Nonlinear Characteristic Analysis of Gas-Interconnected Quasi-Zero Stiffness Pneumatic Suspension System:A Theoretical and Experimental Study

Because of significantly changed load and complex and variable driving road conditions of commercial vehicles,pneumatic suspension with lower natural frequencies is widely used in commercial vehicle suspension system.How ever,traditional pneumatic suspension system is hardly to respond the greatly changed load of commercial vehicles To address this issue,a new Gas-Interconnected Quasi-Zero Stiffness Pneumatic Suspension(GIQZSPS)is presented in this paper to improve the vibration isolation performance of commercial vehicle suspension systems under frequent load changes.This new structure adds negative stiffness air chambers on traditional pneumatic suspension to reduce the natural frequency of the suspension.It can adapt to different loads and road conditions by adjusting the solenoid valves between the negative stiffness air chambers.Firstly,a nonlinear mechanical model including the dimensionless stiffness characteristic and interconnected pipeline model is derived for GIQZSPS system.By the nonlinear mechanical model of GIQZSPS system,the force transmissibility rate is chosen as the evaluation index to analyze characteristics.Furthermore,a testing bench simulating 1/4 GIQZSPS system is designed,and the testing analysis of the model validation and isolating performance is carried out.The results show that compared to traditional pneumatic suspension,the GIQZSPS designed in the article has a lower natural frequency.And the system can achieve better vibration isolation performance under different load states by switching the solenoid valves between air chambers.

Outcomes and variables that impact pneumatic retinopexies

●AIM:To evaluate the efficacy of pneumatic retinopexy(PR)in patients undergoing PR as primary treatment for rhegmatogenous retinal detachment(RRD)and analyze the factors associated with success and failure in the studied population.●METHODS:A retrospective chart review was done of patients with RRD treated with PR as primary management method treated at New York Eye and Ear Infirmary of Mount Sinai between January 2017 and December 2021.Primary outcome measured success or failure of PR.Secondary outcome measured best corrected visual acuity(BCVA)after PR.A separate risk analysis was done to identify and stratify risks associated with success and failure of PR.●RESULTS:A total of 179 eyes from 179 patients were included for final analysis.The 83 patients(46.37%)achieved anatomical reattachment of the retina after primary PR with no need for additional surgery.The 96 patients(53.63%)had a failed primary PR and required a PPV and 6 of them required pars plana vitrectomy(PPV)with scleral buckle(SB).In total,19 cases(10.61%)were done as temporizing pneumatics,18(94.74%)underwent PPV,and 1(5.26%)did not require further intervention.The visual acuities at postoperative month 1(POM1)for patients who underwent primary PR successfully and for those that underwent PPV after,were 0.58(20/80)and 1.03(20/200)respectively.Patients who met Pneumatic Retinopexy Versus Vitrectomy for the Management of Primary Rhegmatogenous Retinal Detachment Outcomes Randomized Trial(PIVOT)criteria had a statistically significant decreased risk of primary PR failing(hazard ratio 0.29,P=0.00).Majority of missed or new breaks were found superotemporally.●CONCLUSION:PR is a good treatment option for treating RRDs in patients that meet PIVOT criteria and can be conducted as a temporizing measure.PIVOT criteria and fovea on status decrease the risk of PR failure.

An Experimental Determination of the Supply and Exhaust Pressures in an Electro-Pneumatic Clutch Actuation System

Inlet and outlet orifices in an actuation chamber are sources through which the supply and exhaust pressures pass during the actuation process in clutch systems. They are key ingredients in an actuation chamber and are very phenomenal in heavy-duty vehicle operation. It is these pressures that initiate linear or rotary motions in drive systems. The pressure actions are processed in an enclosure termed an actuation chamber. Oftentimes, the forces or pressures produced in an actuation chamber are unknown and immeasurable owing to a lack of precise instruments to accomplish them. This challenge can only be approached via an improvised technique that requires experimentation. This is precisely what this presentation is all about. The knowledge of these parameters is important in the study of the actuation process in electro-pneumatic clutch systems of heavy-duty vehicles. The study was done with a Mercedes Benz Actros Truck Model MP 2, 2031 Actuator chamber. An empirical and analytical approach was adopted. Meter rule, Venire Callipers and Mass Spring Balance were deployed for the experiments. Piston coil or spring, clutch distance in the actuator, the cross-sectional diameter of the actuator, and displacement in the free lengths of the coils among others were measured. The results of the experiments were analysed and used to determine the values of the supply (inlet) and exhaust (outlet) pressures which results stood at 9.61 bars and 11.299 bars, respectively.

Modeling and Simulation of the Characteristics of Pneumatic Cushion Cylinders

The analysis of the characteristics of the cushion process of the pneumatic cushion cylinder is presented, and the nonlinear model of pneumatic cushion cylinders is built in the form of nonlinear differential equations. Besides, through the simulation of the pressure in the cushion chamber, the characteristics of the pneumatic cushion cylinder are obtained, which helps to understand the performance of the pneumatic cushion cylinder and improve or design the better cushion structure.

基于FluidSIM Pneumatics软件的气动及机电一体化设计

气压传动及机电一体化系统设计在现代机械设计中占有很重要的地位。介绍德国FESTO公司开发的FluidSIMPneumatics软件。对该软件的主要技术要求、功能以及气压传动与机电一体化系统的设计方法作了详细的介绍。它为学习者和工程技术人员提供了分析、研究、设计。

Study on Quality Improvement of Flue-cured Tobacco by Threshing and Pneumatic Separation

This study was conducted to further classify threshed strips, so as to broaden the usable range of raw material and facilitate the effective utilization of to- bacco resource. During the threshing and redwing process, various process param- eters including the rotating speeds of threshing drums of threshing machioe, draught fans and fling drums were scientifically and rationally set according to the actual quality of the raw material. According to the characteristic that strips with close in- herent quality have basically the same specific gravity and leaf thickness, the strips from each discharge hole were accurately evaluated, and classified, followed by redrying and packaging. The results showed that the threshing and separating pro- cedure could improve the separating effect and precision according to tobacco qual- ity, so as to satisfy the separation and classification requirements for tobacco.

A Kind of PWM Pneumatic Servo Control System——Modulation Methods and Dynamic Responses

Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.

基于FluidSIM-Pneumatics的检测设备气动控制分析

介绍了一种检验产品硬度的检测设备的气动控制技术,说明其结构和气动控制原理后利用FESTO软件FluidSIM-P设计和优化检测台的气动回路和PLC仿真控制。该检测设备制造后在汽车轮毂等零件的检测中取得了良好效果。实际检测效果与分析结果类似,从而减少了设计成本和时间,同时也为设备的机电一体化设计提供借鉴。

Flow characteristics and Shannon entropy analysis of dense-phase pneumatic conveying under high pressure

Experiments of dense-phase pneumatic conveying of pulverized coal using nitrogen are carded out in an experimental test facility with the conveying pressure up to 4. 0 MPa and the gas-solid ratio up to 450 kg/m^3. The influences of different conveying differential pressures, coal moisture contents, gas volume flow rates and superficial velocities on the solid-gas ratios are investigated. Shannon entropy analysis of pressure fluctuation time series is developed to reveal the flow characteristics. Through investigation of the distribution of the Shannon entropy under different conditions, the flow stability and the evolutional tendency of the Shannon entropy in different regimes and regime transition processes are discovered, and the relationship between the Shannon entropy and the flow regimes is also established. The results indicate that the solid-gas ratio and the Shannon entropy rise with the increase in conveying differential pressure. The solid-gas ratio and the Shannon entropy reveal preferable regularity with gas volume flow rates. The Shannon entropy is different for different flow regimes, and can be used to identify the flow regimes. Both mass flow rate and the Shannon entropy decrease with the increase in moisture contents. The Shannon entropy analysis is a feasible approach for researching the characteristics of flow regimes, flow stability and flow regime transitions in dense-phase pneumatic conveying under high pressure.

基于FluidSIM-Pneumatics的检测设备气动控制分析

介绍了一种检验产品硬度的检测设备的气动控制技术,说明其结构和气动控制原理后,利用德国FESTO软件FluidSIM-P设计和优化检测台的气动回路和PLC仿真控制。该检测设备制造后在汽车轮毂等零件的检测中取得了良好效果。实际检测效果与分析结果类似,从而减少了设计成本和时间,同时也为设备的机电一体化设计提供借鉴。

Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the indepen- dent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the sim- ulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

PILOT LEAKAGE'S INFLUENCES ON THE PERFORMANCES OF EXTRA HIGH PRESSURE PROPORTIONAL PNEUMATIC VALVE

A mathematic model is built up to analyze the influences of a pilot valve'sleakage on the performances of pneumatic pressure proportional valve, and the performances aresimulated by using MATLAB. The results indicate that using slide pilot valve in the valve system isfeasible, but the leakage's influences can not be neglected, especially it may induce instability ina low output pressure situation. A pilot valve using too large throttle window will cause the valveoscillate. To improve the working condition of pilot valve, a method adopting different widths oftwo throttle window is proposed. According to our simulation, this method balances the pressure dropbetween the two stage throttle ports, and reduces the influences of pilot valve's leakage.

Real Gas Effects on Charging and Discharging Processes of High Pressure Pneumatics

The high pressure pneumatic system has been applied to special industries. It may cause errors when we analyze high pressure pneumatics under ideal gas assumption. However, the real gas effect on the performances of high pressure pneumatics is seldom investigated. In this paper, the real gas effects on air enthalpy and internal energy are estimated firstly to study the real gas effect on the energy conversion. Under ideal gas assumption, enthalpy and internal energy are solely related to air temperature. The estimation result indicates that the pressure enthalpy and pressure internal energy of real pneumatic air obviously decrease the values of enthalpy and internal energy for high pressure pneumatics, and the values of pressure enthalpy and pressure internal energy are close. Based on the relationship among pressure, enthalpy and internal energy, the real gas effects on charging and discharging processes of high pressure pneumatics are estimated, which indicates that the real gas effect accelerates the temperature and pressure decreasing rates during discharging process, and decelerates their increasing rates during charging process. According to the above analysis, and for the inconvenience in building the simulation model for real gas and the difficulty of measuring the detail thermal capacities of pneumatics, a method to compensate the real gas effect under ideal gas assumption is proposed by modulating the thermal capacity of the pneumatic container in simulation. The experiments of switching expansion reduction （SER） for high pressure pneumatics are used to verify this compensating method. SER includes the discharging process of supply tanks and the charging process of expansion tank. The simulated and experimental results of SER are highly consistent. The proposed compensation method provides a convenient way to obtain more realistic simulation results for high pressure pneumatics.

Methods to Evaluate and Measure Power of Pneumatic System and Their Applications

Pneumatic system has been widely used throughout industry, and it consumes more than billions kW h of electricity one year all over the world. So as to improve the efficiency of pneumatic system, its power evaluation as well as measurement methods should be proposed, and their applicability should be validated. In this paper, firstly, power evaluation and measurement methods of pneumatic system were introduced for the first time. Secondly, based on the proposed methods, power distributions in pneumatic system was analyzed. Thirdly, through the analysis on pneumatic efficiencies of typical compressors and pneumatic components, the applicability of the proposed methods were validated. It can be concluded that, first of all, the proposed methods to evaluation and measurement the power of pneumatic system were efficient. Furthermore, the pneumatic power efficiencies of pneumatic system in the air production and cleaning procedure are respectively about 35%–75% and 85%–90%. Moreover, the pneumatic power efficiencies of pneumatic system in the transmission and consumption procedures are about 70%–85% and 10%–35%. And the total pneumatic power efficiency of pneumatic system is about 2%–20%, which varies largely with the system configuration. This paper provides a method to analyze and measure the power of pneumatic system, lay a foundation for the optimization and energy-saving design of pneumatic system.

Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System

With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking

Pressure induced stability: from pneumatic structures to Tensairity~

Structural stabilization by a pressurized fluid is very common in nature, however hardly found in technology. Car tires, hot air balloons, airships and airhouses are among the few technical exceptions, which are stabilized by a compressed medium, typically air. Restricted by simple geometries and a very limited load bearing capacity these pneumatic structures could succeed only in very specialized applications. Nevertheless, prospective concepts ag has systematically investigated pneumatic structures during the last few years. As a major result, it was demonstrated that almost any shape can be made with pneumatic structures and that astonishing structures such as the pneumatic airplane Stingray can be realized even with low air pressure. On top of that, Airlight Ltd. in close collaboration with prospective concepts ag has recently developed the fundamental new structural concept Tensairity. The synergetic combination of an inflated structure with conventional structural elements such as cables and struts yields pneumatic light-weight structures with the load bearing capacity of steel girders. Thus, complex forms and high strength open up many new opportunities for pressure induced stability in technology. An overview of these recent developments is presented and the close relationship of pneumatic structures with biology is outlined.

Dynamic Analysis and Optimization of Pneumatic Wedge-Shaped Launcher for UAV

The constitution,structure,working principle and launching process of the wedge-shaped pneumatic launcher of an unmanned aerial vehicle(UAV)are described.By simplifying its physical model,two dynamic models of the UAV launch system are established based on Lagrange equation and MSC.ADAMS,respectively.The curves of the acceleration and the velocity of UAV changing with time are obtained.The simulation results are compared with the experimental results to verify the correctness of the model.Then,the influence of the parameters on the launch is explored.Finally,the system is optimized.The maximum overload and the acceleration fluctuation are reduced.

Fuzzy Torque Control of the Bionic Flexible Manipulator Actuated by Pneumatic Muscle Actuators

A bionic flexible manipulator driven by pneumatic muscle actuator(PMA)can better reflect the flexibility of the mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic manipulator system.Compared with traditional electro-hydraulic actuators,the structure of PMA is simple but possesses strong nonlinearity and flexibility,which leads to the difficulty in improving the control accuracy.In this paper,the configuration design of a bionic flexible manipulator is performed by human physiological map,the kinematic model of the mechanism is established,and the dynamics is analyzed by Lagrange method.A fuzzy torque control algorithm is designed based on the computed torque method,where the fuzzy control theory is applied.The hardware experimental system is established.Through the co-simulation contrast test on MATLAB and ADAMS,it is found that the fuzzy torque control algorithm has better tracking performance and higher tracking accuracy than the computed torque method,and is applied to the entity control test.The experimental results show that the fuzzy torque algorithm can better control the trajectory tracking movement of the bionic flexible manipulator.This research proposes a fuzzy torque control algorithm which can compensate the error more effectively,and possesses the preferred trajectory tracking performance.

Experimental Research of Force Feedback Dataglove Based on Pneumatic Artificial Muscle

Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information between computer and operator. The exoskeleton force feedback dataglove is designed taking the pneumatic artificial muscle as actuator, meanwhile, its structure and work principle are introduced, and the force control problem is analyzed and researched by experiment. The mathematic model of grasping rigid object for finger is established. Considering the friction of tendon-sheath system and finger deformation, the closed-loop force control for a single joint, a single finger and multi-fingers are studied respectively by the feedforward proportional-integral（PI） control method with variable arguments. On the premise of the force smoothness, the control error of the force exerted on the finger joint is in the range of ±0.25 N, which meets the requirement of force feedback. By experimental analysis, the reason of force fluctuation is that the finger joint has a small amplitude quiver, and the consistent change tendency of the force between proximal interphalangeal（PIP） joint and distal interphalangeal（DIP） joint results from their angle coupling relationship.

NOVEL 6-DOF WEARABLE EXOSKELETON ARM WITH PNEUMATIC FORCE-FEEDBACK FOR BILATERAL TELEOPERATION

A particular emphasis is put on a novel wearable exoskeleton arm, ZJUESA, with 6 degrees of freedom, which is used for the robot teleoperation with the force-feedback in the unknown environment. In this external structure mechanism, the 3-revolution-prismatic-spherical （3RPS） parallel mechanism is devised from the concept of the human upper-limb anatomy and applied for the shoulder 3-DOF joint. Meanwhile, the orthogonal experiment design method is introduced for its optimal design. Aiming at enhancing the performance of teleoperation, the force feedback is employed by the pneumatic system on ZJUESA to produce the vivid feeling in addition to the soft control interface. Due to the compressibility and nonlinearity of the pneumatic force feedback system, a novel hybrid fuzzy controller for the precise force control is proposed and realized based on the Mega8 microcontroller units as the units of the distributed control system on ZJUESA. With the results of several experiments for master-slave control with force feedback, the feasibility of ZJUESA system and the effect of its hybrid fuzzy controller are verified.