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学者姓名：杜恒
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Abstract ：
A pump-controlled electrohydraulic servo steering system (PC-EHSSS) is proposed, to accommodate high energy-efficiency steering control of heavy vehicles; whereas, it's prone to steering-angle overshoot under abrupt signals, resulting from systematic low damping, poor dynamic performance, and unknown disturbances. For overshoot inhibition, barrier Lyapunov functions (BLF), were utilized to strictly restrict high-order steering-angle errors within boundaries. Once contravened, the BLF controller would be invalid, especially in complex road conditions with erratic and variable initial steering angles. For faster and better error convergence under any initial angle, the integral sliding mode control-BLF switching strategy was proposed. ISMC quickly constrained state variables to BLF's control domain before BLF took over. Still, based on the backward-iteration approach, BLF triggered "differential explosion" for its virtual control rates iteration when applied in high-order systems. To enhance its engineering applicability, dynamic surface control (DSC) was incorporated, by converting differentiation into algebraic operations. A closed PC-EHSSS experiment platform for heavy vehicles was constructed. The steering-angle overshoot is restrained within 0.73 degrees under a trapezoidal signal, with 31.68% higher steady-state accuracy than DSC, and 28.04% greater energy efficiency than pump-valve-combined-controlled steering at 0.15 Hz, 3T. A low-overshoot, high-precision, and high-efficiency variable-speed PC-EHSSS for heavy vehicles has been developed.
Keyword ：
Efficient and precise Efficient and precise heavy vehicle heavy vehicle inte- gral sliding mode control- barrier Lyapunov function (ISMC- BLF) switching control strategy inte- gral sliding mode control- barrier Lyapunov function (ISMC- BLF) switching control strategy pump-controlled electrohy- draulic servo steering system (PC-EHSSS) pump-controlled electrohy- draulic servo steering system (PC-EHSSS) steering-angle overshoot suppression steering-angle overshoot suppression
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| GB/T 7714 | Du, Heng , Zhuang, Pingting , Feng, Xinyu et al. Novel Energy-Efficient Variable-Speed Pump-Controlled Steering System With Enhanced Barrier Lyapunov Control for Heavy Vehicles [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
| MLA | Du, Heng et al. "Novel Energy-Efficient Variable-Speed Pump-Controlled Steering System With Enhanced Barrier Lyapunov Control for Heavy Vehicles" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2025) . |
| APA | Du, Heng , Zhuang, Pingting , Feng, Xinyu , Zhang, Xiaolong , Li, Su , Wang, Yunchao . Novel Energy-Efficient Variable-Speed Pump-Controlled Steering System With Enhanced Barrier Lyapunov Control for Heavy Vehicles . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
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The driving range of multiaxle steer-by-wire vehicles is significantly affected by the consumption of vehicle cornering resistance power (VCRP). This article addresses this issue by proposing a novel energy-saving steering control strategy to effectively reduce VCRP by optimizing slip angle. Initially, a general VCRP model is developed to establish a relationship between VCRP and the slip angles of each tire. Later, an adaptive nonsingular terminal sliding mode control method is proposed to balance control energy and state errors. In addition, an energy-saving steering angle optimization method is proposed based on the VCRP model, which achieves an optimal steering angle configuration by optimizing the slip angle. The efficacy of the proposed control strategy in energy-saving is evaluated by hardware-in-the-loop tests. The experimental results exhibit noteworthy reductions of more than 21% and 45% in VCRP under both high-friction and low-friction conditions of high speed, respectively, compared to the traditional Ackerman steering control strategies while maintaining excellent steering stability.
Keyword ：
Adaptation models Adaptation models Energy-saving steering control Energy-saving steering control Force Force Friction Friction general vehicle cornering resistance power (VCRP) model general vehicle cornering resistance power (VCRP) model Immune system Immune system multiaxle steer-by-wire vehicles (MA-SbWVs) multiaxle steer-by-wire vehicles (MA-SbWVs) Stability criteria Stability criteria Tires Tires Turning Turning vehicle cornering resistance vehicle cornering resistance Vehicle dynamics Vehicle dynamics Video recording Video recording Wheels Wheels
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| GB/T 7714 | Zhang, Xiaolong , Cheng, Qian , Du, Heng et al. A Novel Energy-Saving Steering Control Strategy Based on General Power Model for Multiaxle Steer-by-Wire Vehicles [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
| MLA | Zhang, Xiaolong et al. "A Novel Energy-Saving Steering Control Strategy Based on General Power Model for Multiaxle Steer-by-Wire Vehicles" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2025) . |
| APA | Zhang, Xiaolong , Cheng, Qian , Du, Heng , Wan, Jiawei . A Novel Energy-Saving Steering Control Strategy Based on General Power Model for Multiaxle Steer-by-Wire Vehicles . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
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Electro-hydraulic servo valve is critical control element of hydraulic system in high-end aerospace equipment and operates in prolonged vibration environment. Due to airframe vibration and hydraulic shock, the servo valve is prone to leakage at the sealing end cap, leading to performance degradation and even failure. In this paper, an experimental analysis of servo valve leakage under transverse vibration is conducted, and the mapping relationship between threaded plug loosening and servo valve leakage is investigated. A dynamic model based on the contact pressure distribution between the servo valve and the threaded plug is proposed, and the leakage mechanism of the servo valve is examined from a dynamic perspective. The effects of hydraulic shock and sealing friction on plug loosening are explored, along with the influence of initial preload, vibration frequency, and vibration amplitude on plug preload decay. The results show that the preload decay of the threaded plug under transverse vibration is the primary cause of servo valve leakage, and this decay can be divided into two phases: a nonlinear rapid decline phase and a near-linear steady decline phase, which are influenced by transverse vibration and sealing friction, respectively. In summary, this study provides a valuable theoretical reference for understanding the leakage mechanism of electro-hydraulic servo valves.
Keyword ：
Electro-hydraulic servo valve Electro-hydraulic servo valve Leakage Leakage Threaded plug loosening Threaded plug loosening Transverse vibration Transverse vibration
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| GB/T 7714 | Ren, Tianyu , Yin, Yaobao , Wang, Xinyi et al. Leakage mechanism analysis of electsro-hydraulic servo valve under transverse vibration environment [J]. | ENGINEERING FAILURE ANALYSIS , 2025 , 169 . |
| MLA | Ren, Tianyu et al. "Leakage mechanism analysis of electsro-hydraulic servo valve under transverse vibration environment" . | ENGINEERING FAILURE ANALYSIS 169 (2025) . |
| APA | Ren, Tianyu , Yin, Yaobao , Wang, Xinyi , Yuan, Jiayang , Du, Heng . Leakage mechanism analysis of electsro-hydraulic servo valve under transverse vibration environment . | ENGINEERING FAILURE ANALYSIS , 2025 , 169 . |
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In lumbar anesthesia surgery, the accurate determination of key parameters such as injection angle and dosage is facilitated by the real-time observation of intrathecal drug distribution. In this study, a non-invasive and visual computational fluid dynamics method was used to simulate drug injections in the "cloverleaf" lumbar thoracic segment with a multiphase mixture model, clarifying the intrathecal unsteady flow behaviors and the drug transport mechanisms. The transport properties of three clinically significant injection angles - 0 degrees, 45 degrees and 60 degrees- were compared, determining the fastest and slowest block onset angles based on drug concentration levels in the thoracic vertebral plane. The calculation results are aligned with clinical practice trends, and it is found that significantly different drug amounts are required for different injection angles, with higher doses necessitated for ultrasound-assisted anesthesia. During anesthesia, a trend of increasing and then decreasing local anesthetic concentrations in each vertebral plane was observed, with the presence of a minimum effective dose of local anesthetic at the target block site. Injecting at the "concave" part of the cloverleaf (45 degrees and 60 degrees) results in greater drug pulsation, faster diffusion and more efficient mixing than injecting at the positive "convex" part of the cloverleaf cross-section (0 degrees). At the L2 vertebral plane, the flow rate and mixing ratios during injection for angles of 0 degrees, 45 degrees and 60 degrees were approximately 1:4:2. Compared with orthostatic 0 degrees injections, 45 degrees and 60 degrees oblique injections resulted in higher drug concentrations in the T12-10 vertebral plane during the pre-transport period, with 45 degrees injections being the fastest. However, over a longer period of time, 45 degrees injections resulted in the lowest drug concentrations in the target block plane (T10), necessitating a higher dose. A faster anesthetic response was produced by 0 degrees injections at the same dose. Valuable insights for the application of appropriate drug dosages in clinical anesthesia practice are offered by the calculations.
Keyword ：
computational fluid dynamics computational fluid dynamics drug transport drug transport injection angle injection angle Spinal anesthesia Spinal anesthesia
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| GB/T 7714 | Li, Yuzheng , Xu, Qiyue , Zhang, Xing et al. Numerical investigation on the differential injection angle effects of intrathecal anesthetic drug delivery [J]. | INTERNATIONAL JOURNAL OF MODERN PHYSICS C , 2025 . |
| MLA | Li, Yuzheng et al. "Numerical investigation on the differential injection angle effects of intrathecal anesthetic drug delivery" . | INTERNATIONAL JOURNAL OF MODERN PHYSICS C (2025) . |
| APA | Li, Yuzheng , Xu, Qiyue , Zhang, Xing , Li, Fuqi , Zheng, Ting , Zheng, Chunying et al. Numerical investigation on the differential injection angle effects of intrathecal anesthetic drug delivery . | INTERNATIONAL JOURNAL OF MODERN PHYSICS C , 2025 . |
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The current, electromagnetic force, and dynamic displacement of the high-speed on/off valve's (HSV) electromechanical converter under stable working cycle are significantly different from those under the initial movement cycle. This phenomenon determines whether the electromechanical converter can continue to operate stably, and it also leads to temperature rise and high energy consumption over long periods of time. Therefore, in this study, a high-precision model is proposed that can fully analyze the characteristics of the electromechanical converter under multiple motion cycles with the consideration of the effects of eddy current and hysteresis. First, the hysteresis loop of the material is tested, and the Jiles-Atherton hysteresis model is identified based on the test data and verified through experiments. Second, the fundamental reasons for the differences in current and electromagnetic forces between initial motion and stable motion are analyzed. On this basis, a new law of dynamic evolution of electromechanical converters under multiple motion cycles is discovered. Finally, the important influence of hysteresis characteristics and eddy current on the dynamic performance and energy loss of the electromechanical converter under multiple motion cycles is analyzed. The effects of frequency, voltage, and external resistance on the dynamic characteristics and energy loss of electromechanical converters have also been analyzed. The results indicate that as the voltage increases, the response time decreases, but the eddy current loss increases. An increase in external resistance will increase response time but reduce eddy current losses. This study can provide a theoretical basis for further improving the performance of electromechanical converters.
Keyword ：
Eddy current Eddy current Eddy currents Eddy currents electromechanical converter electromechanical converter energy consumption energy consumption high-speed on/off valve (HSV) high-speed on/off valve (HSV) hysteresis hysteresis Soft magnetic materials Soft magnetic materials
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| GB/T 7714 | Chen, Shaorong , Li, Qizheng , Huang, Hui et al. Dynamic Characteristics and Energy Consumption of Electromechanical Converter of High-Speed On/Off Valve Under Multiple Motion Cycles Considering Eddy Current and Hysteresis [J]. | IEEE TRANSACTIONS ON MAGNETICS , 2024 , 60 (3) . |
| MLA | Chen, Shaorong et al. "Dynamic Characteristics and Energy Consumption of Electromechanical Converter of High-Speed On/Off Valve Under Multiple Motion Cycles Considering Eddy Current and Hysteresis" . | IEEE TRANSACTIONS ON MAGNETICS 60 . 3 (2024) . |
| APA | Chen, Shaorong , Li, Qizheng , Huang, Hui , Chen, Shumei , Du, Heng , Li, Yuzheng et al. Dynamic Characteristics and Energy Consumption of Electromechanical Converter of High-Speed On/Off Valve Under Multiple Motion Cycles Considering Eddy Current and Hysteresis . | IEEE TRANSACTIONS ON MAGNETICS , 2024 , 60 (3) . |
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Heavy-duty vehicles with long bodies, a large number of axles and large loads are subject to increasingly high requirements for precise steering technology due to the increasing trend toward energy conservation and intelligent assisted driving as well as variable driving conditions. In this paper, an energy-efficient open circuit variable-speed pump-controlled steering system (OPCEHSSS) adapted for heavy loads is used, but its strong flow output nonlinearity and system nonlinear dynamic behavior greatly impede the steering performance. Therefore, in order to reduce the influence of the flow leakage of the fixed-displacement pump on the system and to ensure that the flow output of the system matches the control model, a mapping model based on the fitting of a two-layer neural network algorithm with a dynamic real-time compensation strategy (FNC) is proposed. In addition, considering the strong robustness of the system even under parameter uncertainty and unknown disturbance, a complex nonlinear mathematical model is established based on OPCEHSSS physical characteristics, and a dual-objective control strategy of steering angle and pressure based on sliding mode control (SMC) is proposed. However, in order to reduce the influence of high-order switching discontinuity on the steering and ensure the fast convergence of the control system, a fast super twisting algorithm (STA) based on double saturation function of the boundary layer is proposed. The experimental results show that the three different controllers can effectively reduce the steering angle error after the introduction of FNC. And in the case of a single axle loaded with 6 tons, the improved new FNC+STA integrated dual-objective control strategy improves the accuracy by 53.16% compared with PID and 40.67% compared with SMC. The steady-state error is maintained within 0.9 degrees, realizing the high-performance steering tracking control of OPCEHSSS for heavy vehicles.
Keyword ：
dual-objective control dual-objective control flow nonlinear mapping and compensation flow nonlinear mapping and compensation Heavy vehicle steering system Heavy vehicle steering system pump control system pump control system steering tracking steering tracking super twisting algorithm super twisting algorithm two-layer neural network algorithm two-layer neural network algorithm
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| GB/T 7714 | Lin, Xiezhao , Xu, Jun , Yu, Jianchao et al. High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2024 . |
| MLA | Lin, Xiezhao et al. "High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING (2024) . |
| APA | Lin, Xiezhao , Xu, Jun , Yu, Jianchao , Zhang, Xiaolong , Zheng, Yulan , Li, Su et al. High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2024 . |
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Ensuring the stability of heavy multi-axle vehicles necessitates the accurate calibration and decoupling of Multiaxis Wheel Force Sensors (MWFS). Traditional methods often neglect the temporal coupling present in MWFS output data, leading to reduced accuracy. This paper introduces an Improved Decoupling Algorithm (IDI) based on the Informer network, designed to temporally decouple MWFS and enhance precision. The Decoupling embedding layer (DE) performs linear decoupling of the MWFS, while the Token embedding layer (TE) and Informer encoder extract timing coupling features. The highway network and linear fully-connected layer then provide nonlinear decoupling compensation. Experimental results demonstrate that the IDI algorithm significantly outperforms traditional methods like Extreme Learning Machine (ELM) and Back Propagation Network (BPNN), achieving at least a 41.12% improvement in accuracy in the highly coupled Mz channel. In conclusion, the IDI algorithm not only achieves high-precision decoupling of MWFS but also presents a robust framework for modeling various sensor types.
Keyword ：
Decoupling algorithm Decoupling algorithm Informer Informer Multi-axis Wheel Force Sensor Multi-axis Wheel Force Sensor Temporal coupling Temporal coupling
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| GB/T 7714 | Chen, Peiyang , Li, Yuzheng , Gao, Hao et al. Novel static decoupling algorithm for the multi-axis wheel force sensor based on the Informer network [J]. | MEASUREMENT , 2024 , 241 . |
| MLA | Chen, Peiyang et al. "Novel static decoupling algorithm for the multi-axis wheel force sensor based on the Informer network" . | MEASUREMENT 241 (2024) . |
| APA | Chen, Peiyang , Li, Yuzheng , Gao, Hao , Zhang, Xiaolong , Du, Heng , Ren, Tianyu . Novel static decoupling algorithm for the multi-axis wheel force sensor based on the Informer network . | MEASUREMENT , 2024 , 241 . |
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In the composite material hydraulic press, the mismatched velocities between the movable beam and the multiple leveling cylinders produce disturbing superfluous forces, and the eccentric torque causes the movable beam to tilt when pressed. They severely damage the leveling displacement accuracy and limit the implementation of muti-cylinder system in higher precision field. A dual-loop leveling control strategy is proposed, comprising a dual-valve parallel pressure inner loop and an adaptive control displacement outer loop. Firstly, a dual-valve parallel scheme is proposed in the pressure inner loop, where a compensation valve is added in parallel with the original single-valve. A variable compensation valve spool algorithm is designed, considering both velocity and displacement to mitigate the effects of superfluous forces and achieve precise and smooth leveling. Secondly, a control strategy for the adaptive displacement outer loop is designed to estimate and compensate for eccentric torque. An innovative torque decoupling algorithm is formulated to overcome the challenge of indeterminate coupling relations between inner and outer loops caused by the adaptive incorporation of dual-loop control. Then, eccentric load compensation torque is decoupled to the multiple leveling cylinders and derives the desired pressure for the inner loop. The inner loop suppresses the disturbance of eccentric torque to enhance robust leveling precision. Finally, the effectiveness of the proposed strategy was validated through experimentation on the constructed hydraulic press leveling system test bench. The control strategy presented in this paper provides a reference for achieving smooth and precise control in multi-cylinder systems.
Keyword ：
Dual-loop control Dual-loop control Dual-valve parallel Dual-valve parallel Eccentric torque adaptive estimation Eccentric torque adaptive estimation Multiple-cylinder leveling system Multiple-cylinder leveling system Multiple-cylinder torque decoupling Multiple-cylinder torque decoupling
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| GB/T 7714 | Du, Heng , Wu, Ye , Zhang, Zhizhong et al. Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression [J]. | MECHATRONICS , 2024 , 104 . |
| MLA | Du, Heng et al. "Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression" . | MECHATRONICS 104 (2024) . |
| APA | Du, Heng , Wu, Ye , Zhang, Zhizhong , Wang, Qigang , Luo, Jiahe , Fang, Jinghui . Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression . | MECHATRONICS , 2024 , 104 . |
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Multi-axle heavy vehicles employ a variable-length tie rod steering system to achieve precise multi-mode steering. However, the single-axle steering system need integrate two sets of electro-hydraulic control systems (EHCSs), resulting in the energy consumption significant increase. This paper proposes a novel energy-efficient pump-valve primary-auxiliary electro-hydraulic steering system (PVPA EHSS) which compose of a pumpcontrolled dual-steering cylinders primary system and a valve-controlled variable-length tie rod cylinder auxiliary system. The proposed system utilizes a single pump to drive both the primary and auxiliary EHCSs simultaneously, enabling high-precision and high-efficiency steering with multi steering modes. Additionally, to suppress the flow disturbance of the auxiliary system branch flow on the single-pump-controlled steering primary system, the interaction between the flow of the auxiliary system and the flow of the primary system in each steering phase is studied. A pump flow feedforward-angle feedback composite control strategy incorporating branch flow prediction is proposed to mitigate the disturbance and ensure the accurate steering of left and right tires. The experimental results demonstrate that compared to the traditional variable-length tie rod steering system, the proposed system reduces energy consumption by 58.66 %, and achieves precise adaptation of the left and right tire angles in multi steering modes.
Keyword ：
Electro-hydraulic steering system Electro-hydraulic steering system High-efficiency steering High-efficiency steering Multi-axle heavy vehicles Multi-axle heavy vehicles Pump-controlled dual steering cylinders Pump-controlled dual steering cylinders Pump-valve primary-auxiliary Pump-valve primary-auxiliary Valve-controlled tie rod cylinder Valve-controlled tie rod cylinder
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| GB/T 7714 | Li, Su , Zhang, Zhizhong , Du, Heng et al. Design and verification of a novel energy-efficient pump-valve primary-auxiliary electro-hydraulic steering system for multi-axle heavy vehicles [J]. | ENERGY , 2024 , 312 . |
| MLA | Li, Su et al. "Design and verification of a novel energy-efficient pump-valve primary-auxiliary electro-hydraulic steering system for multi-axle heavy vehicles" . | ENERGY 312 (2024) . |
| APA | Li, Su , Zhang, Zhizhong , Du, Heng , Zheng, Guoqiang , Zhang, Xiaolong , Li, Zerong . Design and verification of a novel energy-efficient pump-valve primary-auxiliary electro-hydraulic steering system for multi-axle heavy vehicles . | ENERGY , 2024 , 312 . |
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液压柱塞马达在工作状态下振动噪声剧烈,针对削弱内部声振源和外部壳体结构优化的传统减振降噪方案设计难度大、优化成本高的问题,提出了在液压柱塞马达壳体敷设约束阻尼层的减振降噪方法.进行液压柱塞马达的动力学模型和液压模型耦合仿真,得到液压柱塞马达内部对壳体的振动激励.以振动激励作为载荷,结合强迫响应分析和基于模态声传递向量法的声压仿真,得到马达壳体的模态参与因子和声学板块贡献量,从而精确阻尼层敷设区域.通过对约束阻尼层进行有限元建模分析,研究阻尼层材料参数对振动抑制的影响,选择合适的阻尼层材料.在半消声室内对敷设约束阻尼层前后的液压柱塞马达进行多工况下平均声压级测试.结果表明:在峰值噪声频率下,约束阻尼层能将液压柱塞马达的噪声至少降低2 dB.
Keyword ：
减振降噪 减振降噪 声学板块贡献量 声学板块贡献量 模态参与因子 模态参与因子 液压柱塞马达 液压柱塞马达 约束阻尼层 约束阻尼层
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| GB/T 7714 | 张圳 , 黄惠 , 杜恒 et al. 液压柱塞马达的约束阻尼层降噪研究 [J]. | 液压与气动 , 2024 , 48 (10) : 158-169 . |
| MLA | 张圳 et al. "液压柱塞马达的约束阻尼层降噪研究" . | 液压与气动 48 . 10 (2024) : 158-169 . |
| APA | 张圳 , 黄惠 , 杜恒 , 李雨铮 , 苏俊收 . 液压柱塞马达的约束阻尼层降噪研究 . | 液压与气动 , 2024 , 48 (10) , 158-169 . |
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