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

{"title":"An Empirically Derived Pressure Compensation Control System for a Variable Displacement Vane Pump","authors":"Ryan Jenkins, M. Ivantysynova","doi":"10.1115/FPMC2018-8857","DOIUrl":"https://doi.org/10.1115/FPMC2018-8857","url":null,"abstract":"Pressure compensated vane pumps are well suited to applications such as automatic transmissions which require a low-cost, compact solution to provide the hydraulic power required for clutch control as well as the lubrication and cooling functions. This paper presents a black-box model of the series of valves providing the flowrate to control the motion of the pivoting cam in a variable displacement vane pump from an automatic transmission application. This series of valves consists of a pressure-reducing valve followed by a solenoid-operated valve that generates a pilot pressure acting on the main pressure regulator valve to adjust the commanded pump outlet pressure setting. Valves taken from a transmission control block were integrated into a custom unit and installed on a test rig with a modified vane pump. Measurements previously collected on this test rig were used to validate a lumped-parameter vane pump model and provide data containing the input-output relationships of the pressure compensation system valves. An analysis of the black-box description of this control system identifies limitations to the achievable system performance. This analysis reveals that the low-cost solenoid-operated valve and the arrangement of the valves within the control circuit both contribute to a controllable bandwidth less than 2Hz. Finally, the paper presents an alternate control system design capable of improved system performance.","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":"125367400","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":"Condition Monitoring Based on Thermodynamic Efficiency Method for an Axial Piston Pump","authors":"Andrea Bedotti, Mirko Pastori, A. Lettini, P. Casoli","doi":"10.1115/FPMC2018-8808","DOIUrl":"https://doi.org/10.1115/FPMC2018-8808","url":null,"abstract":"In the last years, the interest in the field of Prognostics and Health Management (PHM) has been growing in many industrial fields. The objective of PHM is to switch from a time-based (scheduled) maintenance to a predictive maintenance with advantages in terms of reliability and safety. This paper presents the thermodynamic method for the fault detection of an axial piston pump which is a critical component in many hydraulic systems; the method was developed for the evaluation of the overall efficiency which is an important parameter to monitor the machine health state. Through the measurements of temperatures and pressures at suction and delivery ports the method allows to calculate the efficiency avoiding the use of costly sensors, such as speed and torque sensors. The paper investigates the possibility of utilizing the pump overall efficiency evaluated through the thermodynamic method as a reliable parameter for the fault detection. The machine under study is a variable displacement axial-piston pump with external drainage equipped with a load sensing regulator. The thermodynamic method was already validated in a previous work by comparing it with the standard approach, based on the direct measurement of the mechanical power. The proposed method requires the measurement of the delivery and drain flow rates involving the use of expensive flowmeters which could prevent its usage in online applications; this limit should be overcome with the development of low-cost solutions for flow rate measurements. A preliminary investigation of the pump failure modes was conducted to identify the most important faults which need to be considered. An experimental campaign was carried out on a laboratory test bench with the pump in the flawless state and in faulty states. The faulty states were realized by introducing components with artificial faults into the pump. The pump was accurately instrumented to monitor all the main variables, i.e. pressures, temperatures, flow rates, swash plate angle and shaft torque and speed. Different operating conditions were considered and each test was repeated several times in order to acquire a suitable population to verify the repeatability of the data. The experiments demonstrate the method capability of detecting some but not all of the incipient faults tested in steady-state conditions as a consequence of temperature variations which have the most important influence on efficiency estimation. Future works will include the development of innovative solutions to measure flow-rates and the testing of other faults to further verify the reliability of the method.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"10 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":"126187015","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":"Floating Frame of Reference Formulation for a Flexible Manipulator With Hydraulic Actuation: Modelling and Experimental Validation","authors":"Petri Makinen, O. Dmitrochenko, J. Mattila","doi":"10.1115/FPMC2018-8846","DOIUrl":"https://doi.org/10.1115/FPMC2018-8846","url":null,"abstract":"One of the current and future trends in robotics is to reduce the weight of a robotic manipulator by using lightweight materials, such as ultra-high-strength steel or composites. The reduction in weight results in material and fuel savings, which are highly relevant for heavy-duty, off-highway manipulators found in excavators, truck-mounted cranes, and forestry machines. Due to the highly demanding working conditions of such manipulators, hydraulic actuation is mainly used. Automated and accurate control of these manipulators is very challenging due to the nonlinearities present in the system. Recent studies indicate that nonlinear model-based control (NMBC) methods can provide the most advanced control performance in the case of hydraulic robotic manipulators. An accurate model capturing the dynamics of the physical system is required for effective NMBC design. The present study proposes a hybrid rigid-flexible model for a flexible manipulator combined with a hydraulic actuator, implemented with the help of the floating frame of reference formulation (FFRF). The designed model is validated by comparing simulations with experimental reference data obtained from an OptiTrack motion-capture system and other sensors. The comparative results demonstrate that the model is able to capture the system’s dynamics accurately, which motivates further research on developing NMBC methods using the FFRF.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"142 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":"116567961","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":"Modeling and Design of a Series Hydraulic Hybrid Powertrain for Compact Wheel Loaders","authors":"Qunya Wen, Feng Wang, Bing Xu","doi":"10.1115/FPMC2018-8912","DOIUrl":"https://doi.org/10.1115/FPMC2018-8912","url":null,"abstract":"As an effective approach to improving the fuel economy of modern heavy-duty vehicles, hydraulic hybrids have shown great advantages in off-road vehicles. Wheel loader is one of the representative vehicles in off-road applications as they are usually designed for single and repetitive task such as loading material. In a typical short loading cycle, there are many accelerations and decelerations, showing great hybridization potentials. Therefore in this paper a series hydraulic hybrid powertrain has been proposed for compact wheel loader since its hydrostatic powertrain can be easily transformed to a series hydraulic hybrid with an additional hydraulic accumulator. The modeling and system design of the series hydraulic hybrid wheel loader have been presented. Three controllers have been designed for vehicle speed control, engine torque control and engine speed control respectively. A dynamic simulation model has been developed in MATLAB/Simulink. A rule-based energy management strategy (EMS) has been proposed for the series hydraulic hybrid wheel loader. Two different EMS schemes were investigated and compared through simulation studies.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"380 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":"134334003","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":"Fuel Efficiency Analysis of Selected Hydraulic Hybrids in a Wheel Loader Application","authors":"M. Huova, J. Tammisto, M. Linjama, J. Tervonen","doi":"10.1115/FPMC2018-8869","DOIUrl":"https://doi.org/10.1115/FPMC2018-8869","url":null,"abstract":"There is a potential for significant improvement on fuel efficiency of many mobile machines by using hybrid technology as the Diesel engines are often driven at very inefficient operating points in these applications. The load generated by the working hydraulics of a mobile machine is often rapidly changing and contains high peak powers compared to the mean power required. This paper studies three different hydraulic hybrids in a wheel loader application. The study is based on a measured sand-loading Y-cycle. In addition to the hybrid systems, a load sensing proportional valve based reference machine and a modified machine based on independent metering valves are analyzed. All five system alternatives are analyzed systematically to enable a comparison of their fuel efficiency. The study shows that the fuel consumption of the machine can be decreased up to 28 % in such load cycle by using a suitable hydraulic hybrid system.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"29 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":"132428399","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":"Diagnosis Method for Valve-Controlled Hydraulic Cylinder Leakage Based on Subspace Identification","authors":"Guo Junxia, Jianfeng Tao, Lin Li, Chengliang Liu","doi":"10.1115/FPMC2018-8805","DOIUrl":"https://doi.org/10.1115/FPMC2018-8805","url":null,"abstract":"This paper proposes a fault diagnosis method based on subspace identification for the leakage fault detection of valve-controlled hydraulic cylinders. Firstly, the state-space model for the system is established, in which the external force on the piston of the hydraulic cylinder is selected as input signal, and the pressure of the two chambers, displacement and velocity of piston rod are chosen as state variables. Then, the estimation value of specific elements of the system matrix can be obtained in terms of the subspace identification theory. On this basis, the existence, type and level of the leakage fault are determined. Finally, the numerical simulation is conducted through MATLAB-Simulink to verify the proposed method. The results demonstrate that the proposed method is effective and has high accuracy.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"50 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":"126197360","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 Robust Pressure Controller for a Variable Speed AC Motor Pump: Application to Aircraft Hydraulic Power Packages","authors":"N. Trochelmann, Phillip Bischof Stump, F. Thielecke, D. Metzler, Stefan Bassett","doi":"10.1115/FPMC2018-8868","DOIUrl":"https://doi.org/10.1115/FPMC2018-8868","url":null,"abstract":"Highly integrated electro-hydraulic power packages with electric motor-driven pumps (EMP) are a key technology for future aircraft with electric distribution systems. State of the art aircraft EMPs are robust but lack efficiency, availability, and have high noise emissions. Variable speed fixed displacement (VSFD-) EMPs, combining a permanent magnet synchronous motor and an internal gear pump, show promising properties regarding noise reduction and energy efficiency. Though, meeting the strict dynamic requirements is tough with this EMP-concept. Speed limitations and inertia impose strong restrictions on the achievable dynamic performance. Moreover, the requirements must be met under a wide range of operating conditions. For a prototype aircraft VSFD-EMP a robust pressure controller design is proposed in this paper. In a first step the operating conditions of the EMP are defined, analyzing environmental conditions and impacts of the interfacing aircraft systems. Nonlinear and linear control design models are developed and validated by measurements at an EMP test rig built for this project. A conventional cascade pressure control concept is selected. This is motivated by the demand for simple, reliable, and proven solutions in aerospace applications. A controller is designed by applying classical loop shaping techniques. Robust stability and performance of the system are investigated through a subsequent μ-analysis. Finally, the controller is tested under nominal and worst case conditions in nonlinear simulations.","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":"129087131","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":"DEXTER: The Application of a Digital Displacement® Pump to a 16 Tonne Excavator","authors":"Matthew A. Green, J. Macpherson, N. Caldwell, W. H. S. Rampen","doi":"10.1115/FPMC2018-8894","DOIUrl":"https://doi.org/10.1115/FPMC2018-8894","url":null,"abstract":"Environmental and economic factors are driving the development of lower emission and more fuel efficient off-highway vehicles. While a great deal of this development is focused on hybrid technology and novel system architectures, the simple application of a Digital Displacement® Pump (DDP) in place of a conventional pump can deliver significant fuel savings and productivity benefits, whilst also acting as an enabler for more radical future development. This paper describes the ‘DEXTER’ project, in which a tandem 96cc/rev DDP was installed in a 16 tonne excavator. The energy losses in the unmodified excavator are calculated based on test data, confirming the scope for efficiency improvements. Next, the basic operating principle and efficiency of the DDP and its application to the excavator system are outlined, alongside simulation based fuel saving predictions. The model based design and ‘operator in the loop’ testing of the control system are then described. Side by side testing of the modified excavator and a standard excavator showed that when the modified excavator was operating in ‘efficiency mode’ a fuel saving of up to 21% and productivity improvement of 10% is possible. In ‘productivity’ mode, a 28% productivity improvement was recorded along with a 10% fuel saving. These results are validated with reference to the higher efficiency of the DDP and improved control system which allows the engine to run closer to its torque limit.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"63 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":"126445460","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":"Modeling the Efficiency of External Gear Pumps Based on Similarity Considerations","authors":"C. Schänzle, Nils Störmer, P. Pelz","doi":"10.1115/FPMC2018-8928","DOIUrl":"https://doi.org/10.1115/FPMC2018-8928","url":null,"abstract":"Gear pumps are used in numerous different applications and industrial sectors. However, when selecting a suitable gear pump for a specified application, manufacturers are often confronted with a lack of comparable measurement data for the desired combination of operating conditions and pumping fluid. Consequently, an estimation of the volume flow rate and the power consumption of a pump under the operating conditions of the application is necessary.\u0000 In this context, this paper discusses the application of similarity on external gear pumps and presents its validation by means of measured pump characteristics. Seven gear pumps of different displacement volume are measured at different operating conditions varying pressure, rotational speed and the viscosity of the pumping fluid. The validation results prove that similarity is useful to represent a pump’s characteristic over a wide operating range. The prediction of the volume flow rate and the power consumption at a changed viscosity show good accuracy. However, the scaling of the pump characteristic based on the displacement volume show contradictory results.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"90 12 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":"123114746","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":"Review of Early Work on Digital Displacement® Hydrostatic Transmission Systems","authors":"N. Caldwell","doi":"10.1115/FPMC2018-8922","DOIUrl":"https://doi.org/10.1115/FPMC2018-8922","url":null,"abstract":"The paper describes the work done by the author (1) from 1999 to 2006 to develop the Digital Displacement Pump (DDP) and Pump/Motor (DDPM) and demonstrate the feasibility of off-highway vehicle applications.\u0000 The link between DDPM capacity and the solenoid valve performance was identified. Magnetic geometry was improved by parametric FEA, then time-domain behavior was improved with a hybrid FEA/lumped-parameter model.\u0000 Software improvements allowed variable speed and bidirectional operation, enabling the demonstration of the first Digital Displacement Transmission (DDT) systems on a vehicle, one featuring a load-sensing DDP and secondary control by DDPM displacement, and one featuring primary control by DDP displacement and a conventional axial motor.\u0000 A time-domain simulation was created of the primary-controlled vehicle, which yielded good comparison to experimental results. The deterministic nature of the DDP lends itself to model-based system design methods, which have since been used to develop larger commercial systems.\u0000 The first detailed analysis of DDP efficiency characteristics revealed profound differences to conventional variable displacement pumps, including exceptional part-load efficiency and the dominant effect of fluid compressibility. A peak overall efficiency of 97% was recorded for a DDP after analysis of loss sources prompted design improvement.","PeriodicalId":111146,"journal":{"name":"BATH/ASME 2018 Symposium on Fluid Power and Motion Control","volume":"16 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":"132497489","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}