Detailed Dynamic Modelling of an Integrated Hydraulic Actuator

2020 ◽  
Author(s):  
Dom Wilson ◽  
Ioannis Georgilas ◽  
Andrew Plummer ◽  
Pejman Iravani ◽  
Dhinesh Sangiah
Keyword(s):  
High Performance ◽  
Dynamic Modelling ◽  
Flow Characteristics ◽  
Hydraulic Cylinder ◽  
Theoretical Development ◽  
Hydraulic Actuator ◽  
Pressure Losses ◽  
Low Leakage ◽  
Smart Actuator ◽  
And Control

Abstract Hydraulic servos are characterised by their high-performance nature but due to their size and weight are not suitable for robotics where new legged applications require high power density and excellent dynamic behaviour in a small size. As an answer to this need a new class of integrated smart actuators is being developed. These systems consist of a servo valve, hydraulic cylinder, sensors and a controller all in a single device. This paper outlines the detailed modelling of the smart actuator for use in simulation and control design. The result is a model consisting of the dynamics of the novel ultra-low leakage servovalve, the valve flow characteristics considering the properties of each spool land, the single-ended cylinder with friction and the pressure losses in the supply and return lines to the actuator. The models are a combination of empirical and theoretical development, validated with experimental data. The smart actuator’s unique properties; compactness, weight and efficiency, combined with high-performance hydraulics make it well suited to mobile robot applications.

Modeling and Control of Proportional Valve with Synchronous Motor

2015 ◽  
Vol 220-221 ◽  
pp. 457-462 ◽  
Author(s):  
Andrzej Milecki ◽  
Dominik Rybarczyk
Keyword(s):  
Permanent Magnets ◽  
Dead Zone ◽  
Flow Characteristics ◽  
Synchronous Motor ◽  
Hydraulic Actuator ◽  
Servo Drive ◽  
Proportional Valve ◽  
Modeling And Control ◽  
Basic Characteristics ◽  
And Control

The paper describes the research results of modeling and control of proportional valve with synchronous motor type PMSM (Permanent Magnets Synchronous Motor). In the paper, a simulation model of the proposed valve was developed and described. The model included the square root flow characteristics, nonlinearity of the hydraulic actuator, valve dead zone and saturation of the flow. The study included the investigations of the basic characteristics, such as valve flow characteristic and step responses. In order to determine the basic parameters of the valve, the test stand was built, on which the new valve and the servo drive with this valve were tested. A servo drive control system was based on PLC with touch panel and inverter module. In the paper, the chosen investigations results of the valve and the servo drive system are presented and shortly discussed.

scholarly journals Development and Control of an Electro-Hydraulic Actuator System for an Exoskeleton Robot

2019 ◽  
Vol 9 (20) ◽  
pp. 4295 ◽  
Author(s):  
Dongyoung Lee ◽  
Buchun Song ◽  
Sang Yong Park ◽  
Yoon Su Baek
Keyword(s):  
Gait Cycle ◽  
Sliding Mode ◽  
Control Valve ◽  
Hydraulic Cylinder ◽  
Hydraulic Actuator ◽  
Directional Control ◽  
Robot Systems ◽  
Actuator System ◽  
And Control ◽  
Directional Control Valve

Exoskeleton robots have been developed in various fields and are divided into electric and hydraulic exoskeletons according to the actuator type. In the case of hydraulic robots, because a unidirectional pump is applied, there are limitations to the wearer’s walking. In addition, robot systems are complicated, because a directional control valve is required to change the direction of the actuator. To solve these problems, we designed the electro-hydraulic actuator (EHA) system which has both the hydraulic and electric advantages. The EHA system consists of a hydraulic bidirectional pump, a motor, a hydraulic cylinder, and various valves. For the development of the piston pump, we analyzed the gait cycle and considered the flow rate and pulsation rate. In order to reduce the size and weight of the EHA system, the valves were made from one manifold, and the hydraulic circuit was simplified. We verified that the developed EHA system is applicable to robots through position and force control experiments. Because the hydraulic system is nonlinear, we designed a sliding mode control (SMC) and compared it with the proportional integral derivative (PID) controller.

Finite Element-Based Control of a Single-Link Flexible Hydraulic Manipulator

2017 ◽  
Author(s):  
Petri Mäkinen ◽  
Jouni Mattila
Keyword(s):  
Finite Element ◽  
Controller Design ◽  
Hydraulic Cylinder ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Hydraulic Actuator ◽  
Single Link ◽  
Dynamics And Control ◽  
The Stability ◽  
And Control

In this study, a stability-guaranteed, nonlinear, finite element-based control is presented for a single-link flexible manipulator with hydraulic actuation, subject to experimental validation. The strong, inherent nonlinearities of the hydraulic cylinder and fluid dynamics, coupled with flexible link dynamics, cause remarkable challenges in controlling the system effectively. In an attempt to cope with these challenges, a controller based on the Virtual Decomposition Control (VDC) approach is introduced. The VDC approach takes advantage of subsystem-dynamics-based control, enabling the handling of the dynamics and control of the hydraulic actuator and the flexible link separately, thus keeping the controller design relatively simple. The rigorous stability theory of the VDC approach guarantees the stability of the entire system. The experiments demonstrate the VDC controller’s performance in end-point control with built-in vibration dampening.

Modeling and Control of an Electro-hydraulic Injection Molding Machine With Smoothed Fill-to-Pack Transition*

2003 ◽  
Vol 125 (1) ◽  
pp. 154-163 ◽  
Author(s):  
Danian Zheng ◽  
Andrew Alleyne
Keyword(s):  
Injection Molding ◽  
Process Model ◽  
Flow Characteristics ◽  
Hydraulic Actuator ◽  
Molding Machine ◽  
Transfer Scheme ◽  
Injection Molding Machine ◽  
Modeling And Control ◽  
And Control ◽  
Injection Cycle

In this paper the modeling of a typical injection cycle for an injection-molding machine (IMM) is examined. Both the mold filling and mold packing phases of the cycle are examined along with a critical fill-to-pack transition. The novelty in this modeling work is that the nonlinear model considers both the machine hydraulic actuator and polymer flow characteristics in extensive detail. The simulation model is validated against experimental data and demonstrates the availability of a relatively accurate system model for full cycle control design of this electro-hydraulic system. The accurate process model is used in the design of a controller for the injection cycle including the fill-to-pack transition. The overall algorithm includes two Iterative Learning Controllers connected by a bumpless transfer scheme between them. The algorithm is successfully tested through model simulations and machine experiments. The simulation and experimental results presented demonstrate a significantly smoother control signal and pressure transient between the two learning controlled phases as well as overall tracking convergence for each phase.

scholarly journals Reduction of Polycyclic Aromatic Hydrocarbons (PAHs) in Sesame Oil Using Cellulosic Aerogel

Foods ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 644
Author(s):  
Do-Yeong Kim ◽  
Boram Kim ◽  
Han-Seung Shin
Keyword(s):  
Polycyclic Aromatic Hydrocarbons ◽  
Aromatic Hydrocarbons ◽  
High Performance ◽  
Oil Quality ◽  
Acid Value ◽  
Quality Parameters ◽  
Sesame Oil ◽  
Miscanthus Sinensis ◽  
Polycyclic Aromatic ◽  
And Control

The effect of cellulosic aerogel treatments used for adsorption of four polycyclic aromatic hydrocarbons (PAHs)—benzo[a]anthracene, chrysene, benzo[b]fluoranthene, and benzo[a]pyrene [BaP])—generated during the manufacture of sesame oil was evaluated. In this study, eulalia (Miscanthus sinensis var. purpurascens)-based cellulosic aerogel (adsorbent) was prepared and used high performance liquid chromatography with fluorescence detection for determination of PAHs in sesame oil. In addition, changes in the sesame oil quality parameters (acid value, peroxide value, color, and fatty acid composition) following cellulosic aerogel treatment were also evaluated. The four PAHs and their total levels decreased in sesame oil samples roasted under different conditions (p < 0.05) following treatment with cellulosic aerogel. In particular, highly carcinogenic BaP was not detected after treatment with cellulosic aerogel. Moreover, there were no noticeable quality changes in the quality parameters between treated and control samples. It was concluded that eulalia-based cellulosic aerogel proved suitable for the reduction of PAHs from sesame oil and can be used as an eco-friendly adsorbent.

Advanced high-performance processing tools for diagnostics and control in fusion devices

2021 ◽  
Vol 170 ◽  
pp. 112529
Author(s):  
N. Cruz ◽  
A.J.N. Batista ◽  
J.M. Cardoso ◽  
B.B. Carvalho ◽  
P.F. Carvalho ◽  
...  
Keyword(s):  
High Performance ◽  
Diagnostics And Control ◽  
And Control

scholarly journals Detection of Antimicrobial Residues in Poultry Litter: Monitoring a Risk through a Selective and Sensitive HPLC–MS/MS Method

Animals ◽  
2021 ◽  
Vol 11 (5) ◽  
pp. 1399
Author(s):  
Karina Yévenes ◽  
Ekaterina Pokrant ◽  
Lina Trincado ◽  
Lisette Lapierre ◽  
Nicolás Galarce ◽  
...  
Keyword(s):  
High Performance ◽  
Limit Of Detection ◽  
Poultry Litter ◽  
Chromatography Tandem Mass Spectrometry ◽  
Antimicrobial Residues ◽  
Field Samples ◽  
Liquid Chromatography Tandem Mass ◽  
Commercial Poultry ◽  
Agriculture Fertilizer ◽  
And Control

Tetracyclines, sulphonamides, and quinolones are families of antimicrobials (AMs) widely used in the poultry industry and can excrete up to 90% of AMs administrated, which accumulate in poultry litter. Worryingly, poultry litter is widely used as an agriculture fertilizer, contributing to the spread AMs residues in the environment. The aim of this research was to develop a method that could simultaneously identify and quantify three AMs families in poultry litter by high-performance liquid chromatography–tandem mass spectrometry (HPLC–MS/MS). Samples of AMs free poultry litter were used to validate the method according to 657/2002/EC and VICH GL49. Results indicate that limit of detection (LOD) ranged from 8.95 to 20.86 μg kg−1, while limits of quantitation (LOQ) values were between 26.85 and 62.58 µg kg−1 of tetracycline, 4-epi-tetracycline, oxytetracycline, 4-epi-oxytetracycline, enrofloxacin, ciprofloxacin, flumequine, sulfachloropyridazine, and sulfadiazine. Recoveries obtained ranged from 93 to 108%. The analysis of field samples obtained from seven commercial poultry flocks confirmed the adequacy of the method since it detected means concentrations ranging from 20 to 10,364 μg kg−1. This provides us an accurate and reliable tool to monitor AMs residues in poultry litter and control its use as agricultural fertilizer.

scholarly journals A Novel Fast-Locking ADPLL Based on Bisection Method

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1382
Author(s):  
Xiaoying Deng ◽  
Huazhang Li ◽  
Mingcheng Zhu
Keyword(s):  
High Performance ◽  
Tuning Range ◽  
Frequency Control ◽  
Control Word ◽  
Cmos Process ◽  
Bisection Method ◽  
Reference Frequency ◽  
Wide Tuning Range ◽  
Cascade Structure ◽  
And Control

Based on the idea of bisection method, a new structure of All-Digital Phased-Locked Loop (ADPLL) with fast-locking is proposed. The structure and locking method are different from the traditional ADPLLs. The Control Circuit consists of frequency compare module, mode-adjust module and control module, which is responsible for adjusting the frequency control word of digital-controlled-oscillator (DCO) by Bisection method according to the result of the frequency compare between reference clock and restructure clock. With a high frequency cascade structure, the DCO achieves wide tuning range and high resolution. The proposed ADPLL was designed in SMIC 180 nm CMOS process. The measured results show a lock range of 640-to-1920 MHz with a 40 MHz reference frequency. The ADPLL core occupies 0.04 mm2, and the power consumption is 29.48 mW, with a 1.8 V supply. The longest locking time is 23 reference cycles, 575 ns, at 1.92 GHz. When the ADPLL operates at 1.28 GHz–1.6 GHz, the locking time is the shortest, only 9 reference cycles, 225 ns. Compared with the recent high-performance ADPLLs, our design shows advantages of small area, short locking time, and wide tuning range.

scholarly journals A High-Performance Imaging and Control System for a Micromirror-Based Laser-Scanning Endoscope Device

2006 ◽  
Vol 55 (5) ◽  
pp. 1725-1733 ◽  
Author(s):  
P.G. Papageorgas ◽  
D. Maroulis ◽  
G. Anagnostopoulos ◽  
H. Albrecht ◽  
B. Wagner ◽  
...  
Keyword(s):  
Control System ◽  
High Performance ◽  
Laser Scanning ◽  
And Control

Bejan’s Constructal Theory Analysis of Gas-Liquid Cooled Finned Modules

2011 ◽  
Vol 133 (7) ◽  
Author(s):  
Giulio Lorenzini ◽  
Simone Moretti
Keyword(s):  
Thermal Behavior ◽  
Heat Exchangers ◽  
High Performance ◽  
Numerical Study ◽  
Constructal Theory ◽  
Electronic Components ◽  
Theory Analysis ◽  
Pressure Losses ◽  
Different Types ◽  
Overall Performance

High performance heat exchangers represent nowadays the key of success to go on with the trend of miniaturizing electronic components as requested by the industry. This numerical study, based on Bejan’s Constructal theory, analyzes the thermal behavior of heat removing fin modules, comparing their performances when operating with different types of fluids. In particular, the simulations involve air and water (as representative of gases and liquids), to understand the actual benefits of employing a less heat conductive fluid involving smaller pressure losses or vice versa. The analysis parameters typical of a Constructal description (such as conductance or Overall Performance Coefficient) show that significantly improved performances may be achieved when using water, even if an unavoidable increase in pressure losses affects the liquid-refrigerated case. Considering the overall performance: if the parameter called Relevance tends to 0, air prevails; if it tends to 1, water prevails; if its value is about 0.5, water prevails in most of the case studies.

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