Performances of a Balanced Hydraulic Motor with Planetary Gear Train

The current research of a balanced hydraulic motor focuses on the characteristics of the motor with three planet gears.References of a balanced hydraulic motor with more than three planet gears are hardly found.In order to study the characteristics of a balanced hydraulic motor with planetary gear train that includes more than three planet gears,on the basis of analysis of the structure and working principle of a balanced hydraulic motor with planetary gear train,formulas are deduced for calculating the hydraulic motor＇s primary performance indexes such as displacement,unit volume displacement,flowrate fluctuation ratio,etc.Influences of the gears＇ tooth number on displacement and flowrate characteristics are analyzed.In order to guarantee the reliability of sealing capability,the necessary conditions that tooth number of the sun gear and the planet gears should satisfy are discussed.Selecting large unit volume displacement and small displacement fluctuation ratio as designing objectives,a balanced hydraulic motor with three planet gears and a common gear motor are designed under the conditions of same displacement,tooth addendum coefficien and clearance coefficient.By comparing the unit volume displacement and fluctuation ratio of the two motors,it can be seen that the balanced hydraulic motor with planetary gear train has the advantages of smaller fluctuation ratio and larger unit volume displacement.The results provide theoretical basis for choosing gear tooth-number of this kind of hydraulic motor.

Low-speed instability analysis for hydraulic motor based on nonlinear dynamics

A nonlinear dynamics model and a mathematical expression were set up to investigatethe mechanism and conditions of vibration creep acceleration.The model showsthat hydraulic spring and nonlinear friction are major factors that can affect low-speed instability.The mathematic model was established to obtain the change rule of speed andinstantaneous acceleration of the hydraulic motor.Then, Matlab was used to simulate theeffect of nonlinear friction force and hydraulic motor parameters such as coefficient of leakand compression ratio, etc., under low speed.Finally, some measures were proposed toimprove the low-speed stability of the hydraulic motor.

LUBRICATION FILM FORMATION MECHANISM OF SLIPPER PAIRS IN LOW SPEED HIGH TORQUE HYDRAULIC MOTORS

Pressure-flow analytical formulas of lubrication film of slipper pairs on camshaft connecting rod type low speed high torque （LSHT） hydraulic motors are put forward. The bottom surface of slipper pairs is rectangle, and the effect of squeeze flow and pressure differential flow is considered. The dynamic process of lubrication film formation through squeezing is numerically studied by computer simulation. Effects of supply pressure, initial lubrication film thickness, velocity damping coefficient, loading impact and gravity, etc are studied. Advantages of novel slipper pairs with large oil cavity area are pointed out.

Distribution Performance Analysis and Experimental Research on the Port Plate Pairs of Low Speed High Torque Seawater Hydraulic Motor

The current research of seawater hydraulic motor mainly focused on piston motor and vane motor, but seldom regarded low speed high torque seawater hydraulic motor. Low speed high torque seawater hydraulic motor as a kind of energy conversion device and actuator plays an important role in seawater hydraulic transmission system. However, the physical and chemical properties of seawater, such as low viscosity, high causticity and poor lubrication, result in numerous problems. In this paper, the flow distribution characteristics of port plate pairs for the seawater hydraulic motor are investigated, and the leakage flow and power loss models of port plate pairs are established. Numerical simulations are carried out to examine the effects of water film, inlet pressure and rotating speed on the pressure distribution and leakage flow. And the friction and wear tests of port plate pairs are also carried out. Moreover, the test system of the seawater hydraulic motor is constructed and the performance of prototype with no-load or loading is conducted. The results indicate that the clearance of port plate pairs and inlet pressure have a significant effect on distribution characteristics, but the effect of rotating speed is not very obvious. The experimental results show that the minimum error rate can be maintained within 0.3% by the proposed flow model and the counter materials of 316 L against carbon-fiber-reinforced polyetheretherketone(CFRPEEK) are suitable for the port plate pairs of seawater hydraulic motor. Finally, based on the seawater hydraulic experiment platform, the volumetric efficiency of no-load and loading are obtained that the maximum can achieve 94.71% and 90.14%, respectively. This research work may improve the flow distribution performance, lubrication and the friction and wear properties, enhance energy converting efficiency of port plate pair and provide theoretical and technical support for the design of highperformance water hydraulic components.

Investigation of Valve Plate in Water Hydraulic Axial Piston Motor

This paper has introduced the developments of water hydraulic axial piston equipments. According to the effects of physicochemical properties of water on water hydraulic components, a novel valve plate for water hydraulic axial motor has been put forward, whose moment exerted by the fluid field between valve plate and bearing plate is balanced entirely. The material screening experiment of valve plate is done on the test rig. Through numerical simulation the effects of some geometry parameters on the performance of water hydraulic motor have been studied. The silencing grooves on the valve plate in water hydraulic motor can reduce the pressure shock and the occurrence of cavitation effectively. It is evident that the appropriate structure should change the wear status between matching pairs and reduces the wear and specific pressure of the matching pairs. The specimen with the new type valve plate is used in a tool system.

A New Type of Continuously Variable Displacement Mechanism Used for Hydraulic Motors

A continuously variable displacement mechanism, which is composed of a hydraulic control valve with mechanical-positional feedback to camshaft, was designed for changing the displacement of traditional camshaft connecting-rod low speed high torque (LSHT) hydraulic motor continuously. The new type of continuously variable displacement mechanism is simple and easy to be made. The structure and principle of a continuously variable displacement mechanism was introduced. The mathematic model of the continuously variable displacement mechanism was set up and its static and dynamic characteristics were analyzed with the help of computer simulation. It can be seen that the cam ring on camshaft of the traditional LSHT hydraulic motor can stop at any position between minimum and maximum eccentricity, according to an input fluid pressure signal. And it can also stay anywhere stably through self-adjusting. Besides, it can work stabilized when load impact or oil leakage exists.

Continuous rotary motor electro-hydraulic servo system based on the improved repetitive controller

In order to suppress the periodic interference of the continuous rotary electro-hydraulic servo motor,this paper makes the motor tracking the periodic signals with high accuracy,and improves the influence of friction interference to the performance of continuous rotary electro-hydraulic servo motor.The mathematic model of the electro-hydraulic position servo system of the continuous rotary motor was established,and the compound control method was adopted based on the repetitive control,feed forward and PID to suppress the friction interference.Through the simulation,the result confirms that the compound control method decreases the tracking error of the system,increases the robust performance of the system and improves the performance of the continuous rotary electro-hydraulic servo motor.

Output Speed and Torque of Differential Double-Stator Swing Hydraulic Multimotors

A new type of differential double-stator swing hydraulic motor, based on double stator structure, was introduced. Compared with the traditional swing hydraulic motors, it could provide various kinds of rotational speeds and torques under the same conditions of input flow rate and pressure. The operating prindple and graphic symbols were described. The output speed and torque characters in multifarious connection modes were analyzed through single-acting differential double-stator swing hydraulic multi-motors. Then the differential connection modes and differential principles of differential double-stator swing hydraulic multi-motors were stated. Furthermore, the output speed and torque characters of double- acting and triple-acting ones in multifarious connection modes were gotten. The interaction between output torque and the displacement ratio was studied. Finally, the internal leakage that influenced the volumetric efficiency was researched. The theoretical and experimental researches show that the differential double-stutor swing hydraulic multi-motors can provide various kinds of rotational speeds and torques. Predictably, this new kind of swing hydraulic multi-motors has broad application prospects in machine tool equipments, engineering machineries, and simulation turntables.

Analysis of force and leakage in water hydraulic motor's piston pairs

The positive pressure between pistonwall and piston hole of inner curve water hydraulic motor’s piston pairs is analyzed.The flow field of the piston pairs is numerically calculated and analyzed by the use of computational fluid dynamics method.The pressure and velocity distribution of flow field at different clearance is analyzed in the paper.The results show that when the clearance is 4-8 μm,with the increase of clearance,the negative pressure and the velocity of piston chamber decrease significantly,the velocity and leakage flow of the clearance increase.However,when the clearance is 10 μm,the negative pressure and the velocity of plunger chamber increase suddenly.By comprehensive analysis,the cylinder annular clearance should be controlled to be near 8 μm.

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.

A graphic monitoring method for electric power of VVVF hydraulic system

In order to online monitor the running state of variable voltage and variable frequency(VVVF)hydraulic system,this paper presents a graphic monitoring method that fuses the information of variable frequency electric parameters.This paper first analyzes how the voltage and current of the motor stator change with the operation conditions of VVVF hydraulic system.As a result,we draw the relationship between the electric parameters(voltage and current)and power frequency.Then,the signals of the voltage and current are fused as dynamic figures based on the idea of Lissajous figures,and the values of the electric parameters are related to the features of the dynamic figures.Rigorous theoretical analysis establishes the function between the electric power of the variable frequency motor(VFM)and the features of the plotted dynamic figures including area of diagram,area of bounding rectangle,tilt angle,etc.Finally,the effectiveness of the proposed method is verified by two cases,in which the speed of VFM and the load of VVVF hydraulic system are changed.The results show that the increase of the speed of VFM enhances its three-phase electric power,but reduces the tilt angle of the plotted dynamic figures.In addition,as the load of VVVF hydraulic system is increased,the three-phase electric power of VFM and the tilt angle of the plotted dynamic figures are both increased.This paper provides a new way to online monitor the running state of VVVF hydraulic system.

Modeling the Axial Balancing Mechanism of Orbit Annular Hydraulic Machines

A customized combined methodology based on both 2D CFD （computational fluid dynamics） and lumped parameters numerical modeling, useful for simulating the hydraulic behavior of orbit annular machines, has been developed and here presented. More in details, the predictive capabilities of this CAE （computer-aided engineering） tool can be applied for the study of both roller and gerotor architectures and considering both pumping and motoring operating mode. First of all, an in-house developed 2D CFD methodology, based on the integration of the stationary form of the Reynolds equation for the determination of the pressure distribution inside the lateral clearances bounded by the sides of the stator-rotor group and the valve plate, as well as the internal manifold surface, is firstly presented and applied. The same computational procedure has been also involved for the investigation of the leakages through the clearance between the valve plate and the balancing ring. After that, a lumped and distributed parameters numerical model has been involved for the simulation of a typical orbit roller motor operation. In this case, particular care has been devoted to the modeling of the axial leakage clearances, adopting analytical interpolation functions deducted from the numerical results calculated applying the previously described 2D CFD methodology. Finally, the whole CAE approach has been validated by means of a comprehensive numerical versus experimental comparison, obtaining a general good accordance for the overall operating field of this particular type of hydraulic unit.

基于径向基函数神经网络算法的高频转阀阀芯稳定性

针对伺服电机驱动高频转阀时受液动力矩变化影响造成高频输出精度下降的问题,以液压马达作为动力源,提出一种基于径向基函数神经网络算法的转阀阀芯转速控制策略。首先,搭建高频转阀阀芯转速控制系统的数学模型;其次根据数学模型在MATLAB/Simulink平台搭建仿真模型,对不同算法作用下阀芯转速控制特性进行仿真分析;最后建立高频转阀转速控制系统实验台,对不同算法作用下阀芯转速控制特性进行实验研究和理论验证。结果表明:与常规PID控制方法相比,基于径向基函数神经网络的高频转阀转速控制策略转速控制系统阶跃响应所需调整时间最少为0.16 s,超调量小;三角波与正弦波转速跟踪误差均值下降最大值分别为46.51%、53.69%;6 MPa、10 MPa下,转速稳态误差均值分别下降34.92%、38.26%。径向基函数神经网络算法有效提高了高频转阀阀芯转速控制精度。

高温快速地层压力测试仪研制与应用

随着勘探井向深井领域发展,高温深地深海小直径井眼油气的开发成为必然。快速地层压力测试仪是通过对地层压力测量来分析计算地层渗透率及储层有效性的仪器,但现有仪器不能满足4.5in*小直径井眼及耐温205℃的作业要求,测压时抽吸速度不可控,无法实现恒流抽吸,导致测压精确度低。高温快速地层压力测试仪各功能短节模块化设计,其液压动力与精密抽吸短节高度集成、推靠坐封短节结构紧凑,这使仪器的长度和直径得以减小;采用耐高温电子元器件和高温厚膜封装技术,实现仪器耐温205℃的技术指标;采用直流无刷电机精密控制技术实现对超低渗透率等复杂地层流体的恒流抽吸、精准测压。高温快速地层压力测试仪经过高温和可靠性测试及实井作业验证,该仪器具有尺寸小、集成度高、可靠性好、耐高温的优点,解决了高温复杂井况测压问题,具有较好的应用前景。

双液压马达驱动的甘蔗根切器刀盘转速同步控制方法

为简化双刀盘甘蔗根切器的传动链,提高传动系统对时变载荷的适应性,该研究提出用双液压马达直接驱动双刀盘,并将电液比例负载敏感技术应用于根切器的传动方案,通过建模仿真和试验探究双刀盘同步精度的控制方法。建立根切器电液比例阀控马达闭环速度控制系统的传递函数,分析得到该系统的稳定裕度仅为16.5°,因此需要采用合适的控制算法提高系统的稳定性和控制精度。基于AMESim-MATLAB联合仿真,研究采用主从控制策略,主马达为PID控制,从马达分别采用PID、自适应模糊PID和滑模变结构控制算法时系统的稳定性和刀盘转速的控制精度。仿真结果为:不同控制算法下马达开启过程转速的动态调整时间分别为5.5、3.0、2.7 s,稳态阶段两个液压马达的速度差分别为20、8、5 r/min;最后搭建试验台,以实测载荷谱为负载输入,进行主从马达转速同步控制试验,得到PID、自适应模糊PID和滑模变结构控制系统启动阶段转速的动态调整时间分别为6.3、4.6、3.7 s,稳态阶段主从马达的转速差分别为47、23、13 r/min;仿真与试验结果均表明,基于滑模变结构算法的刀盘转速同步控制系统的各项指标均优于PID和自适应模糊PID控制。研究结果可为甘蔗收割机根切器传动与控制系统的优化设计提供理论参考。

基于动态理论模型的电液伺服加载前馈补偿复合控制系统

针对一般电液伺服系统存在的非预期负载扰动和非线性干扰等问题,为了提高系统的自适应能力和动态响应的品质,减小系统跟踪和输出响应的误差,提出了一种基于动态理论模型的电液伺服加载前馈补偿复合控制方法。首先,阐释了电液伺服试验台的结构组成及其数学模型,分析了系统力矩控制和位置控制的结构关系;然后,论证了自适应前馈补偿复合控制的伺服原理,阐述了以调速理论模型和实际模型的误差函数作为调速依据的前馈补偿和复合控制的原理和方法;最后,进行了系统仿真,同时为了验证基于动态理论模型的自适应前馈补偿复合控制策略的合理性和有效性,对伺服系统进行了加载试验。研究结果表明:采用该复合控制策略可以精确算出对伺服马达进行转速补偿的基准值和调整参数,系统动态响应速度比采用传统闭环控制算法提高了8%以上;系统控制器自适应能力和抗扰动性能也明显优于采用传统PI闭环控制及模糊PI闭环控制算法的系统;通过对比分析0.2 Hz和0.5 Hz的正弦响应曲线可知,该系统的位置跟踪曲线性能最优,控制精度最高,实际输出值的误差也最小。

基于IPSO优化模糊PID的液压变速器转速控制

为了提高液压变速器转速跟踪能力,开发了一种改进粒子群(IPSO)优化模糊PID控制算法。利用Matlab/Simulink分析阶跃负载信号时响应性能差异性,在HMCVT段范围内完成无级调速的控制效果。研究结果表明:负载影响下,系统扰动幅值快速降低55rad/min。受系统闭环反馈影响,在0.1s内重新跟踪输入参数,可以使HMCVT泵控系统1s时间完成马达转速跟踪的功能。本次开发的HMCVT泵控系统可以满足马达转速的准确跟踪效果,具备低超调量、高鲁棒性等优点。

模糊自整定PID的液压马达驱动机床主轴速度控制研究

液压马达驱动机床主轴系统具有参数时变和高度非线性,传统PID控制器控制精度不高。针对液压马达驱动机床主轴系统速度控制问题,采用模糊自整定PID控制器实现液压马达驱动机床主轴系统的有效控制,并对控制效果进行仿真验证。构造了液压马达驱动机床主轴系统模型简图,建立了液压马达驱动机床主轴系统数学模型。对传统PID控制器参数,用模糊控制器进行实时整定,开发了模糊自整定PID控制器。最后,采用MATLAB对液压马达驱动机床主轴系统进行仿真。同时,与传统PID控制器的计算结果进行对比和分析。仿真结果显示:采用模糊自整定PID控制器的液压马达驱动机床主轴转速超调量小,具有更快的响应时间,跟踪精度高,同时系统能耗减少20%左右;即使受到较大随机干扰,模糊自整定PID控制器也能快速消除干扰,使机床主轴转速处于受控状态。采用模糊自整定PID控制器可以有效提高液压马达驱动机床主轴系统的动态稳定性以及抗干扰能力。

压缩空气储能发电频率特性分析

当前阶段,我国主要的电力来源是煤、石油和天然气这三种广泛使用的传统能源。未来,我国火电发电的量将在很长一段时间内保持下降的趋势,将会难以满足调峰以及调频的需求,因此,储能是解决电力供需平衡的有效手段。压缩空气储能是一种容量较大的储能技术,在压缩空气储能技术的背景下,研究了一种将液体作为驱动介质,利用高压压缩空气进行发电的方法。在系统中建立了压缩空气的热力学模型、液压马达的数学模型以及同步发电机的数学模型,并将这些模型在Simulink中进行仿真搭建,分析了储气罐压力和马达排量对于系统中马达转速的影响,并对这些参数进行设计选取,针对马达转速波动过大无法并网发电的问题,采取传统PID的方法来减小马达的转速波动,稳定系统的输出,保证发电机的平稳运行。

基于多目标遗传算法的屏蔽泵叶轮水力优化

为改善屏蔽泵叶轮综合水力性能,搭建了ANSYS-Workbench与iSIGHT联合优化平台,采用优化拉丁立方设计对叶片骨线、前后盖板及叶缘厚度等共28个备选参数进行敏感性分析.基于各参数对目标函数影响程度,确定叶片前盖板及骨线处等9个参数作为最终优化输入参数,选取Kriging代理模型与非支配排序遗传算法NSGA-Ⅱ对效率及扬程迭代寻优,最终依据不同权重分配给出2种叶片优化方案.通过数值模拟验证,优化方案1与方案2在额定工况下效率分别提升1.98%和2.83%,扬程分别提升15.73 m和13.39 m,运行区间水力外特性均有明显提升.研究结果表明:前盖板参数z 3对效率及扬程影响最大,分别达到-18.99%与-30.10%;使用Kriging代理模型的预测精度最高,总误差E 0值为3.393%;在0.83 Q BEP~1.12 Q BEP运行区间,方案1与方案2的扬程明显高于原方案,方案1在最优流量工况的优化效果最为显著,达13.89%.