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.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

LVP Modeling and Dynamic Characteristics Prediction of A Hydraulic Power Unit in Deep-Sea

A hydraulic power unit （HPU） is the driving ＂heart＂ of deep-sea working equipment. It is critical to predict its dynamic performances in deep-water before being immerged in the seawater, while the experimental tests by simulating deep-sea environment have many disadvantages, such as expensive cost, long test cycles, and difficult to achieve low-temperature simulation, which is only used as a supplementary means for confirmatory experiment. This paper proposes a novel theoretical approach based on the linear varying parameters （LVP） modeling to foresee the dynamic performances of the driving unit. Firstly, based on the varying environment features, dynamic expressions of the compressibility and viscosity of hydranlic oil are derived to reveal the fluid performances changing. Secondly, models of hydraulic system and electrical system are accomplished respectively through studying the control process and energy transfer, and then LVP models of the pressure and flow rate control is obtained through the electro-hydraulic models integration. Thirdly, dynamic characteristics of HPU are obtained by the model simulating within bounded closed sets of varying parameters. Finally, the developed HPU is tested in a deep-sea imitating hull, and the experimental results are well consistent with the theoretical analysis outcomes, which clearly declare that the LVP modeling is a rational way to foresee dynamic performances of HPU. The research approach and model analysis results can be applied to the predictions of working properties and product designs for other deep-sea hydraulic pump.

Permeability prediction using hydraulic flow units and electrofacies analysis

It is essential to characterize fluid flow in porous media to have a better understanding of petrophysical properties.Many approaches were developed to determine reservoir permeability among which the integrated analysis of hydraulic flow unit(HFU)and electrofacies(EF)is considered to be useful one.However,the application of HFU and EF analysis has not been totally understood with a limited data to develop correlation for less distance offset wells.In this study,an attempt was made to show the application of integrating HFU and EF for reliable estimation of permeability using core and wireline log data in one of the gas fields in Pakistan.The results obtained indicate that the integrated approach proposed in this study can be used,especially in less distance offset wells when a limited number of data are available for petrophysical characterization.

Hydrodynamic Assessment of A New Nature-Based Armour Unit on Rubble Mound Breakwater for Coastal Protection

This research proposes a novel nature-based design of a new concrete armour unit for the cover layer of a rubblemoundbreakwater. Armour units are versatile with respect to shape, orientation, surface condition details, and porosity.Therefore, a detailed analysis is required to investigate the exact state of their hydraulic interactions and structuralresponses. In this regard, the performance results of several traditional armour units, including the Antifer cube,Tetrapod, X-block and natural stone, are considered for the first step of this study. Then, the related observed resultsare compared with those obtained for a newly designed (artificial coral) armour unit. The research methodology utilizesthe common wave flume test procedure. Furthermore, several verified numerical models in OpenFOAM code areused to gain the extra required data. The proposed armour is configured to provide an effective shore protection as anenvironmental-friendly coastal structure. Thus it is designed with a main trunk including deep grooves to imitate thetypical geometry of a coral type configuration, so as to attain desirable performance. The observed results and ananalytic hierarchy process (AHP) concept are used to compare the hydraulic performance of the studied traditionaland newly proposed (artificial coral) armour units. The results indicate that the artificial coral armour unit demonstratesacceptable performance. The widely used traditional armour units might be replaced by newer designs for betterwave energy dissipation, and more importantly, for fewer adverse effects on the marine environment.

Permeability Prediction Using Hydraulic Flow Units: Baltim North Gas Field, Nile Delta, Egypt

168 core samples data of two production wells in the Baltim North field were used to identify the complex discrepancies in reservoir pore geometry which governing the Abu Madi reservoir fluid flow properties. Permeability prediction from well logs is significant goal when the core data is rarely available in most cases because of its expensive cost. The hydraulic flow unit approach was used to classify reservoir rocks according to its pore aperture size in the cored wells. The predicted permeability was calculated from core porosity and core permeability relationship for each flow unit. The difference between Neutron porosity and Density porosity was recognized to distinguish different hydraulic flow units. The higher difference indicates higher quality flow unit and vice versa. For model’s verification the predicted permeability was plotted against the laboratory measured permeability in all studied wells and shows highly matching.

Biomimetic Lightweight Design of Legged Robot Hydraulic Drive Unit Shell Inspired by Geometric Shape of Fish Bone Rib Structure

The lightweight design of hydraulic quadruped robots,especially the lightweight design of the leg joint Hydraulic Drive Unit(HDU),can improve the robot's response speed,motion speed,endurance,and load capacity.However,the lightweight design of HDU is a huge challenge due to the need for structural strength.This paper is inspired by the geometric shape of fish bones and biomimetic reinforcing ribs on the surface of the HDU shell are designed to increase its strength and reduce its weight.First,a HDU shell with biomimetic fish bone reinforcing ribs structure is proposed.Then,the MATLAB toolbox and ANSYS finite element analysis module are used to optimize the parameters of the biomimetic reinforcing ribs structure and the overall layout of the shell.Finally,the HDU shell is manufactured using additive manufacturing technology,and a performance testing platform is built to conduct dynamic and static performance tests on the designed HDU.The experimental results show that the HDU with biomimetic fish bone reinforcing ribs has excellent dynamic performance and better static performance than the prototype model,and the weight of the shell is reduced by 20%compared to the prototype model.This work has broad application prospects in the lightweight and high-strength design of closed-pressure vessel components.

Determination of the Aquifer and Its Hydraulic Parameters Using Vertical Electrical Sounding, Borehole Log Data and Borehole Water Conductivity: A Case Study of Olbanita Menengai Area, Nakuru, Kenya

Development of groundwater needs the capabilities to distinguish the different aquifer layers found in a region, and thereafter the parameters which can be used expressly to define the aquifer type. The past studies in the Olbanita sub-basin have accorded the area as having one aquifer, which has resulted into generalization of the aquifer parameters. The objective in this study is to map the main aquifer layer and determine its parameters. The use of modeled geoelectric layers from Vertical Electrical Sounding (VES) data has been used in the study area to distinguish the major aquifer from the minor ones. There is noted an excellent correlation between the geoelectric layers and the lithologies as outlined by the driller’s log clearly delineating four aquifer stratums. The main aquifer is identified to be geoelectric layer 11 and 12, defined by a thickness of 30.18 m mainly of tuffs, and 17.39 m mainly of weathered phonolites. Hydraulic conductivity of the main aquifer averages value of 17.16389314 m/day, in consideration of the ranges 0.248690465 m/day to 74.62681942 m/day for the 31 VES points. For the aquifer breadth of 30.18 m, the Transmissivity values vary from a minimum of 57.32119 Ωm2 to 53365.49 Ωm2 and for 47.57 m breadth, the range is between 11.83021 Ωm2 and 1390.921 Ωm2. The variance of longitudinal unit conductance shows that 63.15 percent of the aquifer represented by one lithology is having lowest values of S (-1), an indication that the resistivity values of these points are relatively high when compared to their corresponding breadths. Notably, where the geoelectric layer is represented by more than one lithologic layer, the longitudinal unit conductance has high values of S (~1.1 - 5.3 Ω-1) at about 83.33 percent of the aquifer, thus giving a manifestation that a change in lithology has an implication in the aquifer characteristics. The transverse resistance values have a direct proportionality to both the aquifer layer thickness and the geoelectric layer resistivities. Evidently, using the close range of resistivities record indicates that indeed transverse resistance increases with increase in aquifer thickness. For example, for resistivities 52.677 Ω, 54.78 Ω, 54.297 Ω, 57.819 Ω, and 51.85 Ω, for 30.18 m, 47.57 m, 136.35 m, 190.84 m, 277.93 m thicknesses respectively, have their correlated transverse resistances values notably rising incrementally, from 1589.7919 Ωm2, 2605.8846 Ωm2, 7403.396 Ωm2, and 11034.178 Ωm2 correspondingly. There is confirmation that the modeled VES data can help map aquifers despite the limited resources of borehole logs that can used as control points.

海上液压修井机承载模式优化及应用

液压修井机自从在国内海上平台用于修井以来,已经进行了多次作业。在作业过程中,如何提高液压修井机的抗风能力、安全快速高效地实现液压修井机在海上平台槽口间的转换,一直是一项重要的课题。通过对承载模式的创新,优化设计出了适用于渤海各采油平台的滑移导轨,承载模式由传统的井口承载优化成为滑移底座承载,增加了液压修井机的稳定性,提高了修井作业效率,降低了修井作业成本,是对液压修井作业模式的再一次创新。

梯级泵站事故停机输水明渠水力过渡过程研究

为解决梯级泵站系统因超负荷、大流量、高水位运行出现垮渠、跳闸停机等事故,而导致水力过渡过程中出现进水前池被抽干或漫顶等问题,以甘肃省景泰川电力提灌二期工程长距离输水明渠为研究对象,在多梯级泵站事故停机产生溢流的工况下,基于Realizable k-ε和VOF模型进行数值模拟计算,分析景电二期工程1#~7#干渠在调蓄系统作用下,不同渠长、坡降的水面线以及水力振荡分布规律。结果表明:泵站停机后水位出现升降交替的水力振荡现象,影响各泵站波峰水位高度不一致的主要原因是渠道坡降;不同参数特征的渠道壅水波运动的回溯距离不同,溢流堰上发生溢流的时间主要在第一次水位振荡过程中。

基于软注意力GRU模型的堆芯瞬态热工水力参数预测方法研究

反应堆在各种工况下堆芯瞬态热工水力参数预测的准确性,直接影响到反应堆的安全性。质量流量和温度作为堆芯热工水力的重要参数,二者常被建模为时间序列预测问题。研究旨在解决瞬时条件下堆芯热工水力参数连续预测的精度问题,检验基于注意力机制的门控循环单元在核心参数预测中的可行性。本文采用1/2中国实验快堆(China Experimental Fast Reactor,CEFR)为研究对象,使用快堆子通道程序SUBCHANFLOW生成瞬态堆芯热工水力参数的时间序列,采用基于软注意力的门控循环单元(Gated Recurrent Unit,GRU)模型预测堆芯的质量流量和温度时间序列。结果表明:相较于自适应径向基(Radial Basis Function,RBF)神经网络,本文使用的软注意力的GRU网络模型预测结果更好,温度在步长为3的情况下平均相对误差不超过0.5%,在15 s内预测效果较好;质量流量在步长为10的情况下平均相对误差不超过5%,且在后续12 s内预测效果较好。本文构建的模型不仅在连续预测过程中表现出更高的预测精度,且能捕捉到动态时间序列中的趋势特点,这对维护反应堆安全,有效防止核电厂事故有极大的用处。基于软注意力的GRU模型能在瞬态反应堆工况下提供一段时间的连续预测,在工程应用中和提高反应堆安全性上具有一定的参考价值。

水力机械空化实时检测技术研究

本文从空化现象的发生机理出发,开发出通过分析水力机械发生空化时辐射出的空化噪声时频特征的变化,判定水力机械空化发生及表征空化发生程度的实时检测技术。该技术已应用在包括贯流式、轴流式、混流式和水泵水轮机等水力机械型式的多个电站,具有安装便捷、安全可靠的特点,可以应用在水力机械优化运行和智慧机组建设等领域。

基于多传感器信息融合和CNN-BIGRU-Attention模型的液压防水阀故障诊断方法

在建筑工程领域,尤其是在工程搅拌设备中,涉及到复杂液压工作介质,液压防水阀往往会出现不同程度的故障。此外,恶劣的工作环境和复杂的噪声背景使得对液压防水阀的故障进行诊断变得困难。为了解决这一难题,提出了一种基于多传感器信息融合和卷积神经网络-双向门控循环单元-自注意力机制(CNN-BIGRU-Attention)模型的防水阀故障诊断方法。首先,考虑到单一传感器振动信号难以充分表达故障特征,该方法使用了3个传感器采集含噪声的振动信号,并进行了必要的预处理;其次,提取了信号的16个时域特征、5个频域特征以及3个时频域特征,并利用熵权法进行了特征融合,达到了增强特征的目的;然后,将融合的多维特征集输入到CNN-BIGRU-Attention模型中进行了特征识别;最后,利用实际的液压防水阀故障诊断实验,验证了该方法的有效性。研究结果表明:采用多传感器提取的特征更为全面,信息融合有助于捕捉更完整的隐藏数据特征,从而显著提高诊断的准确率;相较于其他特征识别方法,采用CNN-BIGRU-Attention模型的液压防水阀故障诊断准确率可分别提高6.7%、4.6%和14.2%,达到了96.86%,证明了该方法的有效性。该方法将先进的机器学习技术与实际工程应用相结合,为建筑工程问题提供了一种新颖、有效的解决方案。

关于高职“水力机组安装与检修”课程教学的思考

水能作为清洁能源,在助力“碳达峰,碳中和”实现过程中发挥着重要的作用。水力机组是水电站利用水能的核心部件,其安装与检修质量直接关系到水电站的长周期安全稳定运行与水能的利用效率。作为理论与实践衔接的重要教学课程,“水力机组安装与检修”旨在培养学生对水力机组机械设备安装的专业能力和素养,帮助学生毕业后快速融入工作岗位。以“水力机组零部件中心、水平和高程的测量与调整”为切入点,讲述了“水力机组安装与检修”课程的设计思路与方法,总结了相关教学和实践经验,以期为其他类似专业课程教学提供参考和借鉴。

连续相液压抽油机在采油工艺中的应用

针对常规游梁式抽油机在油井开采中出现的适应性不足问题,研究提出设计并研制了一种新型连续相液压抽油机。通过在准噶尔盆地不同区块中的应用,显示该连续相液压抽油机对油井开发具有明显优势。能够有效解决传统游梁式抽油机油井开采高能耗、调参困难等问题,可以有效控制开采过程的原油含水率,同时还能满足高泵效,性能安全可靠,具有良好的推广应用价值。

基于二通插装阀的液压系统标准控制单元设计与研究

工程机械中普遍采用液压传动系统,要求系统集成化程度高,密封性好,能量损失小。鉴于此,基于二通插装阀的液压系统标准控制单元进行设计与研究。建立了三通集成块,并验证了其可行性。采用2个标准控制单元控制液压系统,列举了标准控制单元的12种控制功能。同时,搭建了系统仿真模型,验证了标准控制单元控制液压系统的合理性。仿真结果表明:标准控制单元控制的回路可实现液压缸的快进和负负载流量再生功能,达到节能的目的。

可水力短路运行的三机式抽蓄机组研究综述

“双碳”发展目标的提出对电力系统中灵活调节电源的需求更为迫切。抽水蓄能电站作为当前电网中应用规模最大、技术最成熟的灵活调节电源,广泛使用的可逆式机组存在抽水工况功率不可调节的问题,限制了抽蓄电站的运行灵活性。研究证实采用三机式抽蓄机组水力短路运行可实现在抽水运行时的快速功率调节,更灵活的平衡间歇性清洁能源并网对电网的扰动,具备常规抽蓄机组所不具备的显著优势,是增强服务新型电力系统的有效手段。但具备水力短路运行模式的三机式机组在国内外仅有几个电站的应用示范,其研究在各国均处于起步阶段。我国仅有九十年代投产的羊湖电站采用了三机式机组,且由于多种原因一直未真正实现抽水调节运行。为提高新能源为主电网的灵活性,国外近年来加大了对三机式机组的研究和应用。为推动未来我国对三机式抽蓄机组的研究及应用,本文介绍了三机式机组的特点及国内外研究应用现状,对当前推动三机式机组技术应用面临的难题进行了梳理,提出了后续亟待解决的关键技术问题,可为后续开展相关研究提供参考。

超超临界机组液控蝶阀液压油站联锁控制回路优化

某2×1050 MW超超临界机组循环水液控蝶阀液压油站频繁发生因定值偏移造成的油泵误启停事故,对此进行液压原理分析和电气原理分析,明确存在的问题,并且提出联锁控制回路优化措施。通过优化,解决了超超临界机组液控蝶阀液压油站油泵误启停问题。

水利工程甲级质量检测单位“双随机、一公开”质量保证体系不健全问题剖析

2020 年—2022 年水利工程建设甲级质量检测单位“双随机、一公开”抽查工作中,“质量保证体系不健全”问题几乎逢查必中,并有逐年递增趋势。论文从相关规章条文要求入手,理清质量保证体系和管理体系概念,分析存在问题原因,规避“质量保证体系不健全”问题发生。

紫坪铺水电厂水轮机组接力器锁锭装置技术改造

接力器锁锭装置是水轮机接力器的一个重要部件,投入接力器锁锭装置常作为一项最重要的安全措施,在水轮发电机组检修过程中防止机组突然转动,以达到保障检修工作人员人身安全的目的。接力器锁锭装置的工作可靠性直接威胁检修人员的人身安全。笔者将从紫坪铺水电厂接力器锁锭装置的运行现状、存在缺陷等角度出发,积极研究对策,提出技术改造方案,解决锁锭装置连接管路渗油的问题,提高接力器锁锭装置的工作可靠性,有效保障检修人员的生命安全。