Aquila Optimizer(AO)is a recently proposed population-based optimization technique inspired by Aquila’s behavior in catching prey.AO is applied in various applications and its numerous variants were proposed in the l...Aquila Optimizer(AO)is a recently proposed population-based optimization technique inspired by Aquila’s behavior in catching prey.AO is applied in various applications and its numerous variants were proposed in the literature.However,chaos theory has not been extensively investigated in AO.Moreover,it is still not applied in the parameter estimation of electro-hydraulic systems.In this work,ten well-defined chaotic maps were integrated into a narrowed exploitation of AO for the development of a robust chaotic optimization technique.An extensive investigation of twenty-three mathematical benchmarks and ten IEEE Congress on Evolutionary Computation(CEC)functions shows that chaotic Aquila optimization techniques perform better than the baseline technique.The investigation is further conducted on parameter estimation of an electro-hydraulic control system,which is performed on various noise levels and shows that the proposed chaotic AO with Piecewise map(CAO6)achieves the best fitness values of and at noise levels and respectively.Friedman test 2.873E-05,1.014E-04,8.728E-031.300E-03,1.300E-02,1.300E-01,for repeated measures,computational analysis,and Taguchi test reflect the superiority of CAO6 against the state of the arts,demonstrating its potential for addressing various engineering optimization problems.However,the sensitivity to parameter tuning may limit its direct application to complex optimization scenarios.展开更多
This research presents an advanced study on the modeling and stability analysis of electro-hydraulic control modules used in intelligent chassis systems.Firstly,a comprehensive nonlinear mathematical model of the elec...This research presents an advanced study on the modeling and stability analysis of electro-hydraulic control modules used in intelligent chassis systems.Firstly,a comprehensive nonlinear mathematical model of the electro-hydraulic power-shift system is developed,incorporating pipeline characteristics through impedance analysis and examining coupling effects between the pilot solenoid valve,main valve,and pipeline.Then,the model’s accuracy is validated through experimental testing,demonstrating high precision and minimal model errors.A comparative analysis between simulation data(both with and without pipeline characteristics)and experimental results reveals that the model considering pipeline parameters aligns more closely with experimental data,highlighting its superior accuracy.The research further explores the influence of key factors on system stability,including damping coefficient,feedback cavity orifice diameter,spring stiffness,pipeline length,and pipeline diameter.Significant findings include the critical impact of damping coefficient,orifice diameter,and pipeline length on stability,while spring stiffness has a minimal effect.These findings provide valuable insights for optimizing electro-hydraulic control modules in intelligent chassis systems,with practical implications for automotive and construction machinery applications.展开更多
Hydraulic-electric systems are widely utilized in various applications.However,over time,these systems may encounter random faults such as loose cables,ambient environmental noise,or sensor aging,leading to inaccurate...Hydraulic-electric systems are widely utilized in various applications.However,over time,these systems may encounter random faults such as loose cables,ambient environmental noise,or sensor aging,leading to inaccurate sensor readings.These faults may result in system instability or compromise safety.In this paper,we propose a fault compensation control system to mitigate the effects of sensor faults and ensure system safety.Specifically,we utilize the pressure sensor within the system to implement the control process and evaluate performance based on the piston position.First,we develop a mathematical model to identify optimal parameters for the fault estimation model based on the Lyapunov stability principle.Next,we design an unknown input observer that estimates the state vector and detects pressure sensor faults using a linear matrix inequality optimization algorithm.The estimated pressure faults are incorporated into the fault compensation control system to counteract their effects via a fault residual coefficient.The discrepancy between the feedback state and the estimated state determines this coefficient.We assess the piston position’s performance through pressure control to evaluate the proposed model’s effectiveness.Finally,the system simulation results are analyzed to validate the efficiency of the proposed model.When a pressure sensor fault occurs,the proposed approach effectively minimizes position control errors,enhancing overall system stability.When a pressure sensor fault occurs,the proposed model compensates for the fault to mitigate the impact of pressure problem,thereby enhancing the position control quality of the EHA system.The fault compensation method ensures over 90%system performance,with its effectiveness becoming more evident under pressure sensor faults.展开更多
Magnetization convenience is crucial consideration for design of valve magnetic actuators.The existing repulsive-magnetic-coupling of 2D maglev valve is not oriented to the integral-magnetization-processes,resulting i...Magnetization convenience is crucial consideration for design of valve magnetic actuators.The existing repulsive-magnetic-coupling of 2D maglev valve is not oriented to the integral-magnetization-processes,resulting in the high assembly cost.This paper presents a novel tractive-magnetic-coupling(TMC)and its application on a 2D electro-hydraulic proportional flow valve(2D-EHPFV),whose configuration not only fulfill the requirements of 2D valve,but also oriented to integral-magnetization-process.To investigate the output torque of TMC,a detailed analytical model considering leakage flux,edge effect and tooth magnetic saturation is formulated based on the equivalent magnetic circuit method.To facilitate the magnetic saturation calculation,a special magnetic permeability database is established for tooth region of TMC using Ansoft/Maxwell software.Prototype of TMC is machined and an exclusive experimental platform is built.Torque-displacement characteristics under different working airgap and tooth number are measured.The experimental results are in good agreement with the analytical results,which verifies the correctness of the analytical model.Then the TMC is integrated into the 2D-EHPFV by replacing the repulsive-magnetic-coupling.Prototype of 2D-EHPFV is designed and manufactured to test the no-load flow characteristics,load flow characteristics,leakage characteristics,frequency characteristics and step response.Under working pressure of 15 MPa,the maximum no-load flow rate is 82.2 L/min with the hysteresis of 2.6%,and the amplitude and phase frequency width is 21.6 Hz,and 28.9 Hz.The detailed experimental results show that TMC can be applied to 2D valves to form 2D-EHPFV,which can reduce hysteresis and cost,and improve response speed.展开更多
The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular gro...The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular groove and U-groove structure is established firstly,and the structure size of the two buffer grooves with better pressure drop effect is obtained by Matlab.Secondly,an established pressure gradient model is developed for the sealed canisters for electric motors using a combined groove structure.The bird swarm optimization algorithm is used to obtain the optimal dimensions for the combined depth and angle of the pressure groove.The flow field in the motor seal chamber is simulated and calculated by Fluent.This study compared the pressure field distributions in the motors sealing chamber using triangular and combined groove structures.It investigated the combined grooves effect on the pressure impact during the commutation of a continuously rotating electro-hydraulic servo motor.It is found that the combined groove structure has a positive impact on reducing the pressure impact.The results indicate that the combined groove structure significantly enhances the efficiency of mitigating pressure shocks when the motor switches between high-and low-pressure chambers.展开更多
An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rot...An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.展开更多
The current research of master cylinder pressure estimation mainly relies on hydraulic characteristic or vehicle dynamics.But they are not independently applicable to any environment and have their own scope of applic...The current research of master cylinder pressure estimation mainly relies on hydraulic characteristic or vehicle dynamics.But they are not independently applicable to any environment and have their own scope of application.In addition,about the master cylinder pressure control,there are few studies that can simultaneously balance pressure building accuracy,speed,and prevent pressure overshoot and jitter.In this paper,an adaptative fusion method based on electro-hydraulic characteristic and vehicle mode is proposed to estimate the master cylinder pressure.The fusion strategy is mainly based on the prediction performance of two algorithms under different vehicle speeds,pressures,and ABS states.Apart from this,this article also includes real-time prediction of the friction model based on RLS to improve the accuracy of the electro-hydraulic mode.In order to simultaneously balance pressure control accuracy,response speed,and prevent overshoot and jitter,this article proposes an adaptative LQR controller for MC pressure control which uses fuzzy-logic controller to adjust the weights of LQR controller based on target pressure and difference compared with actual pressure.Through mode-in-loop and hardware-in-loop tests in ramp,step and sinusoidal response,the whole estimation and control system is verified based on real hydraulic system and the performance is satisfactory under these scenes.This research proposes an adaptative pressure estimation and control architecture for integrated electro-hydraulic brake system which could eliminate pressure sensors in typical scenarios and ensure the comprehensive performance of pressure control.展开更多
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 surf...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.展开更多
Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear paramete...Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coefficient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus P1D controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved.展开更多
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 ...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.展开更多
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 vibrat...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 2000 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.展开更多
This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraul...This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraulic load simulator. As the general Stribeck friction model has little related to static friction, it proposes a ＂torque-zero velocity＂ switcher, in which a zero-velocity controller is developed to load the static friction and a torque controller the kinetic friction. With the help of mathematical modeling, this article designs a ＂torque-zero velocity＂ switching controller and, correspondingly, provides a ＂dual-threshold judgment＂ algorithm. Simulation results indicate that the proposed method can be successfully used to carry out the static and kinetic friction simulation with an electro-hydraulic load simulator.展开更多
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 no...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.展开更多
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 ca...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.展开更多
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 outpu...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.展开更多
This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator （EHLS）. The tracking performance of the EHLS is mainly limited by the actuator＇s motion disturbance, flow nonlinearity...This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator （EHLS）. The tracking performance of the EHLS is mainly limited by the actuator＇s motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator＇s disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The developed algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method.展开更多
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...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.展开更多
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 param...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.展开更多
The position control system of an electro-hydraulic actuator system （EHAS） is investigated in this paper. The EHAS is developed by taking into consideration the nonlinearities of the system： the friction and the in...The position control system of an electro-hydraulic actuator system （EHAS） is investigated in this paper. The EHAS is developed by taking into consideration the nonlinearities of the system： the friction and the internal leakage. A variable load that simulates a realistic load in robotic excavator is taken as the trajectory reference. A method of control strategy that is implemented by employing a fuzzy logic controller （FLC） whose parameters are optimized using particle swarm optimization （PSO） is proposed. The scaling factors of the fuzzy inference system are tuned to obtain the optimal values which yield the best system performance. The simulation results show that the FLC is able to track the trajectory reference accurately for a range of values of orifice opening. Beyond that range, the orifice opening may introduce chattering, which the FLC alone is not sufficient to overcome. The PSO optimized FLC can reduce the chattering significantly. This result justifies the implementation of the proposed method in position control of EHAS.展开更多
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 ...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.展开更多
基金funded by Taif University,Saudi Arabia,Project No.(TU-DSPP-2024-52).
文摘Aquila Optimizer(AO)is a recently proposed population-based optimization technique inspired by Aquila’s behavior in catching prey.AO is applied in various applications and its numerous variants were proposed in the literature.However,chaos theory has not been extensively investigated in AO.Moreover,it is still not applied in the parameter estimation of electro-hydraulic systems.In this work,ten well-defined chaotic maps were integrated into a narrowed exploitation of AO for the development of a robust chaotic optimization technique.An extensive investigation of twenty-three mathematical benchmarks and ten IEEE Congress on Evolutionary Computation(CEC)functions shows that chaotic Aquila optimization techniques perform better than the baseline technique.The investigation is further conducted on parameter estimation of an electro-hydraulic control system,which is performed on various noise levels and shows that the proposed chaotic AO with Piecewise map(CAO6)achieves the best fitness values of and at noise levels and respectively.Friedman test 2.873E-05,1.014E-04,8.728E-031.300E-03,1.300E-02,1.300E-01,for repeated measures,computational analysis,and Taguchi test reflect the superiority of CAO6 against the state of the arts,demonstrating its potential for addressing various engineering optimization problems.However,the sensitivity to parameter tuning may limit its direct application to complex optimization scenarios.
基金Supported by the Basic Product Innovation Plan for Vehicle Power Scientific Research Project(Grant No.JCCPCX201704).
文摘This research presents an advanced study on the modeling and stability analysis of electro-hydraulic control modules used in intelligent chassis systems.Firstly,a comprehensive nonlinear mathematical model of the electro-hydraulic power-shift system is developed,incorporating pipeline characteristics through impedance analysis and examining coupling effects between the pilot solenoid valve,main valve,and pipeline.Then,the model’s accuracy is validated through experimental testing,demonstrating high precision and minimal model errors.A comparative analysis between simulation data(both with and without pipeline characteristics)and experimental results reveals that the model considering pipeline parameters aligns more closely with experimental data,highlighting its superior accuracy.The research further explores the influence of key factors on system stability,including damping coefficient,feedback cavity orifice diameter,spring stiffness,pipeline length,and pipeline diameter.Significant findings include the critical impact of damping coefficient,orifice diameter,and pipeline length on stability,while spring stiffness has a minimal effect.These findings provide valuable insights for optimizing electro-hydraulic control modules in intelligent chassis systems,with practical implications for automotive and construction machinery applications.
基金supported by Nguyen Tat Thanh University,Ho Chi Minh City,Vietnam,provided with the facilities required to carry out this work.
文摘Hydraulic-electric systems are widely utilized in various applications.However,over time,these systems may encounter random faults such as loose cables,ambient environmental noise,or sensor aging,leading to inaccurate sensor readings.These faults may result in system instability or compromise safety.In this paper,we propose a fault compensation control system to mitigate the effects of sensor faults and ensure system safety.Specifically,we utilize the pressure sensor within the system to implement the control process and evaluate performance based on the piston position.First,we develop a mathematical model to identify optimal parameters for the fault estimation model based on the Lyapunov stability principle.Next,we design an unknown input observer that estimates the state vector and detects pressure sensor faults using a linear matrix inequality optimization algorithm.The estimated pressure faults are incorporated into the fault compensation control system to counteract their effects via a fault residual coefficient.The discrepancy between the feedback state and the estimated state determines this coefficient.We assess the piston position’s performance through pressure control to evaluate the proposed model’s effectiveness.Finally,the system simulation results are analyzed to validate the efficiency of the proposed model.When a pressure sensor fault occurs,the proposed approach effectively minimizes position control errors,enhancing overall system stability.When a pressure sensor fault occurs,the proposed model compensates for the fault to mitigate the impact of pressure problem,thereby enhancing the position control quality of the EHA system.The fault compensation method ensures over 90%system performance,with its effectiveness becoming more evident under pressure sensor faults.
基金Supported by National Natural Science Foundation of China(Grant Nos.51975524,52375067)Zhejiang Provincial Natural Science Foundation of China(Grant No.Y23E050014).
文摘Magnetization convenience is crucial consideration for design of valve magnetic actuators.The existing repulsive-magnetic-coupling of 2D maglev valve is not oriented to the integral-magnetization-processes,resulting in the high assembly cost.This paper presents a novel tractive-magnetic-coupling(TMC)and its application on a 2D electro-hydraulic proportional flow valve(2D-EHPFV),whose configuration not only fulfill the requirements of 2D valve,but also oriented to integral-magnetization-process.To investigate the output torque of TMC,a detailed analytical model considering leakage flux,edge effect and tooth magnetic saturation is formulated based on the equivalent magnetic circuit method.To facilitate the magnetic saturation calculation,a special magnetic permeability database is established for tooth region of TMC using Ansoft/Maxwell software.Prototype of TMC is machined and an exclusive experimental platform is built.Torque-displacement characteristics under different working airgap and tooth number are measured.The experimental results are in good agreement with the analytical results,which verifies the correctness of the analytical model.Then the TMC is integrated into the 2D-EHPFV by replacing the repulsive-magnetic-coupling.Prototype of 2D-EHPFV is designed and manufactured to test the no-load flow characteristics,load flow characteristics,leakage characteristics,frequency characteristics and step response.Under working pressure of 15 MPa,the maximum no-load flow rate is 82.2 L/min with the hysteresis of 2.6%,and the amplitude and phase frequency width is 21.6 Hz,and 28.9 Hz.The detailed experimental results show that TMC can be applied to 2D valves to form 2D-EHPFV,which can reduce hysteresis and cost,and improve response speed.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Masters Innovation Project of Beijing University of Civil Engineering and Architecture(No.PG2024142)+1 种基金the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC20220801)the Breeding Program Funding of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular groove and U-groove structure is established firstly,and the structure size of the two buffer grooves with better pressure drop effect is obtained by Matlab.Secondly,an established pressure gradient model is developed for the sealed canisters for electric motors using a combined groove structure.The bird swarm optimization algorithm is used to obtain the optimal dimensions for the combined depth and angle of the pressure groove.The flow field in the motor seal chamber is simulated and calculated by Fluent.This study compared the pressure field distributions in the motors sealing chamber using triangular and combined groove structures.It investigated the combined grooves effect on the pressure impact during the commutation of a continuously rotating electro-hydraulic servo motor.It is found that the combined groove structure has a positive impact on reducing the pressure impact.The results indicate that the combined groove structure significantly enhances the efficiency of mitigating pressure shocks when the motor switches between high-and low-pressure chambers.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC 20220801)+1 种基金the Graduate Innovation Fund Project of Beijing University of Civil Engineering and Architecture(No.PG2025160)the Special Fund for Cultivation Projects of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.
基金Supported by National Natural Science Foundation of China(Grant Nos.52202494,52202495)Chongqing Special Project for Technological Innovation and Application Development(Grant No.CSTB2022TIAD-DEX0014).
文摘The current research of master cylinder pressure estimation mainly relies on hydraulic characteristic or vehicle dynamics.But they are not independently applicable to any environment and have their own scope of application.In addition,about the master cylinder pressure control,there are few studies that can simultaneously balance pressure building accuracy,speed,and prevent pressure overshoot and jitter.In this paper,an adaptative fusion method based on electro-hydraulic characteristic and vehicle mode is proposed to estimate the master cylinder pressure.The fusion strategy is mainly based on the prediction performance of two algorithms under different vehicle speeds,pressures,and ABS states.Apart from this,this article also includes real-time prediction of the friction model based on RLS to improve the accuracy of the electro-hydraulic mode.In order to simultaneously balance pressure control accuracy,response speed,and prevent overshoot and jitter,this article proposes an adaptative LQR controller for MC pressure control which uses fuzzy-logic controller to adjust the weights of LQR controller based on target pressure and difference compared with actual pressure.Through mode-in-loop and hardware-in-loop tests in ramp,step and sinusoidal response,the whole estimation and control system is verified based on real hydraulic system and the performance is satisfactory under these scenes.This research proposes an adaptative pressure estimation and control architecture for integrated electro-hydraulic brake system which could eliminate pressure sensors in typical scenarios and ensure the comprehensive performance of pressure control.
文摘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.
基金National Natural Science Foundation of China (50825502)
文摘Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coefficient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus P1D controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved.
文摘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.
基金supported by National Natural Science Foundation of China(Grant No.50675204)Zhejiang Provincial Natural Science Foundation of China(Grant No.D1080667)
文摘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 2000 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.
基金National Natural Science Foundation of China （50825502）
文摘This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraulic load simulator. As the general Stribeck friction model has little related to static friction, it proposes a ＂torque-zero velocity＂ switcher, in which a zero-velocity controller is developed to load the static friction and a torque controller the kinetic friction. With the help of mathematical modeling, this article designs a ＂torque-zero velocity＂ switching controller and, correspondingly, provides a ＂dual-threshold judgment＂ algorithm. Simulation results indicate that the proposed method can be successfully used to carry out the static and kinetic friction simulation with an electro-hydraulic load simulator.
基金Project(2007AA04Z144) supported by the National High-Tech Research and Development Program of ChinaProject(2007421119) supported by the China Postdoctoral Science Foundation
文摘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.
基金supported by National Natural Science Foundation of China(Grant No.50675204)Zhejiang Provincial Natural Science Foundation of China(Grant No.D1080667)Open Foundation of the State Key Lab of Fluid Power Transmission and Control of Zhejiang University,China(Grant No.GZKF-2008005)
文摘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.
基金Supported by National Natural Science Foundation of China.(Grant Nos.51605431,51675472)
文摘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.
基金supported by the National Key Basic Research Program of China (No. 2014CB046406)the Key Projects of the National Natural Science Foundation of China (No. 51235002)
文摘This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator （EHLS）. The tracking performance of the EHLS is mainly limited by the actuator＇s motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator＇s disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The developed algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method.
基金supported by National Natural Science Foundation of China(Grant No.51075291)Shanxi Scholarship Council of China(Grant No.2012-076)
文摘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.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject(2012AA041801)supproted by the High-tech Research and Development Program of China
文摘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.
文摘The position control system of an electro-hydraulic actuator system （EHAS） is investigated in this paper. The EHAS is developed by taking into consideration the nonlinearities of the system： the friction and the internal leakage. A variable load that simulates a realistic load in robotic excavator is taken as the trajectory reference. A method of control strategy that is implemented by employing a fuzzy logic controller （FLC） whose parameters are optimized using particle swarm optimization （PSO） is proposed. The scaling factors of the fuzzy inference system are tuned to obtain the optimal values which yield the best system performance. The simulation results show that the FLC is able to track the trajectory reference accurately for a range of values of orifice opening. Beyond that range, the orifice opening may introduce chattering, which the FLC alone is not sufficient to overcome. The PSO optimized FLC can reduce the chattering significantly. This result justifies the implementation of the proposed method in position control of EHAS.
基金Supported by National Natural Science Foundation of China(Grant Nos.51275438,51405421)Hebei Provincial Natural Science Foundation of China(Grant No.E2015203101)
文摘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.
