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Observer-Based Adaptive Robust Precision Motion control of a Multi-Joint Hydraulic Manipulator

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1213-1226页

作者： Zheng Chen Shizhao Zhou Chong Shen Litong Lyu Junhui Zhang Bin Yao State key laboratory of fluid power and Mechatronic Systems Zhejiang UniversityHangzhou 310027 Ocean College Zhejiang UniversityZhoushan 316021China School of Mechanical Engineering Shijiazhuang Tiedao UniversityShijiazhuang 050000 State key laboratory of fluid power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China School of Mechanical Engineering Purdue UniversityWest LafayetteIN 47907 USA

Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks.However,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control performance.Model-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity measurement.Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole system.To avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement.Specifically,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties.Then,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control errors.Finally,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control.

关键词： handle Observer filtering

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Research of transient rotor dynamic characteristic of magnetic liquid double suspension bearing in double collision state

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High Technology Letters 2024年第2期30卷 146-157页

作者：刘洪美 LI Shengguo SUN Chao SUN Yanan ZHAO Jianhua Shijiazhuang Rail Transit Group Co.Ltd Shijiazhuang 050011P.R.China Shijiazhuang Haishan Industrial Development Co.Ltd Shijiazhuang 050200P.R.China hebei provincial key laboratory of heavy machinery fluid power transmission and control Yanshan UniversityQinhuangdao 066004P.R.China

During the operation of magnetic liquid double suspension bearing(MLDSB),due to rotor resonance,assembly error and other factor,the vibration amplitude of the rotor in resonance state exceeds the original design clearance,resulting in the collision damage between the rotor and the stator,the rotor and the casing.This paper presents a method to simulate the influence of different factors on the dynamic characteristics of 5 degrees of freedom(DOF)rotor based on the dynamic model of MLDSB.Firstly,according to the second Lagrange equation,the dynamic equation of 5 DOF rotor is derived,and the mathematical model is established.Then,based on 5 DOF rotor dynamic equation,the rotor transient dynamic equation under collision state is obtained,and the rotor transient collision dynamic simulation model is established.Finally,the key influencing factors of rotor dynamic characteristics are extracted,and the influence mapping relationship of rotor displacement,axis locus and stress distribution under different factors is simulated by using ANSYS Workbench software.The experimental results show that this method can effectively reflect the influence of various factors on the dynamic characteristics of the rotor.This method can provide theoretical reference for the design and control of MLDSB.

关键词： displacement response axis trajectory radial excitation peak radial excitationtimes transient dynamic characteristics

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Research on static characteristic of double redundance double nozzle flapper valve based on AMESim

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High Technology Letters 2024年第2期30卷 164-169页

作者：孙亚南 LIANG Qiuhui WANG Wentao YANG Guang ZHANG Wei Shijiazhuang Haishan Industrial Development Co.Ltd Shijiazhuang 050200P.R.China ∗∗fluid power transmission and control laboratory Yanshan UniversityQinhuangdao 066004P.R.China

The feedback spring rod of the armature assembly is cancelled in the double redundance double nozzle flapper valve(DRDNFV),and the difficulty of valve core displacement control is increased.Therefore,this paper intends to study the static characteristic of DRDNFV through the AMESet and AMESim simulation.It is explored under the circumstance of the fixed orifices being clogged and experimentally verified on the test bench.The results show that the pressure gain increases and the flow gain decreases with the increasing clogged degree of the fixed orifices on both sides.The zero bias increases synchronously with the increasing clogged degree of the unilateral fixed orifice.The experimental results are basically consistent with the theoretical curves and the theoretical correctness of the simulation model is effectively verified.The results can provide the theoretical reference for design,debugging,maintenance and fault diagnosis of DRDNFV.

关键词： double redundance double nozzle flapper valve(DRDNFV) AMESet torquemotor armature assembly fault diagnosis

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Theoretical Model of Dynamic Bulk Modulus for Aerated Hydraulic fluid

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 183-193页

作者： Xiaoming Yuan Weiqi Wang Xuan Zhu Lijie Zhang hebei key laboratory of heavy machinery fluid power transmission and control Yanshan UniversityQinhuangdao 066004China key laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao 066000China State key laboratory of fluid power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Existing models of bulk modulus for aerated hydraulic fluids primarily focus on the effects of pressure and air fraction,whereas the effect of temperature on bulk modulus is disregarded.Based on the lumped parameter method and the full cavitation model,combined with the improved Henry’s law and the air polytropic course equation,a theoretical model of dynamic bulk modulus for an aerated hydraulic fluid is derived.The effects of system pressure,air fraction,and temperature on bulk modulus are investigated using the controlled variable method.The results show that the dynamic bulk modulus of the aerated hydraulic fluid is inconsistent during the compression process.At the same pressure point,the dynamic bulk modulus during expansion is higher than that during compression.Under the same initial air faction and pressure changing period,a higher temperature results in a lower dynamic bulk modulus.When the pressure is lower,the dynamic bulk modulus of each temperature point is more similar to each other.By comparing the theoretical results with the actual dynamic bulk modulus of the Shell Tellus S ISO32 standard air-containing oil,the goodness-of-fit between the theoretical model and experimental value at three temperatures is 0.9726,0.9732,and 0.9675,which validates the theoretical model.In this study,a calculation model of dynamic bulk modulus that considers temperature factors is proposed.It predicts the dynamic bulk modulus of aerated hydraulic fluids at different temperatures and provides a theoretical basis for improving the analytical model of bulk modulus.

关键词： Aerated hydraulic fluid Dynamic bulk modulus Theory model Air fraction Pressure

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Modelling and Dynamic Characteristics for a Non-metal Pressurized Reservoir with Variable Volume

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 159-173页

作者： Pei Wang Jing Yao Baidong Feng Mandi Li Dingyu Wang School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Advanced Manufacturing Forming Technology and Equipment Qinhuangdao 066004China hebei provincial key laboratory of heavy fluid power transmission and control Yanshan UniversityQinhuangdao 066004China

With the increasing demand to reduce emissions and save energy,hydraulic reservoirs require new architecture to optimize their weight,space,and volume.Conventional open reservoirs are large,heavy,and easily polluted,and threaten the operation of hydraulic systems.A closed reservoir provides the advantages of small volume and light weight,compared to open reservoirs.In this study,a non-metallic pressure reservoir with variable volume is designed and manufactured for closed-circuit hydraulic systems.The reservoir housing is made of rubber,and the Mooney-Rivlin model is chosen based on the rubber strain properties.The FEA simulation for the reservoir is performed using ANSYS Workbench to obtain the structural stiffness.The major contribution is the establishment of mathematical models for this reservoir,including the volume equation changing with height,flow equation,and force balance equation,to explore the output characteristics of this reservoir.Based on these results,simulation models were built to analyze the output characteristics of the reservoir.Moreover,the test rig of a conventional hydraulic system was transformed into a closed-circuit asymmetric hydraulic system for the reservoir,and preliminary verification experiments were conducted on it.The results demonstrate that the designed reservoir can absorb and discharge oil and supercharge pump inlet to benefit system operation.The changes in the volume and pressure with displacements under different volume ratios and frequencies were obtained,which verified the accuracy of the mathematical models.Owing to its lightweight design and small volume,the reservoir can replace conventional open reservoirs,and this lays a foundation for future theoretical research on this reservoir.

关键词： Hydraulic reservoir Variable volume Pressure reservoir Non-metal Lightweight

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Oil Pocket's Bearing Capacity Analysis of Liquid Hydrostatic Worktable in Gantry Moving Milling Center

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Chinese Journal of Mechanical Engineering 2014年第5期27卷 1008-1017页

作者： ZHAO Jianhua LIANG Yingna GAO Dianrong hebei provincial key laboratory of heavy machinery fluid power transmission and control Yanshan University Liren College Yanshan University

Durning the design process of hydrostatic rotary worktable,the processing and assembly tolerance,（the offset of worktable and the gap of the oil film’s thickness）is ignored.But it will cause that the real bearing of oil pocket deviates from the initial design value,and then the performance of rotary worktable will be reduced significantly.Up to now,no effort is found toward the research of influence of the processing and assembly tolerance on the performance of the rotary worktable.So the hydrostatic oil film is assumed as the elastomer in this paper,and then the bearing capacity of the oil pocket is studied with and without the mass offset of the worktable by taking an expression between the bearing capacity and the oil film’s thickness of the oil pocket as the deform compatibility equation.The influence of the processing tolerance of the oil sealing belt’s gap on the bearing capacity of the oil pocket is analyzed.In the light of the liquid hydrostatic worktable of Gantry Moving Milling Center using on the scene,the oil pocket’s pressure of the worktable is tested using Rotary Worktable Test System under the circumstance of the mass offset of the worktable and the gap tolerance of the oil sealing belt,and then the equivalent offset of worktable,the average pressure of the oil pocket and the actual thickness of the oil film are analyzed respectively.The test results show that the bearing capacity component of the oil pocket caused by G is consistent,and the component caused by M is relative to the position of the oil pocket.When the oil sealing belt’s gap is larger than the theoretical value,the bearing capacity of the oil pocket is smaller than the others;whereas the bearing capacity of the oil pocket is larger than the others.The maximum and minimum equivalent offsets are 0.256 4 mm and 0.047 5 mm,respectively,and the average oil pocket pressure varies from 0.345 MPa to 0.460 MPa,the maximum and minimum value of the actual oil film thickness are 109.976？m（No.7 oil pocket）and 93.467？m（No.10 oil pocket）,respectiv

关键词： Gantry Moving Milling Center bearing capacity processing and assembly tolerance mass offset

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Numerical Simulation and Experimental Study of Heat-fluid-solid Coupling of Double Flapper-nozzle Servo Valve

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Chinese Journal of Mechanical Engineering 2015年第5期28卷 1030-1038页

作者： ZHAO Jianhua ZHOU Songlin LU Xianghui GAO Dianrong hebei provincial key laboratory of heavy machinery fluid power transmission and control Yanshan University hebei Vocational & Technical College of Building Materials

The double flapper-nozzle servo valve is widely used to launch and guide the equipment. Due to the large instantaneous flow rate of servo valve working under specific operating conditions, the temperature of servo valve would reach 120℃ and the valve core and valve sleeve deform in a short amount of time. So the control precision of servo valve significantly decreases and the clamping stagnation phenomenon of valve core appears. In order to solve the problem of degraded control accuracy and clamping stagnation of servo valve under large temperature difference circumstance, the numerical simulation of heat-fluid-solid coupling by using finite element method is done. The simulation result shows that zero position leakage of servo valve is basically impacted by oil temperature and change of fit clearance. The clamping stagnation is caused by warpage-deformation and fit clearance reduction of the valve core and valve sleeve. The distribution roles of the temperature and thermal-deformation of shell, valve core and valve sleeve and the pressure, velocity and temperature field of flow channel are also analyzed. Zero position leakage and electromagnet＇s current when valve core moves in full-stroke are tested using Electro-hydraulic Servo-valve Characteristic Test-bed of an aerospace sciences and technology corporation. The experimental results show that the change law of experimental current at different oil temperatures is roughly identical to simulation current. The current curve of the electromagnet is smooth when oil temperature is below 80℃, but the amplitude of current significantly increases and the hairy appears when oil temperature is above 80℃. The current becomes smooth again after the warped valve core and valve sleeve are reground. It indicates that clamping stagnation is caused by warpage-deformation and fit clearance reduction of valve core and valve sleeve. This paper simulates and tests the heat-fluid-solid coupling of double flapper-nozzle servo valve, and the obtained results provide the reference val

关键词： double flapper-nozzle servo valve heat-fluid-solid coupling numerical simulation warpage-deformation clamping stagnation zero position leakage

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Research on valve core’s clamping stagnation of double flapper-nozzle servo valve

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High Technology Letters 2019年第1期25卷 65-73页

作者：赵建华 Zhang Bin Chen Tao Wang Qiang Zhou Songlin Gao Dianrong hebei provincial key laboratory of heavy machinery fluid power transmission and control Yanshan University

Due to great changing of instantaneous temperature of hydraulic oil of double flapper-nozzle servo valve, thermal deformation between valve core and valve sleeve may result in catching phenomenon of valve core, and then the reliability of servo valve could be affected seriously. The work focuses on a particular model of double flapper-nozzle servo valve and establishes three dimension couple models of liquid-solid-thermal under extreme operating condition. The transmission route and dissipative mechanism of heat is revealed and thermal deformation behavior of valve core and valve sleeve is researched. A change law of the key fit clearance under the effect of thermal expansion and warp deformation is explored, the source of catching phenomenon of valve core is identified, and then preventive measure and improvement can be proposed. In order to verify the correctness of theoretical analysis, the moving smoothness of deformed valve core and reground valve core under the circumstance of high-temperature hydraulic oil on electrohydraulic servo valve static characteristics test table is compared and tested. The results show that as oil temperature rises, relative deformations between valve core and valve sleeve in different direction at a same cross-section are not equal, and then the key fit clearance is less than the initial value. Relative deformations in the same direction at different axial position are not equal, the deformations of middle and two ends are maximum and minimum values respectively, and then warp deformation of valve core occurs. When oil temperature is higher, the relative deformations between valve core and valve sleeve is larger, the moving smoothness of valve core gets worse, and the catching phenomenon of valve core occurs. Axial deformation of valve sleeve and valve core at different axial position is different, and the opening coefficient and stability of servo valve could be affected, especially the operation circumstance of small opening. The study can provide some guidance for designing do

关键词： double flapper-nozzle servo valve flow-solid-thermal coupling numerical simulation catching phenomenon thermal deformation mechanism smooth movement

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Theoretical and experimental research on influence of rotor taper on performance of cone-shape helical pumps

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High Technology Letters 2019年第2期25卷 174-181页

作者：赵建华 Gao Dianrong Liu Shichang hebei provincial key laboratory of heavy machinery fluid power transmission and control Yanshan University

The structure of a rotor has full impact on the performance of cone-shaped helical pumps. Numerical simulation and experimental tests are applied to get pressure, velocity and flow of a cone-shaped helical pump, and explores flow condition of blood in artificial blood pump. Rotors with four different tapers of artificial pump are designed. The flow condition of blood at the entrance, near the front diffuser, near the rotor, near the rear diffuser and at the exit, the pressure difference between entrance and exit and flow of artificial blood pump with different taper rotors are simulated, and then the influence rules of rotor taper on the performance of cone-shaped helical pump are revealed. In order to verify the correctness of theoretical analysis, rotors with three different tapers are manufactured, physical model of artificial blood pump are built, and then the actual lift and flow of blood pump with different rotors are measured respectively. The results show that taper of rotor increases, the circumfluence of blood near the front and rear diffuser decreases, the blood flows more smoothly, the energy consumption is less, and then the guide role of blade is greater. The blood at the exit of blood pump flows along the axial direction steadily. As taper of rotor increases, the pressure difference between the entrance and exit and the flow of blood pump increase subsequently. The flow condition of blood and performance of blood pump with No.3 rotor are the best. The proposed research analyzes the influence of rotor taper on performance of blood pump quantitatively, and provides the theoretical reference for the design and improving of cone-shaped helical pump.

关键词： cone-shaped helical pump rotor taper circumfluence flow condition energy consumption

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Theoretical Analysis and Numerical Simulation of the Static and Dynamic Characteristics of Hydrostatic Guides Based on Progressive Mengen Flow controller

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Chinese Journal of Mechanical Engineering 2010年第6期23卷 709-716页

作者： GAO Dianrong ZHENG Dan ZHANG Zuochao key laboratory of heavy machinery fluid power transmission and control of hebei Province Yanshan University Qinhuangdao 066004 China

The oil film thickness of oil hydrostatic guide with constant pressure supply based on capillary restrictor is greatly affected by load, and this kind of hydrostatic guide is usually applied to the machine tools with moderate load. The static and dynamic characteristics of the guide have been studied by using some theoretical, numerical and experimental approaches, and some methods and measures have been proposed to improve its performances. The hydrostatic guide based on progressive mengen（PM） flow controller is especially suitable for the heavy numerical control（NC） machine tools. However, few literatures about the research on the static and dynamic characteristics of the hydrostatic guides based on PM flow controller are reported. In this paper, the formulae are derived for analyzing the static and dynamic characteristics of hydrostatic guides with rectangle pockets and PM flow controller according to the theory of hydrostatic bearing. On the basis of the analysis of hydrostatic bearing with circular pocket, some equations are derived for solving the static pressure, volume pressure and squeezing pressure which influence the dynamic characteristics of hydrostatic guides with rectangle pocket. The function and the influencing factors of three pressures are clarified. The formulae of amplitude-frequency characteristics and dynamic stiffness of the hydrostatic guide system are derived. With the help of software MATLAB, programs are coded with C＋＋ language to simulate numerically the static and dynamic characteristics of the hydrostatic guide based on PM flow controller. The simulation results indicate that the sensitive oil volume between the outlet of the PM flow controller and the guide pocket has the greatest influence on the characteristics of the guide, and it should be reduced as small as possible when the field working condition is met. Choosing the oil with a greater viscosity is also helpful in improving the dynamic performance of hydrostatic guides. The research work has instructing significance for ana

关键词： PM flow controller rectangle pocket static characteristics dynamic characteristics hydrostatic guides

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