An underwater glider is a type of autonomous profiling instrument platform used for gathering data to explore the ocean. Having a neutrally buoyant glider hull is one way to improve the glider's endurance with a passive compensation for buoyancy change. This article applies the bi-directional evolutionary structural optimization (BESO) method to the optimization of an underwater glider hull, based on two materials. Firstly, the method for determining the glider's neutral buoyancy is carried out. Secondly, the optimization problem is defined and the optimization procedure is presented. In the BESO procedure, the original design area elements with low strain energy are iteratively switched from high-value materials to low-value materials until a prescribed fraction is reached. Finally, an optimal underwater glider design is generated and the result demonstrates a reasonable material distribution of the neutrally buoyant glider hull. A 26.4% buoyancy adjustment is achieved and the mass of the glider is decreased by 31%.

Using high-speed on-off valves (HSVs) with small size, low cost, and high switching accuracy instead of expensive proportional/servo valves, and researching high-performance vacuum servo system can further enhance the competitiveness of vacuum servo technology. However, due to the delay characteristics of high-speed on-off valve (HSV), the average gas mass flow rate of the output has dead zone, saturated zone and nonlinear zone. A linear compensation method for flow output is designed, so that the average gas mass flow rate of the output is approximately positively correlated with the duty cycle of the pulse width modulation (PWM) signal. Furthermore, because of the air compression and the leakage of the system, there exist parametric uncertainties, unmodeled dynamics and disturbances in the vacuum servo system. An adaptive backstepping control (ABC) strategy based on discontinuous projection mapping is designed. The adaptive backstepping control strategy inhibit the influence of system’s parametric uncertainties through on-line update of the uncertain parameters, and uses its own robustness to eliminate the effects of unmodeled dynamics and disturbances. Compared with the sliding mode control (SMC) strategy, the experimental results show that when the tracking frequency reaches 3–4Hz, the adaptive backstepping control strategy can ensure good tracking performance.

The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2–140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

Soft elastohydrodynamic lubrication (EHL) problems widely exist in hydraulic reciprocating rod seals and pose great challenges because of high nonlinearity and strong coupling effects, especially when the EHL problems are of high dimensions. In this paper, a strongly coupled fluid structure interaction (FSI) model is proposed to solve the transient soft EHL problems in U-cup hydraulic reciprocating rod seals. The Navier–Stokes equations, rather than the Reynolds equation, are employed to govern the whole fluid field in the soft EHL problems, with the nonlinearity of the solid taken into consideration. The governing equations of the fluid and solid fields are combined into one equation system and solved monolithically. To determine the displacements of nodes of the fluid field, a new moving mesh method based on the combination of the Laplace equation and the leader–follower methods is put forward. At last, the proposed FSI model runs successfully with the moving mesh method, and the boundaries of the hydrodynamic lubrication zones and the hydrostatic zones are formed automatically and change dynamically during the coupling process. The results are as follows: The soft EHL problems show typical characteristics, like the constriction effects of the lubricating films, and the law of dynamic development of the lubricating films and the fluid pressures is revealed. The minimum stroke lengths needed to generate complete lubricating films vary with the rod speeds and movement directions, so the design of the rod seals should be paid close attention to, in particular the rod seals of short stroke lengths. Furthermore, along with the dynamic development processes of the fluid pressures during the instroke of U-cup seals, the lubricating film humps expand and locate between the fluid pressure abrupt points and the outlet zones. After the U-cup seals reach the steady-states, the fluid abrupt points disappear and no changes of the film humps are observed. Theoretically, the proposed method can be popularized to solve similar soft EHL problems.

This paper aims to optimize the two-stage helical pairs (TSHPs) in a helical hydraulic rotary actuator (HHRA) in terms of volume, transmission efficiency, and maximum contact stress. Volume and transmission efficiency can be determined through analytical mathematical models. However, calculating the contact stress of helical pairs necessitates complex and time-consuming finite element simulation. To address this issue, a method for predicting the maximum contact stress using an ensemble of metamodels (EMs) is proposed, with an automated finite element simulation process developed for data provision. The superiority of the EMs is validated through comparative analysis with three stand-alone metamodels. The optimization is carried out using the NSGA-II algorithm, including four combinations of the three objectives, and global sensitivity is analyzed over the objectives. The results indicate a trade-off relationship between maximum contact stress and volume in the optimal space. Moreover, considering multiple combinations enhances the robustness of the optimization results. The method is effectively applied to the design of the TSHPs and provides a new idea for the related actuator design.