Mode Switching and Consistency Control for Electric-Hydraulic Hybrid Steering System

Electric-hydraulic hybrid power steering(E-HHPS)system,a novel device with multiple modes for commercial electric vehicles,is designed to realize both superior steering feel and high energy efficiency.However,inconsistent steering perfor-mance occurs in the mode-switching process due to different dynamic characteristics of electric and hydraulic components,which even threatens driving safety.In this paper,mode-switching strategy and dynamic compensation control method are proposed for the E-HHPS system to eliminate the inconsistency of steering feel,which comprehensively considers ideal assistance characteristics and energy consumption of the system.Then,the influence of disturbances on system stability is analyzed,and H_(∞)robust controller is employed to guarantee system robustness and stability.The experimental results dem-onstrate that the proposed strategy can provide a steering system with natural steering feel without apparent inconsistency and effectively minimize energy consumption.

Investigation into the Independent Metering Control Performance of a Twin Spools Valve with Switching Technology-controlled Pilot Stage

In hydraulic area,independent metering control(IMC)technology is an effective approach to improve system efficiency and control flexibility.In addition,digital hydraulic technology(DHT)has been verified as a reasonable method to optimize system dynamic performance.Integrating these two technologies into one component can combine their advantages together.However,few works focused on it.In this paper,a twin spools valve with switching technologycontrolled pilot stage(TSVSP)is presented,which applied DHT into its pilot stage while appending IMC into its main stage.Based on this prototype valve,a series of numerical and experiment analysis of its IMC performance with both simulated load and excavator boom cylinder are carried out.Results showed fast and robust performance of pressure and flow compound control with acceptable fluctuation phenomenon caused by switching technology.Rising time of flow response in excavator cylinder can be controlled within 200 ms,meanwhile,the recovery time of rod chamber pressure under suddenly changed condition is optimized within 250 ms.IMC system based on TSVSP can improve both dynamic performance and robust characteristics of the target actuator so it is practical in valve-cylinder system and can be applied in mobile machineries.

Numerical Simulation on a Throttle Governing System with Hydraulic Butterfly Valves in a Marine Environment

Hydraulic butterfly valves have been widely applied in marine engineering because of their large switching torque, low pressure loss and suitability for large and medium diameter pipelines. Due to control problems resulting from switching angular speeds of the hydraulic butterfly valve, a throttle-governing control mode has been widely adopted, and detailed analysis has been carried out worldwide on the structural principle concerning speed-regulation and the load torque on the shaft while opening or closing a hydraulic butterfly valve. However relevant reports have yet been published on the change law, the error and the influencing factors of the rotational angular velocity of the hydraulic butterfly valve while opening and closing. In this article, research was based on some common specifications of a hydraulic butterfly valve with a symmetrical valve flap existing in a marine environment. The throttle governing system supplied by the accumulator to achieve the switching of the hydraulic control valve was adopted, and the mathematical models of the system were established in the actual conditions while the numerical simulations took place. The simulation results and analysis show that the rotational angular velocity and the error of the hydraulic butterfly valve while switching is influenced greatly by the drainage amount of the accumulator, resulting in pressure loss in the pipeline, the temperature of hydraulic medium and the load of the hydraulic butterfly valve. The simulation results and analysis provide a theoretical basis for the choice of the total capacity of the accumulator and pipeline diameters in a throttle governing system with a hydraulic butterfly valve.It also determines the type and specification of the hydraulic butterfly valve and the design of motion parameters of the transported fluid.

Control performance and energy saving of multi-level pressure switching control system based on independent metering control

Aiming at the problem of large energy consumption in hydraulic control system with large load and variable working conditions,based on the multi-level pressure switching control system(MPSCS),a multi-level pressure switching control system based on independent metering control is proposed combined with the independent metering control technology.The configuration principle of the system is given,the mathematical model of this system is established,and the control strategy of the system under 4 different working quadrants is put forward.Finally,the control performance and energy saving characteristics of the system are tested.The test results show that the switching of high and low pressure power supply has a certain effect on the response of step position and ramp position under impedance working condition.The displacement curves show slow climbing or abrupt change of ramp position,and the position accuracy is less than 1 mm.The multi-level pressure switching control system based on independent metering control can recover and store energy under the transcendence working conditions.The control accuracy is about 1 mm,and the energy recovery rate is about 70%~80%.

A Novel Half-Bridge Power Supply for High Speed Drilling Electrical Discharge Machining

High Speed Drilling Electrical Discharge Machining (HSDEDM) uses controlled electric sparks to erode the metal in a work-piece. Through the years, HSDEDM process has widely been used in high speed drilling and in manufacturing large aspect ratio holes for hard-to-machine material. The power supplies of HSDEDM providing high power applica-tions can have different topologies. In this paper, a novel Pulsed-Width-Modulated (PWM) half-bridge HSDEDM power supply that achieves Zero-Voltage-Switching (ZVS) for switches and Zero-Current-Switching (ZCS) for the dis-charge gap has been developed. This power supply has excellent features that include minimal component count and inherent protection under short circuit conditions. This topology has an energy conservation feature and removes the need for output bulk capacitors and resistances. Energy used in the erosion process will be controlled by the switched IGBTs in the half-bridge network and be transferred to the gap between the tool and work-piece. The relative tool wear and machining speed of our proposed topology have been compared with that of a normal power supply with current limiting resistances.

多泵切换对数字液压传动风力机工作特性影响的分析

多泵数字液压传动风力机可根据风速大小使相应排量液压泵参与工作,使液压风力机在整个工作风速范围内始终保持高效。但不同排量液压泵参与工作的切换会造成风力机液压传动系统流量发生突变并产生压力冲击,影响风力机工作特性和风轮对风能的吸收。在分析多泵数字液压传动风力机工作原理的基础上,对5 MW级多泵数字液压传动风力机的方案进行设计和AMESim仿真建模;进行恒定风速和变风速条件下液压泵工作切换的仿真研究,得到多泵切换时液压风力机的风能利用系数、液压系统流量、压力等工作特性的变化规律;搭建了5 kW风能能量多泵数字液压传递半实物仿真实验平台对仿真结果进行实验验证;研究结果为多泵数字液压传动风力机风能高效利用和稳定运行提供理论依据和技术参考。

基于对比学习的电液转辙机故障智能诊断方法

道岔转辙机是铁路运行调度的关键设备,由于其外部使用环境恶劣、内部设备结构复杂,使得转辙机在工作过程中容易产生不同的运行故障。针对广泛应用于高速铁路的电液转辙机,提出基于对比学习的电液转辙机故障智能诊断方法:对电液转辙机左右液压缸油压监测信号使用对比学习的思想正则化特征空间;使用实例级权重策略增强模型泛化能力;使用多种数据增强方法提高模型鲁棒性。最后通过电液转辙机的运行故障实验验证本方法的有效性与优越性。

基于Links-RT的数字液压风力机半实物仿真系统设计

数字液压风力机可根据风速大小使相应排量液压泵参与工作,使液压风力机在整个工作风速范围内始终保持高效。由于大型风力机不具备开展实验研究的条件,且风力机中的液压系统具有较强的非线性,为了准确研究数字液压风力机多泵切换时系统工作特性的变化规律,提出了一种基于Links-RT的数字液压风力机半实物仿真系统,并对数字液压风力机风轮特性模拟和最大功率跟踪控制进行设计。通过风速阶跃变化、恒定风速时多泵切换、渐变风速多泵切换3种工况下数字液压风力机工作特性的实时仿真测试,验证了数字液压风力机半实物仿真系统的正确有效性,为数字液压风力机的稳定运行和风能高效利用提供理论依据和技术参考。

考虑样本多样性的转辙机故障诊断决策模型

为解决现有研究未充分考虑诊断模型在不同转辙机数据样本条件下的适用性,且单一诊断方法难以满足故障诊断精度与决策要求的问题,提出一种考虑样本多样性的故障诊断决策模型.首先,从ZYJ7电液转辙机8种故障模式和正常模式所对应的油压曲线中分别提取时域、频域、时频域特征量,采用基于核函数的主成分分析法对3个域内的特征量分别降维,得到每个域的特征矩阵,进而构成不同类型的数据样本.然后,基于PSO-KNN、SA-PSO-PNN、PSO-SVM算法构建决策模型.当样本是一般数据样本时,决策模型采用3种算法分别做同一域数据分类,并对同一域各算法诊断结果进行三取二表决,分别得到每一域诊断结果;当样本是大数据样本、不均衡数据样本时,决策模型根据不同样本特点采用3种算法中的推荐算法得到每一域诊断结果.最后,利用决策模型对各域诊断结果进行三取二表决得到最终诊断结果 .仿真结果表明:与单一诊断算法相比,决策模型在大数据样本下,平均准确率提升1.01%;在不均衡数据样本条件下,决策模型的平均准确率提升12.82%;在一般数据样本下,决策模型平均准确率提升6.18%.决策模型通过结合多域的多维特征与各算法特点提高了诊断精度,为集成学习在转辙机故障诊断领域应用提供了一种思路.

基于时空特征组合模型的转辙机故障诊断

为解决转辙机故障诊断领域中存在的单一特征信息提取不足、单一诊断方法难以避免因方法局限性造成的分类误差,同时其存在一定程度的过拟合,以及泛化能力、鲁棒性不足的问题,提出了一种基于时空特征组合模型的故障诊断方法。首先,在ZYJ7电液转辙机的8种故障模式和正常模式所对应的油压曲线上提取时频域小波系数作为原始数据集,采用核主成分分析(kernel principal component analysis,KPCA)和长短期记忆网络(long short-term memory network,LSTM)提取其空间、时间特征,之后基于ADD(addition)思想构建时空特征集。其次,对卷积神经网络(convolutional neural network,CNN)、LSTM两分类器关键参数寻优后分别进行故障诊断,得到各个故障类型的概率值和误差系数。最后,利用误差倒数法对两分类器各个故障类型的概率值赋予权重,得到最终输出结果。仿真结果表明:CNN-LSTM组合模型诊断准确率达98.14%,较单一多层感知机(multi-layer perceptron,MLP)、CNN、LSTM模型准确率分别提升7.40%、5.55%、1.85%。可见此方法有效提高了转辙机诊断准确率,为集成学习模型在转辙机故障诊断领域的应用提供了一种思路。

液力驱动无绳索取心系统泥浆正反循环切换机构设计及其流体通道优化

为解决超长水平孔取心钻探效率低的问题,提出通过泥浆液力驱动完成内管总成的投送和回收的无绳取心钻进工艺。为此,本文设计了一种辅助内管投送与回收的孔口泥浆正反循环切换机构。该机构通过两个双通道球阀的相互配合,改变泥浆流动方向,就可实现正反循环的切换。通过ANSYS软件,对正反循环切换机构的L形双通道进行了仿真模拟,结果显示,流体通过L形通道后,高速流体只占总量的50%,流体经过球阀通道的压力降为1008.1 Pa,且靠近通道内侧的流体会产生大量紊乱,产生了不同程度的回流。为此,将通道形状进行了优化,将原来的L形通道改为圆弧形通道,仿真模拟结果显示,流体通过圆弧形通道后,高速流体占总量的90%,流体经过球阀通道的压力降仅为105.3 Pa,且流体迹线整体平滑,仅有少量流体发生回流。优化后的流体通道,有效降低了水头压力损耗,保证了流体的稳定运移。

基于顶驱多种故障分析的设备维保探究

顶驱是机电液一体化的钻井设备,结构复杂,使用环境恶劣,其故障具有多样性和突发性。由于顶驱在钻井平台运行中扮演着举足轻重的角色,因此加强顶驱各项功能的监测,及时发现设备潜在问题,做到预防性维护就显得极其重要。顶驱故障的解决过程牵涉到机械、电控、液压等方面,属综合性逻辑推理分析,需提高对设备原理的认识。以顶驱工作原理的分析及国产北石顶驱在生产中典型故障的分析为依据,提出顶驱故障分析的种类、原则、方法,以及顶驱维护保养的重点,以便将来发生顶驱设备故障时能够快速找到设备故障的原因,及时解决设备存在的故障问题。

煤岩两用液动锤钻头的结构设计研究

为了提高煤矿井下穿层孔硬岩施工的效率,解决液动锤一趟钻实现煤岩互层钻孔的问题,设计了煤岩两用液动锤钻头,并分析了其工作原理。通过对钻头水力结构参数的计算和模拟分析,得出了可以通过调整切换阀的水力结构以及阀芯和阀座弹簧弹力匹配设计,实现对钻头功能切换所需的压力和钻头切削推力的精确控制,从而达到液动锤随钻切换冲击-切削模式的目的,实现不退钻完成煤岩互层的高效钻进。

燃气轮机导叶执行机构模糊切换控制策略研究

为缓解重型燃气轮机双余度导叶执行机构的切换过程给系统造成的冲击,提出了一种基于模糊规则的余度切换控制策略。首先基于双余度导叶执行机构的工作原理,建立了电液位置伺服系统各部件的数学模型,然后以导叶作动筒位移误差和速度作为输入参数,主备伺服回路切换系数作为输出参数,设计了一种二维模糊切换控制器,并针对伺服阀单向卡滞、伺服阀喷嘴堵塞2种典型故障工况进行了联合仿真分析。结果表明,采用传统阈值切换的方式,各物理量在切换点位置波动明显,而采用模糊切换的控制策略能够有效削弱切换过程对导叶作动筒位移、速度和两腔压力造成的冲击及振荡,从而实现双余度导叶执行机构之间的平稳切换。

Digital switched hydraulics

This paper reviews recent developments in digital switched hydraulics particularly the switched inertance hydraulic systems （SIHSs）. The performance of SIHSs is presented in brief with a discussion of several possible configurations and control strategies. The soft switching technology and high-speed switching valve design techniques are discussed. Challenges and recommendations are given based on the current research achievements.

新型液压机械双流传动模式切换分析与控制研究

以自主开发的新型液压机械双流传动(HMT)系统为研究对象,分析了HMT系统的结构与工作特性。在此基础上,建立了HMT模式切换过程的数学模型与AMESim模型,并进行传动模式切换过程分析,获得HMT传动模式切换特性的影响因素。针对HMT模式切换过程存在的功率循环问题,提出了考虑功率循环的HMT模式切换策略。针对HMT模式切换过程中的速度波动问题,提出了基于马达输出转矩补偿的模式切换控制方法。仿真与试验结果表明:考虑功率循环的HMT传动模式切换策略可有效减小循环功率;基于马达输出转矩补偿的模式切换控制可有效减小速度的大范围波动。

多举缸液压起竖系统的同步升举设计

为了解决在实际的工程中多举缸的液压起竖系统其多个液压举缸所受负载不同或者因外界干扰导致的液压举缸举升运动不同步问题,设计了一种同步回路,通过将设计出的智能电磁换向阀运用到回路中用于控制不同液压举缸的供油路的通断以达到“负载小,举升速度快的举缸”与“负载大,举升速度慢的举缸”其在同一时间段里面的举升位移保持一致,就此实现多举缸液压起竖系统举升运动的同步性。同时,对上述设计中因为油路的频繁通断产生的压力和流量脉冲,造成的能量损失、响应不及时等问题,又设计了一种液压软开关加入到同步回路中。

多级压力源切换系统节能特性仿真研究

在多级压力源切换系统中,存在系统节能机理不明晰以及系统关键参数选取缺乏依据的问题。基于此,本文通过建立多级压力源切换系统和传统负载口独立阀控系统的能耗数学模型,对多级压力源切换系统的节能效果进行理论推导;搭建两系统的仿真模型,将两系统在给定工况下进行对比,对多级压力源切换系统的节能效果进行仿真研究;通过绘制系统位移跟随误差和节能功率的曲面图,分析总结了影响系统能耗和控制特性的主要因素,确定了系统的主要工作参数——阀芯位移比和中间压力等级的取值大小。研究结果为提高多级压力源切换系统的系统性能和优化系统参数提供了分析依据。

电液驱动水下发射筒开关盖装置高精度跟踪控制方法

发射筒盖是潜射导弹发射装置的重要组成部分,目前主要采用调速阀进行开关盖速度控制,由于其无法保证动作精度,制约了系统的进一步发展。为提高开关盖过程的速度控制精度,以伺服阀代替调速阀进行开关盖动作控制;以开关盖装置为被控对象,设计高增益观测器观测系统状态量,抑制非线性对系统精度的影响,结合滑模控制器进行自适应控制,并将提出的控制算法分别应用于两种控制阀组。实验表明,开关盖装置结合伺服阀可实现更好的控制效果,采用高增益观测器的滑模控制速度跟踪效果较传统PID控制提升30%。

新车型仪表台真空拉伸弯曲成形工艺生产线

真空拉伸弯曲成形工艺是将加热软化拉伸后的皮膜弯曲后粘到带有纹路的仪表台架上,然后通过压机抽真空压制、压合以生产仪表台产品的热成形工艺,采用一模两腔的生产方式,产品生产过程的重要参数(表皮温度、仪表台架温度、上下模具真空度、加工周期)以一定的采样频率传输给追溯系统,同时,产品判断结果(OK/NG)也发送到追溯系统。针对该工艺路线,生产线布局所包含的设备有皮膜投入装置、皮膜搬运装置、皮膜加热炉、压力机、仪表台架加热炉、检查炉、模温机及真空系统、模具和模具切换装置等。