In order to meet tracking performance index of three-axis hydraulic simulator, based on classical quantitative feedback theory （QFT）, an improved QFT technique is used to synthesize controller of low gain and bandwi...In order to meet tracking performance index of three-axis hydraulic simulator, based on classical quantitative feedback theory （QFT）, an improved QFT technique is used to synthesize controller of low gain and bandwidth. By choosing a special nominal plant, the improved method assigns relative magnitude and phase tracking error between system uncertainty and nominal control plant. Relative tracking error induced by system uncertainty is transformed into sensitivity problem and relative tracking error induced by nominal plant forms into a region on Nichols chart. The two constraints further form into a combined bound which is fit for magnitude and phase loop shaping. Because of leaving out pre-filter of classical QFT controller structure, tracking performance is enhanced greatly. Furthermore, a cascaded two-loop control strategy is proposed to heighten control effect. The improved technique＇s efficacy is validated by simulation and experiment results.展开更多
The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among chan...The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking perform- ance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by usingμ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the result- ing system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.展开更多
Deep shale gas reservoirs in the southern Sichuan Basin are typically characterized by significant horizontal stress anisotropy(expressed as stress difference),variable brittleness-ductility in rock mechanics,and stro...Deep shale gas reservoirs in the southern Sichuan Basin are typically characterized by significant horizontal stress anisotropy(expressed as stress difference),variable brittleness-ductility in rock mechanics,and strong heterogeneity.These complex geomechanical conditions lead to pronounced differences in hydraulic fracturing outcomes among wells and sections.To investigate hydraulic fracture propagation and fracturing fluid injection behavior under varying geomechanical settings,true triaxial physical simulation tests were performed on 400×400×400 mm artificial rock samples.The samples were designed with different media properties based on similarity criteria.A sensitivity analysis was conducted to assess the effects of brittleness-ductility characteristics,natural fractures,and in-situ stress conditions.The results reveal that:(i)brittle samples with lower stress difference are favorable for forming complex,perforable fracture networks;(ii)brittle samples with higher stress difference tend to develop simple,planar hydraulic fractures,with natural fractures only slightly activated during very short injection periods;(iii)ductile behavior enhances the activation of natural fractures but reduces fracture complexity compared with brittle samples,even under lower stress difference;and(iv)for typical deep shale formations,larger fluid injection volumes combined with high-density,multi-cluster fracturing techniques are recommended.展开更多
This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear proper...This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.展开更多
The performance and efficiency of hydraulic excavators heavily depend on the design and optimization of their working devices.The working device,which consists of the boom,arm,and bucket,plays a crucial role in determ...The performance and efficiency of hydraulic excavators heavily depend on the design and optimization of their working devices.The working device,which consists of the boom,arm,and bucket,plays a crucial role in determining the machine's digging capacity,stability,and overall operational efficiency.This paper presents a comprehensive study on the dynamics simulation and optimization of hydraulic excavator working devices.The paper outlines the fundamental principles of dynamic modeling,incorporating multi-body dynamics and hydraulic system analysis.It further explores various simulation techniques to evaluate the performance of the working device under varying operational conditions,including load and hydraulic system effects.The study also addresses performance optimization,focusing on multi-objective optimization methods that balance multiple factors such as energy efficiency,speed,and load capacity.Additionally,the paper discusses key factors influencing performance,such as mechanical design,material properties,and operational conditions.The results of the dynamic simulations and optimization analyses demonstrate potential improvements in operational efficiency and system stability,providing a valuable framework for the design and enhancement of hydraulic excavator working devices.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
Low-velocity tracking capability is a key performance of flight motion simulator （FMS）, which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have bee...Low-velocity tracking capability is a key performance of flight motion simulator （FMS）, which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have been proposed, this paper deals with low-velocity control without friction model, since it is easy to be implemented in practice. Firstly, a nonlinear model of the FMS middle frame, which is driven by a hydraulic rotary actuator, is built. Noting that in the low velocity region, the unmodeled friction force is mainly characterized by a changing-slowly part, thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it. To guarantee the boundedness of adaptation process, a discontinuous projection is utilized and then a robust scheme is proposed. The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors. In addition, a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large, which might make the previous proposed projection-based adaptive law be unstable. Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy.展开更多
This paper intends to provide theoretical basis for matching design of hydraulic load simulator （HLS） with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obsta...This paper intends to provide theoretical basis for matching design of hydraulic load simulator （HLS） with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of ＂Standard Actuator＂ and ＂Standard HLS＂. Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.展开更多
A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-...A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command,but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output（MISO） fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators.Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.展开更多
An effective controller and compensator is designed by using the system identification and constant structure theory to realize the effective control. The experimental results indicate the extraneous torque can be dec...An effective controller and compensator is designed by using the system identification and constant structure theory to realize the effective control. The experimental results indicate the extraneous torque can be decreased by 90% and the characteristics can be improved greatly by means of this kind of method.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
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
This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic ...This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by noise.To solve these problems,a＇＇dual-loop scheme＇＇is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.展开更多
Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness t...Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.展开更多
A new model identification method of hydraulic flight simulator adopting improved panicle swarm optimization （PSO） and wavelet analysis is proposed for achieving higher identification precision. Input-output data of...A new model identification method of hydraulic flight simulator adopting improved panicle swarm optimization （PSO） and wavelet analysis is proposed for achieving higher identification precision. Input-output data of hydraulic flight simulator were decomposed by wavelet muhiresolution to get the information of different frequency bands. The reconstructed input-output data were used to build the model of hydraulic flight simulator with improved particle swarm optimization with mutation （IPSOM） to avoid the premature convergence of traditional optimization techniques effectively. Simulation results show that the proposed method is more precise than traditional system identification methods in operating frequency bands because of the consideration of design index of control system for identification.展开更多
Tiltmeter mapping technology infers hydraulic fracture geometry by measuringfracture-induced rock deformation, which recorded by highly sensitive tiltmeters placed atthe surface and in nearby observation wells. By ref...Tiltmeter mapping technology infers hydraulic fracture geometry by measuringfracture-induced rock deformation, which recorded by highly sensitive tiltmeters placed atthe surface and in nearby observation wells. By referencing Okada＇s linear elastic theory andGreen＇s function method, we simulate and analyze the surface and downhole deformationcaused by hydraulic fracturing using the homogeneous elastic half-space model and layeredelastic model. Simulation results suggest that there is not much difference in the surfacedeformation patterns between the two models, but there is a significant difference in thedownhole deformation patterns when hydraulic fracturing penetrates a stratum. In suchcases, it is not suitable to assume uniform elastic half-space when calculating the downholedeformation. This work may improve the accuracy and reliability of the inversion results oftiltmeter monitoring data.展开更多
In order to meet the forming demands for low plasticity materials and large height-diameter ratio parts, a new process of hydrodynamic deep drawing （HDD） with independent radial hydraulic pressure is proposed. To in...In order to meet the forming demands for low plasticity materials and large height-diameter ratio parts, a new process of hydrodynamic deep drawing （HDD） with independent radial hydraulic pressure is proposed. To investigate the effects of loading paths on the HDD with independent radial hydraulic pressure, the forming process of 5A06 aluminum alloy cylindrical cup with a hemispherical bottom was studied by numerical simulation. By employing the dynamic explicit analytical software ETA/Dynaform based on LS-DYNA3D, the effects of loading paths on the sheet-thickness distribution and surface quality were analyzed. The corresponding relations of the radial hydraulic pressure loading paths and the part＇s strain status on the forming limit diagram （FLD） were also discussed. The results indicated that a sound match between liquid chamber pressure and independent radial hydraulic pressure could restrain the serious thinning at the hemisphere bottom and that through adjusting radial hydraulic pressure could reduce the radial tensile strain and change the strain paths. Therefore, the drawing limit of the aluminum cylindrical cup with a hemispherical bottom could be increased significantly.展开更多
A new hydraulic system of a novel automatic transmission (AT) was designed. The dimension and structure of valves and cylinders were designed by theoretical calculation. The dynamic simulation model of hydraulic syste...A new hydraulic system of a novel automatic transmission (AT) was designed. The dimension and structure of valves and cylinders were designed by theoretical calculation. The dynamic simulation model of hydraulic system of AT was established by ITI-SimulationX. Simulation results and theoretical design results were compared to confirm the simulation model. Based on the confirmed simulation model, the simulation results of pressure and flow of the hydraulic system were analyzed. The dynamic simulation method is very helpful for designing and analyzing the performance of hydraulic system and further optimization design. The theoretical design method and dynamic simulation model are feasible for the real industrial applications. The research results can be used in hydraulic system design and optimization.展开更多
We built a three-dimensional model to simulate the disturbance of the stress field near the reverse fault in Zhaziao, Leyi Township owing to hydraulic fracturing. The pore pressure, and shear and normal stresses durin...We built a three-dimensional model to simulate the disturbance of the stress field near the reverse fault in Zhaziao, Leyi Township owing to hydraulic fracturing. The pore pressure, and shear and normal stresses during fracturing are analyzed in detail. Input rock mechanics parameters are taken from laboratory test data of shale samples from the study area. The simulation results suggest that after 16 hours of fluid injection, the pore-pressure variation can activate the reverse fault, i.e., we observe reverse slip, and the shear stress and displacement on the fault plane increase with time. The biggest stress–strain change occurs after one hour of fluid injection and the yield point appears about 0.5 h after injection. To observe the stress evolution in each section, the normal displacement on the boundary is constrained and the fault plane is set as nonpermeable. Thus, the sliding is limited and the shear displacement is only in the scale of millimeters, and the calculated magnitude of the induced earthquakes is between Mw-3.5 and Mw-0.2. The simulation results suggest that fluid water injection results in inhomogeneous fracturing. The main ruptured areas are around the injection positions, whereas the extent of rupturing and cracks in other areas are relatively small. Nevertheless, nonnegligible fault activation is recorded. Sensitivity analysis of the key parameters suggests that the pore pressure is most sensitive to the maximum unbalanced force and the internal friction angle strongly affects the fault slip. Finally, the comparison between the effective normal stress and the maximum and minimum principal stresses on the fault plane explains the fault instability, i.e., the Mohr circle moves towards the left with decreasing radius reduces and intersects the critical slip envelope, and causes the fault to slip.展开更多
文摘In order to meet tracking performance index of three-axis hydraulic simulator, based on classical quantitative feedback theory （QFT）, an improved QFT technique is used to synthesize controller of low gain and bandwidth. By choosing a special nominal plant, the improved method assigns relative magnitude and phase tracking error between system uncertainty and nominal control plant. Relative tracking error induced by system uncertainty is transformed into sensitivity problem and relative tracking error induced by nominal plant forms into a region on Nichols chart. The two constraints further form into a combined bound which is fit for magnitude and phase loop shaping. Because of leaving out pre-filter of classical QFT controller structure, tracking performance is enhanced greatly. Furthermore, a cascaded two-loop control strategy is proposed to heighten control effect. The improved technique＇s efficacy is validated by simulation and experiment results.
文摘The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking perform- ance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by usingμ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the result- ing system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.
基金the National Natural Science Foundation of China(Nos.52204005,52192622,U20A20265)the Sichuan Science Fund for Young Scholars(23NSFSC4652).
文摘Deep shale gas reservoirs in the southern Sichuan Basin are typically characterized by significant horizontal stress anisotropy(expressed as stress difference),variable brittleness-ductility in rock mechanics,and strong heterogeneity.These complex geomechanical conditions lead to pronounced differences in hydraulic fracturing outcomes among wells and sections.To investigate hydraulic fracture propagation and fracturing fluid injection behavior under varying geomechanical settings,true triaxial physical simulation tests were performed on 400×400×400 mm artificial rock samples.The samples were designed with different media properties based on similarity criteria.A sensitivity analysis was conducted to assess the effects of brittleness-ductility characteristics,natural fractures,and in-situ stress conditions.The results reveal that:(i)brittle samples with lower stress difference are favorable for forming complex,perforable fracture networks;(ii)brittle samples with higher stress difference tend to develop simple,planar hydraulic fractures,with natural fractures only slightly activated during very short injection periods;(iii)ductile behavior enhances the activation of natural fractures but reduces fracture complexity compared with brittle samples,even under lower stress difference;and(iv)for typical deep shale formations,larger fluid injection volumes combined with high-density,multi-cluster fracturing techniques are recommended.
基金National Natural Science Foundation for Distinguished Young Scholars of China (50825502)
文摘This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.
文摘The performance and efficiency of hydraulic excavators heavily depend on the design and optimization of their working devices.The working device,which consists of the boom,arm,and bucket,plays a crucial role in determining the machine's digging capacity,stability,and overall operational efficiency.This paper presents a comprehensive study on the dynamics simulation and optimization of hydraulic excavator working devices.The paper outlines the fundamental principles of dynamic modeling,incorporating multi-body dynamics and hydraulic system analysis.It further explores various simulation techniques to evaluate the performance of the working device under varying operational conditions,including load and hydraulic system effects.The study also addresses performance optimization,focusing on multi-objective optimization methods that balance multiple factors such as energy efficiency,speed,and load capacity.Additionally,the paper discusses key factors influencing performance,such as mechanical design,material properties,and operational conditions.The results of the dynamic simulations and optimization analyses demonstrate potential improvements in operational efficiency and system stability,providing a valuable framework for the design and enhancement of hydraulic excavator working devices.
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.
文摘Low-velocity tracking capability is a key performance of flight motion simulator （FMS）, which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have been proposed, this paper deals with low-velocity control without friction model, since it is easy to be implemented in practice. Firstly, a nonlinear model of the FMS middle frame, which is driven by a hydraulic rotary actuator, is built. Noting that in the low velocity region, the unmodeled friction force is mainly characterized by a changing-slowly part, thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it. To guarantee the boundedness of adaptation process, a discontinuous projection is utilized and then a robust scheme is proposed. The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors. In addition, a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large, which might make the previous proposed projection-based adaptive law be unstable. Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy.
基金the Aviation Science Foundation (No. 20110951009) of ChinaNational Nature Science Foundation for Distinguished Young Scholars ( No. 50825502 ) of China for the financial support
文摘This paper intends to provide theoretical basis for matching design of hydraulic load simulator （HLS） with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of ＂Standard Actuator＂ and ＂Standard HLS＂. Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.
基金supported by the National Basic Research Program of China(No.2014CB046406)the National Natural Science Foundation of China(No.51235002)
文摘A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command,but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output（MISO） fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators.Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.
文摘An effective controller and compensator is designed by using the system identification and constant structure theory to realize the effective control. The experimental results indicate the extraneous torque can be decreased by 90% and the characteristics can be improved greatly by means of this kind of method.
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.
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sponsored by the National Basic Research Program of China (No.2014CB046406)the Key Projects of the National Natural Science Foundation (No.51235002)
文摘This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by noise.To solve these problems,a＇＇dual-loop scheme＇＇is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.
基金National Science Fund for Distinguished Young Scholars (50825502)
文摘Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.
基金Sponsored by the National 985 Project Foundation of China
文摘A new model identification method of hydraulic flight simulator adopting improved panicle swarm optimization （PSO） and wavelet analysis is proposed for achieving higher identification precision. Input-output data of hydraulic flight simulator were decomposed by wavelet muhiresolution to get the information of different frequency bands. The reconstructed input-output data were used to build the model of hydraulic flight simulator with improved particle swarm optimization with mutation （IPSOM） to avoid the premature convergence of traditional optimization techniques effectively. Simulation results show that the proposed method is more precise than traditional system identification methods in operating frequency bands because of the consideration of design index of control system for identification.
基金supported by the National Basic Research Program of China(No.2013CB228602)the National Science and Technology Major Project of China(No.2011ZX05014-006-006)the National High Technology Research Program of China(No.2013AA064202)
文摘Tiltmeter mapping technology infers hydraulic fracture geometry by measuringfracture-induced rock deformation, which recorded by highly sensitive tiltmeters placed atthe surface and in nearby observation wells. By referencing Okada＇s linear elastic theory andGreen＇s function method, we simulate and analyze the surface and downhole deformationcaused by hydraulic fracturing using the homogeneous elastic half-space model and layeredelastic model. Simulation results suggest that there is not much difference in the surfacedeformation patterns between the two models, but there is a significant difference in thedownhole deformation patterns when hydraulic fracturing penetrates a stratum. In suchcases, it is not suitable to assume uniform elastic half-space when calculating the downholedeformation. This work may improve the accuracy and reliability of the inversion results oftiltmeter monitoring data.
文摘In order to meet the forming demands for low plasticity materials and large height-diameter ratio parts, a new process of hydrodynamic deep drawing （HDD） with independent radial hydraulic pressure is proposed. To investigate the effects of loading paths on the HDD with independent radial hydraulic pressure, the forming process of 5A06 aluminum alloy cylindrical cup with a hemispherical bottom was studied by numerical simulation. By employing the dynamic explicit analytical software ETA/Dynaform based on LS-DYNA3D, the effects of loading paths on the sheet-thickness distribution and surface quality were analyzed. The corresponding relations of the radial hydraulic pressure loading paths and the part＇s strain status on the forming limit diagram （FLD） were also discussed. The results indicated that a sound match between liquid chamber pressure and independent radial hydraulic pressure could restrain the serious thinning at the hemisphere bottom and that through adjusting radial hydraulic pressure could reduce the radial tensile strain and change the strain paths. Therefore, the drawing limit of the aluminum cylindrical cup with a hemispherical bottom could be increased significantly.
基金Project(911901204) supported by Youth Innovation Foundation of Beijing University of Aeronautics and Astronautics
文摘A new hydraulic system of a novel automatic transmission (AT) was designed. The dimension and structure of valves and cylinders were designed by theoretical calculation. The dynamic simulation model of hydraulic system of AT was established by ITI-SimulationX. Simulation results and theoretical design results were compared to confirm the simulation model. Based on the confirmed simulation model, the simulation results of pressure and flow of the hydraulic system were analyzed. The dynamic simulation method is very helpful for designing and analyzing the performance of hydraulic system and further optimization design. The theoretical design method and dynamic simulation model are feasible for the real industrial applications. The research results can be used in hydraulic system design and optimization.
基金supported by the National Natural Science Foundation of China(Nos.41604050 and 41774192)
文摘We built a three-dimensional model to simulate the disturbance of the stress field near the reverse fault in Zhaziao, Leyi Township owing to hydraulic fracturing. The pore pressure, and shear and normal stresses during fracturing are analyzed in detail. Input rock mechanics parameters are taken from laboratory test data of shale samples from the study area. The simulation results suggest that after 16 hours of fluid injection, the pore-pressure variation can activate the reverse fault, i.e., we observe reverse slip, and the shear stress and displacement on the fault plane increase with time. The biggest stress–strain change occurs after one hour of fluid injection and the yield point appears about 0.5 h after injection. To observe the stress evolution in each section, the normal displacement on the boundary is constrained and the fault plane is set as nonpermeable. Thus, the sliding is limited and the shear displacement is only in the scale of millimeters, and the calculated magnitude of the induced earthquakes is between Mw-3.5 and Mw-0.2. The simulation results suggest that fluid water injection results in inhomogeneous fracturing. The main ruptured areas are around the injection positions, whereas the extent of rupturing and cracks in other areas are relatively small. Nevertheless, nonnegligible fault activation is recorded. Sensitivity analysis of the key parameters suggests that the pore pressure is most sensitive to the maximum unbalanced force and the internal friction angle strongly affects the fault slip. Finally, the comparison between the effective normal stress and the maximum and minimum principal stresses on the fault plane explains the fault instability, i.e., the Mohr circle moves towards the left with decreasing radius reduces and intersects the critical slip envelope, and causes the fault to slip.
