The actuator dead zone of free-form surface grinding robots (FFSGRs) is very common in the grinding process and has a great impact on the grinding quality of a workpiece. In this paper, an improved trajectory tracking algorithm for an FFSGR with an asymmetric actuator dead zone was proposed with consideration of friction forces, model uncertainties, and external disturbances. The presented control algorithm was based on the machine learning and sliding mode control (SMC) methods. The control compensator used neural networks to estimate the actuator’s dead zone and eliminate its effects. The robust SMC compensator acted as an auxiliary controller to guarantee the system’s stability and robustness under circumstances with model uncertainties, approximation errors, and friction forces. The stability of the closed-loop system and the asymptotic convergence of tracking errors were evaluated using Lyapunov theory. The simulation results showed that the dead zone’s non-linearity can be estimated correctly, and satisfactory trajectory tracking performance can be obtained in this way, since the influences of the actuator’s dead zone were eliminated. The convergence time of the system was reduced from 1.1 to 0.8 s, and the maximum steady-state error was reduced from 0.06 to 0.015 rad. In the grinding experiment, the joint steady-state error decreased by 21%, which proves the feasibility and effectiveness of the proposed control method.

Cyclic air braking is a key factor affecting the safe operation of trains on long downhill sections. However, a train’s cycle braking strategy is constrained by multiple factors such as driving environment, speed, and air-refilling time. A Q-learning algorithm-based cyclic braking strategy for a heavy haul train on long downhill sections is proposed to address this challenge. First, the operating environment of a heavy haul train on long downhill sections is designed, considering various constraint parameters, such as the characteristics of special operating routes, allowable operating speeds, and train tube air-refilling time. Second, the operating status and braking operation of a heavy haul train on long downhill sections are discretized in order to establish a Q-table based on state–action pairs. The training of algorithm performance is achieved by continuously updating Q-tables. Finally, taking the heavy haul train formation as the study object, actual line data from the Shuozhou–Huanghua Railway are used for experimental simulation, and different hyperparameters and entry speed conditions are considered. The results show that the safe and stable cyclic braking of a heavy haul train on long downhill sections is achieved. The effectiveness of the Q-learning control strategy is verified.

In this paper, a robust adaptive trajectory tracking control method is presented for the workpiece surface-grinding robot.

Cyclic air braking is a key element for ensuring safe train operation when running on a long and steep downhill railway section. In reality, the cyclic braking performance of a train is affected by its operating environment, speed and air-refilling time. Existing optimization algorithms have the problem of low learning efficiency. To solve this problem, an intelligent control method based on the deep Q-network (DQN) algorithm for heavy-haul trains running on long and steep downhill railway sections is proposed. Firstly, the environment of heavy-haul train operation is designed by considering the line characteristics, speed limits and constraints of the train pipe’s air-refilling time. Secondly, the control process of heavy-haul trains running on long and steep downhill sections is described as the reinforcement learning (RL) of a Markov decision process. By designing the critical elements of RL, a cyclic braking strategy for heavy-haul trains is established based on the reinforcement learning algorithm. Thirdly, the deep neural network and Q-learning are combined to design a neural network for approximating the action value function so that the algorithm can achieve the optimal action value function faster. Finally, simulation experiments are conducted on the actual track data pertaining to the Shuozhou–Huanghua line in China to compare the performance of the Q-learning algorithm against the DQN algorithm. Our findings revealed that the DQN-based intelligent control strategy decreased the air braking distance by 2.1% and enhanced the overall average speed by more than 7%. These experiments unequivocally demonstrate the efficacy and superiority of the DQN-based intelligent control strategy.

Any system for evaluating the safety service performance of heavy-haul railway lines must effectively reflect the real-time service status of the line. The working conditions of heavy-load lines are complex and diverse, particularly on uphill sections. Existing evaluation systems struggle to accurately reflect the service conditions of long and steep uphill sections bearing heavy loads, posing a significant threat to the safe operation of these lines. To address this problem, we propose a new method for evaluating the safety service performance of long and steep uphill sections of heavy-haul railway lines by establishing a scoring system based on the Analytic Hierarchy Process (AHP). First, damage indicators for heavy-haul lines are categorized into three groups: track geometry status indicators, track structure status indicators, and track traffic status indicators. Using data from existing heavy-haul lines and maintenance experiences, we determine a score deduction standard, classifying lines into four levels based on their safety service quality. Next, we establish a coefficient table for the service performance of long and steep uphill sections after the corresponding scores are deducted. Using data for the length and elevation grade of the actual uphill section, we adjust the deducted scores of the track structure status indicators, enhancing the evaluation system’s accuracy in describing the working conditions. Finally, we verify the stability of the entire system by conducting a sensitivity analysis of the indicator evaluation results using the One-At-a-Time (OAT) method. This method fills a critical gap in the safe operation and maintenance of heavy-haul railways and provides a safety guarantee for the operation of long uphill sections of heavy-haul railways.