Fuzzy Feedback Control for Electro-Hydraulic Actuators

Electro-hydraulic actuators(EHA)have recently played a significant role in modern industrial applications,especially in systems requiring extremely high precision.This can be explained by EHA’s ability to precisely control the position and force through advanced sensors and innovative control algorithms.One of the promising approaches to improve control accuracy for EHA systems is applying classical to modern control algorithms,in which the proportional–inte-gral–derivative(PID)algorithm,fuzzy logic controller,and a hybrid of these methods are popular options.In this paper,we developed a novel version of the fuzzy control algorithm and linear feedback control method,namely fuzzy lin-ear feedback control,to improve the control performance.To achieve the highest performance,wefirst designed a mathematical EHA model based on the Matlab/Simulink software packages thanks to the selected parameters,which are similar to a real EHA system.Then,we respectively applied PID,fuzzy PID(FPID),and fuzzy linear feedback control(FLFC)before comparing them to have a full view of the outstanding advantages of the proposed algorithm.The simulation results showed that the proposed FLFC algorithm is approximately 99%and 77%super-ior in performance to the PID and feedback control algorithms,respectively.

基于Damper的方向盘抖动问题优化设计

方向盘是顾客使用频次较高的零部件,受发动机等振源影响,在某些工况下方向盘会出现抖动等让顾客感到不适的问题,本文浅析了某车型方向盘高速抖动的原因,在现有方向盘结构上优化设计,增加Damper吸振器,有效解决了方向盘抖动问题,提升了顾客舒适性。

Seismic control of multi-degrees-of-freedom structures by vertical mass isolation method using MR dampers

Vertical mass isolation(VMI)is one of the novel methods for the seismic control of structures.In this method,the entire structure is assumed to consist of two mass and stiffness subsystems,and an isolated layer is located among them.In this study,the magnetorheological damper in three modes:passive-off,passive-on,and semi-active mode with variable voltage between zero and 9 volts was used as an isolated layer between two subsystems.Multi-degrees-of-freedom structures with 5,10,and 15 floors in two dimensions were examined under 11 pairs of near field earthquakes.On each level,the displacement of MR dampers was taken into account.The responses of maximum displacement,maximum inter-story drift,and maximum base shear in controlled and uncontrolled buildings were compared to assess the suggested approach for seismic control of the structures.According to the results,the semi-active control method can reduce the response by more than 12%compared to the uncontrolled mode in terms of maximum displacement of the mass subsystem of the structures.This method can reduce more than 16%and 20%of the responses compared to the uncontrolled mode in terms of maximum inter-story drift and base shear of the structure,respectively.

Theoretical and Experimental Study on the Performance of Hermetic Diaphragm Squeeze Film Dampers for Gas-Lubricated Bearings

Low damping characteristics have always been a key sticking points in the development of gas bearings.The application of squeeze film dampers can significantly improve the damping performance of gas lubricated bearings.This paper proposed a novel hermetic diaphragm squeeze film damper(HDSFD)for oil-free turbomachinery supported by gas lubricated bearings.Several types of HDSFDs with symmetrical structure were proposed for good damping performance.By considering the compressibility of the damper fluid,based on hydraulic fluid mechanics theory,a dynamic model of HDSFDs under medium is proposed,which successfully reflects the frequency dependence of force coefficients.Based on the dynamic model,the effects of damper fluid viscosity,bulk modulus of damper fluid,thickness of damper fluid film and plunger thickness on the dynamic stiffness and damping of HDSFDs were analyzed.An experimental test rig was assembled and series of experimental studies on HDSFDs were conducted.The damper fluid transverse flow is added to the existing HDSFD concept,which aims to make the dynamic force coefficients independent of frequency.Although the force coefficient is still frequency dependent,the damping coefficient at high frequency excitation with damper fluid supply twice as that without damper fluid supply.The results serve as a benchmark for the calibration of analytical tools under development.

Vibration attenuation performance of wind turbine tower using a prestressed tuned mass damper under seismic excitation

With the rapid development of large megawatt wind turbines,the operation environment of wind turbine towers(WTTs)has become increasingly complex.In particular,seismic excitation can create a resonance response and cause excessive vibration of the WTT.To investigate the vibration attenuation performance of the WTT under seismic excitations,a novel passive vibration control device,called a prestressed tuned mass damper(PS-TMD),is presented in this study.First,a mathematical model is established based on structural dynamics under seismic excitation.Then,the mathematical analytical expression of the dynamic coefficient is deduced,and the parameter design method is obtained by system tuning optimization.Next,based on a theoretical analysis and parameter design,the numerical results showed that the PS-TMD was able to effectively mitigate the resonance under the harmonic basal acceleration.Finally,the time-history analysis method is used to verify the effectiveness of the traditional pendulum tuned mass damper(PTMD)and the novel PS-TMD device,and the results indicate that the vibration attenuation performance of the PS-TMD is better than the PTMD.In addition,the PS-TMD avoids the nonlinear effect due to the large oscillation angle,and has the potential to dissipate hysteretic energy under seismic excitation.

Development and Application of a Power Law Constitutive Model for Eddy Current Dampers

Eddy current dampers (ECDs) have emerged as highly desirable solutions for vibration control due to theirexceptional damping performance and durability. However, the existing constitutive models present challenges tothe widespread implementation of ECD technology, and there is limited availability of finite element analysis (FEA)software capable of accurately modeling the behavior of ECDs. This study addresses these issues by developing anewconstitutivemodel that is both easily understandable and user-friendly for FEAsoftware. By utilizing numericalresults obtained from electromagnetic FEA, a novel power law constitutive model is proposed to capture thenonlinear behavior of ECDs. The effectiveness of the power law constitutive model is validated throughmechanicalproperty tests and numerical seismic analysis. Furthermore, a detailed description of the application process ofthe power law constitutive model in ANSYS FEA software is provided. To facilitate the preliminary design ofECDs, an analytical derivation of energy dissipation and parameter optimization for ECDs under harmonicmotionis performed. The results demonstrate that the power law constitutive model serves as a viable alternative forconducting dynamic analysis using FEA and optimizing parameters for ECDs.

Parameters Optimization and Performance Evaluation of the Tuned Inerter Damper for the Seismic Protection of Adjacent Building Structures

In order to improve the seismic performance of adjacent buildings,two types of tuned inerter damper(TID)damping systems for adjacent buildings are proposed,which are composed of springs,inerter devices and dampers in serial or in parallel.The dynamic equations of TID adjacent building damping systems were derived,and the H2 norm criterion was used to optimize and adjust them,so that the system had the optimum damping performance under white noise random excitation.Taking TID frequency ratio and damping ratio as optimization parameters,the optimum analytical solutions of the displacement frequency response of the undamped structure under white noise excitation were obtained.The results showed that compared with the classic TMD,TID could obtain a better damping effect in the adjacent buildings.Comparing the TIDs composed of serial or parallel,it was found that the parallel TIDs had more significant advantages in controlling the peak displacement frequency response,while the H2 norm of the displacement frequency response of the damping system under the coupling of serial TID was smaller.Taking the adjacent building composed of two ten-story frame structures as an example,the displacement and energy collection time history analysis of the adjacent building coupled with the optimum design parameter TIDs were carried out.It was found that TID had a better damping effect in the full-time range compared with the classic TMD.This paper also studied the potential power of TID in adjacent buildings,which can be converted into available power resources during earthquakes.

PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

A proportional integral derivative （PID） controller is designed and attached to electro-hydraulic servo actuator system （EHSAS） to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters are optimized by the genetic algorithm （GA）. The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller.

RESEARCH ON THE ENERGY ECONOMIZATION OF ELECTRO-HYDRAULIC HAMMER

The research on the driving principle and economization of energy of electro-hydraulic hammer is discussed. By means of the balance chart of energy, the method and formulas to calculate every level efficiency and the total efficiency of steam drived hammer are formed.With the aid of actual data of plants,the actual efficiency of steam drived hammer is got. The working principle and the driving system of electro-hydraulic hammer are introduced. The procedure of energy energy of this hammer is analyzed. The utilization ratio of energy of this type of hammer is got. It is shown that the efficiency of electro-hydraulic hammer is 7 times as much as that of steam drived hammer.

Output Waveform Analysis of an Electro-hydraulic Vibrator Controlled by the Multiple Valves

The existing research of the electro-hydraulic vibrator mainly focuses on system stability, working frequency width and output waveform distortion. However, this high frequency performance of the electro-hydraulic vibrator is difficult to be improved greatly due to fast insufficiently frequency response of the servo valve itself and limited compensation capability of the control structure in the vibrator system. In this paper, to realize high frequency vibration, an improved two-dimensional valve （here within defined as a 2D valve） as a main control component is adopted to the parallel connection with a servo valve to control the electro-hydraulic vibrator, Because the output waveforms of this electro-hydraulic vibrator are incapable to be verified through timely feedback as in the conventional electro-hydraulic servo system, the analysis to the output waveform becomes crucial to the design and control of the electro-hydraulic vibrator. The mathematical models of hydraulic actuation mechanism and the orifice area of the parallel valves connection are established first. And then the vibration process is divided into two sections in terms of the direction of the flow, the analytical expression of the excited waveform is solved. Based on relationships exist between working states and the control parameters the analytical results, the vibration boundary positions and the are derived. Finally an experimental system was built to validate the theoretical analysis. It is verified that this electro-hydraulic vibration system could achieve high working frequency, up to 2 000 Hz. The excited waveform is similar to the sinnsoidal waveform. And the ascent and decent slopes of the waveforms are somewhat asymmetrical. This asymmetry is not only caused by the change of the direction of the elastic force but also dependent on the bias position of the vibration. Consequentky the distortion of effective working waveform is less tha~ 10%. This electro-hydraulic vibrator controlled by the multiple valves could not only greatly enhance the working frequency but also precisely control the vibration characteristic variables such as waveform shape.

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.

Separate Control of High Frequency Electro-hydraulic Vibration Exciter

The working frequency of the conventional electro-hydraulic vibration exciters,which consist of a servo valve and a hydraulic cylinder,is generally restricted within a narrow range due to limited frequency response capability of the servo valve itself.To counteract such restriction,a novel scheme for an electro-hydraulic vibrator,controlled by a two-dimensional valve（2D valve） and a bias valve in parallel,is therefore proposed.The frequency,amplitude and offset are independently controlled by rotary speed,axial sliding of the spool of the 2D valve and axial sliding of the spool of the bias valve.The principle of separate control was presented and the regulation approach of frequency,amplitude and offset was discussed.A mathematical model of the hydraulic power mechanism for the proposed vibration exciter was established to investigate the relationship between the amplitude and the axial sliding of the 2D valve＇ spool,as well as that between the offset and the axial sliding of the bias valve＇s spool at various frequencies.An experimental system was built to validate the theoretical analysis.It is verified that the 2D exciter is capable of working smoothly in a frequency range of 5- 200 Hz.And its frequency,amplitude and offset can be controlled respectively by either closed loop or open loop method.There is a linear relationship between the output amplitude and the spool axial opening of the 2D valve until a point when the flow rate becomes saturate and the amplitude remains constant.The offset displacement of the cylinder＇s piston is linearly proportional to the axial displacement of the spool of the bias valve,when the valve opening is less than 25%.Thereafter,the slop of the offset curve decreases and tends to saturate.The proposed electro-hydraulic vibration controlled by the 2D valve not only facilitates the realization of high-frequency electro-hydraulic vibration,the high-accuracy of vibration can also be achieved by means of independent controls to the frequency,amplitude and offset.

New Method to Improve Dynamic Stiffness of Electro-hydraulic Servo Systems

Most current researches working on improving stiffness focus on the application of control theories.But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated,so the control action is lagged.Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms.In this paper,the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed.On this basis,the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward.And a scheme using double servo valves to realize flow feedforward compensation is presented,in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time.The two valves are arranged in parallel to control the cylinder jointly.Furthermore,the model of flow compensation is derived,by which the product of the amplitude and width of the valve’s pulse command signal can be calculated.And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations.Using the proposed scheme,simulations and experiments at different positions with different force changes are conducted.The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time.That is,system dynamic load stiffness is evidently raised.This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

Present Status and Prospect of High-Frequency Electro-hydraulic Vibration Control Technology

Electro-hydraulic vibration equipment(EHVE)is widely used in vibration environment simulation tests,such as vehicles,weapons,ships,aerospace,nuclear industries and seismic waves replication,etc.,due to its large output power,displacement and thrust,as well as good workload adaptation and multi-controllable parameters.Based on the domestic and overseas development of high-frequency EHVE,dividing them into servo-valve controlled vibration equipment and rotary-valve controlled vibration equipment.The research status and progress of high-frequency electro-hydraulic vibration control technology(EHVCT)are discussed,from the perspective of vibration waveform control and vibration controller.The problems of current electro-hydraulic vibration system bandwidth and waveform distortion control,stability control,offset control and complex vibration waveform generation in high-frequency vibration conditions are pointed out.Combining the existing rotary-valve controlled high-frequency electro-hydraulic vibration method,a new twin-valve independently controlled high-frequency electro-hydraulic vibration method is proposed to break through the limitations of current electro-hydraulic vibration technology in terms of system frequency bandwidth and waveform distortion.The new method can realize independent adjustment and control of vibration waveform frequency,amplitude and offset under high-frequency vibration conditions,and provide a new idea for accurate simulation of high-frequency vibration waveform.

Disturbance observer based position tracking of electro-hydraulic actuator

A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.

Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

Friction characteristics of a new type of continuous rotary electro-hydraulic servomotor applied to simulator

The principle of a new type of no-pulsation continuous rotary electro-hydraulic servomotor applied to simulators is introduced. LuGre friction model was analyzed. The identification method of LuGre parameters was proposed, and the measures to compensate the effect of friction forces were given. A friction torque model for the new rotary motor was proposed. The low-speed response and step response of the motor were studied experimentally. Experimental results proved that using friction compensation could eliminate stick-slip motion at the low speed, which makes the servomotor applicable to simulators.

Characteristics Prediction Method of Electro-hydraulic Servo Valve Based on Rough Set and Adaptive Neuro-fuzzy Inference System

Synthesis characteristics of the electro-hydraulic servo valve are key factors to determine eligibility of the hydraulic production. Testing all synthesis characteristics of the electro-hydraulic servo valve after assembling leads to high repair rate and reject rate, so accurate prediction for the synthesis characteristics in the industrial production is particular important in decreasing the repair rate and the reject rate of the product. However, the research in forecasting synthesis characteristics of the electro-hydraulic servo valve is rare. In this work, a hybrid prediction method was proposed based on rough set（RS） and adaptive neuro-fuzzy inference system（ANFIS） in order to predict synthesis characteristics of electro-hydraulic servo valve. Since the geometric factors affecting the synthesis characteristics of the electro-hydraulic servo valve are from workers＇ experience, the inputs of the prediction method are uncertain. RS-based attributes reduction was used as the preprocessor, and then the exact geometric factors affecting the synthesis characteristics of the electro-hydraulic servo valve were obtained. On the basis of the exact geometric factors, ANFIS was used to build the final prediction model. A typical electro-hydraulic servo valve production was used to demonstrate the proposed prediction method. The prediction results showed that the proposed prediction method was more applicable than the artificial neural networks（ANN） in predicting the synthesis characteristics of electro-hydraulic servo valve, and the proposed prediction method was a powerful tool to predict synthesis characteristics of the electro-hydraulic servo valve. Moreover, with the use of the advantages of RS and ANFIS, the highly effective forecasting framework in this study can also be applied to other problems involving synthesis characteristics forecasting.

Water-Air Mixing Jet Produced by Electro-hydraulic Impulse Technology Strengthening the Quality of Surface of Metal Materials

Electro-hydraulic impulse water-air mixing jet by which the quality of metal materials can be improved is described in this paper. The experimental results proved that the hardness and the micro-hardness of the surface layer of metal materials can be improved with this method, for example, the microhardness of CrWMn can be increased by 35.62 percent.

Mechanism of electro-hydraulic exciter for new tamping device

A new tamping device which is driven by an electrohydraulic exciter was proposed to overcome the limitations of mechanically driven devices.The double-rod oscillation cylinder drives the tamping arm to realize vibration.A new spin valve was designed in order to fulfill dynamic state requirements of the oscillation cylinder.Parametric analysis was carried out by establishing mathematic model.Then,the relationships among the structure of valve port and the frequency,amplitude,output shock force of the cylinder were researched.An experimental device of the electrohydraulic exciter was established to validate the theoretical results.The signals were acquired by AVANT dynamic signal analyser of vibration.The results show that new tamping device can satisfy all kinds of complex working conditions with the flexible adjustment of frequency and amplitude.