Abstract:In view of the widespread challenge of structural instability that limits the engineering application of aerobic granular sludge (AGS), this study proposes a synergistic strategy combining extended hydraulic retention time (HRT) and nitrate addition to enhance the structural stability of AGS. The aim is to elucidate the synergistic effects of these two factors on enhancing the structural stability of AGS. Four sequencing batch reactors (SBRs) were operated under distinct conditions: R0 (control), R1 (external nitrate addition only), R2 (extended HRT-induced starvation), and R3 (combined extended HRT and external nitrate addition). Synthetic wastewater was utilized as the substrate to systematically investigate the impact of different operational conditions on AGS performance. Experimental results indicated that extending HRT effectively induced starvation conditions, leading to effective consumption of polysaccharides (PS) within the extracellular polymeric substances (EPS). Consequently, the protein (PN) to PS ratio in EPS was significantly increased, promoting a denser and more structurally stable granule formation. Specifically, the granule integrity coefficients in reactors R0, R1, R2, and R3 were 84.26%, 85.69%, 95.13%, and 97.12%, respectively. Corresponding EPS concentrations were 78.06, 96.3,0.00, and 91.42 mg/g (based on VSS), with PN/PS ratios of 4.7,5.5,1.12, and 9.30, respectively. These findings highlight that the combined strategy of extended HRT and nitrate supplementation effectively accelerated granulation and significantly enhanced structural strength. Regarding pollutant removal performance, the average chemical oxygen demand (COD) removal efficiencies for reactors R0, R1, R2, and R3 were 89.01%, 88.25%, 83.94%, and 88.56%, respectively. Similarly, average total nitrogen (TN) removal efficiencies were 74.49%, 82.50%, 81.02%, and 81.41%, respectively. Among the reactors, R3 exhibited the best nitrogen removal efficiency and sludge stability. Microbial community analyses revealed that Proteobacteria (56.49% relative abundance) dominated the microbial consortium in R3. Notably, under nitrate-induced starvation stress, the enrichment of the functional genus Zoogloea (16.13% relative abundance) significantly increased EPS secretion (97.40 mg/g), thus effectively driving the granulation process. These results further confirm that targeted microbial community optimization through nitrate regulation represents an effective approach to improve the structural stability of AGS.

Abstract:Constructing a predictive model for urban water supply pipeline failure events is crucial for assessing the likelihood of pipeline failures and serves as an important basis for the renovation and upgrading of water supply networks. The modeling methods for water supply pipeline failure models include classification and regression. Current research on failure models often employs only one of these methods for case analysis, lacking a comparison of the applicability and accuracy of both modeling methods. To address this gap, based on data from a specific instance of a water supply network, this paper establishes water supply pipeline failure classification and regression models using three machine learning algorithms: Random Forest (RF), Backpropagation Neural Network (BPNN), and Support Vector Machine (SVM). The concordance index (C-index) is used to compare the accuracy of the classification and regression models. Additionally, classification and regression indicators are employed to analyze the impact of modeling dataset division, as well as composition ratios of the dataset on the water supply pipeline failure models. The results show that the failure models constructed by RF exhibit the best performance, with the C-index of the classification models being 5.4% to 32.8% higher than that of the corresponding regression models. Compared to dividing the modeling dataset by year, randomly dividing the modeling dataset can enhance the predictive accuracy of both types of models. Furthermore, the impact of the modeling dataset composition ratio on the predictive accuracy of both types of models varies; as the proportion of non-failure pipeline data increases, the accuracy of the classification model in predicting pipeline failure events decreases, while the regression model shows reduced error in predicting pipeline failure times. Therefore, when constructing water supply pipeline failure models in practice, it is necessary to choose the modeling method appropriately based on the characteristics of the target dataset and pay attention to the impact of dataset division methods and composition ratios on the model results.

Abstract:Ultra-high performance concrete (UHPC) has been widely used in bridge engineering in recent years due to its superior mechanical properties and durability. To reduce costs while maintaining the high performance of UHPC, this paper investigates the mechanical properties and failure characteristics of ribbed UHPC bridge decks reinforced with 1.2% volume fraction of straight copper-plated micro steel fibers, under different reinforcement conditions (ordinary steel bars and high-strength steel bars), through bending and punching shear performance tests. The results indicate that UHPC ribbed bridge decks exhibited good ductility and flexural failure modes under different reinforcement conditions. The use of high-strength rebar significantly improved the ultimate bearing capacity, fully utilizing the material properties of the high-strength reinforcement. In terms of punching shear performance, the UHPC ribbed bridge decks showed a punching-flexural failure mode with substantial ductility. High-strength rebar increased the punching shear capacity by approximately 25% at the same reinforcement ratio, but further increases in reinforcement ratio had limited impact on bearing capacity. The findings demonstrate that using lower volume fractions of steel fibers and high-strength rebar can reduce costs while maximizing the superior properties of UHPC and high-strength steel bars, enhancing both the durability and economic efficiency of structures.

Abstract:In order to explore the influence mechanism of arch formation process on the seismic response of large-span concrete filled steel tube (CFST) arch bridges, the typical arch formation process and the stress accumulation history of the arch rib section are first explained. A nonlinear dynamic sequential analysis method is proposed for large-span CFST arch bridges considering the construction process, and the accuracy of the proposed method in obtaining the initial state of bridge is validated against Midas/Civil professional construction analysis module. The influence laws of the arch formation process are investigated from the perspectives of seismic responses of steel pipe and infilling concrete strains, as well as seismic response of the main arch displacement. Based on the "mediating effect analysis", the influencing mechanism of the arch formation process on the seismic response of large-span CFST arch bridges is addressed. Finally, a mapping relationship between the seismic strain responses of steel pipe and infilling concrete obtained with and without considering the arch formation process is established. A simplified corrective analysis method is proposed for seismic response of large-span CFST arch bridges. The research results indicate that the proposed analysis method can achieve accuracy very close to that of Midas/Civil professional construction analysis, with a peak stress error of only 6.8% for steel pipes and almost overlapping stress curves for infilling concrete. When considering the arch formation process of the main arch, the strain distribution of the steel pipe and infilling concrete no longer conforms to the plane section assumption. Under earthquakes, whether the arch formation process is considered leads to different elastic-plastic states in the CFST main arch, with the discrepancies increasing as the peak ground acceleration (PGA, a_PG) rises. When the plastic development degree of the main arch section is low, the differences in the initial state of the completed bridge are critically influential. Conversely, when the plastic development degree is high, the degree of material plasticity becomes the key influencing factor. The proposed simplified corrective analysis method has high accuracy, with average peak strain errors of only 2.9% for the steel pipes and 5.5% for the infilling concrete.

Abstract:To investigate the tensile bearing capacity of aluminum alloy flange joint of steel-aluminum alloy hybrid gantry, seven full-size flange specimens were designed considering the thickness of flange plate, the number of bolt and the bolt edge distance. Firstly, the failure modes and the variation laws of bearing capacities of flange joints were studied by axial tensile test. Then, based on the test results, a finite element analysis model was established to analyze the effects of stiffened plate thickness, screw diameter and tube wall thickness on the bearing performance of flange joints. Finally, based on the test results and finite element analysis results, the calculation theory of aluminum alloy flange node bearing capacity was proposed. The results of the study show that the damage patterns of the specimens can be roughly classified into three categories: fracture of the weld between the aluminium alloy stiffener plate and the flange plate, fracture at the weld and the heat-affected zone of the joint between the aluminium flange plate and the aluminium tube, slight deformation of the flange plate, dislocation of the aluminium tube, and large deformation of the aluminium alloy flange plate and entry into plasticity. The load-displacement curve can be roughly divided into elastic stage, elastic-plastic stage and damage stage. When the thickness of the flange plate was increased from 10 mm to 14 mm and 18 mm, the ultimate load increase by 66.7% and 76%, respectively, and the ultimate displacement decrease was 14% and 15%, respectively. When the number of bolts was increased from 4 to 6 and 8, the increase in ultimate load was 89.4% and 124.5% and the decrease in ultimate displacement was 38.2% and 44.2% respectively. Increasing the bolt margin parameter from 0.75 to 0.875 and 1.0 resulted in an increase in ultimate load of 10.3% and 20.1%, respectively, with little change in ultimate displacement. The finite element parameter analysis showed that the stiffener plate thickness, bolt diameter and round tube wall thickness had no significant effect on the nodal load capacity. The proposed design method of the aluminium alloy flange node, which takes into account the strength attenuation in the heat-affected zone of the welding of aluminium alloy material, can provide a reference for the design of steel-aluminium alloy hybrid gantry.

Abstract:To address the issues of low strength and high material costs associated with ultra-lightweight engineered cementitious composites (ULECC), a sustainable ULECC that balances strength and cost has been developed based on micro-mechanical design theory. Two types of lightweight fillers were used: fly ash cenospheres (FAC) and hollow glass microspheres (HGM), along with cellulose filaments (CF) for nano-enhancement. The influence of the water-binder ratio was also examined. A total of five different mix ratios were designed, three of which can be classified as ULECC. The results indicate that the proposed ULECC, with only 1% PE fiber addition, achieves a density as low as 1 296 kg/m³, a strength of 41.9 MPa, and a tensile strain of 10.28%. The water-binder ratio is a key factor affecting ULECC′s mechanical properties. As this ratio decreases, the compressive strength, initial cracking strength, and tensile strength of ULECC gradually increase, while ductility first decreases and then increases. Scanning electron microscopy (SEM) analysis shows that incorporating lightweight fillers increases porosity and reduces the matrix′s fracture toughness, leading to a significant rise in ductility. Compared to traditional engineered cementitious composites (ECC), ULECC provides competitive deformation capability without excessive damage strength, which greatly improves sustainability and reduces material costs.

Abstract:Recycled micro-powder has excellent carbon sequestration potential, and the wet carbonation method enhances its carbon sequestration performance. In this study, micron bubbles and ultrasonic-assisted methods were used to improve the carbon sequestration efficiency of wet carbonation. Then the recycled micro-powder slurry after carbonation was compressed into artificial aggregate, and a secondary carbonation was further conducted to improve the mechanical strength of artificial aggregate. The CO₂ volumetric method of aluminum film bag was proposed to evaluate the carbon sequestration amount and carbonation degree of recycled micro-powder. Finally, the carbon footprints of this carbonated recycled micro-powder and artificial aggregate are calculated. The results indicate that the wet carbonation method proposed in this study can effectively improve the carbonation efficiency of recycled micro-powder. The use of aluminum film bag for CO₂ volumetric method of the carbon fixation in recycled micro-powder is straghtforward and practical. The carbon sequestration amount of recycled micro-powder in aluminum film bag with 100% CO₂ concentration for 0.5 h is comparable to that of the wet carbonation method proposed in this study for 5 minutes. The compressive strength of the artificial aggregate made of non-carbonated recycled micro-powder is 42.7 MPa after carbonation curing. However, when recycled micro-powder treated with wet carbonation is remolded into artificial aggregates, the post-carbonation strength is relatively lower compared to the control group, mainly due to the reduction of carbonation reactants. Carbon footprint calculation shows that carbonized recycled micro-powder artificial aggregates can achieve a significant reduction in carbon emissions.

Abstract:To improve the stability bearing capacity of cold-formed steel composite columns and further expand the application scenarios of cold-formed steel components, an innovative cold-formed steel-solid waste foam concrete (CFS-SWFC) special-shaped composite edge column was proposed. Unlike traditional welded steel tube concrete components, cold-formed steel composite columns are susceptible to buckling due to their varying wall thickness and are assembled using self-tapping screws, making the interaction between the cold-formed steel and the core concrete unclear. Four special-shaped hollow columns and six CFS-SWFC special-shaped composite section columns were tested under axial compression to compare and analyze their buckling mechanisms and failure modes. A numerical analysis model of CFS-SWFC was established. Based on experimental validation, a multi-parameter extended analysis was carried out to study the effects of strength, wall thickness, and cross-sectional dimensions on the bearing capacity of the specimens. A calculation method for the bearing capacity of CFS-SWFC was proposed based on the current code GB 50936—2014. The results indicate that the use of solid waste foam concrete enhances the stability and bearing capacity of the specimens by 271%. Although the increase in concrete strength leads to a maximum decrease in deformation capacity of 18%, the final failure mode remains largely unchanged. The strength of SWFC, the thickness of CFS, and the cross-sectional dimensions have a significant impact on the ultimate bearing capacity. Notably, for larger cross-sectional components, an increase in SWFC strength results in a relatively higher enhancement of the ultimate load-carrying capacity. There is a discernible interaction effect between the composite edge columns and the solid waste foam concrete. The current calculation method, which takes the yield of the steel tube as a prerequisite, is not applicable to this type of cross-section. After modifications, the proposed formula demonstrates a good correlation with the experimental results, with a maximum error of 13%.

Abstract:To calculate the multi-axis fatigue life of structural steel and its welded connections under complex stress conditions, the stress fields on the unstable propagation area of multi-axial fatigue cracks in the inclined butt-welded joint were calculated theoretically based on an ellipsoidal fracture model. The initiation and stable propagation lengths of multi-axial fatigue cracks, as well as the maximum fracture index (under the maximum fatigue load) and the fracture index amplitude (under the fatigue load amplitude) defined by the ellipsoidal fracture model on the fatigue failure area, were calculated. A unified multiaxial fatigue model was established that satisfies the stress boundary conditions and expresses the model parameters, the maximum fracture factor, and the fracture-factor amplitude as functions governing fatigue-crack initiation and steady-state propagation life. The formulation comprehensively accounts for the contributions of individual stress components to multiaxial fatigue of full-penetration oblique cruciform welds and oblique butt weld connections under combined tension-shear cyclic loading. Closed-form unified multiaxial fatigue-life calculation expressions for full-penetration oblique cruciform welds and oblique butt weld connections subjected to tension-shear cyclic stresses are derived. The calculation results show that the calculation errors of the unified multi-axial fatigue life calculation formulas for the multi-axial fatigue life of inclined full-penetration welded cruciform joint of Q345qC steel and butt-welded joint of SAE1050 steel are from -26.8% to -0.2% and -87.1% to 10.2%, respectively. By comparison, the calculation error of the fatigue life formula recommended in the current code are from -63.5% to -13.3% and -79.2% to 237.33%, respectively. The proposed multi-axis fatigue model can be applied to the multi-axis fatigue life assessment of structural steel.

Abstract:In addition to horizontal seismic actions, vertical ground motion also significantly affects the damage state of non-structural components such as suspended ceilings. However, there is currently insufficient research on the vertical acceleration response of structures under vertical ground motion. To address this gap, a case study is conducted using a real frame structure with different-sized floor slabs. This study performs vertical mode analysis of the structure and conducts time history analyses under four categories of seismic motions, totaling 80 records. The vertical acceleration response of the structure and its influencing factors are studied, and a standardized vertical design response spectrum for seismic analysis of non-structural components is fitted. The results show that the vertical peak floor acceleration amplification factor for the floors range from 1.21 to 8.16, which is much higher than the horizontal amplification factors specified in various national standards. The vertical acceleration response of the structure is influenced by the self-vibration frequency of slabs, the dominant frequency of vertical ground motions, the height of the floors and the position of slabs within the floors. The vertical response of the structure may be amplified significantly due to the vertical flexibility of the structure, which have obvious adverse effects on non-structural components. Additionally, a standardized design spectrum and mathematical expression for vertical acceleration of the structure are obtained, which can be better used for the seismic analysis of non-structural components.

Abstract:To study the seismic performance of assembled steel truss cap, a full-scale specimen was designed and manufactured. Subsequently, low cyclic loading tests were conducted to analyze its failure mechanisms, hysteretic and skeleton curves, stiffness degradation, ductility, energy dissipation capacity and strain, etc. Based on the experimental results, a finite element model of the specimen was established using ANSYS for parametric analysis. The variation trends on skeleton curves of the model under different parameters were obtained, and an empirical formula of skeleton curve before destruction was proposed. The test results indicate that the specimen is mainly damaged by local buckling deformation at the mid-section of main material. When localized damage occurs at this central region, the specimen reaches its ultimate bearing capacity. The specimen can bear significant horizontal forces, with the horizontal ultimate load approximately 12 times the design value. The ductility coefficient is about 15, indicating that the specimen has considerable ductility and deformation ability. The seismic performance of the specimen improves mainly with the decrease of the height of the cap, the ratio of diameter to thickness of the main material and the downforce. Furthermore, the empirical formula of the skeleton curve before destruction aligns well with the finite element data.

Abstract:The interface of dry-type vertical seam without grouting for prestressed concrete hybrid tower uses epoxy resin structural adhesive and bending bolts with pre-tension applied to resist shear. Compared with the traditional grouted wet connection with connecting steel bars, this approach can greatly improve on-site installation efficiency. Aiming at the shear performance of the vertical seam interface of dry-type connection, one direct shear static test and two direct shear fatigue tests were carried out on full-scale specimens. The failure mode, bond-slip curves, and bearing capacity calculation of the vertical seam interface under static shear loading were systematically investigated. Furthermore, the fatigue failure mode, degradation of shear stiffness, and methods for fatigue life prediction of the seam interface were further analyzed. The results of experimental research and theoretical analysis show that both static and fatigue tests of the dry-type vertical seams have brittle failure modes. The interface failures can be divided into two regions: interface debonding and delamination of the concrete protective layer—each occupying roughly 50% of the damaged area. The pre-tension applied by the bending bolts can effectively improve the shear capacity of the structural adhesive interface. The upper limit of load is the key factor affecting the shear fatigue performance of vertical seams, and the fatigue life is negatively correlated with the upper limit of load. The shear capacity of the vertical seam interface is provided jointly by the friction force generated by the direct shear of concrete and the pre-tension of the bending bolts. The calculation formula of the shear capacity of the vertical seam interface deduced by the superposition method shows high accuracy. The Fib Model Code specification formula is capable of predicting the shear fatigue life of vertical seams with commendable accuracy and a built-in safety margin, rendering it highly valuable for engineering applications.

Abstract:To address the limitations of traditional timber structure damage identification algorithms in parameter space completeness, utilization efficiency of high-dimensional data, and integrated local-global damage diagnosis capabilities, this paper proposes a multi-modal data fusion damage identification method based on a graph neural network (GNN). First, with the acceleration response of structural nodes and material parameters as inputs, the graph structure data is constructed by fusion of sensor topological relations to realize the interactive transmission and collaborative identification of damage features between nodes. Second, this paper proposes a joint recognition algorithm, which is composed of a local damage identification network (LCGCN-LDI) and a global material deterioration network (GCN-MPI), to identify the damage of nodes and correct the material property parameters respectively. Finally, experimental validation shows that the joint identification algorithm achieves an overall structural damage recognition accuracy of 94.7%, and a local damage detection accuracy of 97.6%; the prediction error of natural vibration frequency is reduced from 28.9% to 9.4%. The results show that the joint recognition algorithm outperforms traditional algorithms in identifying complex damage in traditional timber structures, exhibiting high accuracy and robustness.

Abstract:Variations in ambient temperature can cause significant fluctuations in ultrasonic signals, complicating the distinction of target parameters such as damage and stress. To address this issue, this study investigates the characteristics and mathematical representation of temperature effects on ultrasonic signals. The influence of temperature on ultrasonic signals ultimately manifests as spatial changes in signal vectors. Therefore, we construct characteristic vectors in the time-domain vector space using a specific set of functions, allowing the temperature effect to be directly projected into several acoustic measurement features within the ultrasonic time domain, represented by basis functions. The magnitude of these features is determined by the temperature increment and the choice of basis function, with their signs consistent with the projection direction. Experimental ultrasonic test signals were collected from laboratory concrete beams, while theoretical solutions based on wave equations provided time-domain signals under varying temperatures. We constructed a characteristic vector space using power function bases and employed power-law features to describe the nonlinear effects of temperature. Results show that both experimental and theoretical signals exhibit identical distribution patterns in their temperature-effect power-law features, reflecting the energy magnitude of temperature effects. These features decrease exponentially with increasing order of the basis function. Based on power-law characteristics, distinct characteristic values at the same temperature can be derived, each representing temperature effect information across different dimensions. The relationship between a given characteristic and temperature increments follows a power-law mapping, while different characteristic values at identical temperatures exhibit an exponential relationship with increasing power exponents. This establishes a mathematical description of temperature effects during ultrasonic testing, providing an effective tool for characterizing temperature effects across various scenarios.

Abstract:To adjust existing deterministic typhoon intensity models and account for stochastic influences, a correction term containing both mean and random noise is introduced into the ordinary differential equations governing deterministic typhoon intensity. Various skewed distribution models serve as candidate probability distributions for the random noise. Using historical typhoon data from the Northwest Pacific, the geographically weighted method estimates geographic variation in mean, standard deviation, skewness, and excess kurtosis of the correction term. Furthermore, the method of moments estimates parameters for candidate probability distribution models of the random noise within the correction term, with the optimal probability distribution model determined by KS distance. By comparing simulated results of historical typhoon intensity evolution, the impact of both mean and stochastic components of the error term on model performance is examined. The results indicate that introducing the correction term significantly improves the model′s ability to simulate historical typhoon intensities and enhances its capacity to capture the stochastic nature of typhoon intensity. Additionally, this paper validates model effectiveness in extreme wind speed analysis of typhoons.

Abstract:Against the backdrop of sustained growth in China′s air conditioning industry and climate change, heat pump air conditioners have emerged as a key solution for achieving the "dual carbon" goals due to their high energy efficiency. However, fins are prone to condensation and frost formation under humid operating conditions, leading to reduced heat transfer efficiency and increased system energy consumption. To achieve multi-objective optimization of low-temperature air-source heat pump outdoor heat exchanger fins, this study reviews performance evaluation metrics and optimization methodologies for fins under both dry and wet conditions. Results indicate that air-source heat pump outdoor heat exchanger fin performance can be comprehensively assessed across three dimensions: material properties, heat transfer flow characteristics, and drainage performance. Optimization under dry conditions primarily focuses on enhancing heat transfer through structural improvements. Existing strategies for enhancing single-fin performance under wet conditions primarily concentrate on micrometer-scale surface topography design and wettability control. Techniques such as laser etching or chemical deposition create micrometer-scale groove networks to reduce pressure drop while maintaining heat transfer efficiency. Fin surface protrusions and pits developed based on vortex induction principles, with heights ranging from 0.6 to 1.61 mm, increase the Nusselt number by up to 19.03%. Future trends involve integrating surface structures for induced nucleation in wet conditions while leveraging biomimetic principles for rapid drainage. Additionally, designing hybrid surfaces combining hydrophilic and hydrophobic properties can delay frost formation and enhance fin drainage. This paper further identifies key research directions to improve heat exchanger efficiency, flow dynamics, and drainage performance, meeting modern industrial and civil demands for high-efficiency, energy-saving heat transfer equipment.

Abstract:To investigate the flow field and aerodynamic characteristics of a projectile during flight under adverse weather conditions, this study applies the two-way momentum-coupled Eulerian-Lagrangian method to analyze the aerodynamic performance of a 155 mm howitzer shell in a heavy rain environment based on the Marshall-Palmer raindrop spectrum. The unsteady tracking of raindrop particle trajectories is conducted using the discrete phase model (DPM), while the random walk diffusion model is incorporated to simulate the effects of turbulent diffusion in the continuous phase on raindrop motion. A novel methodology is proposed that combines the Lagrangian multiphase flow (LMF) model with the Lagrangian wall film (LWF) model to simulate the formation and evolution of wall films resulting from raindrop impacts on the projectile surface. The results show that raindrop impacts lead to the formation of wall films that exhibit flow trajectories, with the films predominantly distributed on the windward surface (particularly around the projectile nose and band regions). The maximum wall film thickness reaches approximately 0.02 mm, and the maximum film mass is about 0.16 mg; The formation of wall films increases the surface roughness, significantly raising the shear stress, the maximum shear stress escalates from 666 Pa in rain-free conditions to 2 350 Pa under heavy rain,and the maximum value increasing from 0.008 to 0.025; Rainfall also adversely affects the projectile′s aerodynamic coefficients, with the maximum drag coefficient increasing by 6.75% , while the lift coefficient experiences a slight reduction, with a maximum decrease of 1.9%. This approach effectively captures the dynamic evolution of wall films on the projectile surface under heavy rain conditions and their impact on aerodynamic performance, providing theoretical support for the projectile design and performance optimization in complex environmental conditions.

Abstract:Aiming at the defects that the weight coefficients of linear quadratic regulator (LQR) of two-wheeled balance robot needs to be manually selected, an improved carnivorous plant algorithm (ICPA) is used to optimize the LQR weight coefficients, which realizes the self-stability and high-precision trajectory tracking of two-wheeled balance robot. Firstly, the dynamic equations of the balance robot system is constructed by Lagrange equation method, and the LQR optimization PID control strategy is used to ensure the optimal control force. Secondly, an adaptive capture coefficient is proposed in the growth process of carnivorous plant algorithm, which balances the growth of carnivorous plants and preys, and improves the ability of global exploration in the early stage and local optimization in the later stage. Then, the interference factor is designed in the reproduction process of carnivorous plant algorithm to expand the search space and further improve the global optimization ability. Finally, based on EA cost function, the weight coefficients of LQR controller is optimized by ICPA, and the control strategy model of two-wheeled balanced robot is established in MATLAB/Simulink environment. The experimental results show that the PID controller optimized by the proposed ICPA-LQR optimized PID controller has faster dynamic response speed, stronger anti-interference ability and better overall performance than the control effect optimized by the carnivorous plant algorithm, sparrow search algorithm, moth fire extinguishing algorithm and improved particle swarm optimization algorithm. Under disturbance, the dynamic deviation of the control two-wheeled balance robot tracking complex trajectory dip angle is less than 0.05 rad, the deviations of the horizontal and vertical coordinates is less than 0.2 m, the deviation of the steering angle is less than 0.2 rad, and the deviation of the wheel position angle is less than 3 rad, which can accurately track the given reference trajectory under the premise of maintaining dynamic balance, behaving strong generalization ability.