Frequency and stability enhancement of high-speed on-off valve for water hydraulic manipulator joint based on multistage voltage and sliding mode control

IF 2.7 3区工程技术 Q2 ENGINEERING, MECHANICAL

Flow Measurement and Instrumentation Pub Date : 2025-09-24 DOI:10.1016/j.flowmeasinst.2025.103076

Xing Yang, Xujun Ye, Jize Jiang, Xiguang Hu, Defa Wu, Yinshui Liu

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引用次数: 0

Abstract

Water hydraulic manipulators are becoming indispensable heavy-duty tools in nuclear facilities due to their zero-pollution advantage. Due to the limited reliability and lifespan of hydraulic valves using water as the working medium, water hydraulic high-speed on-off valves (WHSVs), capable of delivering discrete flow rates, are commonly employed as control components for water hydraulic manipulators. However, low-frequency flow output of the WHSV can cause vibrations in the manipulator joint and even damage the structure. To improve the operating frequency of the WHSV and enhance the stability of the manipulator, a multistage voltage and sliding mode control (MVSMC) algorithm is proposed to regulate WHSV operation. The sliding mode controller is employed to control the pre-opening current and holding current of the WHSV, which significantly reduces the switching time and increases the maximum switching frequency (MSF) of the WHSV. The dynamic characteristics and MSF of the WHSV driven by double-voltage control (DVC) and MVSMC are measured. Compared to DVC, the opening time of the WHSV driven by MVSMC is reduced by 46.5 %, and the closing time is reduced by 24.6 %. The WHSV driven by MVSMC achieves an MSF of 253 Hz, which is 25.9 % higher than that achieved with the DVC method. An experimental platform with a WHSV-controlled cylinder is constructed to test the manipulator joint. Experimental results demonstrate that MVSMC reduces the vibration amplitude of the manipulator joint by 15.9 % and improves system stability. The proposed MVSMC provides an effective control approach to achieve high-frequency operation in water hydraulic manipulators.

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基于多级电压滑模控制的水力机械臂关节高速开关阀频率与稳定性提升

水力操作机因其零污染的优点，正成为核设施中不可缺少的重型机械。由于以水为工作介质的液压阀的可靠性和使用寿命有限，通常采用能够提供离散流量的水力高速开关阀（WHSVs）作为水力操作机的控制元件。然而，WHSV的低频流输出会引起机械臂关节振动，甚至破坏结构。为了提高WHSV的工作频率，增强机械手的稳定性，提出了一种多级电压滑模控制（MVSMC）算法来调节WHSV的工作。采用滑模控制器控制WHSV的预开电流和保持电流，大大缩短了WHSV的开关时间，提高了WHSV的最大开关频率（MSF）。测量了双电压控制（DVC）和MVSMC驱动的WHSV的动态特性和MSF。与DVC相比，MVSMC驱动的WHSV开启时间缩短了46.5%，关闭时间缩短了24.6%。MVSMC驱动的WHSV实现了253 Hz的MSF，比DVC方法提高了25.9%。搭建了一个带有whsv控制气缸的实验平台，对机械手关节进行了测试。实验结果表明，MVSMC使机械手关节的振动幅值降低了15.9%，提高了系统的稳定性。该方法为实现水液压机械臂的高频运行提供了有效的控制方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Flow Measurement and Instrumentation 工程技术-工程：机械

CiteScore

4.30

自引率

13.60%

发文量

123

审稿时长

6 months

期刊介绍： Flow Measurement and Instrumentation is dedicated to disseminating the latest research results on all aspects of flow measurement, in both closed conduits and open channels. The design of flow measurement systems involves a wide variety of multidisciplinary activities including modelling the flow sensor, the fluid flow and the sensor/fluid interactions through the use of computation techniques; the development of advanced transducer systems and their associated signal processing and the laboratory and field assessment of the overall system under ideal and disturbed conditions. FMI is the essential forum for critical information exchange, and contributions are particularly encouraged in the following areas of interest: Modelling: the application of mathematical and computational modelling to the interaction of fluid dynamics with flowmeters, including flowmeter behaviour, improved flowmeter design and installation problems. Application of CAD/CAE techniques to flowmeter modelling are eligible. Design and development: the detailed design of the flowmeter head and/or signal processing aspects of novel flowmeters. Emphasis is given to papers identifying new sensor configurations, multisensor flow measurement systems, non-intrusive flow metering techniques and the application of microelectronic techniques in smart or intelligent systems. Calibration techniques: including descriptions of new or existing calibration facilities and techniques, calibration data from different flowmeter types, and calibration intercomparison data from different laboratories. Installation effect data: dealing with the effects of non-ideal flow conditions on flowmeters. Papers combining a theoretical understanding of flowmeter behaviour with experimental work are particularly welcome.