To address the issues of uneven sample lengths in the centrifuge machine bearings of the ternary precursor, inaccurate fault feature extraction, and insensitivity of important feature channels in rolling bearings, a rolling bearing fault diagnosis method based on adaptive sample length adjustment of one-dimensional convolutional neural network (1DCNN) and squeeze-and-excitation network (SeNet) is proposed. Firstly, by controlling the cumulative variance contribution rate in the principal component analysis algorithm, adaptive adjustment of sample length is achieved, reducing data with uneven sample lengths to the same dimensionality for various classes. Then, the 1DCNN extracts local features from bearing signals through one-dimensional convolution-pooling operations, while the SeNet network introduces a channel attention mechanism which can adaptively adjust the importance between different channels. Finally, the 1DCNN-SeNet model is compared with four classic models through experimental analysis on the CWRU bearing dataset. The experimental results indicate that the proposed method exhibits high diagnostic accuracy in rolling bearings, demonstrating good adaptability and generalization capabilities.

In response to the trajectory tracking control problem of manipulators under measurement disturbances, a novel multi-input multi-output discrete integral terminal sliding mode control scheme is proposed. Initially, this scheme establishes a dynamic model of a two-joint manipulator based on the Lagrangian dynamics analysis method. Subsequently, a discrete integral terminal sliding mode control law based on the dynamic model of the two joints is designed, incorporating delayed estimation of unknown disturbances and discretization errors in the manipulator system. To enhance the trajectory tracking accuracy of the control scheme and suppress the impact of sliding mode chattering on the manipulator system, an adaptive switching term is introduced into the discrete integral terminal sliding mode control law. The paper derives an adaptive discrete integral terminal sliding mode control scheme and provides stability proof for the proposed approach. Simulation experiments are conducted to compare the proposed adaptive discrete integral terminal sliding mode control scheme with classical discrete sliding mode control schemes and discrete integral terminal sliding mode control schemes. The simulation results demonstrate that the designed adaptive discrete integral terminal sliding mode control scheme maintains trajectory tracking errors within 0.004 radians for each joint of the manipulator, with minimal changes in control torque for each joint. The absolute integral of the control torque variations is calculated at $5.85\times {10}^3$, which is lower than other control schemes, thereby validating the effectiveness and superiority of the proposed approach.

In order to enhance the performance of model-free adaptive control (MFAC) in solving the control problem caused by interference and improve the tracking speed, this paper focuses on the analysis and research of the system affected by interference using the MFAC method. This method is based on dynamic linearization technology, with system data which are represented by a full format dynamic linearization (FFDL) model that is very similar to actual industrial processes. In this work, a control law is derived by incorporating and assigning weights to both the output error and the output error rate (OER) as the performance index. Rigorous proofs are provided to establish convergence and stability. Considering the inherent complexity of actual systems, this paper also presents the MFAC-OER scheme for multiple-input–multiple-output (MIMO) systems. Furthermore, the effectiveness and practicality of the improved control strategy are evaluated through numerical arithmetic examples and control processes involving water level regulation in a circulating fluidized bed (CFB). Comparisons with conventional MFAC and PID control methods show that the enhanced control method is capable of quickly and accurately tracking the desired signal. Additionally, it exhibits superior anti-interference characteristics and is able to respond in a timely manner to changes in the operating conditions of the circulating fluidized bed system. As a result, it ensures the normal operation of the coal saver and water supply pipe without damage.

Similar to many complex systems, the operation process of electric balanced forklifts has characteristics such as time-varying model parameters and nonlinearity. Establishing an accurate mathematical model becomes challenging, making it difficult to apply model-based control methods in engineering practice. Aiming at the longitudinal control system of electric forklifts containing external disturbances, this paper proposes an improved full-format dynamic linearization model-free adaptive PID control (iFFDL-MFA-PID) method. Firstly, the full-format dynamic linearization (FFDL) method is employed to transform the operating system of the electric balanced forklift into a virtual equivalent linear data model. Secondly, the nonlinear residual term and pseudo-gradient (PG) of the data model are estimated using the difference estimation algorithm and the optimal criterion function, respectively. Furthermore, in order to enhance the robustness of the system, the idea of intelligent PID (iPID) is introduced and the principle of equivalent feedback is utilized to derive the iFFDL-MFA-PID control scheme. The design process of this scheme only requires the use of the input and output data of the system, without relying on the mathematical model of the system. Finally, the iFFDL-MFA-PID method proposed in this paper is simulated and tested with the EFG-BC/320 counterbalanced forklift equipped in the Special Equipment Testing Center and compared with the model-free adaptive control method (FFDL-MFAC) and the PID control method. Simulation results show that the speed-tracking error of the electric forklift truck under the action of the iFFDL-MFA-PID algorithm is maintained within ±0.132 m/s throughout the process, achieving higher tracking accuracy and better robustness compared to the MFAC and PID methods.

With the rapid development of new energy vehicle technologies, higher demands have been placed on fault diagnosis for automotive transmission gearboxes. To address the poor adaptability of traditional methods under complex operating conditions, this paper proposes a sensor data-driven fault diagnosis method based on improved ensemble empirical mode decomposition (EEMD) combined with convolutional neural networks (CNNs) and Bidirectional Long Short-Term Memory (BiLSTM) networks. The method incorporates a dynamic noise adjustment mechanism, allowing the noise amplitude to adapt to the characteristics of the signal. This improves the stability and accuracy of signal decomposition, effectively reducing the instability and error accumulation associated with fixed-amplitude white noise in traditional EEMD. By combining the CNN and BiLSTM modules, the approach achieves efficient feature extraction and dynamic modeling. First, vibration signals of the transmission gearbox under different operating states are collected via sensors, and an improved EEMD method is employed to decompose the signals, removing background noise and nonstationary components to extract diagnostically significant intrinsic mode functions (IMFs). Then, the CNN is utilized to extract features from the IMFs, deeply mining their spatiotemporal characteristics, while the BiLSTM captures the temporal sequence dependencies of the signals, enhancing the comprehensive modeling of nonlinear and dynamic fault features. The combination of these two networks enables efficient adaptation to complex conditions, achieving accurate classification and identification of multiple gearbox fault modes. Results indicate that the proposed approach is highly accurate and robust for identifying gearbox fault modes, significantly exceeding the performance of conventional methods and isolated network models. This provides an efficient and intelligent solution for fault diagnosis of automotive transmission gearboxes.

Circulating fluidized bed (CFB) boilers are widely used in industrial production due to their high combustion efficiency, low pollutant emissions and wide load-adjustment range. However, the water-level-control system of a CFB boiler exhibits time-varying behavior and nonlinearity, which affect the control performance of the industrial system. This paper proposes a novel data-driven adaptive integral sliding-mode control (ISMC) method for the CFB control system with external disturbances. Firstly, the scheme designs a discrete ISMC law based on the full-format dynamic linearization (FFDL) data model, which is equivalent to a nonlinear system. Furthermore, a new reaching law is proposed to quickly drive the system state onto the sliding-mode surface. The improved ISMC control scheme only utilizes the input–output data during the design process and does not require model information. After theoretically verifying the stability of the method proposed in this paper, it is further applied in MIMO systems. Finally, the control and practical effects of this method are evaluated by using the DHX25-1.25 CFB boiler installed in the special-equipment testing center. The experimental results show that, compared with the traditional sliding-mode control (SMC) and model-free adaptive-control (MFAC) methods, the improved control method can quickly track the given signal and exhibit resistance to noise interference. Furthermore, it can rapidly respond to changes in the working conditions of the CFB system.