ZHENG J H . A test method for helicopter landing gear load [J ] . International Journal of Mechanical Engineering and Applications , 2021 , 9 ( 1 ): 19 - 24 . DOI: 10.11648/j.ijmea.20210901.14 http://doi.org/10.11648/j.ijmea.20210901.14 http://www.sciencepublishinggroup.com/journal/paperinfo?journalid=220&doi=10.11648/j.ijmea.20210901.14 http://www.sciencepublishinggroup.com/journal/paperinfo?journalid=220&doi=10.11648/j.ijmea.20210901.14

LU Y , CHANG X , CHUANG Z J , et al . Numerical investigation of the unsteady coupling airflow impact of a full-scale warship with a helicopter during shipboard landing [J ] . Engineering Applications of Computational Fluid Mechanics , 2020 , 14 ( 1 ): 954 - 979 . DOI: 10.1080/19942060.2020.1786461 http://doi.org/10.1080/19942060.2020.1786461 https://www.tandfonline.com/doi/full/10.1080/19942060.2020.1786461 https://www.tandfonline.com/doi/full/10.1080/19942060.2020.1786461

王波 , 江鹏远 , 张洪亮 , 等 . 高海况舰上起降风险及应对措施 [J ] . 船舶工程 , 2021 , 43 ( 增刊2 ): 9 - 13 .

WANG B , JIANG P Y , ZHANG H L , et al. Risk and countermeasure of taking off and landing on ship in high sea condition [J ] . Ship Engineering , 2021 , 43 ( S2 ): 9 - 13 . (in Chinese)

李博 , 王孝通 , 徐晓刚 , 等 . 基于计算机视觉的舰载直升机助降技术研究 [J ] . 兵工学报 , 2007 , 28 ( 3 ): 370 - 373 . 为了辅助舰载直升机安全着舰，一种基于计算机视觉的助降技术被提出。该技术包括：利用图像分割技术从飞行甲板的背景中识别助降陆标图案；采用Harris角点检测器，提取助降陆标角点的投影；根据透视投影几何原理，构造助降陆标角点和图像上相应投影点的函数关系；采用最小二乘法解算函数关系矩阵；对该关系矩阵进行分解，即可得到直升机相对飞行甲板的位姿参数。仿真实验表明：该方法能够实时给出舰载直升机的相对位置和姿态信息，而且在图像检测误差的干扰下，位姿估计仍然保持着较高的精度。

LI B , WANG X T , XU X G , et al. Study on assisted landing technology for shipboard helicopter based on computer vision [J ] . Acta Armamentarii , 2007 , 28 ( 3 ): 370 - 373 . (in Chinese) For assisting shipboard helicopter in landing safely, an assisted landing technology for ship-board helicopter was proposed based on computer vision. The contents of the technology include image segmentation for identilying the landmark from desk, extracting corner of landmark in image with Harris corner detecting implement, establishing the function between corner of landmark and its pro-jection point in image based on perspective projection principle, computing functional relation matrix with least square technique, and decomposing relation matrix to get relative position and orientation between shipboard helicopter and snip. The experiments with simulated data show that the relative po-sition and the attitude data for shipboard helicopter can be estimated by the approach in real-time, which remain high accuracy still under the interference of image testing error.

伍恒 , 谭大力 , 李启军 , 等 . 国外舰载直升机助降与牵引装备综合性能对比分析 [J ] . 舰船科学技术 , 2021 , 43 ( 23 ): 185 - 189 .

WU H , TAN D L , LI Q J , et al . Comparative analysis on comprehensive performance of foreign shipborne helicopter assist secure and traverse equipment [J ] . Ship Science and Technology , 2021 , 43 ( 23 ): 185 - 189 . (in Chinese)

ZHANG Z X , LIU Q , ZHAO D X , et al . Electrical aircraft ship integrated secure and traverse system design and key characteristics analysis [J ] . Applied Sciences , 2022 , 12 ( 5 ): 2603 . DOI: 10.3390/app12052603 http://doi.org/10.3390/app12052603 https://www.mdpi.com/2076-3417/12/5/2603 https://www.mdpi.com/2076-3417/12/5/2603 The shipborne helicopter is an essential maritime combat force of the modern navy. However, as the most advanced shipborne helicopter landing assistance system, the ASIST still suffers from the significant disadvantage of the uncontrollable driving speed of the claw. This paper aims to propose an implementation scheme of the EASIST transmission system by selecting an asynchronous motor as the direct power source to solve the problem. On this basis, the speed controller is built by combining the vector control algorithm with an ANFIS control algorithm. In addition, the capture and traction characteristics of EASIST are analyzed, and the capture track of the claw and the maximum load in the traction process are obtained. Finally, the dynamics model of the transmission system is established by power bond graph theory, and the system simulation test is carried out. Simulation results show that the proposed EASIST reduces the capture time by about 60% and dramatically reduces the capture speed. And when towing the shipborne helicopter, EASIST can keep a good speed-tracking effect under the action of wildly varying load force. The research results of this paper are of great significance to broaden the application scope of ASIST and improve the traction efficiency, which plays a vital role in enhancing the combat effectiveness of shipborne helicopters.

ZHANG Z X , LIU Q , ZHAO D X , et al . Research on shipborne helicopter electric rapid secure device:system design, modeling, and simulation [J ] . Sensors , 2022 , 22 ( 4 ): 1514 . DOI: 10.3390/s22041514 http://doi.org/10.3390/s22041514 https://www.mdpi.com/1424-8220/22/4/1514 https://www.mdpi.com/1424-8220/22/4/1514 The research objective of this paper is to propose a new type of ERSD to solve the problem of the uncontrollable velocity of the claw in the current RSD. Firstly, the working characteristics of the RSD in ASIST are analyzed, and the design scheme of the transmission system of the ERSD is provided. The control system is designed by combining the vector control algorithm with the fuzzy adaptive PID control algorithm. On this basis, the trajectory planning of claw capture velocity is completed. Finally, the dynamics model of the transmission system of the ERSD is built by power bond graph theory, and the system simulation is carried out. The results show that the maximum capture time, velocity, and force were reduced by 47%, 53%, and 80%. In addition, when the ERSD is towing the helicopter, the mechanical claw can still provide good velocity tracking performance under a maximum interference load of 34,000 N.

GREER W B , SULTAN C . Infinite horizon model predictive control tracking application to helicopters [J ] . Aerospace Science and Technology , 2020 , 98 (C): 105675 . DOI: 10.1016/j.ast.2019.105675 http://doi.org/10.1016/j.ast.2019.105675 https://linkinghub.elsevier.com/retrieve/pii/S1270963819312969 https://linkinghub.elsevier.com/retrieve/pii/S1270963819312969

YU X , YANG J , LI S H . Disturbance observer-based autonomous landing control of unmanned helicopters on moving shipboard [J ] . Nonlinear Dynamics , 2020 , 102 ( 1 ): 131 - 150 . DOI: 10.1007/s11071-020-05915-w http://doi.org/10.1007/s11071-020-05915-w

OWEN I , LEE R , WALL A , et al . The NATO generic destroyer-a shared geometry for collaborative research into modelling and simulation of shipboard helicopter launch and recovery [J ] . Ocean Engineering , 2021 , 228 : 108428 . DOI: 10.1016/j.oceaneng.2020.108428 http://doi.org/10.1016/j.oceaneng.2020.108428 https://linkinghub.elsevier.com/retrieve/pii/S0029801820313354 https://linkinghub.elsevier.com/retrieve/pii/S0029801820313354

ZHAO D X , YANG H J , YAO S J , et al . Numerical investigation for coupled rotor/ship flowfield using two models based on the momentum source method [J ] . Engineering Applications of Computational Fluid Mechanics , 2021 , 15 ( 1 ): 1902 - 1918 . DOI: 10.1080/19942060.2021.1999330 http://doi.org/10.1080/19942060.2021.1999330 https://www.tandfonline.com/doi/full/10.1080/19942060.2021.1999330 https://www.tandfonline.com/doi/full/10.1080/19942060.2021.1999330

SHI Y J , LI G Y , SU D C , et al. Numerical investigation on the ship/multi-helicopter dynamic interface [J ] . Aerospace Science and Technology , 2020 , 106 : 106175 . DOI: 10.1016/j.ast.2020.106175 http://doi.org/10.1016/j.ast.2020.106175 https://linkinghub.elsevier.com/retrieve/pii/S1270963820308579 https://linkinghub.elsevier.com/retrieve/pii/S1270963820308579

李友毅 , 张志春 , 熊壮 , 等 . 舰载直升机着舰碰撞建模方法 [J ] . 系统工程与电子技术 , 2015 , 37 ( 7 ): 1691 - 1696 .

LI Y Y , ZHANG Z C , XIONG Z , et al . Collision modeling method of ship-board helicopter landing [J ] . Systems Engineering and Electronics , 2015 , 37 ( 7 ): 1691 - 1696 . (in Chinese) DOI: 10.3969/j.issn.1001-506X.2015.07.34 http://doi.org/10.3969/j.issn.1001-506X.2015.07.34 The accurate simulation of ship-board helicopter landing should model the collision between helicopter and ship accurately. In the course of landing， when the helicopter collide with the ship and the generated force of collision is the difficulty of modeling. A method of collision modeling between helicopter and ship is proposed in order to solve the problem. The undercarriage is simplified as the spring-damper structure in the method. The force of collision is related with the compression of the undercarriage and the relative velocity between the helicopter and the ship. Collision and the compression of the undercarriage could be estimated according to the undercarriage coordinate in the ship body reference frame. The relative velocity between the helicopter and the ship could be calculated via the ship velocity transform in the helicopter body reference frame. In the end, the helicopter and ship simulation models are developed to validate the method. The results show that the method could compute the collision forces which is generated by the undercarriage， and the helicopter could move with the ship concertedly. It could fulfill the need of simulation of ship-board helicopter landing.

王倩 , 赵丁选 , 魏海龙 , 等 . 复杂海况下舰载机着舰的动力学研究 [J ] . 东北大学学报(自然科学版) , 2017 , 38 ( 11 ): 1595 - 1600 . DOI: 10.12068/j.issn.1005-3026.2017.11.016 http://doi.org/10.12068/j.issn.1005-3026.2017.11.016 探究了舰载直升机着舰的动力学问题.首先提出了随机海浪信号的数学模型，利用舰艇的响应振幅算子(RAO)，基于叠加原理分析出舰艇摇荡的运动规律，而后利用带有耗散能的拉格朗日方程建立着舰机身的动力学模型.通过结合经典的舰艇及舰载机的动力学模型，对舰载直升机着舰过程中的动力学特性进行模拟.最后通过运用Runge-Kutta法求解动力学方程得出了有效的数值解，并运用Matlab仿真软件对该动力学模型进行了验证.

WANG Q , ZHAO D X , WEI H L , et al . Study of the landing dynamics of carrier based helicopter under complex sea conditions [J ] . Journal of Northeastern University (Natural Science) , 2017 , 38 ( 11 ): 1595 - 1600 . (in Chinese)

王倩 , 赵丁选 , 赵颖 , 等 . 舰载直升机复杂舰面上的动力学分析 [J ] . 吉林大学学报(工学版) , 2017 , 47 ( 4 ): 1109 - 1113 .

WANG Q , ZHAO D X , ZHAO Y , et al . Dynamic analysis of carrier helicopter on complex [J ] . Journal of Jilin University(Engineering and Technology Edition) , 2017 , 47 ( 4 ): 1109 - 1113 . (in Chinese)

赵丁选 , 王倩 , 张祝新 . 基于层次分析法的可拓学理论对舰载直升机可靠性的评估 [J ] . 吉林大学学报(工学版) , 2016 , 46 ( 5 ): 1528 - 1531 .

ZHAO D X , WANG Q , ZHANG Z X . Extenics theory for reliability assessment of carrier helicopter based on analytic hierarchy process [J ] . Journal of Jilin University Engineering Technology , 2016 , 46 ( 5 ): 1528 - 1531 . (in Chinese)

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张宏军 , 蔡斌 , 张春燕 , 等 . 一种海上作业直升机的安全快速回收及放飞系统及方法:中国,CN109398735A [P ] . 2019 -03-01.

ZHANG H J , CAI B , ZHANG C Y , et al . A safe and quick recovery and release system and method for the helicopter operating at sea:CN109398735A [P ] . 2019 -03-01. (in Chinese)

梁涛 , 张晓刚 , 权龙 , 等 . 泵阀双源协同驱动多执行器系统特性研究 [J ] . 西安交通大学学报 , 2022 , 56 ( 3 ): 1 - 11 .

LIANG T , ZHANG X G , QUAN L , et al . Characteristics of pump and valve dual-source collaborative driving multi-actuator system [J ] . Journal of Xi’an Jiaotong University , 2022 , 56 ( 3 ): 1 - 11 . (in Chinese)

QU S Y , FASSBENDER D , VACCA A , et al . A high-efficient solution for electro-hydraulic actuators with energy regeneration capability [J ] . Energy , 2021 , 216 : 119291 . DOI: 10.1016/j.energy.2020.119291 http://doi.org/10.1016/j.energy.2020.119291 https://linkinghub.elsevier.com/retrieve/pii/S0360544220323987 https://linkinghub.elsevier.com/retrieve/pii/S0360544220323987

齐昕 , 苏涛 , 周珂 , 等 . 交流电机模型预测控制策略发展概述 [J ] . 中国电机工程学报 , 2021 , 41 ( 18 ): 6408 - 6419 .

QI X , SU T , ZHOU K , et al . Development of AC motor model predictive control strategy:an overview [J ] . Proceedings of the CSEE , 2021 , 41 ( 18 ): 6408 - 6418 . (in Chinese)

贺虎成 , 孙磊 , 张玉峰 , 等 . 基于矢量控制的异步电机自抗扰控制 [J ] . 电机与控制学报 , 2019 , 23 ( 4 ): 120 - 125 .

HE H C , SUN L , ZHANG Y F , et al. Asynchronous motor active disturbance rejection control based on vector control [J ] . Electric Machines and Control , 2019 , 31 ( 4 ): 120 - 125 . (in Chinese)

吕英俊 , 刘卓伟 , 苏涛 , 等 . 异步电机无传感器矢量控制极低速与零速性能研究 [J ] . 中国电机工程学报 , 2019 , 39 ( 20 ): 6095 - 6103 ,6190.

LÜ Y J , LIU Z W , SU T , et al . Research of sensorless vector control performance for induction motor at very low-speed and zero-speed [J ] . Proceedings of the CSEE , 2019 , 39 ( 20 ): 6095 - 6103 , 6190. (in Chinese)

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LIU W , LI L , CAI W , et al. Dynamic characteristics and energy consumption modelling of machine tools based on bond graph theory [J ] . Energy , 2020 , 212 : 118767 . DOI: 10.1016/j.energy.2020.118767 http://doi.org/10.1016/j.energy.2020.118767 https://linkinghub.elsevier.com/retrieve/pii/S0360544220318740 https://linkinghub.elsevier.com/retrieve/pii/S0360544220318740

CHEN Y L , SUN Q , GUO Q , et al . Dynamic modeling and experimental validation of a water hydraulic soft manipulator based on an improved newton-euler iterative method [J ] . Micromachines , 2022 , 13 ( 1 ): 130 . DOI: 10.3390/mi13010130 http://doi.org/10.3390/mi13010130 https://www.mdpi.com/2072-666X/13/1/130 https://www.mdpi.com/2072-666X/13/1/130 Compared with rigid robots, soft robots have better adaptability to the environment because of their pliability. However, due to the lower structural stiffness of the soft manipulator, the posture of the manipulator is usually decided by the weight and the external load under operating conditions. Therefore, it is necessary to conduct dynamics modeling and movement analysis of the soft manipulator. In this paper, a fabric reinforced soft manipulator driven by a water hydraulic system is firstly proposed, and the dynamics of both the soft manipulator and hydraulic system are considered. Specifically, a dynamic model of the soft manipulator is established based on an improved Newton–Euler iterative method, which comprehensively considers the influence of inertial force, elastic force, damping force, as well as combined bending and torsion moments. The dynamics of the water hydraulic system consider the effects of cylinder inertia, friction, and water response. Finally, the accuracy of the proposed dynamic model is verified by comparing the simulation results with the experimental data about the steady and dynamic characteristics of the soft manipulator under various conditions. The results show that the maximum sectional error is about 0.0245 m and that the maximum cumulative error is 0.042 m, which validate the effectiveness of the proposed model.

ZHANG F L , YUAN Z H . The study of coupling dynamics modeling and characteristic analysis for flexible robots with nonlinear and frictional joints [J ] . Arabian Journal for Science and Engineering , 2022 , 46 : 15347 - 15363 .

SOMU N , MR G R , RAMAMRITHAM K . A hybrid model for building energy consumption forecasting using long short term memory networks [J ] . Applied Energy , 2020 , 261 : 114131 . DOI: 10.1016/j.apenergy.2019.114131 http://doi.org/10.1016/j.apenergy.2019.114131 https://linkinghub.elsevier.com/retrieve/pii/S0306261919318185 https://linkinghub.elsevier.com/retrieve/pii/S0306261919318185

SU S , WANG X K , CAO Y , et al . An energy-efficient train operation approach by integrating the metro timetabling and eco-driving [J ] IEEE Transactions on Intelligent Transportation Systems , 2019 , 21 ( 10 ): 4252 - 4268 . DOI: 10.1109/TITS.6979 http://doi.org/10.1109/TITS.6979 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

WANG Y , ZHAO D X , WANG L , et al . Dynamic simulation and analysis of the elevating mechanism of a forklift based on a power bond graph [J ] . Journal of Mechanical Science and Technology , 2016 , 30 ( 9 ): 4043 - 4048 . DOI: 10.1007/s12206-016-0817-y http://doi.org/10.1007/s12206-016-0817-y http://link.springer.com/10.1007/s12206-016-0817-y http://link.springer.com/10.1007/s12206-016-0817-y

MERAHI F , BOUAMAMA B O , MEKHILEF S . Bond graph modeling, design and experimental validation of a photovoltaic/fuel cell/electrolyzer/battery hybrid power system [J ] . International Journal of Hydrogen Energy , 2021 , 46 ( 47 ): 24011 - 24027 . DOI: 10.1016/j.ijhydene.2021.05.016 http://doi.org/10.1016/j.ijhydene.2021.05.016 https://linkinghub.elsevier.com/retrieve/pii/S0360319921016955 https://linkinghub.elsevier.com/retrieve/pii/S0360319921016955

SONG K , WANG Y M , AN C C , et al . Design and validation of energy management strategy for extended-range fuel cell electric vehicle using bond graph method [J ] . Energies , 2021 , 14 ( 2 ): 380 . DOI: 10.3390/en14020380 http://doi.org/10.3390/en14020380 https://www.mdpi.com/1996-1073/14/2/380 https://www.mdpi.com/1996-1073/14/2/380 In view of the aggravation of global pollution and greenhouse effects, fuel cell electric vehicles (FCEVs) have attracted increasing attention, owing to their ability to release zero emissions. Extended-range fuel cell vehicles (E-RFCEVs) are the most widely used type of fuel cell vehicles. The powertrain system of E-RFCEV is relatively complex. Bond graph theory was used to model the important parts of the E-RFCEV powertrain system: Battery, motor, fuel cell, DC/DC, vehicle, and driver. In order to verify the control effect of energy management strategy (EMS) in a real-time state, bond graph theory was applied to hardware-in-the-loop (HiL) development. An HiL simulation test-bed based on the bond graph model was built, and the HiL simulation verification of the energy management strategy was completed. Based on the comparison to a power-following EMS, it was found that fuzzy logic EMS is more adaptive to vehicle driving conditions. This study aimed to apply bond graph theory to HiL simulations to verify that bond graph modeling is applicable to complex systems.