Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhi...Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.展开更多
The hierarchical structure can significantly improve the diffusion efficiency of the catalyst and regulate the product distribution. Therefore, the preparation of hierarchical SAPO-34 molecular sieve has been a hot re...The hierarchical structure can significantly improve the diffusion efficiency of the catalyst and regulate the product distribution. Therefore, the preparation of hierarchical SAPO-34 molecular sieve has been a hot research topic. With Cetyltrimethyl Ammonium Bromide (CTAB) and Diethylamine (DEA) as templates, a two-step crystallization process was employed to synthesize hierarchical SAPO-34 molecular sieves. We found that the aging process is vital for the formation of pure phase SAPO-34. It was investigated the relationship of crystallinity trend and mesoporous content with the crystallization time. The results showed that the prolongation of crystallization time was beneficial to enhance the crystallinity of the molecular sieve, but unfavourable to the retention of mesoporous structure. The formation process of hierarchical SAPO-34 molecular sieve involved agglomeration, disintegration, crystallization, re-agglomeration and growth. The hierarchical SAPO-34 molecular sieve with a satisfactory crystallinity and considerable mesoporous structure could be obtained after 36 hours of crystallization. Moreover, the sample had the most suitable acid strength as well as acid amount. The catalytic activity was investigated by catalytic dimethyl ether (DME) to olefin (DTO) reaction. It revealed that the conversion of DME and the selectivity to olefins over the hierarchical SAPO-34 molecular sieve were significantly enhanced with comparison to that over microporous SAPO-34 molecular sieve. The amount of coke deposition of the hierarchical SAPO-34 molecular sieve (14.2%) was lower than that over the microporous molecular sieve (16.5%). Meanwhile, the propylene selectivity of hierarchical SAPO-34 was higher than that of microporous SAPO-34 in the whole reaction. In a word, the hierarchical SAPO-34 molecular sieve synthesized in this study showed a longer catalytic life, higher coke deposition resistance and higher propylene selectivity.展开更多
基金Supported by National Excellent Natural Science Foundation of China(Grant No.52122503)Hebei Provincial Natural Science Foundation of China(Grant No.E2022203002)+2 种基金The Yanzhao’s Young Scientist Project of China(Grant No.E2023203258)Science Research Project of Hebei Education Department of China(Grant No.BJK2022060)Hebei Provincial Graduate Innovation Funding Project of China(Grant No.CXZZSS2022129).
文摘Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.
文摘The hierarchical structure can significantly improve the diffusion efficiency of the catalyst and regulate the product distribution. Therefore, the preparation of hierarchical SAPO-34 molecular sieve has been a hot research topic. With Cetyltrimethyl Ammonium Bromide (CTAB) and Diethylamine (DEA) as templates, a two-step crystallization process was employed to synthesize hierarchical SAPO-34 molecular sieves. We found that the aging process is vital for the formation of pure phase SAPO-34. It was investigated the relationship of crystallinity trend and mesoporous content with the crystallization time. The results showed that the prolongation of crystallization time was beneficial to enhance the crystallinity of the molecular sieve, but unfavourable to the retention of mesoporous structure. The formation process of hierarchical SAPO-34 molecular sieve involved agglomeration, disintegration, crystallization, re-agglomeration and growth. The hierarchical SAPO-34 molecular sieve with a satisfactory crystallinity and considerable mesoporous structure could be obtained after 36 hours of crystallization. Moreover, the sample had the most suitable acid strength as well as acid amount. The catalytic activity was investigated by catalytic dimethyl ether (DME) to olefin (DTO) reaction. It revealed that the conversion of DME and the selectivity to olefins over the hierarchical SAPO-34 molecular sieve were significantly enhanced with comparison to that over microporous SAPO-34 molecular sieve. The amount of coke deposition of the hierarchical SAPO-34 molecular sieve (14.2%) was lower than that over the microporous molecular sieve (16.5%). Meanwhile, the propylene selectivity of hierarchical SAPO-34 was higher than that of microporous SAPO-34 in the whole reaction. In a word, the hierarchical SAPO-34 molecular sieve synthesized in this study showed a longer catalytic life, higher coke deposition resistance and higher propylene selectivity.
