kriging and NSGA Ⅱ

The successful confinement of the arc by the flux band depends on the welding process parameters for achieving single-pass,multi-layer, and ultra-narrow gap welding. The sidewall fusion depth, the width of the heat-affected zone, and the line energy are utilized as comprehensive indications of the quality of the welded joint. In order to achieve well fusion and reduce the heat input to the base metal.Three welding process characteristics were chosen as the primary determinants, including welding voltage, welding speed, and wire feeding speed. The metamodel of the welding quality index was built by the orthogonal experiments. The metamodel and NSGA-Ⅱ(Non-dominated sorting genetic algorithm Ⅱ) were combined to develop a multi-objective optimization model of ultra-narrow gap welding process parameters. The results showed that the optimized welding process parameters can increase the sidewall fusion depth, reduce the width of the heataffected zone and the line energy, and to some extent improve the overall quality of the ultra-narrow gap welding process.

Parameters of new three-water model based on nuclear magnetic experiment and optimization algorithm

Clastic rock reservoir is the main reservoir type in the oil and gas field.Archie formula or various conductive models developed on the basis of Archie’s formula are usually used to interpret this kind of reservoir,and the three-water model is widely used as well.However,there are many parameters in the threewater model,and some of them are difficult to determine.Most of the determination methods are based on the statistics of large amount of experimental data.In this study,the authors determine the value of the parameters of the new three-water model based on the nuclear magnetic data and the genetic optimization algorithm.The relative error between the resistivity calculated based on these parameters and the resistivity measured experimentally at 100%water content is 0.9024.The method studied in this paper can be easily applied without much experimental data.It can provide reference for other regions to determine the parameters of the new three-water model.

Parametric Optimization of Wheel Spoke Structure for Drag Reduction of an Ahmed Body

The wheels have a considerable influence on the aerodynamic properties and can contribute up to 25%of the total drag on modern vehicles.In this study,the effect of the wheel spoke structure on the aerodynamic performance of the isolated wheel is investigated.Subsequently,the 35°Ahmed body with an optimized spoke structure is used to analyze the flow behavior and the mechanism of drag reduction.The Fluent software is employed for this investigation,with an inlet velocity of 40 m/s.The accuracy of the numerical study is validated by comparing it with experimental results obtained from the classical Ahmed model.To gain a clearer understanding of the effects of the wheel spoke parameters on the aerodynamics of both the wheel and Ahmedmodel,and five design variables are proposed:the fillet angleα,the inside arc radius R1,the outside radius R2,and the same length of the chord L1 and L2.These variables characterize the wheel spoke structure.The Optimal Latin Hypercube designmethod is utilized to conduct the experimental design.Based on the simulation results of various wheel spoke designs,the Kriging model and the adaptive simulated annealing algorithm is selected to optimize the design parameters.The objective is to achieve the best combination for maximum drag reduction.It is indicated that the optimized spoke structure resulted in amaximum drag reduction of 5.7%and 4.7%for the drag coefficient of the isolated wheel and Ahmed body,respectively.The drag reduction is primarily attributed to changes in the flow state around the wheel,which suppressed separation bubbles.Additionally,it influenced the boundary layer thickness around the car body and reduced the turbulent kinetic energy in the wake flow.These effects collectively contributed to the observed drag reduction.

Optimization method of fracturing fluid volume intensity for SRV fracturing technique in shale oil reservoir based on forced imbibition:A case study of well X-1 in Biyang Sag of Nanxiang Basin,China

An optimization method of fracturing fluid volume strength was introduced taking well X-1 in Biyang Sag of Nanxiang Basin as an example.The characteristic curves of capillary pressure and relative permeability were obtained from history matching between forced imbibition experimental data and core-scale reservoir simulation results and taken into a large scale reservoir model to mimic the forced imbibition behavior during the well shut-in period after fracturing.The optimization of the stimulated reservoir volume(SRV)fracturing fluid volume strength should meet the requirements of estimated ultimate recovery(EUR),increased oil recovery by forced imbibition and enhancement of formation pressure and the fluid volume strength of fracturing fluid should be controlled around a critical value to avoid either insufficiency of imbibition displacement caused by insufficient fluid amount or increase of costs and potential formation damage caused by excessive fluid amount.Reservoir simulation results showed that SRV fracturing fluid volume strength positively correlated with single-well EUR and an optimal fluid volume strength existed,above which the single-well EUR increase rate kept decreasing.An optimized increase of SRV fracturing fluid volume and shut-in time would effectively increase the formation pressure and enhance well production.Field test results of well X-1 proved the practicality of established optimization method of SRV fracturing fluid volume strength on significant enhancement of shale oil well production.

Hydrocarbon gas huff-n-puff optimization of multiple horizontal wells with complex fracture networks in the M unconventional reservoir

The oil production of the multi-fractured horizontal wells(MFHWs) declines quickly in unconventional oil reservoirs due to the fast depletion of natural energy. Gas injection has been acknowledged as an effective method to improve oil recovery factor from unconventional oil reservoirs. Hydrocarbon gas huff-n-puff becomes preferable when the CO_(2) source is limited. However, the impact of complex fracture networks and well interference on the EOR performance of multiple MFHWs is still unclear. The optimal gas huff-n-puff parameters are significant for enhancing oil recovery. This work aims to optimize the hydrocarbon gas injection and production parameters for multiple MFHWs with complex fracture networks in unconventional oil reservoirs. Firstly, the numerical model based on unstructured grids is developed to characterize the complex fracture networks and capture the dynamic fracture features.Secondly, the PVT phase behavior simulation was carried out to provide the fluid model for numerical simulation. Thirdly, the optimal parameters for hydrocarbon gas huff-n-puff were obtained. Finally, the dominant factors of hydrocarbon gas huff-n-puff under complex fracture networks are obtained by fuzzy mathematical method. Results reveal that the current pressure of hydrocarbon gas injection can achieve miscible displacement. The optimal injection and production parameters are obtained by single-factor analysis to analyze the effect of individual parameter. Gas injection time is the dominant factor of hydrocarbon gas huff-n-puff in unconventional oil reservoirs with complex fracture networks. This work can offer engineers guidance for hydrocarbon gas huff-n-puff of multiple MFHWs considering the complex fracture networks.

Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition.However,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to construct.Hence,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model parameters.Meanwhile,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical constraints.Then a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative motion.Finally,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons platform.The knee joint motion achieves a steady-state response after 0.5 s.Meanwhile,the position error of hip joint response is less than 0.03 rad after 0.9 s.In addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·m.This research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model parameters.Furthermore,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.