The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this p...The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.展开更多
In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedo...In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers) and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller, good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.展开更多
The structure and working principle of a hydraulic buffering valve for a power-shift transmission ZF-4WG308 were studied comprehensively, and a model of the hydraulic buffering valve was developed with AMESim. A bench...The structure and working principle of a hydraulic buffering valve for a power-shift transmission ZF-4WG308 were studied comprehensively, and a model of the hydraulic buffering valve was developed with AMESim. A bench test was conducted on a buffering valve for transmissions(ZF-4WG308) and the test results agree well with the simulated results. Further more, the influences of the key parameters of the valve on the buffering performance were also studied in details.展开更多
To promote the fuel utilization efficiency of IC engine, an approach was proposed for IC engine coolant energy recovery based on low-temperature organic Rankine cycle(ORC). The ORC system uses IC engine coolant as hea...To promote the fuel utilization efficiency of IC engine, an approach was proposed for IC engine coolant energy recovery based on low-temperature organic Rankine cycle(ORC). The ORC system uses IC engine coolant as heat source, and it is coupled to the IC engine cooling system. After various kinds of organic working media were compared, R124 was selected as the ORC working medium. According to IC engine operating conditions and coolant energy characteristics, the major parameters of ORC system were preliminary designed. Then, the effects of various parameters on cycle performance and recovery potential of coolant energy were analyzed via cycle process calculation. The results indicate that cycle efficiency is mainly influenced by the working pressure of ORC, while the maximum working pressure is limited by IC engine coolant temperature. At the same working pressure, cycle efficiency is hardly affected by both the mass flow rate and temperature of working medium. When the bottom cycle working pressure arrives at the maximum allowable value of 1.6 MPa, the fuel utilization efficiency of IC engine could be improved by 12.1%.All these demonstrate that this low-temperature ORC is a useful energy-saving technology for IC engine.展开更多
Based on the working principle and the damping characteristic of hydraulic shock absorber, a fluid structure interaction method was presented, which was used to analyze the microcosmic and high-frequency processing me...Based on the working principle and the damping characteristic of hydraulic shock absorber, a fluid structure interaction method was presented, which was used to analyze the microcosmic and high-frequency processing mechanism of fluid structure interaction between circulation valve and liquid of hydraulic shock absorber. The fluid mesh distortion was controlled by the CEL language, and the fluid struc^tre interaction mathematical model was established. The finite element model was established by ANSYS CFX software and was analyzed by dynamic mesh technique. The local sensitive computational area was meshed by prismatic grid, which could reduce the negative volume problem during the simulation. The circulation valve and liquid of hydraulic shock absorber were simulated and analyzed under the condition of sinusoidal inlet velocity loads. Flow characteristic and dynamics characteristic were obtained. The pressure distribution and the displacement of circulation value were obtained, and the acceleration curve of circulation valve was simulated and analyzed. The conformity of the final simulation results with the experimental datum indicates that this method is accurate and reliable to analyze the dynamics characteristic between circulation valve and liquid of hydraulic shock absorber, which can provide a theoretical foundation for optimizing hydraulic shock absorber in the future.展开更多
In order to measure the backhoe vibratory excavating resistance of a hydraulic excavator fast and precisely,the influences of vibratory excavating depth,angle,vibratory frequency,amplitude,bucket inserting velocity an...In order to measure the backhoe vibratory excavating resistance of a hydraulic excavator fast and precisely,the influences of vibratory excavating depth,angle,vibratory frequency,amplitude,bucket inserting velocity and soil type on the vibratory excavating resistance were analyzed.Simulation analysis was carded out to establish the bucket inserting velocity,amplitude and vibratory frequency considered as secondary variables and excavating resistance as primary variable.A fttzzy membership function was introduced to improve the anti-noise capacity of support vector machine,which is a soft-sensing model on the hydraulic excavator＇s backhoe vibratory excavating resistance based on fuzzy support vector machine.The simulation result reveals that its maximum relative training and testing error are nearly 0.68% and-0.47%,respectively.It is concluded that the model has quite high modeling precision and generalization capacity,and it can measure the vibratory excavating resistance accurately,reliably and fast in an indirect way.展开更多
基金Project(50375139) supported by the National Natural Science Foundation of ChinaProject(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China
文摘The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.
基金Project(2003AA430200) supported by the National Hi-Tech Research and Development Program(863) of China
文摘In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers) and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller, good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.
基金Project(51077096)supported by the National Natural Science Foundation of ChinaProject(2012940-15-3)supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,State Education Ministry
文摘The structure and working principle of a hydraulic buffering valve for a power-shift transmission ZF-4WG308 were studied comprehensively, and a model of the hydraulic buffering valve was developed with AMESim. A bench test was conducted on a buffering valve for transmissions(ZF-4WG308) and the test results agree well with the simulated results. Further more, the influences of the key parameters of the valve on the buffering performance were also studied in details.
基金Project(2011CB707201)supported by the National Basic Research Program of ChinaProject(51376057)supported by the National Natural Science Foundation of China
文摘To promote the fuel utilization efficiency of IC engine, an approach was proposed for IC engine coolant energy recovery based on low-temperature organic Rankine cycle(ORC). The ORC system uses IC engine coolant as heat source, and it is coupled to the IC engine cooling system. After various kinds of organic working media were compared, R124 was selected as the ORC working medium. According to IC engine operating conditions and coolant energy characteristics, the major parameters of ORC system were preliminary designed. Then, the effects of various parameters on cycle performance and recovery potential of coolant energy were analyzed via cycle process calculation. The results indicate that cycle efficiency is mainly influenced by the working pressure of ORC, while the maximum working pressure is limited by IC engine coolant temperature. At the same working pressure, cycle efficiency is hardly affected by both the mass flow rate and temperature of working medium. When the bottom cycle working pressure arrives at the maximum allowable value of 1.6 MPa, the fuel utilization efficiency of IC engine could be improved by 12.1%.All these demonstrate that this low-temperature ORC is a useful energy-saving technology for IC engine.
基金Project(51275542) supported by the National Natural Science Foundation of Chinaproject(CDJXS12110010) supported by the Fundamental Research Funds for the Central Universities of China
文摘Based on the working principle and the damping characteristic of hydraulic shock absorber, a fluid structure interaction method was presented, which was used to analyze the microcosmic and high-frequency processing mechanism of fluid structure interaction between circulation valve and liquid of hydraulic shock absorber. The fluid mesh distortion was controlled by the CEL language, and the fluid struc^tre interaction mathematical model was established. The finite element model was established by ANSYS CFX software and was analyzed by dynamic mesh technique. The local sensitive computational area was meshed by prismatic grid, which could reduce the negative volume problem during the simulation. The circulation valve and liquid of hydraulic shock absorber were simulated and analyzed under the condition of sinusoidal inlet velocity loads. Flow characteristic and dynamics characteristic were obtained. The pressure distribution and the displacement of circulation value were obtained, and the acceleration curve of circulation valve was simulated and analyzed. The conformity of the final simulation results with the experimental datum indicates that this method is accurate and reliable to analyze the dynamics characteristic between circulation valve and liquid of hydraulic shock absorber, which can provide a theoretical foundation for optimizing hydraulic shock absorber in the future.
基金Project(2003AA430200)supported by the National High Technology Research and Development Program of China
文摘In order to measure the backhoe vibratory excavating resistance of a hydraulic excavator fast and precisely,the influences of vibratory excavating depth,angle,vibratory frequency,amplitude,bucket inserting velocity and soil type on the vibratory excavating resistance were analyzed.Simulation analysis was carded out to establish the bucket inserting velocity,amplitude and vibratory frequency considered as secondary variables and excavating resistance as primary variable.A fttzzy membership function was introduced to improve the anti-noise capacity of support vector machine,which is a soft-sensing model on the hydraulic excavator＇s backhoe vibratory excavating resistance based on fuzzy support vector machine.The simulation result reveals that its maximum relative training and testing error are nearly 0.68% and-0.47%,respectively.It is concluded that the model has quite high modeling precision and generalization capacity,and it can measure the vibratory excavating resistance accurately,reliably and fast in an indirect way.
