To solve the problem of traditional engineering drilling rig propulsion systems being difficult to adapt to complex working conditions due to their bulky structure and poor load adaptability, this study proposes a new type of mechanical hydraulic composite electro-hydraulic proportional propulsion system. The system innovatively adopts a composite design of parallel hydraulic cylinders and movable pulley groups in mechanical structure, aiming to achieve system lightweighting through displacement multiplication effect. In terms of control strategy, a fuzzy adaptive PID controller based on position feedback was designed to improve the dynamic tracking performance and robustness of the system under nonlinear time-varying loads. The study established a multi physics domain mathematical model of the system and conducted joint simulation using AMESim and MATLAB/Simulink to deeply verify the overall performance of the proposed scheme. The simulation results show that the mechanical structure can stably achieve a 2:1 displacement multiplication effect, providing a feasible path for shortening the system size. Compared with traditional PID control, the proposed fuzzy adaptive PID control strategy significantly improves the positioning accuracy of the system. The maximum tracking errors of the master and slave hydraulic cylinders are reduced from 6.3 mm and 10.4 mm to 2.3 mm and 5.6 mm, respectively, and the accuracy is improved by 63.49% and 46.15%, providing theoretical support and technical reference for the design of engineering drilling rig propulsion control systems.

To clarify the nonlinear degradation of volumetric performance caused by piston–cylinder wear in axial piston pumps under multiple operating conditions, this study develops an integrated framework linking local wear-induced leakage to whole-pump output characteristics. A mathematical model incorporating piston kinematics, eccentric-clearance leakage, chamber-pressure dynamics, and whole-pump flow was established and implemented in Amesim. A four-factor mixed-level orthogonal design and analysis of variance were then employed to quantify the effects of wear clearance, eccentricity, load pressure, and shaft rotational speed. The results show that their contributions to volumetric efficiency follow the order: motor rotational speed > load pressure > wear clearance > eccentricity, whereas load pressure is the dominant factor affecting pressure ripple. A wear clearance of approximately 0.1 mm marks the onset of pronounced leakage-induced performance degradation. At this clearance and a load pressure of 20 MPa, increasing the rotational speed from 500 to 3000 r/min improves the volumetric efficiency from 67.48% to 94.44%, with an average increase of 5.39 percentage points per 500 r/min. Comparative experiments on normal and artificially worn pumps were conducted to validate the model. The measured motor-speed slip under high-load conditions was incorporated to correct the theoretical displacement and distinguish speed-induced flow reduction from internal leakage. After correction, the maximum relative error between the simulated and experimental results was below 3.7%. The proposed framework integrates mechanism-based leakage modeling, multi-factor contribution analysis, and speed-corrected experimental validation, providing a theoretical basis for the wear assessment, piston–cylinder clearance design, and flow compensation of axial piston pumps under variable operating conditions.

Reliable bearing diagnosis under simultaneous working-condition variation and noise requires transferable representations and auditable decision evidence. This study proposes a Vision Transformer Capsule Gradient-weighted Network (VTCGN) for industrial agents. First, continuous wavelet transform converts one-dimensional vibration segments into time–frequency images to enhance the representation of non-stationary fault impacts. The resulting images are then divided into patches, and multi-head self-attention in the Vision Transformer captures long-range dependencies among non-adjacent regions, thereby aggregating fault responses dispersed by noise and operating-condition variations. The encoded tokens are subsequently reconstructed into a spatial feature map, and dynamic capsule routing preserves the structural agreement between local impact patterns and fault categories. A 2D-Grad-CAM branch further identifies the time–frequency regions supporting each diagnostic decision and relates them to theoretical bearing fault characteristic frequencies. Experiments on the KAIST and SDUST bearing datasets verify the effectiveness of VTCGN under cross-load, cross-speed, and strong-noise conditions. On the representative KAIST 0 Nm→2 Nm task at SNR = 2 dB, five independent runs achieved an accuracy of 99.37 ± 0.31% and a macro-F1 of 99.35%. Ablation and sensitivity analyses further demonstrate the complementary contributions of CWT representation, global patch interaction, and dynamic capsule routing. VTCGN therefore provides industrial agents with robust fault predictions and physically interpretable machine-condition evidence.

Existing piston–cylinder lubrication studies often simplify the pressure boundary as a constant load or a single field, making it difficult to capture pump-level pressure excitation, local oil-film response, and non-concentric posture under variable loading. This paper establishes a thermo–fluid–solid coupling framework integrating an AMESim full-pump model, a Fluent transient oil-film model, and a Transient Structural model; UDF transfer of periodic pressure, dynamic meshes, and a calibrated Roelands law were used to analyze parallel-offset and center-tilted postures. As the load pressure increased from 10 to 30 MPa, the maximum discharge–half-cycle temperature rose from 28.39 to 36.95 °C, and the average positive leakage during the third-cycle high-pressure stage increased from 0.0201 to 0.1026 L/min; increasing speed from 1000 to 3000 r/min reduced cycle-averaged leakage by 8.93%. At 500 r/min and 30 MPa, the parallel-offset case reached 46.34 °C, 41 kPa, and 0.0990 L/min in maximum temperature, maximum shear stress, and average leakage, whereas the center-tilted case produced a peak resultant force of 3537.12 N, a cylinder inner-wall high-stress band of 76.96 MPa, and a maximum piston deformation and equivalent stress of 4.31 μm and 83.16 MPa. These results clarify the distinct lubrication behavior and potential uneven-wear risk associated with the two representative non-concentric postures, and provide a basis for clearance design and posture-sensitive condition assessment of axial piston pumps.