20 March 2026, Volume 62 Issue 6

    

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  Research Progress on High-efficiency Intensive Production and Lean Quality Control for Wide Hot-rolled Steel Strip

  SHAO Jian, HE Anrui, YANG Quan

  Journal of Mechanical Engineering. 2025, 62(6): 1-28. https://doi.org/10.3901/JME.260173

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  Wide hot-rolled strip is a core raw material for modern manufacturing，and its efficient large-scale production combined with refined quality management is essential for industrial upgrading. However，the hot rolling process is characterized by strongly coupled multivariable factors，along with limited material information sensing，fragmented data systems，and insufficient automation in critical stages. These challenges hinder the coordinated optimization of product quality，rolling stability，and manufacturing cost. This research systematically reviews recent technological advances，with a focus on progress in the following key areas. In the field of multidimensional material information sensing for hot continuous rolling，robust sensing systems based on machine learning and deep learning have addressed the difficulty of feature extraction under high-temperature and high-noise conditions，substantially improving information acquisition in complex conditions. In the area of multi-zone operational interconnection and edge–end collaboration，the integration of heterogeneous data from multiple sources and the use of dynamic resource allocation mechanisms have eliminated information discontinuities among storage yards，rolling lines，and roll grinding systems，enabling coordinated optimization across regions. In centralized control of multiple rolling lines and regions in hot continuous rolling，intelligent rolling technologies oriented toward reduced manual intervention have been developed by leveraging advanced inspection systems and high-accuracy hybrid modeling，thereby enhancing the compactness and responsiveness of the production process. In cross-business coordination for hot continuous rolling，lean management platforms integrating online prediction，real-time monitoring，and anomaly diagnosis have been established within a deeply integrated cyber–physical framework，driving transformation in production management across multiple business domains. Finally，the paper summarizes current developments and outlines future directions for efficient large-scale production and refined quality management of wide hot-rolled strip.
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  Research on Service Accuracy of Roll System Assembly Structure of Rolling Mill

  ZHAO Xiangyang, JIAO Yanlong, HOU Xinxiang, WANG Jin, XING Jiankang, XIE Tianwei, ZHOU Na, LI Yupeng, JI Fengchuan, PENG Yan

  Journal of Mechanical Engineering. 2025, 62(6): 29-46. https://doi.org/10.3901/JME.260174

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  The assembly structure accuracy of rolling mill systems constrains the improvement of equipment service stability, among which the service accuracy of the roll system assembly structure is key to affecting the assembly stiffness of the rolling mill. To address the impact vibration issues in a four-hot-strip mill, a roll-to-roll contact stiffness model considering roll crossing is established based on the energy method. A contact stiffness model for chock liners is developed based on contact mechanics and statistical theory. Furthermore, by considering the relationship between the quasi-static roll axis position and stiffness, a roll system dynamic model is constructed to investigate the influence of roll system assembly structure stiffness on dynamic characteristics. A monitoring system for the service accuracy of the rolling mill roll system is proposed, which combines roll system calibration and rolling process data to obtain the side clearances and stiffness states of the roll system at different service stages. A rolling mill stiffness dataset with roll crossing state and load as variables is constructed. By matching the measured stiffness and stiffness gradient during forward and reverse calibration processes, the roll crossing state variables are obtained. The relative difference between the theoretical initial deviation and the matched values is within 20%, establishing the correlation between offline and calibration-process roll system assembly states. Finally, rolling tests are conducted to acquire the roll system clearance states before and after adjustments. The roll-to-roll crossing angle is reduced from 120 μrad to 20 μrad, and the chock liner fit angle due to tolerance is reduced from 13 μrad to 5 μrad, resulting in a suppression of work roll horizontal vibration by over 60%. The established dynamic model effectively simulates the roll system impact vibration. The research demonstrates that the assembly structure stiffness model, which accounts for chock liner fit and roll crossing, can predict the service accuracy of the roll system assembly structure. By clarifying the relationship between offline roll system data and the service accuracy during calibration and rolling processes, an effective offline adjustment strategy for vibration suppression can be achieved.
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  Investigation on AA7075 Strips Subjected to Cryorolling and Cryogenic Treatment and Their Fatigue Crack Propagation Performance

  SHI Nannan, GAO Haitao, TANG Leqian, KONG Charlie, YU Hailiang

  Journal of Mechanical Engineering. 2025, 62(6): 47-64. https://doi.org/10.3901/JME.260175

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  7000 series aluminum (Al) alloys are often used in load-bearing components such as aircraft frames, stringers, and the underframes and traction beams of high-speed rails due to their low density and high strength. Not only are high requirements imposed on the strength of 7000 series Al alloys, but they are also required to have good fatigue crack propagation (FCP) performance. Taking AA7075 as object, cryorolling (CR), corresponding artificial aging treatments and deep cryogenic treatment (DCT) were conducted. It is found that although peak aging can significantly improve the strength of AA7075, attention should be paid to its potential negative impact on the FCP performance. Because η' phases are generated during peak aging, which cannot be shorn by dislocations, dislocations accumulate at the crack tip, accelerating crack propagation. By contrast, DCT scarcely affects strength yet distinctly retards FCP. The yield strength (YS), ultimate tensile strength (UTS), and fracture elongation (FE) of the sample subjected to peak aging followed by DCT after CR (CR-AT-DCT) are 571 ± 0.8 MPa, 612 ± 3 MPa, and 11.2 ± 0.24%. The Paris fitting index m of the sample subjected to peak aging followed by DCT after CR is 7.4% smaller than that of the sample that only undergoes peak aging after CR during the stable FCP stage. DCT promotes 13.8% reduction in the width of the PFZs, making it difficult for fatigue cracks to propagate along the rolling direction of the grain boundaries and thereby slowing the FCP rate. A systematic investigation correlating microstructure with FCP performance demonstrates that the CR-AT-DCT hybrid route furnishes a new process for lightweight design.
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  Development and Application of Network Collaborative and Intelligent Ring Rolling Technology for High-end Equipment Large Rings

  DENG Jiadong, GUAN Shanyue, WANG Xiaokai, QIAN Dongsheng, LIU Chao, LIU Wei, HUA Lin

  Journal of Mechanical Engineering. 2025, 62(6): 65-86. https://doi.org/10.3901/JME.260137

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  Large rings are widely used in high-end equipment such as aviation，aerospace and energy. They have many specifications，long manufacturing process and large batch changes. The process design，process measurement and control，and quality inspection of traditional ring rolling production are mainly dependent on manual experience，which will lead to poor process stability，large product quality fluctuation，high energy consumption and low efficiency. In order to meet the needs of high-qality，high-efficiency and low-carbon manufacturing of high-end equipment rings in China，the research on network collaborative and intelligent ring rolling technology for large-scale rings of high-end equipment was carried out. The key technologies such as digital intelligent process design，process measurement and control，quality inspection and network collaborative operation of multi-variety and variable-batch ring rolling were broken through. The computer-aided process design，process measurement and control，quality inspection system and design-manufacturing-detection integrated management and control platform for the whole process under the industrial network environment were developed. Several large-scale ring network collaborative intelligent ring rolling demonstration production lines were constructed，which promoted the upgrading of ring rolling production from manual-assisted semi-automatic mode to intelligent automation mode in China.
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  Investigation on Microstructure Evolution of Aero-engine Blades under Combined Forming Process with Flat Cross Wedge Rolling and Die Forging

  LIU Jiaxu, WANG Dacheng, SHI Mingjie, CHEN Shuaifeng, ZHANG Shihong, CHENG Ming

  Journal of Mechanical Engineering. 2025, 62(6): 87-99. https://doi.org/10.3901/JME.260176

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  Compressor stator blades of TC11 titanium alloy and GH4169 superalloy with double mounting plate structure were fabricated using the short-process forming technology combining cross wedge rolling (CWR) with die forging (DF). Preforms with favorable microstructure and no internal defects were obtained by optimizing the CWR process. Subsequently, DF was carried out, and the microstructural evolution of the two types of blades was analyzed. The results show that internal defects in titanium alloy (initial microstructures with equiaxed, duplex, and Widmanstatten) rolled workpieces formed at the interface between α phase and β phase. By improving the rolling temperature, the transformation of α phase to β phase can be promoted, thus help to eliminate internal defects effectively. Among them, the critical temperature required for initial equiaxed rolled workpieces to reach a defect-free state is the lowest. Nucleation of internal defects in superalloy (hot-rolled state, with a substantial amount of δ phase pre-precipitated within the grain, a minimal amount and a significant quantity of δ phase pre-precipitated at the grain boundary) rolled workpieces are primarily concentrated at the carbides. Although proper pre-precipitated δ phase can reduce damage degree in matrix by promoting dynamic recrystallization and pinning effect, coarse needle shaped δ phase precipitation at grain boundary may also accelerate defect propagation. Among them, the pre precipitation of a minimal amount of δ phase at grain boundary results in the lowest damage degree. No internal defects were observed in either type of blade. The titanium alloy blade exhibited a uniform bi-phase distribution with a regular morphology of α phase. The superalloy blade demonstrated uniform grain size in the body section and mixed grains in other regions, with the grain size grade difference meeting standard requirements. These findings validate the reliability of new process and provide a theoretical basis at the microscopic level for its further development and application.
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  Microstructure and Mechanical Behavior of TA2/TC4 Titanium Alloy Composites Fabricated by Explosion Welding + Rolling

  ZHOU Qiang, LU Honghong, GUO Denggang, CHEN Pengwan, WANG Baoyu

  Journal of Mechanical Engineering. 2025, 62(6): 100-110. https://doi.org/10.3901/JME.260177

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  Based on the characteristics of high-strength titanium alloys with high strength but poor toughness, and high-toughness titanium alloys with low strength but good toughness, high-strength and high-toughness TA2/TC4 titanium alloy composites were prepared by the method of explosive welding followed by rolling. The microstructure of the bonding interface was characterized, and the properties of the composites were tested by tensile, shear, and bending experiments. And the failure behavior of the samples was analyzed to reveal the correlation mechanism between microstructure and mechanical behavior. The results show that the interface of the explosively welded TA2/TC4 titanium alloy composite presents a wavy morphology, while the rolled interface shows an approximately straight morphology. Dynamic recovery and recrystallization occur at the interface, and the matrix grains exhibit columnar or rod-like elongation. The tensile strength of the TA2/TC4 composite ranges from 780 to 801 MPa, and the bending strength ranges from 1142.58 to 1267.19 MPa. The shear strength of the bonding interface ranges from 134 MPa to 185 MPa, showing a discrete state. Explosive welding + rolling can realize the preparation of high-strength and high-toughness composite materials of different thicknesses, providing a new approach for the preparation of various high-strength and high-toughness metal composite materials.
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  Research on Surface Wear Detection Method for Hot Rolling Work Roll Based on Texture Features and Ensemble Learning

  HU Qiwei, SUN Yongji, ZHANG Jianchao, REN Xinyi, GAO Huimin, JI Ce, HUANG Huagui

  Journal of Mechanical Engineering. 2025, 62(6): 111-120. https://doi.org/10.3901/JME.260178

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  Precise determination of hot rolling work roll surface wear conditions is critical for optimizing mill performance. To address the imaging challenges posed by large-sized roll surfaces, a vision acquisition system integrating dual line-scan cameras with customized linear light sources was designed, allowing roll surface images to be reliably captured during the roll changing process. A template matching algorithm based on Constrained Dynamic Time Warping is proposed to achieve automated image acquisition. Wear conditions are effectively characterized by a four-dimensional Tamura texture feature vector consisting of coarseness, contrast, linearity, and regularity. Furthermore, the classification of typical wear morphologies is achieved with 95% accuracy by employing an extremely randomized trees ensemble learning model. Finally, an intelligent roll surface wear detection platform was developed, providing a novel approach for the intelligent maintenance and process optimization of hot rolling work rolls.
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  Modeling Method of Cold Rolling Compounding Process of Heterogeneous Metals and Analysis of Compounding Mechanism

  CHEN Nan, XIAO Zihan, YU Chao, QI Zichen, REN Zhongkai, XIAO Hong

  Journal of Mechanical Engineering. 2025, 62(6): 132-141. https://doi.org/10.3901/JME.260180

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  Metal composite plates have extensive applications in many fields of modern industry, among which cold rolling is the main method for preparing metal composite plates. In order to prepare composite plates with better performance, it is necessary to study the composite mechanism and process in depth. As the most widely recognized cold rolling composite mechanism currently, the film theory believed that the brittle hardening layer on the metal surface cracks under large plastic deformation, and squeezed into the crack under large rolling pressure to form mechanical bite during cold rolling, which is the main reason of composite. Based on this theory, many studies have pointed out that the reduction rate required for forming composite between heterogeneous metals depends on the softer metal, however, the greater the performance different between metals, the greater the performance difference between metals in actual production, there is still no reasonable explanation for this. In order to reveal the composite mechanism of heterogeneous metals in the cold rolling process, a finite element model which can completely and accurately describe the interfacial composite and separation in the cold rolling process is established through the secondary development of MARC software. Based on this model, the important role of interfacial shear stress in the cold rolling composite process was revealed, and the composite mechanism was improved, through this mechanism, the reasons for the influence of material properties and reduction rate on the composite process were explained.
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  Deep Learning-based Dynamic Modeling of Hot Rolled Gague-looper System

  LEI Jiawei, WANG Shuting, YUE Chongxiang, LIN Ping, PENG Wen, SUN Jie, ZHANG Dianhua

  Journal of Mechanical Engineering. 2025, 62(6): 142-153. https://doi.org/10.3901/JME.260181

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  In the control process of hot strip rolling, the gague control and the looper control are interdependent and influence each other, which significantly impacts the overall performance of the gague control system. Traditional modeling methods struggle to accurately represent the intricate characteristics of multivariable coupling and nonlinearity present in the strip rolling process. To address the challenges in modelling nonlinear systems, focusing on a 2160 mm hot rolling line gague control process. A convolution-attention mechanism-long and short-term memory prediction model(CNN-ATT-LSTM) is established based on actual production data, and the hyper-parameters are optimized using the Gray Wolf algorithm. The prediction performance of this model is then compared with that of the long-short term memory network model(LSTM), the deep neural network model (DNN), and the convolutional network-long-short term memory network model(CNN-LSTM). The results indicate that the R² of the proposed prediction model reaches 93%, demonstrating a higher prediction accuracy for the dynamic changes within the gague-looper system. The generalization performance of the proposed model has been verified using three different strip sizes, demonstrating that the model is capable of providing guidance for high-precision control of gague.
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  Research on Structure and Impact Property of Hot Roll bonded laminated 7A01/7A52 Aluminum Alloy Plates

  CAO Xianming, DANG Yuehui, CHEN Zejun, CONG Fuguan, ZHANG Yunlong, WANG Qiang

  Journal of Mechanical Engineering. 2025, 62(6): 154-162. https://doi.org/10.3901/JME.260182

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  A rational design of constituent layer structures can effectively enhance the property of laminated composites. To improve the impact toughness of 7A52 aluminum alloy sheets, a hot roll bonding process was used to prepare 7A01/7A52 aluminum alloy plates, which significantly improved the impact toughness of 7A52 aluminum alloy sheets. The effects of the heterogeneous constituent layer structure on the microstructure and impact toughness of the 7A01/7A52 plate were investigated. The effects of the heterogeneous constituent layer structure on the microstructure and impact toughness of the 7A01/7A52 plate were investigated. The 7A52 hard aluminum alloy constituent layer retains an elongated fiber-like grain morphology, with an average size of 15 μm. The rational design of the soft 7A01 layer and the hard 7A52 layer significantly enhances the impact toughness of the 7A52 aluminum alloy sheet. When the thickness ratio of the soft to hard layers (H_7A01:H_7A52) is 1:3, the impact toughness of the plate is improved by 54.8% compared to that of the pure 7A52 sheet. This improvement is mainly attributed to the fact that, under impact loading, cracks initiate, deflect, and cause interfacial delamination at the interface, absorbing more energy. These findings provide a theoretical basis and process reference for the design of laminated aluminum alloys with high impact resistance.
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  FET Prediction and Analysis with Data-Driven method for Non-steady Stage in Endless Rolling

  DONG Zishuo, GUO Wei, YAN Leming, ZHANG Min, YU Meng, LI Jixin

  Journal of Mechanical Engineering. 2025, 62(6): 163-173. https://doi.org/10.3901/JME.260183

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  As a critical process parameter in endless rolling production line, the control accuracy of finishing entry temperature(FET) directly impacts the stability of final rolling temperature and product dimensional performance metrics. To address the insufficient computational precision of the FET control(FETC) model during the non-steady-state phase of endless rolling at a domestic steel plant, a data-driven prediction method integrating mutual information feature selection and long short-term memory(LSTM) is proposed. First, mutual information entropy is employed to quantitatively analyze the nonlinear correlation degree between process variables and FET, enabling optimal feature variable selection. Subsequently, an LSTM prediction model with deep sequence feature extraction capability is constructed, and particle swarm optimization is adopted to optimize the model’s hyperparameters. Experimental validation demonstrates that the proposed model achieves superior predictive performance, with evaluation metrics MAE (1.89 ℃), RMSE (3.07 ℃), and R (0.989 3) significantly outperforming other comparative models in the study. Furthermore, shapley additive explanations(SHAP) interpretability analysis is applied to elucidate the interaction mechanisms of key process parameters on FET. The precision of temperature control in the non-steady-state phase of endless rolling is enhanced by the proposed method, and substantial engineering value is offered for stabilizing the performance of thin-gauge high-strength hot-rolled products.
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  Research on the Bonding Forming Mechanism of Carbon Steel/Stainless Steel Bimetallic Tubes with Three-roll Corrugated Skew Rolling

  LI Zixuan, LI Hongji, XU Zhixiang, NIU Hui, JI Ce, WANG Tao

  Journal of Mechanical Engineering. 2025, 62(6): 174-184. https://doi.org/10.3901/JME.260184

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  To address the technical bottlenecks of limited composite dimensions and insufficient interfacial bonding strength in traditional bimetallic tube preparation processes for manufacturing thin-walled small-diameter composite tubes，a three-roll corrugated skew rolling bonding process is proposed. Staggered corrugated rolls are set in the wall reduction section，and the “corrugated-flat rolling” method is adopted to prepare bimetallic tubes with spiral corrugated bonding interfaces. A numerical simulation model for three-roll corrugated skew rolling of carbon steel/stainless steel bimetallic tubes is established，and the metal flow behavior and interfacial evolution mechanism of staggered/equidistant corrugated rolling are systematically investigated. The results show that equivalent plastic strain values of 2.46 are achieved in the corrugated indentation regions through progressive pass-by-pass rolling in the staggered corrugated rolling process，and the surface strain of the outer tube is effectively transmitted to the interface through metal flow，promoting metallurgical bonding between dissimilar metals. Compared with equidistant corrugated rolling，more uniform interfacial plastic deformation and more significant corrugated forming effects are exhibited in the staggered rolling process. It is found that the tangential slip coefficient of bimetallic tubes is lower than theoretical values，and a prediction model for tangential slip coefficient considering the contact pressure between tube blank and mandrel is established. Carbon steel/stainless steel bimetallic tubes with excellent outer surface quality are prepared experimentally，with the bonding interface presenting a regular corrugation-like structure and corrugation period length of approximately 22 mm. A dual strengthening mechanism of metallurgical bonding and mechanical interlocking is achieved at the interface，providing a new technical approach for the industrial preparation of high-strength thin-walled small-diameter bimetallic tubes.
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  Research on Image Flatness Detection Method Based on Deep Learning

  XU Yanghuan, WANG Dongcheng, LIU Hongmin, DANG Liying, LIU Yunfei, YANG Aimin

  Journal of Mechanical Engineering. 2025, 62(6): 185-196. https://doi.org/10.3901/JME.260185

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  Intelligent manufacturing is recognized as a key direction for the transformation and upgrading of China’s steel industry. The accurate digital perception of process parameters and product quality is regarded as its foundation and priority. Flatness is a critical parameter for cold-rolled strip products, and the development and application of online flatness detection technology is thus essential for the production of high-quality strip. However, the deployment rate of flatness meters in the domestic steel industry remains low, with imported equipment being prohibitively expensive. Consequently, most enterprises still rely on manual assessment, leading to inconsistent product quality and insufficient levels of intelligentization. There is an urgent need for innovative research into flatness detection mechanisms, with the goal of reducing equipment costs and enhancing the universality and adaptability of detection technologies without compromising detection accuracy. In recent years, the theory and application of machine vision, particularly deep learning, have developed rapidly. Applying machine vision technology to flatness detection is not only theoretically feasible but also an inevitable trend in the advancement of intelligent manufacturing. Through theoretical and technological innovations, a series of multi-level intelligent models were developed to accomplish strip position detection, deep representation of image and strain flatness, quantitative mapping of representation factors, and finally, a precise image-to-strain flatness mapping. The proposed models and framework provide insights and a concrete scheme for intelligent flatness detection, paving the way for the industry’s technological transformation.
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  Development of a Highly Repeatable Control Method Based on Ultrasonic Stress Measurement and Its Application

  WEI Zhaocheng, ZENG Wen, SHI Ning, FANG Yuxin, LI Jiasheng, GUO Minglong

  Journal of Mechanical Engineering. 2025, 62(6): 209-219. https://doi.org/10.3901/JME.260187

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  Ultrasonic stress measurement technology is a kind of stress nondestructive testing technology based on measuring the change of sound speed, which has the advantages of simplicity, rapidity and wide applicability, etc. However, in the actual measurement process, the measurement results are easily affected by the environmental factors at the measurement site, the measurement personnel and the measurement process, which leads to the low repeatability of the measurement. This paper proposes a high repeatability control method that takes into account the influencing factors at the measurement site. By analyzing the principle of stress measurement and the measurement process, it is clear that the mutual relation step size, the interface coupling strength and the ambient temperature are the key factors affecting the stability of the measurement; the test analyzes the influence of the three on the measurement results, and puts forward the method of controlling the interface coupling strength, the method of temperature compensation, as well as the method of selecting the optimal mutual relation step size, and ultimately, the ultrasonic stress measurement software is formed through the integration and development of LabVIEW. Through the mechanical tensile experiment combined with the stress measurement experiment, the maximum deviation of the error control compensation module is 2.9 MPa, and the maximum uncertainty is 2.4 MPa, which is 91% lower than the maximum deviation of the traditional measurement method, and 81% lower than the repeated measurement error, which verifies that the proposed method can significantly improve the repeatability and accuracy of ultrasonic stress measurement. The stress measurement accuracy control method and software proposed in this paper can significantly improve the repeatability and accuracy of ultrasonic stress measurement, can reduce the requirement for the proficiency of the measurement personnel without increasing the cost of measurement, and has high value for engineering applications.
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  Fault Diagnosis of Lithium-Ion battery External Short Circuit Based on Magnetic Field

  ZHENG Siyuan, LI Xiaoyu, WEI Xinyu, WEI Zhuohao

  Journal of Mechanical Engineering. 2025, 62(6): 220-227. https://doi.org/10.3901/JME.260188

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  Fault diagnosis is recognized as a crucial method for addressing lithium battery safety issues, yet traditional approaches remain limited in meeting the demands for rapid and accurate external short-circuit detection in applications such as electric vehicles and energy storage systems. The magnetic field-based diagnostic method is proposed, utilizing the principle of magnetic induction during short circuits. The coupled three-dimensional simulation model is established, employing non-local coupling with current density to analyze magnetic variations under short-circuit conditions, revealing the correlation between faults and the magnetic field. The experimental platform and magnetic detection system are constructed, and tests with different SOC and short-circuit resistances are designed. The results demonstrate that this non-contact method achieves high sensitivity in diagnosing various types and degrees of external short circuits, confirming its feasibility and significance for improving battery safety, enabling batch cell inspection, and advancing diagnostic techniques.
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  A Non-Destructive Surface Hardness Testing Method Utilizing the Transduction Curve of a Magnetostrictive SH₀ Guided Wave Sensor

  YUAN Yuan, Liu Xiucheng, QI Pan, Cao Wenbo, Wang Zhenghong, WU Bin, Gao Xiang

  Journal of Mechanical Engineering. 2025, 62(6): 228-236. https://doi.org/10.3901/JME.260189

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  Hardness is one of the core indicators of the mechanical properties of metallic materials. Traditional destructive testing methods are often inadequate for meeting the requirements of structural integrity and high-efficiency inspection in complex service environments. A non-destructive surface hardness evaluation method for ferromagnetic materials is proposed based on the transduction efficiency curve of a magnetostrictive SH₀-mode guided wave sensor. An experimental system with a self-developed electromagnetic acoustic transducer (EMAT) is firstly constructed and then the excited and received SH₀ guided wave signals under different bias magnetic field intensities are measured. Subsequently, the variations of the amplitude of guided waves with magnetic field intensity are determined to plot transduction response curves. Finally, representative characteristic parameters, including maximum amplitude A_Max, mean amplitude A_Mean, and amplitude difference ∆A, are extracted to characterize the magnetoacoustic transduction behavior of the material. The transduction curve profiles and characteristic parameters differed significantly among specimens with varying hardness levels. Further analyses revealed the strong linear correlation between specific parameters and material hardness. A_Max, A_Mean, and ∆A exhibited the consistent trends and good regional adaptability. These parameters could be used as highly reliable non-destructive indicators for hardness evaluation. This method achieved the non-contact, highly sensitive, and quantitative hardness assessment and offered a novel approach for the non-destructive evaluation of the hardness of ferromagnetic materials.
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  Research on the Measurement Method of Value Reduced for Switch Rail Based on Line Laser Sensor

  QIN Bin, LIU Yueming, DING Yixian, HOU Luyao, CHEN Guopeng

  Journal of Mechanical Engineering. 2025, 62(6): 237-246. https://doi.org/10.3901/JME.260190

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  Switch wear directly affects the stability and safety of trains passing through turnout. Value reduced for switch rail is a key indicator of switch wear, and its measurement accuracy is a crucial prerequisite for ensuring the normal operation and safety of switch rail. To solve the problem of low detection accuracy and difficulty in ensuring repeatability in the current measurement of value reduced for switch rail, a method based on line laser sensors is proposed. First, point cloud of the switch rail collected from two angles are processed. Redundant noise and edge noise are removed using pass-through filtering and radius filtering, respectively, while bilateral filtering is used to smooth the point cloud. Point cloud simplification is achieved using farthest point sampling and random sampling, depending on the curvature of the points. Next, the common regions from two acquisition angles are extracted, and the point clouds are coarsely aligned using the PCA algorithm. Fine alignment is then achieved using a point-to-plane ICP algorithm optimized with a robust loss function. Finally, a NURBS curve is employed for curve fitting of the switch rail, enabling the calculation of the value reduced for switch rail. Comparative experiments validate the effectiveness of this measurement method, showing that the repeat measurement errors for 5mm and 20mm cross-sections are reduced by 42.6% and 43.3%, respectively.
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  AM-1DCNN Based Automatic Recognition of Mechanical Damage in Composite Material

  JIA Kangkang, DU Junmin, CHEN Feiyu, SHI Jianwei, HOU Guoyi, LI Cheng

  Journal of Mechanical Engineering. 2025, 62(6): 247-256. https://doi.org/10.3901/JME.260191

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  In order to solve the bottleneck of automatic identification of mechanical damage of carbon fiber reinforced polymer (CFRP), an attention module (AM) and one dimensional convolutional neural network (1DCNN) damage identification method was proposed, based on the nonlinear ultrasonic detection technique. Firstly, one-dimensional ultrasonic vibration signals of different mechanical damage types of composite materials were obtained by ultrasonic testing platform and finite element simulation method. After the model training was completed, the model was used to judge the damage type of the test data set of carbon fiber composites. Finally, try to identify the signals of different damage types of composites, such as undamaged, perforated, split and low-speed impact damage. The results show that the proposed model has strong scalability and fast convergence, and the recognition accuracy of common mechanical damage types of CFRP is 96.79%, which is 2.07% higher than that of the traditional CNN model, laying a foundation for the automatic diagnosis of damage in CFRP composites in service environment in universities.
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  Stress Detection Method for Steel Plates Using Shear Wave Birefringence with Electromagnetic Acoustic Transducer

  SHI Yingjie, XU Ke, LEI Tairan, ZHANG Yi

  Journal of Mechanical Engineering. 2025, 62(6): 257-266. https://doi.org/10.3901/JME.260192

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  Residual stress, induced during manufacturing and processing, can lead to material failures such as yield, fatigue, and brittle fracture in steel plates, significantly compromising structural performance and safety. How to achieve efficient, precise, and non-destructive residual stress detection has long been a challenging yet critical research focus in this field. To address the limitations of traditional acoustoelastic methods with electromagnetic acoustic transducer (EMAT), such as low signal amplitude and difficulties in time-domain detection, an electromagnetic acoustic resonance (EMAR) approach is proposed for signal enhancement, and the traditional time-of-flight (TOF) extraction is transformed into a planar stress detection method based on amplitude spectrum analysis. To validate the effectiveness of this method, an ultrasonic measurement experimental platform for plane stress detection of steel plates was constructed. A uniaxial tensile load was applied to a 1 mm-thick Q235 steel plate with a universal testing machine, and swept-frequency excitation was employed to capture resonance signals. After noise reduction and enhancement in both time and frequency domains, the acoustic velocity frequency-domain responses at different probe rotation angles were extracted and fitted against the applied tensile stress. Experimental results demonstrated a clear correlation between acoustic velocity response and probe rotation angle, and the highest stress detection accuracy was achieved at a 45° rotation angle, with a maximum absolute error within 6 MPa. The results show that the amplitude spectrum analysis method based on EMAR significantly improves the precision and stability of plane stress detection, providing a novel and effective approach for advancing non-destructive residual stress testing technology.
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  Intelligent Vehicle Cyber-physical System Modeling Method Based on Scenario-oriented MBSoSE

  QI Xiaojing, XIAO Yayue, ZHONG Wei, GAO Bolin, WANG Yong, SUN Dihua, LI Keqiang

  Journal of Mechanical Engineering. 2025, 62(6): 267-291. https://doi.org/10.3901/JME.260143

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  The intelligent vehicle cyber-physical system (IVCPS) is a system-of-systems with evolving and emergent properties, demanding robust architectural design. To develop a feasible, verifiable, and scalable IVCPS architecture, the Scenario-oriented Model-and-Simulation-based System-of-Systems Engineering approach is proposed. This method examines IVCPS’s structure and evolution, adopting the Unified Architecture Framework Modeling Language to build a distributed framework maintaining consistent models across scenario task systems. The architecture is developed from seven viewpoints and validated via simulations. A standard model library is established to enable quick adaptation to new scenarios, while integrated multi-resolution simulations ensure positive system emergence. The system layer adopts MBSE for modeling and simulation. A case study of the demonstrates the first-stage IVCPS architecture. Simulations validate its logic and parameters, confirming the capacity to address system development needs, facilitate design transitions, identify hidden collaborative requirements, and quickly assemble new scenario architectures.
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  Design and Performance Testing of Integrated Modular Thermal Management System for Electric Vehicles

  LI Qingming, HU Guanyang, XU Zhengzheng, ZHOU Haonan, MEI Deqing, WANG Yancheng

  Journal of Mechanical Engineering. 2025, 62(6): 292-301. https://doi.org/10.3901/JME.260193

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  The integrated modular thermal management system significantly reduces system volume and energy consumption, becoming a major development focus in electric vehicle (EV) thermal management technologies. Traditional EV systems use compact layouts with short piping, which do not effectively reduce volume and result in high flow resistance. This paper presents an integrated modular thermal management system incorporating a refrigerant and a coolant module, and examines their thermal management principles. Simulation of flow resistance and heat transfer under various operating conditions show that the maximum flow resistance of the refrigerant module is 75 kPa, while for the coolant module the motor circuit has a maximum resistance of 16.6 kPa, and the battery circuit has a maximum resistance of 17.3 kPa, validating the rationality of the system design. Then, a prototype of the integrated modular thermal management system was built, and a testing platform was established to evaluate its performance. Experimental results indicate that the coefficient of performance of the system is above 2.5 under different operating conditions, reaching 3.5 under thermal equilibrium in cooling mode, validating its energy efficiency and promising application potential.
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  Real-time Energy Management Strategy for Hybrid Electric Vehicles Based on Deep Reinforcement Learning and Model Predictive Control

  LIU Hui, Ma Xiaokang, HAN Lijin, XIANG Changle

  Journal of Mechanical Engineering. 2025, 62(6): 302-313. https://doi.org/10.3901/JME.260194

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  To address the challenge of balancing real-time performance and adaptability in hybrid electric vehicle (HEV) energy management, this paper proposes a real-time hierarchical energy management strategy (EMS) that integrates deep reinforcement learning (DRL) with model predictive control (MPC). At the upper layer, a deep Q-network (DQN) is employed to construct an EMS controller that rapidly plans a reference trajectory for the state of charge (SOC) prior to vehicle departure. At the lower level, a Long Short-Term Memory (LSTM) network is first employed to construct a velocity predictor, forecasting the velocity sequence over a future time domain. Subsequently, an MPC controller is designed to achieve optimal power flow allocation by tracking the SOC reference trajectory. The proposed strategy is then comprehensively compared with dynamic programming (DP) and rule-based strategies across different test conditions. Simulation results demonstrate that the proposed strategy achieves over 90% of the fuel economy attained by the DP strategy while exhibiting strong real-time application potential. Finally, hardware-in-the-loop (HIL) experiments validate the practical applicability of the proposed strategy.
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  High-order and Low-order Coupled Simulation Method for Automotive Collision and Development of a Realistic Simulation Platform

  LI Lincong, WANG Shengquan, ZENG Xiang, CAI Yong, HE Xiaowei

  Journal of Mechanical Engineering. 2025, 62(6): 314-324. https://doi.org/10.3901/JME.260195

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  FEM(Finite Element Method) is widely used in industrial fields such as automotive and defense. However, under complex scenarios like vehicle collisions, FEM is subject to notable constraints because of computational resource limitations. Considering the drawbacks of the low efficiency of FEM and the difficulty to simulate the motion over the entire duration and learn about the simulation results immersively, a realistic simulation platform for the case of vehicle collision is developed based on the high-order and low-order coupled simulation method. After comprehensive measurement of the efficiency and accuracy of the simulation, the physical simulation method is developed for non-collision scenarios in automotive applications, which is combined with traditional FEM to simulate the entire course of vehicle motion. And the presentation of realistic simulation results is realized by the coupling of the simulation and scene data and the realistic simulation platform is developed successfully. In addition, the vehicle collision is simulated to verify the method of coupled simulation and computing performance of the platform with the FEM. The results demonstrate that the simulation outputs, such as velocity, are consistent with the FEM and the calculation time is reduced to 0.35% of the FEM at the stage of physical simulation. The difference of the increment of internal energy between the simulation platform and FEM is 1.10%, and the difference of acceleration maximum is 3.51% and the total calculation time is reduced to 21.01% of the FEM when focusing on the large deformation. In terms of visualization, the realistic simulation platform is highly immersive, offering a more intuitive means of visualizing and improving the efficiency of understanding and analyzing simulation data. The feasibility of the simulation platform in the industrial application is verified through the automotive collision case, and the platform proves to be more efficient and practical for automotive collision scenarios than FEM software.
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  Analyses of the Distribution Characteristics of Aerodynamic Energy and Acoustic Energy in Sunroof Wind Buffeting Noise

  CAO Sishi, ZHANG Zhifei, HE Yansong, XU Zhongming

  Journal of Mechanical Engineering. 2025, 62(6): 325-336. https://doi.org/10.3901/JME.260196

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  Due to the strong coupling relationship between acoustic energy and aerodynamic energy in wind buffeting noise and the inconsistent subjective perception of these two energies by passengers, different control methods are required. Additionally, in turbulent flow, there are intense random pulsating velocities, which can mask the flow characteristics of pulsating velocities closely related to automotive wind buffeting noise. Therefore, it is necessary to introduce the Wavenumber Frequency Spectrum Separation (WFS) to decouple the acoustic energy and aerodynamic energy in wind buffeting noise in order to further explore the energy characteristics of these two types. First, wind tunnel tests were carried out to verify the accuracy of numerical simulations. Then, traditional flow field analysis was used to explore the flow characteristics of sunroof wind buffeting noise. It was found that the flow field exhibited rich random velocity pulsations, which could mask the potential characteristics of pulsating velocities closely related to wind buffeting noise. Therefore, WFS was introduced to decouple these two energies, and their characteristics were further analyzed in one-dimensional and two-dimensional wavenumber spectra. The results showed that when sunroof wind buffeting noise occurred, both the acoustic energy and aerodynamic energy at the sunroof resonated at f = 15.15 Hz, which is the first-order resonance frequency of wind buffeting noise. Inside the passenger compartment, only the acoustic energy resonated at f = 15.15 Hz. Furthermore, at f = 15.15 Hz, the acoustic energy inside the passenger compartment was much higher than the aerodynamic energy, with a difference of 20.26 dB. This indicates that the pressure pulsations inside the passenger compartment can reflect the spatial distribution characteristics of acoustic energy. However, this is not the case at the sunroof, as the peak difference between the acoustic energy and the aerodynamic energy is only 7.48 dB.
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  Research on the Dynamic Characteristics and Nonlinear Mechanical Model of the Liquid Rubber Composite Rotary Arm Joint

  LI Xuyang, DAI Liangcheng, CHI Maoru, ZHAO Minghua, ZHOU Di

  Journal of Mechanical Engineering. 2025, 62(6): 337-345,358. https://doi.org/10.3901/JME.260197

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  In order to investigate the dynamic characteristics of the liquid rubber composite rotary arm joint, establish a nonlinear mechanical model for the liquid rubber composite rotary arm joint of railway vehicles and explore the impact of the liquid rubber composite rotary arm joint on the dynamic performance of the vehicles. Based on the linear theory, the analysis of the frequency response characteristics of the liquid rubber composite rotary arm joint is conducted, and the mechanism of frequency-variable stiffness is investigated. A nonlinear mechanical model of the liquid rubber composite rotary arm joint is established, taking into account the nonlinearity of the dynamic characteristics of the rubber main spring, the nonlinearity of the volumetric compliance of chamber, and the nonlinearity of fluid damping. Bench tests of the liquid rubber composite rotary arm joint under various frequencies and amplitude displacement excitations are conducted to verify the accuracy of the established mechanical model. The co-simulation model of the liquid rubber composite rotary arm joint and vehicle dynamics is established to analyze the impact on the vehicle's dynamic performance. The results show that the mutual coupling effect between the rubber main spring and the hydraulic mechanism endows the liquid rubber composite rotary arm joint with frequency dependency and amplitude dependency；the established nonlinear mechanical model can accurately describe the frequency-dependent and amplitude-dependent characteristics of the liquid rubber composite rotary arm joint；vehicles equipped with liquid rubber composite rotary arm joint have a higher nonlinear critical speed, better curve passing capabilities and curve passing safety compared to those with traditional rubber rotary arm joint.
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  Multi-feature Fusion Approach for Data-driven State of Health Estimation in Lithium-metal Batteries

  LIU Ningning, WANG Ju, WANG Zhaodong, HU Wentao, LIU Xingjiang

  Journal of Mechanical Engineering. 2025, 62(6): 346-358. https://doi.org/10.3901/JME.260198

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  Lithium metal batteries(LMBs) have emerged as a promising next-generation energy storage equipment due to their ultra-high energy density. However, accurately predicting their state of health(SOH) remains challenging owing to complex degradation mechanisms. An electrochemical impedance spectroscopy(EIS)-based cross-frequency-band multi-source feature extraction methodology is proposed. By leveraging grey relational analysis(GRA) to quantify the nonlinear correlation between EIS characteristics and SOH, five critical frequency-domain features in the mid-to-high-frequency region were screened. Concurrently, a simplified equivalent circuit model was constructed to extract five physical parameter features from the low-frequency region, reflecting solid-phase diffusion and charge-transfer processes. Integrated with a Gaussian process regression(GPR) model, an EIS-SOH estimation framework for LMBs under multi-condition variable coupling was developed. The proposed method demonstrates strong accuracy and robustness for SOH estimation across diverse mechanical preload forces, charge/discharge C-rates, and battery states of charge(SOC). Experimental validation under 12 distinct variable combination scenarios yielded an average root mean square error(RMSE) of 1.65% for SOH prediction, while the RMSE remains below 3% even under extreme operating conditions.
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  Analysis of the Vertical Dynamic Response of the Carbody When the Subway Vehicle Runs on the Bridge

  QIN Qingyang, TAO Gongquan, WEN Zefeng, REN Yu

  Journal of Mechanical Engineering. 2025, 62(6): 359-369. https://doi.org/10.3901/JME.260199

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  The coupled vibration behavior of vehicles and bridges has an important influence on the running safety and ride comfort of the vehicle. A vector form intrinsic finite-element method is used to establish the train-track-bridge coupling vibration model of a subway express line in China. The model considers the track and bridge as Euler beams, but the carbody, bogie frames, and wheelsets are treated as rigid bodies. The accuracy of the model is verified by using the vibration test data of the vehicle. The model is used to analyze the influencing factors of the dynamic response of the caybody when it runs on the bridge. The results show that the carbody generates obvious pitch resonance when it runs on the bridge at a speed of 114 km/h. The acceleration amplitudes of the left front and right rear floors of the carbody are the same, but the vibration phase of the left front and right rear floors is basically opposite. Varying the operating speed of the vehicle and increasing the damping coefficient of the secondary suspension can reduce the acceleration response of the carbody's pitch resonance. The operating speed of pitching resonance increases with increasing the bridge span, but the corresponding passing frequencies are all around 0.943 Hz. Compared to the bridge span of 30 m, the maximum pitch acceleration of the carbody is significantly reduced when the vehicle passes through the bridge with spans of 24 m and 36 m.
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  Experimental Study on Cavitation Flow Characteristics in Orifice Plate under High Pressure Conditions

  WANG Zedong, HE Yingqi, DAI Yanjun, TAO Wenquan, WANG Yungang

  Journal of Mechanical Engineering. 2025, 62(6): 370-379. https://doi.org/10.3901/JME.260200

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  The study of cavitation flow characteristics in orifice plates under high-pressure conditions is of significant importance for the safe operation of industrial equipment. However, due to the stringent requirements for sealing and stability in high-pressure experimental environments, reliable experimental data across wide pressure ranges remain scarce. To address this, the present study established a high-pressure micro-orifice flow measurement test rig, using the orifice plate from a high-pressure common rail fuel injector as the research object. A systematic investigation is conducted on the cavitation flow characteristics of fuel under different inlet pressures and outlet pressures. Three typical operating conditions are designed for the experiments: constant inlet pressure, constant outlet pressure, and constant pressure difference. The variation of flow rate through the orifice under different pressure conditions is accurately measured. The results reveal that for the orifice plate with this specific geometry, the inception and development of cavitation flow exhibit a strong correlation with the inlet and outlet pressures. When the flow pressure ratio (outlet pressure/inlet pressure) decreases to 0.585, cavitation initiates and rapidly intensifies. As the pressure ratio further reduces to 0.563, the flow enters a stable cavitation stage. These findings provide theoretical guidance for the design of cavitation suppression in throttling components within high-pressure fluid systems.
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  Research on Cavitation of Valve Plate Groove for the High Pressure Axial Piston Pump

  HOU Xiaonan, WU Wei, WEI Chunhui, ZHAO Jun

  Journal of Mechanical Engineering. 2025, 62(6): 380-390. https://doi.org/10.3901/JME.260201

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  To guide the optimization design and explore the cavitation mechanism in the groove of the valve plate in a high-pressure axial piston. A cavitation numerical model is established based on the flow characteristics in the groove, and a visualization experiment is carried out using a high-speed camera. Subsequently, a numerical simulation model including a single piston cavity and a valve plate fluid domain is established. The cavitation of the valve plate under high pressure is simulated. The mechanisms of jet-flow cavitation and vortex cavitation are investigated, and the evolution of vortices and cavitation at different rotation angles is analyzed. An optimized valve plate is proposed. Finally, comparative tests are conducted on the complete pump to evaluate the performance of the original and optimized valve plates. The results indicate that the cavitation model simulations and visual experiments show good agreement. A high-velocity jet area is formed when the oil passes through the groove. The jet area becomes longer, and the jet angle becomes smaller when the opening is half. At the high-velocity jet-flow and vortices in the grooves of the valve plate, the pressure drops below the saturated vapor pressure of the hydraulic oil, thereby inducing jet cavitation and vortex cavitation. The vortices gradually expand and become more flattened in shape as the piston chamber rotation angle increases, while the vortex core on the lower side of the jet-flow region progressively shifts downstream. The cavitation region exhibits a similar evolution trend to that of the jet-flow and vortices structures. The optimized valve plate reduces cavitation, decreasing vapor volume fraction by 53.43%. Pressure pulsation and noise level are reduced by 76.19% and 4.8 dB(A) at 2 000 r/min and 20 MPa, respectively.
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  Coalescence Behavior of Viscous Droplets on Hydrophobic Fibers with Wettability Gradient

  FU Zeming, WU Huagen, XIONG Yanling, LIANG Mengtao

  Journal of Mechanical Engineering. 2025, 62(6): 391-399. https://doi.org/10.3901/JME.260202

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  Fiber coalescence filters are widely applied in various industrial fields and are commonly used for separating liquid aerosols from gas streams. The coalescence and directional motion of viscous droplets on hydrophobic fibers with a wettability gradient are investigated using numerical methods. The volume of fluid(VOF) method and an enhanced dynamic contact angle model are utilized to investigate the influences of surface wettability gradient, droplet diameter, and viscosity. It is found that the droplet velocity along the fiber increases with the enhancement of the wettability gradient. The peak velocity arises when the rear edge of the droplet crosses the wettability boundary, and a larger contact angle on the high-contact-angle side results in a higher velocity. Dimensionless analysis shows that as the ratio of droplet to fiber diameter increases, the droplet velocity increases, but the rate of increase gradually decreases due to the constraint on spreading imposed by the curvature of the fiber surface. The mechanism of viscosity influence is analyzed through viscous dissipation rate. High-viscosity droplets exhibit relatively stable motion, while low-viscosity droplets move faster but with significant fluctuations. The findings provide theoretical support and design reference for the application of wettability gradients in high-efficiency oil mist filters.
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  Composite Pressure Control Method of Electro Hydraulic Power Source Based on Pressure Closed Loop Feedback and Speed Compensation

  YANG Fei, ZHAO Lei, GE Lei, WANG Xiaohu, QUAN Long, XIONG Xiaoyan

  Journal of Mechanical Engineering. 2025, 62(6): 400-408. https://doi.org/10.3901/JME.260203

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  Pressure control is achieved by driving a fixed-displacement pump via servo motor torque control, offering faster dynamic response compared to variable speed pressure control. In torque-controlled electro-hydraulic power sources, reliance on pressure sensor feedback is typically required within a closed loop to maintain output pressure accuracy. Failure of the sensor causes significant pressure control deviation due to the nonlinear mapping relationship between torque and pressure. To address this, a compound pressure control method integrating pressure closed-loop feedback and speed compensation is proposed. During normal operation, pressure is regulated through the pressure closed loop. Upon pressure sensor failure, compensation control is implemented utilizing the servo motor's built-in speed feedback to sustain pressure control accuracy. Theoretical analysis and experimental validation demonstrate that the proposed scheme enables high-precision pressure control. When a pressure sensor fault occurs, the speed compensation control within the scheme effectively maintains the power source's output pressure accuracy, reducing the control deviation from 20% to approximately 2%.
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  Novel Configuration of High-pressure Radial Piston Motor with Plate Pilot Pressure Control for Two-stage Flow Distribution and Its Volumetric Efficiency Characteristics

  HUANG Xiaomin, GUO Tong, QUE Fumin, LI Xinming, LIU Hao, LIN Tianliang

  Journal of Mechanical Engineering. 2025, 62(6): 409-418. https://doi.org/10.3901/JME.260204

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  A new configuration of two-stage radial piston motor with plate pilot pressure control is proposed to address the problem of low working pressure and significant decrease in volumetric efficiency with increasing pressure in traditional shaft or plate radial piston hydraulic motors. The main stage of this configuration adopts seat valve distribution, and the pilot stage adopts mechanical plate valve distribution. By utilizing the good sealing of the seat valve and the low pressure and flow requirements of the pilot stage, it can effectively reduce the leakage of the distribution pair.A motor model is established based on AMESim simulation software, and the simulation results show that the motor can still maintain high volumetric efficiency under a pressure of 30 MPa. To verify the feasibility of the distribution method and conduct characteristic analysis, a motor prototype is developed and experimental research is conducted. The experimental results shows that the motor can run smoothly at low speeds and has bidirectional rotation function；When the pilot pressure is within 11 MPa, the volumetric efficiency remains above 90% and does not significantly decrease with decreasing speed, verifying the feasibility of the proposed new motor configuration in improving the theoretical working pressure ofthe motor；The main oil circuit of the motor is independent of the pilot stage, so by using a high pilot ratio main valve, the workingpressure of the motor can exceed 30 MPa. A feasible technical route is provided for the development of a new architecture high-pressure radial piston hydraulic motor.
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  Adaptive Robust Motion Control of Hydraulic Actuation Systems Considering Nonlinearity of Bulk Modulus

  Lü Litong, XIA Yangxiu, QI Manzhi, CHEN Zheng, ZHANG Lianpeng, WANG Ruichen

  Journal of Mechanical Engineering. 2025, 62(6): 419-430. https://doi.org/10.3901/JME.260205

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  There is a strong relationship between the bulk modulus and the working pressure in hydraulic systems. However, in almost all existing model-based control, such a relationship is not included, leading to negative impacts on model compensation effectiveness and motion tracking performance. The challenge is to select a mathematically reasonable model expression that balances accuracy in model description with feasibility in control design. To address this issue, this study first analyzes the mechanism of bulk modulus and proposes a parameterized fractional form model considering the feasibility of model compensation and parameter adaptation. Taking a hydraulic cylinder-driven rotary joint as an example, a parameterized dynamics model of the overall system is established. Subsequently, within the adaptive robust control framework, model-based motion control design is conducted using backstepping control. Particularly, through the design of an X-swapping mechanism, effective model compensation of the bulk modulus and online adaptation of key parameters are achieved. The theoretical analysis of the closed-loop system performance is also conducted. Finally, comparative experiments are carried out. Contrasted with mainstream control methods that treat the bulk modulus as a lumped parameter, the proposed approach demonstrates further enhancement in motion control performance.