BATH/ASME 2018 Symposium on Fluid Power and Motion Control最新文献

{"title":"Design Optimisation Strategies for a Hydraulic Hybrid Wheel Loader","authors":"K. Uebel, Henrique Raduenz, P. Krus, V. Negri","doi":"10.1115/FPMC2018-8802","DOIUrl":"https://doi.org/10.1115/FPMC2018-8802","url":null,"abstract":"This paper deals with design optimisation of hydraulic hybrid drivelines during early concept design phases. To set the design parameters of a hybrid driveline such as gear ratios, pump/motor displacements and size of energy storage, the energy management of the hybrid machine needs to be considered as well. This is problematic since a nested design and control optimisation normally requires substantial computer power and is time-consuming. Few previous studies have treated combined design and control optimisation of hydraulic hybrid vehicles using detailed, non-linear component driveline models. Furthermore, previously proposed design optimisation methods for on-road vehicles are not suitable for heavy off-road machines operating in short repetitive cycles with high transient power output. The paper demonstrates and compares different optimisation approaches for design and control optimisation combining deterministic dynamic programming and non-gradient based numerical optimisation. The results show that a simple rule-based energy management strategy can be sufficient to find the optimal hardware design even though non-optimal control laws are used.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123806241","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Analysis of Requirements for Valve Accuracy and Repeatability in High Efficiency Digital Displacement Motors","authors":"Sondre Nordås, M. Ebbesen, T. Andersen","doi":"10.1115/FPMC2018-8908","DOIUrl":"https://doi.org/10.1115/FPMC2018-8908","url":null,"abstract":"Traditional variable displacement piston machines achieve high efficiency when operating at high displacements, but struggle with poor efficiency at low displacements. The pistons are connected to high pressure and low pressure in conjunction with the output shaft position and the displacement is changed by changing the piston stroke, resulting in almost constant friction, leakage, and compressibility losses independent of displacement. In digital displacement machines, the rotary valve is replaced by two fast switching on/off valves connected to every cylinder. By controlling the fast switching on/off valves, the cylinders can be controlled individually and friction, leakage and compressibility losses can be minimized resulting in high efficiency even at low displacements. Previous studies have shown that high efficiency digital displacement machines require fast switching valves with high flow capacity and optimal valve timing strategy. When the digital displacement motor is to start, stop or be controlled at low speeds, the on/off valves must be able to open against high pressure difference. When opening the valves actively, the valve timing has to be conducted properly to minimize valve throttling losses and flow and pressure peaks. First, this paper shortly describes a previously developed method to estimate valve characteristics like transition time and flow capacity for a digital displacement machine. Then the paper presents a novel method of describing the required valve accuracy and repeatability to keep the valve throttling losses low and machine efficiency high.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129919020","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Four Quadrant Hybrid Control Oriented Dynamical System Model of Digital Displacement® Units","authors":"N. Pedersen, P. Johansen, T. Andersen","doi":"10.1115/FPMC2018-8874","DOIUrl":"https://doi.org/10.1115/FPMC2018-8874","url":null,"abstract":"Proper feedback control of dynamical systems requires models that enables stability analysis, from where control laws may be established. Development of control oriented models for digital displacement (DD) fluid power units is complicated by the non-smooth behavior, which is considered the core reason for the greatly simplified state of the art control strategies for these machines. The DD unit comprises numerous pressure chambers in a modular construction, such that the power throughput is determined by the sequence of activated pressure chambers. The dynamics of each pressure chamber is governed by non-linear differential equations, while the binary input (active or inactive) is updated discretely as function of the shaft angle. Simple dynamical approximations based on continuous or discrete system theory is often inaccurate and is not applicable for such system when it is to operate in all four quadrants. Therefore, a method of applying hybrid dynamical system theory, comprising both continuous and discrete elements is proposed in this paper. The paper presents a physical oriented hybrid model accurately describing the machine dynamics. Since development of stabilizing control laws for hybrid dynamical systems is a complicated task, a simpler hybrid model only including the fundamental machine characteristics is beneficial. Therefore, a discussion and several proposals are made on how a simpler DD hybrid model may be established and used for feedback control development.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125979856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Investigating Electrostatic Flow Charging Using a Small Scale Test Bench","authors":"Philipp Weishaar, Alexander Görres, H. Murrenhoff, K. Schmitz","doi":"10.1115/FPMC2018-8807","DOIUrl":"https://doi.org/10.1115/FPMC2018-8807","url":null,"abstract":"Common examples for electrostatic discharges can be encountered in everyday life. When approaching a grounded surface after walking on insulating flooring material or while riding an escalator one might experience an electrostatic discharge first hand. These discharges generally do not pose a problem but when translated to various fields of engineering, such as in hydraulics, discharges can be the root cause for system failures. The pioneering fields of engineering for electrostatic charging in systems are petro-chemistry and electrical engineering. Researchers in both fields attempted to formulate models to calculate the electrostatic charging a priori. These models provide some indication regarding the magnitude of charge but are currently not suited for the application in hydraulic systems. This is due to the lack of necessary fluid and material parameters for the application of either one of the models. [1, 2]\u0000 Previous work in the pioneering fields focused on fluids and materials typical for their respective applications. This paper seeks to take the first step to remedy this situation by developing and commissioning a test bench for investigating a wide variety of hydraulic fluid-material combinations. The fluids pending investigation range from a typical hydraulic fluid based on a group I base oil to a pure polyalphaolefine of group IV. Common materials for hydraulic systems are investigated with a small scale test bench as well, such as steel and brass common to hydraulic applications as well as plastics and rubbers. In order to conduct these investigations a Searle viscometer is presented in this paper. In a Searle viscometer the cylinder is rotating while the cup or pipe remains stationary.\u0000 Initially this paper gives the necessity for a small scale test bench using experimental results of an existing large scale test rig. Subsequently, the design of a small scale test bench, the Searle viscometer, will be presented along with a method for measuring the charge density. The small scale test bench is based on the work of Washabaugh and is able to generate the necessary information required for using the chemical reaction-based model [3, 4]. The main feature of the chemical reaction based model is the consideration for different material and fluid influences, beyond the scope of viscosity and system geometry.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115110622","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Supervisory Control for a Switched Mode Hydraulic Transformer","authors":"Sangyoon Lee, Perry Y. Li","doi":"10.1115/FPMC2018-8935","DOIUrl":"https://doi.org/10.1115/FPMC2018-8935","url":null,"abstract":"A supervisory control for a hydraulic transformer is developed. The hydraulic transformer being controlled is configured in a traditional manner where a pair of hydraulic pump/motors are mechanically coupled together. This transformer can be configured in three distinct modes depending on how each port is connected. A supervisory control determines, for the desired output pressure and output flow, the mode and shaft speed that the transformer should operate in order to minimize the power loss. The resulting controller structure ensures that the transformer provides the desired flow while following the desired mode and shaft speed. The supervisory control is further modified to avoid high frequency switching and to achieve bumpless transfer between modes. Experimental results demonstrate the efficacy of the supervisory controller to increase the efficiency of the hydraulic transformer driven system.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129704652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Novel Piezoelectric Double-Flapper Servovalve Pilot Stage: Operating Principle and Performance Prediction","authors":"P. Tamburrano, R. Amirante, E. Distaso, A. Plummer","doi":"10.1115/FPMC2018-8864","DOIUrl":"https://doi.org/10.1115/FPMC2018-8864","url":null,"abstract":"This paper proposes a novel architecture for the pilot stage of electro-hydraulic two-stage servovalves that does not need a quiescent flow and a torque motor as well as a flexure tube to operate. The architecture consists of two small piezoelectric valves, coupled with two fixed orifices, which allow variation of the differential pressure at the main stage spool extremities in order to move it with high response speed and accuracy. Each piezoelectric valve is actuated by a piezoelectric ring bender, which exhibits much greater displacement than a stack actuator of the same mass, and greater force than a rectangular bender. The concept is intended to reduce the influence of piezoelectric hysteresis. In order to assess the validity of the proposed configuration and its controller in terms of spool positioning accuracy and dynamic response, detailed simulations are performed by using the software Simscape Fluids. At 50% amplitude the −90° bandwidth is about 150Hz.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132495077","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Novel Integrated Control of Fluid-Borne Noise in Hydraulic Systems","authors":"Min Pan, Beichen Ding, Chenggang Yuan, J. Zou, Huayong Yang","doi":"10.1115/FPMC2018-8828","DOIUrl":"https://doi.org/10.1115/FPMC2018-8828","url":null,"abstract":"The noise in hydraulic machines presents itself as fluid-borne noise (FBN), structure-borne noise (SBN) and air-borne noise (ABN). FBN is caused by the unsteady flow produced by pumps and motors or the operation of digital hydraulics, and propagates through the system causing SBN, which in turn causes ABN. This article reports on a novel integrated FBN attenuation approach, which employs a hybrid control system by integrating an active feedforward noise attenuator with passive tuned flexible hoses. The passive hoses are tuned to cancel the high-frequency pressure pulsations, whilst the active controller is designed to attenuate the dominant harmonic ripples. Adaptive notch filters with a variable step-size filtered-X Least Mean Square algorithm were applied in the new designed active piezoelectric actuator with high preload and operating forces, a wide bandwidth and very good linear dynamics. A time-domain hose model considering coupling of longitudinal wall and fluid waves was used to model and tune the flexible hose. Very good FBN cancellation was achieved by using the proposed integrated control approach, which was validated by comparing with numerical simulation and experiments. It can be concluded that the active attenuator with passive flexible hoses can form an effective, cost-efficient and practical solution for FBN attenuation. As the problem of high noise levels generated by hydraulically powered machines has risen significantly in awareness amongst industry and the general public, this work constitutes an important contribution to the sustainable development of low noise hydraulic fluid power machines.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116749700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Cyclostationary Analysis of Measured Pump Acoustic and Vibration Signals","authors":"Paul Kalbfleisch, Svenja Horn, M. Ivantysynova","doi":"10.1115/FPMC2018-8899","DOIUrl":"https://doi.org/10.1115/FPMC2018-8899","url":null,"abstract":"The stationary signal assumption is convenient as its signal processing methods are the minimum effort required to characterize periodic signals and therefore the most common. However, signals from rotating machines have been found to naturally be characterized as cyclostationary. The existent of natural phenomenon such as, shaft imbalances, turbulent fluid flows, friction, combustion forces, and torsional vibrations create modulation effects, that can be seen in the measured signals. These observed modulations in pump noise and vibration signals are synonymous to amplitude modulations (AM), frequency modulations (FM), and potentially phase modulations in electrical systems. Having this knowledge, the fluid power noise, vibration, and harshness (NVH) researchers can draw from an enormous amount of progress made in the modern telecommunication signal processing methods of cyclostationary signals. This article introduces the basic concepts of cyclostationary signals, some of their signal processing techniques, and a simple example of analysis for a positive displacement machine through the cyclostationary paradigm.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125005000","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bilateral Teleoperation of a Hydraulic Robotic Manipulator in Contact With Physical and Virtual Constraints","authors":"Santeri Lampinen, Janne E. M. Koivumäki, J. Mattila","doi":"10.1115/FPMC2018-8842","DOIUrl":"https://doi.org/10.1115/FPMC2018-8842","url":null,"abstract":"Teleoperated robotic manipulators can be used to remotely operate within hazardous, hard to reach or dangerous environments. In tasks requiring handling of heavy objects with high forces, hydraulic manipulators have remained the most practical solution. Contrary to the previous research on teleoperation of hydraulic manipulators based on linearization and linear control theory, the present study proposes a full-dynamics-based bilateral force-reflected teleoperation, designed between a multiple degrees-of-freedom (n-DOF) electrical master manipulator and an n-DOF hydraulic slave manipulator. The used teleoperation method allows arbitrary motion and force scaling between the n-DOF manipulators, effectively enabling the use of two greatly dissimilar manipulators. The proposed teleoperation system is demonstrated with a full-scale two-DOF hydraulic slave manipulator (having 475 kg payload attached to the tip) in a free-space motion task, and in a constrained motion task including both real and virtual constraints in the environment. Despite the inherent highly nonlinear dynamic behaviour of hydraulic systems and challenges in realizing a bilateral teleoperation, the experimental results demonstrate that the proposed controller for full-dynamics-based teleoperation 1) can rigorously address the system nonlinearities, 2) can realize a high-performance bilateral teleoperation with hydraulic slave manipulators, and 3) is capable to operate in constrained motion with the environment having both real and virtual (i.e., artificially rendered) constraints.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131193688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Digital Hydraulic Winch Drives","authors":"Henrik B. Larsen, M. Kjelland, Anders Holland, P. N. Lindholdt","doi":"10.1115/FPMC2018-8858","DOIUrl":"https://doi.org/10.1115/FPMC2018-8858","url":null,"abstract":"This paper presents the planned use of digital displacement high torque low speed motors to drive large winches in off-shore and maritime applications.\u0000 The digital displacement technology uses forced actuation of high- and low pressure valves for each cylinder chamber, i.e. valves are opened and closed by actuation forces independently of cylinder pressure and supply pressures. Motors equipped with the technology are well suited for low speed secondary controlled operation including start and stop. It also enables unloading of motor cylinders that are not needed to produce torque, whereby excellent efficiency at partial displacement is obtained.\u0000 A research project on application of multi digital motors on a winch with lifting capacity in the 150 t range is presented, and advantages of using such winch drives in off-shore and maritime lifting operations are discussed.\u0000 Positioning and metering are challenges in winch systems with traditional drives. A unique control scheme that allows very fine positioning of the motor shaft is presented. The performance of this method is shown in simulation and demonstrated with measurements on a motor.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134486849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}