1841 results about "Jet flow" patented technology

The invention relates to the technical field of automatic control, and discloses a pressure closed-loop self-calibration method for an ultrahigh-speed jet injection process, and the method comprises the steps: initializing a system, and building a pressure and temperature combined compensation model; a high-precision sensor is used for collecting real-time pressure and temperature data; by calculating a pressure deviation intelligent switching control strategy, PID is combined with feed-forward compensation in a steady state, and a deep reinforcement learning algorithm is switched to realize quick response in a transient state; automatically triggering closed-loop self-calibration according to operation time or a deviation threshold value, executing zero point and full scale calibration and updating compensation parameters; and carrying out residual analysis by using a digital twinborn model to realize fault diagnosis and early warning. According to the invention, the problems of low control precision and poor long-term stability of an ultra-high-speed jet flow process under nonlinear and large-lag working conditions are solved, and high-precision stable control and system self-adaptive calibration under a wide speed range are realized.

The invention relates to the technical field of thermal management of energy storage power stations, and discloses an immersion phase change and jet flow cooperative reinforcement thermal management system of an energy storage power station. An immersed phase-change cooling tank body of the system contains an energy storage battery pack and a low-boiling-point fluorinated liquid cooling liquid, so that the whole battery pack is immersed in the immersed phase-change cooling tank body; the condensation recovery device is connected with a steam outlet condensation vaporization medium; the liquid storage distribution unit comprises a main liquid storage tank and a special liquid storage tank, the main liquid storage tank is connected with the condensation recovery device, and the special liquid storage tank is connected with the bottom of the tank body through an electromagnetic drain valve; the multi-layer jet strengthening module comprises a top-layer annular jet pipeline, a bottom-layer annular jet pipeline and a middle-layer annular jet pipeline, the top-layer annular jet pipeline and the bottom-layer annular jet pipeline are connected with a main liquid storage tank and reflow through a circulating pump, and the middle-layer annular jet pipeline is connected with a special liquid storage tank driven by a high-pressure pump and provided with The temperature monitoring array acquires the real-time surface temperature of the battery pack in a distributed manner The dynamic control center is connected with all the modules. According to the system, efficient and uniform heat management of the energy storage battery pack is realized through cooperation of phase change and jet flow.

The invention provides a wind tunnel experiment-based wing high-attack-angle flow separation combined intelligent control method, which comprises the following steps of: arranging active flow control devices at 10% chord length and trailing edge flap of a wing to inhibit wing high-attack-angle flow separation; the active flow control device at the 10% chord length of the wing adopts direct jet flow, the jet flow direction is perpendicular to the chord line of the wing, three jet flow exciters are uniformly arranged along the spanwise direction, the active flow control device at the trailing edge flap adopts sweeping jet flow, the jet flow direction is parallel to the surface of the wing at the position, and 18 sweeping jet flow actuators are uniformly arranged along the spanwise direction; the jet flow of the two sets of flow control devices is adjusted through corresponding mass flow controllers, jet flow momentum distribution is dynamically optimized in combination with a reinforcement learning algorithm, the lift coefficient is remarkably increased, and energy consumption is reduced. The flow field state is fed back in real time through a pressure measuring system and a force measuring system, a closed-loop control system is constructed, and an execution action is output according to the flow field information around the wing to control an active flow control device arranged on the wing so as to inhibit flow separation on the surface of the wing, so that the wing gets rid of the stall state and the lift force is improved.

The invention relates to a centralized heating balanced regulation and control method, device and equipment and a medium. The method comprises the steps that firstly, the heat supply area of a user and the heat use state of a neighbor are collected, the basic flow of the jet device is calculated according to an industrial standard formula, and final flow containing resistance characteristic data is obtained through secondary correction by combining a neighbor heat use state correction coefficient and an environment temperature influence factor. Extracting flow and inlet and outlet pressure difference from jet device parameters, adjusting a valve to enable the resistance proportion to reach a preset interval, calculating parameters such as unit area heat consumption by combining real-time flow and supply and return water temperature difference, generating regulation and control basic data through coupling analysis, adjusting the jet device when the regulation and control basic data reach the standard, and generating a dynamic scheme by combining a thermal load prediction model. And finally, capturing the flow pulse signal according to a fixed period to calculate a difference value, generating a valve control signal according to a threshold value, acquiring the water supply and return temperature after execution, and coupling with a dynamic scheme to generate a regulation feedback signal. By adopting the method, accurate regulation and control can be realized through multi-dimensional analysis, and the flow distribution accuracy and the heat supply balance are improved.

The invention provides low-temperature supersonic airflow collision ultramicro equipment, which belongs to the field of material crushing and processing, and comprises a feeding device, an airflow collision device, a closed-loop type circulation grading device, a material receiving device, a gas cooling device and a gas inlet device, and the gas inlet device is used for providing a high-pressure gas source for the equipment; the gas cooling device cools the high-pressure gas to a preset low temperature, and then the high-pressure gas is fed into the gas flow collision device after being subjected to pressure regulation through the gas feeding pipeline; the airflow collision device comprises a collision chamber and at least one pair of opposite nozzles, the horizontal distance between the paired nozzles can be adjusted, the air supply pipeline and the feeding pipeline are connected with the nozzles after being intersected, and high-pressure air is sprayed out through the nozzles to form supersonic jet flow to drive materials to collide with each other in the collision chamber. And the collided materials are subjected to closed-loop circulation classification and then enter a material receiving device, and large particles are subjected to circulation collision crushing again. The ultramicro equipment disclosed by the invention can be used for crushing various plant raw materials into 1-10 microns, and has a good application prospect.

The invention discloses a liquid-phase sweating cooling thermal protection structure based on atomization jet flow, and relates to the field of heat reduction and resistance reduction of active flow control of aerospace high-speed aircrafts, the liquid-phase sweating cooling thermal protection structure comprises a coolant cabin, and cooling spray holes are formed in the cabin wall of the coolant cabin; an atomization vibrating body is fixedly connected to the position, located at the cooling spray hole, of the cabin wall of the cooling agent cabin, the atomization vibrating body can make contact with a cooling agent in the cooling agent cabin, and a driver used for enabling the atomization vibrating body to vibrate is further included. The liquid-phase sweating cooling device works on the basis of the ultrasonic atomization principle, through the effect of the piezoelectric ceramic atomization piece, the liquid coolant generates atomization jet flow and enters a boundary layer outside the aircraft, use of a liquid pumping driving device is avoided, and the light weight degree of the liquid-phase sweating cooling device is improved.

The invention relates to an array type underwater propeller with high maneuverability and low energy consumption, a pump jet generating device and a flow divider jointly form a propeller front end, an intelligent fluid director forms a propeller rear end, and the pump jet generating device drives an impeller through a rotating motor to drive surrounding water flow to rotate to generate a main jet flow; an isolation structure is arranged in the flow divider and used for evenly dividing the main jet flow into multiple strands of independent sub jet flows, and all the sub jet flows form propelling power after entering the intelligent flow guider to be guided. The intelligent fluid directors are connected with the flow channels of the flow divider in a one-to-one correspondence mode and used for converting fluid flowing out of the flow divider and out of the jet flow face into effective action jet flow with the adjustable flow speed. The intelligent fluid director comprises a jet flow end regulation and control mechanism and a pressure relief end regulation and control mechanism, and the jet flow end regulation and control mechanism is used for independently regulating the flow speed of effective jet flow ejected from the fluid director; and the pressure relief end regulation and control mechanism is used for maintaining the constant flow velocity at the inlet of the fluid director by releasing part of water flow when the effective jet flow velocity is regulated.

The invention discloses an intelligent layering and guiding device for highway tunnel fire smoke and a control method, and relates to the technical field of tunnel fire safety, a smoke flow Froude number is introduced as a direct control target, the parameter represents the ratio of smoke flow inertia force to buoyancy force, the numerical value directly determines the stability of a layering interface, and the layering interface can be directly controlled. The Froude number of each subarea of the tunnel is calculated in real time through a sensing network and is compared with a critical value calibrated through an experiment, when a real-time value is lower than the critical value, it is indicated that inertia force is relatively insufficient, the buoyancy effect is dominant, and instability and entrainment are likely to happen to an interface between a smoke layer and lower cold air, and then according to a control algorithm, the smoke layer and the lower cold air are controlled. The micro jet fan applies directional inertia force to a smoke layer by adjusting the angle and the speed, the intelligent induction smoke outlet optimizes local pressure difference and flow by adjusting the opening degree and assists in maintaining flowing, the smoke flowing state is actively locked in a stable layered flow interval, and mixing and sedimentation caused by flow state instability are prevented.

The invention relates to the technical field of wind turbine generator maintenance, and discloses a wind turbine generator blade unmanned aerial vehicle deicing assembly and method.The wind turbine generator blade unmanned aerial vehicle deicing assembly comprises an unmanned aerial vehicle, and a laser radar and an installation shell integrating an ultrasonic transducer, a pulse nozzle and a hydraulic pump are installed at the bottom of the unmanned aerial vehicle. The deicing control system obtains focus space coordinates and interface resonance frequency of the blade surface by using a space state sensing module; the stress field focusing module calculates the phase delay amount of the ultrasonic transducer, compensates the pose deviation of the unmanned aerial vehicle by adjusting the emission time sequence, and drives the ultrasonic transducer to generate resonance stress on an ice layer-skin interface; and the sound stream synchronous control module determines a jet flow triggering moment according to synchronous phase locking solution, drives a pulse nozzle at an instantaneous negative pressure phase point of a sound wave period to inject a small amount of deicing fluid into an interface crack, and generates shear stress to induce the interface crack to expand and peel off an ice layer. Accurate throwing of deicing energy is achieved, and the icebreaking efficiency is improved on the premise that the safety of the blade structure is guaranteed.

The invention discloses a reservoir desilting method and device using fixed jet flow, and relates to the technical field of water conservancy and hydropower engineering desilting. According to the method, the flow speed, pressure, mud layer thickness and gradient parameters of water around a nozzle are collected in real time; calculating a jet flow angle compensation coefficient, and identifying a nozzle direction stable state; on the basis of a nozzle set with stable direction, a nozzle group is constructed and a time sequence differential control table is established by combining a topological relation between nodes and disturbance propagation characteristics, so that ordered migration of turbulent flow disturbance is realized; sediment concentration, flow velocity and flow data are collected in a flow guide plate and a sediment discharge port area, and a desilting efficiency index is calculated and used for evaluating sediment transportation continuity and flow guide performance; and a comprehensive operation optimization coefficient is generated through a multivariable adaptive weighted fusion algorithm, and the system automatically executes adaptive regulation or sends out a manual intervention prompt. According to the method, self-monitoring, self-correction and global optimization of the fixed jet system can be achieved, and the reservoir dredging efficiency and the operation stability are remarkably improved.

The invention relates to a two-stage combustor and an axial staged combustion chamber. The secondary combustor comprises a fuel main pipe, a fuel branch pipe, an inner cylinder and an outer cylinder; an inner airflow channel is formed between the inner cylinder and the fuel main pipe; an inner jet hole is formed in one end, close to the outlet of the inner cylinder, of the side wall of the fuel main pipe; an outer airflow channel is formed between the outer cylinder and the inner cylinder, and the outer cylinder comprises a main cylinder section and a conical cylinder section; the conical barrel section sleeves the inlet end of the inner barrel, and at least part of the conical barrel section extends into the main barrel section; the inner diameter of the conical barrel section is gradually reduced from the first end to the second end; the axial direction of the fuel branch pipe is arranged along the radial direction of the fuel main pipe, one end of the fuel branch pipe is connected to the side wall of the fuel main pipe, and the other end penetrates through the side wall of the inner cylinder and extends into the conical cylinder section; an outer jet hole is formed in the end, stretching into the conical barrel section, of the side wall of the fuel branch pipe. The secondary combustor can effectively isolate direct coupling of secondary fuel and primary flame, and avoids unstable combustion and over-high temperature caused by combustion superposition in a coupling area.

The invention provides a high-speed submerging jet flow and mechanical shock synergistic ice damage test method. The method comprises the following test steps: S1, arranging a data acquisition system; s2, initializing working conditions; s3, preparing an ice body sample; s4, prefabricating ice body damage by high-pressure water jet; s5, a servo electric cylinder drives a mechanical structure to impact ice damage; s6, data acquisition; and S7, data processing. According to the invention, the force sensor, the laser displacement sensor and the high-speed camera synchronously collect the load, deformation and image information of ice damage caused by impact of a mechanical structure by means of the servo electric cylinder under the jet-assisted effect, so that accurate control and synchronous measurement of submerged jet and mechanical cooperative damage are realized; the impact of different mechanical structures at different speeds on the ice damage load is avoided.

The invention relates to the technical field of steel rolling, and discloses a Q355B steel hot rolling process optimization method based on dynamic temperature control, which comprises the following steps: blank pretreatment, dynamic heating control, high-pressure water descaling, rough rolling process, finish rolling process, laminar cooling and coiling process. According to the method, a collaborative system of multi-section variable-temperature heating and intelligent temperature control is constructed, temperature distribution in a furnace and the heating rate are monitored and dynamically adjusted in real time, it is guaranteed that the core surface temperature of a plate blank is uniform and consistent, thermal stress and the internal crack tendency in the heating process are eliminated, and a high-temperature blank uniform in structure and stable in performance is provided for follow-up rolling; meanwhile, the high-pressure water descaling system optimizes jet flow parameters and introduces chemical additives, so that a protective layer is formed while oxide scales on the surface are removed, the surface cleanliness and quality of the plate blank are improved, and product defects caused by incomplete descaling and surface damage are avoided.

The invention relates to a jet flow electrochemical deposition rate self-adaptive control method and system, and belongs to the technical field, and the method comprises the steps: carrying out the physical field model construction of collected data through a digital twinning technology, and constructing a jet flow electrochemical deposition rate self-adaptive control model based on deep learning and a physical model; therefore, optimized working parameters of the chemical additive manufacturing equipment are generated through the jet flow electrochemical deposition rate self-adaptive control model, a visualization system is constructed based on the collected data, and finally interaction control is conducted on the chemical additive manufacturing equipment through the visualization system. According to the method, a high-fidelity virtual model which synchronously runs with physical equipment is created, and before a complex spiral structure is printed, full-process simulation can be performed in a digital twinning body, which corners possibly have defects due to rate mismatch can be found in advance, and optimized manufacturing production parameters are generated; therefore, dynamic fine adjustment is carried out according to real-time current and image data, and closed-loop control is realized.

The utility model discloses a wall breaking device for breaking a perforation compaction layer of an oil and gas well, and relates to the technical field of petroleum perforation, the wall breaking device comprises a perforating gun, a bullet rack, a perforating bullet, an acting device and a detonating cord, the acting device is detachably installed at an opening of the perforating bullet, the head of the acting device is filled with energy particles arranged in multiple layers, and the detonating cord is connected with the perforating gun. A positioning clamping ring is installed in the shell and used for adjusting the distance between the energy particles and the blasting powder. Compared with the prior art, the multi-layer charging structure can enable particles to be fully rubbed and impacted in the pore channel, a more violent acting effect is triggered, and the pore channel without compaction pollution is generated. In addition, due to the design of the positioning clamping ring, the perforating bullet can be kept at the end away from the blind hole all the time, larger burst height is obtained for jet flow, and the technical problems that a traditional perforating hole channel is narrow and blocked, and compaction pollution exists in the hole channel are effectively solved.

The invention provides an array jet flow and mechanical shock synergistic efficient controllable ice damage method which comprises the following steps: S1, moving to an ice damage target position, and defining an ice damage target range; s2, adjusting the position of a high-pressure jet array and a mechanical impact point according to the ice damage range; s3, the ice material is subjected to continuous impact melting corrosion through a high-pressure jet array, and jet defects distributed in an array mode are manufactured; s4, mechanical impact acts on the target area of the ice material, radial cracks radiating outwards are generated, the radial cracks are connected with the multiple jet flow defects and guide the multiple jet flow defects to generate annular crack communication, and bending failure of the ice material is accelerated; s5, the crushing degree of the ice material in the target range is checked, and if the ice material is not crushed completely, the step S4 is repeated; and S6, the mobile platform continuously works, and the step S1 to the step S5 are repeated. According to the method, the damage range and the ice damage degree of the ice material can be accurately controlled by means of the annular cracks generated by the jet damage cooperating with the mechanical impact effect, and accurate ice breaking is achieved.

The invention provides an ice damage multi-physical synchronous measurement system. The ice damage multi-physical synchronous measurement system comprises a motion monitoring control system, an ice load measurement system, a non-contact deformation measurement system, a temperature and pressure monitoring system, a high-speed camera shooting acquisition system, a multi-physical quantity measurement synchronous triggering acquisition system and a multi-degree-of-freedom self-adaptive measurement integrated mobile platform, the motion monitoring control system is used for monitoring and feeding back displacement, speed and output force of the impact head in the execution process controlled by the servo control system; the ice load measuring system comprises a load force sensor which is used for calibrating system errors in the same experimental environment and providing output compensation for the motion monitoring control system; and the high-speed camera acquisition system is used for recording transient image information in the ice material fracture failure process and measuring and calculating the crack propagation speed through proportional calibration. Important parameters in the submerged jet flow and mechanical cooperation ice damage test process can be accurately monitored and recorded, and the accuracy and repeatability of the test are guaranteed.

The invention discloses a method for improving the internal thermal environment of an air film, and the method comprises the steps: measuring the internal dimensions of an air film retaining wall and an air film material shed, selecting a severe stockpiling heating region in an operation region as a treatment region, selecting an air film retaining wall region as an attachment jet flow air supply unit installation position, constructing a middle air supply unit, and constructing a first air port structure. And air port configuration is conducted, the air speed and flow guide of the first air port structure are set, then the middle air supply unit is arranged, and the attached jet flow air supply unit is constructed. By means of the arrangement mode that the middle air supply unit and the attached jet flow air supply unit are matched, the attached jet flow air supply unit forms an air lake through the coanda effect, the middle air supply unit adopts a double air supply mode, and fresh air can be accurately conveyed to the operation areas on the two sides and the middle core area; the short-circuit effect and the top-layer heat island phenomenon of traditional ventilation are broken through, heat accumulation is prevented, the indoor temperature is remarkably reduced, and the overall thermal environment is improved.

The invention discloses a hydrogen-ammonia dual-fuel radial layering micro-mixing combustor which comprises a lower cavity part and an upper cavity part which are coaxially and fixedly arranged and are separated by a middle partition plate in a sealed mode. The lower cavity part is sequentially and coaxially provided with an inner cylinder, a middle cylinder and an outer cylinder from inside to outside to form an inner-stage fuel cavity, a middle-stage air cavity and an outer-stage air cavity; an upper-stage fuel cavity is formed in the upper cavity part; the axial air guide assembly is arranged in the upper cavity part and the lower cavity part in a penetrating mode. By controlling the flow of ammonia fuel introduced into the inner-stage fuel cavity, the flow of air introduced into the middle-stage air cavity, the flow of air introduced into the outer-stage air cavity and the flow of hydrogen fuel introduced into the upper-stage fuel cavity, micro mixing of fuel of the inner-stage nozzle and fuel of the outer-stage nozzle with different mixing concentrations can be achieved, and concentration layering in the radius direction of the nozzle of the combustor is achieved; and a jet flow state that the outer-layer hydrogen-rich or pure hydrogen gas wraps the inner-layer ammonia-poor gas is formed, so that the purposes of strengthening stable combustion of hydrogen-ammonia dual-fuel and ultralow emission are achieved.

The invention relates to a self-adaptive abrasive jet strengthening method and system for a complex curved surface. The method comprises the steps that a three-dimensional point cloud data set of a workpiece is acquired; analyzing the three-dimensional point cloud data set to obtain a first principal component vector; a section plane is set, an intersection line of the section plane and the three-dimensional point cloud data set is calculated based on the first principal component vector, and the intersection line is an initial path; a normal vector of each discrete point on the initial path is calculated, calculation is carried out based on the normal vectors and the custom viewpoints, newest unit outer normal vectors of the discrete points are obtained, and the newest unit outer normal vectors are all perpendicular to the complex curved surface on the workpiece; and calculating corresponding actual position coordinates of the nozzle relative to each discrete point based on the unit outer normal vectors of the discrete points, and forming a continuous strengthening path based on the actual position coordinates. According to the method and the device, the deviation between the CAD model and the real object can be eliminated, the strengthening path planning of the nozzle has the curved surface self-adaptive capability, and the jet flow energy distribution is uniform.

The invention discloses a distributed jet active flow control-based rotor wind tunnel test method, which belongs to the technical field of aviation aerodynamic wind tunnel tests, and comprises the steps of rotor test bed dynamic characteristic test, manipulation matrix calibration, preposed preparation of rotor model dynamic balance and common taper adjustment, and dynamic balance and common taper adjustment. And then hovering and forward flight wind tunnel tests of distributed jet active flow control are carried out in sequence, test data are collected and processed, and the aerodynamic performance of the rotor wing under the condition that jet control exists or not is compared and analyzed. According to the invention, the industrial blank of the lack of a distributed jet active flow control rotor wind tunnel test method is filled, and key technical support is provided for theoretical research, technical optimization and engineering application of the rotor distributed jet active flow control method.

The invention discloses a hydraulic silica gel two-component injection machine, and belongs to the technical field of injection machines. Comprising a rack and hydraulic feeding units, and each hydraulic feeding unit comprises a pressing disc arranged on the upper surface of the rack; a recycling mechanism used for recycling waste glue is arranged on one side of the upper surface of the pressing disc, the recycling mechanism comprises a bearing screw pipe which is in threaded communication with the interior of the pressing disc, the bearing screw pipe is fixedly communicated with a storage spherical tank through a discharge pipe, and a sealing mechanism used for sealing the discharge pipe is arranged in the storage spherical tank; the top of the storage spherical tank is provided with an alarm mechanism used for exhaust response. By arranging the recycling mechanism, the sealing mechanism and the alarm mechanism, jet flow formed by air in the barrel impacts plastic balls through a runner pipe under extrusion of a pressing disc, the plastic balls jump and collide to make continuous sounds, and a clear exhaust signal is formed; when the gas is exhausted and the liquid flows in, the jet flow disappears, the plastic ball is immediately static, the sound suddenly stops, and the objective physical signal replaces manual visual experience, so that an operator can accurately judge that the exhaust is completed.

The invention provides a multi-feedback-channel fluid oscillator, and belongs to the technical field of fluid jetting devices. Comprising an oscillation cavity, an inlet, a nozzle and at least three feedback channels, the inlet is formed in one end of the oscillation cavity, the nozzle is formed in the other end of the oscillation cavity, the nozzle and the inlet are oppositely arranged along the central axis of the oscillation cavity, and the feedback channels are circumferentially distributed around the central axis of the oscillation cavity. And each feedback channel is provided with a feedback channel inlet and a feedback channel outlet. Through the configuration design of the multiple feedback channels, the fluid can form feedback control flow through the feedback channels, and the fluid entering the oscillation cavity through the inlet flows along the wall of the oscillation cavity in multiple directions and is switched through the coupling effect of the fluid coanda effect and multi-channel backflow feedback. And finally, multi-direction sweeping self-oscillation jet flow is formed at the nozzle, so that the space coverage range and the atomization efficiency of the jet flow are greatly improved.

The invention relates to the technical field of aircraft control, in particular to a control-surface-free aircraft control system based on synthetic jet and a momentum wheel, which comprises a lift force and attitude control subsystem, a steering control subsystem, a propulsion subsystem, a cooperative control unit and an attitude and navigation sensor. The lift force and attitude control subsystem independently controls different areas to generate local lift force difference through a synthetic jet generator matrix integrated on the surface, and rolling and pitching control is achieved. And the steering control subsystem changes the angular momentum direction of a flywheel through a control moment gyroscope arranged in the steering control subsystem, and generates reaction moment to control yawing. The propulsion subsystem provides a primary forward thrust. The cooperative control unit receives a sensor signal, generates an instruction according to a preset strategy, coordinates the subsystems to work cooperatively, and achieves whole-airspace flight control without an exposed control surface.

Provided herein are shaped-charges having curved walls to provide better controllable and improved liquid jet parameters. The shaped-charge comprises a container having a plurality of curved walls for containing a liquid. One or more explosive charges are immersed in the liquid and a detonator channel positioned through the container wall to controllably detonate the one or more explosive charges and from a wedge-shaped liquid jet. Multipoint initiation is achieved using a number of initiation points; a location of one or more initiation contact points with the geometrically-shaped explosive charges; and / or an initiation timing of each of the initiation contact points, including simultaneous initiation or a sequence of initiations. Also provided are related methods of forming liquid jets and attendant applications, including target disruption.

The invention discloses a ship rust removal mechanical arm anti-interference motion control method introducing jet flow counter-acting force, and relates to the technical field of ship rust removal equipment control. Aiming at the problems of poor robustness, easy saturation of an integral term and poor dynamic response effect when a ship rust removal mechanical arm is faced with water jet reaction force and other interferences in traditional PID control, the invention provides an active disturbance rejection control (ADRC) scheme introducing jet reaction force. The method comprises the following steps: constructing a jet reaction force model, mapping the jet reaction force model into a joint torque compensation item based on a Jacobian matrix, and integrating the joint torque compensation item to an ADRC control law; an improved tracking differentiator, a nonlinear extended state observer (ESO) and a nonlinear state error feedback (NLSEF) module are designed, real-time estimation and compensation of internal and external disturbance of a system are achieved, and joint control performance is optimized. Experiments show that by means of the method, the joint angular displacement tracking error can be reduced by 10% or above, the adjusting time is shortened to 2 s from 10 s, the absolute value of the transient error is smaller than 0.3 rad, and the anti-interference capacity and the control precision of the mechanical arm are remarkably improved.

An alloy wheel is formed having a three dimensional configuration defining a face and recessed surfaces. The face of the wheel is machined providing a smooth surface at the face and defining an edge between the smooth surface of the face and the recessed surfaces. A nozzle element for projecting a plasma jet toward the wheel is provided. The plasma jet is projected toward the smooth surface of the face, the edge, and toward at least a portion of the recessed surfaces forming an alloy oxide at least on the face and the edge disposed between the face and the recessed surfaces. A first polymeric coating is applied over the face, the recessed surfaces and the edge disposed between the face and the recessed surfaces.