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A Multi-mode Electronic Load Sensing Control Scheme with Power Limitation and Pressure Cut-off for Mobile Machinery

Chinese Journal of Mechanical Engineering 2023年第1期36卷 157-170页

作者： Min Cheng Bolin Sun ruqi ding Bing Xu State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing400044China Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang330052China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310027China

In mobile machinery,hydro-mechanical pumps are increasingly replaced by electronically controlled pumps to improve the automation level,but diversified control functions(e.g.,power limitation and pressure cut-off)are integrated into the electronic controller only from the pump level,leading to the potential instability of the overall *** solve this problem,a multi-mode electrohydraulic load sensing(MELS)control scheme is proposed especially considering the switching stability from the system level,which includes four working modes of flow control,load sensing,power limitation,and pressure *** on the actual working requirements,the switching rules for the different modes and the switching direction(i.e.,the modes can be switched bilaterally or unilaterally)are *** priority of different modes is also defined,from high to low:pressure control,power limitation,load sensing,and flow *** multiple switching rules are satisfied at the same time,the system switches to the control mode with the highest *** addition,the switching stability between flow control and pressure control modes is analyzed,and the controller parameters that guarantee the switching stability are obtained.A comparative study is carried out based on a test rig with a 2-ton hydraulic *** results show that the MELS controller can achieve the control functions of proper flow supplement,power limitation,and pressure cut-off,which has good stability performance when switching between different control *** research proposes the MELS control method that realizes the stability of multi-mode switching of the hydraulic system of mobile machinery under different working conditions.

关键词： Hydraulic control Load sensing Multi-Mode Power limitation Mobile machinery

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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object

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Frontiers of Mechanical Engineering 2024年第1期19卷 35-52页

作者： Bolin SUN Min CHENG ruqi ding Bing XU State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China Key Laboratory of Conveyance and Equipment(Ministry of Education) East China Jiaotong UniversityNanchang 330013China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly *** with the electrically driven dual-arm manipulator,due to the unknown heavy load,difficulty in measuring contact forces,and control complexity during the closed-chain object transportation task,the hydraulic dual-arm manipulator(HDM)faces more difficulty in accurately tracking the desired motion trajectory,which may cause object deformation or even *** overcome this problem,a compliance motion control method is proposed in this paper for the *** mass parameter of the unknown object is obtained by using an adaptive method based on velocity *** to the difficulty in obtaining the actual internal force of the object,the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector(EE)of two hydraulic manipulators(HMs).Further,the estimated contact force is used to calculate the actual internal force on the ***,a compliance motion controller is designed for HDM closed-chain *** position and internal force errors of the object are reduced by the feedback of the position,velocity,and internal force errors of the object to achieve the effect of the compliance motion of the HDM,i.e.,to reduce the motion error and internal force of the *** required velocity and force at the EE of the two HMs,including the position and internal force errors of the object,are inputted into separate position *** addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control ***,comparative experiments are carried out on a hydraulic dual-arm test *** proposed method is validated by the experimental results,which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist

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Frontiers of Mechanical Engineering 2021年第4期16卷 698-710页

作者： Min CHENG Zenan HAN ruqi ding Junhui ZHANG Bing XU State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China Key Laboratory of Conveyance and Equipment(Ministry of Education) East China Jiaotong UniversityNanchang 330044China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing;however,current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to *** study proposes a seven-degree-of-freedom(7-DOF)redundant anthropomorphic hydraulically actuated manipulator with a novel roll-pitch-yaw spherical wrist.A hybrid series-parallel mechanism is presented to achieve the spherical wrist design,which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll *** as a 1R£RRR-1S£U mechanism(“R”,“P”,“S”,and“U”denote revolute,prismatic,spherical,and universal joints,respectively;the underlined letter indicates the active joint),the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain“R£RR”is *** 7-DOF manipulator is then designed,and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic *** analytical inverse kinematic solution is drawn by constructing self-motion ***,a physical prototype is developed,and the kinematic analysis is validated via numerical simulation and test results.

关键词： hydraulic manipulator inverse kinematic redundant design spherical wrist

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Structure Optimization and Performance Analysis of a Multiple Radial Magnetorheological Valve

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Journal of Beijing Institute of Technology 2017年第4期26卷 458-467页

作者： Guoliang Hu Fang Zhong Haiyun Zhang ruqi ding Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang 330013China

Due to the controllable and reversible properties of the smart magnetorheological （MR） fluid,a novel multiple radial MR valve was developed. The fluid flowchannels of the proposed MR valve were mainly composed of two annular fluid flowchannels,four radial fluid flow channels and three centric pipe fluid flowchannels. The working principle of the multiple radial MR valve was introduced in detail,and the structure optimization design was carried out using ANSYS software to obtain the optimal structure parameters. Moreover,the optimized MR valve was compared with preoptimized MR valve in terms of their magnetic flux density of radial fluid resistance gap and performance of pressure drop. The experimental test rig was set up to investigate the performance of pressure drop of the proposed MR valve under different currents applied and different loading cases. The results showthat the pressure drop between the inlet and outlet port could reach 5. 77 MPa at the applied current of 0. 8 A. Furthermore,the experimental results also indicate that the loading cases had no effect on the performance of pressure drop.

关键词： magnetorheological ( MR ) valve multiple radial flow optimization design pressure drop

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Effect of Radial Resistance Gap on the Pressure Drop of a Compact Annular-Radial-Orifice Flow Magnetorheological Valve

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Journal of Beijing Institute of Technology 2018年第4期27卷 535-546页

作者： Guoliang Hu Jiawei Zhang Mingke Liao ruqi ding Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong University

A compact annular-radial-orifice flow magnetorheological(MR)valve was developed to investigate the effects of radial resistance gap on pressure *** fluid flow paths of this proposed MR valve consist of a single annular flow channel,a single radial flow channel and an orifice flow channel through structure *** finite element modelling and simulation analysis of the MR valve was carried out using ANSYS/Emag software to investigate the changes of the magnetic flux density and yield stress along the fluid flow paths under the four different radial resistance ***,the experimental tests were also conducted to evaluate the pressure drop,showing that the proposed MR valve has significantly improved its pressure drop at 0.5 mm width of the radial resistance gap when the annular resistance gap is fixed at 1 mm.

关键词： magnetorheological(MR)valve annular-radial-orifice flow pressure drop radial resistance gap finite element analysis

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Analysis and Optimization of Inside-Cushion Structure in High-Speed Hydraulic Cylinders

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Journal of Beijing Institute of Technology 2019年第4期28卷 799-810页

作者： ruqi ding Sheng Wang Ying Wei Leping Cai Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang 330013China Jiangxi Tianxin Metallurgical Equipment Co.Ltd Nanchang 330000China Shanghai Marine Equipment Research Institute Shanghai 200031China

An inside-cushion structure with sidestep and taper-shaped plungers is studied to address the problems of high impact and vibration in high-speed hydraulic ***,the three stages of cushion processes are discussed according to the varying flow area as the piston ***,to establish a precise mathematical model,the states of the flow field are estimated in terms of the Reynolds ***,the simulation model parameterized against measured data is developed and verified by ***,the average velocity,peak cushion pressure,and terminal velocity are defined to evaluate cushion *** to these optimized objectives,the non-linear programming by quadratic Lagrange(NLPQL)algorithm is applied to optimize the structure *** optimization results indicate that the peak cushion pressure is reduced by 28%and terminal velocity is reduced by 21%without reduction of average velocity.

关键词： high-speed hydraulic cylinder inside cushion Reynolds number cushion performance multi-objective optimization

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Soft computing-based predictive modeling of flexible electrohydrodynamic pumps

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Biomimetic Intelligence & Robotics 2023年第3期3卷 30-37页

作者： Zebing Mao Yanhong Peng Chenlong Hu ruqi ding Yuhei Yamada Shingo Maeda Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8603Japan Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang 330013China Living Systems Materialogy(LiSM)Research Group International Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan

Flexible electrohydrodynamic(EHD)pumps have been developed and applied in many fields due to no transmission structure,no wear,easy manipulation,and no *** simulation is often used to predict the output performance of flexible EHD ***,this method neglects fluid–solid interaction and energy loss caused by flexible materials,which are both difficult to calculate when the flexible pumps ***,this study proposes a flexible pump output performance prediction using machine learning *** used three different types of machine learning:random forest regression,ridge regression,and neural network to predict the critical parameters(pressure,flow rate,and power)of the flexible EHD ***,angle,gap,overlap,and channel height are selected as five input data of the neural *** addition,we optimized essential parameters in the three ***,we adopt the best predictive model and evaluate the significance of five input parameters to the output performance of the flexible EHD *** the three methods,the MLP model has exceptionally high accuracy in predicting pressure and *** work is beneficial for the design process of fluid sources in flexible soft actuators and soft hydraulic sources in microfluidic chips.

关键词： Electrohydrodynamic pumps Neural network Rigid regression Random forest regression

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负载口独立控制系统非线性滤波振动抑制方法

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西安交通大学学报 2024年第4期58卷 200-210页

作者：程敏侯严迪丁孺琦重庆大学高端装备机械传动全国重点实验室重庆400044 华东交通大学载运工具与装备教育部重点实验室南昌330013

针对负载口独立控制系统在作业过程中时常因控制信号突变而造成执行器速度振荡及液压缸两腔压力波动,从而导致操作舒适性和机器可靠性降低甚至引发安全事故的问题,首先,分析了负载口独立控制系统压力流量复合控制策略以及传统阻尼补偿... 详细信息

针对负载口独立控制系统在作业过程中时常因控制信号突变而造成执行器速度振荡及液压缸两腔压力波动,从而导致操作舒适性和机器可靠性降低甚至引发安全事故的问题,首先,分析了负载口独立控制系统压力流量复合控制策略以及传统阻尼补偿方法抑振的局限性,阐明了引发速度振荡与压力波动的原因;然后,基于该控制系统,提出了采用非线性滤波器修改突变控制信号的抑振方法,并给出了非线性滤波器的边界选取原则;最后,设计了负载口独立控制系统的进出口阀控制器,通过修改参考流量信号,降低了不同突变信号对执行器速度带来的影响。基于20 t挖掘机负载口独立控制系统开展数值仿真,结果表明:相较于传统阻尼补偿方法,采用所提方法能够有效降低阶跃、斜坡信号引起的执行器速度振荡与压力波动,且在动臂液压缸全伸、全缩典型工况下压力波动较小,并使速度振荡降低了32.5%~64.7%,从而有效改善了系统的动态特性。

关键词：负载口独立压力流量复合控制非线性滤波突变信号振动抑制

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基于流量前馈与压力反馈复合控制的电液负载敏感系统

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机械工程学报 2018年第20期54卷 262-270页

作者：程敏于今丁孺琦蔡乐平重庆大学机械传动国家重点实验室华东交通大学载运工具与装备教育部重点实验室上海船舶设备研究所

为提高现有负载敏感系统动态和能耗特性,提出一种基于流量前馈与压力反馈复合控制的电液负载敏感系统。该系统通过负载实时流量需求来前馈控制变量泵斜盘摆角,并结合压力裕度反馈控制对泵排量进行调节,具有响应速度快,稳定裕度高和压力... 详细信息

为提高现有负载敏感系统动态和能耗特性,提出一种基于流量前馈与压力反馈复合控制的电液负载敏感系统。该系统通过负载实时流量需求来前馈控制变量泵斜盘摆角,并结合压力裕度反馈控制对泵排量进行调节,具有响应速度快,稳定裕度高和压力裕度低等特点。以现有压力反馈型和流量前馈型电液负载敏感系统为对比研究对象,建立系统数学模型,并在响应速度、阻尼性能等方面进行对比理论分析,还基于2t液压挖掘机的试验平台进行对比研究。研究结果表明,相比现有压力反馈型负载敏感系统,所提出的系统具有较高的响应速度和阻尼性能,并且可减小压力裕度目标值以降低系统能耗;此外,所提出的系统通过压力闭环实现供需流量动态匹配,从而避免了由流量过匹配造成的压力冲击和能量损失。

关键词：负载敏感电液控制工程机械压力反馈流量匹配

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基于听觉反馈的主从式重载液压臂辅助操控方法

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机械工程学报 2022年第18期58卷 150-158页

作者：程敏涂恺文丁孺琦徐兵重庆大学机械传动国家重点实验室重庆400044 华东交通大学载运工具与装备教育部重点实验室南昌330013 浙江大学流体动力与机电系统国家重点实验室杭州310027

多自由度液压臂的主从式位置控制方式相比传统关节速度操控方式具有操作直观、交互自然等优点,但大惯量响应滞后特性带来操控作业效率低、环境碰撞风险高等问题。为此,提出一种基于听觉反馈的主从式重载液压臂辅助操控方法,其基本原理... 详细信息

多自由度液压臂的主从式位置控制方式相比传统关节速度操控方式具有操作直观、交互自然等优点,但大惯量响应滞后特性带来操控作业效率低、环境碰撞风险高等问题。为此,提出一种基于听觉反馈的主从式重载液压臂辅助操控方法,其基本原理为将主从位置误差映射为不同响度和音调的声音信号并反馈给操作者,目的是一方面在新手操作培训中提高学习效率,另一方面在实际任务场景中提高操控性能。建立基于样机实测数据的主从式重载液压臂虚拟现实操控平台,设计出听觉反馈的人机交互辅助操控界面,征集了40名新手受试者参与试验研究与性能评估。对比试验结果表明,在新手培训环节中,该听觉反馈辅助操控方法能使操作训练次数减少24.7%,从而帮助新手更快掌握操作技能;在实际作业场景中,该方法能平均降低8.8%的任务完成时间,并平均减少22.7%的环境碰撞次数,从而提高作业效率并降低环境碰撞风险。

关键词：液压重载臂响应滞后虚拟现实听觉反馈人机界面

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