The analysis of the characteristics of the cushion process of the pneumatic cushion cylinder is presented, and the nonlinear model of pneumatic cushion cylinders is built in the form of nonlinear differential equation...The analysis of the characteristics of the cushion process of the pneumatic cushion cylinder is presented, and the nonlinear model of pneumatic cushion cylinders is built in the form of nonlinear differential equations. Besides, through the simulation of the pressure in the cushion chamber, the characteristics of the pneumatic cushion cylinder are obtained, which helps to understand the performance of the pneumatic cushion cylinder and improve or design the better cushion structure.展开更多
In the semi-physical simulation of aeroengines,using the pneumatic pressure servo control technology to provide realistic pneumatic excitation to the sensors and electronic controller can improve the confidence of the...In the semi-physical simulation of aeroengines,using the pneumatic pressure servo control technology to provide realistic pneumatic excitation to the sensors and electronic controller can improve the confidence of the simulation and reduce the test cost and risk.However,the existing methods could not satisfy the precise simulation of large-amplitude and high-frequency pulsating pressure during aeroengine surge.In this paper,a pneumatic pressure control system with asymmetric groups of the High-Speed on–off Valve(HSV)is designed,and an Improved Nonlinear Model Predictive Control(INMPC)method is proposed.First,the volumetric flow characteristics of HSV are tested and analyzed with Pulse Width Modulation(PWM)signal input.Then,a simplified HSV model with the volume flow characteristic correction is developed.Based on these,an integrated model for the whole system is further established and used as the prediction model in INMPC.To improve the computational speed of the rolling optimization process,the mapping scheme from control signal to PWM duty cycle of HSVs and the objective function with exterior penalty function are designed.Finally,the random step,sinusoidal and real engine surge data are set as the reference pressure in multiple comparative experiments to verify the effectiveness of the pressure tracking system.展开更多
Pneumatic muscle （PM） of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy （SMA） braided sleeve is proposed in this paper, and SMA is used to improve ...Pneumatic muscle （PM） of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy （SMA） braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things.展开更多
A mathematic model is built up to analyze the influences of a pilot valve'sleakage on the performances of pneumatic pressure proportional valve, and the performances aresimulated by using MATLAB. The results indic...A mathematic model is built up to analyze the influences of a pilot valve'sleakage on the performances of pneumatic pressure proportional valve, and the performances aresimulated by using MATLAB. The results indicate that using slide pilot valve in the valve system isfeasible, but the leakage's influences can not be neglected, especially it may induce instability ina low output pressure situation. A pilot valve using too large throttle window will cause the valveoscillate. To improve the working condition of pilot valve, a method adopting different widths oftwo throttle window is proposed. According to our simulation, this method balances the pressure dropbetween the two stage throttle ports, and reduces the influences of pilot valve's leakage.展开更多
The high pressure pneumatic system has been applied to special industries. It may cause errors when we analyze high pressure pneumatics under ideal gas assumption. However, the real gas effect on the performances of h...The high pressure pneumatic system has been applied to special industries. It may cause errors when we analyze high pressure pneumatics under ideal gas assumption. However, the real gas effect on the performances of high pressure pneumatics is seldom investigated. In this paper, the real gas effects on air enthalpy and internal energy are estimated firstly to study the real gas effect on the energy conversion. Under ideal gas assumption, enthalpy and internal energy are solely related to air temperature. The estimation result indicates that the pressure enthalpy and pressure internal energy of real pneumatic air obviously decrease the values of enthalpy and internal energy for high pressure pneumatics, and the values of pressure enthalpy and pressure internal energy are close. Based on the relationship among pressure, enthalpy and internal energy, the real gas effects on charging and discharging processes of high pressure pneumatics are estimated, which indicates that the real gas effect accelerates the temperature and pressure decreasing rates during discharging process, and decelerates their increasing rates during charging process. According to the above analysis, and for the inconvenience in building the simulation model for real gas and the difficulty of measuring the detail thermal capacities of pneumatics, a method to compensate the real gas effect under ideal gas assumption is proposed by modulating the thermal capacity of the pneumatic container in simulation. The experiments of switching expansion reduction （SER） for high pressure pneumatics are used to verify this compensating method. SER includes the discharging process of supply tanks and the charging process of expansion tank. The simulated and experimental results of SER are highly consistent. The proposed compensation method provides a convenient way to obtain more realistic simulation results for high pressure pneumatics.展开更多
Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simula...Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simulation model according to the experimental setup of SER has been built.The mathematical model considers heat exchanges,source air pressure and temperature,environmental temperatures and heat transfer coefficients variations.In addition,the compensation for real gas effect is used in the model building.The comparison between experiments and simulations of SER indicates that,to compensate the real gas effect in high pressure discharging process,the thermal capacity of air supply container in simulation should be less than the actual value.The higher the pressure range,the greater the deviation.Simulated and experimental results are highly consistent within pressure reduction ratios ranging from 1.4 to 20 and output air mass flow rates ranging from 3.5 to 132 g/s,which verifies the high adaptability of SER and the validity of the mathematic model and the compensation method.展开更多
The most common booster is called input pressure reduced （IPR） booster. However, this type of booster has its own shortages, such as its small output flow, when the boosting ratio is higher, the shortage becomes mor...The most common booster is called input pressure reduced （IPR） booster. However, this type of booster has its own shortages, such as its small output flow, when the boosting ratio is higher, the shortage becomes more distinct. Recent research on pneumatic boosters mainly focused on the factors that influence the characteristics of the boosters, some new kinds of pneumatic booster structures were designed, but the efficiency and output flow of these boosters are still not improved sufficiently. In order to improve the output flow of the pneumatic booster, a new kind of booster, expansion energy used （EEU） booster, is proposed. Non-linear differential equations of the pneumatic booster are set up. By using the software MATLAB/Simulink for simulation, the motion characteristics of the pistons, the characteristics of the output flow of the boosters are obtained for analysis of a principle. The principle, which is used to elevate the output flow of the two kinds of boosters, is that the average pressure of the air in the driving chambers of the EEU booster is higher than that of the IPR booster. The simulation and experimental research of the output flow characteristics are done. The simulation and experimental results are in a good accordance. And the simulation and experimental results show that when the air source pressure and the output pressure are set at 0.6 MPa and 0.8 MPa, respectively, with the increase of the terminal pressure of the air in the driving chamber, the output flow of the IPR booster ascends stably. As the terminal pressure of the air in the driving chamber goes up, the output flow of the EEU booster rises, and later it almost remains constant. In addition, with the same terminal pressure, the output flow of the EEU booster is greater than that of the IPR booster, and the difference decreases when the terminal pressure grows. At last, the output pressure is set at 0.8 MPa, under the optimum work state of the EEU booster, the output flow of the two kinds of boosters all declines with the rise of the boosting ratio. Furthermore, the output flow of the EEU booster is higher than that of IPR booster by 95 L/min approximately. The proposed research lays the foundation for optimistic of the EEU booster.展开更多
Cough is a defensive behavior that protects the respiratory system from infection and clears airway secretions.Cough airflow dynamics have been analyzed by a variety of mathematical and experimental tools.In this pape...Cough is a defensive behavior that protects the respiratory system from infection and clears airway secretions.Cough airflow dynamics have been analyzed by a variety of mathematical and experimental tools.In this paper,the cough airflow dynamics of 42 subjects were obtained and analyzed.An identification model based on piecewise Gauss function for cough airflow dynamics is proposed through the dimensionless method,which could achieve over 90%identification accuracy.Meanwhile,an assisted cough system based on pneumatic flow servo system is presented.The vacuum situation and feedback control are used to increase the simulated peak cough flow rate,which are important for airway secretion clearance and to avoid airway collapse,respectively.The simulated cough peak flow could reach 5 L/s without the external assistance such as manual pressing,patient cooperation and other means.Finally,the backstepping control is developed to generate a simulated cough airflow that closely mimics the natural cough airflow of humans.The assisted cough system opens up wide opportunities of practical application in airway secretion clearance for critically ill patients with COVID 2019 and other pulmonary diseases.展开更多
文摘The analysis of the characteristics of the cushion process of the pneumatic cushion cylinder is presented, and the nonlinear model of pneumatic cushion cylinders is built in the form of nonlinear differential equations. Besides, through the simulation of the pressure in the cushion chamber, the characteristics of the pneumatic cushion cylinder are obtained, which helps to understand the performance of the pneumatic cushion cylinder and improve or design the better cushion structure.
基金co-supported by the National Natural Science Foundation of China(No.51976089)the Natural Science Foundation of Fujian Province of China(No.2021J05113).
文摘In the semi-physical simulation of aeroengines,using the pneumatic pressure servo control technology to provide realistic pneumatic excitation to the sensors and electronic controller can improve the confidence of the simulation and reduce the test cost and risk.However,the existing methods could not satisfy the precise simulation of large-amplitude and high-frequency pulsating pressure during aeroengine surge.In this paper,a pneumatic pressure control system with asymmetric groups of the High-Speed on–off Valve(HSV)is designed,and an Improved Nonlinear Model Predictive Control(INMPC)method is proposed.First,the volumetric flow characteristics of HSV are tested and analyzed with Pulse Width Modulation(PWM)signal input.Then,a simplified HSV model with the volume flow characteristic correction is developed.Based on these,an integrated model for the whole system is further established and used as the prediction model in INMPC.To improve the computational speed of the rolling optimization process,the mapping scheme from control signal to PWM duty cycle of HSVs and the objective function with exterior penalty function are designed.Finally,the random step,sinusoidal and real engine surge data are set as the reference pressure in multiple comparative experiments to verify the effectiveness of the pressure tracking system.
基金supported by National Natural Science Foundation of China (No. 50905170)Natural Science Foundation of Zhejiang Province (No. Y1090042)Open Fund of State Key Laboratory of Robotics (No. RL0200918)
文摘Pneumatic muscle （PM） of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy （SMA） braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things.
基金This project is supported by National Natural Science Foundation of China (No.50122115)the National 10th Five Years Plan Special Research Programs of China(No.2003BA408B14).
文摘A mathematic model is built up to analyze the influences of a pilot valve'sleakage on the performances of pneumatic pressure proportional valve, and the performances aresimulated by using MATLAB. The results indicate that using slide pilot valve in the valve system isfeasible, but the leakage's influences can not be neglected, especially it may induce instability ina low output pressure situation. A pilot valve using too large throttle window will cause the valveoscillate. To improve the working condition of pilot valve, a method adopting different widths oftwo throttle window is proposed. According to our simulation, this method balances the pressure dropbetween the two stage throttle ports, and reduces the influences of pilot valve's leakage.
基金supported by National Natural Science Foundation of China (Grant No. 50575202)
文摘The high pressure pneumatic system has been applied to special industries. It may cause errors when we analyze high pressure pneumatics under ideal gas assumption. However, the real gas effect on the performances of high pressure pneumatics is seldom investigated. In this paper, the real gas effects on air enthalpy and internal energy are estimated firstly to study the real gas effect on the energy conversion. Under ideal gas assumption, enthalpy and internal energy are solely related to air temperature. The estimation result indicates that the pressure enthalpy and pressure internal energy of real pneumatic air obviously decrease the values of enthalpy and internal energy for high pressure pneumatics, and the values of pressure enthalpy and pressure internal energy are close. Based on the relationship among pressure, enthalpy and internal energy, the real gas effects on charging and discharging processes of high pressure pneumatics are estimated, which indicates that the real gas effect accelerates the temperature and pressure decreasing rates during discharging process, and decelerates their increasing rates during charging process. According to the above analysis, and for the inconvenience in building the simulation model for real gas and the difficulty of measuring the detail thermal capacities of pneumatics, a method to compensate the real gas effect under ideal gas assumption is proposed by modulating the thermal capacity of the pneumatic container in simulation. The experiments of switching expansion reduction （SER） for high pressure pneumatics are used to verify this compensating method. SER includes the discharging process of supply tanks and the charging process of expansion tank. The simulated and experimental results of SER are highly consistent. The proposed compensation method provides a convenient way to obtain more realistic simulation results for high pressure pneumatics.
基金Project(51205421)supported by the National Natural Science Foundation of ChinaProject(2012M521647)supported by the Postdoctoral Science Foundation of China
文摘Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simulation model according to the experimental setup of SER has been built.The mathematical model considers heat exchanges,source air pressure and temperature,environmental temperatures and heat transfer coefficients variations.In addition,the compensation for real gas effect is used in the model building.The comparison between experiments and simulations of SER indicates that,to compensate the real gas effect in high pressure discharging process,the thermal capacity of air supply container in simulation should be less than the actual value.The higher the pressure range,the greater the deviation.Simulated and experimental results are highly consistent within pressure reduction ratios ranging from 1.4 to 20 and output air mass flow rates ranging from 3.5 to 132 g/s,which verifies the high adaptability of SER and the validity of the mathematic model and the compensation method.
文摘The most common booster is called input pressure reduced （IPR） booster. However, this type of booster has its own shortages, such as its small output flow, when the boosting ratio is higher, the shortage becomes more distinct. Recent research on pneumatic boosters mainly focused on the factors that influence the characteristics of the boosters, some new kinds of pneumatic booster structures were designed, but the efficiency and output flow of these boosters are still not improved sufficiently. In order to improve the output flow of the pneumatic booster, a new kind of booster, expansion energy used （EEU） booster, is proposed. Non-linear differential equations of the pneumatic booster are set up. By using the software MATLAB/Simulink for simulation, the motion characteristics of the pistons, the characteristics of the output flow of the boosters are obtained for analysis of a principle. The principle, which is used to elevate the output flow of the two kinds of boosters, is that the average pressure of the air in the driving chambers of the EEU booster is higher than that of the IPR booster. The simulation and experimental research of the output flow characteristics are done. The simulation and experimental results are in a good accordance. And the simulation and experimental results show that when the air source pressure and the output pressure are set at 0.6 MPa and 0.8 MPa, respectively, with the increase of the terminal pressure of the air in the driving chamber, the output flow of the IPR booster ascends stably. As the terminal pressure of the air in the driving chamber goes up, the output flow of the EEU booster rises, and later it almost remains constant. In addition, with the same terminal pressure, the output flow of the EEU booster is greater than that of the IPR booster, and the difference decreases when the terminal pressure grows. At last, the output pressure is set at 0.8 MPa, under the optimum work state of the EEU booster, the output flow of the two kinds of boosters all declines with the rise of the boosting ratio. Furthermore, the output flow of the EEU booster is higher than that of IPR booster by 95 L/min approximately. The proposed research lays the foundation for optimistic of the EEU booster.
基金The research is supported by the National Natural Science Foundation of China(No.52005015)the China Postdoctoral Science Foundation(No.2019M660391)+2 种基金the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(No.GZKF-201920)the Outstanding Young Scientists in Beijing(No.BJJWZYJH01201910006021)the National Key Research and Development Project(No.2019YFC0121702).
文摘Cough is a defensive behavior that protects the respiratory system from infection and clears airway secretions.Cough airflow dynamics have been analyzed by a variety of mathematical and experimental tools.In this paper,the cough airflow dynamics of 42 subjects were obtained and analyzed.An identification model based on piecewise Gauss function for cough airflow dynamics is proposed through the dimensionless method,which could achieve over 90%identification accuracy.Meanwhile,an assisted cough system based on pneumatic flow servo system is presented.The vacuum situation and feedback control are used to increase the simulated peak cough flow rate,which are important for airway secretion clearance and to avoid airway collapse,respectively.The simulated cough peak flow could reach 5 L/s without the external assistance such as manual pressing,patient cooperation and other means.Finally,the backstepping control is developed to generate a simulated cough airflow that closely mimics the natural cough airflow of humans.The assisted cough system opens up wide opportunities of practical application in airway secretion clearance for critically ill patients with COVID 2019 and other pulmonary diseases.
基金National Natural Science Foundation of China(51275197)Earmarked Fund for Modern Agro-Industry Technology Research System(CARS-13)National Science and Technology Support Program(013BAD08B02)
