Nonlinear Mathematical Modeling and Sensitivity Analysis of Hydraulic Drive Unit

The previous sensitivity analysis researches are not accurate enough and also have the limited reference value, because those mathematical models are relatively simple and the change of the load and the initial displacement changes of the piston are ignored, even experiment verification is not conducted. Therefore, in view of deficiencies above, a nonlinear mathematical model is established in this paper, including dynamic characteristics of servo valve, nonlinear characteristics of pressure-flow, initial displacement of servo cylinder piston and friction nonlinearity. The transfer function block diagram is built for the hydraulic drive unit closed loop position control, as well as the state equations. Through deriving the time-varying coefficient items matrix and time-varying free items matrix of sensitivity equations respectively, the expression of sensitivity equations based on the nonlinear mathematical model are obtained. According to structure parameters of hydraulic drive unit, working parameters, fluid transmission characteristics and measured friction-velocity curves, the simulation analysis of hydraulic drive unit is completed on the MATLAB/Simulink simulation platform with the displacement step 2 mm, 5 mm and 10 mm, respectively. The simulation results indicate that the developed nonlinear mathematical model is sufficient by comparing the characteristic curves of experimental step response and simulation step response under different constant load. Then, the sensitivity function time-history curves of seventeen parameters are obtained, basing on each state vector time-history curve of step response characteristic. The maximum value of displacement variation percentage and the sum of displacement variation absolute values in the sampling time are both taken as sensitivity indexes. The sensitivity indexes values above are calculated and shown visually in histograms under different working conditions, and change rules are analyzed. Then the sensitivity indexes values of four measurable parameters, such as supply pressure, proportional gain, initial position of servo cylinder piston and load force, are verified experimentally on test platform of hydraulic drive unit, and the experimental research shows that the sensitivity analysis results obtained through simulation are approximate to the test results. This research indicates each parameter sensitivity characteristics of hydraulic drive unit, the performance-affected main parameters and secondary parameters are got under different working conditions, which will provide the theoretical foundation for the control compensation and structure optimization of hydraulic drive unit.

Variants of Secondary Control with Power Recovery for Loading Hydraulic Driving Device

Current high power load simulators are generally incapable of obtaining both high loading performance and high energy efficiency. Simulators with high energy efficiency are used to simulate static-state load, and those with high dynamic performance typically have low energy efficiency. In this paper, the variants of secondary control（VSC） with power recovery are developed to solve this problem for loading hydraulic driving devices that operate under variable pressure, unlike classical secondary control（CSC） that operates in constant pressure network. Hydrostatic secondary control units are used as the loading components, by which the absorbed mechanical power from the tested device is converted into hydraulic power and then fed back into the tested system through 4 types of feedback passages（FPs）. The loading subsystem can operate in constant pressure network, controlled variable pressure network, or the same variable pressure network as that of the tested device by using different FPs. The 4 types of systems are defined, and their key techniques are analyzed, including work principle, simulating the work state of original tested device, static operation points, loading performance, energy efficiency, and control strategy, etc. The important technical merits of the 4 schemes are compared, and 3 of the schemes are selected, designed, simulated using AMESim and evaluated. The researching results show that the investigated systems can simulate the given loads effectively, realize the work conditions of the tested device, and furthermore attain a high power recovery efficiency that ranges from 0.54 to 0.85, even though the 3 schemes have different loading performances and energy efficiencies. This paper proposes several loading schemes that can achieve both high dynamic performance and high power recovery efficiency.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

The extending length calculation of hydraulic drive non-metallic completion screen pipe running into ultra-short radius horizontal well

Focusing on the extending length restriction of the completion screen pipe resistance running into ultra-short radius horizontal well,this paper proposed technology of hydraulic drive completion tubular string running into ultra-short radius horizontal well.Innovative hydraulic drive tools and string structure are designed,which are composed of guide tubing,hydraulic drive tubing and non-metallic completion screen pipe from inside to outside.A novel mechanical-hydraulic coupling model is established.Based on the wellbore structure of an ultra-short radius horizontal well for deep coalbed methane,the numerical calculations of force and hydraulic load on tubular strings were accomplished by the mechanical-hydraulic coupling model.The results show that the extending length of completion tubular string with the hydraulic drive is 17 times that of conventional completion technology under the same conditions.The multi-factor orthogonal design is adopted to analyze the numerical calculations,and the results show that the extending length of the completion tubular string is mainly affected by the completion tubular string structure and the friction coefficient between the non-metallic composite continuous screen pipe and the wellbore.Two series of hydraulic drive completion tubular string structures suitable for ultra-short radius horizontal wells under different conditions are optimized,with the extending limits of 381 m and 655 m,respectively.These researches will provide theoretical guidance for design and control of hydraulic drive non-metallic composite continuous completion screen pipe running into ultra-short radius horizontal wells.

Sheet material lifting mechanism of the manipulator

At present, machine fixed up and down repeatedly work is done by human. Although it is low cost and easy to change plate, there are many shortcomings of the work injury and the low work efficiency. Foreign automatic loading and unloading device has been developed, but the principle is more complex, the cost is higher, the energy consumption is larger, so the automatic loading and unloading robot came into being. Aiming at the transportation of mechanical raw material, an automatic device is designed to transport the scheduled raw materials to the specified position according to the processing requirements. The device has the characteristics of the simple operation, the rapid response and the large range of activities, and has obvious economic and environmental benefits. There is certain popularization value.

Difficulties and measures of driving super long piles in Bohai Gulf

Long piles of the ocean oil platform are usually manufactured as the integration of several segments, which have to be assembled one by one during installation. During pile driving, excessive pore pressure will build up in such a high level that hydraulic fracturing in the soil round the pile may take place, which will cause the soil to consolidate much faster during pile extension period. Consequently, after pile extension, the soil strength will recover to some extent and the driving resistance will increase considerably, which makes restarting driving the pile very difficult and even causes refusal. A finite element （FE） analysis procedure is presented for judging the risk of refusal by estimating the blow counts after pile extension, in which the regain of soil strength is considered. A case analysis in Bohai Gulf is performed using the proposed orocedure to exolain the nile refusal phenomenon.

Matching design of hydraulic load simulator with aerocraft actuator

This paper intends to provide theoretical basis for matching design of hydraulic load simulator （HLS） with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of ＂Standard Actuator＂ and ＂Standard HLS＂. Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.

Force-controlled Compensation Scheme for P-Q Valve-controlled Asymmetric Cylinder used on Hydraulic Quadruped Robots

Under the requirement of the force controller of hydraulic quadruped robots,the goal of this work is to accurately track the force commands at the level of the hydraulic drive unit.The main contribution focuses on the development of a force-controlled compensation scheme,which is specifically aimed at the key issues affecting the hydraulic quadrupedal locomotion.With this idea,based on a P-Q valve-controlled asymmetric cylinder,we first establish a mathematical model for the hydraulic drive unit force control system.With the desired force commands,a force feed-forward algorithm is presented to improve the dynamic performance of the system.Meanwhile,we propose a disturbance compensation algorithm to reduce the influence induced by external disturbances due to foot-ground impacts.Afterwards,combining with a variable gain PI controller,a series of experiments are implemented on a force control performance test platform to verify the proposed scheme.The results demonstrate that the force-controlled compensation scheme has the ability to notably improve the force tracking accuracy,reduce the response time and redundant force.

Development and test of hydraulic driven remote transporter

To solve the problems of the traditional orchard conveyor,such as inflexible steering,a complex structure,poor stability and no power grid coverage,a remote-controlled rail conveyor powered by hydraulic pressure for mountainous orchards was designed and manufactured.Climbing stress analysis was carried out on a full-load trailer to obtain the maximum traction force,which met the requirement of the climbing slope of the transport mechanism.The key components of the conveyor were developed,such as the hydraulic transmission,the control system,safety protection devices,limiting devices,the throttle and decompression actuator,the counterweight tension and the battery.Through the theoretical calculations of key components,an orchard conveyor powered by diesel and hydraulic pressure was designed.Finally,the working performance of the transporter was tested through functionality,driving speed,system pressure and remote-controlled tests.The test results showed that the climbing angle of the transporter can reach 50°,the uphill load can reach 840 kg,the downhill load can reach 1100 kg,and the average running speed is 0.77 m/s;the driving speed ranges from 0.29 m/s to 1.08 m/s,and the system pressure ranges from 3.2 MPa to 10 MPa.The driving speed and system pressure are significantly affected by the load,and the remote control distance can reach 455 m.The technical specifications of the transporter meet all the design requirements,and the problem of stable operation of the transporter without power grid coverage has been addressed.The research results can well meet the practical application requirements of mountain orchard transportation without power grid coverage and provide theoretical reference for the design of key components of mountain orchard transportation machinery.

Biomimetic Lightweight Design of Legged Robot Hydraulic Drive Unit Shell Inspired by Geometric Shape of Fish Bone Rib Structure

The lightweight design of hydraulic quadruped robots,especially the lightweight design of the leg joint Hydraulic Drive Unit(HDU),can improve the robot's response speed,motion speed,endurance,and load capacity.However,the lightweight design of HDU is a huge challenge due to the need for structural strength.This paper is inspired by the geometric shape of fish bones and biomimetic reinforcing ribs on the surface of the HDU shell are designed to increase its strength and reduce its weight.First,a HDU shell with biomimetic fish bone reinforcing ribs structure is proposed.Then,the MATLAB toolbox and ANSYS finite element analysis module are used to optimize the parameters of the biomimetic reinforcing ribs structure and the overall layout of the shell.Finally,the HDU shell is manufactured using additive manufacturing technology,and a performance testing platform is built to conduct dynamic and static performance tests on the designed HDU.The experimental results show that the HDU with biomimetic fish bone reinforcing ribs has excellent dynamic performance and better static performance than the prototype model,and the weight of the shell is reduced by 20%compared to the prototype model.This work has broad application prospects in the lightweight and high-strength design of closed-pressure vessel components.

A fault-tolerant triple-redundant voice coil motor for direct drive valves:Design, optimization, and experiment

A direct drive actuator （DDA） with direct drive valves （DDVs） as the control device is an ideal solution for a flight actuation system. This paper presents a novel triple-redundant voice coil motor （TRVCM） used for redundant DDVs. The TRVCM features electrical/mechanical hybrid triple-redundancy by securing three stators along with three moving coils in the same frame. A permanent magnet （PM） Halbach array is employed in each redundant VCM to simplify the system structure. A back-to-back design between neighborly redundancies is adopted to decouple the magnetic flux linkage. The particle swarm optimization （PSO） method is implemented to optimize design parameters based on the analytical magnetic circuit model. The optimization objective function is defined as the acceleration capacity of the motor to achieve high dynamic performance. The optimal geometric parameters are verified with 3D magnetic field finite element analysis （FEA）. A research prototype has been developed for experimental purpose. The experimental results of magnetic field density and force output show that the proposed TRVCM has great potential of applications in DDA systems.