金属带式无级变速器电-液控制系统的研究

本文分析研究了金属带式无级变速器的控制原理和控制方法,设计了用于研究无级变速器匹配规律的试验系统。通过对几种典型工况的性能试验测试的结果表明,所设计的电-液控制系统能够满足无级变速器的控制要求。

基于PLC的链传动钻机智能电-气液控制系统

链传动钻机智能电-气液控制系统以PLC为控制核心,系统通过程序实现钻机控制的各种逻辑功能,实时检测诊断、显示和故障处理等功能,加以合理的系统组成和高性能的电、气、液元件的选择,使得智能电-气液控制系统与传统的控制系统比较,具有更高的灵敏度、可靠性和先进性,系统容易操作和维护,更加易于适应钻机野外油气钻井环境恶劣和流动作业的工况需要。智能电-气液控制系统已成功应用于油田各类链传动钻机中。

压延机电──液卷绕张力控制系统

本文阐述了一个用于橡胶生产行业的压延机电一液卷绕张力控制系统。介绍了系统的控制原理和组成，分析了系统的控制特点。建立了系统的各环节的数学模型，该系统适用于橡胶、纺织及一些带状产品生产要求张力控制的设备上，对实现生产的高速化，大卷装有一定的实际意义。

四行程发动机电─液控制配气系统的研究

文章在分析传统配气机构固有缺陷的基础上提出了一种全新的方案即电－液控制配气系统，该系统由计算机根据发动机工况的要求控制一套液压装置来驱动气门；使之按一定的次序即时、准确地开启和关闭，配气相位完全由发动机工况决定并能随工况的变化而进行相应的调整，使配气相位始终处于与工况相适应的最佳状态，从而提高发动机的性能．

大口径油气管材管内液压冷弯机系统设计

为提高大口径X70油气管材冷弯效率及对管道外层已进行防腐处理的管材弯曲加工的方便性,依照大口径油气管材的弯曲性能参数,设计一种管内液压冷弯加工设备。根据液压内弯设备工作时所要完成的动作和加工性能,完成机械结构和电-液控制系统设计,管内液压冷弯设备结合PLC控制以及相应传感器实时采集数据进行弯曲加工。该套液压冷弯设备采用台达触摸屏进行人机交互,可实现加工数据实时显示,界面操作简单、系统运行平稳。测试结果表明:加工结果可达到油气管材角度加工标准,总误差小于相关标准所规定的±0.2°。

挖掘机液压系统的现状与前景研究

挖掘机作为我国工程机械的主力机种,被广泛应用于各种各样的施工作业中。挖掘机产品的核心技术就是液压系统设计。介绍了国内外挖掘机液压系统研究领域近年来的概况以及发展前景,为相关领域的研究和工程应用提供参考。

DEH系统调速汽门卡涩故障分析及对策

介绍了汽轮机数字式电-液控制系统(DEH)的结构及工作原理,针对新疆华电红雁池发电有限责任公司200MW机组DEH系统在运行过程中出现调门卡涩的问题,提出了自动主汽门和高、中压调速汽门检修中应注意的问题及预防卡涩的措施。

Improved control of intelligent excavator using proportional-integral-plus gain scheduling

Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.

Fuzzy iterative learning control of electro-hydraulic servo system for SRM direct-drive volume control hydraulic press

A new kind of volume control hydraulic press that combines the advantages of both hydraulic and SRM(switched reluctance motor) driving technology is developed.Considering that the serious dead zone and time-variant nonlinearity exist in the volume control electro-hydraulic servo system,the ILC(iterative learning control) method is applied to tracking the displacement curve of the hydraulic press slider.In order to improve the convergence speed and precision of ILC,a fuzzy ILC algorithm that utilizes the fuzzy strategy to adaptively adjust the iterative learning gains is put forward.The simulation and experimental researches are carried out to investigate the convergence speed and precision of the fuzzy ILC for hydraulic press slider position tracking.The results show that the fuzzy ILC can raise the iterative learning speed enormously,and realize the tracking control of slider displacement curve with rapid response speed and high control precision.In experiment,the maximum tracking error 0.02 V is achieved through 12 iterations only.

Dynamic characteristics of hydraulic power steering system with accumulator in load-haul-dump vehicle

Using hydraulic power steering system of model EIMCO 922 load-haul-dump vehicle as a simulation example, the dynamic characteristics of hydraulic power steering system in load-haul-dump vehicle were simulated and discussed with SIMULINK software and hydraulic control theory. The results show that the dynamic characteristics of hydraulic power steering system are improved obviously by using bladder accumulator, the hydraulic power steering system of model EIMCO 922 load-haul-dump vehicle generates vibration at the initial stage under the normal steering condition of pulse input, and its static response time is 0.25 s shorter than that without bladder accumulator. Under the normal steering working condition, the capacity of steering accumulator for absorbing pulse is directly proportional to the cross section area of connecting pipeline, and inversely proportional to the length of connecting pipeline. At the same time, the precharge pressure of nitrogen in steering accumulator should be 60%80% of the rated minimum working pressure of hydraulic power steering system. Under the abnormal steering working condition, the steering cylinder piston may obtain higher motion velocity, and the dynamic response velocity of hydraulic power steering system can be increased by reducing the pressure drop of hydraulic pipelines between the accumulator and steering cylinder and by increasing the rated pressure of hydraulic power steering system, but the dynamic characteristics of hydraulic power steering system in load-haul-dump vehicle have nothing to do with the precharge pressure of nitrogen in steering accumulator.

Amplitude phase control for electro-hydraulic servo system based on normalized least-mean-square adaptive filtering algorithm

The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering algorithm.The command input was corrected by weights to generate the desired input for the algorithm,and the feedback was brought into the feedback correction,whose output was the weighted feedback.The weights of the normalized LMS adaptive filtering algorithm were updated on-line according to the estimation error between the desired input and the weighted feedback.Thus,the updated weights were copied to the input correction.The estimation error was forced to zero by the normalized LMS adaptive filtering algorithm such that the weighted feedback was equal to the desired input,making the feedback track the command.The above concept was used as a basis for the development of amplitude phase control.The method has good real-time performance without estimating the system model.The simulation and experiment results show that the proposed amplitude phase control can efficiently cancel the amplitude attenuation and phase delay with high precision.

Delay Compensation Observer with Sliding Mode Controller for Rotary Electro-hydraulic Servo System

The hip’s lower limb exoskeleton essential and most important function is to support human’s payload as well as to enhance and assist human’s motion. It utilizes an electro-hydraulic servo manipulator which is required to achieve precise trajectory tracking and positioning operations. Nevertheless,these tasks require precise and robust control,which is very difficult to attain due to the inherent nonlinear dynamic behavior of the electro-hydraulic system caused by flow-pressure characteristics and fluid volume control variations of the servo valve. The sliding mode controller(SMC)is a widely used nonlinear robust controller,yet uncertainties and delay in the output degrade the closed-loop system performance and cause system instability. This work proposes a robust controller scheme that counts for the output delay and the inherent parameter uncertainties. Namely,a sliding mode controller enhanced by time-delay compensating observer for a typical electro-hydraulic servo system is adapted. SMC is utilized for its robustness against servo system parameters’ uncertainty whereas a time-delay observer estimates the variable states of the controller(velocity and acceleration). The main contribution of this paper is improving on the closed loop performance of the electro hydraulic servo system and mitigating the delay time effects. Simulation results prove the robustness of this controller,which forces the position to track the desired path regardless of the changes of the amount of transport delay of the system’s states. The performance of the proposed controller is validated by repeating the simulation analysis while varying the amount of delay time.

Synchronization control for electro-hydraulic dual-cylinder system based on force/position switching

If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme： the master - master ＋ force/position switching control and the master - slave ＋ force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per-

Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation

This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop(HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.

Applicahon of a Simplified Model Reference Adaptive Algorithm

The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector SMRAC are derived. Computer simulations of the algorithms are presented. Experimental results prove that the method of control adopted here perform satisfactorily over a wide range of operating conditions.

Self Adjusting Feedforward Compensation Tracking Control for Proportional Valve Controlled Motor

Aim Aiming at the position tracking control for valve controlled motor electrohydraulic proportional servo systems mainly driving the static load torque, the tracking performance was studied in the presence of the variable gain and deadzone. Methods On the basis of conventional composite control with the deadzone compensation method, a comprehensive control approach with the deadzone and self adjusting feedforward compensation was proposed. Results Experimental results showed that the good tracking performance was achieved for the sinusoidal and constant velocity position tracking under a wide variations of load torque. Conclusion The position tracking accuracy for valve controlled motor electrohydraulic proportional servo systems has been solved by using the comprehensive control approach with the deadzone and self adjusting feedforward compensation.

Application of Fuzzy Modification Strategy in MRAC

Based on a simplified model reference adaptive control(SMRAC) algorithm a parameter modification algorithm according to fuzzy laws is proposed in this paper. The method makes the adaptive parameters in SMRAC only rely on the status of performance error. Thus it eliminates the influences of gain coefficients in SMRAC and the amplitude of input signal on the dynamic characteristics. Experiments on various step amplitudes and loads show that the performances of SMRAC are improved by incorporating fuzzy modification method.

Precision Point to Point Control of Proportional Valve Controlled Motor with a Time Varying Load

Aim In accordance with the positioning control for valve controlled motor electrohydraulic proportional servo systems driving the static load torque, the positioning performance was studied in the presence of the time? varying deadzone and gain. Methods The large positioning errors caused by the time varying deadzone were significantly reduced by using the dynamic compensation method for the deadzone; and the large overshoot caused by the time varying gain were dramatically reduced by using the three section intelligent control schemes. Results Experimental results demonstrated that the positioning performance of rapid response, high accuracy and smaller or even no overshoot was achieved under a wide variations of load torque. Conclusion The good positioning performance for valve controlled motor servo systems has been achieved in the presence of the time varying deadzone and gain.

An Experimental Study on Microcomputer Control of Pump Controlled Motor Systems

Pump controlled motor electrohydraulic servo systems are much used in circumstances where high power drive is needed. This kind of system has the advantage of energy-saving. But, it also has some defects that have to be improved. Microcomputer control of a pump controlled motor electrohydraulic servo system is studied. A PID controller is first adopted on the closed loop control system, and experimental results are obtained. Then, a model reference adaptive controller is designed and realised on the same system applying a single board microcomputer. Experimental results show that the dynamic properties of the adaptive control system is much better than those of the PID system under different inertia load conditions.

Fuzzy Sliding Mode Control for a Discrete Servo System

A discrete fuzzy sliding mode variable structure controller was studied and designed for a class of electro-hydraulic servo system by means of the combination of sliding mode control theory and fuzzy control theory. Designed based on the exponential reaching law, paratmter e of conventional sliding mode controller is the key factor of system chattering, and is ~onal to it as well. In view of this, fuzzy control theory was introduced into the design to ensure the real- time adjusting of parameter e. Sinmlation results show that the sys tem chattering is eliminated perfectly, and the dynamic performance of the control system is improved effectively.