Precise function expression of the flow area for the sloping U-shape notch orifice versus the spool stroke was derived. The computational fluid dynamics was used to analyze the flow features of the sloping U-shape not...Precise function expression of the flow area for the sloping U-shape notch orifice versus the spool stroke was derived. The computational fluid dynamics was used to analyze the flow features of the sloping U-shape notch on the spool, such as mass flow rates, flow coefficients, effiux angles and steady state flow forces under different operating conditions. At last, the reliability of the mathematical model of the flow area for the sloping U-shape notch orifice on the spool was demonstrated by the comparison between the orifice area curve derived and the corresponding experimental data provided by the test. It is presented that the bottom arc of sloping U-shape notch （ABU） should not be omitted when it is required to accurately calculate the orifice area of ABU. Although the theoretical flow area of plain bottom sloping U-shape notch （PBU） is larger than that of ABU at the same opening, the simulated mass flow and experimental flow area of ABU are both larger than these of PBU at the same opening, while the simulated flow force of PBU is larger than that of ABU at the same opening. Therefore, it should be prior to adapt the ABU when designing the spool with proportional character.展开更多
Traditional hand rehabilitation gloves usually use electrical motor as actuator with disadvantages of heaviness,bulkiness and less compliance.Recently,the soft pneumatic actuator is demonstrated to be more suitable fo...Traditional hand rehabilitation gloves usually use electrical motor as actuator with disadvantages of heaviness,bulkiness and less compliance.Recently,the soft pneumatic actuator is demonstrated to be more suitable for hand rehabilitation compared to motor because of its inherent compliance,flexibility and safety.In order to design a wearable glove in request of hand rehabilitation,a soft hoop-reinforced pneumatic actuator is presented.By analyzing the influence of its section shape and geometrical parameters on bending performance,the preferred structure of actuator is achieved based on finite element method.An improved hoop-reinforced actuator is designed after the fabrication and initial measurement,and its mathematical model is built in order to quickly obtain the bending angle response when pressurized.A series of experiment about bending performance are implemented to validate the agreement between the finite element,mathematical and experimental results,and the performance improvement of hoop-reinforced actuator.In addition,the designed hand rehabilitation glove is tested by measuring its output force and actual wearing experience.The output force can reach 2.5 to 3 N when the pressure is 200 kPa.The research results indicate that the designed glove with hoop-reinforced actuator can meet the requirements of hand rehabilitation and has prospective application in hand rehabilitation.展开更多
The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics m...The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics modeling of multi-cylinder thrust system and synchronous control design were accomplished. The simulation of the synchronization motion control system was completed in AMESim and Matlab/Simulink software environments. The experiment was conducted by means of master/slave PID with dead band compensating flow and conventional PID regulating pressure. The experimental results show that the proposed thrust hydraulic system and its control strategy can meet the requirements of tunneling in motion and posture control for the shield machine, keeping the non-synchronous error within ±3 mm.展开更多
A novel performance model of losses of pump was presented,which allows an explicit insight into the losses of various friction pairs of pump.The aim is to clarify that to what extent the hydro-mechanical losses affect...A novel performance model of losses of pump was presented,which allows an explicit insight into the losses of various friction pairs of pump.The aim is to clarify that to what extent the hydro-mechanical losses affect efficiency,and to further gain an insight into the variation and distribution characteristics of hydro-mechanical losses over wide operating ranges.A good agreement is found in the comparisons between simulation and experimental results.At rated speed,the hydro-mechanical losses take a proportion ranging from 87% to 89% and from 68% to 97%,respectively,of the total power losses of pump working under 5 MPa pressure conditions,and 13% of full displacement conditions.Furthermore,within the variation of speed ranging from 48% to 100% of rated speed,and pressure ranging from 14% to 100% of rated pressure,the main sources of hydro-mechanical losses change to slipper swash plate pair and valve plate cylinder pair at low displacement conditions,from the piston cylinder pair and slipper swash plate pair at full displacement conditions.Besides,the hydro-mechanical losses in ball guide retainer pair are found to be almost independent of pressure.The derived conclusions clarify the main orientations of efforts to improve the efficiency performance of pump,and the proposed model can service for the design of pump with higher efficiency performance.展开更多
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
High-accuracy motion trajectory tracking control of a pneumatic cylinder driven by a proportional directional control valve was considered. A mathematical model of the system was developed firstly. Due to the time-var...High-accuracy motion trajectory tracking control of a pneumatic cylinder driven by a proportional directional control valve was considered. A mathematical model of the system was developed firstly. Due to the time-varying friction force in the cylinder, unmodeled dynamics, and unknown disturbances, there exist large extent of parametric uncertainties and rather severe uncertain nonlinearities in the pneumatic system. To deal with these uncertainties effectively, an adaptive robust controller was constructed in this work. The proposed controller employs on-line recursive least squares estimation(RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodeled dynamics and disturbances. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology was applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping was used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Extensive experimental results were presented to illustrate the excellent achievable performance of the proposed controller and performance robustness to the load variation and sudden disturbance.展开更多
To increase the efficiency and reliability of the thermodynamics analysis of the spool valve, the precise function expression of the flow area for the sloping U-shape notch orifice versus the spool stroke and thermal-...To increase the efficiency and reliability of the thermodynamics analysis of the spool valve, the precise function expression of the flow area for the sloping U-shape notch orifice versus the spool stroke and thermal-hydraulic bond graph based on the conservation of mass and energy were introduced. Subsequently, the connection rule for the bond graph elements and the method to construct the complete thermal-hydraulic system model were proposed. On the basis of heat transfer analysis of a typical hydraulic circuit containing the spool valve, the lumped parameter for mathematical model of the system was given. At last, the reliability of the mathematical model of the flow area and the thermal-hydraulic system for the sloping U-shape notch orifice on the spool were demonstrated by the test. The good agreement between the simulation results and experimental data demonstrates the validity of the modeling method.展开更多
A new electro-hydraulic exciter that consists of rotary valve and micro-displacement double-functioned hydraulic cylinder was proposed to realize different kinds of waveforms.Calculated fluid dynamics(CFD) simulation ...A new electro-hydraulic exciter that consists of rotary valve and micro-displacement double-functioned hydraulic cylinder was proposed to realize different kinds of waveforms.Calculated fluid dynamics(CFD) simulation of rotary valve orifice reveals that orifice exists the two-throttle phenomenon.According to the finding,the revised flow area model was established.Vibration waveforms analysis was carried out by means of mathematic model and the related experiments were validated.Furthermore,as a new analysis indicator,saturation percentage was introduced first.The experimental results indicate that the revised flow area model is more accurate compared to the original one,and vibration waveforms can be optimized through suitable spool parameters and the revised cylinder structure.展开更多
The structure and working principle of a self-deigned high pressure electronic pneumatic pressure reducing valve (EPPRV) with slide pilot are introduced.The resistance value formulas and the relationship between the r...The structure and working principle of a self-deigned high pressure electronic pneumatic pressure reducing valve (EPPRV) with slide pilot are introduced.The resistance value formulas and the relationship between the resistance and pressure of three typical pneumatic resistances are obtained.Then,the method of static characteristics analysis only considering pneumatic resistances is proposed,the resistance network from gas supply to load is built up,and the mathematical model is derived from the flow rate formulas and flow conservation equations,with the compressibility of high pressure gas and temperature drop during the expansion considered in the model.Finally,the pilot spool displacement of 1.5 mm at an output pressure of 15MPa and the enlarging operating stroke of the pilot spool are taken as optimization targets,and the optimization is carried out based on genetic algorithm and the model mentioned above.The results show that the static characteristics of the EPPRV are significantly improved.The idea of static characteristics analysis and optimization based on pneumatic resistance network is valuable for the design of pneumatic components or system.展开更多
For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydrauli...For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.展开更多
A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and f...A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.展开更多
Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simula...Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simulation model according to the experimental setup of SER has been built.The mathematical model considers heat exchanges,source air pressure and temperature,environmental temperatures and heat transfer coefficients variations.In addition,the compensation for real gas effect is used in the model building.The comparison between experiments and simulations of SER indicates that,to compensate the real gas effect in high pressure discharging process,the thermal capacity of air supply container in simulation should be less than the actual value.The higher the pressure range,the greater the deviation.Simulated and experimental results are highly consistent within pressure reduction ratios ranging from 1.4 to 20 and output air mass flow rates ranging from 3.5 to 132 g/s,which verifies the high adaptability of SER and the validity of the mathematic model and the compensation method.展开更多
A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-...A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller.展开更多
Currently, the flow field of annular seals disturbed by the circular whirl motion of rotors is usually solved using computational fluid dynamics(CFD) to evaluate the five rotordynamic coefficients. The simulations are...Currently, the flow field of annular seals disturbed by the circular whirl motion of rotors is usually solved using computational fluid dynamics(CFD) to evaluate the five rotordynamic coefficients. The simulations are based on the traditional quasi-steady method. In this work, an improved quasi-steady method along with the transient method was presented to compute the rotordynamic coefficients of a long seal. By comparisons with experimental data, the shortcomings of quasi-steady methods have been identified. Then, the effects of non-uniform incoming flow on seal dynamic coefficients were studied by transient simulations. Results indicate that the long seal has large cross stiffness k and direct mass M which are not good for rotor stability, while the transient method is more suitable for the long seal for its excellent performance in predicting M. When the incoming flow is non-uniform, the stiffness coefficients vary with the eccentric directions. Based on the rotordynamic coefficients under uniform incoming flow, the linearized fluid force formulas, which can consider the effects of non-uniform incoming flow, have been presented and can well explain the varying-stiffness phenomenon.展开更多
Air film conveyors equipped with porous pads have been developed to bring the liquid crystal display(LCD) into a non-contact state during transportation process. In this work, a theoretical model including flow proper...Air film conveyors equipped with porous pads have been developed to bring the liquid crystal display(LCD) into a non-contact state during transportation process. In this work, a theoretical model including flow property of porous media and Reynolds equation is established within a representative region in order to optimize the design parameters of a partial porous air conveyor. With the theoretical model, an optimization method using nondominated sorting genetic algorithm – II(NSGA-II) is applied for a two-objective optimization to achieve a minimum air consumption and maximum load capacity. Three Pareto-optimal solutions are selected to analyze the influence of each parameter on the characteristics of the air conveyor, and the results indicate that the position of the porous pads has the most significant impact on the performance and of course must be determined with care. Furthermore, experimental results in terms of the supporting force versus gap clearance show that the optimized air conveyor can greatly improve the load capacity over the normal one, indicating that the optimization method is applicable for practical use.展开更多
Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance c...Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.展开更多
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of ...A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of CFS is subjected to unknown load characteristics of rock or soil; in addition,the geological condition is time-varying.Due to the complex load characteristics of rock or soil,the feeding velocity of TC is related to geological conditions.What is worse,its dynamic model is subjected to uncertainties and its function is unknown.To deal with the particular characteristics of CFS,a novel adaptive fuzzy integral sliding mode control(AFISMC) was designed for feeding pressure control of CFS,which combines the robust characteristics of an integral sliding mode controller and the adaptive adjusting characteristics of an adaptive fuzzy controller.The AFISMC feeding pressure controller is synthesized using the backstepping technique.The stability of the overall closed-loop system consisting of the adaptive fuzzy inference system,integral sliding mode controller and the cutter feeding system is proved using Lyapunov theory.Experiments are conducted on a TC test bench with the AFISMC under different operating conditions.The experimental results demonstrate that the proposed AFISMC feeding pressure controller for CFS gives a superior and robust pressure tracking performance with maximum pressure tracking error within ?0.3 MPa.展开更多
A new tamping device which is driven by an electrohydraulic exciter was proposed to overcome the limitations of mechanically driven devices.The double-rod oscillation cylinder drives the tamping arm to realize vibrati...A new tamping device which is driven by an electrohydraulic exciter was proposed to overcome the limitations of mechanically driven devices.The double-rod oscillation cylinder drives the tamping arm to realize vibration.A new spin valve was designed in order to fulfill dynamic state requirements of the oscillation cylinder.Parametric analysis was carried out by establishing mathematic model.Then,the relationships among the structure of valve port and the frequency,amplitude,output shock force of the cylinder were researched.An experimental device of the electrohydraulic exciter was established to validate the theoretical results.The signals were acquired by AVANT dynamic signal analyser of vibration.The results show that new tamping device can satisfy all kinds of complex working conditions with the flexible adjustment of frequency and amplitude.展开更多
The structure and working principle of a two-cylinder four-stroke single-piston hydraulic free piston engine(HFPE) were introduced. The basic vibration equation of free piston assembly(FPA) was established based upon ...The structure and working principle of a two-cylinder four-stroke single-piston hydraulic free piston engine(HFPE) were introduced. The basic vibration equation of free piston assembly(FPA) was established based upon the energy conversion between the injected fuel and the friction together with the load. Both the theoretical and numerical results show that the vibration system of FPA is a nonlinear conservative autonomous system in one cycle. The FPA vibration is symmetric with constant amplitude when FPA is only driven by the compression pressure in the compression accumulator and that in the combustion chamber. When considering the friction and load, FPA could still achieve a stable vibration after a few cycles' adjustment whether the input energy is equal to the consumed energy or not. The vibration characteristics are different when FPA vibrates in the compression stroke and the expansion stroke, which is the unique feature of the single-piston HFPE.展开更多
基金Project(51004085)supported by the National Natural Science Foundation of China
文摘Precise function expression of the flow area for the sloping U-shape notch orifice versus the spool stroke was derived. The computational fluid dynamics was used to analyze the flow features of the sloping U-shape notch on the spool, such as mass flow rates, flow coefficients, effiux angles and steady state flow forces under different operating conditions. At last, the reliability of the mathematical model of the flow area for the sloping U-shape notch orifice on the spool was demonstrated by the comparison between the orifice area curve derived and the corresponding experimental data provided by the test. It is presented that the bottom arc of sloping U-shape notch （ABU） should not be omitted when it is required to accurately calculate the orifice area of ABU. Although the theoretical flow area of plain bottom sloping U-shape notch （PBU） is larger than that of ABU at the same opening, the simulated mass flow and experimental flow area of ABU are both larger than these of PBU at the same opening, while the simulated flow force of PBU is larger than that of ABU at the same opening. Therefore, it should be prior to adapt the ABU when designing the spool with proportional character.
基金Project(51305202)supported by the National Natural Science Foundation of China
文摘Traditional hand rehabilitation gloves usually use electrical motor as actuator with disadvantages of heaviness,bulkiness and less compliance.Recently,the soft pneumatic actuator is demonstrated to be more suitable for hand rehabilitation compared to motor because of its inherent compliance,flexibility and safety.In order to design a wearable glove in request of hand rehabilitation,a soft hoop-reinforced pneumatic actuator is presented.By analyzing the influence of its section shape and geometrical parameters on bending performance,the preferred structure of actuator is achieved based on finite element method.An improved hoop-reinforced actuator is designed after the fabrication and initial measurement,and its mathematical model is built in order to quickly obtain the bending angle response when pressurized.A series of experiment about bending performance are implemented to validate the agreement between the finite element,mathematical and experimental results,and the performance improvement of hoop-reinforced actuator.In addition,the designed hand rehabilitation glove is tested by measuring its output force and actual wearing experience.The output force can reach 2.5 to 3 N when the pressure is 200 kPa.The research results indicate that the designed glove with hoop-reinforced actuator can meet the requirements of hand rehabilitation and has prospective application in hand rehabilitation.
基金Project(50425518) supported by National Outstanding Youth Foundation of China Project(2007CB714004) supported by National Basic Research Program of China
文摘The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics modeling of multi-cylinder thrust system and synchronous control design were accomplished. The simulation of the synchronization motion control system was completed in AMESim and Matlab/Simulink software environments. The experiment was conducted by means of master/slave PID with dead band compensating flow and conventional PID regulating pressure. The experimental results show that the proposed thrust hydraulic system and its control strategy can meet the requirements of tunneling in motion and posture control for the shield machine, keeping the non-synchronous error within ±3 mm.
基金Project(2014CB046403)supported by the National Basic Research Program of ChinaProject(2013BAF07B01)supported by the National Key Technology R&D Program of China
文摘A novel performance model of losses of pump was presented,which allows an explicit insight into the losses of various friction pairs of pump.The aim is to clarify that to what extent the hydro-mechanical losses affect efficiency,and to further gain an insight into the variation and distribution characteristics of hydro-mechanical losses over wide operating ranges.A good agreement is found in the comparisons between simulation and experimental results.At rated speed,the hydro-mechanical losses take a proportion ranging from 87% to 89% and from 68% to 97%,respectively,of the total power losses of pump working under 5 MPa pressure conditions,and 13% of full displacement conditions.Furthermore,within the variation of speed ranging from 48% to 100% of rated speed,and pressure ranging from 14% to 100% of rated pressure,the main sources of hydro-mechanical losses change to slipper swash plate pair and valve plate cylinder pair at low displacement conditions,from the piston cylinder pair and slipper swash plate pair at full displacement conditions.Besides,the hydro-mechanical losses in ball guide retainer pair are found to be almost independent of pressure.The derived conclusions clarify the main orientations of efforts to improve the efficiency performance of pump,and the proposed model can service for the design of pump with higher efficiency performance.
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Projects(50775200,50905156)supported by the National Natural Science Foundation of China
文摘High-accuracy motion trajectory tracking control of a pneumatic cylinder driven by a proportional directional control valve was considered. A mathematical model of the system was developed firstly. Due to the time-varying friction force in the cylinder, unmodeled dynamics, and unknown disturbances, there exist large extent of parametric uncertainties and rather severe uncertain nonlinearities in the pneumatic system. To deal with these uncertainties effectively, an adaptive robust controller was constructed in this work. The proposed controller employs on-line recursive least squares estimation(RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodeled dynamics and disturbances. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology was applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping was used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Extensive experimental results were presented to illustrate the excellent achievable performance of the proposed controller and performance robustness to the load variation and sudden disturbance.
基金Project(51175518)supported by the National Natural Science Foundation of China
文摘To increase the efficiency and reliability of the thermodynamics analysis of the spool valve, the precise function expression of the flow area for the sloping U-shape notch orifice versus the spool stroke and thermal-hydraulic bond graph based on the conservation of mass and energy were introduced. Subsequently, the connection rule for the bond graph elements and the method to construct the complete thermal-hydraulic system model were proposed. On the basis of heat transfer analysis of a typical hydraulic circuit containing the spool valve, the lumped parameter for mathematical model of the system was given. At last, the reliability of the mathematical model of the flow area and the thermal-hydraulic system for the sloping U-shape notch orifice on the spool were demonstrated by the test. The good agreement between the simulation results and experimental data demonstrates the validity of the modeling method.
基金Project(51275499)supported by the National Natural Science Foundation of ChinaProject(2013CB035404)supported by the National Basic Research Program("973" Program)of ChinaProject(51221004)supported by the Science Fund for Creative Research Groups,National Natural Science Foundation of China
文摘A new electro-hydraulic exciter that consists of rotary valve and micro-displacement double-functioned hydraulic cylinder was proposed to realize different kinds of waveforms.Calculated fluid dynamics(CFD) simulation of rotary valve orifice reveals that orifice exists the two-throttle phenomenon.According to the finding,the revised flow area model was established.Vibration waveforms analysis was carried out by means of mathematic model and the related experiments were validated.Furthermore,as a new analysis indicator,saturation percentage was introduced first.The experimental results indicate that the revised flow area model is more accurate compared to the original one,and vibration waveforms can be optimized through suitable spool parameters and the revised cylinder structure.
基金Project(50575202) supported by the National Natural Science Foundation of China
文摘The structure and working principle of a self-deigned high pressure electronic pneumatic pressure reducing valve (EPPRV) with slide pilot are introduced.The resistance value formulas and the relationship between the resistance and pressure of three typical pneumatic resistances are obtained.Then,the method of static characteristics analysis only considering pneumatic resistances is proposed,the resistance network from gas supply to load is built up,and the mathematical model is derived from the flow rate formulas and flow conservation equations,with the compressibility of high pressure gas and temperature drop during the expansion considered in the model.Finally,the pilot spool displacement of 1.5 mm at an output pressure of 15MPa and the enlarging operating stroke of the pilot spool are taken as optimization targets,and the optimization is carried out based on genetic algorithm and the model mentioned above.The results show that the static characteristics of the EPPRV are significantly improved.The idea of static characteristics analysis and optimization based on pneumatic resistance network is valuable for the design of pneumatic components or system.
基金Project(51004085)supported by the National Natural Science Foundation of China
文摘For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.
基金Project(2009AA045004)supported by the Hi-tech Research and Development Program of China
文摘A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.
基金Project(51205421)supported by the National Natural Science Foundation of ChinaProject(2012M521647)supported by the Postdoctoral Science Foundation of China
文摘Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simulation model according to the experimental setup of SER has been built.The mathematical model considers heat exchanges,source air pressure and temperature,environmental temperatures and heat transfer coefficients variations.In addition,the compensation for real gas effect is used in the model building.The comparison between experiments and simulations of SER indicates that,to compensate the real gas effect in high pressure discharging process,the thermal capacity of air supply container in simulation should be less than the actual value.The higher the pressure range,the greater the deviation.Simulated and experimental results are highly consistent within pressure reduction ratios ranging from 1.4 to 20 and output air mass flow rates ranging from 3.5 to 132 g/s,which verifies the high adaptability of SER and the validity of the mathematic model and the compensation method.
基金Project(51375430)supported by the National Natural Science Foundation of China
文摘A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller.
基金Project(51276213)supported by the National Natural Science Foundation of ChinaProject(2013BAF01B00)supported by the National Science and Technology Support Program of China
文摘Currently, the flow field of annular seals disturbed by the circular whirl motion of rotors is usually solved using computational fluid dynamics(CFD) to evaluate the five rotordynamic coefficients. The simulations are based on the traditional quasi-steady method. In this work, an improved quasi-steady method along with the transient method was presented to compute the rotordynamic coefficients of a long seal. By comparisons with experimental data, the shortcomings of quasi-steady methods have been identified. Then, the effects of non-uniform incoming flow on seal dynamic coefficients were studied by transient simulations. Results indicate that the long seal has large cross stiffness k and direct mass M which are not good for rotor stability, while the transient method is more suitable for the long seal for its excellent performance in predicting M. When the incoming flow is non-uniform, the stiffness coefficients vary with the eccentric directions. Based on the rotordynamic coefficients under uniform incoming flow, the linearized fluid force formulas, which can consider the effects of non-uniform incoming flow, have been presented and can well explain the varying-stiffness phenomenon.
基金Project(51205174)supported by the National Natural Science Foundation of ChinaProject(2014M550309)supported by the Postdoctoral Science Foundation of ChinaProject(GZKF-201407)supported by the Open Foundation of the State Key Laboratory of Fluid Power Transmission and Control,China
文摘Air film conveyors equipped with porous pads have been developed to bring the liquid crystal display(LCD) into a non-contact state during transportation process. In this work, a theoretical model including flow property of porous media and Reynolds equation is established within a representative region in order to optimize the design parameters of a partial porous air conveyor. With the theoretical model, an optimization method using nondominated sorting genetic algorithm – II(NSGA-II) is applied for a two-objective optimization to achieve a minimum air consumption and maximum load capacity. Three Pareto-optimal solutions are selected to analyze the influence of each parameter on the characteristics of the air conveyor, and the results indicate that the position of the porous pads has the most significant impact on the performance and of course must be determined with care. Furthermore, experimental results in terms of the supporting force versus gap clearance show that the optimized air conveyor can greatly improve the load capacity over the normal one, indicating that the optimization method is applicable for practical use.
基金Project(51221004) supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject(2010R50036) supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
基金Project(2012AA041801)supported by the High-tech Research and Development Program of China
文摘A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of CFS is subjected to unknown load characteristics of rock or soil; in addition,the geological condition is time-varying.Due to the complex load characteristics of rock or soil,the feeding velocity of TC is related to geological conditions.What is worse,its dynamic model is subjected to uncertainties and its function is unknown.To deal with the particular characteristics of CFS,a novel adaptive fuzzy integral sliding mode control(AFISMC) was designed for feeding pressure control of CFS,which combines the robust characteristics of an integral sliding mode controller and the adaptive adjusting characteristics of an adaptive fuzzy controller.The AFISMC feeding pressure controller is synthesized using the backstepping technique.The stability of the overall closed-loop system consisting of the adaptive fuzzy inference system,integral sliding mode controller and the cutter feeding system is proved using Lyapunov theory.Experiments are conducted on a TC test bench with the AFISMC under different operating conditions.The experimental results demonstrate that the proposed AFISMC feeding pressure controller for CFS gives a superior and robust pressure tracking performance with maximum pressure tracking error within ?0.3 MPa.
基金Projects(50975252,51275499)supported by the National Natural Science Foundation of ChinaProject(2013CB035404)supported by the National Basic Research Program of ChinaProject(GZKF-201312)supported by Open Foundation of the State Key Laboratory of Fluid Power Transmission and Control,China
文摘A new tamping device which is driven by an electrohydraulic exciter was proposed to overcome the limitations of mechanically driven devices.The double-rod oscillation cylinder drives the tamping arm to realize vibration.A new spin valve was designed in order to fulfill dynamic state requirements of the oscillation cylinder.Parametric analysis was carried out by establishing mathematic model.Then,the relationships among the structure of valve port and the frequency,amplitude,output shock force of the cylinder were researched.An experimental device of the electrohydraulic exciter was established to validate the theoretical results.The signals were acquired by AVANT dynamic signal analyser of vibration.The results show that new tamping device can satisfy all kinds of complex working conditions with the flexible adjustment of frequency and amplitude.
基金Project(51275451)supported by the National Natural Science Foundation of ChinaProject(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China+1 种基金Project(2013CB035400)supported by the National Basic Research Program of ChinaProject(2011BAK03B09)supported by the National Key Technology R&D Program of China
文摘The structure and working principle of a two-cylinder four-stroke single-piston hydraulic free piston engine(HFPE) were introduced. The basic vibration equation of free piston assembly(FPA) was established based upon the energy conversion between the injected fuel and the friction together with the load. Both the theoretical and numerical results show that the vibration system of FPA is a nonlinear conservative autonomous system in one cycle. The FPA vibration is symmetric with constant amplitude when FPA is only driven by the compression pressure in the compression accumulator and that in the combustion chamber. When considering the friction and load, FPA could still achieve a stable vibration after a few cycles' adjustment whether the input energy is equal to the consumed energy or not. The vibration characteristics are different when FPA vibrates in the compression stroke and the expansion stroke, which is the unique feature of the single-piston HFPE.
