The spherical valve plate/cylinder block pair has the advantages of strong overturning resistance and large bearing area.However,the configurations of the unloading and pre-boosting triangular grooves on the spherical...The spherical valve plate/cylinder block pair has the advantages of strong overturning resistance and large bearing area.However,the configurations of the unloading and pre-boosting triangular grooves on the spherical valve plate are different from those in the planar valve plate,resulting in special cavitation phenomenon on the spherical port plate pair.In order to study cavitation characteristics of spherical port plate pair,a dynamic CFD model of the piston pump including turbulence model,cavitation model and fluid compressibility is established.A detailed UDF compilation scheme is provided for modelling of the micron-sized spherical oil film mesh,which makes up for the lack of research on the meshing of the spherical oil film.In this paper,using CFD simulation tools,from the perspectives of pressure field,velocity field and gas volume fraction change,a detailed analysis of the transient evolution of the submerged cavitation jet in a axial piston pump with spherical valve plate is carried out.The study indicates the movement direction of the cavitation cloud cluster through the cloud image and the velocity vector direction of the observation point.The sharp decrease of velocity and gas volume fraction indicates the collapse phenomenon of bubbles on the part wall surface.These discoveries verify the special erosion effect in case of the spherical valve plate/cylinder block pair.The submerged cavitation jet generated by the unloading triangular grooves distributed on the spherical valve plate not only cause denudation of the inner wall surface of the valve plate,but also cause strong impact and denudation on the lower surface of the cylinder body.Finally,the direction of the unloading triangular groove was modified to extend the distance between it and the wall surface which can effectively alleviate the erosion effect.展开更多
Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system s...Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time?varying parameters. This makes HIVC force control very diffcult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis(PSM). Then, aimed at the sinusoidal response under(three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.展开更多
Partial pressure, system vibration and asymmetric system dynamic performance exit in asymmetric cylinder controller by symmetric valve hydraulic system. To solve this problem in the force control system, model referen...Partial pressure, system vibration and asymmetric system dynamic performance exit in asymmetric cylinder controller by symmetric valve hydraulic system. To solve this problem in the force control system, model reference adaptive controller is designed using equilibrium point stability theory and output error equation polynomial. The reference model is selected in such a way that it meets the system dynamic performance. Hardware configuration of asymmetric cylinder controlled by asymmetric valve hydraulic system is replaced by intelligent control algorithm, thus the cost is lowered and easy to application. Simulation results demonstrate that the proposed adaptive control sheme has good adaptive ability and well solves asymmetric dynamic performance problem. The designed adaptive controller is fairly robust to load disturbance and system parameter variation.展开更多
The tribological properties of cylinder block/valve plate is an important consideration in the design of axial piston pump.The effect of materials and heat treatment on friction and wear properties has been studied in...The tribological properties of cylinder block/valve plate is an important consideration in the design of axial piston pump.The effect of materials and heat treatment on friction and wear properties has been studied in depth.Engi-neering experiences show that the speed and load also affect the tribological properties,but these have not been systematically analyzed.The purpose of this paper is to evaluate the tribological properties of the commonly used materials(CuPb1 5Sn5 and 38CrMoAl/42CrMo)for cylinder block/valve plate with different heat treatment and con-tact pressure at different speed.During the test,tribometer is used to simulate the contact pattern between the valve plate/cylinder block in axial piston pump,the friction coefficient,wear rate and surface topography are analyzed to evaluate the tribological properties of different types of friction samples at different speed.Results indicate that:(1)contact surface of the samples at 1800 r/min is more prone to adhesive wear than those at 500 r/min;(2)in the terms of wear resistance,quench-tempered and nitrided 38CrMoAl(38CrMoAl QTN for short)is better than quench-tem-pered and nitrided 42CrMo,although they are all commonly used materials in the axial piston pump;(3)2.5 MPa is the critical contact pressure of the interface between valve plate made of 38CrMoAl QTN and cylinder block made of CuPb1 5Sn5 on the tribometer,which implies the pressure bearing area at the bottom of the cylinder block should be carefully designed;(4)the valve plate/cylinder block made of 38CrMoAl QTN/CuPb15Sn5 exhibits good tribological properties in a real axial piston pump.This research is useful for the failure analysis and structural optimization design of the valve plates/cylinder block.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51605322)Shanxi Provincial Natural Science Foundation of China(Grant No.201901D111054)+1 种基金International Cooperation Project of Shanxi Province(Grant No.2016-002)Key Laboratory of Fluid and Power Machinery,Ministry of Education(Grant No.GZKF-201815).
文摘The spherical valve plate/cylinder block pair has the advantages of strong overturning resistance and large bearing area.However,the configurations of the unloading and pre-boosting triangular grooves on the spherical valve plate are different from those in the planar valve plate,resulting in special cavitation phenomenon on the spherical port plate pair.In order to study cavitation characteristics of spherical port plate pair,a dynamic CFD model of the piston pump including turbulence model,cavitation model and fluid compressibility is established.A detailed UDF compilation scheme is provided for modelling of the micron-sized spherical oil film mesh,which makes up for the lack of research on the meshing of the spherical oil film.In this paper,using CFD simulation tools,from the perspectives of pressure field,velocity field and gas volume fraction change,a detailed analysis of the transient evolution of the submerged cavitation jet in a axial piston pump with spherical valve plate is carried out.The study indicates the movement direction of the cavitation cloud cluster through the cloud image and the velocity vector direction of the observation point.The sharp decrease of velocity and gas volume fraction indicates the collapse phenomenon of bubbles on the part wall surface.These discoveries verify the special erosion effect in case of the spherical valve plate/cylinder block pair.The submerged cavitation jet generated by the unloading triangular grooves distributed on the spherical valve plate not only cause denudation of the inner wall surface of the valve plate,but also cause strong impact and denudation on the lower surface of the cylinder body.Finally,the direction of the unloading triangular groove was modified to extend the distance between it and the wall surface which can effectively alleviate the erosion effect.
基金Supported by National Natural Science Foundation of China(Grant No.51605417)Key Project of Hebei Provincial Natural Science Foundation,China(Grant No.E2016203264)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)
文摘Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time?varying parameters. This makes HIVC force control very diffcult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis(PSM). Then, aimed at the sinusoidal response under(three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.
文摘Partial pressure, system vibration and asymmetric system dynamic performance exit in asymmetric cylinder controller by symmetric valve hydraulic system. To solve this problem in the force control system, model reference adaptive controller is designed using equilibrium point stability theory and output error equation polynomial. The reference model is selected in such a way that it meets the system dynamic performance. Hardware configuration of asymmetric cylinder controlled by asymmetric valve hydraulic system is replaced by intelligent control algorithm, thus the cost is lowered and easy to application. Simulation results demonstrate that the proposed adaptive control sheme has good adaptive ability and well solves asymmetric dynamic performance problem. The designed adaptive controller is fairly robust to load disturbance and system parameter variation.
基金Supported by National Natural Science Foundation of China(Grant Nos.51775362,51705351)International Cooperation Project of Shanxi Province(Grant No.2016-002)Natural Science Foundation of Shanxi Province(Grant No.201901D111054).
文摘The tribological properties of cylinder block/valve plate is an important consideration in the design of axial piston pump.The effect of materials and heat treatment on friction and wear properties has been studied in depth.Engi-neering experiences show that the speed and load also affect the tribological properties,but these have not been systematically analyzed.The purpose of this paper is to evaluate the tribological properties of the commonly used materials(CuPb1 5Sn5 and 38CrMoAl/42CrMo)for cylinder block/valve plate with different heat treatment and con-tact pressure at different speed.During the test,tribometer is used to simulate the contact pattern between the valve plate/cylinder block in axial piston pump,the friction coefficient,wear rate and surface topography are analyzed to evaluate the tribological properties of different types of friction samples at different speed.Results indicate that:(1)contact surface of the samples at 1800 r/min is more prone to adhesive wear than those at 500 r/min;(2)in the terms of wear resistance,quench-tempered and nitrided 38CrMoAl(38CrMoAl QTN for short)is better than quench-tem-pered and nitrided 42CrMo,although they are all commonly used materials in the axial piston pump;(3)2.5 MPa is the critical contact pressure of the interface between valve plate made of 38CrMoAl QTN and cylinder block made of CuPb1 5Sn5 on the tribometer,which implies the pressure bearing area at the bottom of the cylinder block should be carefully designed;(4)the valve plate/cylinder block made of 38CrMoAl QTN/CuPb15Sn5 exhibits good tribological properties in a real axial piston pump.This research is useful for the failure analysis and structural optimization design of the valve plates/cylinder block.
