Aiming at the problems of high energy consumption and particle breakage in the pneumatic conveying process of large-scale breeding enterprises, in this paper, based on the theoretical calculated value of particle suspension velocity, a computational fluid model and a discrete element model are established based on computational fluid dynamics (CFD) and discrete element method (DEM). Then, through the numerical simulation of gas-solid two-phase flow, the influence of four factors of conveying wind speed, particle mass flow rate, pipe diameter, and particle size on the velocity distribution of particles in a horizontal pipe, dynamic pressure change in the pipe, pressure drop in the pipe, and solid mass concentration are studied. The results show that the k-ε turbulence model can better simulate the movement of gas-solid two-phase flow, and through the analysis of the simulation, the influence of four different factors on the conveying characteristics is obtained, which provides a scientific basis for the construction of the conveying line.

In order to solve the demand for low-power microcomputers and micro-electro-mechanical system components for continuous energy supply, a magnetic coupling piezoelectric–electromagnetic composite galloping energy harvester (MPEGEH) is proposed. It is composed of a piezoelectric energy harvester (PEH) and an electromagnetic energy harvester (EEH) coupled by magnetic force. The bistable nonlinear magnetic coupling structure improves the output power of the MPEGEH. The advantages and output performance of the MPEGEH are analyzed. The prototype of the energy harvester is made, and the nonlinear output characteristics under different load resistances are analyzed. Through the experiment on the key parameters of the composite energy harvester, it is found that the higher the coupling degree of the two parts of the MPEGEH, the stronger the nonlinear characteristics and the better the output characteristics. The results show that the onset wind velocity and output power of the MPEGEH are better than the classic galloping piezoelectric energy harvester (CGPEH). At the same wind speed, with the increase in the distance d₀ between magnets A and B, the output power of both the PEH and the EEH decreases. When d₀ is 37 mm, the output power of the EEH is the largest. The distance s₀ between magnets B and C has little influence on the output power of the PEH but has a great influence on the EEH. When s₀ is 23 mm, the EEH has the best output characteristics. Compared with the CGPEH, the onset wind velocity is reduced by 28%, and the output power is increased by 136% when the wind speed is 11 m/s.

In order to solve the problem of self-energy supply of vehicle-mounted micro-sensors, bridge detection and some other low-power electronic devices in their working state, a vortex-induced flutter composite nonlinear piezoelectric energy harvester (VFPEH) with symmetrical airfoils on both sides of a cylindrical bluff body is designed. The VFPEH consists of a cantilever beam, a cylindrical bluff body connected to the free end of the cantilever beam, and two airfoil components symmetrically fixed at both ends of the shaft, which enables coupling between vortex-induced vibration and flutter. The airfoil symmetrically arranged on both sides of the cylindrical bluff body induces the cantilever beam to produce bending and torsional composite vibrations at high wind velocities, realizing energy harvest in the two degrees of freedom motion direction, which can effectively improve the output power of the energy harvester. Based on a wind tunnel experimental platform, the effect of key parameters matching impedance and the diameter of the cylindrical bluff body on the output performance of the VFPEH is investigated, together with the output performance of the classical vortex-induced energy harvester (VEH), the flutter energy harvester (FEH) and the VFPEH. The experimental results show that for the VFPEH under a combination of vortex-induced vibrations and flutter vibrations has a better output performance than the VEH and the FEH when using the same size. The coupling of vortex-induced vibration and flutter can reduce the start-up wind velocity of the VFPEH and expand the wind velocity range of the high output power of the VFPEH. The VFPEH has a better output performance at the cylindrical bluff body diameter of 30 mm and a load resistance of 140 kΩ. When the wind velocity range is 2 m/s–15 m/s, the maximum output power of the VFPEH is 6.47 mW, which is 129.4 times and 24.9 times of the maximum output power of the VEH (0.05 mW) and FEH (0.26 mW), respectively.

A four-steering-wheel heavy-duty Automated Guided Vehicle (AGV) is prone to lateral instability and wheel slippage during acceleration, climbing, and small-radius turns. To address this issue, a trajectory tracking strategy considering lateral stability and an optimal driving torque distribution strategy considering load transfer and tire adhesion coefficient are proposed. Firstly, a three-degree-of-freedom AGV trajectory tracking model is established, tracking error and sideslip angle are incorporated into the cost function, and an improved model predictive trajectory tracking controller is proposed. Secondly, the longitudinal and yaw dynamic model of AGV is established, and vertical load transfer is analyzed. With the goal of minimizing tire adhesion utilization rate, quadratic programming is used for the optimal distribution of driving torque. Finally, through co-simulation using ADAMS and MATLAB on a narrow “climbing straight+ S-curve” road, the maximum tracking error is 0.0443 m. Compared to the unimproved model predictive control and average driving torque distribution strategy, the sideslip angle is reduced by 58.18%, the maximum tire adhesion utilization rate is reduced by 6.62%, and climbing gradeability on wet roads is enhanced.

During the operation of outdoor heavy-duty Automated Guided Vehicle (AGV), the stability and safety of AGV are easily reduced due to load transfer. In order to solve this problem, a trajectory tracking control strategy considering load transfer is proposed to realize the trajectory tracking of AGV and the adaptive distribution of driving torque. The three-degree-of-freedom (3-DOF) kinematics model and pose error model of heavy-duty AGV vehicles are established. The lateral load transfer and longitudinal load transfer rules are analyzed. The vehicle trajectory tracking control strategy is composed of an improved model predictive controller (IMPC) and drive motor torque adaptive distribution controller considering load transfer. By optimizing the lateral acceleration of the vehicle body, the IMPC controller improves the problem of large driving force difference between the left and right sides of the wheel caused by the lateral transfer of the load and the problem of large wheel adhesion rate caused by the longitudinal transfer of the load is improved by the speed controller and the torque proportional distribution controller. The joint simulation platform of MATLAB/Simulink and CarSim is built to simulate and analyze the trajectory tracking of heavy-duty AGV under different pavement adhesion coefficients. The simulation results have shown that compared with the control strategy without considering load transfer, on the two types of pavements with different adhesion coefficients, the maximum lateral acceleration is reduced by 19.7%, and the maximum tire adhesion rate is reduced by 11.5%.

Pneumatic conveying technology is an efficient, energy-saving and environmentally friendly means of solid feed conveying. In the process of pneumatic conveying, wind speed has a decisive influence on conveying characteristics. Here, computational fluid dynamics coupled with a discrete element method simulation and experiment were combined, and the conveying wind speed was used as the experimental variable to study the conveying characteristics of the conveying material in the tube, such as particle distribution state, solid phase mass concentration, coupling force on solid feed, average speed and pressure drop of solid feed in the pipe. The results show that when the conveying wind speed increases from 18 m/s to 20.6 m/s, the solid feed changes from sedimentary flow to suspended flow, the particle accumulation gradually decreases and the conveying efficiency is significantly improved. The particle slug greatly reduces the collision and friction between the internal particles and the pipe and reduces the crushing rate to a certain extent. When the conveying wind speed is about 23.2 m/s, there are almost no trapped particles in the pipeline, which can achieve rapid feed delivery, and conveying efficiency is greatly improved. Therefore, this paper provides a good theoretical basis for improving conveying efficiency and reducing crushing rate in the process of pneumatic conveying.